JP6651815B2 - Numerical control device and control method of numerical control device - Google Patents

Description

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

  In a conventional rapid traverse movement of a machine tool, axes that simultaneously perform rapid traverse move independently at the highest speed. Therefore, it is difficult to predict the movement route in advance, and there is a possibility that the tool collides with the work material. The acceleration / deceleration control method described in Patent Literature 1 proposes a technique for performing interpolation-type rapid traverse. Interpolation-type rapid traverse is a rapid traverse movement that moves to an arbitrary position at high speed and in a straight line.

JP-A-8-76827

  When the interpolation type fast forward is used, there is a problem that the cycle time increases depending on the situation. For example, when performing interpolation-type rapid traverse simultaneously on an axis having a clamp mechanism that fixes the axis position and an axis without a clamp mechanism, it is necessary to start interpolation movement of all axes after the unclamping of the clamp mechanism is completed. Therefore, the cycle time increases.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a numerical controller and a control method of the numerical controller that can reduce a cycle time by not performing unnecessary interpolation type fast-forward according to a situation.

The numerical control device according to claim 1 controls a machine tool having a plurality of movable axes for moving a tool or a work material, and linearly moves from a movement start position to an end position for rapid traverse of two or more movable axes. In a numerical control device capable of performing an interpolation type fast traverse for performing the fast traverse by interpolating, an interpreting means for interpreting an NC program, and when the control command interpreted by the interpreting means is a control command including the fast traverse, the plurality of For all or a part of the movable shaft, determining means for determining whether the tool interferes with the work material or a jig for fixing the work material on a table, and the determining means, the tool is the tool When determining that the tool interferes with the work material or the jig, the interpolation-type fast-forward executing means for executing the interpolation-type fast forward and the determination means determine that the tool does not interfere with the work material or the jig. When, a fast-forward execution means for executing the fast-forward without the interpolative fast forward, the judgment unit may, the interpretation means the control command is interpreted, from said workpiece or said jig in a predetermined direction After performing a retreat operation of a predetermined distance with respect to the movable axis, a second determination unit configured to determine whether or not a sequence operation command instructing a predetermined sequence operation for performing the rapid traverse of another movable axis is provided . Features. When the tool does not interfere with the work material or the jig, the numerical controller performs normal rapid traverse instead of interpolation-type rapid traverse. Therefore, the numerical controller can reduce the cycle time as compared with the case where the interpolation type fast forward is executed. The numerical controller realizes safe rapid traverse without danger of colliding with a work material or a jig by interpolation type rapid traverse, and can minimize an increase in cycle time due to interpolation type rapid traverse.
The predetermined sequence operation is an operation of performing a retreat operation on a movable axis in a predetermined direction from a work material and then performing a rapid feed of another movable axis, so that the tool does not interfere with the work material or the jig. When the interpreted control command is a sequence operation command, the numerical controller can determine that there is no possibility that the tool will interfere with the work material or the jig.

  According to a second aspect of the present invention, in the numerical control device according to the first aspect, the determination unit includes the movement start position and the end position of the fast-forward specified by the control command interpreted by the interpretation unit. And a first determining means for determining whether or not a virtual straight line connecting between the tool and the work material or the jig overlaps with a processing area where there is a possibility of interference. The processing region is a region where there is a possibility of interference between the tool and the work material or the jig. When the virtual straight line overlaps with the machining area, there is a possibility of interference, so the numerical controller performs interpolation type rapid traverse. When the virtual straight line does not overlap with the processing area, there is no possibility of interference, and the numerical controller performs normal rapid traverse. Since the numerical controller does not perform unnecessary interpolation type rapid traverse, the cycle time can be reduced.

  According to a third aspect of the present invention, in addition to the configuration of the second aspect, the processing area is set for each of the plurality of movable axes, and the first determination unit is configured to determine the number of each of the plurality of movable axes. Determining whether the virtual straight line overlaps the machining area, the interpolation-type fast-forward execution means, and the fast-forward execution means, according to the determination result determined by the first determination means for each of the plurality of movable axes, The interpolation-type rapid traverse or the rapid traverse is executed for each of a plurality of movable axes. The numerical controller sets a processing area for each movable axis. Since the numerical controller determines the possibility of interference for each movable axis, it is possible to execute the interpolation type fast traverse and the fast traverse for each movable axis. Since the numerical controller does not perform the interpolation type rapid traverse on the movable axis having no possibility of interference, the cycle time can be reduced.

According to a fourth aspect of the present invention , in the numerical controller according to any one of the first to third aspects , the sequence operation command is a tool change command for instructing a tool change or a change of the work material. Is a pallet indexing command, a home position return command, or a reference point return command. A tool change command, a pallet indexing command, a home position return command, and a reference point return command are commands for performing a retreat operation on a movable axis in a predetermined direction from a work material and then performing a rapid feed of another movable axis. Does not interfere with the work material or jig after evacuation of the work. The numerical control device can reduce the cycle time by not performing the interpolation type rapid traverse.

According to a fifth aspect of the present invention, in addition to the configuration of the invention described in any one of the first to fourth aspects, the determination unit includes a control command in which the control command interpreted by the interpretation unit includes the fast-forward. In the case of, it is provided with a third determining means for determining whether there is the movable shaft having a clamp mechanism for fixing the position, the fast-forward execution means, the third determining means is the movable shaft provided with the clamp mechanism is In a case where it is determined that there is, a clamp fast-forward executing means for executing the fast-forward with respect to the movable shaft having the clamp mechanism is provided. The movable shaft provided with the clamp mechanism is usually a rotating shaft. In rapid traverse other than machining of a three-dimensional shape, the tool is once retracted and then moved, so that with a movable shaft having a clamp mechanism, the possibility that the tool will interfere with a work material or a jig is low. The numerical control device executes normal rapid traverse without performing interpolation-type rapid traverse for the movable shaft having the clamp mechanism. The movable shaft without the clamp mechanism can operate in parallel without waiting for the operation of the movable shaft with the clamp mechanism. Therefore, the numerical controller can reduce the cycle time.

The control method of the numerical control device according to claim 6 controls a machine tool having a plurality of movable axes for moving a tool or a work material, and performs rapid traverse of two or more movable axes from a movement start position to an end position. In a control method of a numerical control device capable of executing an interpolation type rapid traverse for performing the rapid traverse by linearly interpolating between, an interpretation step of interpreting an NC program, and a control instruction interpreted in the interpretation step is a control instruction including the rapid traverse. In some cases, for all or a part of the plurality of movable shafts, a determining step of determining whether the tool interferes with the work material or a jig for fixing the work material on a table; and the determining step. Then, when it is determined that the tool interferes with the work material or the jig, in the interpolation-type fast-forward execution step of executing the interpolation-type fast-forward, and in the determination step, the tool is in contact with the work material or the jig. If it is determined not to interfere with, and a fast-forward execution step of executing the fast-forward without the interpolative fast forward, the determination step, the control command interpreted by said interpreting step, the workpiece or the After performing a retreat operation of the movable axis in a predetermined direction from the jig for a predetermined distance, a second determination step of determining whether or not the sequence operation command is for instructing a predetermined sequence operation for performing the rapid feed of another movable axis. characterized by comprising a. The numerical controller can obtain the effect described in claim 1 by performing the above steps.

FIG. 2 is a perspective view of the machine tool 1. FIG. 3 is a perspective view of a work material support device 8. FIG. 2 is a block diagram showing an electrical configuration of the numerical control device 40 and the machine tool 1. The figure which shows the path | route L1 of normal fast-forward, and the path | route L2 of interpolation type fast-forward. The figure which shows the difference of the cycle time at the time of performing interpolation type rapid traverse on all the X-axis, Y-axis, and C-axis, and the case of performing normal rapid traverse only on C-axis. FIG. 4 is an explanatory diagram of acceleration / deceleration time constants t1 and t2. 4 is a flowchart of a program operation process (first embodiment). 9 is a flowchart of a program operation process (second embodiment). 9 is a flowchart of a program operation process (third embodiment). 9 is a flowchart of a program operation process (fourth embodiment).

  An embodiment of the present invention will be described with reference to the drawings. The following description uses left and right, front and rear, and upper and lower indicated by arrows in the figure. The left-right direction, the front-back direction, and the up-down direction of the machine tool 1 are the X-axis direction, the Y-axis direction, and the Z-axis direction of the machine tool 1, respectively. The machine tool 1 shown in FIG. 1 is a multifunction machine capable of cutting and turning a work material.

  The structure of the machine tool 1 will be described with reference to FIG. The machine tool 1 includes a base 2, a Y-axis moving mechanism (not shown), an X-axis moving mechanism (not shown), a Z-axis moving mechanism (not shown), a moving body 15, a vertical column 5, a spindle head 6, and a spindle (not shown). ), A workpiece support device 8, a tool changing device 9, a control box (not shown), a numerical control device 40 (see FIG. 2), and the like. The base 2 includes a base 11, a spindle base 12, a right base 13, a left base 14, and the like. The gantry 11 is a substantially rectangular parallelepiped structure that is long in the front-rear direction. The spindle base 12 is formed in a substantially rectangular parallelepiped shape that is long in the front-rear direction, and is provided behind the upper surface of the gantry 11. The right base 13 is provided on the upper right side of the top of the gantry 11. The left base 14 is provided on the upper surface of the gantry 11 on the left front side. The right base 13 and the left base 14 are provided with front support bases 13A and 14A and rear support bases 13B and 14B, respectively. The support bases 13A, 13B, 14A, and 14B are formed in columns extending in the vertical direction, and support the work material support device 8 on the upper surface.

  The Y-axis moving mechanism is provided on the upper surface of the spindle base 12, and a pair of Y-axis rails 16 (only the right Y-axis rail 16 is shown in FIG. 1), a Y-axis ball screw (not shown), a Y-axis motor (not shown), etc. Is provided. The pair of Y-axis rails 16 and Y-axis ball screws extend in the Y-axis direction. The pair of Y-axis rails 16 guide the moving body 15 on the upper surface in the Y-axis direction. The moving body 15 is formed in a substantially flat plate shape, and includes a nut (not shown) on the outer surface of the bottom. The nut is screwed onto a Y-axis ball screw. When the Y-axis motor rotates the Y-axis ball screw, the moving body 15 moves along with the nuts along the pair of Y-axis rails 16. Therefore, the Y-axis moving mechanism supports the moving body 15 movably in the Y-axis direction.

  The X-axis moving mechanism is provided on the upper surface of the moving body 15 and includes a pair of X-axis rails (not shown), X-axis ball screws (not shown), X-axis motors (not shown), and the like. The X-axis rail and the X-axis ball screw extend in the X-axis direction. The upright 5 extends vertically and is provided on the upper surface of the moving body 15. The upright 5 has a nut (not shown) at the bottom. The nut is screwed onto the X-axis ball screw. When the X-axis motor rotates the X-axis ball screw, the upright 5 moves along with the nut along the pair of X-axis rails. Therefore, the X-axis moving mechanism supports the upright 5 so as to be movable in the X-axis direction. The upright 5 can be moved on the base 2 in the X-axis direction and the Y-axis direction by the Y-axis moving mechanism, the moving body 15, and the X-axis moving mechanism.

  The Z-axis moving mechanism is provided on the front surface of the upright 5, and includes a pair of Z-axis rails (not shown), a Z-axis ball screw (not shown), a Z-axis motor (not shown), and the like. The Z-axis rail and the Z-axis ball screw extend in the Z-axis direction. The spindle head 6 has a nut (not shown) on the back. The nut is screwed onto a Z-axis ball screw. The Z-axis motor is fixed to a bearing (not shown) at the upper end of the Z-axis ball screw. When the Z-axis motor rotates the Z-axis ball screw, the spindle head 6 moves along a pair of Z-axis rails. Therefore, the Z-axis moving mechanism supports the spindle head 6 so as to be movable in the Z-axis direction. The spindle (not shown) is provided inside the spindle head 6 and has a tool mounting hole (not shown) below the spindle head 6. A tool mounting hole is used to mount a tool. The spindle is rotated by a spindle motor 64 provided above the spindle head 6.

  The work material support device 8 is fixed to the upper surfaces of the right base 13 and the left base 14. The work material support device 8 rotatably holds a work material (not shown). The work material supporting device 8 includes an A-axis stand 20 and a turntable 45. The A-axis stand 20 is rotatable around an axis (support shaft 31 shown in FIG. 2) parallel to the X-axis direction. The axis that rotates the A-axis stand 20 is the A-axis. The turntable 45 is formed in a disk shape and is provided substantially at the center of the upper surface of the A-axis stand 20. The turntable 45 is rotatable around an axis parallel to the Z-axis direction, and fixes the work material on the upper surface using a jig 200 (see FIG. 2). The axis that rotates the turntable 45 is the C axis. The work material support device 8 can tilt the work material in any direction with respect to the tool mounted on the main shaft by tilting the A-axis stand 20 at an arbitrary angle around the A axis. The specific structure of the work material support device 8 will be described later.

  The tool changing device 9 includes a tool magazine (not shown), a protection cover 9A, and the like. The protection cover 9A covers and protects the tool magazine. The tool magazine has a substantially annular shape surrounding the column 5 and the spindle head 6. The tool magazine includes a plurality of pots (not shown), a chain (not shown), a magazine motor (not shown), and the like. The pot is removably mounted with tools. The chain is provided in an annular shape along the tool magazine. Multiple pots are mounted along the chain. With the drive of the magazine motor, the pot moves along with the chain along the shape of the tool magazine. The tool change position is the position of the pot located at the bottom of the tool magazine. The tool changer 9 raises the spindle head 6 from the machining area to the Z-axis origin by driving the magazine motor 65 (see FIG. 3), and raises and lowers the spindle head 6 in the tool change area. Is exchanged with the tool currently mounted on the spindle. The Z axis origin is the mechanical origin of the Z axis. The machine origin is a position at which the machine coordinates of the X axis and the Y axis are zero, and a position at which the machine coordinate of the Z axis is the upper limit position at which the work material can be processed. The processing area is an area on the turntable 45 side of the Z-axis origin. The tool change area is an area on the opposite side of the machining area with respect to the Z-axis origin, and is an area between the ATC origin. The ATC origin is a position where the pot can be moved by driving the magazine motor 65.

  The control box is attached to an outer wall of a cover (not shown) that covers the machine tool 1. The numerical controller 40 is stored inside the control box. The numerical controller 40 controls the operation of the machine tool 1 based on the NC program. The NC program is composed of a plurality of lines, each line including a control command. The control command is, for example, a G code, an M code, or the like. The cover that covers the machine tool 1 includes an operation panel 10 on the outer wall surface. The operation panel 10 includes an input unit 18 and a display unit 19. The input unit 18 performs various settings, inputs, and the like of the numerical controller 40. The display unit 19 displays various screens, messages, alarms, and the like.

  The specific structure of the work material support device 8 will be described with reference to FIG. The work material support device 8 includes an A-axis stand 20, a left-side support stand 27, a right-side drive mechanism section 28, a turntable 45, a C-axis drive section 50, and the like. The A-axis stand 20 includes a base 21, a right connection 22, and a left connection 23. The pedestal 21 is a plate-like portion having a substantially rectangular shape in plan view in which the inclination angle of the A-axis pedestal 20 is 0 ° and the upper surface is a horizontal plane. The right connecting portion 22 extends obliquely rightward and upward from the right end of the base 21 and is rotatably connected to the right driving mechanism 28. The left connecting portion 23 extends obliquely leftward and upward from the left end of the base 21 and is rotatably connected to a left support 27 described later. The turntable 45 is rotatably provided substantially at the center of the upper surface of the base 21.

  The C-axis drive unit 50 is provided on the lower surface of the base 21 and is connected to the turntable 45 via a hole (not shown) provided substantially at the center of the base 21. The C-axis driving unit 50 includes a rotating shaft (not shown), a C-axis motor 66 (see FIG. 3), a clamp device 68 (see FIG. 3), and the like. The rotation axis extends in a direction orthogonal to the turntable 45. The rotation shaft is fixed to the turntable 45. The C-axis motor 66 is fixed to a rotating shaft. Therefore, when the C-axis motor 66 rotates the rotation shaft, the turntable 45 rotates. The clamp device 68 clamps and unclamps the rotating shaft using, for example, compressed air supplied from a compressor (not shown). The jig 200 can be attached to the upper surface of the turntable 45. The jig 200 is a mechanism for holding a work material (not shown).

  The left support 27 is located on the left side of the A-axis stand 20. The left connecting portion 23 has a substantially cylindrical support shaft 31 protruding leftward from the left end surface. The left support base 27 rotatably supports the support shaft 31 at an apex protruding upward. The bottom of the left support 27 is fixed to the upper surfaces of the supports 14A and 14B of the left base 14 (see FIG. 1).

  The right drive mechanism 28 is located on the right side of the A-axis stand 20. The right driving mechanism 28 stores therein a right support stand (not shown), a speed reducer (not shown), an A-axis motor 67 (see FIG. 3), and the like. The right connecting portion 22 has a substantially cylindrical support shaft (not shown) projecting rightward from a right end surface thereof. The right support base rotatably supports the support shaft of the right connecting portion 22 and integrally holds the speed reducer and the A-axis motor 67. The support shaft of the right connecting portion 22 and the output shaft of the A-axis motor 67 are connected to each other via a speed reducer. The speed reducer is a mechanical device that reduces the rotational speed of the power using gears or the like and outputs the power, and can obtain a torque proportional to the speed reduction ratio as the output. Therefore, when the output shaft of the A-axis motor 67 rotates, the A-axis stand 20 rotates integrally with the right connecting portion 22 via the speed reducer, and tilts in an arbitrary direction around the A-axis. The work material support device 8 can tilt the work material in an arbitrary direction with respect to a tool mounted on the main shaft. The bottom of the right support is fixed to the upper surfaces of the supports 13A and 13B of the right base 13 (see FIG. 1).

  A method of processing a work material by the machine tool 1 will be described with reference to FIGS. When cutting a work material, the machine tool 1 rotates, for example, the turntable 45 and does not rotate a main shaft (not shown). The work material rotates integrally with the turntable 45 via the jig 39. The machine tool 1 can perform turning of the work material by moving the spindle head 6 and contacting the tool with the rotating work material. The machine tool 1 can also perform the cutting of the work material by setting the rotary table 45 to non-rotation and the main shaft to rotate, and contacting a stationary work material with a tool that rotates together with the main shaft. The machine tool 1 rotates both the main shaft and the turntable 45, and can cut the work material even when the work material contacts the tool.

  The electrical configuration of the numerical controller 40 and the machine tool 1 will be described with reference to FIG. The numerical control device 40 includes a CPU 41, a ROM 42, a RAM 43, a storage device 44, an I / O board 46, and the like. The CPU 41 controls the operation of the machine tool 1. The ROM 42 stores a control program and the like for executing a program operation process (see FIGS. 7 to 10) described later. The RAM 43 stores various data generated during execution of various processes. The storage device 44 is nonvolatile and stores an NC program and the like. The I / O board 46 is a circuit board that inputs and outputs various signals to and from the machine tool 1. The machine tool 1 includes drive circuits 51 to 59. The drive circuits 51 to 59 are connected to the I / O board 46 of the numerical controller 40. The drive circuit 51 outputs a drive current (pulse) to the X-axis motor 61 in accordance with a command signal from the CPU 41. The encoder 71 is connected to the X-axis motor 61 and the I / O board 46. The encoder 71 detects position information (absolute position information of the motor) of the X-axis motor 61 and inputs the detection signal to the I / O board 46.

  The drive circuit 52 outputs a drive current to the Y-axis motor 62 in accordance with a command signal from the CPU 41. The encoder 72 connects to the Y-axis motor 62 and the I / O board 46. The encoder 72 detects the position information of the Y-axis motor 62 and inputs the detection signal to the I / O board 46. The drive circuit 53 outputs a drive current to the Z-axis motor 63 in accordance with a command signal from the CPU 41. The encoder 73 is connected to the Z-axis motor 63 and the I / O board 46. The encoder 73 detects the position information of the Z-axis motor 63 and inputs the detection signal to the I / O board 46. The drive circuit 54 outputs a drive current to the spindle motor 64 according to a command signal from the CPU 41. The encoder 74 is connected to the spindle motor 64 and the I / O board 46. The encoder 74 detects the position information of the spindle motor 64 and inputs the detection signal to the I / O board 46.

  The drive circuit 55 outputs a drive current to the magazine motor 65 in accordance with a command signal from the CPU 41. The encoder 75 is connected to the magazine motor 65 and the I / O board 46. The encoder 75 detects the position information of the magazine motor 65 and inputs the detection signal to the I / O board 46. The drive circuit 56 outputs a drive current to the C-axis motor 66 in accordance with a command signal from the CPU 41. The encoder 76 is connected to the C-axis motor 66 and the I / O board 46. The encoder 76 detects the position information of the C-axis motor 66 and inputs the detection signal to the I / O board 46. The drive circuit 57 outputs a drive current to the A-axis motor 67 according to a command signal from the CPU 41. The encoder 77 connects to the A-axis motor 67 and the I / O board 46. The encoder 77 detects the position information of the A-axis motor 67 and inputs the detection signal to the I / O board 46.

  The drive circuit 58 outputs a drive current to the clamp device 68 according to a command signal from the CPU 41. The drive circuit 59 outputs a drive current to the display unit 19 according to a command signal of the CPU 41. The input unit 18 is connected to the I / O board 46. The X-axis motor 61, the Y-axis motor 62, the Z-axis motor 63, the main shaft motor 64, the magazine motor 65, the C-axis motor 66, and the A-axis motor 67 are all servo motors. The encoders 71 to 77 are general absolute value encoders, and are position sensors that detect and output the absolute position of the rotational position. The drive circuits 51 to 57 receive feedback signals from the encoders 71 to 77 and perform position and speed feedback control. The drive circuits 51 to 59 may be, for example, FPGA circuits.

  The interpolation type fast forward will be described with reference to FIG. The numerical controller 40 controls various operations of a tool mounted on the spindle in accordance with a control command of the NC program. The control command includes a movement command for moving the tool to a target position. The movement command includes a rapid feed command and a cutting feed command. The fast-forward command is a command to move to the target position at the highest speed for each axis regardless of the moving path of the tool. The cutting feed command is a command for moving while following an accurate cutting path. When moving the tool without cutting, the numerical controller 40 uses a fast-forward command to reduce the cycle time. Since the normal fast-forward command does not consider the movement path, there is a possibility that the command contacts an obstacle (for example, a work material or the jig 200). In this case, the present embodiment uses an interpolation type fast forward command. The interpolation-type fast-forward command is a control command for instructing the interpolation-type fast-forward that moves the tool to an arbitrary position at a high speed and in a straight line.

  For example, as shown in FIG. 4, when moving from P1 (X0, Y0) to P2 (X300, Y200) at normal rapid traverse, the tool moves along the path L1. In normal rapid traverse, the X axis and the Y axis move to the target position (X300, Y200) at the highest speed respectively. In this example, since the movement distance of the Y axis is shorter than the movement distance of the X axis, the tool reaches Y200 before X300. As a result, the tool moves from P1 to P2 via P3, so that the path L1 bends at P3. When moving in the interpolation type rapid traverse, the tool moves along the path L2. The path L2 is linear. In the interpolation type rapid traverse, the X axis and the Y axis can move linearly from P1 to P2. In the interpolation type rapid traverse, as long as there is no obstacle or the like between P1 and P2, the tool does not contact the obstacle or the like, so that safe rapid traverse is possible.

The shortcomings of the interpolation type fast forward will be described. The following three scenes have a drawback that the use of the interpolation type fast-forward increases the cycle time compared to the normal fast-forward.
-First scene-
The first scene is a case in which interpolation-type rapid traverse is simultaneously performed on an axis having a clamp mechanism and an axis having no clamp mechanism. For example, it is assumed that interpolation-type rapid traverse is simultaneously performed on all of the X, Y, and C axes. The C axis includes a clamp device 68 which is a type of a clamp mechanism. The X-axis and Y-axis have no clamping mechanism. As shown in FIG. 5A, first, at t0, the unclamping operation of the C-axis clamping device 68 starts. For the C-axis, X-axis, and Y-axis, it is necessary to perform interpolation-type rapid traverse after waiting t1 at which the unclamping operation of the clamp device 68 ends. When the unclamping operation ends at t1, the X-axis, the Y-axis, and the C-axis simultaneously perform the interpolation type rapid traverse. When the X-axis, Y-axis, and C-axis interpolation rapid traverse ends at t3, the clamp device 68 starts the C-axis clamping operation and ends at t4. The X-axis, Y-axis, and C-axis interpolation rapid traverse ends at t4.

  For example, in rapid traverse other than machining of a three-dimensional shape, the numerical controller 40 moves after retreating the tool once. In the C-axis provided with the clamp device 68, there is a low possibility that the tool will interfere with the work material or the jig 200. Therefore, the numerical controller 40 may execute the normal fast traverse without performing the interpolation fast traverse for the axis having the clamp mechanism. For example, it is assumed that normal fast-forward is performed only on the C-axis provided with the clamp device 68, and interpolation-type fast-forward is performed on the X-axis and the Y-axis. As shown in FIG. 5B, the X-axis and the Y-axis start moving at t0 without waiting for the end of the unclamping of the C-axis clamping device 68. At t1, when the unclamping of the clamp device 68 ends, the C-axis performs normal rapid traverse. After the end of the normal rapid traverse of the C-axis, the clamp device 68 starts the clamping operation. After the interpolation type rapid traverse of the X-axis and the Y-axis is completed, the clamp device 68 ends the clamp operation at t2. Therefore, in the first scene, the cycle time of the C-axis having the clamp device 68 can be expected to be reduced by performing normal rapid traverse.

-Second scene-
The second scene is when the axis that takes the longest to move is different from the axis that has the longest acceleration / deceleration time constant. The acceleration / deceleration time constant will be described with reference to FIG. The numerical controller 40 calculates a target position, a moving distance, a moving speed, a moving time, and the like for each of the X-axis, the Y-axis, the Z-axis, the C-axis, and the A-axis based on the interpolation command in the NC program. . The interpolation command is a control command used to move the axis at the moving speed specified by the address. The numerical controller 40 performs a post-interpolation acceleration / deceleration for smoothing the speed change by passing the calculated moving speed for each axis through a moving average filter (hereinafter, referred to as an FIR filter) at least twice or more.

FIG. 6 is a chart showing the result of processing the moving speed of the tool moving in the X-axis direction twice with the FIR filter. The acceleration / deceleration time constant (hereinafter, referred to as a time constant) of the FIR filter corresponds to the number of samples on which the FIR filter averages. For example, when the sampling time is 1 msec and the time constant of the FIR filter is 10 msec, the FIR filter uses the average of the commands up to 10 commands before and including the current interpolation command as the current output. The time constant of the first stage of the FIR filter (FIR1) _{t 1,} the time constant of the second stage of the FIR filter (FIR2) and _{t 2.}

FIR filters of the two-stage movement speed (FIR1, FIR2) treated with the results, since the change in acceleration is constant or less, the tool reaches the maximum speed slowly increased speed over t _{1 +} t _2, then, The speed is gradually reduced over t ₁ + t ₂ to stop. Therefore, the numerical control device 40 can absorb a sudden change in the moving speed by processing the moving speed with the plurality of FIR filters, so that the vibration of the machine tool 1 and the maximum torque required for the operation can be suppressed. When t1> t2, t1 determines the magnitude of the acceleration, and t2 determines the magnitude of the jerk. The speed command is extended by t1 + t2 (the cycle time is extended). All axes that perform interpolation-type rapid traverse must have the same time constant. The reason is that, when the interpolation type rapid traverse is performed on axes having different time constants, the interpolation error increases during acceleration / deceleration.

For example, in a scene in which the moving from P1 to P2 shown in FIG. 4 is performed at a rapid traverse, the feed speed F of the X axis and the Y axis and the time constants t1 and t2 are set under the following conditions.
X axis: F50000, t1 = 80 ms, t2 = 20 ms
・ Y axis: F50000, t1 = 105 ms, t2 = 26 ms
Under the above conditions, the time constant of the Y axis is longer than the time constant of the X axis. As described above, in the interpolation type rapid traverse, the time constants of all axes must be the same. Here, since t1 determines the magnitude of the acceleration, the Y-axis acceleration is smaller than the X-axis acceleration. Operating the Y-axis at the acceleration of the X-axis may exceed the maximum torque of the Y-axis. Therefore, when performing the interpolation type rapid traverse of the X axis and the Y axis, the time is set to t1 of the Y axis. Since t2 determines the magnitude of the jerk, the jerk on the Y axis is smaller than the jerk on the X axis. Since there is a possibility that the vibration generated in the mechanism for driving the Y axis becomes large, therefore, when performing the interpolation type rapid traverse between the X axis and the Y axis, it is set to t2 of the Y axis. Therefore, t1 = 105 ms and t2 = 26 ms.

  Under the above conditions, when normal fast traverse is performed for the X axis and the Y axis, the cycle time of the X axis is 0.46 s, and the cycle time of the Y axis is 0.371 s. On the other hand, when the interpolation type rapid traverse of the X axis and the Y axis is performed under the above conditions, the cycle time of the X axis and the Y axis is 0.491 s. Under the above conditions, the moving time is determined by the X axis having a long moving distance. If the time constant is adjusted to the Y-axis time constant, the positioning time is extended by 31 msec. From the above, in the second scene, if the tool does not interfere with an obstacle or the like, the numerical control device 40 performs normal rapid traverse without performing interpolation-type rapid traverse, thereby shortening the cycle time.

-Third scene-
The third scene is a case where the axis with the smallest limiting acceleration is different from the axis with the smallest limiting jerk. The limited acceleration is set in advance for each axis, and is a limited value of acceleration in consideration of vibration of a mechanism for moving each axis. The limited jerk is a limit value of jerk set in advance for each axis and taking into account vibration of a mechanism for moving each axis. When t1> t2, t1 determines the magnitude of the limited acceleration, and t2 determines the magnitude of the limited jerk. For example, time constants t1 and t2 of the X axis and the Y axis are set under the following conditions.
X axis: t1 = 100 ms, t2 = 50 ms
・ Y axis: t1 = 90 ms, t2 = 60 ms

  In order to perform the X-axis and Y-axis interpolation type rapid traverse under the above conditions, the numerical controller 40 needs to make the time constants uniform. t1 has a large X axis and t2 has a large Y axis. When the time constant is adjusted to the X axis, t1 = 100 ms and t2 = 50 ms, so that t1 + t2 = 150 ms. Since t2 of the Y axis is shortened by 10 ms, the jerk increases. It is not preferable that the jerk increase, because the vibration generated in the mechanism for driving the Y axis may increase. When the time constant is adjusted to the Y axis, t1 = 90 ms and t2 = 60 ms, so that t1 + t2 = 150 ms. Since t1 on the X axis is reduced by 10 ms, the acceleration is increased. In this case, the torque for driving the X-axis may be insufficient, which is not preferable.

  When t1 is set on the X axis and t2 is set on the Y axis, t1 = 100 ms and t2 = 60 ms, so t1 + t2 = 160 ms. In this case, since both the acceleration and the jerk are smaller than the limited acceleration and the limited jerk, there is no problem even if the interpolation-type fast-forward is performed. However, the cycle time is extended by 10 ms as compared with the case where normal fast-forward is performed. As described above, even in the third scene, if the tool does not interfere with an obstacle or the like, the cycle time can be reduced by performing normal rapid traverse without performing interpolation-type rapid traverse.

  With reference to FIG. 8, a description will be given of a program operation process in consideration of the first to third scenes. The operator uses the input unit 18 of the operation panel 10 to select one NC program from the plurality of NC programs stored in the storage device 44, and instructs the start of machining of the selected NC program. When receiving a processing start instruction from the input unit 18, the CPU 41 reads out a control program stored in the ROM 42 and executes a program operation process. This embodiment has four examples of the program operation processing. As described in the first to third scenes, the numerical controller 40 executes the normal rapid traverse instead of the interpolation rapid traverse if the tool does not collide with the work material or the jig 200 to reduce the cycle time. Can be shortened. In the following first to fourth embodiments, the possibility that the tool collides with the workpiece or the jig 200 is determined, and if there is no possibility of colliding, normal rapid traverse is performed. In the first to fourth embodiments, the method of determining whether the tool collides with the workpiece or the jig 200 is different from each other.

  In this embodiment, an interpolation-type fast-forward mode for executing an interpolation-type fast-forward can be set for the X-axis, Y-axis, Z-axis, C-axis, and A-axis. Before executing the NC program, the operator can set the interpolation type fast forward mode by the input unit 18 of the operation panel 10. The RAM 43 stores a mode flag. When the interpolation type fast forward mode is set, the CPU 41 turns on the mode flag. When canceling the setting of the interpolation type fast forward mode, the CPU 41 turns off the mode flag. By checking the on / off state of the mode flag, the CPU 41 can determine whether or not the interpolation type fast forward mode is set.

  The first embodiment will be described with reference to FIG. In the first embodiment, when performing a predetermined sequence operation, normal fast-forward is performed without performing interpolation-type fast-forward. The predetermined sequence operation means a combined operation in which a tool is retracted in the Z-axis direction and then another axis is rapidly traversed, such as a tool change operation. The CPU 41 reads the NC program selected by the operator from the storage device 44 (S1) and interprets one line (S2). It is determined whether the interpreted control command is a termination command (S3). If it is not an end command (S3: NO), the CPU 41 determines whether the interpreted control command is a fast-forward command (S4). If it is not a fast-forward command (S4: NO), the CPU 41 executes according to the interpreted control command (S9). After executing the control command, the CPU 41 returns to S2 and interprets the next line.

  If the interpreted one line is a fast-forward command (S4: YES), the CPU 41 determines whether or not the interpolation type fast-forward mode is set (S5). When the mode flag stored in the RAM 43 is off, since the interpolation type fast forward mode is not set (S5: NO), the CPU 41 executes normal fast forward in accordance with the fast forward command (S8).

  On the other hand, when the mode flag stored in the RAM 43 is ON, the interpolation-type fast-forward mode is set (S5: YES), and the CPU 41 determines whether the interpreted fast-forward command is a fast-forward executed by a predetermined sequence operation command. (S6). The predetermined sequence operation command is, for example, a tool change command, a home return command, or the like. The tool exchange command returns the spindle head 6 to the Z-axis origin, retreats to a safe place, and then moves up and down in the tool exchange area between the Z-axis origin and the ATC origin, so that the tool exchange is performed with the tool magazine. Is a control command for performing tool change. The origin return command is a control command for returning the spindle head 6 to the Z-axis origin, retreating to a safe place, and returning other axes to the machine origin. The reference point return command can return, for example, the spindle head 7 to a reference point (for example, the Z-axis origin), retreat to a safe place, and then return to the mechanical origin of another axis (XYAC axis) by setting. Directive. When the interpreted fast-forward command is a fast-forward command of a predetermined sequence operation (S6: YES), the CPU 41 once retreats the tool in a specific axis direction and then moves the other axes. It does not collide with the jig 200. Therefore, since there is no need to execute the interpolation type fast forward, the CPU 41 executes the normal fast forward (S8). Therefore, the CPU 41 can shorten the cycle time as compared with the case where the interpolation type fast forward is executed.

  On the other hand, when the interpreted fast-forward command is not the fast-forward command of the predetermined sequence operation (S6: NO), the CPU 41 executes the interpolation type fast-forward (S7). Since the tool moves in a straight line from the movement start position to the movement end position, it is possible to realize safe rapid traverse without risk of collision with the work material or the jig 200. The CPU 41 returns to S2 to interpret the next line, and in the case of an end command (S3: YES), the CPU 41 ends this processing. Therefore, the numerical control device 40 can realize safe rapid traverse without a danger of colliding with the work material or the jig 200 by interpolation fast traverse, and can minimize an increase in cycle time due to interpolation fast traverse.

  The second embodiment will be described with reference to FIG. In the second embodiment, normal fast-forwarding is performed without performing interpolation-type fast-forwarding for a movable shaft having a clamp mechanism. The C-axis of this embodiment has a clamp device 68. The processing of S1 to S5, S8, and S9 in the program operation processing of the second embodiment is the same as that of the first embodiment, and thus the description is omitted or simplified.

  The CPU 41 interprets the NC program by one line (S1, S2). If the interpreted control command is a fast-forward command (S4: YES) and the interpolation type fast-forward mode is set (S5: YES), the target of the fast-forward command is given. One of the axes is selected (S11). For example, when the X-axis, Y-axis, and C-axis are the target axes of the fast-forward command and the X-axis is selected from them, the CPU 41 determines whether or not the X-axis has a clamp mechanism (S12). Since there is no clamp mechanism on the X axis (S12: NO), the CPU 41 turns on the interpolation type fast forward flag of the selected X axis (S13). The interpolation-type fast-forward flag is stored in, for example, the RAM 43, and is turned on when the interpolation-type fast-forward is executed, and turned off when the interpolation-type fast-forward is not executed. The CPU 41 determines whether or not all selections have been completed for the target axis of the fast-forward command (S15). If there is an axis that has not been selected yet (S15: NO), the CPU 41 returns to S11 and selects another axis.

  If the selected axis is the C-axis, the CPU 41 turns off the interpolation fast-forward flag of the selected C-axis (S14) because the C-axis has the clamp device 68, which is a type of clamp mechanism (S12: YES). When the selection of all the axes is completed (S15: YES), the CPU 41 executes the interpolation-type fast-forward only for the axis for which the interpolation-type fast-forward flag is turned on, and executes the normal fast-forward for the axis for which the interpolation-type fast-forward flag is turned off (S16). Therefore, as described in the first scene (see FIG. 5 (2)), normal fast-forward is performed only on the C-axis, and interpolation-type fast-forward is performed on the X-axis and the Y-axis. The cycle time can be greatly reduced as compared with the case where the interpolation type rapid traverse is performed for the axis. Therefore, the numerical control device 40 can realize safe rapid traverse without a danger of colliding with the work material or the jig 200 by interpolation fast traverse, and can minimize an increase in cycle time due to interpolation fast traverse.

A third embodiment will be described with reference to FIG. In the third embodiment, interpolation-type rapid traverse of all axes is performed only when the tool moves within the interference area. The interference area means a space where the tool and the work material or the jig 200 may interfere with each other. The interference area is an example of the processing area according to the present invention. The interference area of the third embodiment is a space defined by the following coordinate values, for example. Each coordinate is a machine coordinate, but may be defined by a work coordinate.
X: (−50, −100, 200) (−150, −200, 400)
・ Y: (−50, −100, 200) (−150, −200, 400)
・ Z: (−50, −10, 200) (−150, −200, 400)
A: (-50, -100, 100) (-150, -200, 200)
C: (-50, -100, 100) (-150, -200, 200)
The processes of S1 to S5 and S7 to S9 in the program operation process of the third embodiment are the same as those of the first embodiment, and therefore the description will be omitted or simplified.

  The CPU 41 interprets the NC program one line (S1, S2). If the interpreted control command is a fast-forward command (S4: YES) and the interpolation type fast-forward mode is set (S5: YES), the CPU 41 moves the fast-forward command. It is determined whether or not a virtual straight line connecting the start point and the movement end point passes through the interference area (S20). The virtual straight line is calculated from each coordinate value of the movement start point and the movement end point. If the virtual straight line does not pass through the interference area (S20: NO), the tool does not collide with the work material or the jig 200, so there is no need to perform the interpolation type rapid traverse. The CPU 41 executes the normal fast traverse without performing the interpolation fast traverse for all the axes targeted for the fast traverse command (S8). Therefore, the CPU 41 can shorten the cycle time as compared with the case where the interpolation type fast forward is executed.

  On the other hand, when the virtual straight line passes through the interference area (S20: YES), the CPU 41 executes the interpolation type fast forward (S7). Since the tool moves in a straight line from the movement start position to the movement end position, it is possible to realize safe rapid traverse without risk of collision with the work material or the jig 200. Therefore, the numerical control device 40 can realize safe rapid traverse without a danger of colliding with the work material or the jig 200 by interpolation fast traverse, and can minimize an increase in cycle time due to interpolation fast traverse.

A fourth embodiment will be described with reference to FIG. The fourth embodiment is a modification of the third embodiment. In the third embodiment, the interpolation type rapid traverse of all axes is performed only when the tool moves within the interference area. However, in the fourth embodiment, an interference area is set for each axis, and the tool moves outside the respective interference areas. For the axis, normal rapid traverse is performed without performing interpolation type rapid traverse. The interference area of the fourth embodiment is an area set for each axis as described below, for example. Each coordinate is a machine coordinate, but may be defined by a work coordinate.
X: (−50, −100, 200) (−150, −200, 400)
・ Y: (−50, −100, 200) (−150, −200, 400)
・ Z: (−50, −10, 200) (−150, −200, 400)
A: (-50, -100, 100) (-150, -200, 200)
C: (-50, -100, 100) (-150, -200, 200)
The processes of S1 to S5, S8, and S9 in the program operation process of the fourth embodiment are the same as those of the first embodiment, and thus the description will be omitted or simplified.

  The CPU 41 interprets the NC program by one line (S1, S2). If the interpreted control command is a fast-forward command (S4: YES) and the interpolation type fast-forward mode is set (S5: YES), the target of the fast-forward command is given. One axis is selected from the axes (S31). For example, when the X-axis, Y-axis, and C-axis are the target axes of the fast-forward command and the X-axis is selected from them, the CPU 41 determines that the virtual straight line connecting the movement start point and the movement end point of the fast-forward command is the X-axis. It is determined whether the vehicle passes through the interference area (S32). If the virtual straight line does not pass through the X-axis interference area (S32: NO), the CPU 41 turns off the selected X-axis interpolation type fast-forward flag (S34). The interpolation type fast forward flag is the same as that of the second embodiment. On the other hand, when the virtual straight line passes through the X-axis interference area (S32: YES), the CPU 41 turns on the selected X-axis interpolation type fast-forward flag (S34). The CPU 41 determines whether or not all selections have been completed for the target axis of the fast-forward command (S35). If there is an axis that has not been selected yet (S35: NO), the CPU 41 returns to S31 and performs other Y-axis, Z-axis, C-axis, and A-axis in the same manner as the X-axis (S32 to S34).

  When the selection of all the axes is completed (S35: YES), the CPU 41 executes the interpolation-type fast-forward only for the axis for which the interpolation-type fast-forward flag is turned on, and executes the normal fast-forward for the axis for which the interpolation-type fast-forward flag is turned off (S36). Therefore, there is no danger of the tool colliding with the work material or the jig 200 for the axis passing outside the interference region. Therefore, the cycle time can be reduced by performing normal rapid traverse without performing interpolation-type rapid traverse. Therefore, the numerical control device 40 can realize safe rapid traverse without a danger of colliding with the work material or the jig 200 by interpolation fast traverse, and can minimize an increase in cycle time due to interpolation fast traverse.

  In the fourth embodiment, in particular, the numerical controller 40 can perform the interpolation-type rapid traverse only on the axes involved in machining by designating the interference area for each axis. The fourth embodiment is, for example, a machine tool having a table provided on a base 2 and having a configuration in which a plurality of indexes (rotary tables) are mounted on the table, and a work material is attached to each. It can be applied to machine tools. Since the interference area differs for each index, in an index that is not involved in machining at present, the axis can be moved at normal rapid traverse without performing interpolation, so that the cycle time can be reduced.

  In the above description, the turntable 45 shown in FIG. 2 is an example of the table of the present invention. The CPU 41 for executing S7 in FIGS. 7 and 9, the CPU 41 for executing S13 and S16 in FIG. 8, and the CPU 41 for executing S33 and S36 in FIG. 10 are examples of the interpolation type fast forward executing means of the present invention. The CPU 41 that executes S8 in FIGS. 7 and 9, the CPU 41 that executes S14 and S16 in FIG. 8, and the CPU 41 that executes S34 and S36 in FIG. 10 are examples of the fast-forward execution means of the present invention. The CPU 41 that executes S20 in FIG. 9 and S32 in FIG. 10 is an example of the first determination unit of the present invention. The CPU 41 executing S6 in FIG. 7 is an example of the second determining means of the present invention. The CPU 41 executing S12 in FIG. 8 is an example of the third determining means of the present invention. The CPU 41 that executes S14 and S16 is an example of the clamp fast-forward execution means of the present invention.

  S7 in FIGS. 7 and 9, S13 and S16 in FIG. 8, and S33 and S36 in FIG. 10 are examples of the interpolation-type fast-forward execution process of the present invention. S8 in FIGS. 7 and 9, S14 and S16 in FIG. 8, and S34 and S36 in FIG. 10 are examples of the fast-forward execution process of the present invention. S20 in FIG. 9 and S32 in FIG. 10 are examples of the first determination step of the present invention. S6 in FIG. 7 is an example of the second determination step of the present invention. S12 in FIG. 8 is an example of the third determining step of the present invention. S14 and S16 are examples of the clamp fast-forward execution process of the present invention.

  As described above, the numerical control device 40 of the present embodiment controls the operation of the machine tool 1. The machine tool 1 has an X axis, a Y axis, a Z axis, a C axis, and an A axis for moving a tool or a work material. The numerical controller 40 can execute an interpolation type fast forward. Interpolation-type rapid traverse is to perform rapid traverse of two or more axes by linearly interpolating between a movement start position and an end position. The CPU 41 of the numerical controller 40 interprets the NC program line by line. When the interpreted control command is a control command including rapid traverse, the CPU 41 determines whether or not the tool interferes with the work material or the jig 200 for all or some of the plurality of axes. If the CPU 41 determines that the tool interferes with the work material or the jig 200, the CPU 41 executes the interpolation type rapid traverse. When it is determined that the tool does not interfere with the work material or the jig 200, the CPU 41 executes normal rapid traverse without performing interpolation type rapid traverse. Therefore, the numerical controller 40 can realize a safe rapid traverse without danger of colliding with the work material or the jig 200 by the interpolation type rapid traverse, and can minimize an increase in the cycle time due to the interpolation type rapid traverse. According to the present embodiment, when executing the interpolation type fast-forward, the cycle time can be reduced by executing the normal fast-forward according to the situation, so that it is possible to provide the numerical controller 40 and the machine tool 1 which do not reduce the productivity.

  The first example of the above-described embodiment determines whether or not the interpreted control command is a sequence operation command for instructing a predetermined sequence operation with respect to the determination of whether or not the tool interferes with the work material or the jig 200. It is done by judgment. The predetermined sequence operation means an operation of performing a retreat operation of an axis in a predetermined direction from the work material or the jig 200 for a predetermined distance, and then performing a rapid feed of another axis. In the predetermined sequence operation, the tool does not interfere with the work material or the jig 200. Therefore, when the interpreted control command is a sequence operation command, the CPU 41 can determine that there is no possibility of interference between the tool and the work material or the jig 200. When the interpreted control command is a sequence operation command, the numerical controller 40 can shorten the cycle time by performing normal fast-forward. The predetermined sequence operation is, for example, a tool change command, an origin return command, a reference point return command, or the like.

  In the second example of the above embodiment, whether or not the tool interferes with the workpiece or the jig 200 is determined by determining whether or not there is a shaft having a clamp mechanism for fixing a position. In the C-axis provided with the clamp device 68, there is a low possibility that the tool will interfere with the work material or the jig 200. The CPU 41 executes normal fast-forward without performing interpolation-type fast-forward for the C-axis provided with the clamp device 68. The axis without the clamp mechanism operates simultaneously and in parallel without waiting for the operation of the C axis with the clamp device. Therefore, the numerical controller 40 can reduce the cycle time.

  The third example of the above embodiment is a determination of whether the tool interferes with the work material or the jig 200, a virtual straight line connecting the fast-forward movement start position and the end position indicated by the interpreted control command, This is performed by determining whether or not to pass through the interference area. The interference area is a space where the tool may interfere with the work material or the jig 200. When the virtual straight line does not pass through the interference area, there is no danger of the tool colliding with the work material or the jig 200, so the CPU 41 performs normal rapid traverse. Therefore, the numerical control device does not perform unnecessary interpolation-type rapid traverse, so that the cycle time can be reduced.

  In the fourth example of the above embodiment, an interference area is set for each axis. The CPU 41 determines whether or not the virtual straight line passes through the interference area for each axis. The CPU 41 performs normal fast-forwarding without performing interpolation-type fast-forwarding for an axis whose virtual straight line does not pass through the interference area. By specifying the interference area for each axis, the numerical controller 40 can perform the interpolation-type rapid traverse only for the axes involved in machining.

  The present invention is not limited to the above embodiment, and it goes without saying that various modifications are possible. The machine tool 1 of the above embodiment is a multifunction machine capable of cutting and turning, but may be a machine capable of only cutting. For example, a machine in which a spindle on which a tool is mounted is movable in the Z-axis direction and a table (not shown) movable on two axes in the X-axis and Y-axis directions on the base 2 shown in FIG. 1 may be used. . The mechanism of the moving mechanism of the tool 4 that moves relatively to the table in the X-axis, Y-axis, and Z-axis directions is not limited to the above embodiment. For example, the main shaft is driven in three axes of X, Y, and Z directions, and the table may be fixed or rotatable. The machine tool 1 of the above embodiment is a vertical machine tool whose main axis is parallel to the Z-axis direction, but may be a horizontal machine tool whose main axis extends in the horizontal direction.

  The first example of the above embodiment is, for example, a machine tool provided with a rotary table (not shown) on the base 2, and is also applicable to a machine tool having a plurality of pallets mounted on the rotary table. . The plurality of pallets each support the work material. By using a plurality of pallets, the next work material can be prepared in parallel during processing. After the machining, the CPU of the numerical controller replaces the pallet by rotating the rotary table based on the pallet indexing command. The pallet indexing command rotates the rotary table after retracting the tool to a safe place away from the work material or the jig 200. Therefore, the pallet indexing command corresponds to the predetermined sequence operation in the first embodiment. If the control command obtained by interpreting the NC program is a pallet indexing command, the CPU does not perform interpolation-type fast-forward but performs normal fast-forward. Therefore, unnecessary interpolation-type fast forward is not performed, so that the cycle time can be reduced.

  Although the drive circuits 51 to 59 of the above embodiment are provided in the machine tool 1, the drive circuits 51 to 59 may be provided in the numerical controller 40.

1 machine tool 40 numerical controller 41 CPU
45 Turntable 200 Jig

Claims (6)

An interpolation type rapid traverse that controls a machine tool having a plurality of movable axes for moving a tool or a work material and performs the rapid traverse by linearly interpolating between two or more movable axes from a movement start position to an end position. In a numerical control device capable of executing
Interpreting means for interpreting the NC program;
When the control command interpreted by the interpreting means is a control command including the rapid traverse, the tool fixes the work material or the work material on a table for all or some of the plurality of movable axes. Determining means for determining whether or not it interferes with the jig;
When the determination unit determines that the tool interferes with the work material or the jig, an interpolation-type fast-forward execution unit that executes the interpolation-type fast-forward,
When the determining means determines that the tool does not interfere with the work material or the jig, fast forward performing means for performing the fast forward without performing the interpolation type fast forward ,
The determining means includes:
A predetermined sequence operation in which the control command interpreted by the interpretation means performs a retreat operation of a predetermined distance from the work material or the jig with respect to the movable axis in a predetermined direction and then performs the rapid feed of another movable axis. A second control means for determining whether or not it is a sequence operation command for instructing a numerical control. The determining means includes:
A virtual line connecting the movement start position and the end position of the rapid traverse indicated by the control command interpreted by the interpreting means, and a processing area where the tool and the work material or the jig may interfere with each other The numerical control device according to claim 1, further comprising a first determination unit configured to determine whether or not the numerical value overlaps with the numerical value. The processing area is set for each of the plurality of movable axes,
The first determination unit determines, for each of the plurality of movable axes, whether the virtual straight line overlaps the processing region,
The interpolation-type fast-forward execution unit and the fast-forward execution unit execute the interpolation-type fast-forward or the fast-forward for each of the plurality of movable axes in accordance with the determination result determined by the first determination unit for each of the plurality of movable axes. The numerical control device according to claim 2, wherein the numerical control is performed. 4. The sequence operation command according to claim 1, wherein the sequence operation command is a tool change command for instructing tool change, a pallet indexing command, a home position return command, or a reference point return command for instructing replacement of the work material . A numerical controller according to any one of the preceding claims. The determining means includes:
When the control command interpreted by the interpreting means is a control command including the rapid traverse, a third determining means for determining whether there is the movable axis having a clamp mechanism for fixing a position,
The fast-forward execution means,
When the third determining means determines that there is the movable axis having the clamp mechanism, the apparatus further comprises a clamp fast-forward executing means for executing the rapid traverse on the movable axis having the clamp mechanism. numerical control apparatus according to any one of claims 1 4. An interpolation type rapid traverse that controls a machine tool having a plurality of movable axes for moving a tool or a work material and performs the rapid traverse by linearly interpolating between two or more movable axes from a movement start position to an end position. In a control method of a numerical control device capable of executing
An interpretation step for interpreting the NC program;
When the control command interpreted in the interpreting step is a control command including the rapid traverse, the tool fixes the work material or the work material on a table for all or some of the plurality of movable axes. A judging step of judging whether or not the jig interferes
In the determining step, when it is determined that the tool interferes with the work material or the jig, an interpolation-type fast-forward execution step of executing the interpolation-type fast-forward,
In the determining step, when it is determined that the tool does not interfere with the work material or the jig, a fast-forward performing step of performing the fast-forward without performing the interpolation-type fast-forward ,
The determining step includes:
After the control command interpreted in the interpreting step performs a retreat operation of the movable axis in a predetermined direction from the work material or the jig for a predetermined distance, then performs a predetermined sequence operation of performing the rapid feed of another movable axis. A control method for a numerical control device, comprising: a second determination step of determining whether or not a sequence operation command is issued .

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