Numerical controller, numerical control system, control method, and program

Abstract

Provided are a numerical controller, a numerical control system, a control method, and a program that enable a main shaft to retreat to an appropriate position when rotation correction of a magazine is executed. In order to restore the position of the main shaft to the machining region in a state where the main shaft stops at an M4 point on the tool replacement path 52, the CPU determines whether or not there is a turning offset in the cartridge. When it is determined that there is a rotation offset, the CPU detects the Z-axis of the main axis and determines whether the detected position is located at the ATC origin Z-axis. If the main shaft is not located on the Z axis of the ATC origin, the possibility that the main shaft is located in the material box rotation area exists. In this case, the CPU requests execution of a rotation correction operation or work for returning the magazine to the reference position after withdrawing the main shaft to the ATC origin Z-axis. After the rotation correction is performed, the CPU moves the main shaft toward the machining area along the tool exchange path 52 and the tool exchange path 51.

Description

Technical Field

[0001] The present invention relates to a numerical control device, a numerical control system, a control method, and a program. Background Art

[0002] A machine tool including a turret-type material box is known. The material box can rotate around a rotating shaft, and a plurality of gripping parts are provided on its outer periphery along the circumferential direction. The gripping part can grip a tool. Any gripping part can be indexed to an indexing position by the rotation of the material box. When the tool of the spindle is replaced, the machine tool moves the spindle along a tool replacement path, and reciprocates between a tool replacement position on the tool replacement path and a tool replacement origin, thereby transferring the tool between the spindle and the gripping part of the material box. The tool replacement position is a position corresponding to the indexing position of the material box and where the tool is transferred between the spindle and the gripping part. The tool replacement origin is a position where the tool held by the gripping part does not interfere with the spindle and the material box can rotate.

[0003] When replacing tools, the material box sometimes produces a rotational offset. The rotational offset is a phenomenon in which the material box is offset circumferentially from a reference position. The reference position of the material box is the rotational position of the material box when the gripping portion is indexed to the indexing position. If the material box produces a rotational offset, the position of the gripping portion is greatly offset relative to the main shaft according to the size of the rotational offset, so the tool cannot be handed over. Therefore, a position correction system is known, which determines whether a rotational correction is required to return the turret to the reference position, for example, based on the rotational offset of the turret (material box), and when it is determined that a rotational correction is required, an action or operation related to the rotational correction is requested (for example, refer to patent document 1).

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent No. 6396380 Summary of the invention

[0007] Problems to be solved by the invention

[0008] However, when the rotation correction of the magazine is performed in the machine tool, if the spindle is located close to the magazine, there is a possibility that the mechanism of the magazine or the tool held by the gripper may interfere with the spindle or the tool mounted on the spindle when the magazine rotates.

[0009] An object of the present invention is to provide a numerical control device, a numerical control system, a control method, and a program that can retract a main shaft to an appropriate position when performing rotation correction of a magazine.

[0010] Technical means of solving problems

[0011] The numerical control device of technical solution 1 is characterized in that it includes: a rotary drive unit, which is provided with a plurality of gripping parts capable of gripping a tool installed on a spindle of a machine tool along a circumferential direction, and rotary drives a material box that can rotate around a rotary axis to index any of the gripping parts; a storage unit, which stores the rotary position coordinates of the material box corresponding to the indexing position of the gripping part as the reference coordinates representing the reference position of the material box; a coordinate detection unit, which detects the rotary position coordinates of the material box; and an offset determination unit, which determines whether there is a deviation between the rotary position coordinates of the material box detected by the coordinate detection unit and the reference position of the material box. The circumferential offset of the rotary axis of the reference coordinate stored in the storage unit is the rotation offset; a position detection unit detects the position of the spindle; a judgment unit judges whether the position of the spindle detected by the position detection unit is located in the area where the magazine rotates, that is, the magazine rotation area; and a correction request unit, when the offset judgment unit judges that the rotation offset exists and the judgment unit judges that the position of the spindle is located in the magazine rotation area, after the spindle is retreated from the magazine rotation area, requesting to perform the action or operation of the rotation correction of returning the magazine to the reference position. When the numerical control device returns the magazine that has generated the rotation offset to the reference position, if it is judged that the position of the spindle is within the magazine rotation area, the magazine can be returned to the reference position after the spindle is retreated from the magazine rotation area. In this way, the numerical control device can avoid interference between the magazine or the tool held by the gripping unit and the spindle or the tool installed on the spindle, so that the rotation correction is appropriately performed and the possibility of damage to the magazine, the spindle and the tool can be reduced.

[0012] Alternatively, the correction request unit of the numerical control device of the technical solution 2 instructs the rotational correction operation to the rotational drive unit when the size of the rotational offset is less than a threshold value, and notifies the operator of the rotational correction operation when the size of the rotational offset is greater than the threshold value. If the size of the rotational offset is less than the threshold value, the rotational correction is automatically performed, thereby saving effort compared to the case where the rotational correction is performed manually. On the other hand, when the size of the rotational offset is greater than the threshold value, since the numerical control device notifies the operator of the rotational correction operation, the operator can carefully rotate the material box while confirming the surroundings of the material box.

[0013] Alternatively, the numerical control device of the technical solution 3 further includes a correction determination unit, which determines that the rotation correction is not required when the size of the rotation offset is less than a threshold value, and on the other hand, determines that the rotation correction is required when the size of the rotation offset is greater than the threshold value, and the correction request unit requests the execution of the rotation correction action or operation when the correction determination unit determines that the rotation correction is required. When the size of the rotation offset is less than the threshold value, even if the spindle is directly moved, the effect on the handover of the tool is small, so rotation correction is not required. On the other hand, when the size of the rotation offset is greater than the threshold value, since the numerical control device notifies the operator of the rotation correction operation, the operator can carefully rotate the material box while confirming the surroundings of the material box.

[0014] Alternatively, the correction request unit of the numerical control device of the technical solution 4 requests the execution of the rotation correction action or operation after the spindle is retracted in a direction away from the magazine rotation area along the path along which the spindle moves when the tool is replaced between the gripping portion, i.e., the tool replacement path. When the numerical control device retracts the spindle from the magazine rotation area, the spindle moves along the tool replacement path, thereby reducing the possibility of interference between the spindle or the tool mounted on the spindle and other components.

[0015] Alternatively, the tool change path of the numerical control device of technical solution 5 includes a prescribed path, the prescribed path connects a tool change position where the spindle performs the tool change between the spindle and the material box, and a tool change preparation position which is separated from the tool change position in a direction orthogonal to the axial direction of the spindle and is the same position as the tool change position in the axial direction, and the correction request unit requests the execution of the rotation correction action or operation after the spindle is retreated to the tool change preparation position along the prescribed path when the spindle is located in the prescribed path and is in the rotation area of ​​the material box. When the spindle in a stopped state is located in the prescribed path in the tool change path and is in the rotation area of ​​the material box, the numerical control device can safely perform the rotation correction of the material box by retreating to the tool change preparation position along the prescribed path.

[0016] Alternatively, in the numerical control device of technical solution 6, the machine tool performs the tool change of the spindle between the material box by reciprocating the spindle between the tool change position on the tool change path and the origin position separated from the tool change position in the axial direction of the spindle, and the correction request unit requests the execution of the rotation correction action or operation after the spindle is retreated to the origin position when the spindle is located between the tool change position and the origin position and is within the rotation area of ​​the material box. When the spindle in a stopped state is located between the tool change position and the origin position and is within the rotation area of ​​the material box, the numerical control device can safely perform the rotation correction of the material box by retreating the spindle to the origin position.

[0017] Alternatively, the offset determination unit of the numerical control device of the technical solution 7 determines whether the rotation offset exists when the tool replacement stops midway. For example, when an alarm is generated or the tool replacement stops midway, the spindle is in a stopped state. In this case, the numerical control device determines the rotation offset of the material box, and when it is determined that the position of the stopped spindle is within the rotation area of ​​the material box, the material box can be returned to the reference position after the spindle is retracted from the rotation area of ​​the material box.

[0018] Alternatively, the offset determination unit of the numerical control device described in Technical Solution 8 determines whether the rotation offset exists when the power of the machine tool is turned off during the tool change and when the power is turned on. After the power of the machine tool is turned off during the tool change and when the power is turned on, the spindle is in a stopped state. In this case, the numerical control device determines the rotation offset of the material box, and when it is determined that the position of the stopped spindle is within the rotation area of ​​the material box, the material box can be returned to the reference position after the spindle is retracted from the rotation area of ​​the material box.

[0019] Alternatively, in the numerical control device of claim 9, the axial direction of the spindle is horizontal. The numerical control device of this form can be applied to a horizontal machine tool in which the spindle extends in the horizontal direction.

[0020] The numerical control system of technical solution 10 includes a machine tool and a numerical control device, and the numerical control system is characterized in that the numerical control device includes: a rotary drive unit, which is provided with a plurality of gripping units along the circumferential direction and capable of gripping a tool mounted on the main shaft of the machine tool, and rotary drives a material box that can rotate around a rotary axis to index any of the gripping units; a storage unit, which stores the rotary position coordinates of the material box corresponding to the indexing position of the gripping unit as reference coordinates representing the reference position of the material box; a coordinate detection unit, which detects the rotary position coordinates of the material box; and an offset determination unit, which determines whether there is an offset detected by the coordinate detection unit. The rotary position coordinates of the material box relative to the reference coordinates stored in the storage unit are offset in the circumferential direction of the rotary axis, i.e., a rotary offset; a position detection unit detects the position of the spindle; a judgment unit judges whether the position of the spindle detected by the position detection unit is located in the area where the material box rotates, i.e., the material box rotation area; and a correction request unit, when the offset judgment unit judges that there is the rotary offset and the judgment unit judges that the position of the spindle is located in the material box rotation area, after the spindle is retreated from the material box rotation area, requesting to perform a rotary correction action or operation to return the material box to the reference position. Thus, the numerical control system can obtain the same effect as technical solution 1. In addition, the numerical control device controls the action of the machine tool, but can also control the action of multiple machine tools.

[0021] The control method of technical solution 11 is a control method for a numerical control device that controls the movement of a machine tool, and is characterized in that it includes: a rotation drive process, in which a plurality of gripping parts that can grip a tool installed on a spindle of the machine tool are arranged along the circumferential direction, and a material box that rotates around a rotary axis is rotationally driven to index any of the gripping parts; a coordinate detection process, in which the rotation position coordinates of the material box are detected; an offset determination process, in which it is determined whether there is an offset, i.e., a rotation offset, of the rotation position coordinates of the material box detected in the coordinate detection process relative to the reference coordinates stored in the storage unit in the circumferential direction of the rotary axis, and the storage unit compares the rotation position coordinates of the material box detected in the coordinate detection process with the reference coordinates stored in the storage unit. The rotation position coordinates of the material box corresponding to the indexing position are stored as the reference coordinates representing the reference position of the material box; a position detection process to detect the position of the spindle; a judgment process to judge whether the position of the spindle detected in the position detection process is located in the area where the material box rotates, that is, the material box rotation area; and a correction request process, in which, when it is judged in the offset judgment process that the rotation offset exists and in the judgment process that the position of the spindle is located in the material box rotation area, after the spindle is retreated from the material box rotation area, an action or operation of rotation correction is requested to return the material box to the reference position. The numerical control device can obtain the effect described in technical solution 1 by performing each process.

[0022] The program of technical solution 12 is a program that enables a numerical control device that controls the movement of a machine tool to function, and is characterized in that it enables a computer to execute the following processing: a rotation drive processing, in which a plurality of gripping parts that can hold a tool installed on the main shaft of the machine tool are arranged along the circumference, and a material box that rotates around a rotary axis is rotationally driven to index any of the gripping parts; a coordinate detection processing, in which the rotation position coordinates of the material box are detected; an offset determination processing, in which it is determined whether there is an offset, i.e., a rotation offset, of the rotation position coordinates of the material box detected in the coordinate detection processing relative to the reference coordinates stored in the storage unit in the circumferential direction of the rotary axis, and the storage unit compares the rotation position coordinates of the material box detected in the coordinate detection processing with the reference coordinates stored in the storage unit. The rotation position coordinates of the material box corresponding to the indexing position of the gripping portion are stored as the reference coordinates representing the reference position of the material box; position detection processing is used to detect the position of the spindle; judgment processing is used to judge whether the position of the spindle detected in the position detection processing is located in the area where the material box rotates, that is, the material box rotation area; and correction request processing is used to request the execution of the rotation correction action or operation of returning the material box to the reference position after the spindle is retreated from the material box rotation area when the offset judgment processing determines that the rotation offset exists and the judgment processing determines that the position of the spindle is located in the material box rotation area. By executing each process by the computer of the numerical control device, the numerical control device can obtain the effect described in technical solution 1.

[0023] The numerical control device of technical solution 13 is characterized by comprising: a control unit; and a storage unit storing a program, wherein the control unit executes the program to implement the control method described in technical solution 11. Thus, the numerical control device can obtain the effect described in technical solution 11.

[0024] A computer-readable storage medium storing the program is also novel and useful. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] [ Figure 1 ] is a stereoscopic view of the machine tool 1.

[0026] [ Figure 2 ] is a perspective view of the machine tool 1 (the shutter 103: closed).

[0027] [ Figure 3 ] is a three-dimensional view of the machine tool 1 (switch: open).

[0028] [ Figure 4 ] is a three-dimensional view of the machine tool 1 (the material box cover is omitted).

[0029] [ Figure 5 ] is a right side view of the machine tool 1 (the material box cover is omitted).

[0030] [ Figure 6 ] is a diagram showing the processing area, ATC area, and various reference points.

[0031] [ Figure 7 ] is an image of the material box rotation area.

[0032] [ Figure 8 ] is a block diagram showing the electrical structure of the machine tool 1.

[0033] [ Fig. 9 ] is a flow chart of NC control processing.

[0034] [ Fig.10 ] is a flowchart of the processing when the power is turned on.

[0035] [ Fig.11 ] is a flowchart of the processing when an alarm is detected.

[0036] [ Fig.12 ] is a flowchart of application control processing.

[0037] [ Fig.13 ] is a flowchart of ATC recovery processing.

[0038] [ Fig.14 ] is to indicate Fig.13 The subsequent flowchart.

[0039] [ Fig.15 ] is a flowchart of the YM axis recovery process.

[0040] [ Fig.16 ] is a flowchart of the YZM axis recovery process.

[0041] [ Fig.17 ] is a flowchart of the axis return destination determination process.

[0042] [ Fig.18 ] is a diagram showing the recovery area W1.

[0043] [ Fig.19 ] is a diagram showing the recovery area W2.

[0044] [ Fig. 20 ] is a diagram showing the recovery area W3.

[0045] [ Fig.21 ] is a diagram showing the recovery area W4 and the recovery area W5.

[0046] [ Fig. 22 ] is a diagram showing the recovery area W6.

[0047] [ Fig.23 ] is a diagram showing the axis return screen 81.

[0048] [ Fig.24 ] is an image diagram showing the moving path (1) from point M1 and the position of the material box (2).

[0049] [ Fig.25 ] is a diagram showing the Y-axis restoration screen 82.

[0050] [ Fig.26 ] is an image diagram showing the moving path (1) from point M2 and the position of the material box (2).

[0051] [ Fig. 27 ] is a diagram showing the YM axis recovery screen 83 (when the rotation offset is smaller than the threshold value).

[0052] [ Fig.28 ] is a diagram showing the YM axis recovery screen 83 (when the rotation offset is greater than the threshold value).

[0053] [ Fig.29 ] is an image diagram showing the moving path (1) from point M3 and the position of the material box (2).

[0054] [ Fig.30 ] is a diagram showing the YZ axis restoration screen 84.

[0055] [ Fig.31] is an image diagram showing the moving path (1) from point M4 and the position of the material box (2).

[0056] [ Fig.32 ] is a diagram showing the YZM axis recovery screen 85 (when the rotation offset is smaller than the threshold value).

[0057] [ Fig.33 ] is a diagram showing the YZM axis recovery screen 85 (when the rotation offset is greater than the threshold value).

[0058] [ Fig.34 ] is an image diagram showing the moving path (1) from the ATC origin and the position of the material box (2).

[0059] [ Fig.35 ] is an image diagram showing the moving path (1) from point M6 and the position of the material box (2).

[0060] [ Fig.36 ] is a diagram showing the YZM axis recovery screen 86 (when the rotation offset is smaller than the threshold value).

[0061] [ Fig.37 ] is a diagram showing the YZM axis recovery screen 86 (when the rotation offset is greater than the threshold value).

[0062] [ Fig.38 ] is an image diagram showing the position of point M7.

[0063] [ Fig.39 ] is a diagram showing the irreversible screen 87.

[0064] [ Fig.40 ] is a diagram showing the indexing tool confirmation screen 88.

[0065] [ Fig.41 ] is a figure showing the end screen 89.

[0066] [ Fig.42 ] is a flowchart of the YM axis recovery process (variant example).

[0067] [ Fig.43 ] is a diagram showing the structure of a numerical control system 200 (variant example). DETAILED DESCRIPTION

[0068] The following description uses left and right, up and down, and front and back directions indicated by arrows in the figures. The left and right directions, up and down directions, and front and back directions of the machine tool 1 are the X-axis direction, Y-axis direction, and Z-axis direction of the machine tool 1, respectively. Figure 1The machine tool 1 shown is a horizontal machining center in which the spindle 7 extends in the front-rear direction (Z-axis direction). The "ATC" described in this embodiment is an abbreviation for "Automatic Tool Changer". In addition, the "NC" described in this embodiment is an abbreviation for "Numerical Control".

[0069] Reference Figure 1 to Figure 4 , the structure of the machine tool 1 is described. Figure 1 , Figure 2 As shown, the machine tool 1 includes: a base 2, a machine column 5, a spindle head 6, a spindle 7, a control box 8, a rotary table 9, an X-axis moving mechanism 11, a Z-axis moving mechanism 12, a Y-axis moving mechanism 13, and a tool replacement device 30 (refer to Figure 4 , hereinafter referred to as "ATC device 30"), a magazine cover 10, etc. The base 2 is an iron base that is generally rectangular in plan view and is long in the Z-axis direction. The X-axis moving mechanism 11 is provided at the rear of the upper surface of the base 2, and supports the carriage 15 so that it can be moved by the X-axis motor 62 (refer to Figure 8 ) is used to move in the X-axis direction. The Z-axis moving mechanism 12 is provided on the upper surface of the carriage 15, and supports the column 5 so that it can be moved by the Z-axis motor 64 (see Figure 8 ) is used to move the spindle head 6 in the Z-axis direction. The column 5 is a vertical column extending in the vertical direction. The Y-axis moving mechanism 13 is provided on the front surface 5B of the column 5 and supports the spindle head 6 so that the spindle head 6 can be moved by the Y-axis motor 63 (see Figure 8 ) is driven by the power to move in the Y-axis direction along the front surface 5B of the column 5. As a result, the spindle head 6 can move in the three axial directions of the X-axis, the Y-axis, and the Z-axis. The spindle head 6 extends in the Z-axis direction. The spindle 7 is arranged in the spindle head 6 and extends in the Z-axis direction on the same axis as the spindle head 6. The spindle head 6 includes the spindle 7 in the front and can support it rotatably. The spindle head 6 includes a spindle motor 61 (refer to Figure 8 The output shaft (not shown) of the spindle motor 61 is coaxially connected to the spindle 7 via a coupling (not shown). A tool holder 90 (see FIG. 1 ) for holding a tool 91 is mounted on the front end of the spindle 7. Figure 7 ). In addition, in the following description, for the sake of convenience, it is expressed as "a tool 91 is installed at the front end of the main shaft 7", but the meaning is the same.

[0070] like Figure 4 As shown, a pair of support members 17 and 18 are provided at the rear of the base 2. The support members 17 and 18 are separated from each other in the left-right direction and extend upward from the rear of the base 2 to support the control box 8 from below. The control box 8 accommodates a numerical control device 40 (see Figure 8). The numerical control device 40 controls the movement of the machine tool 1. A fixed table 16 is provided on the front side of the upper surface of the base 2. The rotary table 9 is provided on the fixed table 16 and is arranged in front of the spindle head 6. The workpiece (not shown) is fixed to the upper surface of the rotary table 9 by a fixture (not shown). The rotary table 9 can be rotated 360° and positioned around a rotation axis parallel to the Y axis. For the workpiece fixed on the rotary table 9, the machine tool 1 performs cutting processing on the workpiece by making the tool 91 mounted on the spindle 7 contact from the three axial directions of the X axis, the Y axis, and the Z axis.

[0071] A pair of support columns 21 and 22 are provided on the front side and on the left and right sides of the upper surface of the base 2. The support column 21 extends upward from the right side of the upper surface of the base 2 and the upper portion is bent to the left by approximately 90 degrees. The support column 22 extends upward from the left side of the upper surface of the base 2 and the upper portion is bent to the right by approximately 90 degrees. A connecting plate 23 is fixed between the upper portions of the support columns 21 and 22 facing each other.

[0072] The ATC device 30 is fixed to the front surface of the connecting plate 23 and supported above the spindle head 6. The ATC device 30 includes a material box 31, a reducer 32, a material box motor 33, etc. The material box 31 includes a material box base 37 and a plurality of clamping arms 38. The material box base 37 is generally disc-shaped and has a rotating shaft 37A (see Figure 5 ) is rotatably supported on the front surface of the connecting plate 23 with the center thereof. The rotating shaft 37A is slightly tilted downward toward the front side relative to the Z-axis direction. The reducer 32 and the magazine motor 33 are installed on the magazine base 37. The output shaft (not shown) of the magazine motor 33 is connected to the rotating shaft 37A via the reducer 32. Thus, the power of the magazine motor 33 is transmitted to the rotating shaft 37A of the magazine base 37 via the reducer 32. A plurality of clamping arms 38 are arranged along the outer periphery of the magazine base 37 and extend radially outward in a radial direction. The front end portion of the clamping arm 38 holds the tool holder 90 from a direction orthogonal to the tool holder 90 in a posture in which the tool holder 90 is horizontally laid down. The lowest position of the magazine 31 is the tool delivery position (an example of the "indexing position" of the present invention). The clamping arm 38 indexed to the tool delivery position performs tool delivery between the main spindle 7.

[0073] The material box cover 10 is fixed to the front surface of each upper part of the support column 21 and the support column 22. The material box cover 10 is box-shaped and covers the periphery of the material box 31. The material box cover 10 reduces the adhesion of chips and cutting fluid droplets to the material box 31. A rectangular opening 102 is provided on the bottom wall 101 of the material box cover 10. The opening 102 is located directly below the tool handover position of the material box 31. A material box opener and shutter 103 (hereinafter referred to as "opener and shutter 103") is provided at the opening 102. The opener and shutter 103 opens / closes the opening 102 through the control of the central processing unit (CPU) 41 of the control panel.

[0074] A cover (not shown) is installed on the machine tool 1. The cover surrounds the machine tool 1 to prevent the chips or coolant generated during cutting from scattering to the surroundings. An opening (not shown) for entering and exiting a workpiece and a door (not shown) for opening and closing the opening are provided on the front surface of the cover. An operation panel 25 (see FIG. 25 ) is provided next to the opening. Figure 8 The user performs various inputs and operations on the machine tool 1 through the operation panel 25 .

[0075] like Figure 5 As shown, in the machine tool 1, the processing area and the tool change area (hereinafter referred to as the "ATC area") are arranged side by side in the Y-axis direction. The processing area is arranged in a space closer to the base 2 side (lower side) than the Y-axis origin. The Y-axis origin is the position where the mechanical coordinate of the Y-axis is 0 (Y=0 mm). The processing area is an area for processing the workpiece fixed to the upper surface of the rotary table 9. The ATC area is arranged in a space on the opposite side (upper side) of the processing area relative to the Y-axis origin and at a position overlapping with the processing area in the Z-axis direction. The ATC area is an area for changing the tool of the spindle 7 through the ATC device 30. The machine tool 1 can move the spindle 7 to the processing area and the ATC area respectively by moving the spindle head 6 up and down.

[0076] Reference Figure 6 , Figure 7 , describes the mechanical origin and multiple reference points set in the ATC area. Figure 7In order to indicate the orientation of the spindle 7, the spindle head 6 is omitted, and the spindle 7, tool holder 90, and tool 91 are simplified for illustration. The mechanical origin of the machine tool 1 is the position where the mechanical coordinates of the X-axis and the Y-axis are 0, and the mechanical coordinates of the Z-axis are the rear end position of the processing area, which is determined according to the structure of the machine tool 1. The mechanical origin of the X-axis is the X-axis origin (X=0 mm), the mechanical origin of the Y-axis is the Y-axis origin (Y=0 mm), and the mechanical origin of the Z-axis is the Z-axis origin (Z=rear end position). In addition, the position of the mechanical origin varies according to the structure of the machine tool 1, so the size of the processing area and the ATC area set based on the mechanical origin also varies according to the structure of the machine tool 1.

[0077] The tool change position (hereinafter referred to as the "ATC position"), the ATC origin, and the ATC preparation position are set in the ATC area. These ATC positions, the ATC origin, and the ATC preparation position are reference points for moving the spindle 7 for positioning when performing a tool change action (hereinafter referred to as the "ATC action"). The ATC position is the position where the tool is handed over between the clamping arm 38 and the tool handover position indexed to the material box 31. The ATC origin is the position moving from the ATC position to the Z-axis + direction (backward), and is the position of the rear end of the ATC area. The ATC origin is the position where the tool held by the clamping arm 38 does not interfere with the spindle 7 and the material box 31 can rotate. The ATC preparation position is the position moving from the ATC position to the Y-axis - direction (below), and is the position of the boundary between the processing area and the ATC area. The ATC preparation position is a position with the same coordinates as the ATC position in the Z-axis direction.

[0078] Based on the three reference points, tool change paths 51 and 52 are set in the ATC area. Tool change paths 51 and 52 form an inverted L-shaped path. Tool change path 51 is a path extending from the ATC preparation position to the Y-axis + direction (upward) to the ATC position. Tool change path 52 is a path extending from the ATC position to the Z-axis + direction (backward) to the ATC origin. Tool change paths 51 and 52 are paths for moving the spindle head 6 when the ATC is in action. In the present embodiment, in principle, in the ATC area, the spindle 7 is restricted in motion in such a way that it can only move on the tool change paths 51 and 52 and cannot move otherwise.

[0079] like Figure 7As shown, a material box rotation area is set around the ATC position. The material box rotation area is an area where the clamping arm 38 of the material box 31 rotates around the rotation axis 37A. In addition, the material box rotation area can also be an area including the tool holder 90 and the tool 91 held by the clamping arm 38. In the Z-axis direction, the coordinate position of the rear end of the material box rotation area is located between the ATC position and the ATC origin. In the Y-axis direction, the coordinate position of the lower end of the material box rotation area is located between the ATC position and the ATC preparation position. In the case where at least a part of the spindle 7 is located in the material box rotation area, the possibility of interference between the spindle 7 and the clamping arm 38, the tool holder 90, and the tool 91 is high. In addition, in the present embodiment, if the Z-axis of the spindle 7 is retracted to the ATC origin on the tool replacement path 52, the spindle 7 deviates from the material box rotation area. In addition, if the Y-axis of the spindle 7 is lowered to the ATC preparation position on the tool replacement path 51, the spindle 7 deviates from the material box rotation area.

[0080] Reference Figure 6 , an example of the ATC operation of the machine tool 1 is described. In order to describe the position of the spindle 7 in the ATC operation, the present embodiment expresses the movement of the spindle head 6 as "movement of the spindle 7" for description. In addition, in the following description, the ATC position on the X-axis is referred to as the ATC position X-axis, the ATC position on the Y-axis is referred to as the ATC position Y-axis, and the ATC position on the Z-axis is referred to as the ATC position Z-axis.

[0081] During workpiece processing, the spindle 7 is located, for example, at P0 in the processing area. At this time, the shutter 103 of the material box cover 10 is in a closed state (refer to Figure 2 A tool holder 90 for holding a tool 91 is mounted on the spindle 7 (see Figure 7 A clamping mechanism (not shown) provided in the spindle 7 fixes the tool holder 90 mounted on the spindle 7 .

[0082] The machine tool 1 moves the Z axis of the spindle 7 located at P0 back toward the Z axis origin (see Figure 6 The spindle 7 is oriented while the arrow A1 in the figure is being pointed. The oriented action is an action to return the angle of the spindle 7 to the reference position (for example, 0 degrees). The spindle 7 reaches P1. Then, the shutter 103 of the magazine cover 100 is opened (see Figure 3 ), move the X-axis of the spindle 7 located at P1 to the ATC position X-axis, and move the Y-axis to the Y-axis origin (Y=0 mm) (refer to Figure 6 The spindle 7 reaches P2. Then, the Z axis of the spindle 7 located at P2 moves forward to the ATC position Z axis (refer to Figure 6 The spindle 7 reaches the ATC ready position.

[0083] Then, the spindle 7 is raised from the ATC preparation position along the tool change path 51 (see Figure 6 At this time, the clamping arm 38 indexed to the tool handover position is exposed downward through the opening 102 of the magazine cover 100. As the spindle 7 rises, the tool holder 90 mounted on the spindle 7 passes through the opening 102 and is pressed into the clamping arm 38 from below. When the spindle 7 reaches the ATC position, the tool holder 90 mounted on the spindle 7 is engaged with the clamping arm 38 and is held. At the same time, the clamping mechanism in the spindle 7 releases the fixation of the tool holder 90. As a result, the tool holder 90 can be removed from the spindle 7.

[0084] The machine tool 1 moves the spindle 7 backward from the ATC position along the tool replacement path 52 (see FIG. 1 ), with the clamp arm 38 clamping the tool holder 90 mounted on the spindle 7. Figure 6 When the spindle 7 reaches the ATC origin, the tool holder 90 is pulled out of the spindle 7. Then, the ATC device 30 rotates the magazine 31 and indexes the clamping arm 38 holding the tool holder of the next tool to be installed (hereinafter referred to as the "next tool") to the tool transfer position (refer to Figure 6 As a result, the tool holder of the next tool is arranged in front of the main spindle 7 in the Z-axis direction.

[0085] Then, the machine tool 1 moves the spindle 7 from the ATC origin along the tool change path 52 (see Figure 6 As a result, the tool holder of the next tool is inserted into the spindle 7. When the ATC position is reached, the tool holder of the next tool is mounted on the spindle 7. The clamping mechanism in the spindle 7 fixes the tool holder mounted on the spindle 7.

[0086] Then, the machine tool 1 lowers the spindle 7 of the tool holder equipped with the next tool from the ATC position along the tool change path 51 and positions it at the ATC preparation position (see Figure 6 As a result, the ATC action of the spindle 7 is completed. Since the machine tool 1 continues to process the workpiece, the spindle 7 with the tool holder of the next tool is moved from the ATC preparation position to the next command point in the processing area. The command point is the target position to which the spindle 7 is moved after the ATC action is completed, and can also be set by a control command of the NC program, for example.

[0087] In the above example, the Z axis of the spindle 7 located at P0 is retracted to the Z axis origin, but for example, a point R (restore point) where the tool 91 mounted on the spindle 7 does not contact the workpiece and the fixture on the rotary table 9 may be set and retracted to the point R. In this case, the point R may also be located further forward than the Z axis origin.

[0088] Reference Figure 8 , the electrical structure of the machine tool 1 is described. The machine tool 1 includes: a numerical control device 40, a spindle motor 61, an X-axis motor 62, a Y-axis motor 63, a Z-axis motor 64, a material box motor 33, a drive circuit 71 to a drive circuit 75, an encoder 61A, an encoder 62A, an encoder 63A, an encoder 64A, an encoder 33A, an operation panel 25, etc.

[0089] The numerical control device 40 includes a CPU 41, a read-only memory (ROM) 42, a random access memory (RAM) 43, a storage device 44, a communication interface (I / F) 45, an input / output interface 46, etc. The CPU 41 performs a unified control of the operation of the machine tool 1. The ROM 42 stores various programs such as an NC control program, a power-on program, an alarm detection program, and an application control program. The NC control program executes the NC control processing described later (see Fig. 9 When the power is turned on, the program executes the power-on processing described later (refer to Fig.10 ). The alarm detection program executes the alarm detection processing described later (refer to Fig.11 The application control program executes the application control processing described later (see Fig.12 ). In addition, these programs may be stored in other storage media other than ROM 42, for example, they may also be stored in storage device 44. RAM 43 stores various data in various processing executions. Storage device 44 is a non-volatile memory, for example, storing various data such as NC programs for processing workpieces and stop signs described later. Communication I / F 45 can be connected to a terminal (not shown) by wire or wirelessly. Input / output interface 46 is connected to operation panel 25 and drive circuit 71 to drive circuit 75.

[0090] The number indicating the index position of the clamp arm 38 (hereinafter referred to as the index number) and the coordinate corresponding to the index position (hereinafter referred to as the rotation position coordinate) are stored in the storage device 44 in correspondence. By referring to the index position and the rotation position coordinate, the CPU 41 can index the clamp arm 38 holding the tool holder 90 holding an arbitrary tool 91.

[0091] The spindle motor 61, the X-axis motor 62, the Y-axis motor 63, the Z-axis motor 64, and the cartridge motor 33 are servo motors. The drive circuit 71 controls the spindle motor 61 based on a control signal from the CPU 41. The drive circuit 72 controls the X-axis motor 62 based on a control signal from the CPU 41. The drive circuit 73 controls the Y-axis motor 63 based on a control signal from the CPU 41. The drive circuit 74 controls the Z-axis motor 64 based on a control signal from the CPU 41. The drive circuit 75 controls the cartridge motor 33 based on a control signal from the CPU 41.

[0092] The encoder 61A detects the rotational position of the spindle motor 61 and sends the detection signal to the drive circuit 71. The drive circuit 71 performs feedback control of the spindle motor 61 based on the detection signal. The CPU 41 receives the detection signal of the encoder 61A from the drive circuit 71, and converts the received detection signal into the rotational coordinate of the spindle 7, thereby detecting the rotational position of the spindle. The encoder 62A detects the rotational position of the X-axis motor 62 and sends the detection signal to the drive circuit 72. The drive circuit 72 performs feedback control of the X-axis motor 62 based on the detection signal. The CPU 41 receives the detection signal of the encoder 62A from the drive circuit 72, and converts the received detection signal into the coordinate position of the X-axis of the spindle 7, thereby detecting the position of the X-axis. The encoder 63A detects the rotational position of the Y-axis motor 63 and sends the detection signal to the drive circuit 73. The drive circuit 73 performs feedback control of the Y-axis motor 63 based on the detection signal. The CPU 41 receives the detection signal of the encoder 63A from the drive circuit 73, and converts the received detection signal into the coordinate position of the Y axis of the spindle 7, thereby detecting the position of the Y axis. The encoder 64A detects the rotation position of the Z axis motor 64, and sends the detection signal to the drive circuit 74. The drive circuit 74 performs feedback control of the Z axis motor 64 based on the detection signal. The CPU 41 receives the detection signal of the encoder 64A from the drive circuit 74, and converts the received detection signal into the coordinate position of the Z axis of the spindle 7, thereby detecting the position of the Z axis. The encoder 33A detects the rotation position of the material box motor 33, and sends the detection signal to the drive circuit 75. The drive circuit 75 performs feedback control of the material box motor 33 based on the detection signal. The CPU 41 converts the detection signal of the encoder 33A received from the drive circuit 75 into the rotation position coordinate of the material box 31, thereby detecting the rotation position of the material box 31. The operation panel 25 includes a display unit 26 and an operation unit 27. The display unit 26 is a touch screen, and displays various information based on control signals from the CPU 41 and receives various inputs and sends them to the CPU 41. The operation unit 27 includes, for example, a plurality of physical push keys (not shown), and receives various operations and sends them to the CPU 41.

[0093] Reference Fig. 9 , the NC control processing is explained. When the user selects an NC program through the operation panel 25, the CPU 41 reads the NC control program from the ROM 42 and executes this processing. The CPU 41 reads the selected NC program from the storage device 44 (S1). The CPU 41 receives the operation of the NC program execution performed by the user through the operation unit 27, and determines whether to execute the read NC program (S2). Before accepting the execution operation (S2: No (NO)), the CPU 41 returns to S2 and stands by. In the case of accepting the execution operation (S2: Yes (YES)), the CPU 41 initializes the stop flag stored in the storage device 44 to 0 and disconnects it (S3), and interprets the NC program from the beginning for one block (S4).

[0094] The CPU 41 determines whether the interpreted block is an end command (S5). If it is not an end command (S5: No), the CPU 41 generates a control instruction (internal instruction) based on the interpreted block (S6). The CPU 41 determines whether the generated control instruction is a tool change instruction (S7). If the generated control instruction is a positioning control instruction (S7: No), the CPU 41 executes the generated control instruction (S8). After executing the control instruction, the CPU 41 transfers to the next block, returns to S4 and repeats the above process.

[0095] When the generated control instruction is a tool change instruction (S7: Yes), the CPU 41 starts the ATC action (S9). The CPU 41 determines whether the power is disconnected during the ATC action (S10). When the power is disconnected during the ATC action (S10: Yes), the CPU 41 sets the stop flag stored in the storage device 44 to 1 and turns it on (S12), and ends this processing. When the power is not disconnected during the ATC action (S10: No), the CPU 41 determines whether the ATC action is completed (S11). Before the ATC action is completed (S11: No), the CPU 41 returns to S10 and continues to monitor the power supply. When the ATC action is completed (S11: Yes), the CPU 41 transfers to the next block, returns to S4 and repeats the processing. When the interpreted block is an end command (S5: Yes), the CPU 41 ends this processing.

[0096] Reference Fig.10, the processing when the power is turned on is explained. When the user turns on the power through the operation panel 25, the CPU 41 reads the power-on program from the ROM 42 and executes this processing. The CPU 41 determines whether the power was disconnected during the ATC action when the power was turned on last time (S21). The CPU 41 refers to the stop flag stored in the storage device 44. When the stop flag is 0, the power is not disconnected during the ATC action (S21: No), so the CPU 41 switches to the manual operation mode (S23), and displays the manual condition screen (omitted from the figure) on the display unit 26 of the operation panel 25 (S4). In the manual condition screen, various conditions for moving and rotating the spindle 7 by manual operation can be set. For example, high-speed moving speed, high-speed rotation speed, constant speed moving speed, low-speed rotation speed, step movement amount, step rotation amount, spindle speed, etc. The CPU 41 ends this processing.

[0097] When the stop flag is 1, the power is disconnected during the ATC operation (S21: No). In this case, various servo motors are disconnected during the ATC operation, so the spindle 7 is stopped in the ATC area. When an external force is applied to the spindle 7 in a state where the servo motor is disconnected, there is a possibility that the position of the spindle 7 is offset from the tool replacement path 51 and the tool replacement path 52 in the X-axis direction, the Y-axis direction, or the Z-axis direction. In addition, there is also the possibility that the rotation position of the material box 31 is offset in the circumferential direction. If the spindle 7 is to be moved in such an abnormal state, the positional relationship between the spindle 7 and the clamping arm 38 is offset, so that, for example, the tool holder 90 mounted on the spindle 7 is not engaged with the clamping arm 38, and the clamping mechanism in the spindle 7 releases the fixation of the tool holder 90, thereby there is a possibility that the tool holder 90 and the tool 91 fall from the spindle 7.

[0098] For this reason, the user needs to manually restore the position of the spindle 7 to the tool replacement path 51 and the tool replacement path 52 to return the position of the material box 31 to the normal position, but this restoration operation is difficult without skilled techniques. The CPU 41 of this embodiment executes the ATC restoration process described later (see Figure 13 to Figure 17 )(S22), a guide display for the user to perform the restoration operation. After the ATC restoration process is completed, the CPU 41 ends the present process.

[0099] Reference Fig.11, the processing upon alarm detection is described. When an alarm such as an emergency stop is generated during the startup of the machine tool 1, the CPU 41 reads the alarm detection program from the ROM 42 and executes this processing. The CPU 41 displays the alarm on the display unit 26 (S31) to notify the user that an alarm has occurred. The CPU 41 determines whether the movement of the spindle 7 has stopped during the ATC action (S32). When the movement of the spindle 7 has not stopped during the ATC action (S32: No), the CPU 41 ends this processing. When the movement of the spindle 7 has stopped during the ATC action (S32: Yes), the CPU 41 executes the ATC recovery processing (S33) described later and ends this processing.

[0100] Reference Fig.12 , the application control processing is explained. When the user selects a recovery-supported application through the operation unit 27 of the operation panel 25, the CPU 41 reads the application control program from the ROM 42 and executes this processing. The CPU 41 displays a menu on the display unit 26 (S35). The menu includes various items such as synchronous tap return, spindle running-in operation, automatic door adjustment, position recovery, origin position adjustment, ATC recovery, etc. The CPU 41 accepts the selection of an item from the menu (S36). The CPU 41 determines whether the ATC recovery item is selected (S37). In the case where the ATC recovery item is selected (S37: Yes), the CPU 41 executes the ATC recovery processing described later (S38) and ends this processing. In the case where an item other than ATC recovery is selected (S37: No), the CPU 41 executes the selected item (S39) and ends this processing.

[0101] Reference Figure 13 to Figure 17 , the ATC recovery process is described. In addition, in the present embodiment, the clamping arm 38 holds the tool holder 90 to which the tool 91 is integrally mounted, but for the sake of convenience of description, there is a place where it is expressed as "the clamping arm 38 holds the tool 91". Fig.13 As shown, the CPU 41 displays the axis return screen 81 on the display unit 26 (S40).

[0102] <Step 1>

[0103] like Fig.23As shown, the axis return screen 81 is provided with display areas 81A to 81D. The recovery process of step 1 is displayed in the display area 81A. Step 1 is the process of axis return. The axis return is the action of returning the spindle 7 stopped in the ATC area to the tool change path 51 and the tool change path 52. The coordinate information such as the mechanical coordinate position, the ATC position, the Y-axis origin, and the ATC origin position are displayed in the display area 81B. The mechanical coordinate position is the current position information of the spindle 7. The material box number, the material box shutter position, and the material box rotation area are displayed in the display area 81C. The material box number corresponding to the clamping arm 38 currently indexed to the tool delivery position of the material box 31 is displayed in the column of the material box number. The opening and closing state of the shutter 103 is displayed in the column of the material box shutter position. In the column of the material box rotation area, the disconnection is displayed when the position of the spindle 7 is within the material box rotation area, and the connection is displayed when it is outside the material box rotation area. The manual condition is displayed in the display area 81D. The manual conditions are the same as the items of the manual conditions displayed on the manual condition screen.

[0104] The four processes required for the axis return are displayed in the display area 81A. First, as process 1, switch to the manual operation mode. As process 2, press the recovery operation enable key 811 to enable the recovery operation. The recovery operation enable key 811 is set at the lower right corner of the axis return screen 81. As process 3, when the servo motor is disconnected, press the [Reset] key while pressing the [Release] key of the operating unit 27, thereby executing the axis return when the servo motor is turned on. At this time, the alarm is cleared. As process 4, when the servo motor is turned on, press the [R] key while pressing the [Release] key of the operating unit 27, thereby executing the axis return. In addition, the above steps are also performed when the axis return is performed in the steps of process 3. The user only needs to operate according to the recovery process displayed in the display area 81A.

[0105] Back to Fig.13 , the CPU 41 determines whether to execute the axis return (S41). The axis return is not executed before the operation of process 3 or process 4 is performed (S41: No), so the CPU 41 returns to S40 and waits. In the case where the operation of process 3 or process 4 is performed (S41: Yes), in order to determine the axis return destination of the main shaft 7, the axis return destination determination process is executed (S42).

[0106] Reference Figure 17 to Figure 22 , the axis return destination determination process is described. Figure 18 to Figure 22 In order to facilitate observation of the recovery areas W1 to W6 described later, the frame lines indicating the range of the ATC area are omitted. Fig.17As shown, the CPU 41 detects the position of the spindle 7 (S81). The position of the spindle 7 is, for example, the position of the front end of the spindle 7, and is the coordinate position of the X-axis, Y-axis, and Z-axis. The detected position of the spindle 7 is temporarily stored in the RAM 43. The CPU 41 determines whether the detected Y-axis of the spindle 7 is higher than the Y-axis origin (S82). When the Y-axis is below the Y-axis origin (S82: No), the spindle 7 is located in the processing area. In this case, it is assumed that even if the position of the spindle 7 deviates from the command position, the necessity of correcting the deviation is low, so the CPU 41 sets the return destination of the X-axis, Y-axis, and Z-axis of the spindle 7 to the current coordinate position (S98). In addition, instead of the processing of S98, for example, the coordinate position of the spindle 7 just before the servo is disconnected can be stored, and the return destination of the X-axis, Y-axis, and Z-axis of the spindle 7 can be set at the coordinate position. Servo disconnection means that the servo motors such as the spindle motor 61, the X-axis motor 62, the Y-axis motor 63, the Z-axis motor 64, and the cartridge motor 33 are disconnected. After setting the coordinate position of S98, the CPU 41 ends the processing and advances the processing to Fig.13 S43 of the process.

[0107] When the Y axis is above the Y axis origin (S82: Yes), the spindle 7 is located within the ATC area, but there is a possibility that the spindle 7 is deviated from the tool replacement path 51 and the tool replacement path 52. Therefore, for the current position of the spindle 7, it is determined for each of the X axis, the Y axis, and the Z axis whether it is within the recovery distance from the tool replacement path 51 and the tool replacement path 52.

[0108] The CPU 41 determines whether the X-axis of the spindle 7 is within the ATC position X-axis ± the recovery distance (S83). Fig.18 As shown, a recovery area W1 is provided in the ATC area. The recovery area W1 is a space defined by the range of the ATC position X axis ± the recovery distance. The recovery distance is, for example, a small distance to the extent that even if the spindle 7 is moved by the distance, it will not collide with other components and be damaged, for example, about 2 mm. For example, when the spindle 7 stops at point K1, the X axis of point K1 is located in the recovery area W1 (S83: Yes). In this case, the CPU 41 sets the return destination of the X axis of the spindle 7 to the ATC position X axis (S84). The return destination of the X axis can be temporarily stored in the RAM 43. When the X axis of the spindle 7 is located outside the recovery area W1 (S83: No), the CPU 41 sets the return destination of the X axis to the current coordinate position (S85).

[0109] Then, the CPU 41 determines whether the Y axis of the spindle 7 is lower than the Y axis origin + the recovery distance (S86). Fig.19As shown in FIG. 1 , a recovery area W2 is also provided in the ATC area. The recovery area W2 is a space defined by the range of the Y-axis origin + the recovery distance. For example, when the spindle 7 stops at point K2, the Y-axis at point K2 is located within the recovery area W2 (S86: Yes). In this case, the CPU 41 sets the return destination of the Y-axis of the spindle 7 to the Y-axis origin (S88).

[0110] On the other hand, when the Y axis of the main spindle 7 is greater than the Y axis origin + the recovery distance (S86: No), the CPU 41 determines whether the Y axis of the main spindle 7 is within the ATC position Y axis ± the recovery distance (S87). Fig. 20 As shown, a recovery area W3 is also provided in the ATC area. The recovery area W3 is a space defined by the range of the ATC position Y axis ± the recovery distance. For example, when the spindle 7 stops at point K3, the Y axis of point K3 is located within the recovery area W3 (S87: Yes). In this case, the CPU 41 sets the return destination of the Y axis of the spindle 7 to the ATC position Y axis (S89). The return destination of the Y axis can be temporarily stored in the RAM 43. In addition, when the Y axis of the spindle 7 is located outside the recovery area W3 (S87: No), the CPU 41 sets the return destination of the Y axis to the current coordinate position (S90).

[0111] Then, the CPU 41 determines whether the Z axis of the spindle 7 is within the range of ATC position Z axis - recovery distance ≦ Z axis < ATC position Z axis (S91). Fig.21 As shown, a recovery area W4 is also provided in the ATC area. The recovery area W4 is a space defined by the range of ATC position Z axis - recovery distance ≦ Z axis < ATC position Z axis. For example, when the spindle 7 stops at point K4, the Z axis of point K4 is located in the recovery area W4 (S91: Yes). In this case, the CPU 41 sets the return destination of the Z axis of the spindle 7 to the ATC position Z axis (S94). On the other hand, when the Z axis of the spindle 7 is outside the recovery area W4 (S91: No), the CPU 41 determines whether the Z axis of the spindle 7 is within the range of ATC position Z axis < Z axis ≦ ATC position Z axis + recovery distance and whether the material box 31 is normally indexed (S92).

[0112] Here, regarding the judgment of whether the material box 31 of S92 is normally indexed, the CPU 41 can judge by whether the material box 31 generates a rotational offset above the threshold. The rotational offset is the circumferential offset of the material box 31 relative to the reference coordinates centered on the rotation axis 37A. The reference coordinates of the material box 31 are the rotational position coordinates of the material box 31 corresponding to the indexing position of the clamping arm 38, and are stored in the storage device 44. The CPU 41 converts the detection signal of the encoder 33A received from the drive circuit 75 into the rotational position coordinates of the material box 31, and by comparing it with the reference coordinates stored in the storage device 44, it can be judged whether the material box 31 generates a rotational offset above the threshold. If the rotational offset is less than the threshold, the CPU 41 can judge that the material box 31 is in a state of being normally indexed, and if the rotational offset is above the threshold, the CPU 41 can judge that the material box 31 is not in a state of being normally indexed.

[0113] like Fig.21 As shown, a recovery area W5 is also provided in the ATC area. The recovery area W5 is a space defined by the range of ATC position Z axis < Z axis ≦ ATC position Z axis + recovery distance. For example, when the spindle 7 stops at point K5, the Z axis at point K5 is located in the recovery area W5. In addition, when the material box 31 is indexed normally (S92: Yes), the CPU 41 sets the return destination of the Z axis of the spindle 7 to the ATC position Z axis (S94).

[0114] In addition, when the position of the Z axis of the spindle 7 is outside the recovery area W5 (S92: No), the CPU 41 determines whether the Z axis of the spindle 7 is within the range of ATC origin < Z axis ≦ ATC origin + recovery distance (S93). In addition, when the material box 31 is not normally indexed even if the position of the Z axis is within the recovery area W5 (S92: No), the position of the clamping arm 38 is offset in the Y-axis direction. In this state, when the Z axis of the spindle 7 is moved to the ATC position Z axis, there is a possibility that the spindle 7 interferes with the tool holder 90 held by the clamping arm 38. Therefore, the CPU 41 does not set the return destination of the Z axis to the ATC position Z axis in this case, but determines whether the Z axis of the spindle 7 is within the range of ATC origin < Z axis ≦ ATC origin + recovery distance (S93).

[0115] like Fig. 22As shown, a recovery area W6 is also provided in the ATC area. The recovery area W6 is a space defined by the range of ATC origin < Z axis ≦ ATC origin + recovery distance. For example, when the spindle 7 stops at point K6, the Z axis at point K6 is located in the recovery area W6 (S93: Yes). In this case, the CPU 41 sets the return destination of the Z axis of the spindle 7 to the ATC origin (S96). The return destination of the Z axis can be temporarily stored in the RAM 43. When the return destination of the Z axis is set (S94, S95, S96), the CPU 41 ends the present processing and advances the processing to Fig.13 In addition, when the Z axis of the spindle 7 is outside the recovery area W6 (S93: No), it is not within any range of the recovery area W4 to the recovery area W6, so the CPU 41 sets the return destination of the Z axis to the current coordinate position (S97) and ends the present process, advancing the process to Fig.13 S43 of the process.

[0116] Back to Fig.13 The CPU 41 completes the axis return destination determination process of S42, and then executes the axis return of the spindle 7 (S43) according to the return destinations of the X-axis, Y-axis, and Z-axis set in the axis return destination determination process. In addition, the axis return of the X-axis, Y-axis, and Z-axis can be implemented one axis at a time, or two or three axes can be implemented simultaneously. There is no regulation on the order of implementation. In addition, when Fig.17 In the case where the return destination of the moving axis is set to the current coordinate position in each of the processes S85, S90, and S97 of the axis return destination determination process, Fig.13 In the axis return process of S43, the CPU 41 does not move the main spindle 7 on the moving axis whose return destination is set to the current coordinate position. That is, the CPU 41 restricts the movement of the main spindle 7.

[0117] The CPU 41 determines whether the axis return is completed (S44). Before the axis return is completed (S44: No), the CPU 41 returns to S43 to continue execution. When the axis return is completed (S44: Yes), the CPU 41 determines whether the Y axis of the spindle 7 is below the Y axis origin (S45). When the Y axis of the spindle 7 is below the Y axis origin (S45: Yes), the spindle 7 is already located in the processing area, so the CPU 41 does not change the position of the spindle 7 and advances the processing to S54 described later. When the Y axis is higher than the Y axis origin (S45: No), the spindle 7 is located on the tool change path 51 and the tool change path 52 in the ATC area. Therefore, the CPU 41 needs to move the spindle 7 safely toward the processing area according to the position of the spindle 7 on the tool change path 51 and the tool change path 52.

[0118] Therefore, the CPU 41 determines whether the position of the spindle 7 satisfies the conditions of Z=ATC position Z axis, Y<ATC position Y axis, and X=ATC position X axis (S46). Fig.24 As shown in (1), the spindle 7 is located at the M1 point. The M1 point is on the tool change path 51, so it can be inferred that the spindle 7 stopped in the middle of the rise or descent in the tool change path 51. The M1 point satisfies the conditions that Z = ATC position Z axis and Y < ATC position Y axis and X = ATC position X axis (S46: Yes), so the CPU 41 determines whether the position of the material box 31 is normal (S47). In addition, the method for determining whether the position of the material box 31 is normal is the same as that in Fig.17 The method of judging whether the material box 31 is normally indexed in the judgment process of S92 is the same.

[0119] For example Fig.24 As shown in (2), when the position of the material box 31 is normal, the clamping arm 38 indexed to the tool delivery position is arranged in a direction parallel to the Y-axis direction. The tool holder 90 and the tool 91 mounted on the spindle 7 extend in the Z-axis direction. In this state, the clamping arm 38 is arranged in a positional relationship orthogonal to the tool holder 90. In this case, the position of the material box 31 is normal (S47: Yes), so the CPU 41 determines the recovery process of the spindle 7 to be the action mode of step 2-a described later, and displays the Y-axis recovery screen 82 corresponding to the action mode on the display unit 26 (S48).

[0120] <Step 2-a>

[0121] like Fig.25 As shown, the Y-axis recovery screen 82 includes display areas 82A to 82D. The recovery process of step 2-a is displayed in display area 82A. Step 2-a is an action mode in which the spindle 7 on the tool change path 51 is lowered along the tool change path 51 to the processing area. In addition, display areas 82B to 82D are Fig.23 The display areas 81B to 81D of the axis return screen 81 shown are the same, and thus description thereof will be omitted.

[0122] In the display area 81A, the following situations are called for attention: the position of the Y axis is abnormal, and the attention is called for attention in the form of (notice). When an alarm is generated during operation, the [Reset] key is pressed while pressing the [Release] key of the operation unit 27, and the process is advanced after the alarm is released. Then, the four processes required for step 2-a are displayed below the guidance. First, as process 1, the door of the cover of the machine tool 1 is closed. As process 2, if the shutter 103 is closed, the shutter 103 is opened by pressing the [P] key while pressing the [Release] key of the operation unit 27. In the case of maintenance mode, the shutter 103 is not opened automatically, so the shutter 103 is opened manually, or the shutter 103 is opened after changing to a mode other than the maintenance mode (for example, the automatic operation mode or the assembly mode). As process 3, the [-Y] key is pressed while pressing the [Release] key of the operation unit 27 to move the Y axis to a position lower than the Y axis origin. As process 4, the "Next" key 821 is pressed after the recovery operation of processes 1 to 3 is completed. A “next step” button 821 is displayed at the lower right of the Y-axis restoration screen 82 .

[0123] Back to Fig.13 , CPU 41 performs Y-axis recovery processing (S49) based on the operations of process 1 to process 3 performed by the user. Through the Y-axis recovery processing, the spindle 7 moves to a position lower than the Y-axis origin. Thus, CPU 41 can safely and appropriately restore the spindle 7 that has stopped in the ATC area to the processing area along the tool change path 51. CPU 41 determines whether the recovery operation is completed (S50). Before the user presses the "Next" key 821, the recovery operation is not completed (S50: No), so CPU 41 returns to S50 and stands by. When the "Next" key 821 is pressed, the recovery operation is completed (S50: Yes), so CPU 41 displays the indexing tool confirmation screen 88 described later (refer to Fig.40 ) is displayed on the display unit 26 (S54).

[0124] In addition, regarding the position of the spindle 7, even if the conditions of Z=ATC position Z axis, Y<ATC position Y axis, and X=ATC position X axis are satisfied (S46: Yes), if the position of the magazine 31 is abnormal (S47: No), rotational deviation may occur. Fig.26 As shown in (1), when the spindle 7 is located at the M2 point on the tool change path 51, the spindle 7 is located below the ATC position. Fig.26As shown in (2), if the position of the material box 31 is offset, the clamping arm 38 indexed to the tool delivery position is offset in the circumferential direction relative to the Y-axis. In this state, if the clamping arm 38 is returned to the normal position, there is a possibility that the clamping arm 38 and the tool holder 90 mounted on the spindle 7 will interfere with each other. In this case, the spindle 7 can be moved in the Y-axis direction away from the material box 31 relative to the clamping arm 38, and then the material box 31 is returned to the normal position. Therefore, the CPU 41 determines the recovery process of the spindle 7 as the action mode of step 2-b described later, and displays the YM axis recovery screen 83 corresponding to the action mode on the display unit 26 (S51), and executes the YM axis recovery process (S52).

[0125] <Step 2-b>

[0126] like Fig. 27 As shown, display areas 83A to 83D are provided in the YM axis recovery screen 83. In display area 83A, attention is drawn to the following situations: abnormal position of the Y axis and the material box 31, recovery is performed in the following process, and attention is drawn in the form of (notification). When an alarm is generated during operation, press the [Reset] key while pressing the [Release] key of the operating unit 27, and proceed with the process after the alarm is released. Then, the recovery process of step 2-b is displayed on its lower side. Step 2-b is to return the position of the material box 31 to the normal operation mode after the spindle 7 located on the tool change path 51 is lowered along the tool change path 51 to the processing area. In addition, display areas 83B to 83D are Fig.23 The display areas 81B to 81D of the axis return screen 81 shown are the same, so their description is omitted. In step 2-b, the position of the cartridge 31 is shifted, so the cartridge number is not displayed in the display area 83C.

[0127] Reference Fig.15 The YM axis recovery process is described below. Fig. 27 As shown in FIG. 1 , the CPU 41 displays flow 1 to flow 3 of the five flows in the display area 83A (S101). Flow 1 to flow 3 and Fig.25The processes 1 to 3 of step 2-a displayed in the display area 82A of the Y-axis recovery screen 82 shown are the same. The user operates according to processes 1 to 3. In process 3, the user lowers the Y-axis of the spindle 7 toward the Y-axis origin. The CPU 41 detects the position of the Y-axis of the spindle 7 (S102). The CPU 41 determines whether the detected Y-axis is below the Y-axis origin (S103). Before the Y-axis becomes below the Y-axis origin, the CPU 41 returns to S102 and waits. When the Y-axis becomes below the Y-axis origin (S103: Yes), the spindle 7 deviates from the material box rotation area. Therefore, in this state, even if the material box 31 is rotated, the clamping arm 38 does not interfere with the spindle 7.

[0128] Therefore, the CPU 41 determines whether the rotational deviation generated in the material box 31 is less than the threshold value (S104). In the case where the rotational deviation is less than the threshold value (S104: Yes), as Fig. 27 As shown, process 4 (S105) is also displayed in the display area 83A. As process 4, by pressing the [material box forward rotation] key while pressing the [release] key of the operation unit 27, the material box 31 automatically returns to the correct position. The CPU 41 determines whether the operation of process 4 has been performed (S106). Before performing the operation of process 4 (S106: No), the CPU 41 returns to S106 and stands by. In the case where the operation of process 4 has been performed (S106: Yes), the CPU 41 generates an automatic correction instruction for the material box 31 and outputs it to the drive circuit 75, thereby performing automatic rotation correction of the material box 31 (S107). The automatic rotation correction is a correction that rotates the material box 31 and returns to the reference position. As a result, the rotation offset of the material box 31 is automatically eliminated. The CPU 41 also displays process 5 (S112) in the display area 83A.

[0129] On the other hand, when the rotation deviation is greater than the threshold value (S104: No), an alarm is issued to notify that the deviation is large and correction is required (S108). Fig.28 As shown, process 4 (S109) is also displayed in display area 83A. Fig. 27 Unlike the process 4 of FIG. 1 , the clamping arm 38 without the tool installed is manually moved to the correct position by pressing the [Case Forward] key or the [Case Reverse] key while pressing the [Release] key of the operation unit 27. The user operates according to process 4 to rotate the cartridge 31 toward the reference position to eliminate the rotation offset.

[0130] The CPU 41 detects the position of the material box 31 (S110) and determines whether the position of the material box 31 becomes the reference position (S111). Before the position of the material box 31 becomes the reference position (S111: No), the CPU 41 returns to S110 and stands by. When the position of the material box 31 returns to the reference position (S111: Yes), the clamping arm 38 without the tool installed is indexed to the tool handover position, so the CPU 41 also displays process 5 in the display area 83A (S112). Process 5 is the operation of pressing the "Next" key 831. The "Next" key 831 is displayed in the lower right corner of the YM axis recovery screen 83. The CPU 41 ends this processing and returns to Fig.13 The S53 propels processing.

[0131] like Fig.13 As shown, the CPU 41 determines whether the recovery operation is completed (S53). Before the user presses the "next" key 831, the recovery operation is not completed (S53: No), so the CPU 41 returns to S53 and waits. In the case where the "next" key 831 is pressed, the recovery operation is completed (S53: Yes), so the CPU 41 displays the indexing tool confirmation screen 88 described later (refer to Fig.40 ) is displayed on the display unit 26 (S54).

[0132] In addition, in the judgment process of S46, for the position of the spindle 7, if the conditions of Z=ATC position Z axis, Y<ATC position Y axis, and X=ATC position X axis are not satisfied (S46: No), then Fig.14 As shown, the CPU 41 determines whether the position of the spindle 7 satisfies the condition that the ATC position Z axis ≦ Z ≦ ATC origin Z axis, Y = ATC position Y axis, and X = ATC position X axis (S61). If the condition that the ATC position Z axis ≦ Z ≦ ATC origin, Y = ATC position Y axis, and X = ATC position X axis is satisfied (S61: Yes), for example, Fig.29 As shown in (1), the spindle 7 is located at the M3 point. The M3 point is on the tool change path 52, so it can be estimated that the spindle 7 stops in the middle of advancing or retreating on the tool change path 52.

[0133] Then, the CPU 41 determines whether the position of the material box 31 is normal (S62). Fig.29As shown in (2), when the position of the material box 31 is normal, the clamping arm 38 indexed to the tool delivery position is arranged in a direction parallel to the Y-axis direction while holding the tool holder 90, so the tool holder 90 and the tool 91 are arranged in parallel to the Z-axis direction. Therefore, the tool holder 90 is arranged coaxially with respect to the spindle 7 in the Z-axis direction. In this way, when the position of the material box 31 is normal (S62: Yes), the CPU 41 determines the recovery process of the spindle 7 as the action mode of step 2-c described later, and displays the YZ axis recovery screen 84 corresponding to the action mode on the display unit 26 (S63).

[0134] <Step 2-c>

[0135] like Fig.30 As shown, the YZ axis restoration screen 84 includes display areas 84A to 84D. Step 2-c is the following action mode: the spindle 7 located on the tool change path 52 is temporarily retracted to the ATC origin along the tool change path 52, and then moved forward to the ATC position, and after moving from the ATC position to the ATC preparation position, the Z axis is restored to the ATC origin. In addition, the display areas 84B to 84D are the same as the display areas 84A to 84D. Fig.23 The display areas 81B to 81D of the axis return screen 81 shown are the same, and thus description thereof will be omitted.

[0136] In the display area 84A, the following situations are reminded: the position of the Y axis and the Z axis is abnormal, and the following process is used to recover, and in the form of a (notice), when an alarm is generated during operation, the [Reset] key is pressed while pressing the [Release] key of the operation unit 27, and the process is continued after the alarm is released. Then, the five processes required for step 2-c are displayed below. Process 1, process 2 and Fig.25 The process 1 and process 2 of step 2-a displayed in the display area 82A of the Y-axis recovery screen 82 shown are the same. As process 3, press the [+Z] key while pressing the [Release] key of the operating unit 27 to align the Z axis of the spindle 7 with the ATC origin. As process 4, press the [Tool Change Single Action] key of the operating unit 27. By pressing the [Tool Change Single Action] key, the Z axis of the spindle 7 moves to the ATC position, and after the Y axis moves to the Y axis origin, the Z axis is restored to the mechanical origin. After the recovery operations of process 1 to process 4 are completed, as process 5, press the "Next" key 841. The "Next" key 841 is displayed at the bottom right of the YZ axis recovery screen 84. The user operates according to these five processes.

[0137] Back to Fig.14, CPU 41 performs YZ axis recovery processing (S64) according to the operations of process 1 to process 4 performed by the user. Through the Z axis recovery processing, after the Y axis of the spindle 7 moves to the Y axis origin, the Z axis is restored to the mechanical origin. As a result, CPU 41 can safely and appropriately restore the spindle 7 that has stopped in the ATC area to the processing area along the tool change path 52 and the tool change path 51. CPU 41 determines whether the recovery operation is completed (S65). Before the user presses the "Next" key 841, the recovery operation is not completed (S65: No), so CPU 41 returns to S65 and waits. When the "Next" key 841 is pressed, the recovery operation is completed (S65: Yes), so it returns to Fig.13 The CPU 41 displays the indexing tool confirmation screen 88 (see Fig.40 ) is displayed on the display unit 26 (S54).

[0138] In addition, in the judgment process of S61, even if the position of the spindle 7 satisfies the conditions of ATC position Z axis ≦ Z ≦ ATC origin and Y = ATC position Y axis and X = ATC position X axis (S61: Yes), the position of the material box 31 is not normal (S62: No), and sometimes a rotation offset occurs. Fig.31 As shown in (1), even if the spindle 7 is located at the M4 point on the tool change path 52, as Fig.31 As shown in (2), if a rotational offset occurs in the material box 31, the position of the tool holder 90 and the tool 91 held by the clamping arm 38 relative to the spindle 7 is sometimes offset in the Y-axis + direction, and then in the X-axis + direction or the X-axis - direction. In this state, assuming that the spindle 7 is temporarily retracted to the ATC origin along the tool replacement path 52 and then moved toward the ATC position in the same manner as step 2-c, there is a possibility that the tool holder 90 held by the clamping arm 38 and the front end of the spindle 7 will interfere with each other.

[0139] Therefore, if Fig.14 As shown, the CPU 41 determines whether the Z axis of the spindle 7 is the ATC origin (S66). Fig.31 As shown in (1), when the spindle 7 is located at the M4 point on the tool change path 52, the Z axis is not the ATC origin (S66: Yes), so the CPU 41 determines the recovery process of the spindle 7 to be the action mode of step 2-d described later, and displays the YZM axis recovery screen 85 corresponding to the action mode on the display unit 26 (S67), and executes the YZM axis recovery processing (S68).

[0140] <Step 2-d>

[0141] like Fig.32As shown, display areas 85A to 85D are provided in the YZM axis recovery screen 85. In display area 85A, attention is drawn to the following situations: abnormal positions of the Y-axis, Z-axis and the material box, recovery is performed in the following process, and attention is drawn in the form of (notification). When an alarm is generated during operation, press the [Reset] key while pressing the [Release] key of the operating unit 27, and continue the process after the alarm is released. Then, the recovery process of step 2-d is displayed at its lower side. Step 2-d is the following action mode: after the spindle 7 located on the tool change path 52 is temporarily retracted to the ATC origin along the tool change path 52, the position of the material box 31 is returned to normal, the Z axis is advanced to the ATC position, and after moving from the ATC position to the ATC preparation position, the Z axis is restored to the ATC origin. In addition, display areas 85B to 85D are Fig.23 The display areas 81B to 81D of the axis return screen 81 shown are the same, so the description is omitted. In addition, in step 2-d, the position of the material box 31 is offset, so the material box number is not displayed in the display area 85C. In addition, the M4 point of the main shaft 7 is located in the material box rotation area, so it is displayed as disconnected in the column of the material box rotation area in the display area 81C.

[0142] Reference Fig.16 , the YZM axis recovery process is described. The CPU 41 displays the six processes 1 to 3 in the display area 85A (S121). Fig.30 The processes 1 to 3 of step 2-c displayed in the display area 84A of the YZ axis recovery screen 84 shown are the same. The user operates according to processes 1 to 3. Process 3 is an operation to move the Z axis of the spindle 7 toward the ATC origin. The CPU 41 detects the Z axis of the spindle 7 (S122). The CPU 41 determines whether the detected Z axis is the ATC origin (S123). Before the Z axis becomes the ATC origin (S123: No), the CPU 41 returns to S122 and monitors the Z axis. When the Z axis reaches the ATC origin (S123: Yes), the spindle 7 retreats to a position further back than the material box rotation area. In this state, even if the material box 31 is rotated, the clamping arm 38 does not interfere with the spindle 7.

[0143] Then, the CPU 41 determines whether the rotational deviation generated in the material box 31 is less than the threshold value (S124). In the case where the rotational deviation is less than the threshold value (S124: Yes), as Fig.32As shown, process 4 (S125) is also displayed in the display area 83A. As process 4, by pressing the [material box forward rotation] key while pressing the [release] key of the operation unit 27, the material box 31 automatically returns to the correct position. The CPU 41 determines whether the operation of process 4 has been performed (S126). Before performing the operation of process 4 (S126: No), the CPU 41 returns to S126 and stands by. In the case where the operation of process 4 has been performed (S126: Yes), the CPU 41 generates an automatic correction instruction for the material box 31 and outputs it to the drive circuit 75, thereby performing automatic rotation correction of the material box 31 (S127). As a result, the rotation offset of the material box 31 is automatically eliminated. In addition, when the rotation offset is less than the threshold value (S124: Yes), the CPU 41 may, for example, not execute each process of S125 and S126, but directly perform automatic rotation correction of the material box 31. The CPU 41 also displays process 5 (S132) in the display area 85A.

[0144] On the other hand, when the rotation deviation is greater than the threshold value (S124: No), an alarm is issued to notify that the deviation is large and correction is required (S128). Fig.33 As shown, process 4 (S129) is also displayed in display area 85A. Fig.32 Unlike the process 4 of FIG. 1 , the clamping arm 38 without the tool installed is manually moved to the correct position by pressing the [Case Forward] key or the [Case Reverse] key while pressing the [Release] key of the operation unit 27. The user operates according to process 4 to rotate the cartridge 31 toward the reference position to eliminate the rotation offset.

[0145] The CPU 41 detects the position of the material box 31 (S130) and determines whether the position of the material box 31 has become the reference position (S131). Before the position of the material box 31 has become the reference position (S131: No), the CPU 41 returns to S130 and waits. Fig.34 As shown in (2), when the position of the magazine 31 returns to the reference position (S131: Yes), the gripper arm 38 without a tool is indexed to the tool delivery position, so the CPU 41 further displays process 5 in the display area 85A (S132).

[0146] Process 5 is the operation of pressing the [Tool Change Single Action] key of the operation unit 27. By pressing the [Tool Change Single Action] key, as shown in FIG. Fig.34As shown in (1), the Z axis of the spindle 7 moves from the ATC origin to the ATC position, and after the Y axis moves to the Y axis origin, the Z axis returns to the mechanical origin. The CPU 41 detects the position of the spindle 7 (S133). The CPU 41 determines whether the detected position of the spindle 7 is the processing area (S134). Before the spindle 7 reaches the processing area (S134: No), the CPU 41 returns to S133 and monitors the position of the spindle 7.

[0147] When the tool change single action is completed, the spindle 7 is located in the machining area (S134: Yes), so the CPU 41 also displays process 6 in the display area 85A (S135). Process 6 is the operation of pressing the "Next" key 851. The "Next" key 851 is displayed at the lower right of the YZM axis recovery screen 85. Thus, the CPU 41 can safely and appropriately restore the spindle 7 that has stopped in the ATC area to the machining area along the tool change path 52 and the tool change path 51. The CPU 41 ends the YZM axis recovery process and advances the process to Fig.14 S69.

[0148] like Fig.14 As shown, the CPU 41 determines whether the recovery operation is completed (S69). Before the user presses the "next" key 851, the recovery operation is not completed (S69: No), so the CPU 41 returns to S69 and waits. In the case where the "next" key 851 is pressed, the recovery operation is completed (S69: Yes), so it returns to Fig.13 The CPU 41 displays a later-described indexing tool confirmation screen 88 on the display unit 26 (S54).

[0149] In addition, if Fig.14 As shown, when the position of the magazine 31 is abnormal (S62: No), the Z axis of the spindle 7 is sometimes located at the ATC origin on the tool replacement path 52 (S66: No). Fig.35 As shown in (1), the spindle 7 is located at the M6 ​​point which is the ATC origin on the tool change path 52. In this state, Fig.35 As shown in (2), the position of the material box 31 is offset, so the position of the tool holder 90 held by the clamping arm 38 relative to the spindle 7 is offset in the Y-axis + direction, and further in the X-axis + direction or the X-axis - direction. In this case (S62: No, S66: No), the CPU 41 determines the recovery process of the spindle 7 to be the action mode of step 2-e described later, and displays the YZM axis recovery screen 86 corresponding to the action mode on the display unit 26 (S70).

[0150] <Step 2-e>

[0151] like Fig.36As shown, display areas 86A to 86D are provided in the YZM axis recovery screen 86. In display area 86A, attention is drawn to the following situations: abnormal position of the material box, recovery is performed in the following process, and attention is drawn in the form of (notification). When an alarm is generated during operation, press the [Reset] key while pressing the [Release] key of the operating unit 27, and continue the process after the alarm is released. Then, the recovery process of step 2-e is displayed on its lower side. Step 2-e is the following action mode: when the spindle 7 is at the ATC origin, the position of the material box 31 is returned to normal, the Z axis is advanced to the ATC position, and after moving from the ATC position to the ATC preparation position, the Z axis is restored to the ATC origin. In addition, display areas 86B to 86D are Fig.23 The display areas 81B to 81D of the axis return screen 81 shown are the same, so the description is omitted. In addition, in step 2-e, the position of the material box 31 is offset, so the material box number is not displayed in the display area 86C. In addition, the M6 ​​point of the main axis 7 is located outside the material box rotation area, so it is displayed as turned on in the column of the material box rotation area in the display area 81C.

[0152] The five processes required for step 2-e are displayed in display area 86A. Process 1, Process 2 and Fig.32 The display area 85A of the YZM axis recovery screen 85 shown in FIG. 8 is the same as that of the process 1 and process 2 in step 2-d. In addition, although not described in detail, in step 2-e, similarly to step 2-c, when the rotational deviation generated in the material box 31 is less than the threshold value, as shown in FIG. Fig.36 As shown, the process 3 displayed in the display area 83A is as follows: the automatic rotation correction of the material box 31 is performed by pressing the [Release] key of the operation unit 27 and pressing the [Material Box Forward] key. On the other hand, when the rotation deviation generated in the material box 31 is greater than the threshold value, as shown in FIG. Fig.37 As shown, process 3 displayed in the display area 83A is as follows: by pressing the [release] key of the operation unit 27 and pressing the [cartridge forward rotation] key or the [cartridge reverse rotation] key, the clamping arm 38 without the tool installed is manually moved to the correct position.

[0153] By performing any of the steps 3, the tool holder 90 held by the clamping arm 38 is positioned facing the spindle 7 in the Z-axis direction. Fig.36 or Fig.37 As shown, process 4 is the operation of pressing the [tool change single action] key of the operation unit 27. By pressing the [tool change single action] key, as shown in FIG. Fig.35As shown in (1), the Z axis of the spindle 7 moves from the ATC origin to the ATC position, and after the Y axis moves to the Y axis origin, the Z axis is restored to the mechanical origin. After the recovery operation of process 1 to process 4 is completed, as process 5, the "next" key 861 is pressed. The "next" key 861 is displayed at the lower right of the YZM axis recovery screen 86.

[0154] Back to Fig.14 , CPU 41 executes the YZM axis recovery process (S71) according to the operations of process 1 to process 4 performed by the user. Through the YZM axis recovery process, the Z axis of the spindle 7 moves from the ATC origin to the ATC position, and after the Y axis moves to the Y axis origin, the Z axis is restored to the mechanical origin. As a result, the CPU 41 can make the spindle 7 that has stopped in the ATC area safely and appropriately recover to the processing area along the tool change path 52 and the tool change path 51. CPU 41 determines whether the recovery operation is completed (S72). Before the user presses the "Next" key 861, the recovery operation is not completed (S72: No), so the CPU 41 returns to S72 and waits. When the "Next" key 861 is pressed, the recovery operation is completed (S72: Yes), so it returns to Fig.13 The CPU 41 displays a later-described indexing tool confirmation screen 88 on the display unit 26 (S54).

[0155] In addition, in the judgment process of S61, the position of the spindle 7 may not satisfy the conditions of ATC position Z axis ≦ Z ≦ ATC origin and Y = ATC position Y axis and X = ATC position X axis (S61: No). Fig.38 As shown in FIG. 4 , the spindle 7 is located at the M7 point. The M7 point is within the ATC area, but is not located on the tool change path 51 or the tool change path 52. That is, the spindle 7 cannot be restored to the tool change path 51 or the tool change path 52 due to the axis return, and it is difficult to restore to the processing area, and the restoration operation by the user cannot be performed. In this case, the CPU 41 displays the unrecoverable screen 87 on the display unit 26 (S73).

[0156] <Step 2-f>

[0157] like Fig.39 As shown, the non-recoverable screen 87 includes display areas 87A to 87D. The recovery process of step 2-f is displayed in display area 87A. Step 2-f is a process for limiting the movement of the spindle 7 and completing the recovery operation. In addition, display areas 87B to 87D are displayed together with the recovery process of step 2-f. Fig.23The display areas 81B to 81D of the axis return screen 81 are the same, so their description is omitted. A "next" key 871 and a restore operation enable key 872 are displayed at the lower right of the non-restore screen 87. An end key 873 is displayed at the lower left of the non-restore screen 87.

[0158] In the display area 87A, the following situations are reminded: ATC recovery is not possible, recovery is performed in the ATC maintenance mode, and only operations by skilled personnel who have received maintenance training are valid in the ATC maintenance mode. In addition, in the ATC maintenance mode, the movement restrictions of the spindle 7 in the ATC area are lifted, so the recovery operation can be performed by the operation of a skilled person. Below the reminder, three processes required to end the recovery operation are displayed. As process 1, press the recovery operation valid key 872 to invalidate the recovery operation. As process 2, press the [Reset] key of the operation unit 27. As process 3, press the end key 873.

[0159] Back to Fig.14 , the CPU 41 performs the recovery invalidation process (S74) according to the operation of process 1 to process 3 performed by the user. The recovery operation is invalidated by the recovery invalidation process. The CPU 41 determines whether the recovery invalidation process is completed (S75). Before the user presses the end key 873, the recovery invalidation process is not completed (S75: No), so the CPU 41 returns to S75 and stands by. In the case where the end key 873 is pressed, the recovery invalidation process is completed (S75: Yes), so the CPU 41 ends the ATC recovery process.

[0160] In addition, when the recovery operation of the spindle 7 is completed ( Fig.13 S50: Yes, S53: Yes, Fig.14 S65: Yes, S69: Yes, S72: Yes), the spindle 7 is in the processing area. In this state, if a tool is installed in the clamping arm 38 indexed to the tool delivery position of the material box 31, there is a possibility that the spindle 7 will collide with the tool holder 90 and the tool 91 when the ATC action is performed next time, so the tool needs to be removed from the clamping arm. Fig.13 As shown, the CPU 41 displays the indexing tool confirmation screen 88 on the display unit 26 (S54).

[0161] <Step 3>

[0162] like Fig.40 As shown, the indexing tool confirmation screen 88 includes display areas 88A to 88D. The recovery process of step 3 is displayed in display area 88A. Step 3 is a process for confirming whether the tool is removed from the clamping arm 38 at the indexing to tool transfer position. In addition, display areas 87B to 87D are displayed together with the indexing tool confirmation screen 88. Fig.23The display areas 81B to 81D of the axis return screen 81 shown are the same, and thus description thereof is omitted. A “next” key 881 is displayed at the lower right of the indexing tool confirmation screen 88 .

[0163] Two processes required for process 3 are displayed in the display area 88A. As process 1, when a tool is installed in the clamp arm 38 of the magazine number, the tool is removed. Then, in the form of a (notice), it is reminded that the machine or tool may be damaged when the ATC action is performed next time with the tool installed. As process 2, after confirming that the tool is not installed in the clamp arm 38, the "next" key 881 is pressed.

[0164] Back to Fig.13 , the CPU 41 determines whether the confirmation by the user is completed (S55). Before the user presses the "next" key 881, the confirmation is not completed (S55: No), so the CPU 41 returns to S54 and waits. When the "next" key 881 is pressed, the confirmation by the user is completed (S55: Yes), so the CPU 41 displays the end screen 89 on the display unit 26 (S56).

[0165] <Step 4>

[0166] like Fig.41 As shown, the end screen 89 includes display areas 89A to 89D. The recovery process of step 4 is displayed. Step 4 is the process of completing the ATC recovery process. In addition, display areas 89B to 89D are Fig.23 The display areas 81B to 81D of the axis return screen 81 are the same, so their description is omitted. A "next" key 891 and a restore operation enable key 892 are displayed at the lower right of the end screen 89. An end key 893 is displayed at the lower left of the end screen 89.

[0167] In the display area 89A, the user is reminded by guidance that the ATC recovery is complete, and then reminded in the form of a (notice) that there is a possibility that the tool allocation of the ATC tool screen (not shown) and the tool installed on the material box 31 are offset, so the tool allocation of the ATC tool screen is confirmed. The ATC tool screen is displayed on the display unit 26 through the operation of the operation panel 25. The tool allocation is displayed in the ATC tool screen as a table representing the types of tools assigned to each clamping arm of the material box 31. Furthermore, three processes required to end the ATC recovery process are displayed below it. As process 1, press the recovery operation valid key 892 to make the recovery operation valid. As process 2, press the [Reset] key of the operation unit 27. As process 3, after confirming the operations of process 1 and process 2, press the end key 893.

[0168] Back to Fig.13 , the CPU 41 determines whether the confirmation by the user is completed (S57). Before the user presses the end key 893, the confirmation is not completed (S57: No), so the CPU 41 returns to S56 and waits. When the end key 893 is pressed, the confirmation by the user is completed (S57: Yes), so the CPU 41 ends the ATC recovery process.

[0169] In the above description, the gripping arm 38 is an example of the "gripping portion" of the present invention. The magazine motor 33 is an example of the "rotation driving portion" of the present invention. The storage device 44 is an example of the "storage portion" of the present invention. Fig.13 The CPU 41 in the process of S47 is an example of the "coordinate detection unit" and the "shift determination unit" of the present invention. Fig.15 The CPU 41 executing the processing of S102 is an example of the "position detection unit" of the present invention. The CPU 41 executing the processing of S103 is an example of the "judgment unit" of the present invention. The CPU 41 executing the processing of S101, S104, S105, S107, and S109 is an example of the "correction request unit" of the present invention. Fig.14 The CPU 41 performing the processing of S62 is an example of the "coordinate detection unit" and the "shift determination unit" of the present invention. Fig.15 The CPU 41 that performs the processing of S122 is an example of the "position detection unit" of the present invention. The CPU 41 that performs the processing of S123 is an example of the "determination unit" of the present invention. The CPU 41 that performs the processing of S121, S124, S125, S127, and S129 is an example of the "correction request unit" of the present invention. The CPU 41 is an example of the "control unit" of the present invention. The storage device 44 is an example of the "storage unit" of the present invention.

[0170] As described above, the numerical control device 40 of the present embodiment controls the action of the machine tool 1. The machine tool 1 includes a material box 31 that can rotate around the rotary shaft 37A. A plurality of clamping arms 38 are provided along the circumferential direction on the outer periphery of the material box 31. The clamping arms 38 can hold the tool 91 installed on the spindle 7 of the machine tool 1. The CPU 41 of the numerical control device 40 drives the material box 31 to rotate and indexes any clamping arm 38. The rotation position coordinates of the material box 31 corresponding to the indexing position of the clamping arm 38 are stored in the storage device 44 as reference coordinates representing the reference position of the material box 31. When the spindle 7 is stopped, in order to restore the position of the spindle 7, the CPU 41 detects the rotation position coordinates of the material box 31, compares them with the reference position stored in the storage device 44, and determines whether the material box 31 has a rotation offset.

[0171] When it is determined that there is a rotation offset, the CPU 41 detects the position of the spindle 7 to determine whether the detected position is within the material box rotation area. In the embodiment, if the spindle 7 is on the tool change path 51 and not at the ATC preparation position, it is determined to be within the material box rotation area, and if it is at the ATC preparation position, it is determined to be outside the material box rotation area. In addition, if the spindle 7 is on the tool change path 52 and not at the ATC origin, it is determined to be within the material box rotation area, and if it is at the ATC origin, it is determined to be outside the rotation area.

[0172] By this judgment method, when it is judged that the position of the spindle 7 is located in the material box rotation area, if the spindle 7 is located on the tool replacement path 51, the CPU 41 moves the spindle 7 to the ATC preparation position, and if it is located on the tool replacement path 52, the CPU 41 moves the spindle 7 to the ATC origin, thereby making the spindle 7 retreat from the material box rotation area. Thereafter, the CPU 41 requests to perform an action or operation of rotation correction to return the material box 31 to the reference position. In addition, the action of performing rotation correction is an action to make the material box motor 33 perform rotation correction. The so-called operation of performing rotation correction refers to the operation of making the operator perform rotation correction. Thus, when the numerical control device 40 performs rotation correction, it can avoid interference between the material box 31 or the tool 91 held by the clamping arm 38 and the spindle 7 or the tool 91 installed on the spindle 7, so that the rotation correction is appropriately performed and the possibility of damage to the material box 31 or the spindle 7 and the tool 91 can be reduced.

[0173] When the size of the rotation offset generated by the material box 31 is less than the threshold value, the CPU 41 generates a rotation correction instruction and instructs the material box motor 33 to perform the rotation correction. If the size of the rotation offset is less than the threshold value, the rotation correction is automatically performed, so the numerical control device 40 can save time compared with the case where the operator manually performs the rotation correction. In addition, even if the size of the rotation offset is small, the material box 31 is appropriately returned to the reference position, so the possibility of damage to the material box 31 or the spindle 7 and the tool 91 can be further reduced. On the other hand, when the size of the rotation offset is above the threshold value, since the distance to rotate the material box 31 is long, it is necessary to carefully rotate the material box 31 and return it to the reference position. In this case, the CPU 41 displays the rotation correction operation on the display unit 26 and notifies the operator, so the operator can carefully rotate the material box 31 while confirming the surroundings of the material box 31.

[0174] When the CPU 41 makes the spindle 7 retreat from the magazine rotation area, the spindle 7 moves along the tool replacement path 51 and the tool replacement path 52. The tool replacement path 51 and the tool replacement path 52 are paths for the spindle to move when the tool is replaced. Thus, the CPU 41 can reduce the possibility of interference between the spindle 7 or the tool 91 installed on the spindle 7 and other components.

[0175] In the inverted L-shaped tool replacement path 51 and the tool replacement path 52, the tool replacement path 51 is a prescribed path extending along the Y-axis direction between the ATC preparation position and the ATC position. When the main spindle 7 in the stopped state is on the tool replacement path 51 and is not located at the ATC preparation position, there is a possibility that the main spindle 7 is located in the material box rotation area. In this case, the CPU 41 can make the main spindle 7 retreat from the material box rotation area by making the main spindle 7 retreat to the ATC preparation position along the tool replacement path 51. In this way, the CPU 41 can safely perform the rotation correction of the material box 31.

[0176] When the main shaft 7 in the stopped state is between the ATC position and the ATC origin and is located in the magazine rotation area, the CPU 41 retracts the main shaft 7 to the ATC origin. Thus, the CPU 41 can safely perform the rotation correction of the magazine 31.

[0177] For example, when an alarm is generated or tool replacement is stopped midway, the spindle 7 is stopped. In this case, the CPU 41 determines the rotation deviation of the material box 31, and when it is determined that the position of the stopped spindle 7 is within the material box rotation area, the material box can be returned to the reference position after the spindle 7 is retracted from the material box rotation area.

[0178] After the power of the machine tool 1 is turned off during tool replacement, the spindle 7 is in a stopped state when the power is turned on. In this case, the CPU 41 determines the rotation offset of the material box 31. When it is determined that there is a rotation offset and the position of the stopped spindle 7 is within the material box rotation area, the spindle 7 is retracted from the material box rotation area and then the material box 31 is returned to the reference position, so that the rotation correction can be safely performed.

[0179] The present invention is not limited to the above-mentioned embodiment, and various modifications are possible. The machine tool 1 is a horizontal machine tool, but it can also be a vertical machine tool in which the axial direction of the main shaft extends in the up-down direction. The machine tool 1 includes a mechanism for moving the tool 91 mounted on the main shaft 7 relative to the workpiece along the three axial directions of the X-axis, the Y-axis, and the Z-axis, but it is not limited to three axes, and it can also be one axis or two axes, or it can be more than three axes. In addition, the machine tool 1 is a structure as follows: by moving the machine column 5 along the X-axis direction and the Z-axis direction relative to the workpiece fixed on the rotating table 9 by a clamp, the spindle head 6 (spindle 7) moves along the front surface 5B of the machine column 5 and along the Y-axis direction, so that the workpiece and the tool are relatively moved along the three axial directions of the X-axis, the Y-axis, and the Z-axis, but it can also be a structure other than this. For example, the machine column 5 can also be moved along the X-axis direction, the spindle head 6 (spindle 7) can be moved along the Z-axis direction, and the support table (omitted in the figure) supporting the machine column 5 and the spindle head 6 can be moved along the Y-axis direction.

[0180] In the ATC recovery process of the above embodiment (refer to Fig.13 ), after executing the axis return destination determination processing, the axis return is executed (S40~S43), and then, in order to make the axis return to the position of the spindle 7 on the tool change path 51, the tool change path 52 and move it safely and appropriately to the processing area along the tool change path 51, the tool change path 52, the recovery screen 82~recovery screen 86 corresponding to the stop position of the spindle 7 is displayed on the display unit 26 (S45~S72), but the processing after S45 can also be omitted and used as the processing before the axis return.

[0181] For example, when the position of the main spindle 7 stopped in the ATC area is within the range of the W2 area, but the X axis is not within the range of the recovery area W1, or the Z axis is not within any range of the recovery area W4 to the recovery area W6, the Y axis of the main spindle 7 is directly moved to the machining area by performing the axis return in S43. In this case, the CPU 41 does not need to process the main spindle 7 to return to the machining area.

[0182] In the above embodiment, in the axis return destination determination process, after the return destination is specified for all the moving axes of the X-axis, Y-axis, and Z-axis, axis return is executed for all the axes. However, axis return may be executed sequentially while specifying the return destination for each moving axis.

[0183] exist Fig.15 In the process of S104 of the YM axis recovery process, when the rotation offset is less than the threshold value (S104: Yes), the CPU 41 performs automatic rotation correction of the material box 31 (S105 to S107), but for example Fig.42 As shown in the modified example, when the rotation offset is less than the threshold value (S104: Yes), even if the spindle 7 is directly moved, the impact on the handover of the tool is small, so the rotation offset of the material box 31 may not be corrected. In this case, the CPU 41 may also Fig. 27 In the display area 82A of the YM axis recovery screen 83, after process 3, as process 4, a guidance display is provided for the operation of pressing the "next step" key 831 (S105). On the other hand, when the size of the rotation offset is greater than the threshold value (S104: No), the CPU 41 notifies the operator of the rotation correction operation (S108, S109), so that the operator can rotate the material box 31 carefully while checking the surroundings of the material box 31.

[0184] The layout of the axis return screen 81 , the restore screens 82 to 86 , the non-restore screen 87 , the indexing tool confirmation screen 88 , and the end screen 89 , the expressions of the sentences displayed in the respective display areas, etc. can be freely changed.

[0185] exist Fig.15 In the YM axis recovery process, when the rotation offset of the material box 31 is less than the threshold value (S104: Yes), the material box 31 is automatically corrected for rotation (S107). However, for example, the material box 31 may be rotated and returned to the reference position (S108-S111) by the user's operation of the operation panel 25 regardless of the size of the rotation offset. Fig.16 YZM axis recovery processing, Fig.14 The same applies to the YZM recovery process (S71).

[0186] In the embodiment Fig.31 In the process of step 2-d shown in (1), after the spindle 7 at the M4 point on the tool change path 52 is temporarily retracted along the tool change path 52 to the ATC origin, the position of the material box 31 is returned to normal, and the [Tool Change Single Action] key is pressed to advance the spindle 7 toward the ATC position Z axis. However, for example, as long as the M4 point is further back than the material box rotation area, the position of the material box 31 may be returned to normal and the spindle 7 may be directly advanced from the M4 point along the tool change path 52. In this case, instead of pressing the [Tool Change Single Action] key, the [-Z] key may be pressed while pressing the [Release] key to advance the spindle 7 toward the ATC position axis.

[0187] exist Fig.16 In the YZM axis recovery process, when the Z axis of the spindle 7 reaches the ATC origin (S123: Yes), it is considered that the spindle 7 has retreated to a position further back than the material box rotation area, and the CPU 41 performs the rotation correction of the material box 31 (S124~S127, S128~S131). However, for example, the current mechanical coordinates of the spindle 7 can be detected, and the coordinate information of the material box rotation area stored in the storage device 44 can be referred to to determine whether the current Z axis of the spindle 7 is within the material box rotation area. In addition, Fig.15 In the YM-axis recovery process, when the Y-axis of the main shaft 7 is lowered toward the Y-axis origin (S101 to S103), it is also possible to refer to the coordinate information of the material box rotation area stored in the storage device 44 to determine whether the current Y-axis of the main shaft 7 is within the material box rotation area.

[0188] In this embodiment, the numerical control device 40 is provided in the machine tool 1, but it may be Fig.43The numerical control system 200 shown in the figure. The numerical control system 200 includes a numerical control device 201 and a machine tool 1A, a machine tool 1B, and a machine tool 1C. The CPU of the numerical control device 201 controls and manages the operation of each of the machine tools 1A, 1B, and 1C, which are installed in a factory, etc. In the case of such a numerical control system 200, the CPU of the numerical control device 201 can also constitute the "detection unit", "determination unit", "movement control unit", "display control unit", etc. of the present invention.

[0189] Explanation of symbols

[0190] 1: Machine tools

[0191] 7: Spindle

[0192] 26: Display unit

[0193] 30: ATC device

[0194] 31: Material box

[0195] 37A: Rotary axis

[0196] 38: Clamping arm

[0197] 40: Numerical control device

[0198] 41: CPU

[0199] 51, 52: Tool change path

[0200] 90: Tool holder

[0201] 91: Tools

[0202] 200: Numerical control system

[0203] 201: Numerical control device

Claims

1. A numerical control device, characterized in that: include: A rotary drive unit is provided with a plurality of gripping parts capable of gripping a tool mounted on a main shaft of a machine tool along a circumferential direction, and a material box capable of rotating about a rotary shaft is rotary driven to index any of the gripping parts; a storage unit that stores the rotation position coordinates of the magazine corresponding to the indexing position of the gripping unit as reference coordinates indicating a reference position of the magazine; A coordinate detection unit, for detecting the rotation position coordinates of the material box; a deviation determination unit for determining whether there is a deviation, that is, a rotation deviation, of the rotation position coordinates of the magazine detected by the coordinate detection unit relative to the reference coordinates stored in the storage unit in the circumferential direction of the rotation axis; A position detection unit, for detecting the position of the spindle; A judging unit, for judging whether the position of the spindle detected by the position detecting unit is located in the area where the material box rotates, that is, the material box rotation area; as well as The correction request unit requests an action or operation of rotation correction to return the material box to the reference position after the main shaft is retracted from the material box rotation area, when the offset determination unit determines that the rotation offset exists and the determination unit determines that the position of the main shaft is within the material box rotation area.

2. The numerical control device according to claim 1, characterized in that: The correction request unit instructs the swing drive unit to perform the swing correction when the swing deviation is smaller than a threshold value, and notifies an operator of the swing correction when the swing deviation is greater than the threshold value.

3. The numerical control device according to claim 1, characterized in that: further comprising a correction determination unit, The correction determination unit determines that the rotation correction is not required when the size of the rotation offset is smaller than a threshold value, and determines that the rotation correction is required when the size of the rotation offset is greater than the threshold value. The correction request unit requests execution of an action or task of the rotation correction when the correction determination unit determines that the rotation correction is necessary.

4. The numerical control device according to claim 1, characterized in that: The correction request unit requests the rotation correction operation after retracting the spindle in a direction away from the magazine rotation area along a tool replacement path, which is a path along which the spindle moves when performing tool replacement between the spindle and the grip unit.

5. The numerical control device according to claim 4, characterized in that: The tool replacement path includes a predetermined path, wherein the predetermined path connects a tool replacement position at which the spindle performs the tool replacement between the material box and a tool replacement preparation position which is separated from the tool replacement position in a direction orthogonal to the axial direction of the spindle and is at the same position as the tool replacement position in the axial direction. The correction request unit requests the execution of the rotation correction operation after retracting the main spindle to the tool replacement preparation position along the prescribed path when the main spindle is located in the prescribed path and within the magazine rotation area.

6. The numerical control device according to claim 4, characterized in that: The machine tool performs the tool change of the spindle with the magazine by reciprocating the spindle between a tool change position on the tool change path and an origin position separated from the tool change position in the axial direction of the spindle. The correction request unit requests the execution of the rotation correction operation after retracting the spindle to the origin position when the spindle is located between the tool replacement position and the origin position and within the magazine rotation area.

7. The numerical control device according to claim 4, characterized in that: The deviation determination unit determines whether or not the rotation deviation occurs when the tool replacement is stopped midway.

8. The numerical control device according to claim 4, characterized in that: The deviation determination unit determines whether the rotation deviation exists when the power source of the machine tool is turned on after the power source of the machine tool is turned off during the tool replacement.

9. The numerical control device according to any one of claims 1 to 3, characterized in that: The axial direction of the main shaft is horizontal.

10. A numerical control system, comprising a machine tool and a numerical control device, wherein the numerical control system is characterized in that: The numerical control device comprises: A rotary drive unit, which is provided with a plurality of gripping parts along the circumferential direction and capable of gripping a tool mounted on the main shaft of the machine tool, and rotary drives a material box that can rotate around a rotary shaft as a center to index any of the gripping parts; a storage unit that stores the rotation position coordinates of the magazine corresponding to the indexing position of the gripping unit as reference coordinates indicating a reference position of the magazine; A coordinate detection unit, for detecting the rotation position coordinates of the material box; a deviation determination unit for determining whether there is a deviation, that is, a rotation deviation, of the rotation position coordinates of the magazine detected by the coordinate detection unit relative to the reference coordinates stored in the storage unit in the circumferential direction of the rotation axis; A position detection unit, for detecting the position of the spindle; A judging unit, for judging whether the position of the spindle detected by the position detecting unit is located in the area where the material box rotates, that is, the material box rotation area; as well as The correction request unit requests an action or operation of rotation correction to return the material box to the reference position after the main shaft is retracted from the material box rotation area, when the offset determination unit determines that the rotation offset exists and the determination unit determines that the position of the main shaft is within the material box rotation area.

11. A control method for a numerical control device for controlling the motion of a machine tool, characterized in that: include: A rotary driving step, in which a plurality of gripping parts capable of gripping a tool mounted on a main shaft of the machine tool are arranged along a circumferential direction, and a material box rotating around a rotary shaft is rotary driven to index any of the gripping parts; A coordinate detection step for detecting the rotation position coordinates of the material box; an offset determination step for determining whether there is an offset in the circumferential direction of the rotation axis of the rotation position coordinates of the material box detected in the coordinate detection step relative to the reference coordinates stored in the storage unit, i.e., a rotation offset, wherein the storage unit stores the rotation position coordinates of the material box corresponding to the indexing position of the gripping portion as the reference coordinates representing the reference position of the material box; A position detection step for detecting the position of the spindle; A judging step of judging whether the position of the spindle detected in the position detecting step is located in the area where the material box rotates, that is, the material box rotation area; as well as A correction request process, in which, when it is determined in the offset determination process that the rotation offset exists and in the determination process that the position of the main shaft is located within the rotation area of ​​the material box, after the main shaft is retracted from the rotation area of ​​the material box, a rotation correction action or operation is requested to be performed to return the material box to the reference position.

12. A program for causing a numerical control device for controlling the operation of a machine tool to function, characterized in that: Causes the computer to perform the following processing: A rotary drive process, in which a plurality of gripping parts capable of gripping a tool mounted on a spindle of the machine tool are arranged along the circumferential direction, and a material box rotating around a rotary axis is rotary driven to index any of the gripping parts; Coordinate detection processing, detecting the rotation position coordinates of the material box; An offset determination process for determining whether there is an offset in the circumferential direction of the rotation axis of the rotation position coordinates of the material box detected in the coordinate detection process relative to the reference coordinates stored in the storage unit, that is, a rotation offset, wherein the storage unit stores the rotation position coordinates of the material box corresponding to the indexing position of the gripping portion as the reference coordinates representing the reference position of the material box; Position detection processing, detecting the position of the spindle; A judgment process is performed to judge whether the position of the spindle detected in the position detection process is located in the area where the material box rotates, that is, the material box rotation area; as well as A correction request process, in which, when it is determined in the offset determination process that the rotation offset exists and in the determination process that the position of the main shaft is located within the rotation area of ​​the material box, after the main shaft is retracted from the rotation area of ​​the material box, a request is made to perform a rotation correction action or operation to return the material box to the reference position.

13. A numerical control device, characterized in that: include: Control Department; as well as Storage unit, storage program, The control unit executes the program to implement the control method according to claim 11.

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