JP2022124961A - Control method and device of feed shaft - Google Patents

Abstract

To decrease a track error occurring at a corner section while decreasing a shock and vibration without using a micromotion mechanism.SOLUTION: A move command of an NC program is interpolated. A feed shaft having lower control response of a machining tool is driven with a filtering processed position command. The move command of the NC program is interpolated so as to correct a deviation of a position of a tool from a target position caused by the filtering process by a feed shaft having high control response. The feed shaft having high control response is driven while correcting the filtering processed position command.SELECTED DRAWING: Figure 1

Description

TECHNICAL FIELD The present invention relates to a control method and a control device for a feed axis of a machine tool that reduces trajectory errors that occur at corners.

For example, in the control of the feed axes of a machine tool, the speed of each feed axis changes abruptly at the corners of the tool trajectory while the NC program is being executed. In order to reduce such shocks and vibrations, acceleration/deceleration control of the feed shaft and filtering of the amount of movement are performed.

If acceleration/deceleration control of the feed axis or filtering of the movement amount is performed in order to reduce such shocks and vibrations, an error occurs in the tool locus at the corner portion. Such tool locus errors occur especially in feed axes with low natural frequencies and low control responsiveness. Low responsiveness means not only a state where the natural frequency is low, but also a state where the response of the controlled object to the manipulated variable input by the control command is slow. is too large, the control responsiveness is also low. Patent Literature 1 describes a machine tool having a fine movement mechanism in which a feed axis moves in the same direction in order to reduce a locus error that occurs at a corner portion with respect to an instructed tool locus.

International Patent Publication WO2016/051542

The machine tool of Patent Literature 1 needs to be equipped with a fine movement mechanism, which increases the mass of the feed shaft itself, and has the problem that the permissible acceleration cannot be increased.

The present invention aims to solve the problems of the prior art, and aims to reduce trajectory errors that occur at corners without using a fine movement mechanism while reducing impact and vibration.

To achieve the above object, according to the present invention, there is provided a feed axis control method for a machine tool having a feed axis with low control responsiveness and a feed axis with high control responsiveness. generating a command, interpolating the movement command to generate a movement amount for each interpolation cycle of each feed axis, calculating a target position of the tool for each interpolation cycle based on the movement amount for each interpolation cycle of each feed axis, Based on the target position of the tool for each interpolation cycle, the movement amount for each interpolation cycle of the feed axis with low control responsiveness, and the movement amount for each interpolation cycle for the feed axis with high control response. Calculate the correction amount for each interpolation cycle for correcting the tool position deviation from the target position caused by the feed axis with high control response,
The feed axis with low control response is driven based on the filtered movement amount of the feed axis with low control response, and the correction amount for each interpolation cycle is added to the movement amount of the feed axis with high control response. A feed axis control method is provided in which a feed axis with high control response is driven based on a post-correction movement amount.

Further, according to the present invention, in a feed axis controller for a machine tool having a feed axis with low control responsiveness and a feed axis with high control responsiveness, a reading and interpreting section reads and interprets an NC program to generate a movement command. , an interpolation unit that interpolates the movement command to generate the movement amount for each interpolation cycle of each feed axis, and a tool that calculates the target position of the tool for each interpolation cycle based on the movement amount for each interpolation cycle of each feed axis Filter processing based on the position calculation unit, the target position of the tool for each interpolation cycle, the movement amount for each interpolation cycle of the feed axis with low control response, and the movement amount for each interpolation cycle with high control response a calculation unit that calculates a correction amount for each interpolation cycle for correcting the tool position deviation amount from the target position caused by the feed axis with high control response,
The feed axis with low control response is driven based on the movement amount of the feed axis with low control response averaged for each interpolation period, and the movement amount of the feed axis with high control response averaged for each interpolation period is calculated for each interpolation period. Provided is a feed shaft control device that drives a feed shaft with high control response based on a post-correction movement amount calculated by adding the correction amount of .

According to the present invention, among the feed axes moving in different directions, the delay of the feed axis with low responsiveness is compensated for by using the feed axis with high responsiveness, so that high precision and high efficiency machining can be performed. It becomes possible.

1 is a block diagram of a feed shaft control device according to a first embodiment of the present invention; FIG. 2 is a detailed block diagram of the controller of FIG. 1; FIG. FIG. 3 is a block diagram similar to FIG. 2 of a feed shaft control device according to a second embodiment of the present invention; FIG. 10 is a simulation tool locus when the present invention is carried out, and is a diagram for explaining a correction amount; BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a partially broken side view showing an example of a machine tool to which the present invention is applied; FIG. 6 is a front view of the machine tool of FIG. 5; FIG. 4 is a schematic diagram showing another example of shaft configuration to which the present invention can be applied; FIG. 4 is a schematic diagram showing still another example of a shaft configuration to which the present invention can be applied;

Preferred embodiments of the present invention will now be described with reference to the accompanying drawings.
5 and 6, a five-axis numerically controlled machine tool 10 is shown as an example of a machine tool to which the present invention is applied. The machine tool 10 has two rotary feed shafts for controlling the attitude of the tool, and three linear feed shafts for relatively moving the position of the workpiece with respect to the tool. The machine tool 10 includes a bed 12 as a base fixed to the floor of a factory, a column 14 erected and fixed on the upper surface of the bed 12 at the rear end side of the bed 12 (right side in FIG. 5), and the bed 12. A table 26 provided movably in the front-rear direction or the Y-axis direction (left-right direction in FIG. 5) on the upper surface of the front portion (left side in FIG. 5) to which the workpiece W is fixed, and a spindle 24 provided above the table 26. A rotatably supported spindle head 22, a saddle 16 provided at the top of the column 14 so as to be movable in the horizontal direction or the X-axis direction (the direction perpendicular to the plane of the paper in FIG. 5), and the spindle head 22 provided on the saddle 16 to rotate. A spindle head support 60 is provided to support the spindle so as to be rotatable around the axis Oa. The spindle head support portion 60 is attached to the front surface of the saddle 16 so as to be movable in the vertical direction or the Z-axis direction, and the Z-axis slider 18 rotates on the Z-axis slider 18 about the tilt axis Oc as the second rotation axis. and a C-axis turning shaft 20 supported so as to be rotatable in the direction.

A pair of X-axis guide rails 28 are provided at the upper end of the column 14 to extend in the horizontal X-axis direction (perpendicular to the paper surface of FIG. 5). A slidable guide block 30 is attached. A ball screw 32 extending in the X-axis direction and an X-axis servomotor 34 connected to one end of the ball screw are provided as an X-axis feed device for reciprocating the saddle 16 along the X-axis guide rail 28. A nut (not shown) that engages the ball screw 32 is attached to the saddle 16 . In addition, an inclined surface 14a is formed at the upper end of the column 14. As shown in FIG. The inclined surface 14a extends obliquely upward from the front side to the rear side of the machine tool 10 in parallel with the X axis. The angle of the inclined surface 14a can be, for example, 45° with respect to the horizontal plane (XY plane).

A pair of Z-axis guide rails 36 are provided on the front surface of the saddle 16 and extend in the Z-axis direction (vertical direction in FIGS. 5 and 6). A guide block 38 is mounted which is slidable on rails 36 . The saddle 16 has a ball screw 40 extending in the Z-axis direction as a Z-axis feed device for reciprocating the Z-axis slider 18 along the Z-axis guide rail 36, and a ball screw 40 connected to one end of the ball screw 40. A Z-axis servomotor 44 is provided, and a nut that engages the ball screw 40 is attached to the Z-axis slider 18 (FIG. 5 shows a bracket 42 for attaching the nut).

A C-axis turning shaft 20 is supported by a bearing 50 at the lower end of the Z-axis slider 18 so as to be rotatable about the tilt axis Oc. The tilt axis Oc extends obliquely upward from the front side to the back side of the machine tool 10 perpendicularly to the X-axis and substantially parallel to the tilted surface 14a. The tilt axis Oc and the tilt surface 14a may be tilted in the same direction, but it is more effective if they are nearly parallel. The Z-axis slider 18 also incorporates a C-axis servomotor 52 as a C-axis feeder or a second rotary feeder that rotationally drives the C-axis turning shaft 20 . A pair of left and right arm portions 20a and 20b extending parallel to the tilt axis Oc are formed at the front end portion of the C-axis turning shaft 20. As shown in FIG.

The spindle head 22 supports a spindle 24 rotatably around the spindle axis Os, and a tool T is attached to the tip of the spindle 24 . A spindle head 22 is arranged between a pair of left and right arm portions 20 a and 20 b of the C-axis turning shaft 20 . The spindle head 22 is rotatable in the A-axis direction by A-axis turning shafts 22a and 22b formed on both sides about a rotation axis Oa as a first rotation axis perpendicular to the tilt axis Oc. It is supported by the arm portions 20 a and 20 b of the C-axis turning shaft 20 of the support portion 60 . As an A-axis feed device or a first rotary feed device, one of the arm portions 20a and 20b (the arm portion 20a in this embodiment) is connected to one of the A-axis turning shafts 22a and 22b (the A-axis turning shaft 22a in this embodiment). A-axis servomotor 21 coupled to is incorporated.

The tilt axis Oc passes through the vicinity of the intersection O between the main shaft axis Os of the main shaft 24 and the rotation axis Oa. Also, as shown in FIG. 6, the rotational position of the C-axis feeder at which the rotational axis Oa is parallel to the horizontal X-axis is defined as the origin position of the C-axis. Further, the rotational position of the A-axis feeder at which the main shaft axis Os of the main shaft 24 is vertical when the C-axis is at the origin position is defined as the origin position of the A-axis.

When the A-axis and C-axis are at their origin positions, the end face of the spindle 24 and the tool T mounted on the spindle 24 face the table 26 on which a work (not shown) is mounted. A pair of Y-axis guide rails 46 are provided on the upper surface of the bed 12 so as to extend in the horizontal Y-axis direction (horizontal direction in FIG. 5). A guide block 48 is attached. The bed 12 is also provided with a ball screw (not shown) extending in the Y-axis direction, and a A coupled Y-axis servomotor 51 is provided, and the table 26 is fitted with a nut (not shown) that engages the ball screw.

The X-axis servomotor 34, the Y-axis servomotor 51, the Z-axis servomotor 44, the A-axis servomotor 21 and the C-axis servomotor 52 are connected to a control device 100 (FIG. 5) of the machine tool 10, and the control controlled by the device 100;

Referring to FIG. 1, the control device 100 comprises a reading interpretation section 102, an interpolation section 104, a filter 106, a servo control section 108, a tool position calculation section 110 and a correction calculation section 112 as main components. The read interpretation unit 102 reads the NC program 130 and sends the movement command 114 to the interpolation unit 104 . The interpolation unit 104 calculates the movement amount 116 of each feed axis for each interpolation cycle. For example, the interpolator 104 calculates the movement amount 116 for each time interval set based on the movement command 114 . The movement amount 116 of each feed axis from the interpolation section 104 is output to the servo control section 108 via the filter 106 . The servo control unit 108 outputs a current 120 to be supplied to the servo motor of each feed axis based on the movement amount 118 of each feed axis, and controls the X-axis servo motor 34, Y-axis servo motor 51 and Z-axis servo of the machine tool 10. The motor 44, the A-axis servomotor 21, and the C-axis servomotor 52 are driven.

The control device 100 includes a CPU (central processing element), a memory device such as RAM (random access memory) and ROM (read only memory), a storage device such as HDD (hard disk drive) and SSD (solid state drive), and an output device. It can consist of a computer and associated software including input ports and a bi-directional bus interconnecting them, and in particular can be software-configured as part of a typical NC device.

The control device 100 will be described in more detail with reference to FIG.
The interpolation unit 104 inversely kinematically calculates the movement commands (tool position and posture) described in the NC program 130 read and interpreted by the reading and interpreting unit 102 for each interpolation cycle, performs acceleration/deceleration processing, and performs X-axis, The movement amounts q _0X , q _0Y , q _0Z , q _0A , and q _0C of the feed axes Y, Z, A, and C are obtained and output to the filter 106 .

The filter 106 filters the movement amounts q _0X , q _0Y , q _0Z , q _0A and q _0C of each feed axis. Filter processing is preferably moving average processing. The filter 106 stores time-series data of the movement amount of each feed axis generated by the interpolation unit 104 for each interpolation cycle, extracts a predetermined number of the most recent movement amounts from the data, averages them for each interpolation cycle, Generate post-filter displacement.

The filter 106 performs weak filtering on feed axes with high control responsiveness, and strong filtering on feed axes with high control responsiveness. In this embodiment, the X-axis and the Y-axis have relatively low natural frequencies and low control responsiveness compared to the Z-axis, A-axis, and C-axis. Weak filtering (moving average) is performed on the Z-axis, A-axis, and C-axis, and the number of data (first predetermined number) of the movement amounts q _0Z , q _0A , and q _0C of the interpolation unit 104 to be averaged is reduced, The number of data (second predetermined number) of the movement amounts q _0X and q _0Y when performing filtering (moving average) on the X-axis and the Y-axis is increased.

A feed shaft with low control response has low control response not only when its natural frequency is low, but also when, for example, the mass to be moved relative to the thrust of the feed shaft is excessive. The present invention can also be applied in such cases.

For example, the filter 106 averages 10 pieces of time-series data as a second predetermined number for the movement amounts q _0X and q _0Y of the X-axis and the Y-axis before filtering every interpolation cycle, and X-axis and Y-axis movement amounts q _X and q _Y are output, and the Z-axis, A-axis and C-axis movement amounts q _0Z , q _0A and q _0C before filtering are set to 5 as the first predetermined number. are averaged for each interpolation cycle, and the movement amounts q _Z , q _A , and q _C of the Z-axis, A-axis, and C-axis after filtering are output.

The tool position calculation unit 110 calculates the movement amounts q _0X , q _0Y , q _0Z , q 0A , q _0A , Based on q _0C , the tool positions r _0X , r _0Y and r _0Z are calculated forward kinematically. The tool position is the coordinates of the center of the ball portion at the tip of the tool T when the tool T is a ball end mill. The tool position is a tool position (target tool position) on the premise that the X-, Y-, Z-, A-, and C-axes are at the position indicated by the position command before filtering.

The correction calculator 112 receives the tool positions r _0X , r _0Y and r _0Z from the tool position calculator 110 . The correction calculation unit 112 also calculates the movement amounts q _X , q _Y , q _Z , q _A , q _C of each of the feed axes of the X-axis, Y-axis, Z-axis, A-axis, and C-axis after filtering from the filter 106 . receive. Based on the tool positions r _0X , r _0Y , and r _0Z and the movement amounts q _X , q _Y , q _Z , q _A , and q _C after filtering, the correction calculation unit 112 calculates the Z-axis, A-axis, and C-axis values. Moving amount correction values Δq _Z , Δq _A , and Δq _C for moving amounts q _Z , q _A , and q _C after filtering are calculated. The movement amount correction values Δq _Z , Δq _A , and Δq _C are added to the movement amounts q _Z , q _A , and q _C after filtering of the Z-axis, A-axis, and C-axis from the filter 106, and the Z-axis and A-axis , C-axis post-correction movement amounts q' _Z , q' _A , and q' _C are input to the servo control unit 108 together with post-filter processing movement amounts q _X and q _Y for the X- and Y-axes.

The post-correction movement amount will be described with reference to FIG.
FIG. 4 shows a corner portion where the moving direction of the tool is changed by 90° within the XY plane, that is, a tool locus which is bent by 90° within the XY plane. Conventionally, in such a case, even if a movement command is given in the NC program to draw a tool locus that is linearly bent at 90° as indicated by a solid line, the movement amount 116 from the interpolation unit 104 is actually transferred to the filter 106. The filtering causes the tool T to go inward from the solid line tool locus indicated by the NC program, as indicated by the two-dot chain line. The correction calculation unit 112 uses the Z-axis, A-axis, and C-axis with high control responsiveness to adjust the Z Correct the movement amounts q _Z , q _A , and q _C after filter processing of the axis, A axis, and C axis. Alternatively, the correction calculation unit 112 may correct the displacement between the tool trajectory indicated by the solid line and the tool trajectory indicated by the two-dot chain line by moving amounts q _Z , q _A , q Correct _C. In the example of FIG. 4, the central axis of the tool T is changed from the central axis O' before the correction to the central axis O by correcting the A-axis and the C-axis.

Next, a modification of the control device 100' will be described with reference to FIG. In this example, the filters differ from the control device 100 of FIGS. In FIG. 3, components similar to those in FIG. 2 are given the same reference numerals.

The first filter 126 receives the movement amounts q _0X , q _0Y , q _0Z , q _0A , and q _0C of the feed axes of the X, Y, Z, A, and C axes from the interpolator 104 and Filter. The second filter 128 receives the movement amounts of the feed axes of the X-axis and the Y-axis that have been subjected to weak filtering by the first filter 126, and performs strong filtering. _{For example} , the first _{filter 126 applies} Five pieces of time-series data as the first predetermined number are averaged for each interpolation cycle and subjected to the first filter processing to output q _1X , q _1Y , q _z , q _A , and q _c . The second filter 128 uses 10 pieces of time-series data larger than the first predetermined number as the second predetermined number for the X-axis and Y-axis movement amounts q _1X and q _1Y before the second filter processing. are averaged for each interpolation cycle and subjected to the second filter processing to output the X-axis and Y-axis movement amounts q _X and q _Y .

The tool position calculation unit 110 calculates the movement amounts q _1X , q _1Y , q _Z , q _A and _qC are acquired, and target tool positions _r0X , _r0Y , and _r0Z are forward kinematically calculated based on them.

The correction calculator 112 receives the tool positions r _0X , r _0Y and r _0Z from the tool position calculator 110 . The correction calculation unit 112 also obtains the movement amounts qX and qY of the _X- and _Y -axes after filtering from the second filter 128, and the movement amounts of the Z-, A-, and C-axes from the first filter 126. Receive q _Z , q _A , q _C . Based on the tool positions r _0X , r _0Y , r _0Z and the movement amounts q _X , q _Y , q _Z , q _A , q _C , the correction calculation unit 112 calculates the Z-axis, A-axis, and C-axis after filtering. Calculate movement amount correction values Δq _Z , Δq _A , and Δq _C for the movement amounts q _Z , q _A , and q _C . The movement amount correction values Δq _Z , Δq _A , and Δq _C are added to the movement amounts q _Z , q _A , and q _C after filtering the Z-axis, A-axis, and C-axis from the first filter 126, and the Z-axis , A-axis, and C-axis corrected movement amounts q' _Z , q' _A , and q' _C are input to the servo control unit 108 together with filtered movement amounts q _X and q _Y for the X- and Y-axes.

Note that the above-described embodiment relates to a five-axis machine tool 10 having three orthogonal linear feed axes of X, Y, and Z axes and two rotary feed axes of A and C axes. However, the present invention is not limited to this. For example, as shown in FIG. and Y-axis) and one rotary feed axis (C-axis) to move in a plane. In this case, for example, when the X- and C-axes have high control responsiveness and the Y-axis has low control responsiveness, the Y-axis movement trajectory is corrected by correcting the X-axis and C-axis movement amounts. can be done.

Alternatively, as shown in FIG. 8, the tool position or the position of the robot's hand (TCP) can be divided into three orthogonal linear feed axes of the X, Y, and Z axes and two rotation axes of the A and B axes. It can also be applied to a device with a shaft structure that moves three-dimensionally by a feed shaft. In this case, for example, when the Z-axis, A-axis, and B-axis have high control responsiveness and the X-axis and Y-axis have low control responsiveness, by correcting the movement amount of the Z-axis, A-axis, and B-axis, , X-axis, and Y-axis (in the XY plane) can be corrected.

Furthermore, in the described embodiment, a machine tool having a rotary feed shaft on the spindle side for gripping the tool has been described, but the present invention is not limited to this. For example, the present invention can be applied to a machine tool having a rotary feed shaft on the side of a table on which a work is placed. As an example, the Y-axis of the linear feed shaft that moves horizontally on the bed is provided, the B-axis of the rotary feed shaft is provided on the Y-axis so as to be movable on the Y-axis, and the B-axis rotates on the B-axis. A machine tool is provided with a C-axis as a rotary feed shaft and a table configured to be rotatable on the C-axis on the C-axis, wherein the X-axis as a linear feed shaft is mounted on a column erected on the upper surface of the bed. A machine tool is conceivable in which a Z-axis of a linear motion feed axis is provided on the X-axis so as to be movable along the X-axis, and a spindle is configured to be movable along the Z-axis on the Z-axis. The moving directions of the X-, Y-, and Z-axes of the linear feed shafts are not parallel to each other, and the rotation axes of the B- and C-axes of the rotary feed shafts are also different. Even in such a machine tool, the X-axis and Y-axis with low control responsiveness can be corrected using the Z-axis, B-axis, and C-axis with high control responsiveness. In addition, the present invention can be applied by using a plurality of feed axes with different movement directions from a feed axis with low control response to be corrected in various shaft configurations.

10 machine tool 12 bed 14 column 16 saddle 18 Z-axis slider 20 C-axis turning axis 21 A-axis servomotor 22 Spindle head 24 Spindle 26 Table 44 Z-axis servomotor 50 Bearing 51 Y-axis servomotor 52 C-axis servomotor 60 Spindle head Support unit 100 Control device 102 Read interpretation unit 104 Interpolation unit 106 Filter 108 Servo control unit 110 Tool position calculation unit 112 Correction calculation unit 114 Movement command 116 Movement amount 118 Movement amount 120 Current 126 First filter 128 Second filter 130 NC program

Claims (12)

A feed axis control method for a machine tool having a feed axis with low control responsiveness and a feed axis with high control responsiveness,
read and interpret the NC program to generate a movement command,
Interpolate the movement command to generate the movement amount for each interpolation cycle of each feed axis,
The target position of the tool is calculated for each interpolation cycle based on the movement amount of each feed axis for each interpolation cycle,
Based on the target position of the tool for each interpolation cycle, the movement amount for each interpolation cycle of the feed axis with low control responsiveness, and the movement amount for each interpolation cycle for the feed axis with high control response. Calculate the correction amount for each interpolation cycle for correcting the tool position deviation from the target position caused by the feed axis with high control response,
The feed axis with low control response is driven based on the filtered movement amount of the feed axis with low control response, and the correction amount for each interpolation cycle is added to the movement amount of the feed axis with high control response. A feed axis control method for driving a feed axis with high control response based on a post-correction movement amount. performing a first filter process on the movement amount for each interpolation cycle with respect to the feed axis with high control responsiveness,
further comprising performing a second filtering process that is stronger than the first filtering process on the amount of movement for each interpolation cycle with respect to the feed axis with low control responsiveness;
A target position for each interpolation cycle, a movement amount for each interpolation cycle after the first filter processing of the feed axis with high control response, and a movement amount for each interpolation cycle after the second filter processing for low control response. 2. A method of controlling a feed axis according to claim 1, wherein the correction amount for each interpolation cycle is calculated based on . The first filtering includes averaging a first predetermined number of the most recent movements per interpolation cycle, and the second filtering includes averaging a second predetermined number of the most recent movements that are greater than the first predetermined number. 3. A feed axis control method according to claim 2, comprising averaging the amount of movement of each interpolation cycle. 2. The method according to claim 1, wherein the amount of movement of each feed axis in each interpolation cycle is subjected to first filtering, and the target position in each interpolation cycle is calculated based on the amount of movement after filtering in each interpolation cycle. feed axis control method. performing a second filtering process stronger than the first filtering process with respect to the amount of movement of the feed axis for each interpolation cycle with low control responsiveness after the first filtering process,
The target position for each interpolation cycle, the movement amount after the second filter processing for each interpolation cycle of the feed axis with low control response, and the movement amount after the first filter processing for each interpolation cycle for the feed axis with high control response 5. The feed axis control method according to claim 4, wherein the correction amount for each interpolation cycle is calculated based on the movement amount. The first filtering includes averaging a first predetermined number of the most recent movement amounts for each interpolation cycle, and the second filtering includes averaging a second predetermined number of the most recent movement amounts that are greater than the predetermined number. 5. A feed axis control method according to claim 4, comprising averaging the amount of movement for each interpolation period. In a feed axis control device for a machine tool having a feed axis with low control response and a feed axis with high control response,
a reading and interpreting unit that reads and interprets the NC program and generates a movement command;
an interpolation unit that interpolates a movement command to generate a movement amount for each interpolation cycle of each feed axis;
a tool position calculation unit that calculates a target position of the tool for each interpolation cycle based on the amount of movement of each feed axis for each interpolation cycle;
A target generated by filtering based on the target position of the tool for each interpolation cycle, the movement amount for each interpolation cycle of the feed axis with low control response, and the movement amount for each interpolation cycle with high control response. a calculation unit that calculates a correction amount for each interpolation cycle for correcting the amount of deviation of the tool position from the position by the feed axis with high control response,
The feed axis with low control response is driven based on the movement amount of the feed axis with low control response averaged for each interpolation period, and the movement amount of the feed axis with high control response averaged for each interpolation period is calculated for each interpolation period. A control device for a feed shaft that drives a feed shaft with high control response based on the post-correction movement amount calculated by adding the correction amount of . A first filtering process is performed on the movement amount in each interpolation cycle for the feed axis with high control response, and the movement amount in each interpolation period is stronger than the first filtering process for the feed axis with low control response. further comprising a filter for performing a second filtering process;
The target position for each interpolation cycle, the movement amount for each interpolation cycle after the first filter processing of the feed axis with high control response, and the movement amount for each interpolation cycle after the second filter processing for the feed axis with low control response 8. A feed axis control device according to claim 7, wherein the correction amount for each interpolation cycle is calculated based on the movement amount. The first filter includes averaging a first predetermined number of recent movements each interpolation period, and the second filter includes averaging a second predetermined number of recent movements greater than the first predetermined number. 9. A feed axis control device according to claim 8, wherein the amount is averaged every interpolation period. A first filter for filtering the movement amount of each feed axis for each interpolation cycle is provided, and a target position for each interpolation cycle is calculated based on the movement amount after filtering for each interpolation cycle. 8. A control device for a feed shaft according to item 7. further comprising a second filter that performs stronger filtering than the filtering in the first filter on the amount of movement of the feed axis with low control responsiveness in each interpolation cycle,
The target position for each interpolation cycle, the movement amount after filtering in the first filter for each interpolation cycle of the feed axis with high control response, and the second filter for each interpolation cycle for the feed axis with low control response 11. A control device for a feed axis according to claim 10, wherein the correction amount for each interpolation cycle is calculated based on the movement amount after filtering. The first filter includes averaging a first predetermined number of recent movements each interpolation period, and the second filter includes averaging a second predetermined number of recent movements greater than the first predetermined number. 11. A feed axis control device according to claim 10, wherein the amount is averaged every interpolation cycle.

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