machine tool

Abstract

The present invention provides a machine tool, which can adjust the gain, filter and time constant of a motor appropriately at an appropriate time. The machine tool (1) comprises: a spindle (4a); a workpiece support (6) that supports a workpiece (W); a servo motor that rotates or moves the workpiece support (6) relative to the spindle (4a); and a control device (60) that controls the servo motor. When the control device (60) recognizes that a new servo motor is installed, when the machining program of the workpiece (W) is changed, or when the action value of the servo motor or the value calculated based on the action value deviates from a predetermined reference, the display device displays an adjustment screen for adjusting at least one of the gain and filter of the servo motor.

Description

Technical Field

[0001] The present invention relates to machine tools. Background Art

[0002] Conventionally, there is known a motor system that adjusts settings such as a motor gain, a filter, and a motor inertia. For example, Patent Document 1 describes such a technology.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2016-35676 Summary of the invention

[0006] Problem that the invention aims to solve

[0007] Generally speaking, it is difficult for users other than those familiar with the operation to adjust the gain and filter of the servo motor, and they do not know when to adjust it. In addition, even if the gain and filter are adjusted, it is difficult to determine whether they are appropriate. Therefore, sometimes the gain and filter of the servo motor used for the machine tool, such as the servo motor of the additional axis, are not adjusted, resulting in frequent alarms when executing the machining program. In addition, in order to give full play to the performance of the servo motor, after properly adjusting the gain and filter, it is necessary to use appropriate time constant parameters.

[0008] In view of the above circumstances, a machine tool capable of appropriately adjusting the gain, filter, and time constant of a motor at an appropriate timing is desired.

[0009] Solutions for solving problems

[0010] A first embodiment of the present invention is a machine tool, comprising: a spindle on which a tool is installed; a workpiece support portion that supports the workpiece; a servo motor that rotates or moves the workpiece support portion relative to the spindle; and a control device that controls the servo motor when the workpiece is processed by the tool, wherein the control device causes a display device to display an adjustment screen for adjusting at least one of a gain and a filter of the servo motor, or performs a display on the display device to guide to the adjustment screen, when the control device recognizes that the servo motor is newly installed, when the processing program of the workpiece is changed, or when the action value of the servo motor or a value calculated based on the action value deviates from a predetermined reference. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a three-dimensional schematic diagram of a machine tool according to an embodiment.

[0012] Figure 2 It is a perspective schematic diagram of a table unit of the machine tool according to the present embodiment.

[0013] Figure 3 This is a block diagram of a control device for a machine tool according to the present embodiment.

[0014] Figure 4 This is a flowchart showing an example of processing by the control device of the present embodiment.

[0015] Figure 5 This is an example of an initial setting screen displayed according to the present embodiment.

[0016] Figure 6 This is an example of an adjustment screen displayed according to the present embodiment.

[0017] Figure 7 This is a flowchart showing an example of processing by the control device of the present embodiment.

[0018] Figure 8 This is a flowchart showing an example of processing by the control device of the present embodiment.

[0019] Fig. 9 This is a flowchart showing an example of processing by the control device of the present embodiment.

[0020] Fig.10 This is a flowchart showing an example of processing by the control device of the present embodiment.

[0021] Fig.11 This is an example of data stored in the storage unit in this embodiment.

[0022] Description of reference numerals:

[0023] 1: Machine tools

[0024] 1a: Machine tool body

[0025] 2: Base

[0026] 3: Column

[0027] 4: Spindle unit

[0028] 4a: Main axis

[0029] 4b: Spindle head

[0030] 5: Workbench unit (moving mechanism)

[0031] 5a: Spindle motor

[0032] 6: Workpiece support (rotating table)

[0033] 12: Y-direction movable part

[0034] 13: Y-axis motor

[0035] 22: XY table

[0036] 22a: Slot

[0037] 23: X-axis motor

[0038] 30: First support part

[0039] 31: First additional axis motor

[0040] 32: Second additional axis motor

[0041] 40: Second support part

[0042] 41: Brakes

[0043] 51, 52: Axis

[0044] 53: Plate components

[0045] 54: Fixed part (rotating table)

[0046] 60: Control device

[0047] 61: Processor

[0048] 62: Display device

[0049] 63: Storage

[0050] 63a: System Programs

[0051] 63b: Processing procedures

[0052] 63c: Initial Setup Procedure

[0053] 63d: Automatic adjustment program

[0054] T: Tools

[0055] W: Workpiece

[0056] J: Clamp

[0057] AU: Additional axis unit (moving mechanism) DETAILED DESCRIPTION

[0058] Hereinafter, a machine tool 1 according to an embodiment will be described with reference to the drawings.

[0059] like Figure 1As shown, the machine tool 1 of the present embodiment includes: a machine tool body 1a having a base 2 and a column 3 extending upward from the base 2; a spindle unit 4 supported by the column 3 in a manner that allows it to move in the up-down direction; and a table unit (moving mechanism) 5 that supports a workpiece W. A tool magazine (not shown) for automatically replacing a tool T mounted on a spindle 4a of the spindle unit 4 may be provided in the spindle unit 4.

[0060] The base 2 is installed at the use location of the machine tool 1 using, for example, leveling bolts, anchor bolts, etc. Figure 2 As shown, the table unit 5 is arranged on the base 2, and the workpiece W is fixed to the workpiece support part (rotating table) 6 of the table unit 5 by an arbitrary fixing mechanism. The workpiece support part 6 and the workpiece W are moved relative to the spindle 4a in the X-axis direction, the Y-axis direction, around the X-axis, and around the axis extending in the vertical direction by a plurality of motors 13, 23, 31, and 32 to be described later provided on the table unit 5. The spindle 4a and the spindle head 4b of the spindle unit 4 are arranged above the table unit 5.

[0061] The tool T is a part that comes into contact with the workpiece W and processes the workpiece W, and is any type of tool such as a drill, a tap milling cutter, and a grinding tool.

[0062] The spindle head 4b rotatably supports the spindle 4a, and a spindle motor 5a for rotating the spindle 4a is fixed to the upper end of the spindle head 4b. The spindle head 4b is vertically movably supported by the column 3 of the machine tool body 1a.

[0063] Specifically, a plurality of guide rails 3a extending in the vertical direction (Z-axis direction) are provided on the column 3, and the spindle head 4b is supported on the guide rails 3a in a manner that it can move in the vertical direction. In addition, a Z-axis motor 3b is fixed to the upper end of the column 3, and the output from the output shaft of the Z-axis motor 3b is transmitted to the ball screw 3d via a reducer 3c and the like. The ball screw 3d is arranged along the guide rail 3a, and the ball screw 3d is threadedly connected to the ball screw nut fixed to the back portion 4c of the spindle head 4b. According to this structure, the spindle unit 4 moves in the vertical direction by the rotation of the output shaft of the Z-axis motor 3b.

[0064] like Figure 2As shown, a plurality of guide rails 11 extending along the Y-axis direction as the horizontal direction are provided on the upper surface of the base 2, and the Y-direction movable part 12 is supported on the guide rails 11 in a manner that it can move along the Y-axis direction. In addition, a Y-axis motor 13 is fixed to the upper end of the base 2, and the output from the output shaft of the Y-axis motor 13 is transmitted to the ball screw 14 via a reducer 13a and the like. The ball screw 14 is arranged along the guide rails 11, and the ball screw 14 is threadedly coupled to a ball screw nut that is a part of the Y-direction movable part 12. According to this structure, the Y-direction movable part 12 is moved along the Y-axis direction by the rotation of the output shaft of the Y-axis motor 13.

[0065] In addition, if Figure 2 As shown, a plurality of guide rails 21 extending along the X-axis direction as a horizontal direction are provided on the upper surface of the Y-direction movable part 12, and the XY table 22 is supported on the guide rails 21 in a manner that it can move along the X-axis direction. In addition, an X-axis motor 23 is fixed to the upper surface of the Y-direction movable part 12, and the output from the output shaft of the X-axis motor 23 is transmitted to the ball screw 24 via a speed reducer 23a and the like. The ball screw 24 is arranged along the guide rails 21, and the ball screw 24 is threadedly coupled to a ball screw nut that is a part of the XY table 22. According to this structure, the XY table 22 is moved along the X-axis direction by the rotation of the output shaft of the X-axis motor 23.

[0066] Typically, the XY table 22 is a table for mounting a workpiece W or a fixture for fixing the workpiece W. A plurality of grooves 22a are provided on the upper surface of the XY table 22, and the grooves 22a are used to fix the workpiece W or the fixture for fixing the workpiece. For example, the width of the grooves 22a gradually narrows at the upper end side. The workpiece W or the fixture for fixing the workpiece is fixed to the XY table 22 by screwing a bolt inserted through the workpiece W or the fixture into a stopper arranged in the groove 22a.

[0067] When a workpiece W or a fixture for fixing the workpiece is fixed on the XY table 22, the machine tool 1 moves the workpiece W in the X-axis direction and the Y-axis direction by the X-axis motor 23 and the Y-axis motor 13, and moves the tool T in the vertical direction by the Z-axis motor 3b. Thus, the workpiece W is subjected to a predetermined process.

[0068] In this embodiment, an additional axis unit (moving mechanism) AU is fixed to the XY table 22. The additional axis unit AU is used to move the workpiece W not only in the X-axis direction and the Y-axis direction but also to rotate the workpiece W around the X-axis and around an axis extending in the vertical direction.

[0069] The additional axis unit (moving mechanism) AU includes: a first support portion 30 fixed to the XY table 22; and a second support portion 40 fixed to the XY table 22. Figure 1 as well as Figure 2 As shown, the first support part 30 and the second support part 40 can be connected by a plate-shaped connecting member. When the above-mentioned fixing is performed, the first support part 30 and the second support part 40 are arranged in the X-axis direction. For example, the first support part 30 and the second support part 40 are fixed to the XY table 22 by screwing a bolt inserted through a part of the first support part 30 and the second support part 40 into a stopper arranged in the groove 22a. In addition, when the first support part 30 and the second support part 40 are arranged in the Y-axis direction when the above-mentioned fixing is performed, the additional axis unit AU rotates the workpiece W around the Y-axis and around the axis extending in the up-down direction.

[0070] The additional axis unit AU has a workpiece support portion 6 supported by a first support portion 30 and a second support portion 40. The workpiece support portion 6 has: a shaft 51, which is supported on the first support portion 30 in a manner that allows rotation around the X-axis; a shaft 52, which is supported on the second support portion 40 in a manner that allows rotation around the X-axis; and a plate member 53, both ends of which are fixed to the shafts 51 and 52, respectively. The first additional axis motor 31 is fixed to the first support portion 30, and the output shaft of the first additional axis motor 31 is directly fixed to the shaft 51. That is, the rotational force of the first additional axis motor 31 is transmitted to the shaft 51 without passing through a gear such as a reducer. This method is sometimes called direct drive.

[0071] The plate member 53 is provided with a fixing portion 54, and the fixing portion 54 is supported on the plate member 53 in a manner that allows rotation around an axis extending in a direction perpendicular to the X-axis. The second additional shaft motor 32 is fixed to the plate member 53, and the output shaft of the second additional shaft motor 32 is directly fixed to the fixing portion 54. That is, the rotational force of the second additional shaft motor 32 is not transmitted to the fixing portion 54 via a gear such as a speed reducer. This structure is also a direct drive.

[0072] like Figure 1 as well as Figure 2 As shown, a brake 41 for stopping the rotation of the workpiece support 6 is provided in the second support 40. The brake 41 may be a component that stops the rotation of the shaft 52 by tightly hugging the shaft 52, or a component that stops the rotation of the shaft 52 by using a magnetic force. In addition, the brake 41 may be a component that stops the rotation of the shaft 52 by pushing a disk fixed to the shaft 52 with a piston.

[0073] A jig J for fixing the workpiece is fixed to the fixing portion 54 , and the workpiece W is fixed to the jig J. The workpiece W may be directly fixed to the fixing portion 54 .

[0074] In addition, the additional axis unit AU can be removed from the XY table 22 as needed. This removal and installation may be performed by the user of the machine tool 1.

[0075] When the additional axis unit AU is mounted on the XY table 22 and the fixture J or the workpiece W is fixed to the fixing portion 54 of the additional axis unit AU, the machine tool 1 enables the workpiece W to move not only in the X-axis direction and the Y-axis direction but also to rotate around the X-axis and around an axis extending in the vertical direction. This structure enables the workpiece W to be processed in a complex and precise manner.

[0076] The main spindle motor 5a, Z-axis motor 3b, Y-axis motor 13, X-axis motor 23, first additional axis motor 31, and second additional axis motor 32 are servomotors such as synchronous motors. Alternatively, these motors may be servomotors other than synchronous motors.

[0077] The spindle motor 5a, Z-axis motor 3b, Y-axis motor 13, X-axis motor 23, first additional axis motor 31, and second additional axis motor 32 each have a built-in working position detection device such as an encoder, and the detection results of the working position detection device are sent to the control device 60 of the machine tool 1.

[0078] The spindle motor 5a, Z-axis motor 3b, Y-axis motor 13, X-axis motor 23, first additional axis motor 31, and second additional axis motor 32 are connected to a control device 60 of the machine tool 1, and the control device 60 controls these motors 5a, 3b, 13, 23, 31, and 32.

[0079] like Figure 3 As shown, the control device 60 includes: a processor 61 including a CPU, etc.; a display device 62 such as a liquid crystal display device; a storage unit 63 including a nonvolatile memory, a ROM, a RAM, etc.; servo controllers 64a, 64b, 64c, 64d, 64e, and 64f corresponding to the spindle motor 5a, the Z-axis motor 3b, the Y-axis motor 13, the X-axis motor 23, the first additional axis motor 31, and the second additional axis motor 32, respectively; an input unit 65 such as an operation panel; and a transceiver 66. When the display device 62 has a touch screen function, the display device 62 also functions as an input unit.

[0080] The input unit 65 may also be a portable operation panel, a tablet computer, etc. In this case, a part or all of the display device 62 is provided on the input unit 65. The display device 62 may also be provided separately from the control device 60.

[0081] The storage unit 63 stores a system program 63a, which assumes the basic functions of the control device 60. In addition, the storage unit 63 stores a plurality of machining programs 63b, an initial setting program 63c, and an automatic adjustment program 63d, wherein the plurality of machining programs 63b are set according to the workpiece W. The control device 60 sends control instructions, control signals, etc. to the servo controllers 64a, 64b, 64c, 64d, 64e, and 64f according to a series of instructions of the machining program 63b, whereby the tool T rotated by the spindle motor 5a contacts the workpiece W moving in the X-axis direction, the Y-axis direction, around the X-axis, and around the axis extending in the vertical direction. As a result, the workpiece W is machined.

[0082] In the present embodiment, when the additional axis unit AU is installed, the control device 60 causes the display device 62 to display an adjustment screen for adjusting the gain and filter of the first additional axis motor 31. Figure 4 The flowchart of FIG. 1 illustrates the processing of the control device 60 at this time.

[0083] When the control device 60 receives the installation signal indicating that the first additional shaft motor 31 is newly installed (step S1-1), the display device 62 displays the initial setting screen 71 based on the initial setting program 63c (step S1-2). Next, the control device 60 displays the gain and filter adjustment screen 72 on the display device 62 based on the automatic adjustment program 63d (step S1-3). In addition, there is also the following case: the initial setting screen 71 functions as a display for guiding to the adjustment screen 72. It is also possible to perform a display on the initial setting screen 71 for the operator to decide whether to transfer to the adjustment screen 72 as needed.

[0084] For example, when the additional axis unit AU is mounted on the XY table 22 and the first additional axis motor 31 is connected to the control device 60, the first additional axis motor 31 is recognized by the control device 60. When this recognition is performed, signals and data sent from the first additional axis motor 31 to the control device 60 are examples of the installation signal.

[0085] Furthermore, a camera may be provided in or around the machine tool 1 and connected to the control device 60. In this case, the camera may capture an image of the XY table 22, and the control device 60 may determine that the first additional axis motor 31 is installed based on the captured image.

[0086] Figure 5 An example of the initial setting screen is shown in FIG. The initial setting screen 71 is a screen for performing magnetic pole detection, origin return, etc. of the first additional axis motor 31. When a command button for performing initial setting such as magnetic pole detection and origin return is operated on the initial setting screen 71, the initial setting is performed.

[0087] If the initial setting is completed, in step S1-3, the display device 62 displays Figure 6 The adjustment screen 72 shown in FIG. 72 includes the following displays: a display for fixing the fixture J and / or the workpiece W to the fixing portion 4; a display for inputting an additional axis to be adjusted for other parameters such as gain, filter, and time constant; and a display for inputting whether to perform the adjustment manually or automatically.

[0088] When the automatic adjustment is selected in the adjustment screen 72, if a predetermined button of the input unit 65 as the operation panel is pressed according to the instruction of the adjustment screen, the control device 60 automatically adjusts the gain and filter of the first additional axis motor 31 based on the automatic adjustment program 63d. At this time, the control device 60 also automatically estimates the inertia of the fixture J and the workpiece W fixed to the fixing portion 54, and adjusts other parameters such as the time constant corresponding to the estimated inertia. Figure 7 The flowchart of FIG. 1 illustrates the processing of the control device 60 at this time.

[0089] In this embodiment, the gain to be adjusted includes at least one of the following gains: a speed loop proportional gain, a speed loop integral gain, and other gains related to the motion speed of the first additional axis motor 31; a position loop proportional gain; and other known gains. In addition, in this embodiment, the filter to be adjusted includes at least one of an integral time constant, an amplitude filter, a noise filter, and other known filters.

[0090] When the execution button is pressed (step S2-1), the control device 60 controls the first additional axis motor 31 to execute a first action that excites the workpiece support 6 from a predetermined low frequency to a predetermined high frequency (step S2-2). Next, the control device 60 automatically adjusts the gain and filter of the first additional axis motor 31 based on the detection result of the working position detection device of the first additional axis motor 31 when performing the first action, the amount of the driving current of the first additional axis motor 31, the control content of the servo controller 64e, and the Bode diagram obtained based on these (step S2-3).

[0091] Next, after adjusting the gain and filter of the first additional axis motor 31, the control device 60 controls the first additional axis motor 31 so that the workpiece support 6 performs a second motion such as a swing motion (step S2-4). Typically, the swing frequency of the second motion is lower than the center frequency of the first motion.

[0092] Next, the control device 60 estimates the inertia of the fixture J and the workpiece W, etc. based on the detection result of the working position detection device of the first additional axis motor 31 when performing the second action, the amount of driving current of the first additional axis motor 31, the control content of the servo controller 64e, and the inertia of the workpiece support part 6 (step S2-5).

[0093] In step S2 - 5 , the inertia of the workpiece support 6 , the jig J, and the workpiece W can also be obtained. When only the jig J is fixed to the fixing portion 54 , the inertia of the workpiece support 6 and the jig J can also be obtained in step S2 - 5 .

[0094] Next, the control device 60 uses the set gain and filter, and the estimated inertia to adjust other parameters such as the time constant (step S2-6). Furthermore, the control device 60 uses the set gain and filter, and the estimated inertia to make the first additional axis motor 31 perform a predetermined action (step S2-7). Next, the control device 60 determines the appropriateness of the set gain and filter, and the appropriateness of the time constant adjusted according to the estimated inertia based on the detection result of the working position detection device of the first additional axis motor 31 when performing the predetermined action, the amount of the driving current of the first additional axis motor 31, and the control content of the servo controller 64e (step S2-8).

[0095] The predetermined action may be an action based on the machining program 63 b or a special action prepared for checking a time constant adjusted based on a gain, a filter, and an estimated moment of inertia.

[0096] If it is determined to be appropriate in step S2-7, the control device 60 displays on the display device 62 that the setting is appropriate (step S2-9). On the other hand, if it is determined to be inappropriate in step S2-7, the control device 60 displays the adjustment screen 72 on the display device 62 (step S2-10).

[0097] In the above description, the detection result of the working position detection device of the first additional axis motor 31, the amount of the driving current of the first additional axis motor 31, and the control content of the servo controller 64e are values ​​related to the action of the first additional axis motor 31. The value related to the action is sometimes also referred to as "action value" in the following description. In addition, the estimated inertia is a value calculated based on the action value.

[0098] In the above embodiment, when the additional axis unit AU is mounted on the XY table 22, steps S1-1 to S1-3 are executed. In contrast, when the processing of a certain workpiece W is completed and the processing program 63b set in the control device 60 is changed to another processing program 63b for processing the next workpiece W, the control device 60 may display the adjustment screen. Figure 8 The flowchart of FIG. 1 illustrates the processing of the control device 60 in this case.

[0099] When the machining program 63b set to be executable in the control device 60 is changed to another machining program 63b (step S3-1), the control device 60 causes the display device 62 to display the same adjustment screen as that in step S3-1 (step S3-2).

[0100] In addition, in the above-mentioned embodiment, before step S1-3 or step S3-2, the control device 60 can also make the first additional axis motor 31 perform a predetermined excitation action or swing action. In this case, the control device 60 sends a rotation command for the excitation action or swing action to the servo controller 64e of the first additional axis motor 31. The control device 60 compares the detection result of the working position detection device of the first additional axis motor 31 during the preparatory action, the amount of the driving current of the first additional axis motor 31, and the control content of the servo controller 64e with a predetermined reference. In this comparison, when the action values ​​of these first additional axis motors 31 deviate from the predetermined reference, the control device 60 can also perform step S1-3 or step S3-2.

[0101] In addition, if Fig. 9 As shown, when the action value deviates from the predetermined reference when the workpiece W is being processed (step S4-1), the control device 60 can cause the display device 62 to display the same adjustment screen as step S1-3 (step S4-2). Alternatively, when the inertia estimated using the action value deviates from the predetermined reference, the control device 60 can also perform step S4-2.

[0102] The inertia mentioned here is the inertia of the part that is vibrated or swung by the first additional axis motor 31. In addition, in step S4-1, instead of the control device 60 executing the processing of the workpiece W, the control device 60 may cause the first additional axis motor 31 to perform a predetermined vibration action or swing action. In this case, the control device 60 determines in step S4-1 whether the action value when the vibration action or swing action is being performed deviates from a predetermined reference. In addition, the vibration action or swing action may also be an action based on part or all of the processing program 63b.

[0103] The case where the action value deviates from the predetermined reference is, for example, a case where the deviation between the detection result of the working position detection device and the target position becomes greater than a predetermined value, and a case where a disturbance greater than a predetermined magnitude occurs in the waveform of the detection result of the working position detection device or the amount of the drive current of the first additional shaft motor 31. As another case, there is also a case where a predetermined alarm is activated based on the detection result of the sensor and the setting of the limiter, and the control device 60 recognizes the operation of the alarm.

[0104] In addition, if Fig.10 As shown in FIG. 5 , in the standby state where the first additional shaft motor 31 is not in operation, when the load applied to the first additional shaft motor 31 exceeds a predetermined value (step S5-1), the control device 60 may also cause the display device 62 to display the same adjustment screen as step S1-3 (step S5-2). For example, if the weight of the clamp J fixed to the fixing portion 54 exceeds a predetermined value, the amount of current used to maintain the first additional shaft motor 31 in the standby state becomes larger. This amount of current may also be referred to as an operation value.

[0105] In addition, a sensor for measuring the load applied to the fixing portion 54 may be provided separately, and the judgment of step S5-1 may be performed based on the output of the sensor. When the camera is provided in or around the machine tool, the fixing portion 54 may be photographed by the camera, and the control device 60 may judge whether the fixture J has been replaced based on the photographed image. In this case, in step S5-1, it is judged whether the fixture J has been replaced.

[0106] In addition, for example Fig.11 As shown, the control device 60 stores the adjusted gain, filter, and inertia in the storage unit 63 in association with the type of the workpiece W.

[0107] The control device 60 transmits the adjusted gain, filter, and inertia stored in the storage unit 63 together with the information of the corresponding workpiece W for use in other machine tools 1. The destination of the information may be a host control device connected to a plurality of machine tools 1 or another machine tool 1.

[0108] Generally speaking, it is difficult to adjust the gain and filter of the servo motor, and it is not known when to adjust them. In addition, even if the gain and filter are adjusted, it is very difficult for the user to determine whether they are appropriate. Therefore, there are many cases where the user does not want to adjust the gain and filter of the servo motor, or does not notice the need to adjust the gain and filter of the servo motor.

[0109] On the other hand, if the gain and filter are appropriately set according to the action mode implemented by the servo motor and the load applied to the servo motor, the servo motor will operate smoothly. However, even if the gain and filter are slightly inappropriate, or if the action is slowed down by reducing the time constant conditions, the servo motor can operate without major problems. In this case, the user must use the additional axis with a performance lower than the original performance in order to avoid difficult gain and filter adjustments.

[0110] Conventionally, in order to adjust the gain and filter, it is necessary to operate the control device 60 of the machine tool 1 according to the manual. In many cases, it takes a long time to find the screen for operating the gain and filter among the menu screens displayed on the display device 62, or it is difficult to find it.

[0111] In the above embodiment, when the control device 60 recognizes that the first additional axis motor 31 is newly installed, the machining program 63b is changed, or the action value of the first additional axis motor 31 or the inertia calculated based on the action value deviates from a predetermined reference, an adjustment screen 72 for adjusting the gain and filter of the first additional axis motor 31 is displayed on the display device 62.

[0112] Therefore, the user can adjust the gain and filter of the first additional axis motor 31 at an appropriate time. In addition, the time for searching for the screen for adjusting the gain and filter can be shortened. This helps to increase the user's enthusiasm for adjusting the gain and filter of the first additional axis motor 31.

[0113] In addition, the first additional axis motor 31 of the above-mentioned embodiment transmits the rotational force to the workpiece support 6 without passing through the gears of the reducer or the like. This structure helps to improve the responsiveness between the first additional axis motor 31 and the workpiece support 6. On the other hand, in this structure, the operation of the first additional axis motor 31 is likely to affect the machining accuracy of the workpiece W, and vibration of the first additional axis motor 31 is also likely to occur. In addition, the additional axis unit AU is often installed arbitrarily by the user, and it is difficult for the manufacturer of the machine tool 1 to manage it. Therefore, as described above, displaying the adjustment screen 72 for adjusting the gain and filter of the first additional axis motor 31 at the above-mentioned timing can effectively improve the above-mentioned situation.

[0114] The workpiece support 6 of the additional axis unit AU is smaller than the portion driven by the X-axis motor 23 and the Y-axis motor 13. Therefore, the weight of the fixture J or the workpiece W relative to the weight of the workpiece support 6 becomes larger. In addition, the X-axis motor 23 and the Y-axis motor 13 generally drive the object via a speed reducer such as a ball screw. Therefore, the adjustment of the gain and filter of the first additional axis motor 31 is more important than the adjustment of the gain and filter of the X-axis motor 23 and the Y-axis motor 13 in most cases.

[0115] Furthermore, the first additional axis motor 31 may be a motor for moving the workpiece support 6 in the X-axis direction, the Y-axis direction, or the Z-axis direction. In this case, the same effects as above can be achieved.

[0116] Furthermore, in the above-described embodiment, the inertia of the portion driven by the first additional shaft motor 31 is automatically estimated. This configuration is advantageous in making the first additional shaft motor 31 operate more smoothly.

[0117] In addition, the gain and filter of the second additional axis motor 32 can be adjusted, and the inertia of the portion driven by the second additional axis motor 32 can be estimated. In addition, the gain and filter of the X-axis motor 23 and the Y-axis motor 13 can be adjusted, and the inertia of the portion driven by the X-axis motor 23 and the Y-axis motor 13 can be estimated.

[0118] Furthermore, if an adjustment screen 72 for adjusting at least one of the gain and the filter of the first additional axis motor 31 is displayed on the display device 62 , the same effects as described above can be achieved.

[0119] In the above embodiment, the control device 60 sends a rotation command to the servo controller 64e of the first additional axis motor 31, and causes the display device 62 to display the adjustment screen 72 based on the value related to the operation of the first additional axis motor 31 at that time. For example, the adjustment screen 72 is displayed on the display device 62 only when the value related to the operation exceeds a predetermined reference. This structure reduces the useless display of the adjustment screen 72.

[0120] Furthermore, the display device 62 may display the adjustment screen 72 based on the value related to the operation of the first additional axle motor 31 when the control device 60 issues a control command to tighten or loosen the brake 41 of the additional axle unit AU. This configuration is also useful for reducing unnecessary display of the adjustment screen 72.

[0121] In the above embodiment, the display device 62 displays the adjustment screen 72 based on the inertia of the portion including the workpiece support 6. That is, when the size, weight, etc. of the fixture J and the workpiece W mounted on the workpiece support 6 change, the adjustment screen 72 is displayed on the display device 62. This structure is advantageous in that the adjustment screen 72 is displayed as needed when the fixture J and the workpiece W change, thereby allowing the first additional axis motor 31 to operate more smoothly.

[0122] In the above-mentioned embodiment, the control device 60 has an automatic adjustment program 63d, which automatically adjusts the gain and filter of the first additional axis motor 31. In addition, the automatic adjustment program 63d first adjusts the gain and the filter. After that, in the state where the fixture J and the workpiece W are installed on the workpiece support part 6, the inertia is estimated. If this structure is used, when the first additional axis motor 31 is connected to the workpiece support part 6 without a gear such as a reducer, the action of the first additional axis motor 31 can be appropriately adjusted.

[0123] In the above embodiment, when the additional axis unit AU is newly mounted on the XY table 22, the control device 60 causes the display device 62 to display the initial setting screen 71 for initial setting, which includes magnetic pole detection, origin return, etc. of the additional axis motors 31 and 32 of the additional axis unit AU. Thereafter, the control device 60 causes the display device 62 to display the adjustment screen 72. In this configuration, the user adjusts the gain and filter of the additional axis motors 31 and 32.

[0124] In the above embodiment, the control device 60 stores the results of gain and filter adjustment in the storage unit 63 in association with the type of workpiece W. In this configuration, the control device 60 can use the gain and filter stored in association with the workpiece W when machining the workpiece W next time.

[0125] In the above embodiment, the control device 60 transmits the gain and filter adjustment results stored in the storage unit 63 to other machine tools 1 or a host control device so that the results are used in other machine tools 1. In this configuration, other machine tools 1 can perform appropriate gain and filter adjustments without performing gain and filter adjustment operations.

[0126] In the above-described embodiment, the adjustment screen 72 is displayed when a nearby axis unit is newly installed, when a machining program is changed, or when the operation value of a servo motor deviates from a predetermined reference, etc. However, instead of displaying the adjustment screen 72 itself, a display guiding to the adjustment screen 72 may be displayed on the display device 62. The display guiding to the adjustment screen 72 refers to information indicating a display method of the adjustment screen 72, a soft key for displaying the adjustment screen 72, and the like.

[0127] The additional axis unit AU may include only the first additional axis motor 31 or only the second additional axis motor 32. When the additional axis unit AU includes only the second additional axis motor 32, the additional axis unit AU rotates the attached workpiece W and the jig J around an axis extending in the vertical direction.

[0128] In addition, the installation direction of the additional axis unit AU is not limited to the direction in which the first support part 30 and the second support part 40 are arranged along the X-axis direction or the Y-axis direction, and can also be a direction inclined at any angle from each axis of the X-axis, Y-axis, and Z-axis.

[0129] In addition, the fixed part 54 is also a rotating table, and the fixed part 54 rotates around the axis in the horizontal direction and the axis in the vertical direction. That is, the fixed part 54 is a rotating table with two rotation axes. The fixed part 54 can also be a table with three or more rotation axes. In these cases, as described above, the initial setting screen 71 and the adjustment screen 72 related to the fixed part 54 are displayed, and adjustments are made according to these screens.

Claims

1. A machine tool, It is characterized in that have: a spindle, on which the tool is mounted; a workpiece support portion that supports the workpiece; a servo motor that rotates or translates the workpiece support relative to the spindle; and a control device for controlling the servomotor when the workpiece is machined by the tool, When the control device recognizes that the servo motor is newly installed, when the machining program of the workpiece is changed, or when the action value of the servo motor or the value calculated based on the action value deviates from a predetermined reference, the control device causes the display device to display an adjustment screen for adjusting at least one of the gain and the filter of the servo motor, or displays a guide to the adjustment screen on the display device; The workpiece support is a rotary table having more than one rotation axis. The output shaft of the servo motor is connected to the rotary table without a reducer; The control device has an automatic adjustment program, and the automatic adjustment program automatically adjusts the gain and filter of the servo motor. The automatic adjustment procedure causes the control device to perform the following operations: adjusting, adjusting the gain and the filter by causing the servo motor to perform a first action; calculating, by causing the servo motor to perform a second action using the gain and the filter adjusted in the adjustment, to obtain an inertia of a portion including at least the workpiece or the workpiece support portion; as well as The time constant is adjusted according to the inertia estimated by the calculation.

2. The machine tool according to claim 1, It is characterized in that When the action value of the servo motor or a value calculated based on the action value deviates from a predetermined reference, the control device causes the display device to display an adjustment screen for adjusting at least one of the gain and the filter of the servo motor, or displays a guide to the adjustment screen on the display device. The operation value is a value related to the operation of the servo motor when a rotation command is issued to the servo motor, or a value related to the operation of the servo motor when a clamping or unclamping command is issued to the servo motor or the rotary table.

3. The machine tool according to claim 1, It is characterized in that The value calculated based on the motion value is the inertia of a portion including at least the workpiece or the workpiece support.

4. The machine tool according to claim 1, It is characterized in that When there is a connection between the servo motor and the control device, the control device receives a setup signal indicating the presence of the connection, The control device causes the display device to display the adjustment screen or performs a display for guiding to the adjustment screen on the display device after causing the display device to display a screen for initial setting including magnetic pole detection of the newly installed servo motor.

5. The machine tool according to claim 1, It is characterized in that The control device stores the adjustment results of the gain and the filter in a storage unit in association with the type of the workpiece.

6. The machine tool according to claim 1, It is characterized in that The control device sends the results of the adjustment of the gain and the filter to other machine tools.

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