JPH103305A - Superimpose control method for multisystem numerical controller and multisystem numerical controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To shorten the cycle time of a working cycle including superimpose control in comparison with the conventional case. SOLUTION: Switching for the ordinary control/superimpose control of clamp velocity and acceleration/deceleration time constants of a superimpose axis and a basic axis is individually performed when individually stopping the superimpose axis and basic axis, the clamp velocity and acceleration/deceleration time constant of the superimpose axis are switched for superimpose control according to a superimpose starting command at any arbitrary time point just on the limit condition that the superimpose axis stops, and the move of the superimpose axis to a superimpose control starting position is started. As soon as the basic axis stops, the clamp velocity and acceleration/deceleration time constant of the basic axis are switched for superimpose control, and superimpose control is performed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a superposition control method and a multi-path numerical control device in a multi-path numerical control device, and more particularly to a superposition control method and a multi-path numerical control in a multi-path numerical control device used in an automatic lathe or the like. It concerns the device.

[0002]

2. Description of the Related Art In a multi-system numerical controller used in an automatic lathe or the like, one axis of a certain system is designated as a basic axis, and one axis parallel to the basic axis in another system is used as a superposition axis. Some superimposition control functions have a superimposition control function of performing a superposition axis control with a superposition control command by superimposing a basic axis movement command on a superposition axis movement command.

FIG. 16 shows a conventional example of a multi-system numerical controller having a superimposition control function. This numerical controller 1
Is a machining program analysis processing unit 1 provided for each system.
0 and a memory 20 for storing machining programs for each system.
, A parameter setting unit 21, a screen display processing unit 22,
The interpolation processing unit 30 including the interpolation processing unit 31 and the superimposition control unit 32, the machine control signal processing unit 50, the ladder circuit unit 55 forming a sequence circuit, and the acceleration / deceleration processing unit 61 provided for each movable shaft and stopping. An axis control unit 60 for each movable axis including the checking means 62 and an axis movement output circuit 70 are provided.

The axis movement output circuit 70 is connected to servo control units 80 for the movable axes of each system.
A servomotor 90 of each movable shaft is connected to 0.
Although not shown in the figure, the servomotor 90 has a pulse generator for position detection, and the servo controller 80 has a position loop based on a position feedback signal from the pulse generator.

[0005] In this numerical control device 1, machining programs of each system read from a tape reader or the like are stored in a memory 20.
Is stored in When executing the machining program, the machining program is read from the memory 20 one block at a time,
Machining program analysis processing unit 1 provided for each system
The processing program is analyzed according to 0, and the end point position and the like of each block are calculated. This end point position is determined by the interpolation processing unit 30.
And the end point position is distributed to the movement commands per unit time of each movable axis.

The 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 specified in advance. It is output to the control unit 80 as a servo movement command.

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

[0008] A machine signal such as on / off of the cutting oil is processed by a machine control signal processing section 50 via a ladder circuit section 55 for describing machine control, and a processing result is transmitted to an interpolation processing section 30.

The parameter setting section 21 sets a clamp speed, which indicates a limit speed of the axis feed of each system, and an acceleration / deceleration time constant, which indicates a time required for acceleration / deceleration of the axis feed, set by key input means (not shown). The data is processed and stored in the memory 20. The parameters and the like stored in this way are displayed on a display (not shown) by the screen display processing unit 22, so that the contents of the parameters and the like can be confirmed.

Next, superposition control in a conventional numerical controller will be described. The machining program analysis processing unit 10 analyzes a superimposition control command by the machining program, sets one axis of a certain system designated by the superimposition control command as a basic axis, and sets the axis in another system also designated by the superimposition control command. One axis parallel to the basic axis is set as a superposition axis, and superposition control is performed by the superposition control means 32 so that the superposition axis is axially moved by a movement command in which the movement command of the basic axis is superimposed on the movement command of the superposition axis.

In this superimposition control, in order to take the timing between the basic axis and the superimposition axis, as shown in FIG. 17, a waiting between the systems of the basic axis and the superimposition axis is performed in the block preceding the superposition control command. When the basic axis and the superimposed axis are both stopped, the clamping speed and acceleration / deceleration time constant of these axes are switched from superimposed control to superimposed control for normal control. This prevents the moving speed of the shaft from exceeding the clamping speed and the acceleration / deceleration time constant of the superimposed shaft from becoming excessive.

[0012]

Conventionally, in the block preceding the superimposition control command, it is necessary to always wait for the system between the basic axis and the superimposed axis, and all the axes belonging to the waiting system are stopped. To the axis that has nothing to do with superposition, the switching of the clamp speed and acceleration / deceleration time constant is performed at the same time when both the basic axis and superposition axis stop.
If all axes of the system to which the basic axis and the superimposed axis belong do not stop, superimposition control cannot be started, and axes that are not related to superimposition will stop due to inter-system waits, so the cycle time of the machining cycle including superimposition control Becomes longer.

In the conventional superposition control, in order to keep the positional relationship between the basic axis and the superposition axis at the time of superposition always constant, a user sets a coordinate system in advance by calculation and is determined by a user program immediately before a superposition control command. Since it is necessary to position the superimposed axis and the basic axis at the positions where they have been set, it becomes troublesome to create a user program.

Conventionally, the clamping speed for superimposition control is fixedly set to 1/2 of that during normal control.
If the moving speed of the basic axis during the superimposing control is low, the moving speed of the superimposing axis is excessively suppressed, which also increases the cycle time of the machining cycle including the superimposing control.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and can reduce the cycle time of a machining cycle including superimposition control as compared with the related art. It is an object of the present invention to obtain a superposition control method and a multi-system numerical controller in an easy multi-system numerical controller.

[0016]

In order to achieve the above-mentioned object, a superposition control method in a multi-system numerical controller according to the present invention designates one axis of a certain system as a basic axis and sets another axis in another system. In a multi-system numerical controller that designates one axis parallel to the basic axis as a superimposition axis, and performs axis movement control of the superimposition axis by a movement command obtained by superimposing the movement command of the basic axis on the movement command of the superimposition axis by the superimposition control command In the superimposition control method, for normal control of the acceleration speed of the superimposition axis and the basic axis, which means the clamping speed of the superposition axis and the basic axis, which means the limit speed of the axis feed, and the time required for the acceleration and deceleration of the axis feed.
Switching for superimposition control is performed individually when the superimposition axis and the basic axis are individually stopped, and only when the superimposition axis is stopped, a superimposition start command is issued at any time and only when the superimposition axis is clamped and accelerated / decelerated. The constant is switched to the one for superimposition control to start moving the superimposition axis to the superimposition control start position, and as soon as the basic axis stops, the clamping speed and acceleration / deceleration time constant of the basic axis are changed to those for superimposition control. Switching and superimposition control are performed.

In the superimposition control method in the multi-system numerical controller according to the present invention, the method for normal control of the clamping speed of the superimposition axis and the basic axis and the acceleration / deceleration time constant of the superimposition axis and the basic axis is performed.
The switching for superimposition control is performed individually when the superimposition axis and the basic axis are individually stopped, and the clamping speed and acceleration / deceleration of the superimposition axis are determined by a superposition start command at any time only under the limited condition that the superimposition axis is stopped. The time constant is switched to that for superimposition control, the superimposition axis starts moving to the superimposition control start position, and as soon as the basic axis stops, the clamping speed and acceleration / deceleration time constant of the basic axis are for superimposition control. And the superimposition control is performed without interposing a dead time.

The superimposition control method in the multi-system numerical controller according to the next invention is the superimposition control method described above, wherein the superimposition axis is decelerated and stopped according to an acceleration / deceleration time constant for superimposition control in response to a superimposition end command at any time. When the superimposed axis stops, the clamp speed and acceleration / deceleration time constant of the superimposed axis are switched to those for normal control regardless of the state of the basic axis. The constants are switched to those for normal control.

In the superimposition control method in the multi-system numerical controller according to the present invention, the superimposition axis is decelerated and stopped with an acceleration / deceleration time constant for superimposition control in response to a superimposition end command at an arbitrary time, and the basic axis is stopped when the superimposition axis stops. Regardless of the state, the clamp speed and acceleration / deceleration time constant of the superimposed axis are switched to those for normal control, and as soon as the basic axis stops, the clamp speed and acceleration / deceleration time constant of the basic axis are used for normal control. Is switched to

In the superimposition control method in the multi-system numerical controller according to the next invention, in the above-described superimposition control method, the superimposition axis work coordinate origin is set by a superposition start command or a parameter with a deviation amount from the work axis origin of the basic axis. Based on the relative distance between the basic machine coordinate origin of the basic axis and the basic machine coordinate origin of the superimposed axis, and the relative distance between the basic machine coordinate origin of the basic axis and the work coordinate origin of the basic axis, the superimposed axis work coordinate origin is automatically calculated. The superimposition control start position is converted into a coordinate value in the basic machine coordinate system, and a superimposition control start position set based on the coordinate value by a superimposition start command or a parameter with the amount of deviation from the superimposition axis work coordinate origin is converted to the basic mechanical coordinate system of the superimposition axis work coordinate origin. Is converted to coordinate values in the basic machine coordinate system based on the coordinate values in It is to move to the superposition control start position.

In the superimposition control method in the multi-system numerical controller according to the present invention, the superimposition axis work coordinate origin is set with the amount of deviation from the work axis origin of the basic axis by a superposition start command or a parameter, and the basic machine coordinate origin of the basic axis is determined. The relative distance of the superimposed axis from the basic machine coordinate origin,
The work coordinate origin of the superimposed axis is converted into a coordinate value in the basic machine coordinate system by automatic calculation from the basic machine coordinate origin of the basic axis and the relative distance between the work coordinate origin of the basic axis and the superimposition start command or The superimposition control start position set by the parameter with the amount of deviation from the origin of the superimposed axis work coordinate is converted into a coordinate value in the basic machine coordinate system based on the coordinate value of the origin of the superimposed axis work coordinate in the basic machine coordinate system. The axis is moved to the superimposition control start position.

According to a superimposition control method in a multi-system numerical controller according to the next invention, in the above-described superimposition control method, an offset amount defining a tool length of a tool to be used is set by a superimposition start command or a parameter, and this offset amount is set. Taking this into consideration, the coordinate value of the superposition control start position in the basic machine coordinate system is automatically calculated.

In the superposition control method in the multi-path numerical controller according to the present invention, an offset amount defining a tool length or the like of a tool to be used is set by a superposition start command or a parameter. The coordinate value of the superposition control start position is automatically calculated.

In the superimposition control method in the multi-system numerical controller according to the next invention, in the above-described superimposition control method, the superimposition end position of the superimposition axis is designated in the basic mechanical coordinate system or the work coordinate system of the superimposition axis by the superimposition end command. After the superimposition axis is stopped by the superimposition end command, the superimposition axis is moved to the superimposition end position using the acceleration / deceleration time constant for normal control.

In the superposition control method in the multi-system numerical controller according to the present invention, the superposition end position of the superposition axis is specified in the basic mechanical coordinate system or the work coordinate system of the superposition axis by the superposition end command, After the stop, the superimposition axis is moved to the superimposition end position using the acceleration / deceleration time constant for normal control.

According to the superimposition control method in the multi-system numerical controller according to the next invention, in the above-described superimposition control method, the clamping speed of the superimposition axis for superimposition control is set to be smaller than the clamping speed of the superimposition axis for normal control. This is set according to a value subtracted from the moving speed of the basic axis.

In the superposition control method in the multi-system numerical controller according to the present invention, the clamping speed of the superposition axis for superposition control is obtained by subtracting the clamping speed of the superposition axis for normal control from the moving speed of the basic axis during superposition control. It is set according to.

In order to achieve the above object, a multi-system numerical controller according to the following invention is designed so that one axis of a certain system is designated as a basic axis and one axis of another system is parallel to the basic axis. Is specified as a superimposition axis, and in a multi-system numerical controller that performs axis movement control of a superimposition axis by a movement command obtained by superimposing a movement command of a basic axis on a movement command of a superimposition axis by a superimposition control command, means a limit speed of axis feed. Switching between normal control and superimposition control of the acceleration and deceleration time constants of the superimposed axis and the basic axis, which means the time required for acceleration and deceleration of the superimposed axis and the basic axis, and the stop of the superimposed axis and the basic axis. A switching speed / time constant switching means for performing individual superposition axes, and an arbitrary superposition interpolation processing means for performing interpolation processing of the superposition axis.
The clamping speed / time constant switching means changes the clamping speed and the acceleration / deceleration time constant of the superimposed axis to the one for superimposition control by a superimposition start command at any time only under a limited condition that the superimposed axis is stopped. Switching, as soon as the basic axis stops, the clamping speed and acceleration / deceleration time constant of the basic axis are switched to those for superposition control, and the clamping speed and acceleration / deceleration time constant of the superposition axis are switched to those for superposition control. At this point, the movement of the superimposition axis with respect to the superimposition control start position is started by the arbitrary superimposition interpolation processing means.

In the multi-system numerical controller according to the present invention,
The clamping speed / time constant switching means switches the clamping speed and acceleration / deceleration time constant of the superimposed axis to those for superimposition control by a superimposition start command at any time only under the limited condition that the superimposed axis is stopped. As soon as the basic axis stops, the clamping speed and the acceleration / deceleration time constant of the basic axis are switched to those for superimposition control, and the clamping speed and the acceleration / deceleration time constant of the superposition axis are switched to those for superimposition control. Then, the arbitrary superimposition interpolation processing means starts moving the superimposition axis with respect to the superimposition control start position.

The multi-system numerical controller according to the next invention has
In the above-described multi-system numerical controller, the arbitrary superimposition interpolation processing means performs an interpolation process of moving a superimposition axis to a superimposition control start position by a superposition start command or a speed value according to a parameter setting, and stopping the basic axis to control the basic axis. After the clamp speed and the acceleration / deceleration time constant are switched to those for superimposition control, an interpolation process for moving the superimposition axis by adding the movement amount of the basic axis to the movement command of the superimposition axis is performed.

In the multi-system numerical controller according to the present invention,
Arbitrary superimposition interpolation processing means performs interpolation processing to move the superimposition axis to the superimposition control start position by the tatami start command or the speed value by parameter setting, and when the basic axis stops, the clamp speed and acceleration / deceleration time constant of the basic axis are used for superimposition control After the switching to the superposition axis, an interpolation process for moving the superposition axis by adding the movement amount of the basic axis to the superposition axis movement command is performed.

The multi-system numerical controller according to the next invention has
In the above-described multi-system numerical controller, the arbitrary superimposition interpolation processing means decelerates and stops the superimposition axis by an acceleration / deceleration time constant for superimposition control according to a superimposition end command at an arbitrary time, and the clamp speed / time constant switching means is provided. When the superimposed axis stops, the clamp speed and acceleration / deceleration time constant of the superimposed axis are switched to those for normal control regardless of the state of the basic axis, and as soon as the basic axis stops, the clamp speed and acceleration / deceleration of the basic axis are changed. The time constant is switched to that for normal control.

In the multi-system numerical controller according to the present invention,
Arbitrary superimposition interpolation processing means decelerates and stops the superimposition axis according to the acceleration / deceleration time constant for superimposition control according to the superimposition end command at any time, and the clamp speed / time constant switching means changes the state of the basic axis when the superimposition axis stops. Regardless, the clamping speed and acceleration / deceleration time constant of the superimposed axis are switched to those for normal control, and as soon as the basic axis stops, the clamping speed and acceleration / deceleration time constant of the basic axis are switched to those for normal control. .

The multi-system numerical controller according to the next invention has
In the above-described multi-system numerical controller, the basic machine coordinate origin of the basic axis and the basic machine coordinate origin of the superimposed axis are calculated from the superimposed axis work coordinate origin set by the superimposition start command or the parameter with the amount of deviation from the basic axis work coordinate origin. Calculates the coordinate value of the work coordinate origin of the superimposed axis in the basic machine coordinate system based on the relative distance between the base machine coordinate origin of the basic axis and the work coordinate origin of the basic axis. Means, and a superimposition control start position set by a superimposition start command or a parameter with a deviation amount from the superimposition axis work coordinate origin based on the coordinate value of the superimposition axis work coordinate origin calculated by the superimposition axis work coordinate origin calculation means. An arbitrary superimposition control start position calculating means for performing a calculation for converting to a coordinate value in the basic machine coordinate system; Is to move to the superposition control start position superimposition shaft with a calculated coordinate value by any superposition control start position calculation unit.

In the multi-system numerical controller according to the present invention,
The superimposing axis work coordinate origin calculating means calculates the superimposing axis work coordinate origin set by the superimposition start command or the parameter with the amount of deviation from the work coordinate origin of the basic axis.
The superimposed axis in the basic machine coordinate system based on the relative distance between the basic machine coordinate origin of the basic axis and the basic machine coordinate origin of the superimposed axis, and the relative distance between the basic machine coordinate origin of the basic axis and the work coordinate origin of the basic axis The coordinate value of the work coordinate origin is calculated, and the superimposition control start position set by the arbitrary superimposition control start position calculating means with the amount of deviation from the superimposition axis work coordinate origin by a superposition start command or parameter is calculated by the superimposition axis work coordinate origin calculation means. Is calculated based on the coordinate value of the work coordinate origin calculated by the superimposing axis, and the superimposing axis is superimposed on the basis of the coordinate value calculated by the arbitrary superimposing control start position calculating means. To be moved.

The multi-system numerical control device according to the next invention is as follows.
In the above-described multi-system numerical controller, the arbitrary superposition control start position calculated by the arbitrary superposition control start position calculation means is corrected with an offset amount that defines a tool length of a used tool set by a superposition start command or a parameter. It has offset correction means.

In the multi-system numerical controller according to the present invention,
The offset correction means corrects the arbitrary superposition control start position calculated by the arbitrary superposition control start position calculation means with an offset amount defining a tool length of a used tool set by a superposition start command or a parameter.

The multi-system numerical controller according to the next invention has
In the above-described multi-system numerical control device, there is provided an arbitrary superimposition control end position calculating means for calculating the superimposition end position of the superimposition axis specified in the basic mechanical coordinate system or the work coordinate system of the superimposition axis by the superimposition end command, Is moved to the superimposition end position calculated by the arbitrary superimposition control end position calculating means using the acceleration / deceleration time constant for normal control after the superimposition axis is stopped by the superimposition end command.

In the multi-system numerical controller according to the present invention,
Arbitrary superimposition control end position calculation means calculates the superimposition end position of the superimposition axis specified in the basic mechanical coordinate system or the work coordinate system of the superimposition axis by the superimposition end command, and sets the superimposition axis normally after the superimposition axis is stopped by the superimposition end command. The axis is moved to the superimposition end position calculated by the arbitrary superimposition control end position calculation means using the control acceleration / deceleration time constant.

The multi-system numerical controller according to the next invention has
In the above-described multi-system numerical controller, the clamping speed of the superimposition axis for superimposition control is calculated based on the moving speed of the basic axis during superimposition control so as not to exceed the clamping speed of the superimposition axis for normal control, and the superimposition is performed. A superimposition axis clamping speed calculation switching means for optimally setting the clamping speed of the superposition axis for control is provided.

In the multi-system numerical controller according to the present invention,
The superimposing axis clamping speed calculation switching means calculates the clamping speed of the superimposing axis for superimposing control based on the moving speed of the basic axis during the superimposing control so as not to exceed the clamping speed of the superimposing axis for normal control. Optimum setting of the clamp speed of the superimposed axis for control.

[0042]

Embodiments of the present invention will be described below in detail with reference to the accompanying drawings. In the embodiments of the present invention described below, the same components 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 multi-system numerical controller according to the present invention.

The machining program analysis processing section 10 includes an optional superimposition control command analyzing means 12 in addition to the ordinary machining program analyzing means 11. The arbitrary superposition control command analysis means 12 analyzes a superposition start command (arbitrary superposition start command) and a superposition end command (arbitrary superposition end command).

The arbitrary superposition start command is performed, for example, with a command code of G156, and is described in a command format of "G156 superimposed axis name = reference axis name, P_D_R_F_;".

The reference axis name designates one axis of a certain system, for example, the first system Z axis (Z1 axis) as a basic axis, and the superimposed axis name designates one axis parallel to the basic axis in another system, for example, The second system Z axis (Z2 axis) is designated as the superimposition axis.

The address P means designation of the work coordinate system of the superimposition axis, and designates the work coordinate origin of the superimposition axis Z2 in the work coordinate system of the basic axis Z1. That is, the work coordinate origin of the superimposed axis Z2 is set with the amount of deviation from the work coordinate origin of the basic axis. The P specification can be omitted, and if the P specification is omitted,
P0 is reached, and the work coordinate origins of the basic axis Z1 and the superimposed axis Z2 match.

The address D means an offset amount of the superimposed axis work coordinate system, and designates a work offset amount of the superimposed axis Z2. When the tool length exists in the coordinate axis direction of the superimposed axis,
The work offset amount includes an offset amount that defines the tool length of the used tool. The D designation can be omitted, and if the D designation is omitted, it becomes D0.

The address R indicates an arbitrary superposition control start position, and specifies the coordinate position of the superposition axis Z2 at the time of starting the superposition control in the superposition axis work coordinate system after the arbitrary superposition start command.
If there is no R designation, the superposition control is started at the position at the time of the arbitrary superposition start command without moving the superposition axis Z2.

The address F means the speed at which the superposition control start position moves, and specifies the speed at which the superposition axis Z2 is moved to the superposition control start position. If no F is specified, the fast-forward speed is set to the parameter.

The arbitrary superimposition end command is performed by, for example, a G156 command code, and is described in a command format such as “G156 superimposition axis name, Q or R_F_;”.

The address Q means the end position of the arbitrary superimposition control in the basic machine coordinate system, and specifies the position of the superimposition axis Z2 when the superimposition control ends in the superimposition axis basic mechanical coordinate system.

The address R indicates a position at which the superimposition control in the work coordinate system ends, and the superimposition axis Z at the time of ending the superposition control.
Position 2 is specified in the superimposition axis work coordinate system before the arbitrary superposition control command.

When neither the Q designation nor the R designation is specified, the superposition axis Z2 is not moved, and the superposition control ends at that position. Give priority to the specification.

The address F means the moving speed of the superimposition control end position, and designates the speed of moving the superimposition axis Z2 to the arbitrary superimposition control end position. If no F is specified, the fast-forward speed is set to the parameter.

The interpolation processing unit 30 is provided with a normal interpolation processing unit 3
1; clamping speed / time constant switching means 32; arbitrary superimposition interpolation processing means 33; superimposition axis work coordinate origin calculation means 34; arbitrary superposition control start position calculation means 35; offset correction means 36; And an end position calculating means 37.

Clamping speed / time constant switching means 32
Is used for normal control of the clamping speed of the superimposed axis Z2 and the basic axis Z1 meaning the limit speed of the axis feed and the acceleration / deceleration time constant of the superimposed axis Z2 and the basic axis Z1 meaning the time required for acceleration / deceleration of the axis feed. And switching for superimposition control are performed individually when the superimposition axis Z2 and the basic axis Z1 are individually stopped.

Clamping speed / time constant switching means 32
Switches the clamping speed and acceleration / deceleration time constant of the superimposition axis Z2 to those for superimposition control by a superposition start command at an arbitrary time only under the limited condition that the superimposition axis Z2 is stopped,
As soon as the basic axis Z1 stops, the clamp speed and the acceleration / deceleration time constant of the basic axis Z1 are switched to those for superimposition control.

The arbitrary superimposition interpolation processing means 33 performs interpolation processing of the superimposition axis Z2 during superimposition control.
When switching to the superposition control unit by the time constant switching means 32, the superposition axis Z with respect to the arbitrary superposition control start position
2 is started, and an interpolation process is performed to move the superimposition axis Z2 to an arbitrary superposition control start position at a speed value according to the arbitrary superposition start command (F command). After the stop of the basic axis Z2, the clamp speed and the acceleration / deceleration time constant of the basic axis Z1 are switched to those for superimposition control by the clamp speed / time constant switching means 32, and then the movement amount of the basic axis Z1 is changed to the superposition axis Z2.
Is added to the movement command to move the superimposition axis Z2.

Further, the arbitrary superimposition interpolation processing means 33 decelerates and stops the superimposition axis Z2 according to the acceleration / deceleration time constant for superimposition control in response to the superimposition end command at an arbitrary time. Regardless of the state (stopping or moving) of the basic axis Z1 when the axis Z2 stops, the clamping speed and the acceleration / deceleration time constant of the superimposed axis Z2 are switched to those for normal control, and as soon as the basic axis Z1 stops. Then, the clamp speed and acceleration / deceleration time constant of the basic axis Z1 are switched to those for normal control.

As shown in FIG. 2, the superimposing axis work coordinate origin calculating means 34 has an arbitrary superimposing start command (P designation).
Alternatively, a relative distance (basep) between the basic machine coordinate origin of the basic axis Z1 and the basic machine coordinate origin of the superimposed axis Z2 from the work coordinate origin of the superimposed axis Z2, which is set with a deviation amount p from the workpiece coordinate origin of the basic axis Z1 by a parameter.
s) and the coordinate value Mo of the superimposed axis work coordinate origin in the basic machine coordinate system is calculated based on the relative distance A between the basic machine coordinate origin of the basic axis Z1 and the work coordinate origin of the basic axis Z1. This calculation is performed by the following equation.

Coordinate value Mo = (bases) −p−A (1)

As shown in FIG. 2, the arbitrary superposition control start position calculating means 35 outputs an arbitrary superposition start command (R designation).
Alternatively, based on the coordinate value Mo of the superimposed axis work coordinate origin calculated by the superimposed axis work coordinate origin calculation means 34 from an arbitrary superimposition control start position set by the parameter with the deviation amount r of the superimposed axis Z2 with respect to the work coordinate origin. The coordinate value Ms of the arbitrary superposition control start position in the machine coordinate system is calculated. This calculation is performed by the following equation.

Coordinate value Ms = Mor (2)

As shown in FIG. 2, the offset correction means 36 sets the arbitrary superposition control start position calculated by the arbitrary superposition control start position calculation means 35 by an arbitrary superposition start command (D designation) or a parameter. The correction is performed using the offset amount d that defines the tool length of the used tool.

When considering the offset amount d,
The coordinate value Ms' of the arbitrary superimposition control start position is calculated by the following equation.

Coordinate value Ms ′ = Mord− (3)

As shown in FIG. 3, the tool rest 100 belonging to the system on the superimposed axis side has lengths d ₁ , d ₂ , d _{3 in} the axial direction (for example, the Z axis direction) of the superimposed axis Z2. When tools T21 to T23 different from each other are provided, the D designation is selected according to the tool to be used, as shown in FIGS. 4 (a) and 4 (b). As a result, the arbitrary superposition control start position is determined by the R designation regardless of the tool length, and there is no need to change the R designation according to the tool length.

The arbitrary superposition control end position calculating means 37 calculates an arbitrary superposition control end position of the superimposition axis Z2 specified in the basic mechanical coordinate system or the work coordinate system of the superposition axis Z2 by the arbitrary superposition end command (Q designation or R designation). Is calculated. FIG. 5 shows an arbitrary superimposition control end position of the superimposition axis Z2 when the Q designation is q and the R designation is r.

The arbitrary superimposition interpolation processing means 33 outputs the superimposition axis Z2
Is moved to the arbitrary superimposition control end position calculated by the arbitrary superimposition control end position calculating means 37 using the acceleration / deceleration time constant for normal control after the superposition axis Z2 is stopped by the arbitrary superimposition end command. The moving speed at this time can be set by F designation of an arbitrary superimposition end command.

The machine control signal processing section 50 includes, in addition to the machine control signal processing section 51, an arbitrary superimposition completion signal output section 52.
have.

Next, the operation of the multi-system numerical controller according to the present invention and the procedure for implementing the superposition control method according to the present invention will be described with reference to the flowcharts and timing charts of FIGS.

FIGS. 6 and 7 show an arbitrary superposition control start routine. When the arbitrary superposition start command is analyzed by the arbitrary superposition control command analysis means 12 of the processing program analysis processing unit 10 (step S10), the analysis result is stored in the memory 2
0 is written, and the optional superimposition control flag is turned on (step S11).

Next, based on an arbitrary superposition start command, the superposition axis Z
2, the command value r of the work coordinate origin, the command value r of the arbitrary superposition control start position, the superposition control start position moving speed f, and the superposition axis work coordinate system offset d are sequentially read (steps S12 to S15). The superimposing axis work coordinate origin calculating means 34 calculates the coordinate value Mo of the superimposing axis work origin in the machine-mechanical coordinate system by the equation (1), and the arbitrary superimposing control starting position by the arbitrary superimposing control starting position calculating means 35 by the equation (3) Is calculated (step S
16).

Next, the clamp speed / time constant switching means 32 switches the clamp speed and acceleration / deceleration time constant of the stopped superimposition axis Z2 to those for superimposition control (step S1).
7) After the completion of this switching, the arbitrary superimposition interpolation processing means 3
3. The superimposed axis Z2 is set to the speed f specified by the program.
Then, the axis movement with respect to the arbitrary superposition control start position is started (step S18). Movement start time of the superimposed axis Z2 is shown by the time t ₁ in FIG. 8, the reference axis Z1 is moving.

Next, it is determined whether or not the superimposition axis Z2 has moved to the arbitrary superposition control start position (Ms') (step S).
20). The superimposition axis Z2 is still at the arbitrary superposition control start position (M
If it has not moved to (s ′) (No at Step S20), the arbitrary superimposition control flag is on, and the control waits until the reference axis Z1 stops (Step S21).

At time t ₂ in FIG. 8, when the stop of the reference axis Z 1 is confirmed by the stop confirmation means 62, the clamping speed
The time constant switching means 32 switches the clamp speed and acceleration / deceleration time constant of the stopped reference axis Z1 to those for superposition control (step S22), and moves the work coordinates of the superposition axis Z2 in synchronization with the movement of the reference axis. (Step S
23).

Thereafter, the reference axis Z1 starts moving by executing the next block of the machining program on the reference axis side (step S24), and the arbitrary superimposition interpolation processing means 33 uses the movement amount of the reference axis Z1 as a command for the superimposition axis Z2. The output is added (step S25), and the reference axis stop flag is turned on (step S2).
6).

[0079] As shown at t ₃ in FIG. 8, if superimposed axis Z2 is them moved to any superposition control start position (Ms') (step S20: Yes), is on any superposition control flag, and the reference It is checked whether the flag is an axis stop flag, and it is determined whether or not the optional superimposition control flag is ON and whether or not it is a reference axis stop flag (step S27). Is the ladder circuit section 55
, An arbitrary superimposition completion signal is output (step S2
8) If negative, an alarm process is performed (step S29). Thereby, the arbitrary superposition control start operation is completed.

FIG. 9 shows an arbitrary superposition control end routine. When the arbitrary superimposition end instruction at any time is analyzed by the arbitrary superimposition control instruction analysis means 12 of the processing program analysis processing unit 10 (step S30), the analysis result is written into the memory 20, and the arbitrary superposition control flag is turned off. (Step S31).

Next, the command value q or r of the arbitrary superimposition control end position and the superimposition control end position moving speed f are read from the arbitrary superimposition end command (step 32, step S32).
33) The reference axis stop flag and the optional superimposition completion signal are turned off (steps S34 and S35), and the optional superimposition control end position is calculated by the arbitrary superposition control end position calculating means 37 (step S36).

As shown in FIG. 10, if the superposition control end position command in the basic machine coordinate system is calculated (step S50: YES), the arbitrary superposition control end position is calculated according to the following equation. The superimposition control end position in the system is calculated (step S51).

Arbitrary superposition control end position = superposition axis basic machine coordinate origin + q

On the other hand, if the command is the superimposition control end position command in the work coordinate system (No at Step S50), the superimposition control end position in the work coordinate system is calculated according to the following equation (Step S52).

Arbitrary superimposition control end position = work axis origin of superimposition axis before arbitrary superimposition control start command + r

By analyzing the arbitrary superimposition end command, FIG.
At t ₁₀ 2, superimposed axis Z2 is optionally superimposed interpolation processing means 3
3 to decelerate and stop with the acceleration / deceleration time constant for superposition control (step S37).

[0087] At the time t ₁₁ in FIG. 12, the stop of the superimposed axis Z2 is confirmed (step S38), the clamping of the superimposed axis Z2 by irrespective clamp speed and the time constant switching means 32 of the state basic axis Z2 The speed and the acceleration / deceleration time constant are switched to those before the start of the arbitrary superposition control, in other words, to those for the normal control (step S39), and the work coordinate origin of the superimposition axis Z2 is returned to that before the start of the arbitrary superposition control. (Step S40). Then, the arbitrary superimposition interpolation processing means 33 stops adding the command of the reference axis Z1 to the superimposition axis Z2 (step S41).

Thereafter, the superimposition axis Z2 is started to move to the arbitrary superimposition control end position at the speed f specified by the program by the arbitrary superimposition interpolation processing means 33 (step S42).

After that, as shown in FIG.
While the arbitrary superimposition control flag is off, the control waits for the reference axis Z1 to stop (step S43).

[0090] At the time t ₁₂ in FIG. 12, the stop of the reference axis Z1 is confirmed by the stop confirming means 62, the clamping speed and acceleration and deceleration time constant of the reference axis Z1 of the clamp speed and the time constant switching means 32 is halted Are switched to the one before the arbitrary superposition control start command, in other words, the one for normal control (step S44), and the reference axis Z1 is disconnected from the target axis of the superposition control.

[0091] Also at time t ₁₃ in FIG. 12, when the superposition axis Z2 is located at any superposition control end position, any superposition control termination operation is complete, superimposed axis Z2 is optionally superimposed control end position, ready for the next operation .

(Embodiment 2) FIG. 13 shows a multi-system numerical controller according to Embodiment 2 of the present invention. still,
13, portions corresponding to those in FIG. 1 are denoted by the same reference numerals as those in FIG. 1, and description thereof will be omitted.

In the second embodiment, the interpolation processing section 30 has the superimposing axis clamp speed calculation switching means 38. The superimposing axis clamp speed calculation switching means 38 calculates the superimposing axis Z2 superimposing control clamping speed so as not to exceed the normal control superimposing axis clamping speed based on the moving speed of the basic axis Z1 during the superimposing control. Then, the clamp speed of the superimposition axis for superimposition control is optimally set. As an example, this optimum setting is set to a value obtained by subtracting the command moving speed Vb of the reference axis during superposition control from the clamping speed Vc of the superposition axis for normal control of the superposition axis, as shown in FIG. , Which is called the current clamp speed.

FIG. 15 shows a routine for setting the moving speed of the superimposed axis. First, the command movement speed Vb of the reference axis Z1 is read (step S60), and the current clamp speed is calculated by subtracting the command movement speed Vb of the reference axis from the clamp speed Vc for normal control of the superimposed axis (step S60).
61).

Next, it is determined whether or not the speed of the command movement of the superposition axis is higher than the current clamping speed of the superposition axis (step S62). The actual moving speed of the superimposed axis is limited to the current clamp speed (step S63). If the current clamp speed is not equal to or less than the commanded speed of the superimposed axis, the commanded speed of the superimposed axis is used as it is. Set to the actual moving speed (Step S6
4).

As a result, the time required for the superimposition axis to move to the arbitrary superimposition control start position or the arbitrary superimposition control end position is shorter than that in the case of the general superimposition clamping speed based on Vc / 2 in FIG. As a result, the time is reduced by Δt.

[0097]

As will be understood from the above description, according to the superposition control method in the multi-system numerical controller according to the present invention, the clamping speed of the superposition axis and the basic axis and the acceleration / deceleration time constant of the superposition axis and the basic axis are determined. Switching between normal control and superimposition control is performed individually when the superimposition axis and basic axis are individually stopped,
The clamp speed and acceleration / deceleration time constant of the superimposed axis are switched to those for superimposition control by the superimposition start command at any time only under the limited condition that the superimposition axis is stopped, and the superimposition axis is shifted to the superimposition control start position. As soon as the basic axis is stopped and the basic axis stops, the clamping speed and the acceleration / deceleration time constant of the basic axis are switched to those for superimposition control, and superimposition control is performed. Is unnecessary, and when the superimposition control command is issued, it is not necessary to stop the reference axis and the axes other than the superimposition, and the cycle time becomes shorter than before.

According to the superimposition control method in the multi-system numerical controller according to the next invention, the superimposition axis is decelerated and stopped with the acceleration / deceleration time constant for the superimposition control by the superimposition end command at an arbitrary time, and the superimposition axis is stopped. Regardless of the state of the basic axis, the clamping speed and the acceleration / deceleration time constant of the superimposed axis are switched to those for normal control, and as soon as the basic axis stops,
Since the clamping speed and the acceleration / deceleration time constant of the basic axis are switched to those for normal control, a waiting command between systems before the superimposition control command is unnecessary. There is no need to stop, and the cycle time is shorter than before.

According to the superposition control method in the multi-system numerical controller according to the next invention, the superposition start command or the parameter is used to control the superposition axis work coordinate origin based on the coordinate value of the superposition axis work coordinate origin converted into the coordinate value. The superimposition control start position set based on the amount of deviation is converted into a coordinate value in the basic machine coordinate system based on the coordinate value of the work coordinate origin in the basic machine coordinate system, and the superimposition axis is moved to the superimposition control start position using the coordinate values. Is performed, it is not necessary to previously position the superimposition axis at a position determined by a user program in order to always keep the positional relationship between the reference axis and the superimposition axis during superimposition control, and the user has to calculate in advance. It is not necessary to set the coordinate axis system, making program creation easier and cycle time shorter than before. .

According to the superposition control method in the multi-system numerical controller according to the next invention, an offset amount defining a tool length of a tool to be used is set by a superposition start command or a parameter. Since the coordinate value of the superposition control start position in the coordinate system is automatically calculated, the superposition control can be performed at the same position in consideration of the tool length even if the tool is converted.

According to the superimposition control method in the multi-system numerical controller according to the next invention, the superimposition end position of the superimposition axis is specified in the basic mechanical coordinate system or the work coordinate system of the superimposition axis by the superimposition end command, After the superimposition axis is stopped, the superimposition axis is moved to the superimposition end position using the acceleration / deceleration time constant for normal control. Therefore, when the superimposition control ends, the superimposition axis is moved to the basic mechanical coordinate system. Thus, it is possible to cope with both cases where positioning is desired and cases where positioning is desired in the work coordinate system.

According to the superposition control method in the multi-system numerical controller according to the next invention, the clamping speed of the superposition axis for the superposition control is more than the moving speed of the basic axis during the superposition control than the clamping speed of the superposition axis for the normal control. Since the setting is made in accordance with the subtracted value, the clamping speed of the superposition axis for superposition control is not set to a value lower than necessary, and the cycle time is shortened as compared with the related art.

According to the multi-system numerical controller according to the next invention, the clamping speed / time constant switching means performs the clamping of the superimposed axis by the superimposition start command at any time only under the limited condition that the superimposed axis is stopped. The speed and acceleration / deceleration time constant are switched to those for superimposition control, and as soon as the basic axis stops, the clamp speed and acceleration / deceleration time constant of the basic axis are switched to those for superimposition control, and the clamping speed and acceleration / deceleration of the superposition axis are changed. When the deceleration time constant is switched to the one for superimposition control, the arbitrary superimposition interpolation processing means starts moving the superimposition axis with respect to the superimposition control start position, so that a waiting command between systems before the superimposition control command becomes unnecessary. In addition, at the time of the superimposition control command, it is not necessary to stop the reference axis and the axes other than the superimposition, and the cycle time becomes shorter than before.

According to the multi-system numerical controller according to the next invention, the arbitrary superimposition interpolation processing means performs an interpolation process of moving the superimposition axis to the superimposition control start position by the tatami start command or the speed value according to the parameter setting. After the stop, the clamp speed and acceleration / deceleration time constant of the basic axis are switched to those for superimposition control. After that, the interpolation processing for adding the movement amount of the basic axis to the superposition axis movement command and moving the superimposition axis is performed. There is no need for a waiting command between systems before the superposition control command, and at the time of the superposition control command, there is no need to stop the axes other than the reference axis and the superposition, and the cycle time is shorter than in the past.

According to the multi-system numerical controller according to the next invention, the arbitrary superimposition interpolation processing means decelerates and stops the superimposition axis according to the acceleration / deceleration time constant for the superimposition control in response to the superimposition end command at any time. Time constant switching means switches the clamping speed and acceleration / deceleration time constant of the superimposed axis to those for normal control when the superimposed axis stops, regardless of the state of the basic axis. Since the clamp speed and the acceleration / deceleration time constant are switched to those for normal control, there is no need for a waiting command between systems before the end of superposition, and the cycle time is shorter than in the past.

According to the multi-system numerical controller according to the next invention, the superimposition axis work coordinate origin calculating means calculates the coordinate value of the superimposition axis work coordinate origin in the basic machine coordinate system, and the arbitrary superposition control start position calculating means calculates the superimposition control start position. A superimposition control start position set by a start command or a parameter with a deviation amount with respect to the superimposed axis work coordinate origin is determined based on the coordinate value of the superimposed axis work coordinate origin calculated by the superimposed axis work coordinate origin calculation means. Is performed, and the superimposition axis is moved to the superimposition control start position based on the coordinate value calculated by the arbitrary superimposition control start position calculation means. There is no need to pre-position the superimposition axis at the position determined by the user program in order to keep it constant. Calculation was made may not be set coordinate system, both the creation of the program becomes simple, the cycle time is shortened compared with the conventional.

According to the multi-system numerical controller according to the next invention, the offset correction means sets the arbitrary superposition control start position calculated by the arbitrary superposition control start position calculation means by the tool of the tool used by the superposition start command or the parameter. Since the correction is performed using the offset amount that defines the length and the like, even when the tool is converted, the superposition control can be performed at the same position in consideration of the tool length.

According to the multi-system numerical controller according to the next invention, the arbitrary superimposition control end position calculating means determines the superimposition end position of the superimposition axis specified in the basic mechanical coordinate system or the work coordinate system of the superimposition axis by the superimposition end command. After calculation, the superimposition axis is moved to the superimposition end position calculated by the arbitrary superimposition control end position calculation means using the acceleration / deceleration time constant for normal control after the superimposition axis is stopped by the superimposition end command. In the situation where the superimposition control is ended, it becomes possible to cope with both the case where the superposition axis is to be positioned in the basic machine coordinate system and the case where the superposition axis is to be positioned in the work coordinate system.

According to the multi-system numerical controller according to the next invention, the superposition axis clamping speed calculation switching means controls the clamping speed of the superposition axis for superposition control based on the moving speed of the basic axis during the superposition control. The clamping speed of the superposition axis for superposition control is calculated so as not to exceed the clamping speed of the superposition axis for superposition control, and the clamping speed of the superposition axis for superposition control is set to an unnecessarily low value. And the cycle time becomes shorter than before.

[Brief description of the drawings]

FIG. 1 is a block diagram showing Embodiment 1 of a multi-system numerical controller according to the present invention.

FIG. 2 is an explanatory diagram illustrating a coordinate positional relationship between a reference axis and a superimposed axis at the time of starting superimposition control.

FIG. 3 is a plan view showing an example of a tool rest equipped with a plurality of tools.

FIGS. 4A and 4B are explanatory diagrams illustrating tool length offset correction in superimposition control, respectively.

FIG. 5 is an explanatory diagram showing a coordinate positional relationship between a reference axis and a superimposed axis at the time of completion of superimposition control.

FIG. 6 is a flowchart showing a first half of an arbitrary superposition control start routine.

FIG. 7 is a flowchart showing a latter half of an arbitrary superposition control start routine.

FIG. 8 is a timing chart showing operation timings of the reference axis and the superimposition axis at the start of the arbitrary superposition control.

FIG. 9 is a flowchart illustrating an arbitrary superposition control end routine.

FIG. 10 is a flowchart showing a routine for calculating an arbitrary superposition control end position.

FIG. 11 is a flowchart showing reference axis stop processing in an arbitrary superposition control end routine.

FIG. 12 is a timing chart showing the operation timing of the reference axis and the superimposed axis at the end of the arbitrary superposition control.

FIG. 13 is a block diagram showing Embodiment 2 of the multi-system numerical controller according to the present invention.

FIG. 14 is a timing chart showing an operation state at the time of arbitrary superposition control.

FIG. 15 is a flowchart illustrating a moving speed setting routine of a superimposition axis.

FIG. 16 is a block diagram showing a conventional example of a multi-system numerical controller having a superimposition control function.

FIG. 17 is a timing chart showing a superposition control operation in a conventional multi-system numerical controller.

[Explanation of symbols]

1 Numerical control unit, 10 Machining program analysis processing unit,
11 processing program analysis processing means, 12 arbitrary superposition control command analysis means, 20 memory, 21 parameter setting section, 22 screen display processing section, 30 interpolation processing section, 31
Interpolation processing means, 32 Clamping speed / time constant switching means, 33 Arbitrary superimposition interpolation processing means, 34 Superimposition axis work coordinate origin calculation means, 35 Arbitrary superimposition control start position calculation means, 36 Offset correction means, 37 Arbitrary superimposition control end position calculation Means, 38 superimposition axis clamp speed calculation switching means, 50 machine control signal processing section, 51 machine control signal processing means, 52 arbitrary superposition completion signal output means, 55 ladder circuit section, 60 axis control section, 61 acceleration / deceleration processing means,
62 Stop confirmation means, 70 Axis movement amount output circuit, 80
Servo control unit, 90 servo motor

Claims (13)

[Claims] 1. An axis of a certain system is designated as a basic axis, and an axis parallel to the basic axis in another system is designated as a superposition axis. In the superimposition control method in the multi-system numerical controller that controls the axis movement of the superimposed axis by the superimposed movement command, the clamping speed of the superimposed axis and the basic axis, which means the limit speed of the axis feed, and the acceleration / deceleration of the axis feed Switching between normal control and superimposition control of the acceleration and deceleration time constants of the superimposed axis and the basic axis, which means the time required for the superimposed axis and the basic axis, is individually performed when the superimposed axis and the basic axis are individually stopped, and the superimposed axis is stopped Switching the clamp speed and acceleration / deceleration time constant of the superimposed axis to those for superimposition control by the superimposition start command at any time only under the conditions, and start the movement of the superimposition axis to the superimposition control start position, and stop the basic axis As soon as Switching a clamp speed and acceleration and deceleration time constant of the axis to that for superposing control, superimposing control method in the multi-path numerical control device and performs superposition control. 2. A superimposition axis is decelerated and stopped by an acceleration / deceleration time constant for superimposition control according to a superimposition end command at an arbitrary time. The acceleration / deceleration time constant is switched to that for normal control, and as soon as the basic axis stops, the clamp speed and acceleration / deceleration time constant of the basic axis are switched to those for normal control. Superposition control method in the multi-system numerical controller of the above. 3. The work coordinate origin of the superimposition axis is set with a deviation amount from the work coordinate origin of the basic axis by a superposition start command or a parameter, and the relative distance between the basic machine coordinate origin of the basic axis and the basic machine coordinate origin of the superposition axis is determined. Based on the relative distance between the basic machine coordinate origin of the basic axis and the work coordinate origin of the basic axis, the work axis origin of the superimposed axis is automatically converted into a coordinate value in the basic machine coordinate system by the automatic calculation. Alternatively, the superimposition control start position set by the parameter with the amount of deviation from the origin of the superimposed axis work coordinate is converted into a coordinate value in the basic machine coordinate system based on the coordinate value of the origin of the superimposed axis work coordinate in the basic machine coordinate system. 3. The multi-system numerical control according to claim 1, wherein the superimposing axis is moved to the superimposition control start position by the following. Superposition control method in the device. 4. An offset amount defining a tool length of a tool to be used or the like is set by a superposition start command or a parameter, and a coordinate value of the superposition control start position in a basic machine coordinate system is automatically calculated in consideration of the offset amount. 4. The superposition control method in the multi-system numerical control device according to claim 3, wherein: 5. The superimposition end position of the superimposition axis is designated by the superposition end command in the basic mechanical coordinate system or the work coordinate system of the superposition axis, and the acceleration / deceleration time constant for normal control is used after the superposition axis is stopped by the superposition end command. The superimposition control method according to any one of claims 2 to 4, wherein the superimposition axis is moved to the superimposition end position. 6. A clamping speed of a superimposing axis for superimposing control,
The multi-system numerical controller according to any one of claims 1 to 4, wherein the setting is performed in accordance with a value obtained by subtracting a moving speed of a basic axis during superimposition control from a clamping speed of a superimposition axis for normal control. Superposition control method. 7. An axis of a certain system is designated as a basic axis, an axis parallel to the basic axis in another system is designated as a superimposition axis, and a movement command of the superimposition axis is given by a superposition control command. In a multi-system numerical control device that performs axis movement control of a superimposed axis with a move command that superimposes the movement command of A means for switching the acceleration / deceleration time constant of the superimposed axis and the basic axis for normal control and superimposition control individually when the superimposed axis and the basic axis are individually stopped, and a clamping speed / time constant switching means, and interpolation processing of the superimposed axis. And an arbitrary superimposition interpolation processing means for performing the superimposition axis, wherein the clamp speed / time constant switching means performs a superimposition axis clamping speed by a superposition start command at an arbitrary time only under a limited condition that the superimposition axis is stopped. The acceleration / deceleration time constant is switched to that for superimposition control, and as soon as the basic axis stops, the clamp speed of the basic axis and the acceleration / deceleration time constant are switched to that for superimposition control. A multi-system numerical control device, wherein the arbitrary superposition interpolation processing means starts moving the superimposition axis with respect to the superposition control start position when the constant is switched to that for superimposition control. 8. The arbitrary superimposition interpolation processing means performs an interpolation process of moving a superimposition axis to a superimposition control start position by a superposition start command or a speed value according to a parameter setting. 8. The interpolation processing according to claim 7, wherein after the deceleration time constant is switched to the one for superimposition control, an interpolation process of moving the superimposition axis by adding a movement amount of the basic axis to a superposition axis movement command. Multi-path numerical controller. 9. The optional superimposition interpolation processing means decelerates and stops the superimposition axis by an acceleration / deceleration time constant for superimposition control in response to a superimposition end command at an arbitrary time, and the clamping speed / time constant switching means includes: When the basic axis stops, the clamp speed and acceleration / deceleration time constant of the superimposed axis are switched to those for normal control regardless of the state of the basic axis, and as soon as the basic axis stops, the clamp speed and acceleration / deceleration time constant of the basic axis are changed. 10. The multi-system numerical controller according to claim 7, wherein the control is switched to the one for normal control. 10. The relative distance between the basic machine coordinate origin of the basic axis and the basic mechanical coordinate origin of the superimposed axis from the superimposed axis work coordinate origin set by the superimposition start command or a parameter with the amount of deviation from the workpiece coordinate origin of the basic axis. When,
Superimposition axis work coordinate origin calculating means for calculating the coordinate value of the superimposition axis work coordinate origin in the basic machine coordinate system based on the relative distance between the basic machine coordinate origin of the basic axis and the work coordinate origin of the basic axis, and a superposition start command Alternatively, the superimposition control start position set by the parameter with the amount of deviation from the superimposition axis work coordinate origin is determined by the coordinates in the basic machine coordinate system based on the coordinate value of the superimposition axis work coordinate origin calculated by the superimposition axis work coordinate origin calculation means. Arbitrary superimposition control start position calculating means for performing a calculation for converting the value into a value, wherein the superimposing axis is moved to the superimposition control start position with the coordinate values calculated by the arbitrary superimposition control start position calculating means. The multi-system numerical control device according to claim 7. 11. An offset correction means for correcting an arbitrary superposition control start position calculated by the arbitrary superposition control start position calculation means with an offset amount defining a tool length of a used tool set by a superposition start command or a parameter. The multi-system numerical control device according to claim 10, wherein the multi-system numerical control device is provided. 12. An arbitrary superposition control end position calculating means for calculating a superposition end position of a superposition axis specified in a basic mechanical coordinate system or a work coordinate system of a superposition axis in accordance with a superposition end command. 12. After the superimposition axis is stopped by (1), the axis is moved to the superimposition end position calculated by the arbitrary superimposition control end position calculation means using the acceleration / deceleration time constant for normal control. 2. The multi-system numerical controller according to item 1. 13. A method for calculating a clamping speed of a superimposition axis for superimposition control based on a moving speed of a basic axis during superimposition control so as not to exceed a clamping speed of a superimposition axis for normal control. 13. The multi-path numerical control device according to claim 7, further comprising a superimposed shaft clamp speed calculation switching unit that optimally sets a shaft clamp speed.