Numerical control device and machining system

Abstract

The objective of the present disclosure is to provide a means capable of performing clamping and unclamping operations at appropriate times. In a machining system 1 provided with a rotary table device 10, a numerical control device 30 according to an embodiment of the present disclosure controls the rotary table device 10 in accordance with a machining program including a plurality of statements, said rotary table device 10 including a table 11, drive mechanisms 12, 13 that rotate and position the table 11 around an axis, and clamping mechanisms 14, 15 that restrain the rotation of the table 11. The numerical control device 30 is provided with: an unclamping addition unit 35 which adds an unclamping operation for releasing the restraint of the table 11 immediately before execution of a table rotation statement that is included in the machining program and that specifies the operation of the drive mechanisms 12, 13; and a clamping addition unit 36 which adds a clamping operation for restraining the table 11 immediately after the execution of the table rotation statement.

Description

[Technical field]

[0001] The present invention relates to a numerical control device and a machining system. [Background technology]

[0002] Some machining systems are equipped with a rotary table device that rotates and positions a table that holds a workpiece in order to increase the degree of freedom in machining. Such rotary table devices may be provided with a clamping mechanism that stops the rotation of the table in order to prevent the angular position of the table from shifting. For this reason, a machining program for a machining system that uses a rotary table device must include commands that specify the clamping and unclamping operations of the clamping mechanism (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2015-225617 A Summary of the Invention [Problem to be solved by the invention]

[0004] A machining program for a machining system equipped with a rotary table device having a clamping mechanism is long because it needs to include command statements specifying clamping and unclamping operations. This increases the risk of input errors when creating a machining program, and also reduces readability, making it difficult to find input errors. If a clamping or unclamping operation is performed at an inappropriate timing due to a mistake in creating a machining program, there is a risk of reducing machining accuracy and damaging equipment and tools. In addition, clamping and unclamping operations are mechanical operations, so they take time to perform. Therefore, if command statements specifying clamping and unclamping operations are inserted unnecessarily into a machining program, the cycle time will be lengthened. For this reason, a means for performing clamping and unclamping operations at appropriate timing is desired. [Means for solving the problem]

[0005] A numerical control device according to one embodiment of the present disclosure is a numerical control device for a machining system including a rotary table device having a table, a drive mechanism for rotationally positioning the table around an axis, and a clamp mechanism for preventing the rotation of the table, the numerical control device controls the rotary table device according to a machining program including a plurality of command statements, and includes an unclamping addition unit that adds an unclamping operation to release the restriction on the table immediately before execution of a table rotation command statement included in the machining program and specifying the operation of the drive mechanism, and a clamping addition unit that adds a clamping operation to prevent the table immediately after execution of the table rotation command statement. Effect of the Invention

[0006] According to the present invention, the clamping operation and the unclamping operation can be performed at appropriate timing. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is a schematic diagram showing a configuration of a processing system according to an embodiment of the present disclosure. [Diagram 2]4 is a flowchart showing a process flow relating to control of a clamping mechanism in the numerical control device of FIG. 1. [Diagram 3] 11 is a time chart showing signal changes when a table fast-forward command is executed. [Figure 4] 11 is a time chart showing signal changes when a table cutting feed command is executed. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. Fig. 1 is a schematic diagram showing a configuration of a machining system 1 according to an embodiment of the present disclosure. The machining system 1 machines a workpiece W with a tool T according to a machining program.

[0009] The machining system 1 includes a rotary table device 10 that holds the workpiece W so that it can be rotated and positioned, a machining device 20 that positions and drives a tool T that machines the workpiece W, and a numerical control device 30 that controls the rotary table device 10 and the machining device 20.

[0010] The rotary table device 10 has a table 11 that holds a workpiece W, an A-axis drive mechanism 12 that rotates and positions the table 11 around an A-axis Xa that is perpendicular to the holding surface of the table 11 that holds the workpiece W, a B-axis drive mechanism 13 that rotates and positions the table 11 together with the A-axis drive mechanism 12 around a B-axis Xb that is perpendicular to the A-axis Xa, an A-axis clamp mechanism 14 that prevents the table 11 from rotating about the A-axis Xa, and a B-axis clamp mechanism 15 that prevents the table 11 from rotating about the B-axis Xb.

[0011] The table 11 holds the workpiece W so that it cannot move relative to the table 11. For this reason, the table 11 may have a fixing structure that fixes the workpiece by, for example, magnetic force, a screw, a chuck, or the like. As a result, the rotary table device 10 determines the orientation of the workpiece W by rotating and positioning the table that holds the workpiece W.

[0012] The A-axis drive mechanism 12 may be configured to have an A-direction rotation shaft 121 having an end connected to the table 11 and extending along the A-axis Xa, and an A-axis servo motor 122 that rotates the A-direction rotation shaft 121.

[0013] The B-axis drive mechanism 13 can be configured to include a B-direction rotating shaft 131 that extends along the B-axis Xb and holds the A-axis servo motor 122 at one end, and a B-axis servo motor 132 that rotates the B-direction rotating shaft 131.

[0014] The A-axis clamp mechanism 14 may have a well-known configuration that stops the rotation of the A-direction rotation shaft 121 by pressing a brake pad against a brake disc fixed to the A-direction rotation shaft 121 of the A-axis drive mechanism 12.

[0015] Similar to the A-axis clamping mechanism 14, the B-axis clamping mechanism 15 may be of a well-known configuration that stops the rotation of the B-direction rotating shaft 131 by pressing a brake pad against a brake disc fixed to the B-direction rotating shaft 131 of the B-axis drive mechanism 13.

[0016] The processing device 20 may be configured to have a plurality of drive shafts that determine the relative position of the tool T with respect to the table 11 and thus the workpiece W, and a tool shaft that rotates and drives the tool T. In the illustrated embodiment, the processing device 20 is configured to determine the position of the tool T with respect to the workpiece W by moving the rotary table device 10 in the horizontal direction and moving the tool T in the vertical direction. The plurality of drive shafts and the tool shaft may each be driven by a servo motor.

[0017] The numerical control device 30 controls the rotary table device 10 and the machining device 20 according to a machining program. The machining program includes a plurality of command statements (blocks) written in a language such as G-code. The numerical control device 30 is itself an embodiment of a numerical control device according to the present disclosure. There are a plurality of types of command statements, such as a tool rapid-forward command statement specifying a high-speed movement used when moving the tool T without cutting, a tool cutting feed command statement specifying a low-speed movement used when moving the tool T with cutting, a table rotation command statement specifying the rotation of the table 11, and a clamp command statement specifying the operation of the clamp mechanisms 14 and 15. The table rotation command statement can be further classified into a table rapid-forward command statement not involving cutting and a table cutting feed command statement involving cutting.

[0018] The numerical control device 30 includes a program reading unit 31, a command statement discrimination unit 32, a clamp command deletion unit 33, a designated clamp activation unit 34, an unclamping addition unit 35, a clamping addition unit 36, an automatic clamp activation unit 37, a command value calculation unit 38, and an operation control unit 39. The numerical control device 30 can be realized by causing a computer device having, for example, a memory, a CPU, an input / output interface, etc. to execute an appropriate control program. The above-mentioned components of the numerical control device 30 are classifications of the functions of the numerical control device 30, and do not necessarily have to be clearly distinguishable in terms of physical configuration and program configuration.

[0019] The program reading unit 31 reads the machining program from an external or internal storage device into the working memory in units of command statements. The program reading unit 31 reads multiple command statements within the scope of the working memory. In other words, the program reading unit 31 reads the machining program in advance without synchronizing with the operations of the rotary table device 10 and the machining device 20. The program reading unit 31 may translate the command statements of the machining program into a data format that is easy to process in the numerical control device 30.

[0020] A conventional machining program and a program that can perform the same operation in the numerical control device 30 of this embodiment are shown as examples. Note that in the machining program, the text in parentheses is a comment that is written to make it easy for the operator to understand and is not recognized as a command by the numerical control device 30.

[0021] <Conventional machining program> M11; (unclamp command) G00B90.; (B axis fast traverse command) M10; (clamp command) Z-50.; (Z-axis fast forward command) G01Z-100.F1000; (Z-axis cutting feed command)

[0022] <Processing program of this embodiment> (Automatic unclamping) G00B90.; (B axis fast traverse command) (Automatic clamp) Z-50.; (Z-axis fast forward command) G01Z-100.F1000; (Z-axis cutting feed command)

[0023] In this way, in conventional machining programs, the driving of the drive axis is specified using a command statement called a G code, and the unclamping operation and the clamping operation are specified using a command statement called an M code. On the other hand, in the machining program of this embodiment, the command statements specifying the unclamping operation and the clamping operation are omitted. Note that, in the example machining program, a comment statement indicating the timing at which "automatic unclamping" and "automatic clamping" are performed is inserted for ease of understanding, but since the numerical control device 30 is intended to allow machining programs to be created without being aware of such operations, such a comment statement is not normally inserted.

[0024] The command statement discrimination unit 32 discriminates the type of the command statement read by the program reading unit 31. The command statement discrimination unit 32 stores a plurality of command statement types.

[0025] If the command statement to be processed is a clamp command statement, the clamp command deletion unit 33 deletes the command statement. Note that "deletion" means treating the command statement as if it does not exist, and includes, for example, adding an invalidation flag or other method to prevent the command value calculation unit 38 from recognizing it as a command statement.

[0026] The designated clamp enabling unit 34 enables and disables the clamp command deleting unit 33. That is, the designated clamp enabling unit 34 selects either a state in which the clamp command deleting unit 33 is enabled to delete the clamp command statement, or a state in which the clamp command deleting unit 33 is disabled to not delete the clamp command statement. The designated clamp enabling unit 34 may be configured so that a user can select whether to enable or disable the clamp command deleting unit 33, or may be configured so that the enablement or disablement of the clamp command deleting unit 33 can be specified in the header of the machining program.

[0027] The unclamping adding unit 35 adds an unclamping operation for releasing the restraint of the table 11 immediately before the execution of the table rotation command statement. Specifically, the unclamping adding unit 35 may add a command (a command value generating command for the command value calculating unit 38) for releasing the A-direction rotation axis 121 or the B-direction rotation axis 131 by the A-axis clamping mechanism 14 or the B-axis clamping mechanism 15 corresponding to the A-axis Xa or the B-axis Xb for which the table rotation command statement specifies rotation immediately before the table rotation command statement. Note that "adding a command" does not necessarily require adding a command statement at the stage of the machining program, but may be the generation of a flag at the internal processing stage based on the machining program so that a command signal can be output to the clamping mechanisms 14 and 15. As a specific example, the unclamping adding unit 35 may be described as a relay that performs an unclamping operation triggered by the rise of an internal signal (flag) indicating that the table rotation command statement is being executed in a ladder program of a programmable logic controller (sequencer) that performs sequential processing of command value output, and may be configured to generate an internal signal that outputs a command value.

[0028] The unclamping adding unit 35 may be configured not to add an unclamping operation if the state immediately before the execution of the target table rotation command statement is not a clamped state. The unclamping adding unit 35 may also be configured not to add an unclamping operation even if the state immediately before the execution of the target table rotation command statement in the target rotation axis (A axis Xa or B axis Xb) is a clamped state, or may not add an unclamping operation regardless of the axis that specifies the rotation. In other words, the unclamping adding unit 35 may add an unclamping operation individually for each rotation axis Xa, Xb, or may add an unclamping operation collectively for multiple axes Xa, Xb whose rotations are specified in multiple consecutive table rotation command statements immediately before the execution of the first table rotation command statement.

[0029] The clamp adding unit 36 ​​adds a clamping operation to stop the table 11 immediately after the execution of the target table rotation command statement. Specifically, the clamp adding unit 36 ​​can be configured to add, immediately after the table rotation command statement, a command to fix the A-direction rotation axis 121 or the B-direction rotation axis 131 by the A-axis clamping mechanism 14 or the B-axis clamping mechanism 15 corresponding to the A-axis Xa or the B-axis Xb whose rotation is specified by the table rotation command statement. The clamp adding unit 36 ​​may be described as a relay that performs a clamping operation in response to the falling edge of an internal signal (flag) indicating that the table rotation command statement is being executed, in the ladder program of the programmable logic controller.

[0030] The clamp adding unit 36 ​​may be configured not to add a clamp operation when the table rotation statement targeted by the unclamping adding unit 35 is immediately followed by another table rotation statement. Specifically, the clamp adding unit 36 ​​may not add a clamp operation only when the rotation axis (A axis Xa or B axis Xb) for which the target table rotation statement specifies rotation coincides with the axis for which the immediately following table rotation statement specifies rotation, or may not add a clamp operation regardless of the axis for which rotation is specified. In other words, like the unclamping adding unit 35, the clamp adding unit 36 ​​may also add a clamp operation individually for each of the rotation axes Xa and Xb, or may add a clamp operation collectively for the axes Xa and Xb for which rotation is specified in a plurality of consecutive table rotation statements immediately after the execution of the last table rotation statement.

[0031] The clamp adding unit 36 ​​may not add a clamping operation immediately after the execution of a target table rotation command statement when the target table rotation command statement is executed during a cutting operation. In addition, when the command statement following the target table rotation command statement is a command statement of a preset type, such as a cutting feed command specifying the movement of the tool T accompanying the processing of the processing device 20, a preset type of operation among the operations specified in the command statements following the target table rotation command statement may be prohibited until the clamping operation immediately following the table rotation command statement is completed. Specifically, the clamp adding unit 36 ​​may be configured to set a flag indicating that a preset type of operation should be prohibited until the clamping operation to be added is completed. In other words, when the command statements following the target table rotation command statement are not preset types of command statements, the clamping operation added by the clamp adding unit 36 ​​and the operation of the command statements following the target table rotation command statement may be permitted to be performed simultaneously.

[0032] The automatic clamp enabling unit 37 enables and disables the unclamping addition unit 35 and the clamping addition unit 36. Similarly to the designated clamp enabling unit 34, the automatic clamp enabling unit 37 can be configured to enable and disable the unclamping addition unit 35 and the clamping addition unit 36 ​​in response to a machining program or a user input.

[0033] Next, examples of alternative machining programs are shown, including a case where the designated clamp enabling unit 34 and the automatic clamp enabling unit 37 enable the clamp command deletion unit 33, the unclamping addition unit 35, and the clamp adding unit 36 ​​(function ON), and a case where the designated clamp enabling unit 34 and the automatic clamp enabling unit 37 disable the clamp command deletion unit 33, the unclamping addition unit 35, and the clamp adding unit 36 ​​(function OFF).

[0034] <Alternative machining program> * Function ON (Automatic unclamping) G00B45.; (B axis fast traverse command) (Automatic clamp) *Function OFF M11; (unclamp command) G00B90.; (B axis fast traverse command) M10; (clamp command)

[0035] In this way, by functioning the specified clamp activation unit 34 and the automatic clamp activation unit 37, it is possible to execute, within the same machining program, clamp operations and unclamping operations performed by clamp command statements included in the machining program and specifying the operation of the clamping mechanisms 14, 15, and unclamping operations performed by the unclamping addition unit 35 and clamping operations performed by the clamping addition unit 36.

[0036] The numerical control device 30 may be configured to execute both the clamping operation and the unclamping operation included in the machining program and the unclamping operation and the clamping operation added by the unclamping operation adding unit 35 and the clamping operation adding unit 36 ​​by making the designated clamping activation unit 34 and the automatic clamping activation unit 37 function independently and enabling the unclamping addition unit 35 and the clamping addition unit 36 ​​while disabling the clamping command deletion unit 33.

[0037] The command value calculation unit 38 calculates appropriate values ​​of command values ​​for each time for each axis Xa, Xb of the rotary table device 10 and each axis of the processing device 20 so as to realize the contents of the processing program to which the clamping operation and unclamping operation have been added or deleted by the other components described above. The method of calculating these command values ​​can be the same as that of conventional numerical control.

[0038] The operation control unit 39 stores the command values ​​calculated by the command value calculation unit 38, and outputs the stored command values ​​to the rotary table device 10 and the processing device 20 at the proper time.

[0039] 2 shows a process flow relating to the control of the clamping mechanisms 14, 15 in the numerical control device 30. The control of the clamping mechanisms 14, 15 includes a target command statement confirmation step (step S1), a clamp state confirmation step (step S2), an unclamping operation confirmation step (step S3), a cutting operation confirmation step (step S4), a direct rotation command statement confirmation step (step S5), a clamping operation addition step (step S6), a designated operation prohibition flag addition step (step S7), a clamp completion confirmation step (step S8), and a designated operation prohibition flag deletion step (step S9). This process is performed for each command statement of the machining program.

[0040] In the target command statement confirmation process in step S1, it is confirmed whether the command statement to be controlled is a table rotation command statement. If the target command statement is a table rotation command statement, the process proceeds to the next step S2. If the target command statement is not a table rotation command statement, the process for that command statement ends, and if the machining program continues, the same process is started for the next command statement.

[0041] In the clamp state confirmation process in step S2, it is confirmed whether the state immediately before the execution of the target command statement is a clamp state or not. If the immediately before state is a clamp state, the process proceeds to the next step S3, and if the immediately before state is not a clamp state, the process proceeds to step S4.

[0042] In the unclamping operation adding step S3, a command specifying the unclamping operation is added immediately before the target command statement.

[0043] In the cutting operation confirmation step of step S4, it is confirmed whether or not cutting operation is being performed when the target command statement is executed. If the target command statement is a table cutting feed command statement, it can be determined that cutting operation is being performed. Also, if a command statement specifying the start of cutting operation exists before the target command statement, and a command statement specifying the end of cutting operation does not exist between the command statement specifying the start of cutting operation and the target command statement, it can be determined that cutting operation is being performed when the target command statement is executed. If cutting operation is being performed when the target command statement is executed, the processing for that command is terminated, and if cutting operation is not being performed, the processing proceeds to step S5.

[0044] In the immediately following command confirmation step of step S5, it is confirmed whether the command statement immediately following the target command statement is a table rotation command statement. If the immediately following command statement is a table rotation command statement, the process for that command is terminated, and if the immediately following command statement is not a table rotation command statement, the process proceeds to step S6.

[0045] In the clamp operation adding step S6, a command specifying a clamp operation is added immediately after the target command statement.

[0046] In the designated action prohibition flag adding process of step S7, a designated action prohibition flag indicating that a preset type of action should be prohibited is added.

[0047] In the clamp completion confirmation process in step S8, it is confirmed whether the clamp operation command added in step S6 has been completed. If the clamp operation has not been completed, confirmation is performed again, and if the clamp operation has been completed, the process proceeds to step S9.

[0048] In the designated action prohibition flag deleting step S9, the designated action prohibition flag added in step S7 is deleted.

[0049] As described above, the numerical control device 30 has the unclamping addition unit 35 and the clamping addition unit 36, and can automatically perform the clamping and unclamping operations of the clamping mechanisms 14, 15 at appropriate timing without describing in the machining program a command specifying the operation of the clamping mechanisms 14, 15. This can simplify the machining program, reduce human error in creating the machining program, and prevent the machining cycle time from becoming unnecessarily long.

[0050] By configuring the unclamping adding unit 35 not to add an unclamping operation if the state immediately before the execution of the target table rotation statement is an unclamping state, and by configuring the clamping adding unit not to add a clamping operation if the statement immediately after the target table rotation statement is a table rotation statement, unnecessary unclamping and clamping operations are not performed, thereby shortening the cycle time. In particular, when there are multiple consecutive table rotation statements, the unclamping adding unit 35 adds unclamping operations all at once immediately before the execution of the first table rotation statement, and the clamping adding unit adds clamping operations all at once immediately after the execution of the last table rotation statement, thereby further shortening the cycle time.

[0051] In the numerical control device 30, when a table rotation command statement is executed during a cutting operation, the clamp adding unit 36 ​​is configured not to add a clamp operation immediately after the execution of the command statement, thereby preventing a decrease in machining accuracy. Note that "a table rotation command statement is executed during a cutting operation" means that a workpiece mounted on the table is being cut while being rotated. Since clamps are not necessary when cutting while rotating, an increase in cycle time due to clamp operations can be prevented by not adding unnecessary clamps.

[0052] In the numerical control device 30, the clamp adding unit 36 ​​is configured to add a flag that prohibits a preset type of operation until the clamp operation immediately following the table rotation command is completed when the command statement following the table rotation command is a preset type of command statement, thereby preventing machining defects by, for example, prohibiting operations related to cutting operations until the clamp operation is completed. Note that "prohibiting specified operations" means that operations that are not specified can be performed in parallel with the clamp operation. This allows operations that do not affect machining accuracy to be performed in parallel with the clamp operation, thereby suppressing an increase in cycle time associated with the clamp operation.

[0053] The numerical control device 30 includes an automatic clamp enabling unit 37 that enables and disables the unclamping addition unit 35 and the clamping addition unit 36, so that the automatic addition of the unclamping and clamping operations can be stopped, and the unclamping and clamping operations can be performed according to the commands written in the machining program in the same manner as in the past. For example, in indexing machining, which has a relatively small machining load, machining can sometimes be performed without clamping. In such cases, by disabling the clamping, an increase in cycle time can be suppressed. Note that enabling and disabling can also be performed while the machining program is being executed, for example, by writing a command to execute enabling and disabling in the machining program.

[0054] Since the numerical control device 30 is equipped with a clamp command deletion unit 33 and a specified clamp activation unit 34, it can ignore the unclamping and clamping operations described in the machining program and perform the unclamping and clamping operations only according to the unclamping addition unit 35 and the clamping addition unit 36, or it can perform the unclamping and clamping operations according to the machining program as in the conventional case.

[0055] When programmed clamping is enabled by the designated clamp enabling unit 34 and additional unclamping and additional clamping are enabled by the automatic clamp enabling unit 37, both programmed clamping and automatic clamping are enabled. In general, if the program configuration allows it and there is no effect on machining accuracy, the cycle time is shortened by performing the unclamping operation simultaneously with another operation preceding the rotation operation. In this way, by enabling both programmed clamping and automatic clamping to be used together, the cycle time can be further shortened.

[0056] Figures 3 and 4 show time charts showing signal changes when a table fast-forward command statement and a table cutting feed command statement are executed, taking the example of adding an unclamping operation and a clamping operation in a programmable logic controller. The dashed arrows in the time charts show the relationship between the trigger signal and the signal whose state is determined by it. In this way, by selecting an appropriate signal as the trigger, it is possible to add an unclamping operation and a clamping operation at the appropriate timing.

[0057] Although the embodiment of the present invention has been described above, the present invention is not limited to the above-described embodiment. Furthermore, the effects described in the present embodiment are merely a list of the most preferable effects resulting from the present invention, and the effects of the present invention are not limited to those described in the present embodiment.

[0058] The rotary table apparatus according to the present disclosure may perform rotational positioning of an object other than a workpiece, such as a measuring instrument, a tool, etc. Furthermore, the rotary table apparatus according to the present disclosure may be used in a system other than a machining system.

[0059] Each of the components in the above-described embodiment may be omitted to the extent that the minimum functionality is maintained, in light of common technical knowledge. [Explanation of symbols]

[0060] 1 Processing system 10 Rotating table device 11 Tables 12 A-axis drive mechanism 13 B-axis drive mechanism 14 A-axis clamp mechanism 15 B-axis clamp mechanism 20 Processing equipment 30 Numerical Control Device 31 Program Loading Section 32 Imperative Sentence Discriminator 33 Clamp command deletion section 34 Designated clamp enabler 35 Unclamp additional part 36 Clamp Add-on 37 Automatic clamp enabler 38 Command value calculation section 39 Operation control unit Xa A axis Xb B-axis Double work

Claims

1. A machining system including a rotary table device having a table, a drive mechanism for rotationally positioning the table about an axis, and a clamp mechanism for restricting rotation of the table, comprising: a numerical control device for controlling the rotary table device in accordance with a machining program including a plurality of command statements, an unclamping adding unit that adds an unclamping operation for releasing the restraint on the table immediately before execution of a table rotation command statement that specifies an operation of the drive mechanism and is included in the machining program; a clamp adding unit that adds a clamp operation to stop the table immediately after the execution of the table rotation command; a clamp command deletion unit that deletes a clamp command statement that is included in the machining program and that specifies an operation of the clamp mechanism; a designated clamp enabling unit that enables and disables the clamp command deletion unit; A numerical control device comprising:

2. A machining system including a rotary table device having a table, a drive mechanism for rotationally positioning the table about an axis, and a clamp mechanism for restricting rotation of the table, comprising: a numerical control device for controlling the rotary table device in accordance with a machining program including a plurality of command statements, an unclamping adding unit that adds an unclamping operation for releasing the restraint on the table immediately before execution of a table rotation command statement that specifies an operation of the drive mechanism and is included in the machining program; a clamp adding unit that adds a clamp operation to stop the table immediately after the execution of the table rotation command; Equipped with A numerical control device capable of executing, within the same machining program, the clamping operation and the unclamping operation by a clamp command statement included in the machining program and specifying the operation of the clamping mechanism, and the unclamping operation by the unclamping addition unit and the clamping operation by the clamping addition unit.

3. The unclamping adding unit does not add an unclamping operation when the state immediately before the execution of the target table rotation command statement is an unclamping state, 3. The numerical control device according to claim 1, wherein the clamp adding section does not add a clamp operation when the target table rotation command statement is immediately followed by another table rotation command statement.

4. the unclamping adding unit adds the unclamping operations to the axes whose rotation is specified in a plurality of successive table rotation command statements all at once immediately before execution of a first of the table rotation command statements; 4. The numerical control device according to claim 3, wherein the clamp adding section adds the clamp operation collectively for axes whose rotation is specified in a plurality of successive table rotation instruction statements immediately after execution of a last one of the table rotation instruction statements.

5. 5. The numerical control device according to claim 1, wherein, when the table rotation command statement is executed during a cutting operation, the clamp adding section does not add the clamp operation immediately after the execution of the table rotation command statement.

6. 6. The numerical control device according to claim 1, wherein the clamp adding unit prohibits a preset type of operation until the clamp operation immediately following the table rotation command is completed.

7. The numerical control device according to claim 1 , further comprising an automatic clamp enabling unit that enables and disables the unclamping addition unit and the clamping addition unit.

8. A numerical control device according to any one of claims 1 to 7, a rotary table device controlled by the numerical control device; A processing system comprising:

Images