ROTARY TABLE DEVICE, ROTARY TABLE CONTROL, PROGRAM AND ROTARY TABLE CONTROL METHOD

Abstract

Turntable device (100) comprising: a spindle (1) holding a table; a drive mechanism (2) that drives the spindle (1); a load detecting section (3) that detects a load of the drive mechanism (2); a clamping mechanism (4) which prevents rotation of the spindle (1); a rotation control section (54) which causes the drive mechanism (2) to drive the spindle (1) with a predetermined test pattern after the start of the release of the clamping by the clamping mechanism (4); and a determination section (55) which determines whether or not an operation of the clamping mechanism (4) is proper based on a change in the load detected by the load detection section (3) when the spindle (1) is driven with the test sample over time, wherein the test pattern is a pattern in which the spindle (1) is driven by a predetermined test angle when a predetermined first period of time has elapsed after the start of the release of the clamping by the clamping mechanism (4) and when, further, a predetermined second period of time has elapsed after the elapse of the first period of time and the determining section (55) determines that the operation of the clamping mechanism (4) has a fault when a difference between a first peak load value after the elapse of the first time period and a first peak load value after the elapse of the second time period is equal to or greater than a predetermined threshold value.

Description

BACKGROUND OF THE INVENTIONField of the Invention

[0001] The present invention relates to a turntable device, a turntable controller, a program and a turntable control method. Related technology

[0002] Conventionally, a rotary table device that rotates a table on whose surface a workpiece, a jig, or the like is mounted is used for a machine tool or the like. The rotary table device includes a rotatable spindle with a table mounted on its end. The spindle is rotated by a servo motor or the like to realize positioning (indexing) of a rotational position of the table. The rotary table device is often provided with a clamping mechanism that clamps a spindle to hold an indexing position of a table.

[0003] Generally, a clamping mechanism of a rotary table device is configured as follows. A brake disc provided on a spindle is pressed against a fixed clamping member by a piston, which is moved by fluid pressure in a direction parallel to the spindle. In this way, rotation of the brake disc and thus of the spindle is prevented by frictional force. In such a clamping mechanism, malfunctions such as a delayed operation or a reduction in the stroke of a piston may occur due to the influence of a usage environment or aging.

[0004] When a spindle is rotated in a state with a large frictional force between a brake disc and a clamping member and a piston, wear of at least one of the brake disc, the clamping member, or the piston is accelerated. In this case, the frictional force (braking torque) may decrease during clamping, and a problem such as table displacement or the like may occur. A technology is known in which a proximity switch or the like is provided for detecting the position of a piston such that a spindle is driven after confirmation of clamp release. However, when the position of a piston is detected, it is not possible to start driving the spindle until the piston is sufficiently away from a brake disc.With the increase in machine tool speed in recent years, there is a need to shorten the time it takes for the spindle to start rotating after the start of release. However, since the movement speed of the piston under fluid pressure is not sufficiently high, a relatively long time is required to detect that the piston has reached a distant position after the start of release. Furthermore, problems such as an increase in the size of a device, an increase in cost, and a decrease in reliability arise when using a proximity switch or the like.

[0005] Therefore, Patent Document 1 proposes a technology for issuing a command to rotate a spindle by a slight amount of movement at the beginning of release and issuing a command to rotate the spindle by a remaining amount of movement determined by subtracting a detected amount of movement from a target amount of movement after spindle rotation detection. This technology considers that rotation of the spindle by a target amount of movement is realized in a short period of time, preventing wear of a brake disc or the like caused by unnatural rotation of the spindle before complete release of the clamp.

[0006] Patent Document 1: Unexamined Japanese Patent Application, Publication No. JP 2012-198 734 A

[0007] DE 10 2015 109 029 A1 describes a machine tool including a clamping mechanism for clamping / unclamping a rotation of a rotary table. A load is measured when a release command is issued, and then the rotary table is rotated after a target time set in the timer has elapsed. The target time of the timer is changed in response to a magnitude of the measured load. In this way, it is possible to prevent damage to the clamping mechanism by issuing a subsequent command before the release is completed, and the service life of a component can be extended. SUMMARY OF THE INVENTION

[0008] Since, in a control method disclosed in Patent Document 1, the spindle is driven to rotate by a slight amount of movement before the clamping is completely released, wear of a brake disc or the like is accelerated to some extent. Although, in the control method disclosed in Patent Document 1, it is possible to suppress wear of the brake disc when detecting release by reducing a setting value of the slight amount of movement, it is not possible to reliably detect release of a clamping mechanism if the slight amount of movement is reduced too much. Therefore, in the control method disclosed in Patent Document 1, the spindle may be driven before the braking torque is sufficiently reduced, thereby accelerating wear of the clamping mechanism.

[0009] Therefore, it is an object of the present invention to provide a turntable device, a turntable controller, a program and a turntable control method capable of detecting a malfunction of a chuck mechanism while suppressing wear of the chuck mechanism.

[0010] The problems to be solved by the invention are solved by the subject-matter of the independent patent claims.

[0011] Further embodiments are defined in the dependent claim.

[0012] According to the present invention, it is possible to detect a malfunction of a clamping mechanism while preventing wear of the clamping mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Fig. 1 is a configuration diagram of a turntable device according to the present invention. Fig. 2 is a sectional view showing a configuration of a clamping mechanism of the Fig. 1 represents the rotary table device shown. Fig. 3 is a block diagram of a control system of the Fig. 1 shown turntable device. Fig. 4 is a flowchart showing a procedure for controlling the Fig. 1 represents the rotary table device shown. Fig. 5 is a graph showing an example of a change in torque during normal operation of a spindle of the type shown in Fig. 1 represents the rotary table device shown. Fig. 6 is a graph showing an example of a change in torque when the spindle of the Fig. 1 represents the rotary table device shown. Fig. Figure 7 is a graph showing an example of a change in torque that differs from that according to Fig. 6, in case of a malfunction of the spindle of the Fig. 1 represents the rotary table device. DETAILED DESCRIPTION OF THE INVENTION

[0014] An embodiment of the present invention will be described below with reference to the drawings.

[0015] Fig. 1 is a block diagram of a turntable apparatus 100 according to an embodiment of the present invention. Fig. 2 is a sectional view showing a machine configuration of a clamping mechanism of the Fig. 1 represents the rotary table device.

[0016] The rotary table device 100 includes a spindle 1 supporting a table T shown by a two-dot chain line at one end thereof, a drive mechanism 2 that rotates the spindle 1, a load detecting section 3 that detects a load of the drive mechanism 2, a clamping mechanism 4 that clamps the spindle 1 to determine its angular position, and a controller 5 that controls the drive mechanism 2 and the clamping mechanism 4.

[0017] The spindle 1 is rotated by the drive mechanism 2 so that a table T held at one end thereof is rotated integrally.

[0018] The drive mechanism 2 is typically configured as a direct-drive servo motor with an output shaft integral with the spindle 1. The drive mechanism 2 can drive the spindle 1, for example, via a shaft coupling, a gear mechanism, a reduction gear, and the like.

[0019] The load detecting section 3 may be configured, for example, as a torque sensor that detects a load torque in the drive mechanism 2 or between the drive mechanism 2 and the spindle 1, an ammeter that detects a load current of a motor serving as a drive unit of the drive mechanism 2, or a wattmeter that detects an electric load power.

[0020] As in Fig. 2, the clamping mechanism 4 may include, for example, a brake disc 41 in the form of a circular plate, a clamping member 42, a piston 43, a housing 44, and a switching valve 45. The brake disc 41 is fixed to an outer periphery of the spindle 1 and rotates integrally with the spindle 1. The clamping member 42 is immovably arranged such that it is adjacent to one surface of the brake disc 41 so that it does not rotate together with the spindle 1. The piston 43 is provided on the side of the other surface of the brake disc 41 so that it is movable in a direction parallel to the spindle 1 by fluid pressure. The housing 44 is provided with the clamping member 42 attached thereto and accommodates the piston 43 so that it is movable. The switching valve 45 controls the supply and discharge of an actuating fluid that moves the piston 43.

[0021] The housing 44 forms a first cavity 46 in which fluid pressure acts on a pressure-receiving surface on one side in a moving direction of the piston 43, and a second cavity 47 in which fluid pressure acts on a pressure-receiving surface on the other side in the moving direction of the piston 43. The switching valve 45 switches a channel so that the actuating fluid is supplied to either the first cavity 46 or the second cavity 47, and that the actuating fluid is discharged from the other among the first cavity 46 and the second cavity 47. Although oil (pressurized oil) or air (compressed air) is typically used as the actuating fluid, another liquid or gas may be used.

[0022] The clamping mechanism 4 presses the piston 43 against the brake disc 41 by means of the fluid pressure to bring a surface on the opposite side of the brake disc 41 into pressure contact with the clamping member 42 to generate a large frictional force between the brake disc 41 and the clamping member 42, and the piston 43 to prevent rotation of the spindle 1 rotating integrally with the brake disc 41. Furthermore, the clamping mechanism 4 removes the piston 43 from the brake disc 41 by means of the fluid pressure to release the pressure contact force (the normal friction-causing force) between the brake disc 41 and the clamping member 42 and the piston 43 to allow rotation of the spindle 1 (release).

[0023] The controller 5 itself is an embodiment of a rotary table controller according to the present invention and a device that executes a rotary table control method according to the present invention. The controller 5 may be configured as a dedicated integrated circuit or the like, or may be implemented by a general-purpose computer that reads a program according to the present invention. Therefore, the description of the operation for checking the chuck mechanism 4 to be described later may be replaced by the description of the rotary table device, the rotary table controller, the program, and the rotary table control method according to the present invention. Furthermore, the controller 5 may be part of a controller that controls a machine tool or the like. This means that the program according to the present invention may be a subroutine, a partial program, or the like that executes the program.which is integrated into a control program of a machine tool. The program according to the present invention may be provided in a state in which it is recorded on a non-volatile recording medium.

[0024] As in Fig. As shown in Figure 3, the controller 5 includes a main control section 51 that operates the drive mechanism 2 and the clamping mechanism 4 according to a request from a machine tool or the like so as to realize positioning (indexing) of a rotational position of the table T, and an operation check section 52 that checks an operation state of the clamping mechanism 4. The main control section 51, the operation check section 52, and several elements differ in function and cannot be clearly distinguished from each other in terms of the structure of a program for realizing the controller 5 and a physical configuration.

[0025] The main control section 51 controls the drive mechanism 2 to perform indexing of the table T according to a request from a machine tool or the like, and to realize positioning of a rotational position of the spindle 1. Furthermore, the main control section 51 causes the clamping mechanism 4, while holding the position of the table T, to prevent rotation of the spindle 1 (clamping) such that the table T is not displaced by vibration or the like of a machine tool. Upon a change in the position of the table T, the main control section 51 causes the clamping mechanism 4 to release the clamping (unclamping) such that the spindle 1 can rotate.

[0026] The operation checking section 52 includes a jig control section 53, a rotation control section 54, a determination section 55, and an output section 56. The jig control section 53 instructs the chuck mechanism 4 to perform a release. The rotation control section 54 causes the drive mechanism 2 to drive the spindle 1 with a predetermined test pattern after the chuck mechanism 4 initiates the release. The determination section 55 determines whether or not the operation of the chuck mechanism 4 is normal based on a change in the load detected by the load detecting section 3 over time when the spindle 1 is driven with a test pattern. The output section 56 reports information regarding a malfunction of the chuck mechanism 4 to the outside or outputs a signal concerning the malfunction.Therefore, a program for realizing the controller 5 includes a program element (a release control element) by which the chuck control section 53 is realized, a program element (a rotation control element) by which the rotation control section 54 is realized, a program element (a determination element) by which the determination section 55 is realized, and a program element (an output control element) by which the output section 56 is realized.

[0027] The operation checking section 52 checks whether the operation of the clamping mechanism 4 is normal. The operation checking of the clamping mechanism 4 is preferably performed when, for example, a predetermined period of time has elapsed, a predetermined operation time has elapsed, or a predetermined number of repetitions of a release operation have been performed, and more preferably, it is performed at the earliest timing at which the above-described condition is satisfied and no influence is exerted on other operations of a machine tool even when the spindle 1 is moved. Furthermore, the operation checking of the clamping mechanism 4 may be performed when a predetermined event occurs, such as activation of a machine tool or change of a workpiece.

[0028] The chuck control section 53 outputs a control signal for instructing the chuck mechanism 4 to perform the release.

[0029] The rotation control section 54 begins outputting a signal to the drive mechanism 2 such that the spindle 1 is driven with a predetermined test pattern when the clamping mechanism 4 initiates clamp release, that is, when the clamping device control section 53 outputs a control signal instructing release. The signal output to the drive mechanism 2 is, for example, a signal instructing an angular position to a servo motor, which is a drive source of the drive mechanism 2.

[0030] The test pattern may be a signal that changes a target angular position of the spindle 1 in a very small step, and it may be a signal that changes the target angular position of the spindle 1 in a step shape or in a rectangular wave shape. As a change in the target angular position of the spindle 1 in one step (hereinafter referred to as a test angle) of such a test pattern, the test angle is preferably set to be equal to or larger than a value at which the load detected by the load detecting section 3 stabilizes in a state where the clamping mechanism 4 is fully released when the target angular position changes stepwise by the test angle. As a specific example, the test angle may be a minimum displacement of the servo motor, which is a drive source of the drive mechanism 2, regardless of the configuration of the drive mechanism 2.For example, by setting the test angle to 0.1° or more and to 1.0° or less, the load detecting section 3 can detect the load with high reproducibility.

[0031] Furthermore, the test pattern can be changed with respect to the target angular position of the spindle 1 when a predetermined very short first period (a very short waiting time) has elapsed after the clamping mechanism 4 starts to release the clamping. The first period may be a period corresponding to a shortest period of time required for the clamping mechanism 4 to release the spindle 1 during normal operation of the clamping mechanism 4 after the clamping device control section 53 issues a release instruction. By setting the first period in this way, it is possible to prevent unnecessary driving of the spindle 1 by the drive mechanism 2 in a state where the clamping mechanism 4 prevents rotation of the spindle 1, and wear of the brake disk 41 or the like of the clamping mechanism 4.However, if the first time period is set to be longer than necessary, it is difficult to detect a delay in the operation of the clamping mechanism 4 at an early stage. The value of the first time period depends on the design of the clamping mechanism 4 and may be, for example, 50 ms or more and 500 ms or less.

[0032] When the test pattern is a stepwise pattern, a second period of time from the initial change of the target angular position of the spindle 1 after the first period of time to the subsequent change of the target angular position of the spindle 1 is preferably set to a value corresponding to a period of time in which the release is assumed to be completed even when a moving speed of the piston 43 of the clamping mechanism 4 has decreased. The value of the second period of time depends on the design of the clamping mechanism 4 or the like, and may be, for example, 0.5 s or more and 2 s or less.

[0033] Furthermore, subsequent driving of the spindle 1 by a test angle may be performed after driving the spindle 1 by the test angle upon elapse of the first period of time, when it is confirmed by a sensor or the like that the piston 43 of the clamping mechanism 4 has been completely removed from the brake disc 41. This means that the second period of time may be a variable period of time.

[0034] By driving the spindle 1 again by the test angle upon elapse of the second period using a stepwise pattern as a test pattern, the load detecting section 3 can confirm a change in the load of the drive mechanism 2 when the spindle 1 was driven by the test angle in a state where the clamp release of the clamping mechanism 4 was completed. Therefore, by comparing the change in the load with a change in the load detected by the load detecting section 3 when the spindle 1 was driven by the test angle upon elapse of the first period, a criterion can be provided for determining whether the change in the load after the elapse of the first period is normal or indicates a malfunction of the clamping mechanism 4.For this reason, it is possible to accurately determine the operating state of the clamping mechanism 4 while excluding an influence such as a change in the load of the drive mechanism 2 caused, for example, by a workpiece held on the table T.

[0035] The determination section 55 extracts predetermined information based on the change over time of the load detected by the load detection section 3 when, for example, the spindle 1 is driven by the drive mechanism 2 with a test sample, and determines whether the operation of the clamping mechanism 4 is normal.

[0036] More specifically, the determination section 55 may be configured to extract and compare features corresponding to the change in the load of the drive mechanism 2 over time after driving the spindle 1 after the elapse of the first period and the change in the load of the drive mechanism 2 over time after driving the spindle 1 after the elapse of the second period. If the difference between the two features is large, the determination section 55 determines that the clamping mechanism 4 has not completed the release after the elapse of the first period and has a fault. Examples of the extracted features of the change in the load over time include a peak value, a peak range, an attenuation period, a shape factor, and the like.The clamping mechanism 4 can compare these digitizable features and determine that the clamping mechanism 4 is malfunctioning if the difference is equal to or greater than a predetermined threshold. In particular, a peak value is relatively easy to extract and reflects a friction torque of the clamping mechanism 4 relatively accurately and clearly. Therefore, the determination section 55 can relatively easily and reliably detect a malfunction of the clamping mechanism 4 by extracting a peak value of the load.

[0037] Furthermore, the determination section 55 can determine whether the operation of the clamping mechanism 4 is normal based on one of the characteristics of the change in the load over time of the drive mechanism 2 when the spindle 1 is driven with the test sample. This means that the determination section 55 can compare the characteristics of the change in the load over time detected by the load detection section 3 when the spindle 1 is driven with the test sample with the predetermined characteristics corresponding to the change in the load over time during normal operation of the clamping mechanism 4, and determine that the clamping mechanism 4 is malfunctioning when the difference between the characteristics is large.Since an absolute value of the load during driving may change depending on a workpiece or the like mounted on the table T, features are preferably extracted which can be used as a criterion for the degree of similarity of the vibration shape when comparing the features with the predetermined features during normal operation of the clamping mechanism 4.

[0038] When the determination section 55 determines that the clamping mechanism 4 is malfunctioning, the output section 56 externally reports information concerning the result of the determination or outputs a signal concerning the result of the determination. A visual signal (a rotating lamp, a screen display, or the like), an audible signal (a whistle, a voice notification, or the like), and the like can be used as the external notification means.

[0039] Next, with reference to Fig. 4, a procedure for checking the operation of the clamping mechanism 4 by the operation check section 52 is described in detail.

[0040] In the procedure for checking the operation of the clamping mechanism 4 by the operation checking section 52, the clamping device control section 53 first causes the clamping mechanism 4 to release (unlock) the spindle 1 in a release step S1.

[0041] Subsequently, the rotation control section 54 causes the drive mechanism 2 to drive the spindle 1 with a predetermined test pattern in a spindle drive step S2. In a torque change recording step S3, the determination section 55 records (stores in a memory or the like) the change in the load torque of the drive mechanism 2 over time detected by the load detection section 3 in a state where the drive mechanism 2 is driving the spindle 1 with the test pattern.

[0042] Thereafter, in a feature extraction step S4, the determination section 55 extracts predetermined features such as a peak value or the like from the change in the load torque over time recorded in step S3, and determines whether the operation of the clamping mechanism 4 is proper based on the extracted features in a determination step S5.

[0043] If it is determined in step S5 that the operation of the clamping mechanism 4 is not normal (step S5: YES), the process proceeds to step S6; in the output section 56, information on the result of the determination is output to the outside, and then the process ends. On the other hand, if it is determined in step S5 that the operation of the clamping mechanism 4 is normal (step S5: NO), the process ends without executing step S6.

[0044] The Fig. 5 to 7 illustrate a test pattern inputted from the rotation control section 54 to the drive mechanism 2, that is, changes in the target angular positions of the spindle 1 with time and changes in the load torque detected by the load detecting section 3 with time. Fig. 5 shows a case where the operation of the clamping mechanism 4 is proper, Fig. Fig. 6 shows a case where the operation of the clamping mechanism 4 is delayed, and Fig. 7 shows a case where the operation of the clamping mechanism 4 is not completed.

[0045] According to the Fig. 5 to 7, the drive mechanism 2 as a test sample was caused to drive the spindle 1 in a stepwise manner by a predetermined test angle in a normal direction after the lapse of a first predetermined period of time after the instruction of the chuck mechanism 4 to execute the release by the chuck control section 53; and thereafter, the drive mechanism 2 was caused to drive the spindle 1 in a stepwise manner by the test angle in the same normal direction after the lapse of a second predetermined period of time. In addition, the chuck mechanism 4 was Fig. 5 to 7, after performing the driving with the test sample in the forward direction, a one-time clamping was caused to prevent rotation of the spindle 1. Thereafter, the clamping mechanism 4 was caused to release the clamping again, the drive mechanism 2 was caused to drive the spindle 1 with a test sample in a reverse rotation direction, and then the change in the load torque with time was recorded.

[0046] As in Fig. 5, when the clamping mechanism 4 is operating properly, a peak load torque value resulting from the incremental driving after the elapse of the first time period (a first peak load value after the elapse of the first time period) substantially corresponds to a peak load torque value resulting from the incremental driving after the elapse of the second time period (a first peak load value after the elapse of the second time period). This means that both load torques decrease during driving after the elapse of the first and second time periods, since the release of the clamping mechanism 4 was already completed after the elapse of the first time period.

[0047] However, if, as in Fig. 6, there is a delay in the operation of the clamping mechanism 4, the load detecting section 3 detects a relatively large load torque because the release of the clamping mechanism 4 was not completed after the lapse of the first time period, and after the lapse of the second time period, a load torque waveform is recorded which corresponds to the waveform shown in Fig. 5 because the release of the clamping mechanism 4 is completed. Therefore, it can be determined that the clamping mechanism 4 has a failure when the peak load value at the initial time point after the elapse of the first time period and the peak load value at the initial time point after the elapse of the second time period are compared, and a difference between them is equal to or greater than a certain value.

[0048] In addition, the peak value of the load torque increases, as in Fig.7, similar to a delayed operation, when the operation of the clamping mechanism 4 is not completed, the load torque lags in the opposite direction after the peak, and it takes a period of time for the load torque value to stabilize. Therefore, by comparing the shape of the waveform of a change in the load with a waveform recorded during normal operation of the clamping mechanism 4, it is possible to detect a malfunction of the clamping mechanism 4 while simultaneously preventing wear of the clamping mechanism 4.

[0049] Although the embodiments of the present invention have been described, the present invention is not limited to the above-described embodiments, but can be modified as appropriate. Furthermore, the results described in connection with the present embodiment are merely examples of the most preferred results achieved by the present invention, and the results of the present invention are not limited to those described in connection with the present embodiment.

[0050] The test pattern is not limited to step-shaped test patterns; any pattern, such as one in which the angular position of the spindle changes in a ramp fashion, can be used. Furthermore, the value of the initial time period required for the spindle to substantially start driving after the start of release can be set to zero even when using a step-shaped test pattern, depending on the characteristics to be extracted from the load change over time. EXPLANATION OF REFERENCE SYMBOLS 1 spindle 2 drive mechanism 3 Load detection section 4 clamping mechanism 5 Control 51 Main tax section 52 Operational inspection section 53 Clamping device control section 54 Rotary control section 55 Determination Section 56 Output section 100 table device

Claims

[1] Turntable device (100) comprising: a spindle (1) holding a table; a drive mechanism (2) that drives the spindle (1); a load detecting section (3) that detects a load of the drive mechanism (2); a clamping mechanism (4) which prevents rotation of the spindle (1); a rotation control section (54) which causes the drive mechanism (2) to drive the spindle (1) with a predetermined test pattern after the start of the release of the clamping by the clamping mechanism (4); and a determination section (55) which determines whether or not an operation of the clamping mechanism (4) is proper based on a change in the load detected by the load detection section (3) when the spindle (1) is driven with the test sample over time, wherein the test pattern is a pattern in which the spindle (1) is driven by a predetermined test angle when a predetermined first period of time has elapsed after the start of the release of the clamping by the clamping mechanism (4) and when, further, a predetermined second period of time has elapsed after the elapse of the first period of time and the determining section (55) determines that the operation of the clamping mechanism (4) has a fault when a difference between a first peak load value after the elapse of the first time period and a first peak load value after the elapse of the second time period is equal to or greater than a predetermined threshold value. [2] Turntable device (100) comprising: a spindle (1) holding a table; a drive mechanism (2) that drives the spindle (1); a load detecting section (3) that detects a load of the drive mechanism (2); a clamping mechanism (4) which prevents rotation of the spindle (1); a rotation control section (54) which causes the drive mechanism (2) to drive the spindle (1) with a predetermined test pattern after the start of the release of the clamping by the clamping mechanism (4); and a determination section (55) which determines whether or not an operation of the clamping mechanism (4) is proper based on a change in the load detected by the load detection section (3) when the spindle (1) is driven with the test sample over time, wherein the test sample is a sample in which the spindle (1) is driven by the clamping mechanism (4) by a predetermined test angle after the start of the release of the clamping and the determining section (55) determines whether an operation of the clamping mechanism (4) is proper or not based on a waveform of the load detected by the load detecting section (3) during the drive with the test sample. [3] Turntable device (100) according to one of claims 1 or 2, further comprising: an output section that outputs information concerning the result of the determination to the outside or outputs a signal concerning the result of the determination when the determining section (55) determines that the operation of the chuck mechanism (4) has a malfunction. [4] A controller (5) that controls a rotary table device (100) that includes a spindle (1) that holds a table, a drive mechanism (2) that drives the spindle (1), a load detecting section (3) that detects a load of the drive mechanism (2), and a clamping mechanism (4) that prevents rotation of the spindle (1), the controller (5) comprising: a rotation control section (54) which causes the drive mechanism (2) to drive the spindle (1) with a predetermined test pattern after the start of the clamping release by the clamping mechanism (4); and a determination section (55) which determines whether an operation of the clamping mechanism (4) is proper or not based on a change in the load detected by the load detection section (3) when the spindle (1) is driven with the test sample over time, wherein the test pattern is a pattern in which the spindle (1) is driven by a predetermined test angle when a predetermined first period of time has elapsed after the start of the release of the clamping by the clamping mechanism (4) and when, further, a predetermined second period of time has elapsed after the elapse of the first period of time and the determining section (55) determines that the operation of the clamping mechanism (4) has a fault when a difference between a first peak load value after the elapse of the first time period and a first peak load value after the elapse of the second time period is equal to or greater than a predetermined threshold value. [5] A controller (5) that controls a rotary table device (100) that includes a spindle (1) that holds a table, a drive mechanism (2) that drives the spindle (1), a load detecting section (3) that detects a load of the drive mechanism (2), and a clamping mechanism (4) that prevents rotation of the spindle (1), the controller (5) comprising: a rotation control section (54) which causes the drive mechanism (2) to drive the spindle (1) with a predetermined test pattern after the start of the release of the clamping by the clamping mechanism (4); and a determination section (55) which determines whether or not an operation of the clamping mechanism (4) is proper based on a change in the load detected by the load detection section (3) when the spindle (1) is driven with the test sample over time, wherein the test sample is a sample in which the spindle (1) is driven by the clamping mechanism (4) by a predetermined test angle after the start of the release of the clamping and the determining section (55) determines whether an operation of the clamping mechanism (4) is proper or not based on a waveform of the load detected by the load detecting section (3) during the drive with the test sample. [6] A program for controlling a rotary table device (100) comprising a spindle (1) holding a table, a drive mechanism (2) driving the spindle (1), a load detecting section (3) detecting a load of the drive mechanism (2), and a clamping mechanism (4) preventing rotation of the spindle (1), the program comprising: a rotation control element for causing the drive mechanism (2) to drive the spindle (1) with a predetermined test pattern after the start of the release of the clamping by the clamping mechanism (4); and a determination element for determining whether an operation of the clamping mechanism (4) is proper or not based on a change in the load detected by the load detecting section (3) when driving the spindle (1) with the test sample over time, wherein the test pattern is a pattern in which the spindle (1) is driven by a predetermined test angle when a predetermined first period of time has elapsed after the start of the release of the clamping by the clamping mechanism (4) and when, further, a predetermined second period of time has elapsed after the elapse of the first period of time and the determining element determines that the operation of the clamping mechanism (4) has a fault when a difference between a first peak load value after the elapse of the first time period and a first peak load value after the elapse of the second time period is equal to or greater than a predetermined threshold value. [7] A program for controlling a rotary table device (100) comprising a spindle (1) holding a table, a drive mechanism (2) driving the spindle (1), a load detecting section (3) detecting a load of the drive mechanism (2), and a clamping mechanism (4) preventing rotation of the spindle (1), the program comprising: a rotation control element for causing the drive mechanism (2) to drive the spindle (1) with a predetermined test pattern after the start of the release of the clamping by the clamping mechanism (4); and a determination element for determining whether an operation of the clamping mechanism (4) is proper or not based on a change in the load detected by the load detecting section (3) when driving the spindle (1) with the test sample over time, wherein the test sample is a sample in which the spindle (1) is driven by the clamping mechanism (4) by a predetermined test angle after the start of the release of the clamping and the determining element determines whether an operation of the clamping mechanism (4) is proper or not based on a waveform of the load detected by the load detecting section (3) during the drive with the test sample. [8] A control method for a rotary table device (100) comprising a spindle (1) holding a table, a drive mechanism (2) driving the spindle (1), a load detecting section (3) detecting a load of the drive mechanism (2), and a clamping mechanism (4) preventing rotation of the spindle (1), the method comprising: Causing the drive mechanism (2) to drive the spindle (1) with a predetermined test pattern after the start of the release of the clamping by the clamping mechanism (4); and Determining whether an operation of the clamping mechanism (4) is proper or not based on a change in the load detected by the load detecting section (3) when driving the spindle (1) with the test sample over time, wherein the test pattern is a pattern in which the spindle (1) is driven by a predetermined test angle when a predetermined first period of time has elapsed after the start of the release of the clamping by the clamping mechanism (4) and when, further, a predetermined second period of time has elapsed after the elapse of the first period of time and Determining that the operation of the clamping mechanism (4) has a fault when a difference between a first peak load value after the elapse of the first time period and a first peak load value after the elapse of the second time period is equal to or greater than a predetermined threshold value. [9] A control method for a rotary table device (100) comprising a spindle (1) holding a table, a drive mechanism (2) driving the spindle (1), a load detecting section (3) detecting a load of the drive mechanism (2), and a clamping mechanism (4) preventing rotation of the spindle (1), the method comprising: Causing the drive mechanism (2) to drive the spindle (1) with a predetermined test pattern after the start of the release of the clamping by the clamping mechanism (4); and Determining whether an operation of the clamping mechanism (4) is proper or not based on a change in the load detected by the load detecting section (3) when driving the spindle (1) with the test sample over time, wherein the test sample is a sample in which the spindle (1) is driven by the clamping mechanism (4) by a predetermined test angle after the start of the release of the clamping and determining whether an operation of the clamping mechanism (4) is proper or not is made based on a waveform of the load detected by the load detecting section (3) during driving with the test sample.

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