Simulation device and computer program

Abstract

A simulation device for a machine tool is provided with: a numerical control simulation unit that generates an axis operation command for the machine tool on the basis of a machining program; a servo control simulation unit that generates a torque command on the basis of the shaft operation command and a shaft operation virtual performance for simulating the shaft operation of the machine tool; and a module unit that is replaceable and is independent of the numerical control simulation unit and the servo control simulation unit, the module unit including: a transmission / reception unit that receives the torque command from the servo control simulation unit and transmits the virtual actual performance of the shaft operation to the servo control simulation unit; and a drive shaft simulation unit that updates the virtual actual performance of the shaft operation in accordance with the torque command, the module unit being generated by an external device that does not depend on a system that controls the machine tool, and the servo control simulation unit not generating the torque command when the virtual actual performance of the shaft operation cannot be obtained.

Description

Technical Field

[0001] The present disclosure relates to a simulation device and a computer program. Background Art

[0002] In the past, in order to verify the operation of a machine tool having multiple drive axes and a controller for controlling these multiple drive axes, the operation can be verified by a simulation device that simulates the execution of a user program of the controller. In such a simulation device, a simulation model of the drive axis is predetermined (for example, refer to Patent Document 1).

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent No. 6460138 Summary of the invention

[0006] Problems to be solved by the invention

[0007] However, the movement of a machine tool is largely determined by the shape of the drive shaft, such as shaft inertia, friction, and interference. The shape of the drive shaft in a machine tool is diverse, and it is impossible to simulate all drive shafts in a fixed model. For example, in Patent Document 1, it is impossible to simulate the structure of a drive shaft that takes into account shaft interference and friction, and changes in inertia in the state of other shafts.

[0008] As described above, conventional machine tool simulation devices can only simulate the drive shaft using a predetermined fixed model. Therefore, a simulation device and a computer program that can simulate various drive shafts by changing the simulation model of the drive shaft are desired.

[0009] Means for solving problems

[0010] One method of the present disclosure is a simulation device for a machine tool, wherein the simulation device comprises: a numerical control simulation unit, which generates an axis motion instruction of the machine tool according to a machining program; a servo control simulation unit, which generates a torque instruction according to the axis motion instruction and an axis motion virtual performance for simulating the axis motion of the machine tool; a module unit, which is independent of the numerical control simulation unit and the servo control simulation unit and can be replaced, the module unit comprising: a transceiver unit, which receives the torque instruction from the servo control simulation unit and sends the axis motion virtual performance to the servo control simulation unit; a drive axis simulation unit, which simulates the motion of the drive axis of the machine tool based on the torque instruction and updates the axis motion virtual performance, the module unit is generated by an external device that is not dependent on the system controlling the machine tool, the servo control simulation unit generates the torque instruction when the axis motion virtual performance is obtained, and does not generate the torque instruction when the axis motion virtual performance is not obtained.

[0011] One method of the present disclosure is a computer program, which is used to cause a computer to execute the following steps: a step of generating an axis motion instruction of a machine tool based on a machining program by a numerical control simulation unit; a step of generating a torque instruction based on the axis motion instruction and an axis motion virtual performance for simulating the axis motion of the machine tool by a servo control simulation unit; a step of receiving the torque instruction from the servo control simulation unit and sending the axis motion virtual performance to the servo control simulation unit by a module unit that is independent of the numerical control simulation unit and the servo control simulation unit and is replaceable; a step of simulating the motion of a drive axis of the machine tool based on the torque instruction by the module unit and updating the axis motion virtual performance, wherein the module unit is generated by an external device that is independent of the system controlling the machine tool, generates the torque instruction when the axis motion virtual performance is obtained, and does not generate the torque instruction when the axis motion virtual performance is not obtained. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a functional block diagram showing an overview of the simulation device according to the first embodiment.

[0013] Figure 2 This is a diagram showing the correspondence between the configurations of an actual machine tool and a simulator.

[0014] Figure 3 This is a block diagram of a transfer function in a simulation example of a simulation device.

[0015] Figure 4 It is a diagram showing an operation example of the simulation device according to the first embodiment.

[0016] Figure 5 This is a functional block diagram showing an overview of a simulation device according to the second embodiment.

[0017] Figure 6 It is a diagram showing an example of calculating the corrected axis motion virtual performance according to the second embodiment.

[0018] Figure 7 It is a diagram showing an example of calculating the corrected axis motion virtual performance according to the second embodiment.

[0019] Figure 8 It means prediction Figure 6 The diagram shows an example of a virtual performance of axis motion.

[0020] Fig. 9 This is a functional block diagram showing an overview of a simulation device according to a third embodiment.

[0021] Fig.10 This is a diagram showing an overview of a simulation device according to a fourth embodiment.

[0022] Fig.11 It is a diagram showing an example of tandem control.

[0023] Fig.12 It is a figure which shows an example of turning processing. DETAILED DESCRIPTION

[0024] [First embodiment]

[0025] Hereinafter, an example of an embodiment of the present disclosure will be described. Figure 1 1 is a diagram showing an overview of a simulation device 1 according to a first embodiment. The simulation device 1 simulates the operation of a machine tool having a drive shaft and a controller for controlling the drive shaft. The simulation device 1 may be, for example, a computer device connected to a machine tool and a numerical control device. In addition, the simulation device 1 may be a computer device for simulation that is not connected to a machine tool and a numerical control device.

[0026] The simulation device 1 includes a numerical control simulation unit 11 , a servo control simulation unit 12 , and a module unit 13 .

[0027] The numerical control simulation unit 11 is a functional unit that simulates CNC (Computer Numerical Control) control of a machine tool. The numerical control simulation unit 11 generates an axis motion command for a drive axis of the machine tool based on the machining program 10 .

[0028] The servo control simulation unit 12 is a functional unit that simulates the servo motor control of the machine tool. The servo control simulation unit 12 generates a torque command based on an axis motion command of a drive axis of the machine tool and an axis motion virtual performance for simulating the axis motion of the drive axis of the machine tool.

[0029] Here, the axis motion virtual performance includes the axis motion virtual performance initial value obtained by the servo control simulation unit 12 only in the initial action and the axis motion virtual performance update value updated by the drive axis simulation unit. The axis motion virtual performance initial value can be provided by the numerical control simulation unit 11, or can be stored in other databases (not shown), or can be set in the module unit 13. For example, for the axis motion virtual performance initial value, the final position at the last startup is assigned as the initial value. In addition, the axis motion virtual performance can be any one of the position of the drive shaft, the speed of the drive shaft, the acceleration of the drive shaft, and the movement amount of the drive shaft.

[0030] The module unit 13 is independent of the numerical control simulation unit 11 and the servo control simulation unit 12 and can be replaced. The module unit 13 is, for example, a file or application program in the form of a DLL (dynamic link library) or .exe (executable format) that can be processed independently on a computer. In addition, the module unit 13 can also be a storage medium such as a USB memory or an SD card or a microcomputer, which can store files or applications in the form of a DLL or .exe that can be processed independently.

[0031] The module unit 13 includes a transceiver 131 and a drive axis simulation unit 132. The transceiver 131 receives a torque command from the servo control simulation unit 12 and sends the axis motion virtual performance to the servo control simulation unit 12. The drive axis simulation unit 132 simulates the motion of the drive axis of the machine tool based on the torque command and updates the axis motion virtual performance.

[0032] The module unit 13 is generated by an external device that is not dependent on the system for controlling the machine tool. The servo control simulation unit 12 generates a torque command when the virtual performance of the axis movement is obtained, and does not generate a torque command when the virtual performance of the axis movement is not obtained. The system for controlling the machine tool can be, for example, an operating system for controlling the machine tool, or an operating system or application for a simulation device for simulating the movement of the machine tool. In addition, the external device is a computer device or application that can communicate with the simulation device 1. In addition, the external device can also be a computer device or application that can transfer data to the simulation device 1 via a storage medium such as a USB memory or an SD card.

[0033] In addition, even if the calculation cycles are different in the communication between the above-mentioned numerical control simulation unit 11, the servo control simulation unit 12 and the drive shaft simulation unit 132, the calculation cycle of the numerical control simulation unit 11, the calculation cycle of the servo control simulation unit 12 and the calculation cycle of the drive shaft simulation unit 132 will operate without any problems.

[0034] Figure 2 1 is a diagram showing the correspondence between the actual machine tool 100 and the structure of the simulation device 1. Figure 2 As shown, the actual machine tool 100 includes, for example, a CNC (Computer Numerical Control) control unit 101, a servo control unit 102, and a motor drive shaft 103. The CNC control unit 101 outputs a position command to the servo control unit 102, and the servo control unit 102 outputs a torque command to the motor drive shaft 103 according to the position command. The motor drive shaft 103 drives the shaft according to the torque command, and outputs the position feedback output from a detector such as a rotary encoder to the servo control unit 102.

[0035] On the other hand, the simulation device 1 includes a simulation software main body 20 corresponding to the numerical control simulation unit 11 and the servo control simulation unit 12 , and a module unit 13 storing a drive shaft simulation unit 132 and the like.

[0036] In order to simulate the actual machine tool 100, the simulation software main body 20 outputs a torque command to the module unit 13, and the module unit 13 performs simulation according to the torque command and outputs position feedback to the simulation software main body 20. Here, the module unit 13 storing the drive shaft simulation unit 132 and the like is created by the machine tool manufacturer and the user of the machine tool in accordance with each machine. Therefore, the model of the drive shaft simulated by the drive shaft simulation unit 132 can include drive shafts of various types.

[0037] Figure 3 : is a block diagram of a transfer function in a simulation example of the simulation device 1. Specifically, Figure 3 This is a block diagram of a transfer function in an example in which the driving axis is a feed axis and the axis motion is simulated by the simulation device 1.

[0038] The simulation device 1 simulates the motion of a feed axis and a spindle, wherein the feed axis describes a trajectory based on a machining program and the spindle rotates a tool or a workpiece. Figure 3 The transfer function of is shown in the box-and-wire diagram. Figure 3 A block diagram of the same structure as that of FIG. 1 is described in Japanese Patent Application Laid-Open No. 3-110607, WO2023 / 157244, etc. The transfer function of the drive shaft simulation unit 132 is constituted by a combination of the transfer functions 401 to 407 .

[0039] exist Figure 3 In FIG. 4 , transfer function 401 is the transfer function of the position loop, and Kp represents the position gain. Transfer function 402 is the transfer function of the speed loop, k1 represents the integral gain, and k2 represents the proportional gain. Transfer functions 403 and 404 are the transfer functions of the motor. K t represents the torque constant, J m represents the motor inertia (inertia moment). Transfer function 405 represents the connection between the servo motor and the machine, i.e., the ball screw, etc. Transfer function 406 is the mechanical transfer function, J L The transfer function 407 is a transfer function of an integral element for integrating the velocity of a movable part of the machine to obtain the position of the machine.

[0040] The position loop represented by transfer function 401 and the speed loop represented by transfer function 402 are servo control models, and the motor, ball screw, etc. and integral elements represented by transfer functions 403 , 404 , 405 , 406 , and 407 are plant models.

[0041] Subtract the feedback signal P of the mechanical position detected by a linear scale from the position command. f The position error is obtained by multiplying the position error by the position gain Kp to obtain the speed command V c From the speed command V c Subtract the feedback value V of the motor speed detected by the pulse encoder installed in the servo motor f To find the speed deviation, perform proportional integration to find the torque command T C (Current command). Based on the torque command T c To drive the servo motor and perform feedback control of the position and speed of the servo motor in a closed-loop manner.

[0042] In addition, the simulation device 1 may be configured such that the transfer function 407 integrates the angular velocity of the servo motor to obtain the angle of the servo motor, and the value obtained by converting the angle of the servo motor into the mechanical position is regarded as the mechanical position. Such transfer functions 404, 405, 406, and 407 correspond to the simulation of the drive shaft simulation unit 132.

[0043] Figure 4 1 is a diagram showing an operation example of the simulation device 1 according to the first embodiment. As described above, the numerical control simulation unit 11 generates an axis motion command of the drive axis of the machine tool according to the machining program 10. The servo control simulation unit 12 generates a torque command according to the axis motion command and the axis motion virtual performance. The drive axis simulation unit 132 updates the axis motion virtual performance based on the torque command.

[0044] That is, Figure 4 As shown, the servo control simulation unit 12 generates a torque command C1 based on the X-axis command position A1 as the axis motion command and the X-axis initial position B as the initial value of the axis motion virtual performance according to the machining program 10. Then, the servo control simulation unit 12 generates a torque command C2 based on the X-axis command position A2 and the X-axis movement position D1 as the update value of the axis motion virtual performance. Here, if the X-axis movement position D1 as the axis motion virtual performance is not obtained, the servo control simulation unit 12 does not generate the torque command C2. In this way, the torque command and the axis motion virtual performance are sequentially generated and updated by the servo control simulation unit 12 and the drive axis simulation unit 132.

[0045] As described above, according to the first embodiment, the simulation device 1 includes: a numerical control simulation unit 11 that generates an axis motion command of a machine tool based on a machining program 10; a servo control simulation unit 12 that generates a torque command based on the axis motion command and an axis motion virtual performance for simulating the axis motion of the machine tool; and a module unit 13 that is independent of the numerical control simulation unit 11 and the servo control simulation unit 12 and can be replaced. The module unit 13 includes: a transceiver unit 131 that receives a torque command from the servo control simulation unit 12 and sends an axis motion virtual performance to the servo control simulation unit 12; and a drive axis simulation unit 132 that simulates the motion of a drive axis of a machine tool based on the torque command and updates the axis motion virtual performance. The module unit 13 is generated by an external device that is not dependent on the system for controlling the machine tool. The servo control simulation unit 12 generates a torque command when the axis motion virtual performance is obtained, and does not generate a torque command when the axis motion virtual performance is not obtained.

[0046] With such a configuration, the simulation device 1 of the first embodiment can simulate various drive shafts by changing the simulation model of the drive shaft. Furthermore, the simulation device 1 can independently develop simulations corresponding to the form of the drive shaft, and can perform simulations reflecting the form of the drive shaft through the developed simulations.

[0047] In addition, the axis motion virtual performance includes an initial value of the axis motion virtual performance obtained by the servo control simulation unit 12 only in the initial operation and an updated value of the axis motion virtual performance updated by the drive axis simulation unit 132. Thus, in the simulation device 1, the servo control simulation unit 12 can generate a torque command and perform simulation of the drive axis simulation unit 132 even in the initial operation.

[0048] [Second embodiment]

[0049] Figure 5 1A is a functional block diagram showing an outline of a simulation device 1A according to the second embodiment. In the description of the second embodiment, differences from the first embodiment are mainly described, and description of the same configurations and processes as those of the first embodiment is omitted.

[0050] The simulation device 1A of the second embodiment further includes a detector simulation unit 133 that corrects the axis motion virtual performance based on the machine tool detector information 134. The transmitter-receiver 131 transmits the corrected axis motion virtual performance to the detector simulation unit 133.

[0051] Here, the detector information 134 includes at least the calculation cycle of the drive shaft simulation unit 132, the delay amount of the calculation result, the resolution of the detector (simulation object) of the drive shaft, and the delay amount of feedback caused by data transmission and reception.

[0052] Figure 6 as well as Figure 7 An example of calculating the corrected axis motion virtual performance according to the second embodiment is shown. Specifically, Figure 6 as well as Figure 7 The virtual results of the shaft motion before correction output from the drive shaft simulation unit 132 and the virtual results of the shaft motion after correction output from the detector simulation unit 133 are shown.

[0053] exist Figure 6 In the example shown, the resolution of the detector information is 0.01 degrees, and the calculation cycle of the drive shaft simulation unit 132 is 0.2 ms. Figure 6 In the figure, the virtual performance of the axis motion with a time of -0.1ms is 100.113.

[0054] When the detector simulation unit 133 performs calculations of the drive axis every 0.2 ms for the torque command every 0.1 ms in order to reduce the amount of calculations, the detector simulation unit 133 predicts the missing axis motion virtual results based on the most recent axis motion virtual results.

[0055] Figure 8 Indicates prediction Figure 6 The following are examples of virtual performance of axis motion. Figure 8 As shown in FIG. 1 , the axis motion virtual performance before the correction of 0.5 ms (100.626) and the axis motion virtual performance before the correction of 0.3 ms (100.464) are obtained. Figure 6 Virtual performance of axis motion after correction in 0.6ms.

[0056] In detail, Figure 6 The virtual performance of the axis movement after correction in 0.6ms is calculated as 100.626+1 / 2(100.626-100.464)=100.71. Figure 6 The virtual performance of the axis motion after correction at 0.2 ms is obtained as 100.292+1 / 2(100.292-100.113)=100.38. The virtual performance of the axis motion after correction at 0.4 ms is obtained as 100.464+1 / 2(100.464-100.292)=100.55.

[0057] exist Figure 7 In the example shown, except Figure 6 In addition to the examples shown, for the convenience of calculation, the virtual results of the axis movement with a delay of 0.2ms are obtained. Figure 7 In the example shown, the resolution of the detector information is 0.01 degrees, the calculation cycle of the drive shaft simulation unit 132 is 0.2 ms, and the delay is 0.2 ms. Figure 7 In the figure, the virtual performance of the axis motion with a time of -0.1ms is 100.113.

[0058] In such a case, the detector simulation unit 133 predicts the missing axis motion virtual performance based on the most recent axis motion virtual performance for each torque command of 0.1 ms.

[0059] For example, Figure 7 The virtual performance of the axis movement after the correction of 0.1ms in is obtained from the virtual performance of the axis movement before the correction of 0.1ms (100.292) and the virtual performance of the axis movement before the correction of -0.1ms (100.113). Figure 7 The corrected axis motion virtual performance at 0.1 ms is obtained as 100.292+2 / 2(100.292-100.113)=100.47. The corrected axis motion virtual performance at 0.3 ms and 0.5 ms can also be obtained in the same manner.

[0060] The corrected axis motion virtual performance at 0.2 ms is obtained as 100.292+3 / 2(100.292-100.113)=100.56. The corrected axis motion virtual performance at 0.4 ms and 0.6 ms can also be obtained in the same manner.

[0061] exist Figure 6 and Figure 7 In the example shown, if the axis motion virtual performance is not corrected, the servo control simulation unit 12 stops every 0.2 ms, and sometimes cannot achieve accurate simulation. In the above example, the corrected axis motion virtual performance is not interrupted, so the servo control simulation unit 12 outputs the torque command every 0.1 ms without any problem.

[0062] As described above, according to the second embodiment, the module unit 13 further includes a detector simulation unit 133 that corrects the axis motion virtual performance based on the machine tool detector information 134. Thus, even when the calculation cycle of the numerical control simulation unit 11, the calculation cycle of the servo control simulation unit 12, and the calculation cycle of the drive axis simulation unit 132 are different from each other, the simulation device 1A can interpolate the difference in the calculation cycle.

[0063] The detector information 134 includes at least the calculation cycle of the drive axis simulation unit 132, the delay of the calculation result, the resolution of the drive axis detector, and the delay of the feedback. Thus, the simulation device 1A can interpolate the influence of the calculation cycle, resolution, delay, etc.

[0064] [Third Embodiment]

[0065] Fig. 91B is a functional block diagram showing an outline of a simulation device 1B according to the third embodiment. In the description of the third embodiment, differences from the first and second embodiments are mainly described, and description of the same configurations and processes as those of the first and second embodiments is omitted.

[0066] The simulation device 1B of the third embodiment further includes a detector simulation unit 14, which corrects the axis motion virtual performance based on the detector information 15 of the machine tool. In addition, the transceiver 131 sends the corrected axis motion virtual performance to the detector simulation unit 133. That is, the simulation device 1B of the third embodiment includes the detector simulation unit 14 and the detector information 15 instead of the detector simulation unit 133 and the detector information 134 of the second embodiment.

[0067] Here, the detector information 15 includes at least the calculation cycle of the drive shaft simulation unit 132, the delay amount of the calculation result, the resolution of the detector of the drive shaft, and the delay amount of the feedback, similarly to the second embodiment.

[0068] Thus, according to the third embodiment, the simulation device 1B further includes a detector simulation unit 133 that corrects the axis motion virtual performance based on the detector information 134 of the machine tool, and the transceiver 131 sends the corrected axis motion virtual performance to the detector simulation unit 133. Thus, even when the calculation cycle of the numerical control simulation unit 11, the calculation cycle of the servo control simulation unit 12, and the calculation cycle of the drive axis simulation unit 132 are different from each other, the simulation device 1B can interpolate the difference in the calculation cycle.

[0069] [Fourth Embodiment]

[0070] Fig.10 1 is a diagram showing an overview of a simulation device 1C according to a fourth embodiment. In the description of the fourth embodiment, the differences from the first, second and third embodiments are mainly described, and the description of the same structures and processes as the first, second and third embodiments is omitted. The simulation device 1C according to the fourth embodiment has drive shaft simulation units 132A and 132B.

[0071] When simulating a drive mechanism driven by a plurality of (for example, two) motors, the drive axis simulation units 132A and 132B execute simulation based on torque commands of other axes of the machine tool or virtual performance of axis motions of other axes.

[0072] Specifically, the drive shaft simulation unit 132A performs simulation based on the torque command output to the drive shaft simulation unit 132B or the axis motion virtual performance output to the transceiver 131. Similarly, the drive shaft simulation unit 132B performs simulation based on the torque command output to the drive shaft simulation unit 132A or the axis motion virtual performance output to the transceiver 131.

[0073] Examples of drive mechanisms driven by multiple motors are tandem control and turning based on spindles and feed axes.

[0074] Fig.11 It is a diagram showing an example of tandem control. Fig.11 The control device 500 shown is used to perform series control of driving a drive mechanism 501 by a plurality of (two) motors 54 and 55. The drive mechanism 501 is a machine tool composed of a moving body 58 and mechanical components 56 and 57 such as gears. The driving force is transmitted from the motor 54 to the moving body 58 via the mechanical component 56, and the driving force of the motor 55 is transmitted to the moving body 58 via the mechanical component 57.

[0075] The control device 500 includes a CNC control unit 50 and a motor control unit 51. The CNC control unit 50 performs various processes for operating the drive mechanism 501. The motor control unit 51 controls the current of the motor 54 via the amplifier 52 and the current of the motor 55 via the amplifier 53 according to the instruction from the CNC control unit 50. The motors 54 and 55 are servo motors, and the motor control unit 4 receives feedback signals for obtaining position and speed from the motors 54 and 55, respectively.

[0076] like Fig.11 As shown, in the tandem control in which one drive mechanism 501 is driven by two motors 54 and 55, the external force applied to the other motor changes due to the operation of one motor. Therefore, the simulation device 1C can use torque instructions or axis virtual performance of other axes when simulating the drive mechanism 501.

[0077] Fig.12 600) is a diagram showing an example of turning processing. Usually, the main component of cutting resistance (cutting resistance in the rotation direction of the spindle 600) is proportional to the cutting cross-sectional area. Therefore, Fig.12 The main component of cutting resistance in such turning can be calculated by the following formula.

[0078] [Mathematical formula 1]

[0079]

[0080] Here, ap (mm) represents the amount of cutting, l (mm / min) represents the feed rate of the linear axis, Kc (MPa) represents the specific cutting resistance, and n (min-1) represents the spindle speed. As shown in the above formula, in turning, the cutting reaction force (F) of the spindle 600 is affected by the feed rate (l) of the linear axis 601. Therefore, when the simulation device 1C accurately simulates the spindle 600, it can use the axis motion virtual performance (speed) of the linear axis 601 as another axis.

[0081] Thus, according to the fourth embodiment, when simulating a drive mechanism driven by a plurality of motors, the drive shaft simulation units 132A and 132B perform simulation based on the torque instructions of other axes of the machine tool and the virtual performance of the axis movements of other axes. Thus, the simulation device 1C can perform accurate simulation by taking into account interference with other drive axes.

[0082] The embodiments of the present invention are described above, but the above-mentioned simulation device 1 can be implemented by hardware, software or a combination thereof. In addition, the control method performed by the above-mentioned simulation device 1 can also be implemented by hardware, software or a combination thereof. Here, implementation by software means that the program is read in and executed by a computer.

[0083] The program can be stored using various types of non-transitory computer readable media and provided to the computer. Non-transitory computer readable media include various types of tangible recording media. Examples of non-transitory computer readable media include magnetic recording media (e.g., hard disk drives), optical magnetic recording media (e.g., optical magnetic disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, and semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, and RAMs (random access memory)).

[0084] The present disclosure has been described in detail, but the present disclosure is not limited to the above-mentioned embodiments. These embodiments can be variously added, replaced, changed, partially deleted, etc. without departing from the scope of the main purpose of the present disclosure, or without departing from the scope of the main purpose of the present disclosure derived from the contents recorded in the patent protection scope and its equivalents. In addition, these embodiments can also be implemented in combination. For example, in the above-mentioned embodiments, the order of each action and the order of each processing are shown as an example, which is not limited to this. In addition, the same is true for the case where numerical values ​​or mathematical formulas are used in the description of the above-mentioned embodiments.

[0085] The following additional remarks are disclosed in relation to the above-mentioned embodiment and modified examples.

[0086] (Note 1)

[0087] A simulation device (1) for a machine tool, comprising

[0088] A numerical control simulation unit (11) which generates axis motion instructions for the machine tool according to a machining program (10);

[0089] A servo control simulation unit (12) generates a torque instruction based on the axis motion instruction and an axis motion virtual performance for simulating the axis motion of the machine tool;

[0090] a module unit (13) which is independent of the numerical control simulation unit (11) and the servo control simulation unit (12) and is replaceable,

[0091] The module part (13) comprises:

[0092] a transceiver unit (131) which receives the torque instruction from the servo control simulation unit (12) and sends the axis motion virtual performance to the servo control simulation unit (12);

[0093] a drive shaft simulation unit (132) which simulates the motion of the drive shaft of the machine tool based on the torque command and updates the axis motion virtual performance;

[0094] The module part (13) is generated by an external device that is independent of the system for controlling the machine tool,

[0095] The servo control simulation unit (12) generates the torque command when the axis motion virtual result is obtained, and does not generate the torque command when the axis motion virtual result is not obtained.

[0096] (Note 2)

[0097] According to the simulation device (1) described in Supplementary Note 1, the axis motion virtual performance includes an axis motion virtual performance initial value obtained by the servo control simulation unit (12) only in the initial operation and an axis motion virtual performance update value updated by the drive axis simulation unit (132).

[0098] (Note 3)

[0099] According to the simulation device (1) described in Supplementary Note 1 or 2, the module unit (13) further includes a detector simulation unit (133) which corrects the axis motion virtual performance based on the detector information (134) of the machine tool.

[0100] (Note 4)

[0101] According to the simulation device (1) described in Supplement 1 or 2, the simulation device (1) further comprises a detector simulation unit (14) which corrects the virtual performance of the axis movement based on the detector information (15) of the machine tool.

[0102] The transceiver (131) sends the corrected virtual performance of the axis movement to the detector simulation unit (14).

[0103] (Note 5)

[0104] According to the simulation device (1) described in Appendix 3, the detector information includes at least the calculation period of the drive shaft simulation unit (132), the delay amount of the calculation result, the resolution of the detector of the drive shaft, and the delay amount of feedback.

[0105] (Note 6)

[0106] According to the simulation device (1) described in Appendix 1 or 2, the drive axis simulation unit (132) performs simulation based on the torque command of other axes of the machine tool or the virtual performance of the axis movement of the other axes when simulating a drive mechanism driven by multiple motors.

[0107] (Note 7)

[0108] A computer program for causing a computer to execute the following steps: a step of generating an axis motion instruction of a machine tool according to a machining program by a numerical control simulation unit (11); a step of generating a torque instruction according to the axis motion instruction and an axis motion virtual performance for simulating the axis motion of the machine tool by a servo control simulation unit (12); a step of receiving the torque instruction from the servo control simulation unit (12) and sending the axis motion virtual performance to the servo control simulation unit (12) by a module unit (13) which is independent of the numerical control simulation unit (11) and the servo control simulation unit (12) and which can be replaced; a step of simulating the motion of a drive axis of the machine tool based on the torque instruction by the module unit (13) and updating the axis motion virtual performance, wherein the module unit (13) is generated by an external device which is independent of a system for controlling the machine tool, generates the torque instruction when the axis motion virtual performance is obtained, and does not generate the torque instruction when the axis motion virtual performance is not obtained.

[0109] Description of Reference Numerals

[0110] 1. 1A, 1B, 1C simulation device

[0111] 10 Processing procedures

[0112] 11 Numerical Control Simulation Department

[0113] 12Servo control simulation unit

[0114] 13 Module Department

[0115] 14. 133 detector simulation part

[0116] 15.134 Detector Information

[0117] 131 Transceiver Department

[0118] 132, 132A, 132B are drive shaft simulation parts.

Claims

1. A simulation device for a machine tool, characterized in that: have: A numerical control simulation unit that generates axis motion instructions for the machine tool according to a machining program; a servo control simulation unit that generates a torque command based on the axis motion command and an axis motion virtual performance for simulating the axis motion of the machine tool; and a module unit which is independent of the numerical control simulation unit and the servo control simulation unit and is replaceable, The module part comprises: a transceiver that receives the torque instruction from the servo control simulation unit and sends the axis motion virtual performance to the servo control simulation unit; and a drive axis simulation unit that simulates the motion of the drive axis of the machine tool based on the torque command and updates the axis motion virtual performance; The module part is generated by an external device independent of the system controlling the machine tool, The servo control simulation unit generates the torque command when the axis motion virtual result is obtained, and does not generate the torque command when the axis motion virtual result is not obtained.

2. The simulation device according to claim 1, characterized in that The axis motion virtual performance includes an axis motion virtual performance initial value acquired by the servo control simulation unit only in the first operation and an axis motion virtual performance update value updated by the drive axis simulation unit.

3. The simulation device according to claim 1 or 2, characterized in that: The module unit further includes a detector simulation unit that corrects the axis motion virtual performance based on detector information of the machine tool.

4. The simulation device according to claim 1 or 2, characterized in that: The simulation device further includes a detector simulation unit that corrects the axis motion virtual performance based on the detector information of the machine tool. The transceiver transmits the corrected virtual performance of the axis motion to the detector simulation unit.

5. The simulation device according to claim 3, characterized in that: The detector information includes at least a calculation cycle of the drive shaft simulation unit, a delay amount of a calculation result, a resolution of a detector of the drive shaft, and a delay amount of feedback.

6. The simulation device according to claim 1 or 2, characterized in that: When simulating a drive mechanism driven by a plurality of motors, the drive axis simulation unit executes the simulation based on the torque command of the other axis of the machine tool or the axis motion virtual performance of the other axis.

7. A computer program for causing a computer to execute the following steps: The step of generating axis motion instructions of the machine tool based on the machining program by the numerical control simulation unit; A step of generating a torque command by a servo control simulation unit based on the axis motion command and an axis motion virtual performance for simulating the axis motion of the machine tool; A step of receiving the torque instruction from the servo control simulation unit and sending the axis motion virtual performance to the servo control simulation unit by a module unit that is independent of the numerical control simulation unit and the servo control simulation unit and that can be replaced; and The module unit simulates the motion of the drive axis of the machine tool based on the torque command and updates the virtual performance of the axis motion. It is characterized in that The module part is generated by an external device independent of the system controlling the machine tool, When the axis motion virtual result is obtained, the torque command is generated, and when the axis motion virtual result is not obtained, the torque command is not generated.

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