Simulation device and computer program

Abstract

A machine tool simulation device includes: a numerical control simulation unit that generates axis motion commands for the machine tool based on a machining program; a servo control simulation unit that generates torque commands based on the axis motion commands and virtual axis motion data for simulating the axis motion of the machine tool; and a module unit that is independent of and replaceable from the numerical control simulation unit and the servo control simulation unit, the module unit including: a transceiver unit that receives the torque commands from the servo control simulation unit and sends the virtual axis motion data to the servo control simulation unit; and a drive axis simulation unit that updates the virtual axis motion data based on the torque commands. The module unit is generated by an external device independent of the system controlling the machine tool, and the servo control simulation unit does not generate the torque commands if the virtual axis motion data is unavailable.

Description

Technical Field

[0001] This disclosure relates to simulation devices and computer programs. Background Technology

[0002] Conventionally, to verify the operation of a machine tool equipped with multiple drive axes and a controller that controls these multiple drive axes, the operation can be verified by simulating the execution of a user program for the controller. In such a simulation device, a model for simulating the drive axes is predetermined (for example, see Patent Document 1).

[0003] Existing technical documents

[0004] Patent documents

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

[0006] The problem that the invention aims to solve

[0007] However, the operation of a machine tool depends largely on the shape of the drive shaft, including its inertia, friction, and interference. The shapes of drive shafts in machine tools are diverse, and it is impossible to simulate all drive shafts in a fixed model. For example, Patent Document 1 cannot simulate the structure of a drive shaft that takes into account shaft interference and friction, as well as changes in inertia under other axis conditions.

[0008] Thus, existing machine tool simulation devices can only simulate drive axes using pre-determined, fixed models. Therefore, it is desirable to be able to change the simulation model of the drive axis to simulate various drive axes using simulation devices and computer programs.

[0009] Methods for solving problems

[0010] One aspect of this disclosure is a machine tool simulation device, comprising: a numerical control simulation unit that generates axis motion commands for the machine tool based on a machining program; a servo control simulation unit that generates torque commands based on the axis motion commands and virtual axis motion data for simulating the axis motion of the machine tool; and a module unit that is independent of and replaceable from the numerical control simulation unit and the servo control simulation unit, the module unit comprising: a transceiver unit that receives the torque commands from the servo control simulation unit and sends the virtual axis motion data to the servo control simulation unit; and a drive axis simulation unit that simulates the motion of the drive axes of the machine tool based on the torque commands and updates the virtual axis motion data. The module unit is generated by an external device independent of the system controlling the machine tool. The servo control simulation unit generates the torque commands when it receives the virtual axis motion data, and does not generate the torque commands when it does not receive the virtual axis motion data.

[0011] One aspect of this disclosure is a computer program for causing a computer to perform the following steps: generating axis motion commands for a machine tool by a numerical control simulation unit based on a machining program; generating torque commands by a servo control simulation unit based on the axis motion commands and virtual axis motion data for simulating the axis motion of the machine tool; receiving the torque commands from the servo control simulation unit and sending the virtual axis motion data to the servo control simulation unit by a module unit that is independent of and replaceable from the numerical control simulation unit and the servo control simulation unit; simulating the motion of the drive axes of the machine tool by the module unit based on the torque commands and updating the virtual axis motion data, wherein the module unit is generated by an external device independent of the system controlling the machine tool, and generates the torque commands when the virtual axis motion data is obtained, and does not generate the torque commands when the virtual axis motion data is not obtained. Attached Figure Description

[0012] Figure 1 This is a functional block diagram showing the outline of the simulation device in the first embodiment.

[0013] Figure 2 It is a diagram showing the correspondence between the structure of the actual machine tool and the simulation device.

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

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

[0016] Figure 5 This is a functional block diagram showing the outline of the simulation device in the second embodiment.

[0017] Figure 6 This is a diagram illustrating an example of the virtual performance of the axis motion after calculation correction according to the second embodiment.

[0018] Figure 7 This is a diagram illustrating an example of the virtual performance of the axis motion after calculation correction according to the second embodiment.

[0019] Figure 8 It indicates prediction Figure 6 The diagram shows an example of virtual real-time axis motion.

[0020] Figure 9 This is a functional block diagram showing the outline of the simulation device in the third embodiment.

[0021] Figure 10 This is a diagram showing an outline of the simulation device according to the fourth embodiment.

[0022] Figure 11 This is a diagram illustrating an example of series control.

[0023] Figure 12 This is a diagram illustrating an example of turning. Detailed Implementation

[0024] [First Implementation Method]

[0025] Hereinafter, an example of an embodiment of the present disclosure will be described. Figure 1 This diagram illustrates a general outline of the simulation device 1 according to the first embodiment. The simulation device 1 simulates the operation of a machine tool equipped with a drive axis and a controller for controlling the drive axis. The simulation device 1 may be, for example, a computer device connected to the machine tool and a numerical control device. Alternatively, the simulation device 1 may also be a computer device for simulation that is not connected to the machine tool and the 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 the CNC (Computer Numerical Control) control of the machine tool. The numerical control simulation unit 11 generates axis movement commands for the drive axes of the machine tool based on the machining program 10.

[0028] The servo control simulation unit 12 is a functional unit that simulates the control of the servo motor of the machine tool. The servo control simulation unit 12 generates torque commands based on the axis movement commands of the machine tool's drive axes and the virtual axis movement data used to simulate the axis movement of the machine tool's drive axes.

[0029] Here, the virtual axis motion data includes the initial value of the virtual axis motion data obtained by the servo control simulation unit 12 only during the initial operation, and the updated value of the virtual axis motion data updated by the drive axis simulation unit. The initial value of the virtual axis motion data can be provided by the numerical control simulation unit 11, stored in another database (not shown), or set in the module unit 13. For example, the initial value of the virtual axis motion data can be the final position at the last start. In addition, the virtual axis motion data can be any one of the drive axis position, drive axis speed, drive axis acceleration, and drive axis movement amount.

[0030] Module 13 is independent of and replaceable from numerical control simulation unit 11 and servo control simulation unit 12. Module 13 may be a file or application in the form of a DLL (Dynamic Link Library), .exe (executable file), etc., that can be processed independently on a computer. Alternatively, module 13 may be a storage medium such as a USB memory or SD card, or a microcomputer, which can store files or applications in the form of DLLs, .exe, etc., that can be processed independently.

[0031] Additionally, module 13 includes a transceiver unit 131 and a drive axis simulation unit 132. The transceiver unit 131 receives torque commands from the servo control simulation unit 12 and sends virtual axis motion data to the servo control simulation unit 12. The drive axis simulation unit 132 simulates the motion of the machine tool's drive axes based on the torque commands and updates the virtual axis motion data.

[0032] Module 13 is generated by an external device independent of the system controlling the machine tool. The servo control simulation unit 12 generates torque commands when virtual axis motion data is obtained, and does not generate torque commands when virtual axis motion data is not obtained. The system controlling the machine tool can be, for example, an operating system for controlling the machine tool, or an operating system or application program for a simulation device used to simulate the machine tool's motion. Furthermore, the external device is a computer device or application program capable of communicating with the simulation device 1. Alternatively, the external device can also be a computer device or application program capable of transferring data to the simulation device 1 via a storage medium such as a USB flash drive or SD card.

[0033] Furthermore, even if the calculation cycles of the numerical control simulation unit 11, the servo control simulation unit 12, and the drive shaft simulation unit 132 are different in their respective communications, the calculation cycles of the numerical control simulation unit 11, the servo control simulation unit 12, and the drive shaft simulation unit 132 will operate without any problems.

[0034] Figure 2 This is a diagram showing the correspondence between the structure of the actual machine tool 100 and the simulation device 1. For example... 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 axis 103. The CNC control unit 101 outputs position commands to the servo control unit 102, and the servo control unit 102 outputs torque commands to the motor drive axis 103 based on the position commands. The motor drive axis 103 drives the axis according to the torque commands and outputs position feedback from detectors such as rotary encoders to the servo control unit 102.

[0035] On the other hand, the simulation device 1 includes: a simulation software main body 20 that corresponds to a numerical control simulation unit 11 and a servo control simulation unit 12, etc.; and a module unit 13 that stores a drive shaft simulation unit 132, etc.

[0036] To simulate the actual machine tool 100, the simulation software main unit 20 outputs torque commands to the module unit 13. The module unit 13 executes the simulation according to the torque commands and outputs position feedback to the simulation software main unit 20. Here, the module unit 13, which stores drive axis simulation units such as drive axis simulation units 132, is made in accordance with the machine tool manufacturer, the machine tool user, and each machine. Therefore, the drive axis model simulated by the drive axis simulation unit 132 can include various types of drive axes.

[0037] Figure 3 This is a block diagram of the transfer function in the simulation example of simulation device 1. In detail, Figure 3 This is a block diagram of the transfer function in an example where the drive shaft is the feed shaft and the shaft movement is simulated by simulation device 1.

[0038] Simulation device 1 simulates the movements of the feed axis and the spindle, wherein the feed axis traces a trajectory based on the machining program, and the spindle rotates the tool or workpiece. For example, in the case where the axis is a feed axis, simulation device 1 is... Figure 3 A block diagram representation of the transfer function. (Compared to...) Figure 3 The same structure as the outline diagram is described in Japanese Patent Application Publication No. 3-110607, WO2023 / 157244, etc. The transfer function of the drive shaft simulation unit 132 is constituted by a combination of transfer functions 401 to 407.

[0039] exist Figure 3 In the diagram, transfer function 401 is the transfer function of the position loop, where Kp represents the position gain. Transfer function 402 is the transfer function of the speed loop, where k1 represents the integral gain and k2 represents the proportional gain. Transfer functions 403 and 404 are the transfer functions of the electric motor. t J represents the torque constant. m This represents the inertia (torque of inertia) of the electric motor. Transfer function 405 represents the connection between the servo motor and the mechanical components, such as the ball screw. Transfer function 406 is the mechanical transfer function, J. L This represents the inertia of the machine. The transfer function 407 is a transfer function that integrates the velocity of the moving 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 the servo control model, while the motor, ball screw, and integral elements represented by transfer functions 403, 404, 405, 406, and 407 are the equipment model.

[0041] Subtract the feedback signal P of the mechanical position detected by linear scales, etc., from the position command. f The position deviation is calculated, and the speed command V is obtained by multiplying the position deviation by the position gain Kp. c From the speed command V c Subtract the feedback value V of the motor speed detected by the pulse encoder or similar device installed on the servo motor. f The speed deviation is calculated, and the proportional-integral ratio is used to calculate the torque command T. C (Current command). Based on torque command T c It drives the servo motor and performs position and speed feedback control of the servo motor in a closed-loop manner.

[0042] Alternatively, the simulation device 1 can also have the following structure: 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 are equivalent to the simulation of the drive shaft simulation unit 132.

[0043] Figure 4 This diagram illustrates an example of the operation of the simulation device 1 according to the first embodiment. As described above, the numerical control simulation unit 11 generates axis movement commands for the machine tool's drive axes based on the machining program 10. The servo control simulation unit 12 generates torque commands based on the axis movement commands and the virtual axis movement data. The drive axis simulation unit 132 updates the virtual axis movement data based on the torque commands.

[0044] That is, such as Figure 4 As shown, the servo control simulation unit 12 generates a torque command C1 based on the machining program 10, using the X-axis command position A1 as the axis motion command and the X-axis initial position B as the initial value of the virtual axis motion result. 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 updated value of the virtual axis motion result. If the X-axis movement position D1 as the virtual axis motion result is not obtained, the servo control simulation unit 12 does not generate a torque command C2. Thus, the torque command and the virtual axis motion result are sequentially generated and updated by the servo control simulation unit 12 and the drive axis simulation unit 132.

[0045] As explained above, according to the first embodiment, the simulation device 1 includes: a numerical control simulation unit 11, which generates axis motion commands for the machine tool based on the machining program 10; a servo control simulation unit 12, which generates torque commands based on the axis motion commands and virtual axis motion data for simulating the axis motion of the machine tool; and a module unit 13, which is independent of and replaceable from the numerical control simulation unit 11 and the servo control simulation unit 12. The module unit 13 includes: a transceiver unit 131, which receives torque commands from the servo control simulation unit 12 and sends virtual axis motion data to the servo control simulation unit 12; and a drive axis simulation unit 132, which simulates the motion of the drive axes of the machine tool based on the torque commands and updates the virtual axis motion data. The module unit 13 is generated by an external device independent of the system controlling the machine tool. The servo control simulation unit 12 generates torque commands when it receives virtual axis motion data, and does not generate torque commands when it does not receive virtual axis motion data.

[0046] By having such a structure, 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 shape of the drive shaft, and thus can perform simulations that reflect the shape of the drive shaft through the developed simulations.

[0047] Furthermore, the virtual axis motion data includes the initial value of the virtual axis motion data obtained by the servo control simulation unit 12 only during the first operation, and the updated value of the virtual axis motion data updated by the drive axis simulation unit 132. Thus, in the simulation device 1, the servo control simulation unit 12 can also generate torque commands and simulate the drive axis simulation unit 132 during the first operation.

[0048] [Second Implementation]

[0049] Figure 5 This is a functional block diagram showing the general outline of the simulation device 1A according to the second embodiment. Furthermore, in the description of the second embodiment, the differences from the first embodiment are mainly explained, while the structures and processes identical to those in the first embodiment are omitted.

[0050] The simulation device 1A of the second embodiment also includes a detector simulation unit 133 that corrects the virtual reality of axis movement based on the detector information 134 of the machine tool. In addition, the transceiver unit 131 sends the corrected virtual reality of axis movement 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 of the calculation result, the resolution of the detector (simulation object) of the drive shaft, and the delay of the feedback caused by the transmission and reception of data.

[0052] Figure 6 as well as Figure 7 This example illustrates the calculated and corrected virtual performance of the axis motion according to the second embodiment. Specifically, Figure 6 as well as Figure 7 This represents the virtual performance of shaft motion before correction output from the drive shaft simulation unit 132, and the virtual performance of shaft motion after correction output from the detector simulation unit 133.

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

[0054] When the detector simulation unit 133 performs the calculation of the drive shaft every 0.2ms for every 0.1ms torque command in order to reduce the amount of computation, it predicts the missing virtual records of shaft movement based on the most recent virtual records of shaft movement.

[0055] Figure 8 Indicates prediction Figure 6 The example shown is a virtual implementation of axis motion. For example, as... Figure 8 As shown, the virtual motion result of the axis before correction at 0.5ms (100.626) and the virtual motion result of the axis before correction at 0.3ms (100.464) is calculated. Figure 6 The virtual performance of axis motion after correction in 0.6ms.

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

[0057] exist Figure 7 In the example shown, except Figure 6 Apart from the example shown, for ease of calculation, we obtain the virtual result of an axis motion delayed by 0.2ms. Figure 7 In the example shown, regarding detector information, the resolution is 0.01deg, the calculation cycle of the drive shaft simulation unit 132 is 0.2ms, and the delay is 0.2ms. Additionally, in Figure 7 In the middle, the virtual performance of axis motion with a time of -0.1ms is 100.113.

[0058] In this case, the detector simulation unit 133 predicts the missing shaft motion virtual data based on the most recent shaft motion virtual data for every 0.1ms torque command.

[0059] For example, Figure 7 The virtual performance of axis motion after correction at 0.1ms is calculated based on the virtual performance of axis motion before correction at 0.1ms (100.292) and the virtual performance of axis motion before correction at -0.1ms (100.113). In detail, Figure 7 The virtual performance of the axis motion after correction at 0.1ms is calculated as 100.292 + 2 / 2(100.292 - 100.113) = 100.47. The virtual performance of the axis motion after correction at 0.3ms and 0.5ms can be calculated in the same way.

[0060] Additionally, the virtual performance of the corrected axis motion at 0.2ms is calculated as follows: 100.292 + 3 / 2(100.292 - 100.113) = 100.56. The virtual performance of the corrected axis motion at 0.4ms and 0.6ms can be calculated similarly.

[0061] exist Figure 6 and Figure 7 In the example shown, if the virtual axis motion is not corrected, the servo control simulation unit 12 stops every 0.2ms, sometimes failing to achieve accurate simulation. In the example above, the corrected virtual axis motion is uninterrupted, so the servo control simulation unit 12 outputs torque commands every 0.1ms without problems.

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

[0063] Furthermore, the detector information 134 includes at least the calculation cycle of the drive shaft simulation unit 132, the delay of the calculation result, the resolution of the drive shaft detector, and the feedback delay. Therefore, the simulation device 1A can interpolate the effects of calculation cycle, resolution, delay, etc.

[0064] [Third Implementation Method]

[0065] Figure 9This is a functional block diagram showing the general outline of the simulation device 1B according to the third embodiment. Furthermore, in the description of the third embodiment, the differences from the first and second embodiments are mainly explained, while the structures and processes identical to those in the first and second embodiments are omitted.

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

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

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

[0069] [Fourth Implementation Method]

[0070] Figure 10 This is a diagram showing a general outline of the simulation device 1C according to the fourth embodiment. Furthermore, in the description of the fourth embodiment, the differences from the first, second, and third embodiments are mainly explained, while the structures and processes identical to those in the first, second, and third embodiments are omitted. The simulation device 1C of the fourth embodiment includes drive shaft simulation units 132A and 132B.

[0071] When simulating a drive mechanism driven by multiple (e.g., two) motors, drive axis simulation units 132A and 132B perform simulations based on the torque commands of other axes of the machine tool or the virtual performance of axis movements 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 virtual shaft movement data output to the transceiver unit 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 virtual shaft movement data output to the transceiver unit 131.

[0073] Examples of drive mechanisms driven by multiple electric motors include series control and turning processes based on the spindle and feed axes.

[0074] Figure 11 This is a diagram illustrating an example of series control. Figure 11 The control device 500 shown is used for series control of a drive mechanism 501 driven by multiple (two) motors 54, 55. The drive mechanism 501 is a machine tool consisting of a moving body 58 and mechanical components 56, 57 such as gears. The driving force is transmitted from the motor 54 to the moving body 58 via the mechanical components 56, and the driving force of the motor 55 is transmitted to the moving body 58 via the mechanical components 57.

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

[0076] like Figure 11 As shown, in the series control of a drive mechanism 501 driven by two motors 54 and 55, the external force applied to the other motor changes due to the action of one motor. Therefore, when simulating the drive mechanism 501, the simulation device 1C can use torque commands or virtual axis results from other axes.

[0077] Figure 12 This diagram illustrates an example of turning. Typically, the principal component of the cutting resistance (the cutting resistance in the direction of spindle rotation at 60°) is proportional to the cutting cross-sectional area. Therefore, Figure 12 The main component of the cutting resistance in such turning processes can be calculated using the following formula.

[0078] [Mathematical Expression 1]

[0079]

[0080] Here, ap (mm) represents the depth of cut, 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 performs an accurate simulation of the spindle 600, it can use the virtual performance (speed) of the axis movement of the linear axis 601 as another axis.

[0081] Thus, according to the fourth embodiment, when simulating a drive mechanism driven by multiple motors, the drive axis simulation units 132A and 132B perform the simulation based on the torque commands of other axes of the machine tool or the virtual performance of axis movements of other axes. As a result, the simulation device 1C can take into account interference from other drive axes to perform accurate simulation.

[0082] The embodiments of the present invention have been described above, but the simulation device 1 described above can be implemented by hardware, software, or a combination thereof. Furthermore, the control method performed by the simulation device 1 can also be implemented by hardware, software, or a combination thereof. Here, implementation by software means implementation by reading and executing a program using a computer.

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

[0084] This disclosure has been described in detail, but it is not limited to the various embodiments described above. Various additions, substitutions, modifications, and partial deletions can be made to these embodiments without departing from the spirit of this disclosure, or from the spirit of this disclosure derived from the content described in the patent protection scope and its equivalents. Furthermore, these embodiments can also be implemented in combination. For example, in the embodiments described above, the order of each action and the order of each process are shown as an example and are not limited thereto. The same applies to the use of numerical values ​​or mathematical formulas in the description of the embodiments described above.

[0085] The following notes are also disclosed regarding the above-described embodiments and variations.

[0086] (Postscript 1)

[0087] A machine tool simulation device (1), which has

[0088] The numerical control simulation unit (11) generates axis motion commands for the machine tool based on the machining program (10);

[0089] The servo control simulation unit (12) generates torque commands based on the axis motion commands and the virtual axis motion data used to simulate the axis motion of the machine tool.

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

[0091] The module (13) includes:

[0092] The transceiver unit (131) receives the torque command from the servo control simulation unit (12) and sends the virtual data of the axis movement to the servo control simulation unit (12);

[0093] The drive axis simulation unit (132) simulates the movement of the machine tool's drive axis based on the torque command and updates the virtual data of the axis movement.

[0094] The module (13) is generated by an external device that does not depend on the system controlling the machine tool.

[0095] The servo control simulation unit (12) generates the torque command when it obtains the virtual performance of the axis movement, and does not generate the torque command when it does not obtain the virtual performance of the axis movement.

[0096] (Postscript 2)

[0097] According to the simulation device (1) described in Appendix 1, the virtual axis motion data includes the initial value of the virtual axis motion data obtained by the servo control simulation unit (12) only in the first operation and the updated value of the virtual axis motion data updated by the drive axis simulation unit (132).

[0098] (Note 3)

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

[0100] (Postscript 4)

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

[0102] The transceiver unit (131) sends the corrected virtual data 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 cycle of the drive shaft simulation unit (132), the delay of the calculation result, the resolution of the detector of the drive shaft, and the delay of the 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 the 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 is provided for causing a computer to perform the following steps: generating axis motion commands for a machine tool by a numerical control simulation unit (11) based on a machining program; generating torque commands by a servo control simulation unit (12) based on the axis motion commands and virtual axis motion data for simulating the axis motion of the machine tool; receiving the torque commands from the servo control simulation unit (12) and sending the virtual axis motion data to the servo control simulation unit (12) by a module unit (13) that is independent of and replaceable from the numerical control simulation unit (11) and the servo control simulation unit (12); and simulating the motion of the drive axis of the machine tool based on the torque commands by the module unit (13) and updating the virtual axis motion data, wherein the module unit (13) is generated by an external device independent of the system controlling the machine tool, and generates the torque commands when the virtual axis motion data is obtained, and does not generate the torque commands when the virtual axis motion data is not obtained.

[0109] Explanation of reference numerals in the attached figures

[0110] 1. Simulation devices 1A, 1B, and 1C

[0111] 10 processing procedures

[0112] 11 Numerical Control Simulation Department

[0113] 12 Servo Control Simulation Department

[0114] Module 13

[0115] 14. Analog section of detector 133

[0116] Detector information for 15 and 134

[0117] 131 Receiving and Dispatch Department

[0118] Simulation unit for drive shafts 132, 132A, and 132B.

Claims

1. A machine tool simulation device, characterized in that, have: The numerical control simulation unit generates axis motion commands for the machine tool based on the machining program; A servo control simulation unit generates torque commands based on the axis motion commands and virtual axis motion data used to simulate the axis motion of the machine tool; and The module unit is independent of and replaceable from the numerical control simulation unit and the servo control simulation unit. The module includes: The transceiver unit receives the torque command from the servo control simulation unit and sends the virtual data of the axis motion to the servo control simulation unit; and The drive axis simulation unit simulates the movement of the machine tool's drive axis based on the torque command and updates the virtual data of the axis movement. The module is generated by an external device that does not depend on the system controlling the machine tool. The servo control simulation unit generates the torque command when it obtains the virtual performance data of the axis movement, and does not generate the torque command when it does not obtain the virtual performance data of the axis movement.

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

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

4. The simulation device according to claim 1 or 2, characterized in that, The simulation device also includes a detector simulation unit, which corrects the virtual performance of the axis movement based on the detector information of the machine tool. The transceiver unit sends the corrected virtual data 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 the calculation cycle of the drive shaft simulation unit, the delay of the calculation result, the resolution of the drive shaft detector, and the delay of the feedback.

6. The simulation device according to claim 1 or 2, characterized in that, When simulating a drive mechanism driven by multiple electric motors, the drive axis simulation unit performs the simulation based on the torque commands of other axes of the machine tool or the virtual performance of the axis movements of the other axes.

7. A computer-readable recording medium containing a computer program, characterized in that, The computer program is used to cause the computer to perform the following steps: The steps by which the numerical control simulation unit generates axis motion commands for the machine tool based on the machining program; The step of generating torque commands by the servo control simulation unit based on the axis motion commands and virtual axis motion data used to simulate the axis motion of the machine tool; The steps include receiving the torque command from the servo control simulation unit and sending the virtual reality of the axis motion to the servo control simulation unit from a module unit that is independent of and replaceable from the numerical control simulation unit and the servo control simulation unit; as well as The step of having the module simulate the movement of the machine tool's drive axis based on the torque command and update the virtual performance of the axis movement. The module is generated by an external device that does not depend on the system controlling the machine tool. The torque command is generated if the virtual data of the axis motion is obtained; otherwise, the torque command is not generated.

8. A machine tool simulation device, characterized in that, have: The simulation software core generates torque commands based on simulated CNC-controlled axis motion commands of the machine tool and virtual axis motion simulation data, wherein the CNC is Computer Numerical Control; and The module is independent of the main simulation software and is replaceable. The module simulates the movement of the machine tool's drive axis based on the torque command and outputs the virtual result of the axis movement. The module is generated by an external device that does not depend on the system controlling the machine tool. The torque command is generated if the virtual data of the axis motion is obtained; otherwise, the torque command is not generated.

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