Numerical control device, control method and program

Abstract

To provide a numerical control device, control method and program, which enable continuing operation of a machine tool.SOLUTION: A numerical control device comprises a control part. The control part outputs commands to a motor for a machine tool equipped with a driven body that is driven by the driving motor. A storage device stores loading conditions that change depending on a loaded article placed on the driven body. The control part drives the driven body based on the loading conditions stored in the storage device. The control part determines whether the loading conditions have changed. When determining that the loading conditions have been changed by a first determination process, the control part changes the loading conditions stored in the storage part to reference loading conditions.SELECTED DRAWING: Figure 6

Description

[Technical Field]

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

[0002] The machine tool described in Patent Document 1 is capable of adjusting the operating speed of the tool magazine relative to an initial operating speed, and operates the tool magazine at the operating speed after adjustment. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-58963 Summary of the Invention [Problem to be solved by the invention]

[0004] In the above machine tool, if there is a problem with the operating speed of the tool magazine after adjustment, the tool magazine will rotate at an incorrect speed, which could result in the machine tool stopping the operation of the NC program, for example.

[0005] An object of the present invention is to provide a numerical control device, a control method, and a program that enable the operation of a machine tool to continue. [Means for solving the problem]

[0006] The numerical control device of claim 1 is a numerical control device including a control unit that outputs commands to a motor of a machine tool having a driven body driven by the drive of the motor, and a storage device that stores loading conditions that vary depending on the load loaded on the driven body, and the control unit executes a drive process that drives the driven body based on the loading conditions stored in the storage device, a first determination process that determines whether the loading conditions have changed, and a change process that changes the loading conditions stored in the storage device to standard loading conditions if it is determined by the first determination process that the loading conditions have changed. The above numerical control device can continue operating the machine tool even if the driving load on the driven body increases due to changes in the loading conditions.

[0007] In the numerical control device of claim 2, the loaded object is a tool, and the driven body is a tool magazine that detachably loads the tool. The control unit executes a second determination process to determine whether a single tool change operation has been performed, the second determination process comprising a plurality of steps, in which an ATC operation is performed for each step, in which the tool is transported to a predetermined position by rotating the tool magazine and then attached to the spindle of the machine tool. The first determination process may determine that the loading conditions of the tool magazine have changed if it is determined in the second determination process that the single tool change operation has been performed. When a single tool change operation is performed, the loading conditions of the tool magazine change. In this case, the numerical control device drives the tool magazine based on the reference loading conditions. Therefore, the numerical control device can continue operating the machine tool.

[0008] In the numerical control device of claim 3, the loaded object may be a tool, the driven body may be a tool magazine that detachably loads the tool, and the first determination process may determine that the loading conditions of the tool magazine have changed when a code commanding a tool change is read. When a tool change is performed, the loading conditions of the tool magazine change. The numerical control device drives the tool magazine based on the reference loading conditions. Therefore, the numerical control device can continue operating the machine tool.

[0009] In the numerical control device of claim 4, the loaded object is a tool, and the driven body is a tool magazine that detachably loads the tool, and the control unit executes a second determination process in a tool app capable of accepting an operation of the tool magazine to determine whether an indexing operation for indexing the tool magazine to a predetermined position has been executed, and the first determination process may determine that the loading conditions of the tool magazine have changed if it is determined in the second determination process that the indexing operation has been executed. When the indexing operation is executed, a tool is attached to or detached from the tool magazine. In this case, the loading conditions of the tool magazine change. The numerical control device drives the tool magazine under the reference loading conditions. Therefore, the numerical control device can continue operating the machine tool.

[0010] In the numerical control device of claim 5, the loaded object is a tool, the driven body is a tool magazine that detachably loads the tool, and the control unit executes a second determination process to determine whether the tool numbers of the tools assigned to each of the multiple pods in the tool magazine have changed, and the first determination process may determine that the loading conditions of the tool magazine have changed if it is determined in the second determination process that the tool numbers have changed. If the tool numbers assigned to the pods are changed, the loading conditions of the tool magazine change. The numerical control device drives the tool magazine under the standard loading conditions. Therefore, the numerical control device can continue operating the machine tool.

[0011] In the numerical control device of claim 6, the loaded object is a tool, the driven body is a tool magazine that detachably loads the tool, the storage device further stores tool data indicating information about the tool, the control unit executes a second determination process to determine whether the tool data has been changed, and the first determination process may determine that the loading conditions of the tool magazine have changed if the second determination process determines that the tool data has been changed. When a tool is attached or detached from the tool magazine, a user may change the tool data of the tool. In this case, the numerical control device drives the tool magazine under the standard loading conditions. Therefore, the numerical control device can continue operating the machine tool.

[0012] The control unit of the numerical control device of claim 7 may execute a display process to display the loading conditions on a display unit, and a display change process to change the loading conditions displayed on the display unit to the reference loading conditions when the loading conditions are displayed on the display unit by the display process and it is determined that the loading conditions have changed by the first determination process, so that a user can recognize that the loading conditions have changed.

[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. The numerical control device can appropriately set the inertia and the offset load.

[0014] A control method according to 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, wherein the numerical control device has a storage device that stores loading conditions that vary depending on the load placed on the driven body, and executes a driving step of driving the driven body based on the loading conditions stored in the storage device, a first determination step of determining whether the loading conditions have changed, and a change step of changing the loading conditions stored in the storage device to standard loading conditions if it is determined in the first determination step that the loading conditions have changed. The above control method achieves the same effect as claim 1.

[0015] The program of claim 10 causes a computer of a numerical control device that outputs commands to a motor for a machine tool equipped with a driven body driven by the driving of the motor to execute the following steps, wherein the numerical control device has a storage device that stores loading conditions that vary depending on the load placed on the driven body, and executes a driving step of driving the driven body based on the loading conditions stored in the storage device, a first determination step of determining whether the loading conditions have changed, and a change step of changing the loading conditions stored in the storage device to standard loading conditions when it is determined in the first determination step that the loading conditions have changed. The above program achieves the same effect as claim 1. [Brief explanation of the drawings]

[0016] [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] 10 is a flowchart of a change determination process. [Figure 8] 3A and 3B are diagrams showing the display mode of the display unit 19. FIG. [Figure 9] FIG. 1 is a diagram showing steps (1) to (4) in a single-action tool change. [Figure 10] FIG. 10 is a diagram showing an ATC tool setting screen 52. [Figure 11] FIG. 10 is a diagram showing an ATC tool application screen 53. [Figure 12] FIG. 5 is a diagram showing a tool data screen 54. DETAILED DESCRIPTION OF THE INVENTION

[0017] 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."

[0018] 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.

[0019] 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.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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 for driving the tool magazine 21 is greatest. In detail, 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] The estimation process will be described with reference to Fig. 4. When the machine tool 1 is powered on, the control unit 41 reads out the estimation program from the ROM 42 and executes the estimation process.

[0033] 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.

[0034] 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).

[0035] 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.

[0036] 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.

[0037] 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 a number other than the above 6 pitches or 4 pitches.

[0038] 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 returns the process to S1.

[0039] In this way, the control unit 41 continues to estimate the loading conditions in accordance with the driving of the tool magazine 21.

[0040] The main processing will be described with reference to Figures 5 and 6. The main processing is executed in parallel with the 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.

[0041] When the main process is executed, the control unit 41 displays a loading condition setting screen 51 (see FIG. 8) 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.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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. 8). 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. 8). 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 8).

[0047] 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 8).

[0048] 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.

[0049] 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.

[0050] On the other hand, when it is determined that the estimated 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 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.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] The control unit 41 executes a change determination process (see FIG. 7) (S127). The change determination process is to determine whether there has been a change in the loading conditions of the tool magazine 21. The control unit 41 determines that there has been a change in the loading conditions not only when it is considered that there has been a change in the loading conditions, but also when there is a possibility of such a change.

[0055] When the change determination process (see FIG. 7) is executed, the control unit 41 determines whether or not a single-action tool change has been executed (S201).

[0056] The single action tool change will be described with reference to FIG. 9. The single action tool change executes the ATC operation one step at a time. In other words, the single action tool change consists of multiple steps. The single action tool change executes the following steps (1) to (4) one step at a time each time the single action tool change key (not shown) displayed on the display unit 19 is pressed. (1) The spindle head 7 ascends to the Z-axis origin while orienting the spindle. If the spindle head 7 is already at the Z-axis origin, only the spindle orientation is performed. (2) The spindle head 7 rises to the ATC origin. (3) The tool magazine 21 rotates. (4) The spindle head 7 descends to the Z-axis origin. The area below the Z-axis origin is the machining area, and the area above the Z-axis origin is the ATC area. The ATC origin is a position where the tool magazine 21 can rotate.

[0057] Of the steps (1) to (4) above, when steps (2) to (4) are performed, the control unit 41 can determine that the user has performed a single-action tool change operation to change the tool T. In this case, there is a high possibility that the loading conditions of the tool magazine 21 will change. On the other hand, operation (1) may be performed even if the only purpose is to move the spindle head 7 to the Z-axis origin. Therefore, when only (1) is performed, it may be excluded from the determination in S201.

[0058] When it is determined that a single tool change has been performed (S201: YES), the control unit 41 sets a loading condition change flag (S213). The control unit 41 then returns the process to the main process.

[0059] On the other hand, if it is determined that a single tool change has not been performed (S201: NO), the control unit 41 determines whether a code commanding a tool change has been read (S203). For example, while an NC program is being executed, the control unit 41 reads and executes the NC program code line by line. The control unit 41 determines whether the NC program code is "G100 / M06," which is a tool change command. In this case, a tool change is executed, so there is a high possibility that the loading conditions of the tool magazine 21 will change.

[0060] If it is determined that a code commanding tool change has been read (S203: YES), the control unit 41 sets a loading condition change flag (S213). For example, the control unit 41 sets a loading condition change flag. The control unit 41 returns the process to the main process.

[0061] On the other hand, if it is determined that the code commanding tool change has not been read (S203: NO), the control unit 41 determines whether the tool number of the tool T has been changed (S205). The user can change the tool number of the tool T by operating the ATC tool setting screen 52 or the ATC tool application screen 53, which will be described later. Here, the ATC tool refers to the tool T loaded in the tool magazine 21. Changing the tool number is an operation of changing the tool number assigned to each grip arm 8 of the tool magazine 21. The grip arm 8 is attached to each tool mounting position of the tool magazine 21. In the following description, each tool mounting position is referred to as a "pot." A tool number is assigned to each of the multiple pots.

[0062] The ATC tool setting screen 52 will be described with reference to FIG. 10. In response to a user's operation of the operation unit 18, the control unit 41 displays the ATC tool setting screen 52 on the display unit 19. The ATC tool setting screen 52 displays tool information of the ATC tool for each NC program. The tool information of the ATC tool is stored in the storage device 44 for each NC program. The ATC tool setting screen 52 is provided with display areas 521 and 522. The display area 521 displays the program number of the NC program. The display area 522 displays items such as pot number, tool number, tool name, tool data, group, tool life, and tool type, from left to right.

[0063] 10, the tool T with tool number 001 is assigned to pot number 01, the tool T with tool number 002 is assigned to pot number 02, the tool T with tool number 003 is assigned to pot number 03, and leaving pot number 04 empty, the tool T with tool number 004 is assigned to pot number 05, and the tool T with tool number 005 is assigned to pot number 06. The tool information for each of these ATC tools is displayed in the display area 522. On the ATC tool setting screen 52, the user can change the tool number assigned to each pot in accordance with the replacement of the tool T.

[0064] The ATC tool app screen 53 will be described with reference to FIG. 11 . The user can select an ATC tool app by operating the operation unit 18. The ATC tool app is an app that displays various information related to ATC tools in an easily viewable manner and allows easy editing. When the user operates the operation unit 18 to accept the selection of the ATC tool app, the control unit 41 executes the ATC tool app. When the ATC tool app is executed, the control unit 41 displays the ATC tool app screen 53 on the display unit 19. The ATC tool app screen 53 has display areas 531 to 533. In the display area 531, various information about the ATC tool currently being set is displayed according to the current angle θ of the tool magazine 21. Note that due to the limited area of ​​the display area 531, various information about the ATC tools of all pots cannot be displayed. Therefore, various information about the ATC tools of five pots in the forward and reverse rotation directions of the tool magazine 21 is displayed, centered on the pot at the spindle position (tool T assigned to pot number 02 in the example of FIG. 11 ).

[0065] Here, the tool magazine 21 is provided with a mounting / detaching position for the tool T. The mounting / detaching position is a position where the tool T can be mounted / detached relative to the pot. In the display area 531, the ATC tool with pot number = 05 located at that mounting / detaching position is displayed as "mounting / detaching position." Furthermore, a predicted lifespan mark 536 is displayed on the ATC tool with pot number = 01. The predicted lifespan mark 536 indicates that the ATC tool's life is approaching the end of its life. Furthermore, a mounting / detaching position indexing button 534 and a spindle position indexing button 535 are provided below the display area 531. For example, when a pot number is selected and the mounting / detaching position indexing button 534 is pressed, the tool magazine 21 rotates, and the tool T of the selected pot number is indexed to the mounting / detaching position. For example, when a pot number is selected and the spindle position indexing button 535 is pressed, the tool magazine 21 rotates, and the tool T of the selected pot number is indexed to the spindle position. The display of the ATC tools in the display area 531 is also switched in accordance with the turning position of the tool magazine 21.

[0066] The display area 532 displays the program number of the NC program. The display area 533 displays a list of ATC tools currently set in the tool magazine 21. The ATC tool list is a list that displays various information about the ATC tools for each pot number. Note that due to the area constraints of the display area 533, the entire list of ATC tools cannot be displayed at once. Therefore, the ATC tool app screen 53 can scroll through the list of ATC tools through user operation. The user can edit this list of ATC tools. Therefore, even on the ATC tool app screen 53, the user can change the tool numbers assigned to each pot in accordance with the replacement of tools T in the tool magazine 21.

[0067] If it is determined that the tool number of tool T has been changed (S205: YES), the control unit 41 sets that the loading conditions have changed (S213). The control unit 41 sets a flag indicating that the loading conditions have changed. The control unit 41 then returns the process to the main process.

[0068] On the other hand, if it is determined that the tool number of the tool T has not been changed (S205: NO), the control unit 41 determines whether or not an indexing operation has been performed to index the tool magazine 21 to a predetermined position (S207). Here, the predetermined position is, for example, the attachment / detachment position or the spindle position.

[0069] For example, the user operates the ATC tool application screen 53 (see FIG. 11) to command an indexing operation of the tool magazine 21. For example, the user presses the attachment / detachment position index button 534. This causes the pot to be indexed to the attachment / detachment position. The user also presses the spindle position index button 535. This causes the pot to be indexed to the spindle position. In this case, the pot is indexed to change the tool T, and the loading conditions of the tool magazine 21 may change.

[0070] When it is determined that the indexing operation for indexing the tool magazine 21 to the predetermined position has been performed (S207: YES), the control unit 41 sets a loading condition change (S213). For example, the control unit 41 sets a loading condition change flag. The control unit 41 returns the process to the main process.

[0071] On the other hand, if it is determined that the indexing operation for indexing the tool magazine 21 to a predetermined position has not been performed (S207: NO), the control unit 41 determines whether the tool data has been changed (S209). For example, when a tool T is replaced in the tool magazine 21, the user may change the value of the tool data set for the ATC tool. In this case, the control unit 41 displays on the display unit 19 the tool data screen 54 (see FIG. 12) for the tool number designated by the user through operation of the operation unit 18.

[0072] The tool data screen 54 will be described with reference to FIG. 12. The tool data screen 54 displays tool data for a tool number specified by the user. The tool data includes, for example, the tool name, tool length offset, tool length wear compensation, tool diameter compensation, tool diameter wear compensation, initial life, predicted life, life, peripheral speed, rotational feed, S command value, F command value, maximum rotational speed, whether tool cleaning is possible, whether CTS is possible, etc. These tool data are stored in the storage device 44. The S command value is a command value for the rotational speed of the spindle 9. The F command value is a command value for the feed rate per minute. The user can change the values ​​of the displayed tool data on the tool data screen 54.

[0073] It is also possible to change the tool data set for the ATC tool in the NC program. When changing tool data in the NC program, for example, the following G code can be used: (1) G10 L10 P1 R120 (2) G10 L11 P1 R0.1 (3) G10 L12 P1 R10 (4) G10 L13 P1 R0.2 The above command (1) instructs the setting of tool length compensation. The command (2) instructs the setting of tool length wear compensation. The command (3) instructs the setting of tool diameter compensation. The command (4) instructs the setting of tool diameter wear compensation.

[0074] For example, if the tool data set for an ATC tool is changed on the tool data screen 54, it is possible that the tool data has been changed because the tool T has been replaced. Note that, depending on the type of tool data, some of the above-mentioned tool data may be changed even without replacing the tool T. For example, data such as tool diameter wear compensation, initial life, predicted life, life, and S command value may be changed without replacing the tool T. Therefore, in the process of S209, it may be determined that there has been no change in the tool data.

[0075] Also, although not described in detail in this embodiment, even if the tool data of the ATC tool is changed in the G code while the NC program is being executed, there is a possibility that the tool data will be changed due to the replacement of tool T.

[0076] If it is determined that the tool data has been changed (S209: YES), the control unit 41 sets a loading condition change flag (S213) and returns the process to the main process.

[0077] On the other hand, if it is determined that the tool data has not been changed (S209: YES), the control unit 41 determines whether the loading conditions stored in the storage device 44 are incorrect based on the estimated loading conditions (S211). Specifically, the control unit 41 determines whether the loading conditions are incorrect based on the calculated time constant t1. The control unit 41 compares the time constant t1 calculated in the process of S115 of the main processing with the time constant t1 calculated in the process of S125 of the tool replacement processing. For example, if the time constant t1 calculated in the process of S115 is larger than the time constant t1 calculated in the process of S125 by a factor greater than the expected error range, the control unit 41 determines that the loading conditions stored in the storage device 44 are incorrect. In this case, the estimated loading conditions impose a greater load on the tool magazine 21 than the loading conditions stored in the storage device 44. On the other hand, if the time constant t1 calculated in S115 is within the expected error range with respect to the time constant t1 calculated in the process of S125, the control unit 41 determines that there is no error in the loading conditions.

[0078] If it is determined that the loading conditions are incorrect (S211: YES), the control unit 41 sets that the loading conditions have changed (S213). The control unit 41 sets a flag indicating that the loading conditions have changed. The control unit 41 then returns the process to the main process.

[0079] On the other hand, if it is determined that the loading conditions are not incorrect (S211: NO), the control unit 41 sets the loading conditions to no change (S215). That is, if NO is determined in all steps S201 to S211, the control unit 41 determines that the loading conditions have not changed. In this case, the control unit 41 does not set a loading condition change flag. The control unit 41 returns the process to the main process.

[0080] Returning to the main processing, the control unit 41 determines whether or not there has been a change in the loading conditions (S129). In this case, the control unit 41 checks whether or not a loading condition change flag is set. If it is determined that there has been no change in the loading conditions (S129: NO), the control unit 41 maintains the setting of the time constant when driving the tool magazine 21 (S131). For example, the time constant t1 calculated in the processing of S115 or S125 is maintained. The control unit 41 proceeds to processing of S137.

[0081] On the other hand, if it is determined that the loading conditions have changed (S129: YES), the control unit 41 changes the loading conditions when the tool magazine 21 is driven to the reference loading conditions (S133). Specifically, the control unit 41 sets the time constant when the tool magazine 21 is driven to the reference time constant tb. In this case, the control unit 41 does not use the time constant t1 calculated in the process of S115 or the time constant t1 calculated in the process of S125.

[0082] The control unit 41 changes the display on the display unit 19 (S135). For example, the "Loading condition setting" column 514 on the display unit 19 is updated to the standard loading conditions. The control unit 41 advances the process to S137.

[0083] The control unit 41 determines whether or not there is an instruction to drive the tool magazine 21 (S137). If it is determined that there is no instruction to drive the tool magazine 21 (S137: NO), the control unit 41 does not drive the tool magazine 21 and returns the process to S101.

[0084] On the other hand, if it is determined that there is an instruction to drive the tool magazine 21 (S137: YES), the control unit 41 drives the tool magazine 21 based on the loading conditions or the reference loading conditions stored in the storage device 44 (S139). For example, if S129: NO and the process proceeds via S131, the control unit 41 drives the tool magazine 21 with the time constant t1 maintained in S131. If S129: YES and the process proceeds via S133, the control unit 41 drives the tool magazine 21 with the reference time constant tb set in the process of S133. Note that if S129: NO is returned after S133, the reference loading conditions are maintained in the process of S131. The control unit 41 returns the process to S101.

[0085] As described above, the storage device 44 stores loading conditions that change depending on the tools T loaded in the tool magazine 21. The control unit 41 drives the tool magazine 21 based on the loading conditions stored in the storage device 44. The control unit 41 determines whether the loading conditions have changed. If the control unit 41 determines that the loading conditions have changed, it changes the loading conditions stored in the storage device 44 to the reference loading conditions.

[0086] The numerical control device 40 can continue to operate the machine tool 1 even when the driving load of the tool magazine 21 increases due to a change in the loading conditions.

[0087] The control unit 41 determines whether a single tool change operation has been performed, which consists of multiple steps and involves performing an ATC operation, step by step, in which the tool T, transported to a predetermined position by rotating the tool magazine 21, is attached to the spindle 9 of the machine tool 1. If the control unit 41 determines that a single tool change operation has been performed, it determines that the loading conditions of the tool magazine 21 have changed. When a single tool change operation is performed, the loading conditions of the tool magazine 21 change. In this case, the numerical control device 40 drives the tool magazine 21 based on the reference loading conditions. Therefore, the numerical control device 40 can continue operating the machine tool 1.

[0088] When a code commanding a tool change is read, the control unit 41 determines that the loading conditions of the tool magazine 21 have changed. When a tool change is performed, the loading conditions of the tool magazine 21 change. The numerical control device 40 drives the tool magazine 21 based on the reference loading conditions. Therefore, the numerical control device 40 can continue the operation of the machine tool 1.

[0089] The control unit 41 determines whether an indexing operation for indexing the tool magazine 21 to a predetermined position has been performed in an ATC tool application capable of accepting operations on the tool magazine 21. If the control unit 41 determines that an indexing operation has been performed, it determines that the loading conditions of the tool magazine 21 have changed. If an indexing operation is performed, a tool T is attached to or detached from the tool magazine 21. In this case, the loading conditions of the tool magazine 21 change. The numerical control device 40 drives the tool magazine 21 under the reference loading conditions. Therefore, the numerical control device 40 can continue the operation of the machine tool 1.

[0090] The control unit 41 determines whether the tool numbers of the tools T assigned to each of the multiple pods in the tool magazine 21 have changed. If the control unit 41 determines that the tool numbers have changed, it determines that the loading conditions of the tool magazine 21 have changed. If the tool numbers assigned to the pods are changed, the loading conditions of the tool magazine 21 change. The numerical control device 40 drives the tool magazine 21 under the standard loading conditions. Therefore, the numerical control device 40 can continue the operation of the machine tool 1.

[0091] The storage device 44 further stores tool data indicating information about the tool T. The control unit 41 determines whether the tool data has been changed. If the control unit 41 determines that the tool data has been changed, it determines that the loading conditions of the tool magazine 21 have changed. When the tool T is attached or detached from the tool magazine 21, the user may change the tool data of the tool T. In this case, the numerical control device 40 drives the tool magazine 21 under the standard loading conditions. Therefore, the numerical control device 40 can continue the operation of the machine tool 1.

[0092] The control unit 41 displays the loading conditions on the display unit 19. When the loading conditions are displayed on the display unit 19 and the control unit 41 determines that the loading conditions have changed, the control unit 41 changes the loading conditions displayed on the display unit 19 to the standard loading conditions. The user can recognize that the loading conditions have changed.

[0093] 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 inertia J and the offset load Tw are an example of a "loading condition" of the present invention. The maximum inertia Jb and the maximum offset load Twb are an example of a "reference loading condition" of the present invention. The tool T is an example of a "loaded object" of the present invention. The processing of S139 is an example of a "driving process" of the present invention. The processing of S129 is an example of a "first determination process" of the present invention. The processing of S133 is an example of a "change process" of the present invention. The processing of S201 to S209 is an example of a "second determination process" of the present invention. The processing of S111 is an example of a "display process" of the present invention. The processing of S135 is an example of a "display change process" of the present invention. The control of the control unit 41 that executes each of the estimation process, main process, and change determination process is an example of a "control method" of the present invention. The control unit 41 that executes each of the estimation process, main process, and change determination process is an example of a "computer" of the present invention. The processing of S139 is an example of a "driving step" of the present invention. The process of S129 is an example of the "first determination step" of the present invention. The process of S133 is an example of the "change step" of the present invention.

[0094] 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.

[0095] 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.

[0096] In the above embodiment, the loading conditions are the inertia J and the offset load Tw of the tool magazine 21, but are not limited to this. For example, the loading conditions may be at least one of the inertia J and the offset load Tw of the tool magazine 21. The numerical control device 40 can appropriately set the inertia J and the offset load Tw.

[0097] 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.

[0098] 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.

[0099] 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.

[0100] In the above embodiment, the error in the loading conditions stored in the storage device 44 is detected by comparing the time constant t1 calculated in the process of S115 with the time constant t1 calculated in the process of S207, but this is not limiting. For example, the loading conditions stored in the storage device 44 may be directly compared with the estimated loading conditions. In this case, both the inertia J and the unbalanced load Tw may be compared, or only one of them may be compared.

[0101] 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.

[0102] 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.

[0103] 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.

[0104] 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.

[0105] 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.

[0106] Instead of the control unit 41, an ASIC, an FPGA (Field Programmable Gate Array), or the like may be used as a processor. Each main 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).

[0107] 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]

[0108] 1 Machine tools 9 Main axis 21 Tool magazine 40 Numerical Control Device 41 Control Unit 44 Storage device 64 Magazine motor T tool, current tool, next tool t, tb, t1 time constants J, jb inertia

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, a storage device for storing loading conditions that vary depending on the load placed on the driven body; Equipped with The control unit a driving process for driving the driven body based on the loading conditions stored in the storage device; a first determination process for determining whether the loading conditions have changed; When it is determined that the loading conditions have changed by the first determination process, a change process is performed to change the loading conditions stored in the storage device to standard loading conditions. Run A numerical control device characterized by:

2. the load is a tool, the driven body is a tool magazine that detachably stores the tools, The control unit a second determination process for determining whether a single tool change operation has been performed, the second determination process comprising a plurality of steps, in which the tool magazine is rotated to a predetermined position, and the tool is then attached to the spindle of the machine tool. Run The first determination process includes: If it is determined in the second determination process that the single tool change operation has been performed, it is determined that the loading conditions of the tool magazine have changed.

2. The numerical control device according to claim 1 .

3. the load is a tool, the driven body is a tool magazine that detachably stores the tools, The first determination process includes: When a code commanding a tool change is read, it is determined that the loading conditions of the tool magazine have changed.

2. The numerical control device according to claim 1 .

4. the load is a tool, the driven body is a tool magazine that detachably stores the tools, The control unit a second determination process for determining whether an indexing operation for indexing the tool magazine to a predetermined position has been performed in a tool application capable of accepting an operation of the tool magazine; Run The first determination process includes: If it is determined in the second determination process that the indexing operation has been performed, it is determined that the loading condition of the tool magazine has changed.

2. The numerical control device according to claim 1 .

5. the load is a tool, the driven body is a tool magazine that detachably stores the tools, The control unit a second determination process for determining whether or not the tool numbers of the tools assigned to the respective pots of the tool magazine have been changed; Run The first determination process includes: If it is determined in the second determination process that the tool number has been changed, it is determined that the loading conditions of the tool magazine have changed.

2. The numerical control device according to claim 1 .

6. the load is a tool, the driven body is a tool magazine that detachably stores the tools, The storage device further stores tool data indicating information about the tool, The control unit A second determination process for determining whether the tool data has been changed Run The first determination process includes: If it is determined in the second determination process that the tool data has been changed, it is determined that the loading conditions of the tool magazine have changed.

2. The numerical control device according to claim 1 .

7. The control unit a display process for displaying the loading conditions on a display unit; a display change process for changing the loading conditions displayed on the display unit to the standard loading conditions when the loading conditions are displayed on the display unit by the display process and it is determined that the loading conditions have changed by the first determination process; Run 2. The numerical control device according to claim 1 .

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

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: The numerical control device includes: a storage device for storing loading conditions that vary depending on the load placed on the driven body; Equipped with a driving step of driving the driven body based on the loading conditions stored in the storage device; a first determination step of determining whether the loading conditions have changed; a changing step of changing the loading conditions stored in the storage device to standard loading conditions when it is determined that the loading conditions have changed in the first determining step; Run A control method comprising:

10. A computer of a numerical control device that outputs a command to a machine tool having a driven body driven by a motor executes the following steps: The numerical control device includes: a storage device for storing loading conditions that vary depending on the load placed on the driven body; Equipped with a driving step of driving the driven body based on the loading conditions stored in the storage device; a first determination step of determining whether the loading conditions have changed; a changing step of changing the loading conditions stored in the storage device to standard loading conditions when it is determined that the loading conditions have changed in the first determining step; Run A program characterized by:

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