Numerical control apparatus, control method, and program

Abstract

To provide a numerical control apparatus, a control method, and a program which allows a user to easily determine whether or not a loading condition of a driven body is proper.SOLUTION: A work machine is equipped with a tool magazine driven by drive of a magazine motor. A numerical control apparatus has a control unit. The control unit outputs instructions to the magazine motor. The control unit estimates a loading condition fluctuated by a tool loaded on the tool magazine. The control unit displays, on a display unit, the estimated loading condition and a reference loading condition which is a reference to the loading condition.SELECTED DRAWING: Figure 5

Description

[Technical Field]

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

[0002] The numerical control device described in Patent Document 1 rotates, for example, a base unit around a rotation axis. The numerical control device includes a speed adjustment unit, a memory unit, an acquisition unit, and a calculation unit. The speed adjustment unit increases or decreases, for example, the rotation speed of the base unit. The memory unit stores a reference inertia, a reference offset load, and a reference time constant. The acquisition unit acquires loading conditions such as the offset load and inertia according to the rotation angle of the base unit. The calculation unit calculates the time constant of the speed adjustment unit based on the acquired inertia, the acquired offset load, the reference inertia, the reference offset load, and the reference time constant. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2023-51255 Summary of the Invention [Problem to be solved by the invention]

[0004] In the above-described numerical control device, it is difficult for the user to determine whether the acquired loading conditions such as unbalanced load and inertia are appropriate values.

[0005] An object of the present invention is to provide a numerical control device, a control method, and a program that allow a user to easily determine whether or not the loading conditions for a driven body are appropriate. [Means for solving the problem]

[0006] The numerical control device of claim 1 is a numerical control device including a control unit that outputs a command to a motor of a machine tool having a driven object driven by the motor, wherein the control unit executes an estimation process that estimates loading conditions that vary depending on the load placed on the driven object based on the driving of the driven object by the motor, and a first display process that displays the loading conditions estimated by the estimation process and reference loading conditions that are the basis for the loading conditions on a display unit.By visually checking the display unit, a user can recognize the difference between the loading conditions and the reference loading conditions.This allows the user to easily determine whether the estimated loading conditions are appropriate.

[0007] The control unit of the numerical control device of claim 2 may execute a storage process of storing the loading conditions estimated in the estimation process in a storage device, a first drive setting process of setting the drive of the driven body to drive based on the loading conditions stored in the storage device in the storage process, and a second display process of displaying the loading conditions set in the first drive setting process on the display unit. A user can check the loading conditions when driving the driven body in addition to the estimated loading conditions and the reference loading conditions.

[0008] The reference load condition of the numerical control device of claim 3 is a condition when the load for driving the driven body is the largest, and the control unit may execute a first setting process that sets execution of the first drive setting process to be enabled or disabled, and a second drive setting process that sets driving of the driven body to drive based on the reference load condition when the first setting process sets the first drive setting process to be disabled. Since the numerical control device drives the driven body based on a reference time constant, the load on the driven body can be reduced.

[0009] The control unit of the numerical control device of claim 4 may execute a third display process of displaying a setting screen for executing the first setting process on the display unit. The numerical control device can accept settings from a user.

[0010] The control unit of the numerical control device of claim 5 may execute a second setting process for setting execution of the storage process to be valid or invalid. The numerical control device can maintain the state of the storage device before estimating the loading conditions.

[0011] The control unit of the numerical control device of claim 6 may execute a third display process of displaying a setting screen for executing the second setting process on the display unit. The numerical control device can accept settings from a user.

[0012] The control unit of the numerical control device of claim 7 may execute a notification process to issue a warning when the load for driving the driven body based on the loading condition estimated in the estimation process is larger than the load for driving the driven body based on the reference loading condition. The numerical control device can notify a user that the load is larger than the reference loading condition.

[0013] The loading condition of the numerical control device of claim 8 may be at least one of the inertia and the offset load of the driven body, allowing the user to appropriately determine whether the inertia and the offset load are appropriate.

[0014] The control method of claim 9 is a control method for a numerical control device that outputs a command to a motor of a machine tool having a driven body driven by the drive of the motor, and is characterized by executing an estimation step of estimating loading conditions that vary depending on the load placed on the driven body based on the drive of the driven body by the motor, and a display step of displaying the loading conditions estimated in the estimation step and reference loading conditions that are the basis for the loading conditions on a display unit. The above control method achieves the same effects as claim 1.

[0015] The program of claim 10 is characterized in that it causes a computer of a numerical control device that outputs commands to a machine tool having a driven body driven by a motor to execute an estimation step of estimating loading conditions that vary depending on the load placed on the driven body based on the driving of the driven body by the motor, and a display step of displaying the loading conditions estimated in the estimation step and reference loading conditions that are standards for the loading conditions on a display unit. The above program achieves the same effect as claim 1.

[0016] A computer-readable storage medium storing the above program is also novel and useful. [Brief explanation of the drawings]

[0017] [Figure 1] FIG. 1 is a front view of a machine tool 1. [Figure 2] FIG. 2 is a partially cutaway view of the spindle head 7 and its surroundings as seen from the right side. [Figure 3] FIG. 2 is a diagram showing the electrical configuration of a numerical control device 40 and a machine tool 1. [Figure 4] 10 is a flowchart of an estimation process. [Figure 5] 10 is a flowchart of a main process. [Figure 6] 6 is a flowchart of the main processing, which is a continuation of FIG. 5. [Figure 7] 3A and 3B are diagrams showing the display mode of the display unit 19. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0018] An embodiment of the present invention will be described. In the following description, left and right, up and down, and front and back in the drawings will be used. The left and right direction, up and down direction, and front and back direction of the machine tool 1 correspond to the X-axis direction, Y-axis direction, and Z-axis direction of the machine tool 1, respectively. The machine tool 1 shown in FIG. 1 is a vertical machining center in which the spindle 9 extends in the vertical direction (Z-axis direction). "ATC" in this embodiment is an abbreviation for "Automatic Tool Changer." Furthermore, "NC" in this embodiment is an abbreviation for "Numerical Control."

[0019] The structure of machine tool 1 will be described with reference to Figures 1 and 2. Machine tool 1 comprises a base 2, a column 5, a control box 6, a table 13, a spindle head 7, a spindle 9, and a tool changer 20. Base 2 is a metal base having a roughly rectangular parallelepiped shape. Column 5 is erected at the rear of the upper part of base 2. Control box 6 is provided on the rear side of column 5. Control box 6 houses a numerical control device 40 (see Figure 3), which will be described later. Table 13 is movable in two directions, the X-axis and the Y-axis. Spindle head 7 moves up and down in the Z-axis direction in front of column 5.

[0020] As shown in Figure 2, the spindle 9 is rotatably supported inside the spindle head 7. The spindle motor 65 is fixed to the top of the spindle head 7. The spindle 9 is connected to a drive shaft (not shown) extending downward from the spindle motor 65. The spindle 9 is rotated by the drive of the spindle motor 65. The spindle 9 has a mounting hole 92, a shaft hole 91, a clamping portion 93, and a draw bar 94. The mounting hole 92 is provided at the lower end of the spindle 9 and communicates with the shaft hole 91 extending coaxially with the spindle 9. The clamping portion 93 is provided above the mounting hole 92. The draw bar 94 is provided inside the shaft hole 91.

[0021] Tool T includes a holder 17 and a cutting tool 4. One end of holder 17 holds cutting tool 4, and the other end includes a mounting portion 17A and a pull stud 17B. Mounting portion 17A is mounted in a mounting hole 92 in spindle 9. Pull stud 17B protrudes from the top of mounting portion 17A in the axial direction of cutting tool 4. When mounting portion 17A is mounted in mounting hole 92, clamping portion 93 clamps pull stud 17B. When drawbar 94 presses clamping portion 93 downward, clamping portion 93 releases its grip on pull stud 17B.

[0022] The spindle head 7 is provided with a crank lever 30 and a tension coil spring (not shown) inside. The crank lever 30 is generally inverted L-shaped when viewed from the right side and can swing around a support shaft 31. The support shaft 31 extends in the left-right direction and is fixed inside the spindle head 7. The front end of the crank lever 30 engages from above with a pin 95 provided on a draw bar 94. A plate cam 32 is provided at the rear end of the crank lever 30. A cam follower 34 is supported forward on the upper front surface of the column 5. The cam follower 34 slides on the cam surface of the plate cam 32, which moves up and down. The tension coil spring constantly urges the crank lever 30 clockwise when viewed from the right side. Therefore, the crank lever 30 constantly releases the downward pressure of the pin 95.

[0023] The structure of the tool changer 20 will be described with reference to FIG. 2. The tool changer 20 includes a tool magazine 21, a support base 24, a reducer 25, and a magazine motor 64. The tool magazine 21 is a turret type. The tool magazine 21 includes a magazine body 22, a drive shaft 23, and multiple grip arms 8. The magazine body 22 is disk-shaped. The drive shaft 23 is inclined diagonally downward relative to the front of the machine tool 1. The axis of the drive shaft 23 passes through the center of the magazine body 22, which will be described later. The drive shaft 23 is provided at the center of rotation of the magazine body 22. The front surface of the magazine body 22 faces the front side of the machine tool 1. The grip arms 8 are provided at predetermined intervals around the outer periphery of the magazine body 22. In this embodiment, 28 grip arms 8 are provided on the magazine body 22. Therefore, the tool magazine 21 can hold 28 tools T. The grip arms 8 are provided so as to be swingable in the forward and backward directions around a fulcrum base 26 fixed to the outer periphery of the magazine body 22. The grip arm 8 has a gripping portion 81 at its tip. The gripping portion 81 detachably grips the holder 17. The spindle position of the tool magazine 21 is the lowest position of the magazine body 22, and is a position that faces closely to the spindle 9. The grip arm 8 at the spindle position faces the spindle 9 and is the target position for tool replacement.

[0024] The support base 24 is fixed to a frame (not shown). The frame is fixed to the column 5 and is provided near the spindle head 7. The support base 24 supports the drive shaft 23. The reducer 25 is fixed to the upper part of the support base 24. The reducer 25 has a plurality of gears and cams (not shown). The magazine motor 64 is fixed to the upper part of the reducer 25. The drive shaft (not shown) of the magazine motor 64 is connected to the reducer 25. The reducer 25 reduces the driving force of the magazine motor 64 and transmits it to the drive shaft 23. Therefore, the tool magazine 21 rotates by the driving force of the magazine motor 64.

[0025] The ATC operation will be described with reference to FIG. 2. The ATC operation is a tool change operation, which involves attaching and detaching tool T to and from spindle 9. With tool T's attachment portion 17A attached to attachment hole 92 of spindle 9, spindle head 7 rises from its machining position for a workpiece fixed to table 13. Cam follower 34 slides from top to bottom on the cam surface of plate cam 32 of crank lever 30. Crank lever 30 rotates counterclockwise around support shaft 31 as viewed from the right side. The front end of crank lever 30 engages pin 95 from above and presses draw bar 94 downward. Draw bar 94 urges clamping portion 93 downward. Therefore, clamping portion 93 releases clamping of pull stud 17B. Grip arm 8, which is in the spindle position, swings counterclockwise around support base 26 as viewed from the right side as spindle head 7 rises. The gripping portion 81 of the grip arm 8 grips the tool T currently attached to the spindle 9 (hereinafter referred to as the "current tool T") at the same time as the clamping by the clamping portion 93 is released.

[0026] The spindle head 7 rises further toward the ATC origin. The current tool T held by the gripper 81 is released from the mounting hole 92 of the spindle 9. When the spindle head 7 reaches the ATC origin, the tool changer 20 rotates the magazine body 22 by rotating the magazine motor 64 based on a command from the numerical control device 40. The tool changer 20 indexes the tool T (hereinafter referred to as the "next tool T") specified by a control command of the NC program to the spindle position. The next tool T indexed to the spindle position is placed below the spindle 9.

[0027] The spindle head 7 descends from the ATC origin. The mounting portion 17A of the holder 17 of the next tool T enters the mounting hole 92 of the spindle 9. With the mounting portion 17A inserted into the mounting hole 92, the spindle head 7 descends further. The cam follower 34 slides on the cam surface of the plate cam 32 from bottom to top. The crank lever 30 rotates clockwise around the support shaft 31 as viewed from the right side. The front end of the crank lever 30 moves upward away from the pin 95, releasing the downward pressure on the draw bar 94. The draw bar 94 releases the downward bias of the clamping portion 93. The clamping portion 93 clamps the pull stud 17B of the next tool T. The next tool T is attached to the spindle 9. As the spindle head 7 descends further, the gripping portion 81 of the grip arm 8 disengages from the next tool T attached to the spindle 9. This completes the tool change from the current tool T to the next tool T in the spindle 9.

[0028] The electrical configuration of the numerical control device 40 and the machine tool 1 will be described with reference to Figure 3. The numerical control device 40 comprises a control unit 41, a ROM 42, a RAM 43, a storage device 44, an input / output unit 45, a drive circuit 48, etc. The control unit 41 is connected to the drive circuit 48 via the input / output unit 45. The control unit 41 includes a CPU and the like and controls the operation of the machine tool 1. The ROM 42 stores an estimation program for executing the estimation processing described below, and a main program for executing the main processing.

[0029] The RAM 43 temporarily stores data generated in various processes. The storage device 44 is a rewritable storage medium, such as an EPROM, EEPROM, or flash memory. The storage device 44 stores the NC program, the reference loading conditions, the reference time constant tb, and the like. The reference loading conditions are reference loading conditions, and are the conditions under which the load required to drive the tool magazine 21 is greatest. More specifically, the reference loading conditions are the maximum inertia Jb and the maximum unbalanced load Twb determined by the machine specifications of the machine tool 1. The reference time constant tb is a time constant that allows the magazine motor 64 to operate under the reference loading conditions without exceeding the maximum torque that it can output.

[0030] The input / output unit 45 inputs and outputs various signals between the drive circuit 48, encoder 641, control unit 41, ROM 42, RAM 43, storage device 44, operation unit 18, and display unit 19. The drive circuit 48 corresponds to the magazine motor 64, and outputs a pulse signal to the magazine motor 64 based on a command output by the control unit 41. The encoder 641 detects the rotational position of the magazine motor 64. The encoder 641 feeds back the detected rotational position to the drive circuit 48 and the input / output unit 45. The encoder 641 is a general absolute value encoder, and is a position sensor that detects and outputs the absolute position of the rotational position. Descriptions of other movement axes, such as the X-axis, Y-axis, and Z-axis, will be omitted.

[0031] The control unit 41 estimates the loading conditions of the tool magazine 21 based on feedback information from the encoder 641. The loading conditions vary depending on the arrangement, weight, etc. of the tools T attached to the tool magazine 21. The loading conditions include the inertia J and the unbalanced load Tw. The estimated loading conditions are stored in the storage device 44.

[0032] The operation unit 18 receives instructions input by the user. The display unit 19 displays information to be notified to the user. The display unit 19 is, for example, a liquid crystal touch panel.

[0033] The estimation process will be described with reference to Fig. 4. When machine tool 1 is powered on, control unit 41 reads out the estimation program from ROM 42 and executes the estimation process.

[0034] When the estimation process is executed, the control unit 41 determines whether the tool magazine 21 has been driven by a predetermined amount (S1). The predetermined amount is the cumulative number of pitches of the tool magazine 21 required to estimate the loading conditions. For example, the distance between tools T adjacent to each other in the circumferential direction is defined as one pitch. When one pitch is moved, the number of turning pitches is 1. The cumulative number of pitches is the cumulative number of turning pitches.

[0035] For example, there are cases where ATC operations are performed multiple times in an NC program. In multiple ATC operations, the tool magazine 21 may rotate in one direction (one way) or in both directions (reciprocating). Therefore, there are two types of cumulative pitch numbers: cumulative pitch number (one direction) and cumulative pitch number (both directions).

[0036] The cumulative number of pitches (one direction) is the cumulative value of the number of pitches traveled in only one direction. For example, if the first ATC operation moves one pitch, the second ATC operation moves one pitch, and the third ATC operation moves four pitches, the cumulative number of pitches (one direction) is 1 + 1 + 4 = 6.

[0037] On the other hand, the cumulative pitch count (both directions) is the cumulative value of the number of pitches traveled back and forth in both directions. For example, if the first ATC operation involves moving one pitch in one direction (one way), and the second ATC operation involves moving three pitches in the opposite direction, the cumulative pitch count (both directions) is four pitches. Note that, because the reliability of the estimation results is high when turning in both directions, the cumulative pitch count can be smaller than when turning in only one direction.

[0038] In the process of S3, for example, when the cumulative number of pitches moved in one direction (one direction) reaches 6 pitches, the control unit 41 determines that the tool magazine 21 has been driven a predetermined amount. When the cumulative number of pitches moved in both directions (both directions) reaches 4 pitches, the control unit 41 determines that the tool magazine 21 has been driven a predetermined amount. Note that these cumulative pitch numbers may be set as appropriate to numbers other than the above 6 pitches and 4 pitches.

[0039] If it is determined that the tool magazine 21 has not been driven by the predetermined amount (S1: NO), the control unit 41 returns the process to S1. If it is determined that the tool magazine 21 has been driven by the predetermined amount (S1: YES), the control unit 41 estimates the loading conditions of the tool magazine 21 based on the driving of the tool magazine 21 (S3). The loading conditions are the inertia J and unbalanced load Tw when the tool magazine 21 is driven. The control unit 41 temporarily stores the estimated inertia J and unbalanced load Tw in the RAM 43 (S5). The control unit 41 initializes the cumulative pitch number and returns the process to S1.

[0040] In this way, the control unit 41 continues to estimate the loading conditions in accordance with the driving of the tool magazine 21.

[0041] The main processing will be described with reference to Fig. 5. The main processing is executed in parallel with the above-described estimation processing. When the power is turned on to the machine tool 1, the control unit 41 reads out the main program from the ROM 42 and executes the main processing.

[0042] When the main process is executed, the control unit 41 displays a loading condition setting screen 51 (see FIG. 7) on the display unit 19 (S101). For example, a column 511 for "operation procedure" is displayed in the left half area of ​​the setting screen 51. Columns 512, 513, and 514 for "reference loading conditions," "estimated results," and "loading condition setting" are displayed in this order in the right half area of ​​the setting screen 51. A column 515 for "function setting" is also provided at the bottom of the right area. Details will be described later.

[0043] The control unit 41 accepts a setting of whether acceleration adjustment of the tool magazine 21 is enabled or disabled (S103). In the initial setting, for example, acceleration adjustment is set to enabled. The user can also set acceleration adjustment to enabled or disabled by operating the "function setting" field 515. For example, when acceleration adjustment is set to disabled, the control unit 41 drives the tool magazine 21 based on the reference loading conditions stored in the storage device 44. On the other hand, when acceleration adjustment is set to enabled, the control unit 41 drives the tool magazine 21 based on the loading conditions stored in the storage device 44.

[0044] The control unit 41 accepts a setting of whether to enable or disable automatic update of the loading conditions stored in the storage device 44 (S105). Automatic update of loading conditions is a function that updates the loading conditions stored in the storage device 44 to the estimated loading conditions when the loading conditions are estimated in the processing of S3 of the estimation process (see FIG. 4). In the initial setting, for example, automatic update of loading conditions is set to enabled. The user can also operate the "function setting" column 515 to set automatic update of loading conditions to enabled or disabled.

[0045] The control unit 41 determines whether the setting of the loading conditions has been accepted (S107). For example, the user can set the loading conditions of the tool magazine 21 by himself / herself. The user operates the "Loading Condition Setting" field 514 on the display unit 19 to input a desired value. In this case, the control unit 41 determines that the setting of the loading conditions has been accepted (S107: YES), and stores the loading conditions set by the user in the storage device 44 (S109). Note that, if the loading conditions are already stored in the storage device 44, they are updated to the loading conditions input by the user. That is, the inertia J and offset load Tw in the storage device 44 are updated. The control unit 41 proceeds to S111.

[0046] On the other hand, if it is determined that the setting of the loading conditions has not been accepted (S107: NO), the control unit 41 proceeds to S111. In this case, since there is no input from the user, the control unit 41 identifies the loading conditions stored in the storage device 44.

[0047] The control unit 41 displays the loading conditions stored in the storage device 44 on the display unit 19 (S111). For example, if the process goes through S109, the loading conditions set by the user are displayed in the "Loading Condition Setting" field 514 (see FIG. 7). On the other hand, if the process goes through S107: NO, the loading conditions stored in advance in the storage device 44 are displayed in the "Loading Condition Setting" field 514 (see FIG. 7). For example, the "Loading Condition Setting" field 514 displays the inertia J as "2.0000 kgm 2 " and the unbalanced load Tw is displayed as "40,000 Nm" (see Figure 7).

[0048] The control unit 41 displays the reference loading conditions stored in the storage device 44 on the display unit 19 (S113). For example, in the "reference loading conditions" column 512, the maximum inertia Jb is set to "9.9800 kgm 2 " and the maximum unbalanced load Twb is displayed as "125,000 Nm" (see Figure 7).

[0049] The control unit 41 calculates a time constant t1 for driving the tool magazine 21 based on the loading conditions stored in the storage device 44 (S115). The control unit 41 calculates the time constant t1 by using, for example, the following (Equation 1). ·t1=Jtb / {Jb+tb(|Twb|-|Tw|) / Vmax} (Number 1) Here, J is inertia, tb is the reference time constant, Jb is the maximum inertia, Twb is the maximum unbalanced load, Tw is the unbalanced load, and Vmax is the maximum angular velocity.

[0050] The control unit 41 determines whether or not the estimated results of the loading conditions are stored in the RAM 43 (S117). If it is determined that the estimated results are not stored in the RAM 43 (S117: NO), the control unit 41 proceeds to S127.

[0051] On the other hand, if it is determined that the estimation results of the loading conditions are stored in the RAM 43 (S117: YES), the control unit 41 displays the estimated loading conditions on the display unit 19 (S119). In this case, the "Estimation Result" column 513 on the display unit 19 is updated to the values ​​of the loading conditions in the RAM 43, and the estimated date and time are also updated. In the process of S119, the control unit 41 displays the estimated loading conditions on the display unit 19 together with the reference loading conditions stored in the storage device 44. In addition, in the process of S119, the control unit 41 updates the loading conditions displayed on the display unit 19 every time the loading conditions are estimated in the process of S3 of the estimation process (see FIG. 4). In addition, the control unit 41 displays the estimated loading conditions on the display unit 19 regardless of whether the execution of automatic update of the loading conditions is enabled or disabled in the process of S105.

[0052] The control unit 41 determines whether the setting for automatic update of loading conditions in the storage device 44 is valid or not (S121). If it is determined that the setting for automatic update of loading conditions is not valid (S121: NO), the control unit 41 proceeds to the process of S127.

[0053] On the other hand, when it is determined that the automatic update of the loading conditions in the storage device 44 is enabled (S121: YES), the control unit 41 updates the loading conditions stored in the storage device 44 to the estimated loading conditions (S123). That is, the control unit 41 stores the estimated loading conditions in the storage device 44.

[0054] The control unit 41 calculates the time constant t1 based on the estimated loading conditions (S125). For example, (Equation 1) is used to calculate the time constant t1. Note that the inertia J in (Equation 1) is the inertia J updated in the processing of S123. Furthermore, the unbalanced load Tw in (Equation 1) is the unbalanced load Tw updated in the processing of S123. The control unit 41 proceeds to S127.

[0055] The control unit 41 determines whether the calculated time constant t1 is greater than the reference time constant tb (S127). If the process proceeds via S117: NO or S121: NO, the time constant t1 calculated in the process of S115 is applied to the "time constant t1" in S127. If the process proceeds via S121: YES, the time constant t1 calculated in the process of S125 is applied to the "time constant t1" in S127.

[0056] If it is determined that the calculated time constant t1 is greater than the reference time constant tb (S127: YES), the control unit 41 issues a warning to that effect (S131). Because the time constant t1 calculated in the process of S125 is greater than the reference time constant tb, the load required to drive the tool magazine 21 based on the estimated loading conditions is greater than the load required to drive the tool magazine 21 based on the reference loading conditions. Therefore, the control unit 41 displays text such as "The tool magazine may be damaged" or "Please change the loading conditions" on the display unit 19. In this case, the user can recognize that the loading conditions are incorrect. The control unit 41 returns the process to S101. Thereafter, the user inputs, for example, the loading conditions (S107).

[0057] On the other hand, if the calculated time constant t1 is equal to or less than the reference time constant tb (S127: NO), the control unit 41 determines whether acceleration adjustment is enabled (S129). If it is determined that acceleration adjustment is enabled (S129: YES), the control unit 41 sets the drive of the tool magazine 21 to drive based on the loading conditions stored in the storage device 44 (S133). In detail, the time constant for driving the tool magazine 21 is set to the time constant t1 calculated in the process of S115 or S125. For example, if the result of S117: NO or S121: NO is returned, the control unit 41 sets the time constant to the time constant t1 calculated in the process of S115. For example, if the result of S121: YES is returned, the control unit 41 sets the time constant to the time constant t1 calculated in the process of S125. The control unit 41 proceeds to S137.

[0058] On the other hand, if it is determined that the acceleration adjustment is disabled (S129: NO), the control unit 41 sets the drive of the tool magazine 21 to drive based on the reference loading conditions stored in the storage device 44 (S135). Specifically, the control unit 41 sets the time constant for driving the tool magazine 21 to the reference time constant tb. In this case, the control unit 41 does not use the time constant t1 calculated in the processing of S115 or the time constant t1 calculated in the processing of S125. The control unit 41 proceeds to the processing of S137.

[0059] The control unit 41 displays the set loading conditions on the display unit 19 (S137). For example, if the process goes through S133, the "Loading Condition Setting" field 514 on the display unit 19 is updated to the loading conditions set in S133. For example, if the process goes through S135, the "Loading Condition Setting" field 514 on the display unit 19 is updated to the standard loading conditions.

[0060] The control unit 41 determines whether or not there is an instruction to drive the tool magazine 21 (S139). If it is determined that there is no instruction to drive the tool magazine 21 (S139: NO), the control unit 41 does not drive the tool magazine 21 and returns the process to S101.

[0061] On the other hand, if it is determined that there is an instruction to drive the tool magazine 21 (S139: YES), the control unit 41 drives the tool magazine 21 with the time constant set in the process of S133 or S135 (S141). The control unit 41 returns the process to S101.

[0062] As described above, the control unit 41 estimates the loading conditions that vary depending on the tools T loaded in the tool magazine 21, based on the drive of the tool magazine 21 by the magazine motor 64. The control unit 41 displays on the display unit 19 the estimated loading conditions and the reference loading conditions that are the references for the loading conditions.

[0063] The numerical control device 40 allows the user to recognize the difference between the loading conditions and the reference loading conditions by visually checking the display unit 19. Therefore, the user can easily determine whether the estimated loading conditions are appropriate.

[0064] The control unit 41 stores the estimated loading conditions in the storage device 44. The control unit 41 sets the drive of the tool magazine 21 to drive based on the loading conditions stored in the storage device 44. The control unit 41 displays the set loading conditions on the display unit 19. The user can check the loading conditions when driving the tool magazine 21, in addition to the estimated loading conditions and the reference loading conditions.

[0065] The reference loading conditions are conditions under which the load required to drive the tool magazine 21 is greatest. The control unit 41 sets acceleration adjustment to enabled or disabled. When acceleration adjustment is set to disabled, the control unit 41 drives the tool magazine 21 based on the reference loading conditions. The numerical control device 40 drives the tool magazine 21 based on the reference time constant tb, thereby reducing the load on the tool magazine 21.

[0066] The control unit 41 displays a setting screen 51 for enabling or disabling the acceleration adjustment of the tool magazine 21 on the display unit 19. The numerical control device 40 can accept settings from the user.

[0067] The control unit 41 sets the automatic update of the loading conditions to valid or invalid, and the numerical control device 40 can maintain the state of the storage device 44 before estimating the loading conditions.

[0068] The control unit 41 displays a setting screen 51 for enabling or disabling automatic updating of loading conditions on the display unit 19. The numerical control device 40 can accept settings from the user.

[0069] The control unit 41 issues a warning when the load for driving the tool magazine 21 based on the estimated loading conditions is greater than the load for driving the tool magazine 21 based on the standard loading conditions. The numerical control device 40 can notify the user of an abnormality in the estimation result.

[0070] In the above description, the magazine motor 64 is an example of a "motor" of the present invention. The tool magazine 21 is an example of a "driven body" of the present invention. The tool T is an example of a "load" of the present invention. The maximum inertia Jb and the maximum unbalanced load Twb are examples of a "loading condition" of the present invention. The processing of S3 is an example of an "estimation processing" of the present invention. The processing of S119 is an example of a "first display processing" of the present invention. The processing of S123 is an example of a "storage processing" of the present invention. The processing of S133 is an example of a "first drive setting processing" of the present invention. The processing of S137 is an example of a "second display processing" of the present invention. The processing of S103 is an example of a "first setting processing" of the present invention. The processing of S135 is an example of a "second drive setting processing" of the present invention. The processing of S101 is an example of a "third display processing" of the present invention. The processing of S105 is an example of a "second setting processing" of the present invention. The processing of S131 is an example of a "notification processing" of the present invention. Control of the control unit 41 that executes each step of the estimation processing and the main processing is an example of a "control method" of the present invention. The control unit 41 that executes the estimation process and the main process is an example of the "computer" of the present invention. The process of S3 is an example of the "estimation step" of the present invention. The process of S119 is an example of the "display step" of the present invention.

[0071] The present invention is not limited to the above-described embodiment, and various modifications are possible. The techniques disclosed in the above-described embodiment and modifications can be combined to the extent that they are not inconsistent. The machine tool 1 is a vertical machine tool in which the axial direction of the spindle 9 extends in the vertical direction, but it may also be a horizontal machine tool in which the axial direction of the spindle 9 extends in the front-to-rear direction.

[0072] In the above embodiment, the loading conditions of the tool magazine 21 are targeted, but this is not limiting. The technology disclosed above can be applied to objects other than the tool magazine 21. For example, the loading conditions of the table 13 may be targeted. In this case, the loading conditions of the table 13 vary depending on the arrangement and weight of the workpieces, etc.

[0073] In the above embodiment, the loading conditions are the inertia J and the unbalanced load Tw of the tool magazine 21, but this is not limiting. For example, the loading conditions may be at least one of the inertia J and the unbalanced load Tw of the tool magazine 21. The user can appropriately determine whether the inertia J and the unbalanced load Tw are appropriate.

[0074] In the above embodiment, the reference loading condition is the maximum inertia Jb and the maximum unbalanced load Twb, but is not limited to this. For example, the reference loading condition may be determined by at least one of the maximum inertia Jb and the maximum unbalanced load Twb around the drive shaft 23 of the tool magazine 21.

[0075] In the above embodiment, the torque under the reference loading conditions is the maximum output of the magazine motor 64, but this is not limiting. For example, the torque under the reference loading conditions does not have to be the maximum output of the magazine motor 64. Furthermore, the reference time constant tb may be a value determined taking into consideration the lifespan and torque shortage of the reducer 25. It is sufficient that the reference loading conditions are set appropriately.

[0076] In the above embodiment, the loading conditions are the inertia J and the offset load Tw, but are not limited to this. For example, the inertia J and the offset load Tw are specific values, but classifications such as "heavy," "light," "standard," or "level 1" to "level 10" may be stored. It is sufficient if the time constant corresponding to these classifications can be specified.

[0077] In the above embodiment, the time constant t1 is calculated using Equation 1, but other equations may be used. The time constant t1 may be calculated using any known method.

[0078] In the above embodiment, the "Operation Procedure" column 511, the "Standard Loading Condition" column 512, the "Estimation Result" column 513, the "Loading Condition Setting" column 514, and the "Function Setting" column 515 are simultaneously displayed on the display unit 19, but this is not limiting. For example, the columns 511 to 515 may be displayed in a switchable manner. For example, the estimated loading conditions and the standard loading conditions may be displayed in a switchable manner.

[0079] In the above embodiment, the inertia J and the offset load Tw are displayed in the "Estimation result" column 513 and the loading condition setting column 514, but this is not limiting. For example, the inertia J and the offset load Tw may be switched and displayed. Only one of the inertia J and the offset load Tw may be displayed. Furthermore, the "Reference loading condition" column 512 may be switched and displayed between the maximum inertia Jb and the maximum offset load Twb. Only one of the maximum inertia Jb and the maximum offset load Twb may be displayed.

[0080] In the above embodiment, the "Function Settings" field 515 on the setting screen 51 simultaneously displays the "Acceleration Adjustment" and "Automatic Update" screens, but this is not limiting. For example, the "Function Settings" field 515 may also be switched between the "Acceleration Adjustment" and "Automatic Update" screens.

[0081] In the above embodiment, the time constant t1 and the reference time constant tb are not displayed on the display unit 19. However, this is not limitative. At least one of the time constant t1 and the reference time constant tb may be displayed on the display unit 19.

[0082] Instead of the control unit 41, an ASIC, an FPGA (Field Programmable Gate Array), or the like may be used as a processor. Each process may be distributed among multiple processors. The numerical control device 40 may also include other non-transitory storage media, such as an HDD. The non-transitory storage media may be any storage media capable of retaining information regardless of the period for which the information is stored. The non-transitory storage media may not include a temporary storage medium (for example, a transmitted signal).

[0083] The various programs may be downloaded (i.e., transmitted as a transmission signal) from a server connected to a network (not shown) and stored in a memory such as a HDD. In this case, the various programs may be stored in a non-transitory storage medium such as a HDD provided in the server. [Explanation of symbols]

[0084] 1 Machine tools 9 Main axis 19 Display section 21 Tool magazine 23 Drive shaft 40 Numerical Control Device 41 Control Unit 44 Storage device 51 Settings screen 64 Magazine motor T tool, current tool, next tool tb, t1 time constant J, Jb inertia Tw, Twb Unbalanced load

Claims

1. A numerical control device including a control unit that outputs a command to a motor for a machine tool having a driven body driven by the motor, The control unit an estimation process for estimating a loading condition that varies depending on the load placed on the driven body based on the driving of the driven body by the motor; a first display process for displaying the loading conditions estimated in the estimation process and reference loading conditions that are the references for the loading conditions on a display unit; Run A numerical control device characterized by:

2. The control unit a storage process of storing the loading conditions estimated in the estimation process in a storage device; a first drive setting process for setting the drive of the driven body to drive based on the loading condition stored in the storage device in the storage process; a second display process for displaying the loading conditions set in the first drive setting process on the display unit; Run 2. The numerical control device according to claim 1 .

3. the reference load condition is a condition when the load for driving the driven body is the largest, The control unit a first setting process for setting execution of the first drive setting process to valid or invalid; When the first drive setting process is set to be invalid in the first setting process, a second drive setting process is performed to set the drive of the driven body to be driven based on the reference loading condition. Run 3. The numerical control device according to claim 2.

4. The control unit a third display process for displaying a setting screen for executing the first setting process on the display unit; Run 4. The numerical control device according to claim 3.

5. The control unit A second setting process for setting the execution of the storage process to valid or invalid. Run 3. The numerical control device according to claim 2.

6. The control unit a third display process for displaying a setting screen for executing the second setting process on the display unit; Run 6. The numerical control device according to claim 5,

7. The control unit a notification process for issuing a warning when the load for driving the driven body based on the loading condition estimated in the estimation process is greater than the load for driving the driven body based on the reference loading condition; Run 2. The numerical control device according to claim 1 .

8. The loading condition is at least one of the inertia and the offset load of the driven body.

2. The numerical control device according to claim 1 .

9. A control method for a numerical control device that outputs a command to a motor of a machine tool having a driven body driven by the motor, comprising: an estimation step of estimating a loading condition that varies depending on a load placed on the driven body based on the driving of the driven body by the motor; a display step of displaying the loading conditions estimated in the estimation step and reference loading conditions that are the references for the loading conditions on a display unit; Run A control method comprising:

10. A computer of a numerical control device that outputs a command to a motor for a machine tool having a driven body driven by the motor, an estimation step of estimating a loading condition that varies depending on a load placed on the driven body based on the driving of the driven body by the motor; a display step of displaying the loading conditions estimated in the estimation step and reference loading conditions that are the references for the loading conditions on a display unit; Run A program characterized by:

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