JPH08320714A - Method and device for synchronous control in numerical controller - Google Patents

Abstract

PURPOSE: To synchronize a synchronous shaft at a stop with a reference shaft in movement so as to shorten the cycle time of machining by commanding the synchronous shaft the remaining distance of the reference shaft at the point of time when a shaft in-movement synchronization start signal from a sequence circuit is detected. CONSTITUTION: When the reference shaft is moving and the synchronous shaft is stopping, the remaining distance command means 34 of the interpolation processing part 30 of the numerical controller calculates the distance (remaining distance) from the current machine position of the reference shaft in movement to a command block end point and passes the calculation result as a position command to an interpolation processing means 31. The interpolation processing means 31 outputs interpolation data to a shaft control part 60 corresponding to the synchronous shaft. Then the acceleration/deceleration processing means 61 of the shaft control part 60 processing interpolation data and sends the result as a servo movement command from a shaft movement quantity output circuit 70 to a servo control part 80. According to the command, the servo control part 80 drives a servo motor 90 corresponding to the synchronous shaft.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a synchronous control method and apparatus in a numerical control device, and more particularly to a synchronous control method in a numerical control device for controlling multiple axes and multiple systems. With the axis as the reference axis,
The present invention relates to a synchronous control method and device in a numerical controller for synchronously controlling at least two movable shafts with at least one other movable shaft as a synchronous shaft.

[0002]

2. Description of the Related Art FIG. 45 shows a conventional numerical controller for executing synchronous control. The numerical control device 1 includes a machining program analysis processing unit 10 provided for each system, a memory 20 for storing a machining program of each system, a parameter setting unit 21, a screen display processing unit 22, and an interpolation processing unit 31.
And an interpolation processing unit 3 having a reference axis / synchronous axis management means 32.
0, a machine control signal processing unit 50, a ladder circuit unit 55 forming a sequence circuit, an acceleration / deceleration processing unit 61 and a stop confirmation unit 62 provided for each movable shaft, and an axis control unit 60 for each movable shaft. And an axis movement amount output circuit 70.

A servo control section 80 for each movable axis is connected to the axis movement amount output circuit 70, and a servo motor 90 for each movable axis is connected to each servo control section 80. In addition,
Although not shown in the figure, the servo motor 90 has a pulse generator for position detection, and the servo control unit 80 has a position loop based on a position feedback signal from the pulse generator.

In this numerical controller, the machining programs of each system read from a tape reader or the like are stored in the memory 20. When executing the machining program, the machining program is read from the memory 20 block by block and the machining program analysis processing unit 10 provided for each system is read.
The machining program is analyzed to calculate the end point position of each block. This end point position is processed by the interpolation processing means 31 of the interpolation processing unit 30, and the end point position is distributed to the movement command per unit time of each movable axis.

This movement command is converted by the acceleration / deceleration processing means 61 of the axis control unit 60 into a movement command per unit time in consideration of acceleration / deceleration in accordance with an acceleration / deceleration pattern designated in advance, and the axis movement amount output circuit 70 performs servo control. It is output to the unit 80 as a servo movement command.

The servo control unit 8 receives this servo movement command.
0 gives a rotation command to a servomotor 90 attached to a machine tool (not shown).

Further, a machine signal such as on / off of cutting oil is processed by the machine control signal processing section 50 via a ladder circuit section 55 which describes machine control, and a processing result etc. is transmitted to the interpolation processing section 30.

The parameter setting unit 21 determines the acceleration / deceleration time constant of the movable shaft set by a key input means (not shown).
Are processed and stored in the memory 20. The parameters etc. thus stored are displayed on the display (not shown) by the screen display processing unit 22, so that the contents of the parameters etc. can be confirmed.

Next, the synchronization control will be described. FIG. 46 shows a two-system, two-axis machine tool that is synchronously controlled by the numerical controller 1 as described above. Each system is composed of an X axis and a Z axis orthogonal to the X axis. The X-axis of each system and the Z-axis of each system are parallel axes, and here it is considered that the X-axis of the first system and the X-axis of the second system are synchronously controlled. FIG. 47 shows an example of the machining program in this case.

The synchronization start control of the synchronization control will be described with reference to FIG.

First, in step S1001, in order to stop the movement of the movable axis to be synchronously controlled, the machining programs $ 1 and $ 2 of the system (the first system and the second system) including the movable shaft to be synchronously controlled are executed. Inter-system queuing commands "! 2L1;" and "! 1L1;" are issued. This command is processed by the machining program analysis processing unit 10 and the interpolation processing unit 30, and is commanded to the axis control unit 60. Step S100
In 2, the movable axes that belong to each commanded system,
The stop confirmation means 62 of the axis control unit 60 confirms whether or not the machining program command of the previous block has ended and stopped.

In step S1003, in the machining program $ 1 of the first system, for example, a synchronization control command "Synchronize" with the X axis (X2) of the second system as the synchronization axis and the X axis (X1) of the first system as the reference axis. G125X2 = X1; ", the machining program analysis processing unit 10 analyzes this, and the X-axis (X2) of the second system is the synchronous axis, and the X-axis (X1) of the first system is the reference axis. Information that is said to be in memory 2
Store in 0.

In step S1004, the interpolation processing unit 30
The reference axis / synchronous axis management means 32 reads the data regarding the synchronous control command stored in the memory 20, and whether or not the X axis of the first system and the X axis of the second system are parallel axes. Check if the combination of axes can be controlled synchronously.

If it is not a combination of axes that can be controlled synchronously, the process jumps to step S1009 to perform alarm processing, and the processing ends.

If the combination of axes can be controlled synchronously, the process proceeds to step S1005 and step S1005.
Then, the reference axis / synchronous axis management means 32 and the interpolation data which the interpolation processing means 31 outputs to the axis control section 60 of the reference axis when the movement command for the reference axis is input from the machining program analysis processing section 10 The same interpolation data is instructed to be output also to the axis control unit 60 of the synchronous axis.

In step S1006, the reference axis / synchronous axis management means 32 reads the positional relationship between the reference axis and the machine coordinate of the sync axis stored in the memory 20, and calculates the machine position of the sync axis in the coordinate system of the reference axis. The interpolation processing means 31 is instructed to do so.

At step S1007, when the machining program $ 1 issues a movement command "G01X1.0;" for the reference axis, the acceleration / deceleration processing unit 61 sends the reference axis servo movement command to the reference axis servo control unit 80. It is transmitted to the servo control unit 80 which serves as a synchronous axis. As a result, in step S1008, both the reference axis and synchronous axis servo control units 80 drive the reference axis and synchronous axis servo motors 90 in accordance with the reference axis servo movement command.

Next, the sync release control will be described with reference to FIG.

In step S1010, in order to stop the movement during the synchronous control, the inter-system waiting command "! 2" is issued by the machining programs $ 1 and $ 2 of the system including the reference axis and the synchronous axis.
L2; "and"! 1L2; "is commanded. This command is processed by the machining program analysis processing unit 10 and the interpolation processing unit 30 and is commanded by the axis control unit 60. In step S1011, the movable axes belonging to each commanded system. Is confirmed by the stop confirming means 62 whether or not the machining program command of the previous block has ended and the machining has stopped.

In step S1012, the machining program analysis processing means 10 analyzes the synchronization release command "G125X2;" in the machining program $ 1 of the first system, and then in step S1.
In 013, when the reference axis / synchronous axis management means 32 receives a notification from the machining program analysis processing means 10 and a command for the reference axis is input from the machining program analysis processing portion 10, the interpolation processing means 31 causes the axis of the reference axis. The control unit 60 is instructed to cancel output of the interpolation data output to the axis control unit 60 of the synchronous axis. Further, the reference axis / synchronous axis managing means 32 restores the calculated coordinate system of the reference axis to the coordinate system of the synchronous axis.

[0021]

Since the synchronous control in the conventional numerical control device is performed by the above-described procedure, the movable shaft serving as the reference axis and the movable shaft serving as the synchronous shaft are set before the start of synchronization. Must stop. For this reason, the cycle time of processing becomes long, and there is a dead time in processing. In addition, since the machining program command for inter-system waiting is used to stop the movable axis, the movable axes other than the movable axis that serves as the reference axis and the synchronous axis also stops, resulting in additional dead time in machining. It was

Further, in the synchronous control of the conventional numerical control device, in a multi-axis / multi-system control machine, if there is a program error in the machining program, the tool and the second tool belonging to the first system are caused due to the program error. Problems such as interference of tools belonging to the grid cannot be avoided in advance.

Further, in the synchronous control in the conventional numerical control device, when the reference axis and the synchronization axis move synchronously, if the synchronization axis stops due to an alarm such as a stroke end, the reference axis also stops. However, there was a problem that processing stopped.

The present invention has been made in order to solve the above problems, and even if the reference axis is moving among the movable axes for synchronous control, the synchronous control that is stopped starts synchronous control. Also, by canceling the synchronous control, the dead time of machining can be reduced, interference between movable axes can be easily avoided, and machining does not stop even if the synchronous axis stops due to an alarm, etc. It is an object to obtain a synchronous control method in a numerical control device which is improved so that it can be continued, and a synchronous control device used in the implementation of this method.

[0025]

In order to achieve the above-mentioned object, a synchronous control method in a numerical control device according to the present invention is such that one movable shaft is a reference shaft and at least another movable shaft is synchronized. In a synchronous control method in a numerical control device for synchronously controlling at least two movable axes as axes, a synchronous control mode command during axis movement described in a machining program is analyzed, and then synchronous control is performed by a sequence circuit under movement of a reference axis. When the synchronization start signal is detected during axis movement, which means start, the remaining distance of the reference axis is calculated, the synchronous axis is moved using the remaining distance as the position command for the synchronization axis, and the reference axis and the synchronization axis are stopped to synchronize. Judging completion, input a sync release signal during axis movement that means sync control release from the sequence circuit, or place the sync axis at the deceleration start position determined by the specified sync release position. Until the actuator moves, the reference axis and synchronous axis are moved synchronously with the reference axis movement command, the synchronization release signal is input from the sequence circuit while the axis is moving, or the synchronous axis moves to the deceleration start position to decelerate the synchronous axis. Is started, the synchronous axis is stopped, and the synchronous control is released.

In the synchronization control method in the numerical controller according to the present invention, the remaining distance of the reference axis at the time of detecting the synchronization start signal during axis movement from the sequence circuit is instructed to the synchronization axis so that the reference axis during movement is set. The synchronized axis that is stopped can be synchronized, the synchronous release signal is input from the sequence circuit while the axis is moving, or the synchronous axis starts decelerating when the synchronous axis moves to the deceleration start position, and the reference axis is moving. Even if there is, the synchronous axis can be stopped and the synchronous control can be released.

In the synchronous control method for the numerical controller according to the next invention, among the movable axes to be synchronously controlled, which are designated by the machining program, the synchronous movement is started when the synchronous movement start signal is input from the sequence circuit. The axis is automatically determined as the reference axis and the stopped axis as the synchronous axis.

In the synchronous control method in the numerical controller according to the present invention, among the movable axes to be synchronously controlled which are designated by the machining program, the axis which is moving at the time when the synchronizing signal for starting axis movement is inputted from the sequence circuit. Is automatically determined as the reference axis and the stopped axis is the synchronous axis, and the reference axis and the synchronous axis are automatically set according to the situation.

A synchronous control method in a numerical control device according to the next invention is a numerical control device for synchronously controlling at least two movable shafts with one movable shaft as a reference shaft and at least one other movable shaft as a synchronous shaft. In the synchronous control method in, after analyzing the axis movement synchronous control mode command described in the machining program, calculate the relative distance between the current reference axis and the synchronous axis under the movement of the reference axis, and use this relative distance and the machining program. By comparing with the specified synchronous distance, and when the relative distance and the synchronous distance match, the movement command is given to the synchronous axis with the same acceleration / deceleration characteristics and servo control characteristics as the reference axis acceleration / deceleration characteristics and servo control characteristics. , Synchronize the stopped synchronous axis with the moving reference axis, and after the synchronization is completed, move the synchronous axis and the reference axis while maintaining the synchronization distance specified in the machining program. When the synchronous release signal is input from the sequence circuit during the axis movement, or the synchronous axis moves to the deceleration start position determined by the specified synchronous release position, the synchronous axis starts decelerating, and the synchronous axis is stopped to perform synchronous control. It is to be released.

In the synchronous control method in the numerical controller according to the present invention, when the synchronous control mode command during axis movement is analyzed, the current relative distance between the moving reference axis and the synchronous axis is calculated, and the relative distance is calculated. When the synchronization distance and the synchronization distance match, the synchronous axis starts moving with the same acceleration / deceleration characteristics and servo control characteristics as the reference axis, and the synchronous axis synchronizes with the moving reference axis. After the synchronization is completed, the synchronization axis moves while maintaining the synchronization distance with respect to the reference axis. Input the sync release signal during axis movement from the sequence circuit,
Alternatively, when the synchronous axis moves to the deceleration start position, the synchronous axis starts decelerating, and even if the reference axis is moving, the synchronous axis can be stopped and the synchronous control can be released.

In the synchronous control method in the numerical controller according to the next invention, the time indicated by the acceleration / deceleration time constant of the synchronous axis and the time indicated by the reciprocal of the gain of the servo control system from the time when the relative distance matches the synchronous distance. The completion of synchronization between the reference axis and the synchronization axis is determined when the total time of (3) has elapsed.

In the synchronous control method in the numerical controller according to the present invention, the completion of synchronization between the reference axis and the synchronous axis is judged from the time point when the relative distance and the synchronous distance are coincident with the time and servo indicated by the acceleration / deceleration time constant of the synchronous axis. The time measurement is performed at the time when the total time with the time indicated by the reciprocal of the gain of the control system has elapsed.

In the synchronous control method in the numerical controller according to the next invention, the deceleration start position of the synchronous axis is calculated from the specified desynchronization position, axis feed speed and acceleration / deceleration characteristic, and the synchronous axis reaches the deceleration start position. At this point, the synchronous axis is decelerated and stopped at the specified synchronous release position.

In the synchronous control method in the numerical controller according to the present invention, the deceleration start position of the synchronous axis is calculated from the specified desynchronization position, axis feed speed and acceleration / deceleration characteristic, and the synchronous axis reaches the deceleration start position. By decelerating the sync axis at this point, the sync axis stops at the specified sync release position.

In the synchronization control method in the numerical controller according to the next invention, the synchronization release position is specified in the machining program by describing it in the machining program.

In the synchronization control method in the numerical controller according to the present invention, the synchronization release position can be arbitrarily designated by the description of the machining program.

A synchronous control method in a numerical controller according to the next invention detects a motor load from a current value of a shaft motor and the like, and determines whether or not cutting is being performed based on a cutting command described in a machining program and the detected motor load. It is determined whether or not, and the synchronization release position is designated based on the coordinate value at the time when the determination changes from during cutting to during non-cutting.

In the synchronous control method in the numerical controller according to the present invention, it is judged from the cutting command described in the machining program and the detected motor load whether or not the cutting is being performed, and the judgment is that the cutting is not being performed but the cutting is not being performed. The sync release position is specified based on the coordinate value at the time of transition to. As a result, the synchronization release position is automatically corrected and set according to the cutting start position for each cutting command.

In the synchronous control method in the numerical controller according to the next invention, the coordinate position of the synchronous axis at the time when the synchronous start signal during axis movement is input from the sequence circuit or the synchronous start position designated by the machining program is stored, The stored coordinate position or the synchronization start position is set as the synchronization release position, the deceleration start position of the synchronous axis is calculated from the synchronization release position, the axis feed speed, and the acceleration / deceleration characteristics, and the synchronous axis reaches the deceleration start position. At this time point, the synchronous axis is decelerated, and the synchronous axis is stopped at the sync release position.

In the synchronous control method in the numerical controller according to the present invention, the coordinate position of the synchronous axis at the time when the synchronous start signal during axis movement is input from the sequence circuit or the synchronous start position designated by the machining program is the next synchronous release. The position is automatically set, and the deceleration start position of the synchronous axis is calculated from the sync release position, axis feed speed, and acceleration / deceleration characteristics.
By decelerating the synchronous axis when the synchronous axis reaches the deceleration start position, the synchronous axis stops at the desynchronization position.

In the synchronous control method in the numerical controller according to the next invention, when the synchronous axis is stopped due to an alarm such as a stroke end, the synchronous control is temporarily canceled during the movement of the axis, and the movement of the reference axis is continued. When the synchronization condition is satisfied again, the synchronization control during axis movement is restarted.

In the synchronous control method of the numerical controller according to the present invention, when the synchronous axis stops due to an alarm such as a stroke end, the synchronous control is temporarily released during the axis movement to continue the movement of the reference axis. When the synchronization condition is satisfied again, the synchronous control during axis movement is restarted, and the synchronous axis moves in synchronization with the reference axis.

In the synchronous control method in the numerical controller according to the next invention, the synchronous condition for restarting the synchronous control during axis movement is that the relative distance between the reference axis and the synchronous axis is equal to the predefined synchronous distance. There is something.

In the synchronous control method in the numerical controller according to the present invention, when the relative distance between the reference axis and the synchronous axis matches the predefined synchronous distance, the synchronous condition is reestablished and the synchronous control during axis movement is performed. Upon restarting, the synchronous axis moves again while maintaining the synchronous distance with respect to the reference axis.

In order to achieve the above object,
The synchronous controller in the numerical controller according to the present invention is
In a synchronous controller in a numerical controller for synchronously controlling at least two movable axes with one movable axis as a reference axis and at least one other movable axis as a synchronous axis, synchronization during axis movement described in a machining program is performed. Synchronized by the analysis of the axis movement synchronous control mode setting command by the axis movement synchronous control mode command analysis means that analyzes the control mode setting command and the axis movement synchronous control mode release command The synchronous control mode during axis movement that sets the acceleration / deceleration characteristics of the axis to the same as the acceleration / deceleration characteristic of the reference axis is set. Synchronous control mode switching means during axis movement to return to deceleration characteristics and return to normal mode,
Axis movement synchronizing control signal detecting means for detecting the axis movement synchronizing start signal from the sequence circuit, and the axis moving synchronizing control signal detecting means detected the axis moving synchronizing start signal in the axis moving synchronizing control mode. The remaining distance of the reference axis at the time is calculated, and the remaining distance command means that uses the remaining distance as the position command of the synchronous axis, and the completion of synchronization is determined by stopping the reference axis and the synchronous axis,
And a means for outputting a synchronization control completion signal during axis movement for outputting a synchronization control completion signal during axis movement to the sequence circuit.

In the synchronous controller in the numerical controller according to the present invention, the axis-moving synchronous control mode command analyzing means analyzes the axis-moving synchronous control mode setting command and the axis-moving synchronous control mode cancel command in the machining program. ,
The axis moving synchronous control mode switching means sets the axis moving synchronous control mode that makes the acceleration / deceleration characteristic of the synchronous axis the same as the acceleration / deceleration characteristic of the reference axis by analyzing the axis moving synchronous control mode setting command. By analyzing the synchronous control mode release command during movement, the acceleration / deceleration characteristics of the synchronous axis are restored to the original acceleration / deceleration characteristics of the synchronous axis and the normal mode is set.

In the synchronous control mode during axis movement, when the synchronous control signal during axis movement detection means detects the synchronous start signal during axis movement from the sequence circuit, the remaining distance command means detects the synchronous start signal during axis movement. The remaining distance of the reference axis is calculated, and the remaining distance is used as the position command for the synchronizing axis. This synchronizes the stopped synchronous axis with the moving reference axis.

Then, the completion of synchronization is judged by the stop of the reference axis and the synchronous axis, and the axis movement synchronous control completion signal output means outputs the axis movement synchronous control completion signal to the sequence circuit.

A synchronous controller in a numerical controller according to the next invention has a synchronous axis deceleration command means for issuing a command to decelerate and stop the synchronous axis by inputting a sync release signal during axis movement from a sequence circuit. is there.

In the synchronous controller in the numerical controller according to the present invention, the synchronous axis deceleration command means issues a command for decelerating and stopping the synchronous axis by the input of the synchronous release signal during axis movement from the sequence circuit.

The synchronous control device in the numerical control device according to the next invention is moving at the time when the synchronous movement start signal is input from the sequence circuit among the movable shafts to be synchronously controlled specified by the machining program. There is a moving axis detecting means for detecting an axis, and a reference axis / synchronous axis judging means for judging a moving axis as a reference axis and a stopped axis as a synchronous axis from a moving axis detection result by the moving axis detecting means. Is what you are doing.

In the synchronous controller in the numerical controller according to the present invention, the moving axis detecting means outputs the synchronous start signal during axis movement from the sequence circuit among the movable axes to be controlled synchronously designated by the machining program. , The moving axis is detected, and the reference axis / synchronous axis judging means judges the moving axis as the reference axis and the stopped axis as the synchronous axis from the moving axis detection result by the moving axis detecting means, Automatically set the sync axis.

A synchronous controller in a numerical controller according to the next invention is a numerical controller for synchronously controlling at least two movable axes with one movable axis as a reference axis and at least one other movable axis as a synchronous axis. In the synchronous control device in, the axis moving synchronous control mode command analyzing means for analyzing the axis moving synchronous control mode setting command and the axis moving synchronous control mode release command including the synchronous distance described in the machining program, Relative distance calculating means for calculating the relative distance between the current reference axis and the synchronous axis, and the acceleration / deceleration characteristic of the synchronous axis by analyzing the axis moving synchronous control mode setting command by the axis moving synchronous control mode command analyzing means. Set the synchronous control mode during axis movement that makes the servo control characteristics the same as the acceleration / deceleration characteristics of the reference axis and the servo control characteristics, and solve the synchronous control mode during axis movement. By the command analysis, the acceleration / deceleration characteristics and servo control characteristics of the synchronous axis are returned to the normal acceleration / deceleration characteristics and servo control characteristics of the synchronous axis to change to the normal mode. In, the synchronization distance specified by the machining program is compared with the relative distance calculated by the relative distance calculating means, and when the relative distance matches the synchronization distance, a movement command per unit time of the reference axis is calculated. It has a synchronous axis command means for outputting the same movement command to the synchronous axis.

In the synchronous controller in the numerical controller according to the present invention, the synchronous control mode during axis movement command analyzing means includes the synchronous movement mode control command during axis movement and the synchronous control mode during axis movement which include the synchronous distance described in the machining program. The release command is analyzed and the synchronous control mode switching means during axis movement analyzes the synchronous control mode setting command during axis movement to make the acceleration / deceleration characteristics and servo control characteristics of the synchronous axis the same as the acceleration / deceleration characteristics and servo control characteristics of the reference axis. Set the synchronous control mode during axis movement to be set as a characteristic and restore the acceleration / deceleration characteristics and servo control characteristics of the synchronous axis to the original acceleration / deceleration characteristics and servo control characteristics of the synchronous axis by analyzing the axis movement synchronous control mode release command. Set to mode.

In the synchronous control mode during axis movement, the synchronous axis command means specifies the synchronous distance designated by the machining program and the relative distance between the current reference axis and the synchronous axis during movement calculated by the relative distance calculation means. And when the relative distance matches the synchronization distance, the same movement command as the movement command per unit time of the reference axis is output to the synchronization axis. As a result, the synchronous axis moves with the same acceleration / deceleration characteristics and servo control characteristics as the acceleration / deceleration characteristics and servo control characteristics of the reference axis, and the synchronous axis synchronizes with the moving reference axis. After the synchronization is completed, the synchronization axis moves while maintaining the synchronization distance with respect to the reference axis.

In the synchronous controller in the numerical controller according to the next invention, the time indicated by the acceleration / deceleration time constant of the synchronous axis and the time indicated by the reciprocal of the gain of the servo control system from the time when the relative distance coincides with the synchronous distance. Of the reference axis and the synchronous axis at the time when the total time has passed, and the axis circuit synchronization control completion signal of the sequence circuit is turned on by the notification of the completion of synchronization determined by the synchronization determining means. And a synchronization control completion signal output means during axis movement.

In the synchronous control device in the numerical control device according to the present invention, the time indicated by the acceleration / deceleration time constant of the synchronous axis and the reciprocal of the gain of the servo control system are shown from the time when the relative distance and the synchronous distance are matched by the synchronous determination means. When the total time with the time has elapsed, the completion of synchronization between the reference axis and the synchronization axis is determined, and based on this determination of synchronization completion, the axis movement synchronization control completion signal output means outputs the axis movement synchronization control completion signal of the sequence circuit. Turn on.

A synchronous controller in a numerical controller according to the next invention is a synchronous axis deceleration start position calculating means for calculating a deceleration start position of a synchronous axis from a specified desynchronization position, axis feed speed, and acceleration / deceleration characteristic, and a synchronous axis. And a synchronous axis deceleration start position determining means for performing signal processing for determining that the axis has reached the deceleration start position and decelerating and stopping the synchronous axis.

In the synchronous controller in the numerical controller according to the present invention, the synchronous axis deceleration start position calculating means calculates the deceleration start position of the synchronous axis from the specified synchronization release position, axis feed speed and acceleration / deceleration characteristic, and the synchronous axis deceleration start position is calculated. When the deceleration start position determination means determines that the synchronous axis has reached the deceleration start position, signal processing for decelerating and stopping the synchronous axis is performed.

A synchronization control device in a numerical control device according to the next invention specifies the synchronization release position by a machining program according to a machining program description.

In the synchronization control device in the numerical control device according to the present invention, the synchronization release position can be arbitrarily designated by the description of the machining program.

A synchronous control device in a numerical control device according to the next invention detects a motor load from a current value of a shaft motor and the like, a motor load detecting means, a cutting command described in a machining program, and the motor load detecting means. A cutting determination means for determining whether or not cutting is being performed based on the motor load, and the synchronization release position is based on the coordinate value at the time when the determination of the cutting determination means changes from cutting to non-cutting. Is to be specified.

In the synchronous controller in the numerical controller according to the present invention, the motor load detecting means detects the motor load from the current value of the shaft motor, etc., and the cutting judging means detects the cutting command and the motor load detecting means described in the machining program. Whether or not cutting is in progress is determined from the motor load detected by, and the desynchronization position is designated based on the coordinate value at the time when the determination transitions from cutting to non-cutting.

The synchronous controller in the numerical controller according to the next invention stores the coordinate position of the synchronous axis at the time when the synchronous start signal during axis movement is input from the sequence circuit or the synchronous start position designated by the machining program, Synchronous axis deceleration start position calculating means for calculating the deceleration start position of the synchronous axis from the stored synchronous position or the synchronous start position as the synchronous release position, the synchronous release position, the axis feed speed, and the acceleration / deceleration characteristics, and the synchronous axis. Has reached the deceleration start position and has a synchronous axis deceleration start position determination means for performing signal processing for decelerating and stopping the synchronous axis.

In the synchronous controller in the numerical controller according to the present invention, the coordinate position of the synchronous axis at the time when the synchronous start signal during axis movement is input from the sequence circuit or the synchronous start position designated by the machining program is stored, and the synchronous start position is stored. The axis deceleration start position calculation means sets the stored coordinate position or synchronization start position as the synchronization release position, and calculates the deceleration start position of the synchronous axis from the synchronization release position, the axis feed speed, and the acceleration / deceleration characteristics. When the synchronous axis reaches the calculated deceleration start position, the synchronous axis deceleration start position determination means performs signal processing for decelerating and stopping the synchronous axis.

The synchronous controller in the numerical controller according to the next invention temporarily cancels the synchronous control during axis movement to continue the movement of the reference axis when the synchronous axis stops due to an alarm such as a stroke end, and thereafter. When the synchronization condition is satisfied again, it has a synchronization temporary cancellation command means for issuing a command to restart the synchronization control during axis movement.

In the synchronous controller in the numerical controller according to the present invention, when the synchronous axis is stopped due to an alarm such as a stroke end, the synchronous temporary cancel command means temporarily cancels the synchronous control during axis movement, and the reference axis Move continues. After that, when the synchronization condition is satisfied again, the synchronization control during axis movement is restarted.

In the synchronous controller in the numerical controller according to the next invention, the synchronous condition for restarting the synchronous control during axis movement is that the relative distance between the reference axis and the synchronous axis is equal to a predefined synchronous distance. There is something.

In the synchronous controller in the numerical controller according to the present invention, when the relative distance between the reference axis and the synchronous axis coincides with the predefined synchronous distance in the state where the synchronous control during the axis movement is temporarily released, Synchronous control is restarted during axis movement, assuming that the synchronous condition is satisfied again.

[0070]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. In the embodiments of the present invention described below, parts having the same configurations as those of the above-described conventional example are denoted by the same reference numerals as those of the above-described conventional example, and description thereof will be omitted.

(Embodiment 1) FIG. 1 shows Embodiment 1 of a numerical controller including a synchronous controller according to the present invention. In this numerical controller 1, the machining program analysis processing unit 10 has a machining program analysis unit 11 and an axis movement synchronous control mode command analysis unit 12 in addition to the interpolation processing unit 3.
0 to interpolation processing means 31 and reference axis / synchronous axis management means 32
In addition to the axis movement synchronous control mode switching means 33
Remaining distance command means 34 and moving axis stop confirmation means 35
And a synchronous axis deceleration command means 36, the machine control signal processing section 50, in addition to the machine control signal processing means 51, a synchronous control signal detecting means 52 during axis movement and a synchronous control completion signal output during axis movement. And means 53.

Synchronous control mode command analyzing means 12 during axis movement
Analyzes the axis movement synchronous control mode setting command and the axis movement synchronous control mode release command described in the machining program.

Synchronous control mode switching means 33 during axis movement
Is set by the analysis of the axis movement synchronous control mode setting command by the axis movement synchronous control mode command analysis means 12 to set the axis movement synchronous control mode that makes the acceleration / deceleration characteristics of the synchronous axis the same as the reference axis acceleration / deceleration characteristics. Then, by analyzing the synchronous movement mode release command during axis movement, the acceleration / deceleration characteristics of the synchronous axis are returned to the original acceleration / deceleration characteristics of the synchronous axis, and the normal mode is set.

The remaining distance commanding means shaft 34, in the moving synchronous control mode, is an axial moving synchronous control signal detecting means 52.
Calculates the remaining distance of the reference axis at the time of detecting the synchronizing start signal during axis movement, and uses the remaining distance as the position command of the synchronizing axis.

The moving axis stop confirmation means 35 confirms the stop of the moving axis, here the reference axis and the synchronous axis.

The synchronous axis deceleration command means 36 issues a command to decelerate and stop the synchronous axis by inputting a sync release signal during axis movement.

The axis movement synchronizing control signal detecting means 52 detects the axis movement synchronizing start signal and the axis movement synchronizing release signal from the ladder circuit section 55.

Synchronous control completion signal output means 53 during axis movement
Determines the completion of synchronization by confirming the stop of the reference axis and the synchronous axis by the moving axis stop confirmation means 35, and outputs an axis movement synchronization control completion signal to the ladder circuit unit 55.

Next, the operation of the first embodiment will be described. Also in this embodiment, the second part of the machine tool shown in FIG.
The X-axis (X2) of the system is the synchronization axis, and the X-axis (X
Consider synchronous control with 1) as a reference axis. 2 shows an example of the first system machining program and the second system machining program in the first embodiment, and FIG. 3 shows a ladder circuit forming a sequence circuit unit.

First, the synchronous control mode setting routine during axis movement will be described with reference to FIG.

The axis to be synchronously controlled is specified by the synchronous program mode command "G128" during axis movement in the machining program.
Follow the axis specification description. In the machining program shown in FIG. 2, “G128X1 = X2”, where X1 represents the X axis of the first system and X2 represents the X axis of the second system. The left side of "=" in this axis specification description is the synchronization axis,
The right side represents the reference axis. This command is analyzed by the synchronous control mode command analysis means 12 during axis movement, and the analysis result is passed to the interpolation processing section 30 (step S10).

Next, from the analysis result of the synchronous control mode command analyzing means 12 during axis movement, the reference axis / synchronous axis managing means 32 is provided.
However, the reference axis and the synchronous axis are the X axis of the first system and the X axis of the second system.
Check if the axes are parallel axes (step S)
11). If it is not a combination that can be controlled synchronously, an alarm process is performed (step S14), and the process ends.

In the case of a combination capable of synchronous control, the synchronous control mode switching means 33 during axis movement reads out the positional relationship between the reference axis and the machine coordinate of the sync axis stored in the memory 20, and determines the machine of the sync axis. Interpolation processing means 31 for calculating the position or work coordinate value in the coordinate system of the reference axis
(Step S12).

Also, the axis movement synchronous control mode switching means 33 accelerates / decelerates the constant axis of the selected synchronous axis and acceleration / deceleration patterns such as linear acceleration / deceleration and exponential function acceleration / deceleration with the acceleration / deceleration time constant of the reference axis. Switch to deceleration pattern (step S1
3).

In this specification, the acceleration / deceleration time constant and the acceleration / deceleration pattern are collectively called acceleration / deceleration characteristics.

In the sequence control routine by the ladder circuit section 55 shown in FIG. 5, when the designated axis passes through the commanded position, the function of a position switch for outputting an external signal determined is used as a reference. The synchronization start position of the axis is set in the machine control signal processing unit 50 (step S901).

Whether or not the reference axis has passed the synchronous control start position is checked by an output signal from the machine control signal processing means 51 (step S902). If it has not passed, the processing is terminated, and if it has passed, the machine control signal processing unit 50 outputs the synchronization start signal "Y300" during axis movement of FIG.
(Step S903).

FIG. 6 shows a start processing routine for synchronous control during axis movement. In this start processing routine, first, a synchronization start signal “Y30 during axis movement” from the ladder circuit unit 55 is sent.
0 "is determined by the axis movement synchronous control signal detecting means 52 of the machine control signal processing unit 50 (step S20).

If the axis moving synchronization start signal "Y300" is not detected, the process is terminated, and if the axis moving synchronization start signal "Y300" is detected, the stop confirmation of the axis control unit 60 corresponding to the reference axis is confirmed. The stop of the reference axis is confirmed by the means 62 (step S21). If the reference axis is stopped, the stop confirmation means 62 of the axis control unit 60 corresponding to the synchronous axis confirms the stop of the synchronous axis (step S22).

If the synchronous axis is also stopped, when the reference axis / synchronous axis managing means 32 receives a command for the reference axis from the machining program analyzing means 11, the interpolation processing section 30 causes the axis control section 60 of the reference axis to operate. It also instructs the axis control unit 60 of the synchronous axis to output the interpolation data to be output, and notifies the synchronous control completion signal output means 53 during the axis movement to establish the synchronous control. Upon receipt of the synchronization control establishment notification from the reference axis / synchronous axis managing means 32, the axis movement synchronization control completion signal output means 53 outputs the axis movement synchronization completion signal “X280” of FIG. 3 to the ladder circuit section 55. Yes (step S29). This is called synchronization establishment processing.

On the other hand, if the synchronous axis is not stopped, it means that the synchronous axis is moving, alarm processing is performed (step S30), and the processing is terminated.

If the reference axis is not stopped, it is confirmed that the synchronous axis is stopped (step S23). If the synchronous axis is not stopped, alarm processing is performed (step S30).
The process ends.

When the reference axis is moving and the synchronous axis is stopped, the remaining distance command means 34 of the interpolation processing unit 30 determines the distance (remaining distance) from the current mechanical position of the moving reference axis to the command block end point. Distance) is calculated (step S24), and the remaining distance command means 34 uses the calculation result as a position command to interpolate processing means 3
Then, the interpolation processing means 31 outputs the interpolation data to the axis control unit 60 corresponding to the synchronous axis (step S25).

Next, the acceleration / deceleration processing means 61 of the axis control unit 60 corresponding to the synchronous axis processes the interpolation data, and the axis movement amount output circuit 70 outputs a servo movement command to the servo control unit 80 corresponding to the synchronous axis. Send as (step S2
6). Thereby, the servo control unit 80 corresponding to the synchronous axis drives the servo motor 90 corresponding to the synchronous axis according to the servo movement command (step S27).

Next, the moving axis stop confirmation means 35 corresponds to the reference axis and the synchronous axis, and the stop confirmation means 6 of the axis control section 60.
From 2 confirm the stop of the reference axis and the synchronous axis (step S2
8) When the stop confirmation is made, the synchronization is completed, and the synchronization establishment process is performed (step S30).

FIG. 7 shows a movement command processing routine in the synchronous control mode during axis movement. In this processing routine,
When a movement command is issued to the reference axis, such as a machining program movement command “G0X1.0;”, the interpolation processing unit 3
0 is the acceleration / deceleration processing means 6 of the axis control unit 60 corresponding to the reference axis.
1 and acceleration / deceleration processing means 6 of the axis control unit 60 corresponding to the synchronous axis
The interpolation data is output to 1. Each of the acceleration / deceleration processing means 61 sends the same servo movement command to the servo control unit 80 serving as the reference axis and the servo control unit 80 serving as the synchronous axis (step S40). As a result, the servo control units 80 corresponding to the reference axis and the synchronous axis drive the servo motors 90 corresponding to the reference axis and the synchronous axis, respectively.

Next, the synchronization release control will be described. FIG.
In the sequence control routine by the ladder circuit section 55 shown in, the position of the reference axis is released by using the function of the position switch that outputs to the external signal determined when the specified axis passes the commanded position. Is set in the machine control signal processing unit 50 (step S910).

Next, it is checked by the output signal from the machine control signal processing unit 50 whether or not the reference axis has passed the synchronous control release position (step S911). In this case, the machine control signal processing unit 5 outputs the synchronization release signal “Y301” during axis movement in FIG.
It is output to 0 (step S912).

FIG. 9 shows a synchronization release processing routine during axis movement. In this processing routine, the axis movement synchronization release signal "Y301" from the ladder circuit section 55 is determined by the axis movement synchronization control signal detecting means 52 of the machine control signal processing section 50 (step S50).

If the axis moving synchronization release signal "Y301" is not detected, the processing is terminated. If the axis moving synchronization release signal "Y301" is detected, the axis moving synchronization control completion signal output means 53 causes the axis to move. Synchronization control completion signal during movement "X28
0 "is turned off (step S51). Further, in response to a synchronization release request from the synchronous control completion signal output means 53 during axis movement, the synchronous axis deceleration command means 36 causes the axis control section 6 corresponding to the synchronous axis.
The interpolation processing means 31 is instructed to output a command for decelerating and stopping the synchronous axis in accordance with the acceleration / deceleration time constant of the reference axis and the acceleration / deceleration pattern for 0. Thereby, the axis control unit 60 corresponding to the synchronous axis decelerates and stops the synchronous axis according to the instruction from the interpolation processing means 31 (step S52).

FIG. 10 shows a routine for releasing the synchronous control mode during axis movement. In this release routine, in the machining program, the synchronous control mode release command "G12 during axis movement" is issued.
8X2; "(step S60). The command is analyzed by the axis movement synchronous control mode command analysis means 12, and the analysis means 12 passes the analysis result to the interpolation processing section 30.

Synchronous control mode command analyzing means 12 during axis movement
Based on the analysis result of 3, the synchronous control mode switching means 3 during axis movement
3 returns the acceleration / deceleration pattern and acceleration / deceleration time constant of the synchronous axis that had been switched to the acceleration / deceleration pattern and acceleration / deceleration time constant of the reference axis to the original acceleration / deceleration pattern and acceleration / deceleration time constant of the original synchronous axis. The calculation of the machine position or the work coordinate value is returned from the coordinate system of the reference axis to the coordinate system of the synchronous axis (step S6).
1).

(Embodiment 2) FIG. 11 shows Embodiment 2 of a numerical controller including a synchronous controller according to the present invention. In FIG. 11, the portions corresponding to those in FIG. 1 are designated by the same reference numerals as those in FIG. 1 and their description is omitted.

In the second embodiment, in addition to the first embodiment, the interpolation processing section 30 is provided with a moving axis detecting means 37 and a reference axis / synchronous axis determining means 38.

The moving axis detecting means 37 detects the moving axis among the movable axes to be controlled synchronously designated by the machining program, when the axis moving synchronization start signal is inputted from the ladder circuit section 55. .

The reference axis / synchronous axis determination means 38 determines from the result of the movement axis detection by the movement axis detection means 37 that the moving axis is the reference axis and the stopped axis is the synchronization axis.

Next, the operation of the second embodiment will be described. In this embodiment as well, the second part of the machine tool shown in FIG. 46 is used.
The X-axis (X2) of the system is the synchronization axis, and the X-axis (X
Consider synchronous control with 1) as a reference axis. Note that FIG. 12 shows an example of the first-system machining program and the second-system machining program according to the second embodiment.

The axis to be synchronously controlled is specified by the axis specification description following the synchronous control mode command "G128" during axis movement of the machining program. In this case, the axis designation is "X1,
The designation of the reference axis and the synchronous axis is performed undefined, such as "X2".

This command is analyzed by the synchronous control mode command analyzing means 12 during axis movement, and the analysis result is passed to the interpolation processing section 30. Synchronous control mode command analysis means 12 during axis movement
The reference axis / synchronous axis management means 32 checks from the analysis result by the above-mentioned whether the synchronous control target axis is a parallel axis such as the X axis of the first system and the X axis of the second system.

Synchronous control mode switching means 33 during axis movement
Reads out the positional relationship between the commanded machine coordinates of both axes stored in the memory 20, and outputs the command “G128X1, X
"2;" instructs the interpolation processing means 31 to calculate the machine position or the work coordinate value of the left side axis (here, the X1 axis) in the coordinate system of the right side axis (here, the X2 axis), and also the left side axis. The acceleration / deceleration time constant and the acceleration / deceleration pattern such as linear acceleration / deceleration and exponential function acceleration / deceleration are switched to the acceleration / deceleration time constant and the acceleration / deceleration pattern of the right axis.

FIG. 13 shows a start processing routine for synchronous control during axis movement in the second embodiment. In this start processing routine, first, the axis movement synchronization control signal "Y300" from the ladder circuit section 55 is determined by the axis movement synchronization control signal detection means 52 of the machine control signal processing section 50 (step S70).

When the axis movement synchronizing start signal "Y300" is detected, the moving axis detecting means 37 reads the analysis result of the axis movement synchronizing control mode command, that is, the two axes which are candidates for the reference axis and the synchronizing axis. After that, the axis control unit 60 for the specified axis
From the stop confirmation means 62, it is determined whether or not the axis is moving (step S71). If both specified axes are moving, alarm processing is executed (step S8).
0), the process ends.

When neither of the two designated axes is moving (when there is a stopped axis), the moving axis detecting means 37 checks whether or not the designated two axes are both stopped (step S72). ). When both of the two axes are stopped, a synchronization establishment process is performed (step S79).

On the other hand, when one axis is moving and the other axis is stopped, the reference axis / synchronization axis determination means 38 synchronizes the stopped axis with the moving axis as the reference axis. It is determined to be an axis (step S73).

Thereafter, as in the case of the first embodiment, the remaining distance command means 34 of the interpolation processing section 30 calculates the distance (remaining distance) from the current mechanical position of the moving reference axis to the command block end point. (Step S74), the remaining distance command means 34 uses the calculation result as a position command for the interpolation processing means 31.
Then, the interpolation processing means 31 outputs the interpolation data to the axis control unit 60 corresponding to the synchronous axis (step S75).

Next, interpolation data is processed by the acceleration / deceleration processing means 61 of the axis control unit 60 corresponding to the synchronous axis, and the interpolation data is processed by the axis movement amount output circuit 70 to the servo control unit 80 corresponding to the synchronous axis. Send as (step S7
6). As a result, the servo control unit 80 corresponding to the synchronous axis drives the servo motor 90 corresponding to the synchronous axis according to the servo position command (step S77).

Next, the moving axis stop confirmation means 35 corresponds to the reference axis and the synchronous axis, and the stop confirmation means 6 of the axis control section 60.
From 2 confirm the stop of the reference axis and the synchronous axis (step S7
8) Then, upon confirmation of this stop, the synchronization is completed and the synchronization establishment process is performed (step S79).

The movement command processing routine, the axis-moving synchronization releasing processing routine, and the axis-moving synchronizing control mode releasing routine in the axis-moving synchronous control mode are performed in the same manner as in the first embodiment.

14 (a) and 14 (b) show an automatic lathe which is a type of machine tool. In FIGS. 14A and 14B, reference numeral 730 denotes a machine housing and W denotes a work. The work W is one long metal material.

In the automatic lathe, one long work W is rotated by a front spindle (not shown), the work W is further moved from right to left in the figure, and the work W is turned by a tool 735. Further, it is a machine tool that processes parts by cutting the work W using a not-shown cutting tool.

Turret 731 supporting tool 735
Usually has a shape of a hexagonal prism or an octagonal prism, and a tool is attached to each side surface of the prism. The tool is selected by dividing the turret 731 by 60 ° or 45 ° and positioning it. Also the rear headstock 7
A tool 734 and a back main spindle 733 are attached to 32. The back spindle 733 rotates at the same number of revolutions as the work W, grips the work W, cuts the work W with a not-shown cut-off tool, and positions the tool 741.
It is used when the tool 741 is used for secondary processing such as drilling of the cut surface of the cut work W.

The coordinate system of an automatic lathe is usually shown in FIG.
As shown in (a) and (b), the Z axis is taken in the horizontal direction and the X axis is taken in the vertical direction. In FIGS. 14A and 14B, both the turret 731 and the back headstock 732 are movable in the X-axis and Z-axis directions. Here, the turret 731 is defined as the first system, and the back spindle stock 732 is defined as the second system.

When the turret 731 moves in the direction in which the rear headstock 732 exists due to a programming error, the turret 731 may collide with the rear headstock 732.
Further, when the rear headstock 732 moves in the direction in which the turret 731 exists due to a programming error, the rear headstock 7
32 may collide with the turret 731.

Therefore, the synchronization start positions Son1, Son2
Is set and the turret 731 has passed the synchronization start position Son1, or the rear headstock 732 is set to the synchronization start position S1.
When the signal passes through on2, the turret 731 is input by inputting the synchronization start signal during axis movement from the ladder circuit unit 55.
The rear headstock 732 moves in synchronism with the turret 731 even when the rear headstock 732 approaches the turret 731.
And the rear headstock 732 do not collide with each other. Further, even if the rear headstock 732 approaches the turret 731, the turret 7
Since 31 moves in synchronization with the back spindle 732, the turret 731 and the back spindle 732 do not collide.
Due to these things, the turret 731 and the rear headstock 73
It is possible to prevent the two from colliding with each other.

(Third Embodiment) FIG. 15 shows a third embodiment of a numerical controller including a synchronous controller according to the present invention. In addition, in FIG. 15, the portions corresponding to those in FIG. 1 are denoted by the same reference numerals as those in FIG. 1, and the description thereof will be omitted.

In the third embodiment, in addition to the machining program analyzing means 11 in the machining program analyzing processing section 10, there is an axis moving synchronous control mode command analyzing means 12, and the interpolation processing section 30 has an interpolation processing means 31 and a reference. Axis / synchronous axis management means 3
In addition to 2, synchronous control mode switching means 33 during axis movement
A relative distance calculation means 40, a synchronous axis command means 41,
And a machine control signal processing unit 50 having a synchronization determination means 42.
In addition, in addition to the machine control signal processing means 51, there is provided a synchronous control completion signal output means 53 during axis movement. The servo control unit 80 for each axis includes a gain switching unit 81.

Synchronous control mode command analyzing means 12 during axis movement
Analyzes the axis movement synchronous control mode setting command and the axis movement synchronous control mode release command including the synchronization distance described in the machining program.

Synchronous control mode switching means 33 during axis movement
Is the same as the acceleration / deceleration characteristic and the servo control characteristic of the reference axis by the analysis of the axis movement synchronous control mode setting command by the axis movement synchronous control mode command analysis means 12. Set the synchronous control mode during axis movement and return the normal axis acceleration / deceleration characteristics and servo control characteristics of the synchronous axis to the normal mode by analyzing the synchronous movement mode release command during axis movement. .

The relative distance calculating means 40 calculates the relative distance between the current reference axis and the synchronous axis which are moving.

The synchronous axis command means 41 compares the synchronous distance designated by the machining program with the relative distance calculated by the relative distance calculating means 40 in the moving synchronous control mode, and the relative distance matches the synchronous distance. In that case, the same movement command as the movement command per unit time of the reference axis is output to the synchronous axis.

The synchronization determining means 42 is based on the time point when the total time of the time indicated by the acceleration / deceleration time constant of the synchronous axis and the time indicated by the reciprocal of the gain of the servo control system has elapsed from the time point when the relative distance matches the synchronization distance. Judge that the synchronization between the axis and the synchronization axis is complete.

Synchronous control completion signal output means 53 during axis movement
Turns on the synchronous control completion signal during axis movement of the ladder circuit section 55 by the notification of the completion of synchronization determined by the synchronization determination means 42.

Next, the operation of the third embodiment will be described. 16 shows an example of the machining program of the first system in the third embodiment, and FIG. 17 shows a speed acceleration / deceleration pattern of the movable shaft.

First, the synchronous control mode setting routine during axis movement will be described with reference to FIG.

The axis to be synchronously controlled is specified by the synchronous program mode command "G128" during axis movement in the machining program.
Follow the axis specification description. In the machining program shown in FIG. 18, "G128X1 = X2", X1 represents the X axis of the first system, and X2 represents the X axis of the second system. The left side of “=” in the axis designation description represents the synchronization axis, and the right side represents the reference axis. In this case, the X axis of the first system is the reference axis, and the X axis of the second system is the synchronization axis.
“P” designates an interval when the synchronous axis moves in synchronization with the reference axis, that is, a synchronous distance. "P5.000" indicates that the synchronization distance is 5 mm (step S
90). In the following description, this synchronization distance may be referred to as Dset.

Information that the command is analyzed by the synchronous control mode command analyzing means 12 during axis movement, and that the X axis (X2) of the second system is the synchronous axis and the X axis (X1) of the first system is the reference axis. And the synchronization distance are stored in the memory 20.

Next, the reference axis / synchronous axis managing means 32
The data relating to the synchronous control mode command stored in the memory 20 is read to check whether the reference axis and the synchronous axis are parallel axes such as the X axis of the first system and the X axis of the second system (step S91). . If it is not a combination that can be synchronously controlled, an alarm process is performed (step S94), and the process ends.

In the case of a combination in which synchronous control is possible, the synchronous control mode switching means 33 during axis movement is synchronized with the reference axis (in this case, the X axis of the first system) and the synchronous axis (in this case, the X axis of the second system). ) Information is read from the memory 20, and the positional relationship between the reference axis and the machine coordinate of the synchronous axis stored in the memory 20 in advance is read, and the machine position of the synchronous axis or the work coordinate value is calculated in the coordinate system of the reference axis The interpolation processing means 31 is instructed to do so (step S92).

As shown in FIG. 17, the time required for the movable shaft to accelerate or decelerate to the commanded speed, that is, the time constants Ta and Tb, and the speed to which the movable shaft is commanded are set. The acceleration / deceleration pattern for accelerating or decelerating (the linear acceleration / deceleration pattern in FIG. 17) and the gain of the servo control unit 80 for driving the servo motor 90 are controlled by the synchronous control mode switching means 33 during axis movement based on the synchronous axis. Switch to the axis type (step S93).

Regarding gain switching, the synchronous control mode switching means 33 during axis movement confirms the stop of the reference axis and the synchronous axis and issues a gain switching command to the corresponding servo control section 80. The gain switching means 81 switches the gain of the servo control unit 80 of the synchronous axis to the same gain as the gain of the servo control unit 80 of the reference axis by the command. With this series of operations, preparations for synchronous control during axis movement are completed. At this time, neither the reference axis nor the synchronous axis moves.

Next, the operation from the start of synchronization to the moving reference axis to the completion of synchronization will be described with reference to FIGS. 19 and 20.

Synchronous control mode switching means 33 during axis movement
In response to the completion notification of switching of the time constant and the like from, the relative distance calculation means 40 reads out the command machine positions of the reference axis and the synchronous axis from the interpolation processing means 31, and the distance between the reference axis (X1) and the synchronous axis (X2), That is, the calculation of the relative distance D is started (step S100).

This calculation is performed as follows. An offset between the machine coordinate origin of the first system and the machine coordinate origin of the second system is defined in advance and this information is stored in the memory 20. Figure 2
1 shows an offset OF of the mechanical coordinate origin of the first system X-axis (X1) and the mechanical coordinate origin of the second system X-axis (X2). In the case of FIG. 21, the relative distance D is calculated by the following formula.

Relative distance D = X1 x-X2 x + OF where X1 x is the mechanical position of the reference axis (X1) and X2 x is the mechanical position of the synchronous axis (X2).

The relative distance D thus calculated is passed to the synchronous axis command means 41.

The synchronous axis command means 41 reads the synchronous distance Dset stored in the memory 20 and compares it with the relative distance D calculated by the relative distance calculation means 40 (step S10).
1). If D ≦ Dset is not satisfied, that is, if the relative distance D is greater than the synchronization distance Dset, the process returns to step S100 to calculate the relative distance D.

In the machining program shown in FIG. 16, when the movement command "G0X12.0;" for the direction approaching the synchronous axis with respect to the reference axis (X axis of the first system) is executed,
As shown in FIG. 20A, the interpolation processing means 31 outputs a movement command Mst per unit time to the acceleration / deceleration processing means 61 for the reference axis. Reference axis acceleration / deceleration processing means 61
Calculates a movement command Mast that gradually increases in accordance with a predetermined acceleration / deceleration pattern in order to suppress a shock or machine vibration to the machine with respect to the movement command per unit time from the interpolation processing means 31. In the case of FIG. 20 (a),
It is a linear acceleration / deceleration pattern with a time constant Tst. This acceleration / deceleration pattern is not limited to the linear acceleration / deceleration pattern, and may be another pattern.

The movement command Mast per unit time calculated by the acceleration / deceleration processing means 61 is the axis movement amount output circuit 7.
A servo movement command is output via 0 to the servo control unit 80 of the reference axis. The servo control unit 80 drives the servo motor 90 in accordance with the servo movement command to move the reference axis.

The actual servomotor 90 is shown in FIG.
Movement command M per unit time from the interpolation processing means 31 of
With respect to st, as shown in FIG. 20 (b), the movement as shown by the locus Ast occurs due to the delay due to acceleration / deceleration and the tracking delay of the servo motor, and the unit time from the interpolation processing means 31. It follows the hit movement command Mst with a delay Lst. This tracking delay L
st is calculated as follows.

Delay due to acceleration / deceleration Last = (axis feed speed Vst / acceleration / deceleration time constant Tst) / 2 Servo motor following delay Lmst = axis feed speed Vst /
Gain of servo control unit Gsst Tracking delay Lst = Last + Lmst When D ≦ Dset (affirmative in step S101) and D ≧ Dset (affirmative in step S102) due to movement of the reference axis, that is, when relative distance D = synchronous distance Dset, synchronization is achieved. The axis command means 41 reads the movement command per unit time for the synchronous axis of the interpolation processing means 31 and determines whether or not the synchronous axis is stopped (step S103). If the synchronous axis is moving, Perform alarm processing (step S
107) and ends the process. It should be noted that when D ≦ Dset (Yes at step S101), the relative distance D is already the synchronization distance Dset when the axis movement synchronous control mode command is issued.
If it is smaller than (NO at step S102), the alarm process is executed (step S107), and the process ends.

If the synchronous axis is stopped, the synchronous axis command means 41 then commands the interpolation processing means 31 to output a movement command of the reference axis per unit time to the synchronous axis (step S104). . The interpolation processing means 31 receives the command from the synchronous axis command means 41 and outputs the same movement command as the movement command per unit time of the reference axis to the acceleration / deceleration processing means 61 of the synchronous axis. That is, the movement command Mst = Msy in FIG. 20C is output to the acceleration / deceleration processing means 61.

At this time, the positions of the reference axis and the synchronous axis in the servo motor 90 are separated by the sum of the synchronous distance Dset and the tracking delay Lst shown in FIGS. 20 (a) and 20 (b). However, after the servomotor 90 for the synchronous axis completes acceleration, the reference axis and the synchronous axis move while maintaining the synchronous distance Dset commanded by the synchronous control mode command during axis movement. This will be explained below.

The acceleration / deceleration processing means 61 for the synchronous axis responds to the movement command Msy per unit time from the interpolation processing means 31 in accordance with a pre-designated acceleration / deceleration pattern in order to suppress shock or mechanical vibration to the machine.
Is calculated. At this time, delay due to acceleration / deceleration Lasy =
(Speed Vsy / acceleration / deceleration time constant Tsy) / 2 occurs, but when the synchronous control mode command during axis movement is issued, the acceleration / deceleration pattern and acceleration / deceleration time constant of the synchronous axis are switched to those of the reference axis. Also, since the same movement command (speed) per unit time as the reference axis is output to the synchronous axis, the speed Vs
t = speed Vsy, acceleration / deceleration time constant Tst = acceleration / deceleration time constant T
At sy, the delay Last due to acceleration / deceleration of the reference axis and the delay Lasy due to acceleration / deceleration of the synchronous axis are equal to each other.

The movement command Masy per unit time calculated by the acceleration / deceleration processing means 61 is the axis movement amount output circuit 7.
A servo movement command is output to the synchronous axis servo control unit 80 via 0. At this time, in the synchronous axis as well as in the case of the reference axis, the tracking delay of the servo motor Lmy = speed V
The gain Gssy of the sy / servo control unit occurs, but when the synchronous control mode command during axis movement is commanded, the gain Gssy of the servo control unit is the gain Gs of the servo control unit of the reference axis.
Since it is switched to st, and the same movement command (speed) per unit time as the reference axis is output to the synchronous axis, the speed Vst = speed Vsy, the gain Gsst of the reference axis servo control unit = synchronous axis servo control. Since the gain is Gssy, the tracking delay Lmst of the reference axis servo motor and the tracking delay Lmsy of the synchronous axis servo motor are equal to each other.

From the above, the tracking delay Lst of the reference axis and the tracking delay Lsy of the synchronous axis are equal to each other.

Accordingly, when the acceleration of the synchronous axis is completed, the distance D between the reference axis and the servo motor of the synchronous axis becomes equal to the synchronous distance Dset when the movement command of the reference axis per unit time is started to the synchronous axis. That is, if the time constant of the synchronous axis, the acceleration / deceleration pattern, and the gain of the servo control unit are set to be the same as those of the reference axis in the synchronous movement mode command during axis movement, the reference axis and the synchronous axis that the interpolation processing means 31 has. When the distance of the command machine position, that is, the relative distance D becomes equal to the synchronization distance Dset, the axis movement is performed only by starting to output the movement command per unit time of the reference axis of the interpolation processing means 31 to the synchronization axis. Medium synchronization control can be realized.

The synchronization judgment means 42 is the synchronization axis command means 41.
From the time when the interpolating means 31 is instructed to output a movement command of the reference axis per unit time to the synchronous axis, in other words, from the time when the relative distance D matches the synchronous distance and Dseti, the synchronous axis accelerates. Time to complete (Ts + T
g) is counted, and when the time (Ts + Tg) has elapsed, the completion of synchronization between the reference axis and the synchronization axis is determined (step S105).

Here, time Ts is the acceleration / deceleration time constant of the reference axis (synchronous axis), Tg is the reciprocal of the gain of the servo control section 80 of the reference axis (synchronous axis), and the servo motor 90 is near the speed commanded. It represents the time until. When counting the time (Ts + Tg) until the acceleration of the synchronous axis is completed, the synchronization determination means 42 notifies the synchronization control completion signal output means 53 during axis movement of the completion of synchronization.

22. When the synchronization control completion signal output means 53 during axis movement receives the synchronization completion notification from the synchronization determination means 42, FIG.
The synchronous control completion signal "X280" during axis movement of the ladder circuit section 55 shown in (1) is turned on (step S106).
Thereby, the ladder circuit unit 55 can know the completion of the synchronous control during the axis movement, and can detect the completion of the synchronous control during the axis movement and execute another mechanical operation or the like.

In addition, in the third embodiment, the synchronous movement canceling process during axis movement and the synchronous control mode canceling during axial movement are performed in the first embodiment.
It can be carried out in the same manner as in the case of.

23 (a) and 23 (b) are block diagrams of an automatic lathe which is a type of machine tool. Since the structure of this automatic lathe is the same as that of the automatic lathe shown in FIGS. 14A and 14B, the description thereof will be omitted.

As shown in FIG. 23 (a), the turret 731 is provided on the rear headstock 732 in order to perform turning.
While the rear headstock 732 is positioned at the position where it collides with the turret 73 due to a programming error.
1 is positioned near the work W, the turret 731
May collide with the back headstock 732.

Therefore, with the X-axis of the turret 731, that is, the X-axis of the first system as the reference axis, the X-axis of the rear headstock 732,
That is, if the X-axis of the second system is used as the synchronous axis and the synchronous distance Dset is designated in advance by the synchronous control mode command during axis movement, the turret 731 will cause the work W to move due to a programming error.
Even when the turret 731 moves toward the rear turret 732 even when it approaches the rear headstock 732, the rear turret 732 moves in synchronization with the movement of the turret 731 in the X-axis. Can be prevented.

As shown in FIG. 23B, when the tool 739 longer than the tool 735 selected in FIG. 23A is selected, when the tool 739 is selected, 23A, the synchronization distance Dset in FIG.
If a longer synchronous distance Dset is specified by the synchronous control mode command during axis movement, it is possible to prevent the turret 731 from colliding with the rear headstock 732 as in the case of FIG. .

As described above, the synchronous distance Dset is designated by the synchronous control mode command during axis movement according to the selected tool, so that even if there is a programming error, the turret 731 and the back spindle 732 can be easily operated. Collisions can be avoided.

Moreover, as shown in FIG.
In the machining program of No. 6, “G128X3 = X1P8.0
By adding the command line of "00;", in addition to the synchronous control of the X1 reference axis and the X2 synchronization axis, the X1 (X3) of the third system is used as the synchronization axis and the synchronization distance is increased. 8 mm
The synchronous control can be performed as. That is, 2 on the reference axis
It is possible to synchronously control one or more synchronous axes.

The synchronous control operation by this machining program will be described with reference to FIGS. 25 (a) to 25 (c).

With the X axis (X1) of the first system as the reference axis, the second axis
Synchronous distance 5mm with the X axis (X2) of the system as the first synchronous axis
Synchronous control mode command during axis movement of "G128X2 = X1P
5.000; ", and a synchronous control mode command during axis movement for a synchronous distance of 8 mm with the X axis (X1) of the first system as the reference axis and the X axis (X3) of the third system as the second synchronous axis. G128X
3 = X1P 8.000; ”.

Then, a movement command "G0X1" is issued to the reference axis.
2.0; ", and the reference axis X1 is moved toward the synchronous axes X2 and X3 as shown in FIG. 25 (a). In FIGS. 25 (a) to 25 (c), A is the reference axis X1
Shows the synchronization distance (5 mm) between the first synchronization axis X2 and B, and B shows the synchronization distance (8 mm) between the reference axis X1 and the second synchronization axis X3.

Next, as shown in FIG. 25 (b),
When the reference axis X1 approaches the first synchronization axis X2, the first synchronization axis X2 starts synchronization with the reference axis X1 according to the operation described in the flowchart of FIG. 19, and moves while maintaining the synchronization distance A.

Further, as shown in FIG. 25 (c), when the reference axis X1 approaches the second synchronous axis X3, the second synchronous axis X3 also follows the operation equivalent to the operation described in the flowchart of FIG. The synchronization is started with respect to the reference axis X1, and the movement is performed while keeping the synchronization distance B.

In this way, two or more synchronous axes can be synchronously controlled with respect to the reference axis.

In FIGS. 25A to 25C, E
Indicates the end point position of the movement command “G0X12.0;” with respect to the reference axis X1.

(Embodiment 4) FIG. 26 shows Embodiment 4 of the numerical controller including the synchronous controller according to the present invention. 26, the parts corresponding to those in FIG. 1 are designated by the same reference numerals as those in FIG. 1, and the description thereof will be omitted.

In this embodiment, a synchronous axis deceleration start position calculation means 44 and a synchronous axis deceleration start position determination means 45 are added to the interpolation processing section 30 in the first embodiment.

The synchronous axis deceleration start position calculating means 44 calculates the deceleration start position of the synchronous axis from the specified synchronization release position, the axis feed speed, and the acceleration / deceleration characteristics. In this embodiment, the sync release position is specified by the machining program by describing the sync release position with the code "R" in the machining program shown in FIG.

The synchronous axis deceleration start position determination means 45 determines that the synchronous axis has reached the deceleration start position calculated by the synchronous axis deceleration start position calculation means 44, and performs signal processing for decelerating and stopping the synchronous axis.

Next, the operation of the fourth embodiment will be described. Also in this embodiment, it is considered that the X axis (X2) of the second system is used as the synchronization axis and the X axis (X1) of the first system is used as the reference axis for synchronous control.

First, the synchronous control mode setting routine during axis movement will be described with reference to FIG.

As shown in the machining program of FIG. 27, the designation of the axis to be synchronously controlled and the synchronous release position are controlled by the synchronous control mode command “G128X2 = X1 during axis movement”.
R10.00; ”is used to instruct (step S11
0). "G128" is the synchronous control mode command during axis movement,
"X2" is the X axis of the second system, and "X1" is the X axis of the first system.
The axis represents the axis, the left side of = represents the synchronization axis, and the right side represents the reference axis. Also, the numerical value following "R" represents the position where the synchronization is released.

This command is analyzed by the synchronous control mode command analyzing means 12 during axis movement, and the analysis result is interpolated by the interpolation processing unit 30.
Pass to. The synchronization release position designated by the machining program is registered in the memory 20. The desynchronization position corresponds to the position Rc in FIG.

Next, based on the analysis result of the synchronous control mode command analyzing means 12 during axis movement, the reference axis / synchronous axis managing means 32 is provided.
However, the reference axis and the synchronous axis are the X axis of the first system and the X axis of the second system.
Check if the axes are parallel axes (step S)
111). If it is not a combination that can be controlled synchronously, alarm processing is performed (step S115), and the processing ends.

In the case of a combination capable of synchronous control, the synchronous control mode switching means 33 during axis movement reads the positional relationship between the reference axis and the machine coordinate of the sync axis stored in the memory 20, and determines the machine of the sync axis. Interpolation processing means 31 for calculating the position or work coordinate value in the coordinate system of the reference axis
(Step S112).

Further, the axis movement synchronous control mode switching means 33 accelerates / decelerates the constant axis of the selected synchronous axis and acceleration / deceleration patterns such as linear acceleration / deceleration and exponential function acceleration / deceleration with the acceleration / deceleration time constant of the reference axis. Switch to deceleration pattern (step S1
13).

Next, the axis movement synchronous control mode command analysis means 12 registers the synchronization release position in the memory 20 (step S114), and the processing is terminated. The synchronization release position registered in the memory 20 is the synchronization release position designated by the machining program, and corresponds to the X-axis coordinate value indicating the position Rc in FIG.

Next, with reference to FIG. 29, a synchronization release control routine in this embodiment will be described.

First, the synchronous axis deceleration start position calculation means 44 reads out the synchronous release position Rc stored in the memory 20 (step S120).

Next, the synchronous axis deceleration start position calculation means 44.
Calculates the deceleration start position Rds from the synchronous axis feed speed V, the acceleration / deceleration time constant Ts, and the acceleration / deceleration pattern (step S121). For example, in the case of the linear acceleration / deceleration pattern as shown in FIG. 31, the stop distance Dstop can be calculated by (feed speed V / acceleration / deceleration time constant Ts) / 2. In addition, the stop distance Dstop and the synchronization release position R
From c, the deceleration start position Rds can be calculated by the synchronization release position Rs ± stop distance Dstop. ± is determined by the moving direction of the synchronous axis.

Next, the synchronous axis deceleration start position determination means 45.
Reads the machine position or workpiece coordinate value of the synchronous axis from the axis control unit 60, and checks whether the synchronous axis reaches the deceleration start position Rds (step S122).

As shown in FIG. 30 (2) from the state of FIG. 30 (1), when the synchronous axis X2 axially moves and reaches the deceleration start position Rds, the synchronous shaft deceleration start position determination means 45 is operated. It instructs the axis movement synchronous control completion signal output means 53 to turn off the axis movement synchronous control completion signal.
Receiving the command, the axis moving synchronous control completion signal output means 53 turns off the axis moving synchronous control completion signal (step S1).
23).

When the synchronous axis X2 axially moves and reaches the deceleration start position Rds, the synchronous axis deceleration start position determination means 45.
Issues a stop command to the axis control unit 60 of the synchronous axis (step S124). Thereby, the axis control unit 60 for the synchronous axis X2
Decelerates the synchronous axis X2 in accordance with the acceleration / deceleration time constant of the synchronous axis X2 and the acceleration / deceleration pattern, and the synchronous axis X2 stops exactly at the designated desynchronization position Rc as shown in FIG. 30 (3). To do.

32 (a) and 32 (b) are configuration diagrams of an automatic lathe, which is the same as that described in the first embodiment. Taking this machine tool as an example, if the synchronization release position is specified at the position of the synchronization release position Rc workpiece Wk radius + α (small value), when the synchronization control is released, it is shown in FIG. 32 (b). As described above, the retracted position of the turret or the like can always be set to a position close to the work W, and when the turret next processes the work W, the approach time (air cut time) to the work W can be shortened. The cycle time can be shortened.

The synchronization release control routine according to the fourth embodiment can be similarly applied to that of the third embodiment.

(Embodiment 5) FIG. 33 shows Embodiment 5 of a numerical controller including a synchronous controller according to the present invention. In addition, in FIG. 33, the portions corresponding to those in FIG. 26 are denoted by the same reference numerals as those in FIG. 26, and the description thereof will be omitted.

In the fifth embodiment, in addition to the components of the fourth embodiment, a cutting determination means 46 is added to the interpolation processing section 30. Further, the numerical controller 1 includes a motor current detecting means (motor load detecting means) 8 provided in the servo control section 80.
It has a servo control unit data input unit 71 for taking in a motor current (motor load) detected by the control unit 2.

The cutting determination means 46 determines whether or not cutting is in progress based on the cutting command described in the machining program and the motor current detected by the motor current detection means 82.

The synchronous axis deceleration start position calculating means 44 designates the synchronization releasing position based on the coordinate value at the time when the determination of the cutting determining means 46 changes from the state of cutting to the state of non-cutting. From the axis feed rate and acceleration / deceleration characteristics,
Calculate the deceleration start position of the synchronous axis.

The feature of the fifth embodiment is that the fourth embodiment is different.
Then, instead of designating the synchronization release position by the machining program, the synchronization release position is automatically updated to the optimum position based on the cutting state of a specific cutting machine.

Next, the operation of the fifth embodiment will be described. First, the cutting operation of the automatic lathe to which the fifth embodiment is applied will be described with reference to FIGS. 34 (a) and 34 (b). The automatic lathe rotates one long work W on the front spindle 765,
Further, the work W is moved from right to left in the figure, and the work W is turned by the tool 735 of the holder 762.

The coordinate system of this automatic lathe is usually shown in FIG.
As shown in (a) and (b), the Z axis is taken in the horizontal direction and the X axis is taken in the vertical direction. The holder 762 has a structure that moves only in the X-axis direction.
The structure is such that it can move in the axial and Z-axis directions. Here, the holder 762 is defined as the first system, and the rear headstock 732 is defined as the second system.

Next, the routine for updating (setting) the synchronization release position in the fifth embodiment will be described with reference to FIG. In this processing routine, the cutting determination means 46 first reads the program analysis result of the machining program analysis means 11 and checks whether or not the movable axis set in advance by the parameter setting part 21 is executing the cutting command (step). S130). Here, the movable axis set by the parameter setting unit 21 is the Z1 axis of the first system in FIG. If the cutting command is not being executed, the process ends.

When the cutting command is being executed, the cutting judging means 46 stores the load current value (motor current setting value Iset) of the movable axis preset in the parameter setting section 21 in the memory 2.
It is read from 0 (step S131). Here, the movable axes set by the parameter setting unit 21 are the front main spindle in FIG. 34 and the X1 axis and Z1 axis of the first system.

Next, the actual motor current value of the movable axis set by the parameter setting section 21 is read (step S
132). The reading of the motor current value is performed as follows.

First, when the power is turned on, the cutting determination means 46 causes the servo control section data input section 71 to move to the front spindle and the first spindle.
A command is issued to read the motor current value from the X1 axis and Z1 axis servo control units 80 of the system. The servo control unit data input unit 71 receives a command from the cutting determination unit 46 and sends the motor current value to the motor current detection unit 82 of the designated servo control unit 80 at the intervals designated in advance by parameters or the like. The input unit 71 is instructed to transmit. The motor current detection means 81 receives the command and calculates the motor current average value at a designated interval. This motor current average value indicates the motor load.

Now, the reading of the motor load (motor current) will be described with reference to FIG. In FIG. 36, t indicates the interval at which the motor current is read out, and this sampling interval t is specified in advance by a parameter or the like. Further, Im1 and Im2 represent actual motor current average values at the designated sampling intervals t, respectively. The motor current average value Im2 is larger than the motor current average value Im1 before the start of cutting because the cutting is started.

As described above, the motor current detecting means 82 calculates the motor load (motor current average value) at a constant reading interval, and outputs the motor current average value Imn at the interval designated by the parameter or the like. 71. The cutting determination unit 46 is a servo control unit data input unit 71.
The motor current average value (motor load) input to is read.

Then, the motor current average value Imn and the memory 2 given by the cutting determination means 46 from the servo controller 80 are stored.
The motor current setting value Iset read from 0 is compared (step S133).

If Imn> Iset, the cutting determination means 46 reads the work coordinate value from the axis control unit 60 for the X1 axis and Z1 axis as the current machine position of the specified movable axis, here the X1 axis and Z1 axis. , Is registered in the memory 20 (step S134).

The work coordinate value is a coordinate value in a coordinate system in which a specific point of the work W is set as the origin. Since it is very difficult to program a machining program for cutting the work W with the machine coordinate values that the machine has uniquely, the numerical controller 1 uses the specific point of the work W as the origin in order to facilitate the programming. It has a fixed coordinate system.

When Imn> Iset is not satisfied,
The memory registration and update of this work coordinate value is not performed.

Next, the cutting determination means 46 reads the program analysis result of the machining program analysis means 11 and Z1
It is checked whether the axis is executing a cutting command (step S135). If the cutting command is being executed, the process returns to step S132.

If execution of the cutting command has been completed, the cutting determination means 46 causes the X1 axis and Z1 registered in the memory 20.
The synchronization release position is calculated from the work coordinate value of the axis (step S136).

Calculation of the synchronization release position will be described with reference to FIG. When the work coordinate values of the X1 axis and the Z1 axis registered in step S134 described above are plotted on the basis of the Z1 axis, a line P is obtained, which represents the work shape after cutting. If the current position of the Z1 axis is determined, the work radius after cutting, that is, the X1 axis coordinate value of the cutting surface can be calculated. The X1-axis coordinate value of the cutting surface calculated here is compared with the work radius ra before cutting, and when the X1-axis coordinate value of the cutting surface is larger than the work radius ra before cutting, the X1-axis coordinate value of the cutting surface. Is replaced with the work radius ra before cutting. That is, X of the cutting surface
A check is performed so that the uniaxial coordinate value does not become larger than the work radius ra before cutting.

The cutting determination means 46, for example, the Z1 axis is R
When positioned at the za position, X1 of the cutting surface
The axis coordinate value Xa is calculated, and when the Z1 axis is positioned at the Rzb position, the X1 axis coordinate value Xb of the cutting surface is calculated.

The sync release position Rc is calculated as follows in order to avoid the tool from colliding with the cutting surface during the sync release.

Desynchronization position Rc = (calculated X1 axis coordinate value) + (value set in advance in parameter) Alternatively, when the Z1 axis is moving, in order to prevent the tool from colliding with the cutting surface, The synchronization release position Rc is calculated as the work radius value before cutting.

The synchronization releasing operation including the deceleration start position calculation based on the synchronization releasing position Rc is the same as that of the fourth embodiment.

In this embodiment, as shown in FIG. 34B, when the work radius is reduced by cutting, the synchronization release position Rc is determined based on the work radius after cutting.
34 (a) before cutting, the synchronization release position Rc in FIG. 34 (a) becomes the synchronization release position Rc in FIG. 34 (b). That is, when the synchronization is released, the tool 7
35 is positioned near the work W. Therefore, when the work W is processed next, the approach time to the work W can be further shortened in conformity with the processing situation of the work W as compared with the case of the fourth embodiment.

The synchronization release position updating (setting) processing routine according to the fifth embodiment can be similarly applied to the third embodiment in combination with the synchronization release control routine according to the fourth embodiment.

(Sixth Embodiment) FIG. 38 shows a sixth embodiment of a numerical controller including a synchronous controller according to the present invention. Note that, also in FIG. 38, portions corresponding to those in FIG. 26 are denoted by the same reference numerals as those in FIG. 26, and description thereof will be omitted.

In the sixth embodiment, in addition to that of the fourth embodiment, a synchronization axis movement start position storage means 47 is added to the interpolation processing section 30.

The synchronous axis movement start position storage means 47 writes in the memory 20 the coordinate position of the synchronous axis at the time when the axis movement synchronization start signal is input from the ladder circuit section 55 or the synchronization start position designated by the machining program. Perform processing.

The synchronous axis deceleration start position calculating means 44 calculates from the coordinate position or the synchronous start position of the synchronous axis at the time of inputting the synchronous start signal during the axis movement stored in the memory 20, the axis feed speed, and the acceleration / deceleration characteristic. Calculate the deceleration start position of the synchronous axis.

In this embodiment, when the synchronous axis that is moving synchronously reaches the synchronous axis movement start position again, the synchronization is released.

Next, the start processing routine of the synchronous control during axis movement in the sixth embodiment will be described with reference to FIG. In this start processing routine, first, the axis movement synchronization start signal from the ladder circuit section 55 is determined by the axis movement synchronization control signal detecting means 52 of the machine control signal processing section 50 (step S140).

If the synchronization start signal during axis movement is not detected, the process is terminated, and if the synchronization start signal during axis movement is detected, the stop confirmation means 62 of the axis control unit 60 corresponding to the reference axis is detected.
Confirms that the reference axis has stopped (step S14)
1). If the reference axis is stopped, the stop confirmation means 62 of the axis control unit 60 corresponding to the synchronous axis confirms the stop of the synchronous axis (step S142).

If the synchronous axis is also stopped, the synchronous axis movement start position storage means 47 stores the current value of the synchronous axis in the memory 20 as the synchronous release position (step S143), and the synchronous establishment process is performed (step S151). .

On the other hand, if the synchronous axis is not stopped, it means that the synchronous axis is moving, alarm processing is performed (step S152), and the processing is terminated.

If the reference axis is not stopped, it is confirmed that the synchronous axis is stopped (step S144). If the synchronous axis is not stopped, alarm processing is performed (step S15).
2), the process ends.

When the reference axis is moving and the synchronous axis is stopped, the synchronous axis movement start position storage means 47 stores the current value of the synchronous axis in the memory 20 as the synchronous release position (step S145).

Next, the remaining distance command means 34 of the interpolation processing section 30 calculates the distance (remaining distance) from the current machine position of the moving reference axis to the command block end point (step S14).
6), the remaining distance command means 34 passes the calculation result as a position command to the interpolation processing means 31, and the interpolation processing means 31 outputs the interpolation data to the axis control unit 60 corresponding to the synchronous axis (step S147).

Next, the acceleration / deceleration processing means 61 of the axis control unit 60 corresponding to the synchronous axis processes the interpolation data, and the axis movement amount output circuit 70 outputs a servo movement command to the servo control unit 80 corresponding to the synchronous axis. Send as (step S14
8). As a result, the servo control unit 80 corresponding to the synchronous axis drives the servo motor 90 corresponding to the synchronous axis according to the servo movement command (step S149).

Next, the moving axis stop confirmation means 35 corresponds to the reference axis and the synchronous axis, and the stop confirmation means 6 of the axis control section 60.
From 2 confirm the stop of the reference axis and the synchronous axis (step S15
0), with this stop confirmation, the synchronization is completed, and the synchronization establishment process is performed (step S151).

The synchronization releasing operation including the deceleration start position calculation based on the synchronization releasing position is the same as that in the fourth embodiment.

FIG. 40 is an explanatory diagram of the absolute position command and the incremental position command. X0p is the program origin of X2 axis, Xn
Indicates the current position of the X2 axis, and Xe indicates the end point position for positioning with the next movement command.

There are two types of movement commands in numerical control.
One is the absolute position command Cab and the other is the incremental position command Cadd. The absolute position command Cab specifies the distance from the program origin X0p, and in FIG. 40, the absolute position command Cab is represented by the end point position Xe-the program origin X0p. The incremental position command Cadd commands the difference from the current position Xn of the axis to the target position. In FIG. 40, the incremental position command Cadd is the end position X.
e-Represented by the current position Xn.

For example, when the current position Xn of the X2 axis in FIG. 40 is deviated to Xn ', the absolute position command C
If it is ab, it is possible to perform the positioning at the end point position Xe without difficulty, but in the case of the incremental position command Cadd, the end point position Xe becomes the position of Xe ′. Therefore, in the incremental position command Cadd, when the position of the X2 axis is displaced, the position thereafter is left displaced.

Therefore, in the synchronous control during axis movement, when the synchronous release position of the synchronous axis is different from the synchronous start position and when the incremental position command is used for positioning the synchronous axis,
There is a possibility that the position of the synchronization axis will shift after the synchronization is released. In this embodiment, since the synchronous axis is desynchronized at the position where the synchronous axis starts to synchronize, the synchronous control during axis movement can be used even in a machining program that only has an incremental position command.

The setting of the synchronization release position according to the sixth embodiment can be similarly applied to that of the third embodiment.

(Embodiment 7) FIG. 41 shows Embodiment 7 of the numerical controller including the synchronous controller according to the present invention. Note that, in FIG. 41, portions corresponding to those in FIG. 15 are denoted by the same reference numerals as those in FIG. 15, and description thereof will be omitted.

In this embodiment, in addition to that of the third embodiment, the interpolation processing unit 30 is provided with a synchronization temporary cancel command means 4.
8 and a relative distance recalculation means 49 are added.

The temporary synchronization cancel command means 48 temporarily cancels the synchronous control during axis movement to continue the movement of the reference axis when the synchronous axis stops due to an alarm such as a stroke end, and then the synchronous condition is satisfied again. In this case, a command to restart the synchronous control during axis movement is issued.

The synchronization condition for restarting the synchronization control during axis movement in this case is that the relative distance between the reference axis and the synchronization axis matches the predefined synchronization distance.

The relative distance recalculating means 49 can calculate the relative distance between the reference axis and the synchronous axis after the start of synchronization is restarted.

Next, the operation of the sixth embodiment will be described. FIG.
2 is an explanatory diagram of the synchronization temporary release / restart operation. FIG. 42
In (1) to (4), Mend represents the limit on the machine configuration, that is, the machine end. The numerical controller 1 has a function of preventing the movable shaft from colliding with the machine end Mend. The position at which the movable shaft is decelerated and stopped to prevent collision is called the sloak end, and Send corresponds to this in the example of FIG. 42. Stroke end Se
nd is normally set at a position several mm before the machine end Mend, and is preset by a parameter or the like.

First, the temporary synchronization canceling operation will be described with reference to FIG. In addition, in this synchronization temporary release operation,
The synchronization axis X2 and the reference axis X1 will be described under the assumption that they are already in the synchronization control state according to the synchronization start operation of the third embodiment.

The interpolation processing means 31 checks whether or not the next command to the synchronous axis acceleration / deceleration processing means 61 exceeds the stroke end Send (step S160). FIG.
As shown in 2 (1), when the position of the synchronous axis X2 is in front of the stroke end Send, the processing is ended and the synchronous control is continued.

As shown in FIG. 42 (2), when the position of the synchronous shaft X2 reaches or exceeds the stroke end Send, conventionally, both the synchronous shaft and the reference shaft are decelerated and stopped. Although the alarm processing is performed and the analysis interruption is instructed to the machining program analysis means 11, in this embodiment, the synchronization temporary cancellation command means 48 decelerates and stops only the synchronization axis X2 with respect to the interpolation processing means 31. , And instructs the machining program analysis means 11 not to give an instruction to suspend the analysis (step S161).

Next, the synchronization temporary cancellation command means 48 instructs the axis movement in-motion synchronization control completion signal output means 53 to turn off the axis movement in-sync control completion signal. The synchronous control completion signal output means 53 during axis movement is the temporary synchronization cancellation command means 48.
Then, the synchronous control completion signal during axis movement is turned off by the command from (step S162).

Further, the interpolation processing means 31 receives a command from the temporary synchronization cancellation command means 48 and outputs a deceleration stop command to the acceleration / deceleration processing means 61 for the synchronous axis X2, and the acceleration / deceleration processing means 61 for the reference axis X1. The command is continued for (step S163).

As a result, the synchronous axis acceleration / deceleration processing means 61
Sends a servo movement command to the servo control section 80 for the synchronous axis via the axis movement amount output circuit 70 to decelerate and stop the synchronous axis. Therefore, as shown in FIG. 42 (2),
Even when the synchronous axis X2 stops at the stroke end Send, the reference axis X1 does not stop and can enter within the synchronous distance Dset to continue the movement.

Next, the synchronization start / restart operation after the synchronization is temporarily released will be described with reference to FIG.

First, the relative distance recalculating means 49 determines the synchronization axis X.
The second stop position is read and the stop position is confirmed (step S170).

Reading the stop position is performed as follows. In order to confirm the actual stop position of the synchronous axis X2, the relative distance recalculating means 49 instructs the axis control unit 60 corresponding to the synchronous axis X2 to read the feedback position of the servo motor 90. The axis control unit 60 receives an instruction from the relative distance recalculation unit 49, the servo control unit 80 corresponding to the synchronous axis X2 reads the feedback position of the servomotor 90, notifies the relative distance recalculation unit 49, and stops. Read position.

Next, the relative distance recalculating means 49 calculates the relative distance D between the reference axis X1 and the synchronous axis X2 by the same method as the relative distance calculating method carried out by the relative distance calculating means 40 in the third embodiment (step). S171).

Next, the relative distance D calculated by the relative distance recalculating means 49 is a value Dmi preset by parameters or the like.
The synchronization temporary cancellation command means 48 checks whether it is smaller than n (step S172).

If the relative distance D is smaller than the set value Dmin, the synchronization temporary cancellation command means 48 causes the reference axis X1 and the synchronization axis X to be released.
2 is determined to collide, and the interpolation processing means 31 determines the reference axis X.
Instruct to stop 1. In this case, the interpolation processing means 31 outputs a deceleration stop command to the acceleration / deceleration processing means 61 corresponding to the reference axis X1 in response to an instruction from the temporary synchronization cancellation command means 48. As a result, the acceleration / deceleration processing means 61 corresponding to the reference axis X1 sends a servo movement command to the servo control unit 80 of the reference axis X1 via the axis movement amount output circuit 70, and decelerates and stops the reference axis (step S178). After this, alarm processing is performed (step S179), and the processing ends.

If the relative distance D is not smaller than the set value Dmin, the synchronization temporary cancel command means 48 compares the relative distance D calculated by the relative distance recalculation means 49 with the synchronization distance Dset (step S173). If the relative distance D is smaller than the synchronization distance Dset, the relative distance D is recalculated in step S171, and step S172 is repeated.

When the relative distance D is equal to or larger than the synchronization distance Dset (Yes at step S173), the temporary synchronization cancellation command means 48 compares relative distance D ≦ synchronization distance Dset (step S174). Relative distance D is synchronization distance D
If it is larger than set, alarm processing is performed (step S179), and the processing ends.

If the relative distance D is equal to the synchronization distance Dset (Yes at step S174), the synchronization temporary cancellation command means 48 issues an alarm cancellation instruction to the interpolation processing means 31 and restarts the synchronization control. To do.

As a result, the synchronous axis command means 41 commands the interpolation processing means 31 to output a movement command of the reference axis per unit time to the synchronous axis (step S17).
5). The interpolation processing means 31 receives the command from the synchronous axis command means 41 and outputs the same movement command as the movement command per unit time of the reference axis to the acceleration / deceleration processing means 61 of the synchronous axis (step S175).

The synchronization judgment means 42 is the synchronization axis command means 41.
From the time when the interpolation processing means 31 is instructed to output a movement command of the reference axis per unit time to the synchronous axis, in other words, from when the relative distance D matches the synchronous distance and Dseti, Time to complete acceleration (Ts +
Tg) is counted, and when the time (Ts + Tg) has elapsed, it is determined whether the reference axis and the synchronization axis have been synchronized (step S176).

[0263] The time (Ts +
After counting Tg), the synchronization determination means 42 notifies the synchronization completion signal output means 53 during axis movement of the completion of synchronization.

The axis moving synchronization control completion signal output means 53 receives the synchronization completion notification from the synchronization determination means 43 and turns on the axis movement synchronization control completion signal of the ladder circuit section 55 (step S177).

Therefore, in this embodiment, during synchronous control during axis movement, even if the synchronous axis stops due to an alarm such as a stroke end due to a machining program error, the reference axis continues to move without stopping, and the reference axis continues to move. When the synchronization condition of the synchronous axis is satisfied, the reference axis and the synchronous axis can restart synchronous control during axis movement.

[0266]

As is apparent from the above description, in the synchronization control method in the numerical control device according to the present invention, the remaining distance of the reference axis at the time of detecting the synchronization start signal during axis movement from the sequence circuit is set as the synchronization axis. The synchronous axis that is stopped can be synchronized with the moving reference axis by inputting a command to the synchronous axis.The synchronous release signal is input from the sequence circuit during axis movement, or the synchronous axis moves to the deceleration start position. Even when the reference axis is moving, the synchronous axis can be stopped and the synchronous control can be released, so that the machining cycle time can be shortened.

Also, even if the turret or the like approaches the rear headstock, etc. Since the headstock moves in synchronization with the turret, the turret does not collide with the rear headstock, and this collision can be avoided.

In the synchronous control method for the numerical controller according to the next invention, among the movable axes to be synchronously controlled, which are designated by the machining program, the moving axes are moving at the time when the synchronous start signal is input from the sequence circuit. The axis of 1 is automatically determined as the reference axis, and the stopped axis is automatically determined as the synchronization axis, and the reference axis and the synchronization axis are set accurately and accurately according to the situation.

Further, since synchronous control is performed with the moving movable axis as a reference axis, when there are two interfering objects such as a turret,
Interference can be avoided in both cases where one turret approaches the other turret and when the other turret approaches the one turret.

In the synchronous control method in the numerical controller according to the next invention, when the synchronous control mode command during axis movement is analyzed, when the relative distance and the synchronous distance match, the synchronous axis accelerates or decelerates with the reference axis. By starting the movement with the same acceleration / deceleration characteristics and servo control characteristics as the characteristics and servo control characteristics, the synchronous axis synchronizes with the moving reference axis, and after synchronization is complete, the synchronous axis keeps the synchronous distance with respect to the reference axis. When the synchronous axis is moved while the axis is moving, the sync release signal is input from the sequence circuit or the synchronous axis moves to the deceleration start position, the synchronous axis starts decelerating and the synchronous axis is stopped even if the reference axis is moving. Since you can cancel the synchronous control,
The processing cycle time can be shortened.

Further, since the synchronous control can be performed during the axis movement by the synchronous distance, it is easy to avoid the interference between the two turrets even if there is a programming error only by setting the synchronous distance corresponding to the length of the selected tool. Can be done.

In the synchronous control method in the numerical controller according to the next invention, the determination of the completion of synchronization between the reference axis and the synchronous axis is made from the time point when the relative distance and the synchronous distance coincide with each other, the time indicated by the acceleration / deceleration time constant of the synchronous axis. And the time indicated by the reciprocal of the gain of the servo control system, the time measurement is performed at the time when the total time has elapsed, so there is no need for complicated measuring means such as complete simultaneous velocity measurement of two axes, The synchronization completion of can be determined.

In the synchronous control method for the numerical controller according to the next invention, the deceleration start position of the synchronous axis is calculated from the specified desynchronization position, axis feed speed and acceleration / deceleration characteristic, and the synchronous axis is set to the deceleration start position. By decelerating the synchronous axis when it reaches, the synchronous axis can be exactly stopped at the specified synchronous release position.

Since the synchronization release position can be designated, if the synchronization release position is set to a position close to the work radius, the turret or the like can be brought to a position close to the work when the synchronization control is released during axis movement. When the turret processes a work, the approach time to the work can be shortened. Also, by setting the synchronization release position in front of the interfering object, even if the reference axis during synchronization control accidentally approaches the interfering object, the synchronous axis will stop in front of the interfering object so that the synchronous axis collides with the interfering object. Can be prevented.

In the synchronization control method in the numerical controller according to the next invention, the synchronization release position can be arbitrarily designated by the description of the machining program.

In the synchronous control method for the numerical controller according to the next invention, it is judged whether or not cutting is in progress based on the cutting command described in the machining program and the detected motor load. Specify the sync release position based on the coordinate values at the time of transition during cutting. As a result, the desynchronization position is automatically corrected and set according to the cutting start position for each cutting command, so when the work radius becomes smaller by cutting, the work radius after cutting corresponding to the positioned work position is used as the basis. Since the synchronization release position is updated, the tool can be automatically brought to a position close to the work when the synchronization control during axis movement is released. Therefore, when the turret next processes the work, the approach time to the work can be shortened.

In the synchronous control method in the numerical controller according to the next invention, the coordinate position of the synchronous axis at the time when the synchronous start signal during axis movement is input from the sequence circuit or the synchronous start position designated by the machining program is It is automatically set to the sync release position, the deceleration start position of the sync axis is calculated from this sync release position, axis feed speed, and acceleration / deceleration characteristics, and the sync axis is decelerated when the sync axis reaches the deceleration start position. Since the synchronous axis stops at the synchronous release position, the synchronous control during axis movement can be used in the machining program for the incremental position command.

In the synchronous control method in the numerical controller according to the next invention, when the synchronous axis stops due to an alarm such as stroke end, the synchronous control is temporarily released during the axis movement to continue the movement of the reference axis. After that, when the synchronization condition is satisfied again, the synchronous control during axis movement is restarted and the synchronous axis moves in synchronization with the reference axis, so even if the synchronous axis stops due to an alarm such as stroke end due to a mistake in the machining program. The reference axis continues to move without stopping, and when the conditions for synchronizing the reference axis and the synchronization axis are satisfied, the reference axis and the synchronization axis can restart the synchronization control during axis movement. Therefore, it is possible to reduce the probability that machining will stop due to a mistake in the machining program, etc., and at the same time, to increase the movement range of the reference axis during synchronous control during axis movement, so the machining range will be larger than in the conventional technology. .

In the synchronous control method in the numerical controller according to the next invention, when the relative distance between the reference axis and the synchronous axis coincides with the predefined synchronous distance, it is considered that the synchronous condition is reestablished, and the synchronous movement during axis movement is performed. Since the control is restarted, the synchronous axis can move again while maintaining the synchronous distance with respect to the reference axis.

In the synchronous controller in the numerical controller according to the next invention, the reference of the moving axis is instructed by instructing the synchronous axis of the remaining distance of the reference axis at the time of detecting the synchronous start signal during the axis moving from the sequence circuit. It is possible to synchronize the stopped synchronous axis with the axis, input the sync release signal during axis movement from the sequence circuit, or move the synchronous axis to the deceleration start position to start decelerating the synchronous axis and move the reference axis. Since the synchronous axis can be stopped and the synchronous control can be canceled even in the middle, the cycle time of machining can be shortened.

In the synchronous controller in the numerical controller according to the next invention, since the synchronous axis deceleration command means issues a command to decelerate and stop the synchronous axis by inputting the sync release signal during axis movement from the sequence circuit, the turret and the like are When the turret approaches the rear headstock, etc., the rear headstock moves in synchronization with the turret by inputting the synchronization start signal from the sequence circuit during axis movement when the turret and rear surface have passed. The headstock does not collide, and this collision can be avoided.

In the synchronous controller in the numerical controller according to the next invention, the movable axis detecting means inputs the synchronous start signal during axis movement from the sequence circuit among the movable axes to be synchronously controlled which are designated by the machining program. At that time
The axis that is moving is detected, and the reference axis / synchronous axis determination means determines that the axis that is moving is the reference axis and the axis that is stopped is the synchronization axis from the movement axis detection result by the movement axis detection means, and synchronizes with the reference axis. Since the axis and the synchronous axis are automatically set, the reference axis and the synchronous axis can be accurately set depending on the situation.

Further, since synchronous control is performed with the moving movable axis as the reference axis, when there are two interfering objects such as a turret,
Interference can be avoided in both cases where one turret approaches the other turret and when the other turret approaches the one turret.

In the synchronous controller in the numerical controller according to the next invention, when the synchronous control mode command during axis movement is analyzed, when the relative distance and the synchronous distance match, the synchronous axis accelerates / decelerates with the reference axis. By starting the movement with the same acceleration / deceleration characteristics and servo control characteristics as the characteristics and servo control characteristics, the synchronous axis synchronizes with the moving reference axis, and after synchronization is complete, the synchronous axis keeps the synchronous distance with respect to the reference axis. When the synchronous axis is moved while the axis is moving, the sync release signal is input from the sequence circuit or the synchronous axis moves to the deceleration start position, the synchronous axis starts decelerating and the synchronous axis is stopped even if the reference axis is moving. Since you can cancel the synchronous control,
The processing cycle time can be shortened.

Also, since synchronous control can be performed during axis movement with the synchronous distance, it is easy to avoid interference between two turrets even if there is a programming error, simply by setting the synchronous distance corresponding to the length of the selected tool. Can be done.

In the synchronous controller in the numerical controller according to the next invention, the reciprocal of the time indicated by the acceleration / deceleration time constant of the synchronous axis and the gain of the servo control system from the time point when the relative distance coincides with the synchronous distance by the synchronous determination means. When the total time with the time indicated by is elapsed, the completion of synchronization between the reference axis and the synchronous axis is determined, and based on this determination of completion of synchronization, the axis movement synchronization control completion signal output means controls the axis circuit during axis movement synchronization. Since the completion signal is turned on, it is possible to determine the completion of synchronization between the reference axis and the synchronization axis without requiring a complicated measuring means such as complete simultaneous velocity measurement of the two axes.

In the synchronous controller in the numerical controller according to the next invention, the synchronous axis deceleration start position calculating means calculates the deceleration start position of the synchronous axis from the specified desynchronization position, axis feed speed and acceleration / deceleration characteristic, When the synchronous axis deceleration start position determination means determines that the synchronous axis has reached the deceleration start position, signal processing for decelerating and stopping the synchronous axis is performed. Therefore, the synchronous axis is exactly stopped at the specified desynchronization position. Can be made.

Since the synchronization release position can be designated, if the synchronization release position is set to a position close to the work radius, the turret or the like can be brought to a position close to the work when the synchronization control is released during axis movement. When the turret processes a work, the approach time to the work can be shortened. Also, by setting the synchronization release position in front of the interfering object, even if the reference axis during synchronization control accidentally approaches the interfering object, the synchronous axis will stop in front of the interfering object so that the synchronous axis collides with the interfering object. Can be prevented.

In the synchronization control device of the numerical control device according to the next invention, the synchronization release position can be arbitrarily designated by the description of the machining program.

In the synchronous controller in the numerical controller according to the next invention, the motor load detecting means detects the motor load from the current value of the shaft motor, and the cutting determining means detects the cutting command and the motor load described in the machining program. Whether or not cutting is in progress is determined based on the motor load detected by the detection means, and the synchronization release position is specified based on the coordinate value at the time when the determination transitions from cutting to non-cutting. The position is automatically set according to the cutting start position for each cutting command, and when the work radius becomes small by cutting, the synchronization release position is updated based on the work radius after cutting corresponding to the positioned work position. Therefore, when the synchronous control is released during the movement of the axis, the tool can be automatically brought to a position close to the work. Therefore,
Next, when the turret processes the work, the approach time to the work can be shortened.

In the synchronous controller in the numerical controller according to the next invention, the coordinate position of the synchronous axis at the time when the synchronous start signal during axis movement is input from the sequence circuit or the synchronous start position designated by the machining program is stored. The synchronous axis deceleration start position calculating means sets the stored coordinate position or synchronization start position as the synchronization release position, and calculates the deceleration start position of the synchronous axis from the synchronization release position, the axis feed speed, and the acceleration / deceleration characteristics. When the synchronous axis reaches the calculated deceleration start position, the synchronous axis deceleration start position determination means performs signal processing for decelerating and stopping the synchronous axis, so that the synchronous program during axis movement can be used even in the machining program for the incremental position command. .

In the synchronous controller in the numerical controller according to the next invention, when the synchronous axis is stopped by an alarm such as stroke end, the synchronous temporary cancel command means temporarily cancels the synchronous control during axis movement, The movement of the reference axis continues. After that, when the synchronization condition is satisfied again,
Since synchronous control is restarted during axis movement, even if the synchronous axis stops due to an alarm such as stroke end due to a mistake in the machining program, the reference axis continues to move without stopping, and the synchronous condition between the reference axis and the synchronous axis is When aligned, the reference axis and the synchronous axis can start synchronous control again during axis movement. Therefore, it is possible to reduce the probability that machining will stop due to a mistake in the machining program, etc., and at the same time, to increase the movement range of the reference axis during synchronous control during axis movement, so the machining range will be larger than in the conventional technology. .

In the synchronous controller in the numerical controller according to the next invention, the relative distance between the reference axis and the synchronous axis coincides with the predefined synchronous distance in the state where the synchronous control during the axis movement is temporarily released. Then, since the synchronous control is restarted while the axis is moving, assuming that the synchronous condition is reestablished, the synchronous axis can be moved again while maintaining the synchronous distance with respect to the reference axis.

[Brief description of drawings]

FIG. 1 is a block diagram showing a first embodiment of a numerical controller having a synchronization controller according to the present invention.

FIG. 2 is an explanatory diagram showing a description example of a machining program used in a numerical controller having a synchronous controller according to the present invention.

FIG. 3 is a diagram showing a description example of a ladder circuit used in a numerical controller having a synchronous controller according to the present invention.

FIG. 4 is a flowchart of a synchronous control mode setting process during axis movement according to the first embodiment.

FIG. 5 is a flowchart of a ladder process at the start of synchronous control during axis movement according to the first embodiment.

FIG. 6 is a flowchart of a process of starting synchronous control during axis movement according to the first embodiment.

FIG. 7 is a flowchart of an axis movement synchronization control process according to the first embodiment.

FIG. 8 is a flowchart of a ladder process when releasing synchronous control during axis movement according to the first embodiment.

FIG. 9 is a flowchart of a process of releasing synchronous control during axis movement according to the first embodiment.

FIG. 10 is a flowchart of a synchronous control mode release process during axis movement according to the first embodiment.

FIG. 11 is a block diagram showing a second embodiment of a numerical controller having a synchronization controller according to the present invention.

FIG. 12 is an explanatory diagram showing a description example of a machining program used in a numerical controller having a synchronous controller according to the present invention.

FIG. 13 is a flowchart of a process of starting synchronous control during axis movement according to the second embodiment.

14 (a) and 14 (b) are explanatory views showing a configuration of a machine tool to which the numerical control device having the synchronous control device according to the present invention is applied.

FIG. 15 is a block diagram showing a third embodiment of a numerical controller having a synchronization controller according to the present invention.

FIG. 16 is an explanatory diagram showing a description example of a machining program used in a numerical controller having a synchronous controller according to the present invention.

FIG. 17 is an explanatory diagram showing a speed acceleration / deceleration pattern of a movable shaft in a numerical controller having a synchronous controller according to the present invention.

FIG. 18 is a flowchart of an axis movement synchronization control mode setting process in the third embodiment.

FIG. 19 is a flowchart of a process of starting synchronous control during axis movement according to the third embodiment.

20A to 20D are relationship diagrams of time and speed (command speed and actual servo motor speed) of a reference axis and a synchronous axis.

FIG. 21 is a relationship diagram of machine coordinates of a reference axis and a synchronous axis.

FIG. 22 is an explanatory diagram showing a description example of a ladder circuit used in a numerical controller having a synchronous controller according to the present invention.

23 (a) and 23 (b) are explanatory views showing a configuration of a machine tool to which the numerical control device having the synchronous control device according to the present invention is applied.

FIG. 24 is an explanatory diagram showing another description example of the machining program used in the numerical controller having the synchronous controller according to the present invention.

FIG. 25 is an explanatory diagram of a synchronizing operation during axis movement according to the third embodiment.

FIG. 26 is a block diagram showing a fourth embodiment of a numerical controller having a synchronous controller according to the present invention.

FIG. 27 is an explanatory diagram showing a description example of a machining program used in the numerical controller having the synchronous controller according to the present invention.

FIG. 28 is a flowchart of an axis movement synchronous control mode setting process in the fourth embodiment.

FIG. 29 is a flowchart of a process of releasing synchronous control during axis movement according to the fourth embodiment.

30 (1) to (3) are explanatory views of a synchronizing operation during axis movement in the fourth embodiment.

FIG. 31 is an explanatory diagram of a stop distance calculation according to the fourth embodiment.

32 (a) and 32 (b) are explanatory views showing a configuration of a machine tool to which the numerical control device having the synchronous control device according to the present invention is applied.

FIG. 33 is a block diagram showing a fifth embodiment of a numerical controller having a synchronization controller according to the present invention.

34 (a) and 34 (b) are explanatory views showing a configuration of a machine tool to which the numerical control device having the synchronous control device according to the present invention is applied.

FIG. 35 is a flowchart of synchronization release position update in the fifth embodiment.

FIG. 36 is an explanatory diagram showing a change in motor current according to the fifth embodiment.

FIG. 37 is a plot diagram of sampling data according to the fifth embodiment.

FIG. 38 is a block diagram showing a sixth embodiment of a numerical controller having a synchronization controller according to the present invention.

FIG. 39 is a flowchart of a process of starting synchronous control during axis movement according to the sixth embodiment.

FIG. 40 is an explanatory diagram showing a difference between an absolute position command and an incremental position command of the numerical controller.

FIG. 41 is a block diagram showing a seventh embodiment of a numerical controller having a synchronization controller according to the present invention.

[FIG. 42] (1) to (4) are explanatory views of a temporary release of synchronous control during axis movement and a restart operation of synchronous control during axis movement in the seventh embodiment.

FIG. 43 is a flowchart of a synchronous control temporary release operation during axis movement in the seventh embodiment.

FIG. 44 is a flowchart of a process for restarting synchronous control during axis movement according to the seventh embodiment.

FIG. 45 is a block diagram showing a configuration of a conventional numerical control device.

FIG. 46 is an explanatory diagram showing a configuration of a movable shaft of a machine tool.

FIG. 47 is a diagram showing an example of a conventional synchronous control machining program description.

FIG. 48 is a flowchart of a synchronous control start process in the conventional numerical control device.

FIG. 49 is a flowchart of synchronous control cancellation processing in the conventional numerical control apparatus.

[Explanation of symbols]

1 numerical control device, 10 machining program analysis processing unit,
11 machining program analyzing means, 12 axis moving synchronous control mode command analyzing means, 20 memory, 21 parameter setting section, 22 screen display processing section, 30 interpolation processing section, 3
1 interpolation processing means, 32 reference axis / synchronous axis management means, 3
3 axis moving synchronous control mode switching means, 34 remaining distance commanding means, 35 moving axis stop confirming means, 36 synchronous axis deceleration commanding means, 37 moving axis detecting means, 38 reference axis /
Synchronous axis determination means, 40 relative distance calculation means, 41 synchronous axis command means, 42 synchronous determination means, 44 synchronous axis deceleration start position calculation means, 45 synchronous axis deceleration start position determination means,
46 cutting determination means, 47 synchronous axis movement start position storage means, 48 synchronous temporary cancellation command means, 49 relative distance recalculation means, 50 machine control signal processing section, 51 machine control signal processing section, 52 axis synchronous control signal detection Means, 53
Synchronous control completion signal output means during axis movement, 55 ladder circuit section, 60 axis control section, 61 acceleration / deceleration processing means, 62
Stop confirmation means, 70 axis movement output circuit, 71 servo control section data input section, 80 servo control section, 81 gain switching means, 82 motor current detection means, 90 servo motor

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[Procedure amendment]

[Submission date] March 27, 1996

[Procedure Amendment 1]

[Document name to be amended] Statement

[Correction target item name] 0004

[Correction method] Change

[Correction content]

In this numerical controller, the machining programs of each system read from a tape reader or the like are stored in the memory 20. When executing the machining program, the machining program is read from the memory 20 block by block and the machining program analysis processing unit 10 provided for each system is read.
The machining program is analyzed to calculate the end point position of each block. This end point position is processed by the interpolation processing means 31 of the interpolation processing unit 30 and distributed to the movement command per unit time of each movable axis.

[Procedure Amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0081

[Correction method] Change

[Correction content]

The axis to be synchronously controlled is specified by the synchronous program mode command "G128" during axis movement in the machining program.
Follow the axis specification description. In the machining program shown in FIG. 2, “G128X 2 = X 1 ”, where X1 represents the X axis of the first system and X2 represents the X axis of the second system. The left side of "=" in this axis specification description is the synchronization axis,
The right side represents the reference axis. This command is analyzed by the synchronous control mode command analysis means 12 during axis movement, and the analysis result is passed to the interpolation processing section 30 (step S10).

[Procedure 3]

[Document name to be amended] Statement

[Correction target item name] 0096

[Correction method] Change

[Correction content]

FIG. 7 shows a movement command processing routine in the synchronous control mode during axis movement. In this processing routine,
When a movement command is issued to the reference axis, such as a machining program movement command “G0X1.0;”, the interpolation processing unit 3
0 is the acceleration / deceleration processing means 6 of the axis control unit 60 corresponding to the reference axis.
1 and acceleration / deceleration processing means 6 of the axis control unit 60 corresponding to the synchronous axis
The interpolation data is output to 1. Each of the acceleration / deceleration processing means 61 sends the same servo movement command to the servo control unit 80 serving as the reference axis and the servo control unit 80 serving as the synchronous axis (step S40). As a result, the servo control units 80 corresponding to the reference axis and the synchronous axis drive the servo motors 90 corresponding to the reference axis and the synchronous axis, respectively (step S41) .

[Procedure amendment 4]

[Document name to be amended] Statement

[Name of item to be corrected] 0113

[Correction method] Change

[Correction content]

When neither of the two designated axes is moving (when there is a stopped axis), the moving axis detecting means 37 checks whether or not the designated two axes are both stopped (step S72). ). If both axes are stopped, G1
28X1 and X2 are based on the command axis on the right side, here X2
Synchronization establishment processing is performed as a quasi-axis (step S79).

[Procedure Amendment 5]

[Document name to be amended] Statement

[Name of item to be corrected] 0135

[Correction method] Change

[Correction content]

The axis to be synchronously controlled is specified by the synchronous program mode command "G128" during axis movement in the machining program.
Follow the axis specification description. In the machining program shown in FIG. 18, “G128X 2 = X 1 ”, where X1 represents the X axis of the first system and X2 represents the X axis of the second system. The left side of “=” in the axis designation description represents the synchronization axis, and the right side represents the reference axis. In this case, the X axis of the first system is the reference axis, and the X axis of the second system is the synchronization axis.
“P” designates an interval when the synchronous axis moves in synchronization with the reference axis, that is, a synchronous distance. "P5.000" indicates that the synchronization distance is 5 mm (step S
90). In the following description, this synchronization distance may be referred to as Dset.

[Procedure correction 6]

[Document name to be amended] Statement

[Correction target item name] 0139

[Correction method] Change

[Correction content]

As shown in FIG. 17, the time required for the movable axis to accelerate or decelerate to the commanded speed, that is, the time constant T a, or the movable axis accelerates to the commanded speed. Alternatively, the acceleration / deceleration pattern for deceleration (the linear acceleration / deceleration pattern in FIG. 17) and the gain of the servo control unit 80 for driving the servo motor 90 are controlled by the synchronous control mode switching means 33 while the axis is moving. (Step S93).

[Procedure Amendment 7]

[Document name to be amended] Statement

[Correction target item name] 0140

[Correction method] Change

[Correction content]

[0140] For the gain switching, the axis moves in synchronous control mode switching means 33 is check and gain switching instruction to stop the synchronization shaft, directs the corresponding servo control unit 80. The gain switching means 81 switches the gain of the servo control unit 80 of the synchronous axis to the same gain as the gain of the servo control unit 80 of the reference axis by the command. With this series of operations, preparations for synchronous control during axis movement are completed. In addition,
At this time, neither the reference axis nor the synchronous axis moves.

[Procedure Amendment 8]

[Document name to be amended] Statement

[Correction target item name] 0157

[Correction method] Change

[Correction content]

The synchronization judgment means 42 is the synchronization axis command means 41.
Time from the synchronization shaft but when you command to the interpolation processing unit 31 to output a motion command per unit time of the reference axis for synchronous shaft, the relative distance D in other words, matches the synchronous distance D se t Counts the time (Ts + Tg) until the acceleration is completed, and at the time when the time (Ts + Tg) elapses, the completion of synchronization between the reference axis and the synchronization axis is determined (step S1
05).

[Procedure Amendment 9]

[Document name to be amended] Statement

[Name of item to be corrected] 0216

[Correction method] Change

[Correction content]

Desynchronization position Rc = (calculated X1 axis coordinate value) + (value set in advance in parameter) Alternatively, when the Z1 axis is moving, in order to prevent the tool from colliding with the cutting surface, Sync release position Rc = ( workpiece radius value before cutting ) + ( value preset by parameter)
And calculate.

[Procedure Amendment 10]

[Document name to be amended] Statement

[Correction target item name] 0262

[Correction method] Change

[Correction content]

The synchronization judgment means 42 is the synchronization axis command means 41.
Or when the but when you command to the interpolation processing unit 31 to output a motion command per unit time of the reference axis for synchronous shaft, the relative distance D in other words, matches the synchronous distance D se t
Then, the time (Ts + Tg) until the synchronous axis completes acceleration is counted, and the completion of synchronization between the reference axis and the synchronous axis is determined when the time (Ts + Tg) elapses (step S1.
76).

[Procedure Amendment 11]

[Document name to be corrected] Drawing

[Name of item to be corrected] Fig. 12

[Correction method] Change

[Correction content]

[Fig. 12]

[Procedure Amendment 12]

[Document name to be corrected] Drawing

[Name of item to be corrected] Fig. 17

[Correction method] Change

[Correction content]

FIG. 17

Claims (21)

[Claims] 1. A synchronous control method in a numerical controller for synchronously controlling at least two movable axes, wherein one movable axis serves as a reference axis and at least one other movable axis serves as a synchronous axis. After analyzing the synchronous control mode command during axis movement, the remaining distance of the reference axis is calculated when the synchronization start signal during axis movement is detected from the sequence circuit under the movement of the reference axis The synchronous axis is moved by using the distance as the position command of the synchronous axis, the completion of synchronization is judged by stopping the reference axis and the synchronous axis, and the sequence circuit outputs a signal to release synchronization during axis movement, which means synchronization control release, or is designated. Until the synchronous axis moves to the deceleration start position determined by the sync release position, the reference axis and the synchronous axis are synchronously moved by the reference axis movement command, and the sequence circuit synchronizes during the axis movement. Synchronization control method in a numerical control device, characterized in that the input signals, or the synchronization shaft to the deceleration start position to start deceleration of the synchronous shaft by moving to release the synchronous control by stopping the synchronizing shaft. 2. Among the movable axes to be synchronously controlled, which are designated by the machining program, when the synchronization start signal during axis movement is input from the sequence circuit, the axis that is moving is set as the reference axis and the axis that is stopped is set as the reference axis. The synchronous control method in a numerical controller according to claim 1, wherein the synchronous axis is automatically determined. 3. A synchronous control method in a numerical controller for synchronously controlling at least two movable axes, wherein one movable axis serves as a reference axis and at least one other movable axis serves as a synchronous axis. After analyzing the synchronous control mode command during axis movement, the relative distance between the current reference axis and the synchronous axis is calculated while the reference axis is moving, and this relative distance is compared with the synchronous distance specified in the machining program. When the distance and the synchronous distance match, the movement command is given to the synchronous axis with the same acceleration / deceleration characteristics and servo control characteristics as the reference axis acceleration / deceleration characteristics and servo control characteristics, so Synchronize with the reference axis, and after synchronization is complete, move the synchronization axis and the reference axis while maintaining the synchronization distance specified by the machining program, and input the synchronization release signal during axis movement from the sequence circuit. , Or synchronization in a numerical controller characterized by starting deceleration of the synchronous axis by moving the synchronous axis to a deceleration start position determined by the specified desynchronization position, and stopping the synchronous axis to release the synchronous control. Control method. 4. The reference axis is defined as a time point at which a total time of a time indicated by an acceleration / deceleration time constant of a synchronous axis and a time indicated by a reciprocal of a gain of a servo control system has elapsed from a time point when the relative distance matches the synchronous distance. The synchronization control method in a numerical controller according to claim 3, wherein the completion of synchronization of the synchronization axis is determined. 5. The deceleration start position of the synchronous axis is calculated from the specified desynchronization position, axis feed speed, and acceleration / deceleration characteristics, and when the synchronous axis reaches the deceleration start position, the synchronous axis is decelerated and designated. The synchronization control method in the numerical controller according to claim 1, wherein the synchronization axis is stopped at the synchronization release position. 6. The synchronization control method in a numerical control device according to claim 5, wherein the synchronization release position is specified in the machining program by describing it in the machining program. 7. A motor load is detected from the current value of the axis motor, etc., and it is judged whether or not cutting is in progress based on the cutting command described in the machining program and the detected motor load. The synchronization control method in a numerical controller according to claim 5, wherein the synchronization release position is designated based on the coordinate value at the time of transition during non-cutting. 8. The coordinate position of the synchronous axis at the time when the synchronous start signal during axis movement is input from the sequence circuit or the synchronous start position designated by the machining program is stored, and the stored coordinate position or the synchronous start position is stored. Is set as the sync release position, the deceleration start position of the sync axis is calculated from the sync release position, the axis feed speed, and the acceleration / deceleration characteristics, and when the sync axis reaches the deceleration start position, the sync axis is decelerated to release the sync. The synchronous control method in a numerical controller according to claim 1, wherein the synchronous axis is stopped at the position. 9. When the synchronous axis stops due to an alarm such as a stroke end, the synchronous control is temporarily released to continue the movement of the reference axis, and when the synchronous condition is satisfied again, the axis is moving. The synchronous control method in the numerical controller according to claim 1, wherein the synchronous control is restarted. 10. The synchronization condition for restarting the synchronization control during axis movement is that the relative distance between the reference axis and the synchronization axis coincides with a predefined synchronization distance. Control method in the numerical controller of the present invention. 11. A synchronous control device in a numerical control device for synchronously controlling at least two movable shafts with one movable shaft as a reference shaft and at least one other movable shaft as a synchronous shaft, which is described in a machining program. Axis moving synchronous control mode setting command and axis moving synchronous control mode cancel command analyzing axis moving synchronous control mode command analysis means, and axis moving synchronous control mode command analyzing means for axis moving synchronous control mode setting Set the synchronous control mode during axis movement that makes the acceleration / deceleration characteristics of the synchronous axis the same as the acceleration / deceleration characteristics of the reference axis by analyzing the command, and analyze the acceleration / deceleration characteristics of the synchronous axis by analyzing the command for canceling the synchronous control mode during axis movement. Synchronous axis original synchronous acceleration / deceleration characteristics are returned to normal mode. Axis movement synchronous control mode switching means and axis movement that detects the axis movement synchronous start signal from the sequence circuit. In the moving synchronization control signal detecting means and the axis moving synchronization control mode, the remaining distance of the reference axis at the time when the axis moving synchronization control signal detecting means detects the axis moving synchronization start signal is calculated, and the remaining distance is calculated. Remaining distance command means that uses the distance as the position command for the synchronous axis and the completion of synchronization by stopping the reference axis and the synchronous axis, and outputs the synchronous control completion signal during axis movement to the sequence circuit. And a synchronous control device in a numerical control device. 12. The numerical control according to claim 11, further comprising a synchronous axis deceleration command means for issuing a command to decelerate and stop the synchronous axis by inputting a synchronous release signal during axis movement from a sequence circuit. Synchronous control device in the device. 13. A moving axis detecting means for detecting a moving axis of a movable axis to be synchronously controlled, which is designated by a machining program, when a synchronization start signal during axis movement is input from a sequence circuit, Based on the moving axis detection result by the moving axis detecting means, the moving axis is the reference axis and the stopped axis is the reference axis.
The synchronous control device in a numerical control device according to claim 11 or 12, further comprising: a synchronous axis determining means. 14. A synchronous control device in a numerical controller for synchronously controlling at least two movable shafts, wherein one movable shaft is a reference shaft and at least one other movable shaft is a synchronous shaft. The axis-synchronous control mode command analysis means for analyzing the axis-movement synchronous control mode setting command and the axis-moving synchronous control mode release command, and the relative movement between the current reference axis and the synchronous axis during movement. Relative distance calculating means for calculating the distance, and the acceleration / deceleration characteristics of the synchronous axis and the servo control characteristics by the analysis of the synchronous control mode setting instruction during axis movement by the axis movement synchronous control mode command analysis means Set the synchronous control mode during axis movement that has the same characteristics as the servo control characteristics, and analyze the acceleration / deceleration characteristics and servo of the synchronous axis by analyzing the synchronous control mode release command during axis movement. Synchronous control mode switching means during axis movement for returning the control characteristics to the normal mode by returning to the original acceleration / deceleration characteristics and servo control characteristics of the synchronous axis,
In the synchronous control mode during axis movement, the synchronous distance designated by the machining program is compared with the relative distance calculated by the relative distance calculating means, and when the relative distance matches the synchronous distance, the reference axis A synchronous control device in a numerical control device, comprising: a synchronous axis command means for outputting to the synchronous axis the same movement command as a movement command per unit time. 15. The reference axis is defined as a point when a total time of a time indicated by an acceleration / deceleration time constant of a synchronous axis and a time indicated by a reciprocal of a gain of a servo control system elapses from the time when the relative distance matches the synchronous distance. A synchronization determination means for determining the synchronization completion of the synchronization axis, and an axis movement synchronization control completion signal output means for turning on the axis movement synchronization control completion signal of the sequence circuit according to the synchronization completion notification determined by the synchronization determination means, The synchronous control device in the numerical control device according to claim 14, further comprising: 16. A synchronous axis deceleration start position calculating means for calculating a deceleration start position of the synchronous axis from a designated synchronous release position, axis feed speed, and acceleration / deceleration characteristics, and a method for determining that the synchronous axis has reached the deceleration start position. 16. A synchronous control device in a numerical control device according to claim 11, further comprising: a synchronous axis deceleration start position determination means for performing a signal processing for determining and decelerating and stopping the synchronous axis. . 17. The synchronization control device in a numerical controller according to claim 16, wherein the synchronization release position is designated by a machining program by a machining program description. 18. A motor load detecting means for detecting a motor load based on a current value of a shaft motor, a cutting command described in a machining program, and a motor load detected by the motor load detecting means for determining whether or not cutting is being performed. 17. A cutting determination means for determining whether or not the synchronization release position is designated based on a coordinate value at a time point when the determination of the cutting determination means changes from during cutting to during non-cutting. A synchronous control device in the numerical control device according to. 19. The coordinate position of the synchronous axis at the time when the synchronous start signal during axis movement is input from the sequence circuit or the synchronous start position designated by the machining program is stored, and the stored coordinate position or the synchronous start position is stored. Is set as the sync release position, the sync axis deceleration start position calculation means for calculating the deceleration start position of the sync axis from the sync release position, the axis feed speed and the acceleration / deceleration characteristics, and it is determined that the sync axis has reached the deceleration start position. The synchronous control device in the numerical control device according to any one of claims 11 to 15, further comprising: a synchronous shaft deceleration start position determining means that performs signal processing for decelerating and stopping the synchronous shaft. 20. When the synchronous axis stops due to an alarm such as a stroke end, the synchronous control during axis movement is temporarily released to continue the movement of the reference axis, and then the axis is moving when the synchronous condition is satisfied again. The synchronization control device in the numerical control device according to any one of claims 11 to 19, further comprising a synchronization temporary cancellation command means for issuing a command to restart the synchronization control. 21. The synchronous condition for restarting synchronous control during axis movement, wherein the relative distance between the reference axis and the synchronous axis is equal to a predefined synchronous distance. Control device in the numerical control device.