Deflection calculation device and program

Abstract

To provide a deflection amount calculation device and a program that can more easily obtain a deflection amount.SOLUTION: A deflection amount calculation device that calculates a deflection amount of a component constituting an industrial machine with respect to a reference direction, includes: a self-weight deflection amount calculation unit that calculates a deflection amount of the component due to its own weight based on an ideal model of the component; a deflection angle calculation unit that calculates a deflection angle of the component relative to the reference direction based on the ideal model of the component; and a position coordinate correction unit that corrects position coordinates of the component based on the self-weight deflection amount and the deflection angle.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present disclosure relates to a deflection amount calculation device and a program. [Background technology]

[0002] 2. Description of the Related Art Conventionally, there has been known an industrial machine in which a tool is disposed on a column via a beam. In such an industrial machine, for example, the tool is supported by the beam so as to be movable along the length of the beam.

[0003] However, in such industrial machines, the weight of the tools and beams can cause inclination, bending, etc. Therefore, a numerical control device has been proposed that corrects command values ​​for operating industrial machinery based on the deformation (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6494897 Summary of the Invention [Problem to be solved by the invention]

[0005] In the numerical control device described in Patent Document 1, the relative displacement between the workpiece displacement and the tool displacement is measured to create a displacement prediction model. Then, the industrial machine is operated so as to suppress the deviation between the relative displacement and the predicted relative displacement value. As a result, the numerical control device described in Patent Document 1 can machine the workpiece with higher accuracy.

[0006] On the other hand, it is necessary to measure the amount of error in the three-dimensional position of the workpiece and the tool. Therefore, a huge number of measurements are required for correction, and the processing is complicated. Therefore, it would be ideal if the amount of deflection could be obtained more simply. [Means for solving the problem]

[0007] (1) The present disclosure relates to a deflection amount calculation device that calculates a deflection amount of a component that constitutes an industrial machine with respect to a reference direction, the deflection amount calculation device including: a dead-weight deflection amount calculation unit that calculates a deflection amount due to the dead-weight of the component based on an ideal model of the component; a deflection angle calculation unit that calculates a deflection angle of the component with respect to the reference direction based on the ideal model of the component; and a position coordinate correction unit that corrects the position coordinates of the component based on the dead-weight deflection amount and the deflection angle.

[0008] (2) The present disclosure also relates to a program that causes a computer to function as a deflection amount calculation device that calculates the amount of deflection of a component that constitutes an industrial machine with respect to a reference direction, the program causing the computer to function as a weight deflection amount calculation unit that calculates the amount of deflection due to the weight of the component based on an ideal model of the component, a deflection angle calculation unit that calculates the deflection angle of a point on the machine of the component with respect to the reference direction based on the ideal model of the component, and a position coordinate correction unit that corrects the position coordinates of the point on the machine of the component based on the weight deflection amount and the deflection angle. Effect of the Invention

[0009] According to the present disclosure, it is possible to provide a deflection amount calculation device and a program that can more easily obtain the deflection amount. [Brief description of the drawings]

[0010] [Figure 1] 1 is a schematic configuration diagram showing a relationship between a deflection calculation device according to a first embodiment of the present disclosure and an industrial machine. [Diagram 2] FIG. 4 is a schematic configuration diagram showing another example of the industrial machine according to the first embodiment. [Diagram 3] FIG. 4 is a schematic configuration diagram showing still another example of the industrial machine according to the first embodiment. [Figure 4] FIG. 4 is a schematic configuration diagram showing still another example of the industrial machine according to the first embodiment. [Diagram 5] 1 is a block diagram showing a configuration of a deflection calculation device according to a first embodiment; [Figure 6] FIG. 11 is a block diagram showing a configuration of a deflection amount calculation device according to a second embodiment of the present disclosure. [Figure 7] 13 is a conceptual diagram showing a position of a command value of the deflection calculation device of the second embodiment. FIG. [Figure 8] FIG. 13 is a conceptual diagram showing an assembly error component of a deflection calculation device according to a third embodiment of the present disclosure. [Figure 9] FIG. 11 is a block diagram showing a deflection calculation device according to a third embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, a deflection calculation device 1 and a program according to each embodiment of the present disclosure will be described with reference to FIGS. First, an overview of the deflection calculation device 1 of each embodiment will be described.

[0012] The deflection calculation device 1 is, for example, a device that controls an industrial machine 100. The deflection calculation device 1 is a device that calculates the deflection of components that configure the industrial machine 100. The deflection calculation device 1 calculates the deflection of a support 101 (see Figs. 1 and 2) that supports a tool and a table 114 (see Figs. 3 and 4) that supports a workpiece 300, as examples of components. Specifically, the deflection calculation device 1 calculates the deflection using an ideal model as the actual deflection of the support 101 and the table 114. That is, the deflection calculation device 1 calculates the deflection using a cantilever model for calculating the deflection of a cantilever beam or a doubly supported beam model for calculating the deflection of a doubly supported beam as the actual deflection.

[0013] As an example, the deflection calculation device 1 calculates the deflection of a support 101 (cantilever type machine) supporting a tool 102 as shown in FIG. 1 by using a cantilever model. As another example, the deflection calculation device 1 calculates the deflection of a support 101 (gantry machine) supporting a tool 102 as shown in FIG. 2 by using a doubly supported beam model. As yet another example, the deflection calculation device 1 calculates the deflection of a U-shaped table 114 as shown in FIG. 3 by using a doubly supported beam model. As yet another example, the deflection calculation device 1 calculates the deflection of a table 114 supporting a workpiece 300 at an end on a slider as shown in FIG. 4 by using a cantilever model. That is, the deflection calculation device 1 calculates the deflection of each of a plurality of components by using a cantilever model or a doubly supported beam model, which is an ideal model. The deflection calculation device 1 can then calculate an ideal value for the deflection of each component at a point on the machine (any position of the component, for example, the tip position of the tool 102, any position of the support 101, and any position of the table 114) by adding up the deflection amounts of the affected components.

[0014] Then, the deflection calculation device 1 uses, for example, an ideal model to calculate the actual deflection of the support and the table (all components) caused by the movement of the axis of the industrial machine. In this way, the deflection calculation device 1 can determine the degree of deviation of the actual position of a point on the machine of a component when the component is operated from the pure kinematics calculation result. In the following embodiments, for ease of understanding, the position (point on the machine) for calculating the deflection is described as the position (tip position) of the tool 102.

[0015] Next, the configuration of the industrial machine 100 controlled by the deflection amount calculation device 1 and the deflection angle and deflection amount of the ideal model calculated will be described separately for a cantilever beam type and a doubly supported beam type.

[0016] (Cantilever type) The industrial machine 100 is composed of a plurality of components. For example, as shown in Fig. 1, the industrial machine 100 includes, as components, a support 101 and a tool 102. The industrial machine 100 is, for example, a machine that processes a workpiece 300 placed on a table 114.

[0017] The support 101 is provided to support the tool 102. The support 101 includes a column 111 and a cantilever beam 112.

[0018] The column 111 is, for example, a columnar body. The column 111 is arranged with its length oriented in the up-down direction (for example, the vertical direction). Note that the up-down direction (vertical direction) of the column 111 is also referred to as the y-axis direction in the following embodiments. The column 111 directly or indirectly supports the base end side of the cantilever beam 112.

[0019] The cantilever 112 is, for example, a columnar body. One end of the cantilever 112 is supported by one end of the column 111. The cantilever 112 is arranged, for example, with its length direction facing a lateral direction (for example, a horizontal direction). Note that the lateral direction in which the cantilever 112 is facing is also referred to as a reference direction (x-axis direction) in the following embodiments. The cantilever 112 supports the tool 102 directly or indirectly.

[0020] The tool 102 is, for example, a rotary tool. The tool 102 is supported by a cantilever beam 112. Specifically, the tool 102 is supported so as to be movable along the length direction of the cantilever beam 112. The tool 102 is supported by the cantilever beam 112 with, for example, a tip end facing vertically downward.

[0021] According to the above-described industrial machine 100, the support 101 is deflected by its own weight and the weight of the tool 102. In an ideal model of the industrial machine 100, the length of the cantilever beam 112 is L x , the cross-sectional area of ​​the cantilever 112 is S x , the density of the cantilever 112 is ρ x Then, the load due to the weight of the cantilever 112 is

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[0022] The bending moment acting on the cantilever 112 due to the deflection of the cantilever 112 caused by the bending moment of the cantilever 112 is given by

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[0023] If the angle between the cantilever 112 at position x and the reference direction (x-axis direction) is θ, then

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[0024] The bending moment of the cantilever 112 due to the tool 102 moving along the cantilever 112 is expressed as follows:

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[0025] The deflection of the cantilever beam 112 due to the bending moment of the tool 102 is given by:

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[0026] (double-supported beam type) The doubly supported beam type industrial machine 100 differs from the cantilever type in that the support body 101 is gate-shaped. That is, the industrial machine 100 differs from the cantilever type in that both ends of the doubly supported beam 113 are supported by two columns 111.

[0027] According to the above-described industrial machine 100, the support 101 is deflected by its own weight and the weight of the tool 102. In an ideal model of the industrial machine 100, when a distributed load of w per unit length is applied to the doubly supported beam 113 of length l itself, the moment M(x) at a distance x from one end of the doubly supported beam 113 is given by

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[0028] The deflection angle θ(x) and the deflection amount δ(x) at a distance x from the end of the double-supported beam 113 are Since θ(0) = 0 and δ(0) = 0,

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[0029] In an ideal model of the industrial machine 100, when a concentrated load of W is applied to a position x of a doubly supported beam of length l, the moment M(x) at a distance x from one end of the doubly supported beam 113 is given by

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[0030] The deflection angle θ(x) and the deflection amount δ(x) at a distance x from the end of the double-supported beam 113 are Since θ(0) = 0 and δ(0) = 0,

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[0031] In the deflection calculation device 1 and program according to each of the following embodiments, for simplicity, an example (cantilever beam machine) will be described in which the deflection of a tool 102 supported directly or indirectly by a support 101 having a column 111 and a cantilever beam 112 with respect to a reference direction is calculated. Note that in each of the following embodiments, the reference direction is the x direction, and the position of the free end of the cantilever beam 112 is described as the reference point. When calculating the deflection for a configuration that can be considered as a doubly supported beam, such as the gate machine and U-shaped table 114 in Figs. 2 and 3, the deflection angle and deflection amount in the doubly supported beam model are used.

[0032] [First embodiment] Next, the deflection calculation device 1 and the program according to the first embodiment of the present disclosure will be described with reference to FIG. The deflection calculation device 1 and program according to this embodiment are suitable for calculating the amount of deflection in cases where it is difficult to calculate the amount of deflection, compared to the industrial machine 100 shown in the above ideal model. The deflection calculation device 1 and program can calculate the amount of deflection for, for example, an industrial machine 100 having a complex shape, configuration, or made of a plurality of materials. As shown in Fig. 5, the deflection calculation device 1 includes an actual deflection acquisition unit 10, an ideal model storage unit 11, an ideal deflection calculation unit 12, and an own-weight deflection calculation unit 13. The deflection is a so-called dynamic error, which changes with the movement of the tool 102 in the x-axis direction.

[0033] The actual deflection amount acquisition unit 10 is realized, for example, by the operation of a CPU. When an actual load is applied to an arbitrary position of the support 101, the actual deflection amount acquisition unit 10 acquires, as an actual deflection amount, measurement values ​​of the amount of displacement at a predetermined position before and after the application of the load. In this embodiment, the actual deflection amount acquisition unit 10 acquires the arbitrary position of the cantilever 112 from a sensor 200 that measures the position of the cantilever 112. The actual deflection amount acquisition unit 10 acquires, for example, the amount of displacement δ in the y-axis direction before and after the load at the arbitrary position as the amount of displacement.

[0034] The ideal model storage unit 11 is, for example, a secondary recording medium such as a hard disk. The ideal model storage unit 11 stores information on the ideal mechanical configuration of the support 101 and the tool 102 as configuration information. Note that "ideal" means that expected values ​​closer to the deflection amount δ and the angle θ shown in the above formula 14 are shown as characteristics. The ideal model storage unit 11 stores, for example, the mechanical configuration of the industrial machine 100 for which the above-mentioned deflection amount is calculated as configuration information.

[0035] The ideal deflection amount calculation unit 12 is realized, for example, by the operation of a CPU. The ideal deflection amount calculation unit 12 calculates an ideal value of the actual deflection amount based on an ideal model of the industrial machine 100 as the ideal deflection amount.

[0036] The self-weight deflection calculation unit 13 is realized, for example, by the operation of a CPU. The self-weight deflection calculation unit 13 calculates the self-weight deflection caused by the weight of the support body 101 and the tool 102 based on the actual deflection amount and the ideal deflection amount. The self-weight deflection calculation unit 13 calculates, for example, the difference between the actual deflection amount and the ideal deflection amount as the self-weight deflection amount.

[0037] Next, the flow of operations of the deflection calculation device 1 of this embodiment will be described.

[0038] First, the actual deflection amount acquiring unit 10 acquires the actual deflection amount at an arbitrary position using a signal output from a sensor. In this embodiment, the actual deflection amount acquiring unit 10 acquires five patterns in which the measurement position and the load amount are changed as the actual deflection amount.

[0039] Next, the ideal deflection amount calculation unit 12 reads out the configuration information of the ideal model from the ideal model storage unit 11. The ideal deflection amount calculation unit 12 calculates the ideal deflection amount δ1(x) using the following formula 16. Note that formula 16 is substantially the same as formula 14.

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[0040] Next, the self-weight deflection calculation unit 13 calculates the following Equation 21 as a deflection model (deflection δ2(x)) due to the self-weight of the cantilever beam 112.

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[0041] Next, the program will be described. The program can be stored and provided to the computer using various types of non-transitory computer readable media. The non-transitory computer readable media includes various types of tangible storage media. Examples of the non-transitory computer readable media include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROM (Read Only Memory), CD-R, CD-R / W, and semiconductor memory (e.g., mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (random access memory)). The display program may also be provided to the computer by various types of transitory computer readable media. Examples of the transitory computer readable media include electric signals, optical signals, and electromagnetic waves. The transitory computer readable media can provide the program to the computer via a wired communication path such as an electric wire and an optical fiber, or via a wireless communication path.

[0042] As described above, the deflection calculation device 1 and the program according to the first embodiment have the following advantages. (1) A deflection calculation device 1 for calculating the deflection of a component of an industrial machine with respect to a reference direction includes an actual deflection acquisition unit 10 for acquiring the measured value of the amount of displacement at a predetermined position before and after the application of an actual load when the actual load is applied to any position of the component as the actual deflection, an ideal deflection calculation unit 12 for calculating the ideal value of the actual deflection as the ideal deflection based on an ideal model of the component, and a weight deflection calculation unit 13 for calculating the weight deflection of the component based on the actual deflection and the ideal deflection. As a result, even if it is difficult to calculate the deflection, the deflection can be calculated by measuring a smaller number of points compared to the industrial machine 100 shown by the ideal model. Therefore, the deflection can be obtained more easily.

[0043] [Second embodiment] Next, a deflection calculation device 1 and a program according to a second embodiment of the present disclosure will be described with reference to Fig. 6 and Fig. 7. In describing the second embodiment, the same components as those in the above-described embodiment are denoted by the same reference numerals, and descriptions thereof will be omitted or simplified. The deflection calculation device 1 and program according to the second embodiment are devices capable of correcting the position coordinates of the tool 102 based on the deflection amount and deflection angle due to the own weight of the cantilever beam 112 and the tool 102. As shown in Fig. 6, the deflection calculation device 1 includes a machine information storage unit 14, a command value acquisition unit 15, a deflection angle calculation unit 16, a position coordinate correction unit 17, and a movement control unit 18. The deflection calculation device 1 is provided, for example, as one function of a numerical control device (not shown).

[0044] The machine information storage unit 14 is, for example, a secondary storage medium such as a hard disk. The machine information storage unit 14 stores machine information of the industrial machinery 100 reflecting the above-mentioned deflection model. The machine information storage unit 14 stores, for example, information on the machine configuration including the amount of deflection relative to the position of the tool 102. Specifically, the machine information storage unit 14 stores machine information of the industrial machinery 100 reflecting the above-mentioned ideal model or the deflection model obtained by the first embodiment.

[0045] The command value acquisition unit 15 is realized, for example, by the operation of a CPU. The command value acquisition unit 15 acquires, for example, a command value based on an operation command obtained from a preset operation program.

[0046] The deflection angle calculation unit 16 is realized, for example, by the operation of a CPU. The deflection angle calculation unit 16 calculates the deflection angle of the tool 102 with respect to a reference direction based on an ideal model of the support 101.

[0047] The position coordinate correction unit 17 is realized, for example, by the operation of a CPU. The position coordinate correction unit 17 corrects the position coordinates of the tool 102 based on the self-weight deflection amount and deflection angle of the cantilever beam 112 and the tool 102. The position coordinate correction unit 17 corrects the position coordinates of the tool 102 using the deflection amount and deflection angle calculated according to the position of the tool 102 to be moved based on, for example, an acquired command value.

[0048] The movement control unit 18 is realized, for example, by the operation of a CPU. The movement control unit 18 outputs, for example, a pulse to the industrial machine 100 for moving the tool 102 to the position corrected by the position coordinate correcting unit 17.

[0049] Next, the operation of the deflection calculation device 1 of this embodiment will be described. First, the command value acquisition unit 15 acquires a command value based on an operation command. Next, the deflection angle calculation unit 16 calculates the deflection angle. Next, the position coordinate correction unit 17 acquires machine information from the machine information storage unit 14. Furthermore, the position coordinate correction unit 17 corrects the position coordinate of the tool 102 indicated by the command value using the acquired machine information and the command value. For example, as shown in FIG. 7, the position coordinate correction unit 17 sets the command value as x=x c ,y=y c Then, taking into consideration the amount of deflection δ and the angle of deflection θ, the command value (position coordinates of the tool 102) is corrected as shown in the following equation 23.

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[0050] As described above, the deflection calculation device 1 and the program according to the second embodiment have the following advantages. (2) The deflection amount calculation device 1 further includes a deflection angle calculation unit 16 that calculates the deflection angle of the component with respect to a reference direction based on an ideal model of the support 101, and a position coordinate correction unit 17 that corrects the position coordinates of the component's point on the machine based on the self-weight deflection amount and the deflection angle. This makes it possible to position the tip of the tool 102 at a position corrected by taking into account the actual deflection amount. This makes it possible to improve the machining accuracy.

[0051] [Third embodiment] Next, a deflection calculation device 1 and a program according to a third embodiment of the present disclosure will be described with reference to Fig. 8 and Fig. 9. In describing the third embodiment, the same components as those in the above-described embodiment are denoted by the same reference numerals, and the description thereof will be omitted or simplified. The deflection calculation device 1 and program according to the third embodiment corrects error components due to assembly errors in addition to the deflection. That is, the deflection calculation device 1 and program according to the third embodiment corrects error components by treating errors other than deflection as assembly errors. The deflection calculation device 1 and program according to the third embodiment corrects, for example, not only assembly errors but also displacement errors due to deterioration over time as error components. Note that the deflection calculation device 1 and program according to the third embodiment calculates assembly error components by removing the deflection error components from the error measurement amount as shown in FIG. 8.

[0052] 9, the deflection amount calculation device 1 and program according to the third embodiment include a tool position coordinate acquisition unit 19 and an assembly error calculation unit 20 in addition to the configuration of the second embodiment. Also, the deflection amount calculation device 1 and program according to the third embodiment differ from the first and second embodiments in that a position coordinate correction unit 17 further corrects the position coordinates of the tool 102 based on the assembly error calculated including the assembly error.

[0053] The tool position coordinate acquiring unit 19 is realized, for example, by the operation of a CPU. The tool position coordinate acquiring unit 19 acquires the actual position coordinates of the tool 102. The tool position coordinate acquiring unit 19 acquires the actual position coordinates of the tool 102 based on a signal obtained from a sensor 200, for example.

[0054] The assembly error calculation unit 20 is realized, for example, by the operation of a CPU. The assembly error calculation unit 20 calculates an assembly error of the industrial machine 100 based on the actual position coordinates and the corrected coordinate position of the tool 102. The assembly error calculation unit 20 calculates, for example, a difference in the amount of deflection from the actual position coordinates of the tool 102 as the assembly error.

[0055] Next, the flow of operations of the deflection calculation device 1 and the program according to this embodiment will be described. First, the tool position coordinate acquisition unit 19 acquires the position coordinates of the tool 102 from the sensor 200. When there is no error other than the deflection, the position coordinate x e , y ebecomes the number 25.

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[0056] The position coordinate correction unit 17 adds the assembly error obtained by Equation 26 to the amount of deflection to correct the tool position of the command value.

[0057] As described above, the deflection calculation device 1 and the program according to the third embodiment have the following advantages. (3) The deflection amount calculation device 1 further includes a tool position coordinate acquisition unit 19 that acquires actual position coordinates of the component's on-machine point, and an assembly error calculation unit 20 that calculates an assembly error of the industrial machine 100 based on the actual position coordinates of the component's on-machine point and the corrected position coordinates, and the position coordinate correction unit 17 further corrects the position coordinates of the component's on-machine point based on the calculated assembly error. This makes it possible to correct the position of the tool 102 while also taking into account the assembly error specific to the industrial machine 100. Therefore, the machining accuracy of the industrial machine 100 can be further improved.

[0058] Although the preferred embodiments of the deflection amount calculation device and program of the present disclosure have been described above, the present disclosure is not limited to the above-described embodiments and can be modified as appropriate. For example, in the first embodiment, the actual deflection amount acquisition unit 10 acquires the actual deflection amount using the sensor 200, but is not limited to this. The actual deflection amount acquisition unit 10 may acquire the actual deflection amount by a simulation such as CAD.

[0059] Furthermore, in the second embodiment, when the force acting on the cantilever 112 is a constant moment force, the movement of the tool 102 in the y-axis direction can be considered as a movement on a large arc. For example, assuming that the radius of the arc is R, it can be considered as shown in the following equation 27. This kind of thinking may be included in the deflection model.

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[0060] The first to third embodiments may be appropriately combined to configure the deflection calculation device 1 and the program. That is, one deflection calculation device 1 may include a configuration in which the first to third embodiments are arbitrarily combined.

[0061] In the second and third embodiments, the deflection amount calculation device 1 is described as including the deflection angle calculation unit 16, but is not limited to this. The machine information storage unit 14 may store a model of the deflection angle together with the machine information. The position coordinate correction unit 17 may read out the model of the deflection angle from the machine information storage unit 14 to obtain the deflection angle. [Explanation of symbols]

[0062] 1 Deflection calculation device 10 Actual deflection acquisition unit 12 Ideal deflection calculation section 13. Self-weight deflection calculation section 15 Command value acquisition section 16 Deflection angle calculation section 17 Position coordinate correction section 19 Tool position coordinate acquisition section 20 Assembly error calculation section 100 Industrial Machinery 101 Support 102 Tools 111 Column 112 Cantilever beam

Claims

1. A deflection amount calculation device that calculates a deflection amount of a component of an industrial machine with respect to a reference direction, a self-weight deflection amount calculation unit that calculates a deflection amount due to the self-weight of the component based on an ideal model of the component; a deflection angle calculation unit that calculates a deflection angle of the component with respect to the reference direction based on an ideal model of the component; a position coordinate correction unit that corrects position coordinates of the component based on the own weight deflection amount and the deflection angle; a tool position coordinate acquisition unit for acquiring actual position coordinates of a point on a machine of the component; an assembly error calculation unit that calculates an assembly error of the industrial machine as a difference between an actual position coordinate of a point of the component on the machine and a position coordinate corrected based on the own weight deflection amount and the deflection angle; Equipped with The position coordinate correction unit is a deflection calculation device that further corrects position coordinates of points on the machine of the components based on the calculated assembly error.

2. A program for causing a computer to function as a deflection amount calculation device that calculates a deflection amount of a component of an industrial machine with respect to a reference direction, The computer, a self-weight deflection amount calculation unit that calculates a deflection amount due to the self-weight of the component based on an ideal model of the component; a deflection angle calculation unit that calculates a deflection angle of a point on a machine of the component with respect to the reference direction based on an ideal model of the component; a position coordinate correction unit that corrects position coordinates of a point of the component on a machine based on the own weight deflection amount and the deflection angle; a tool position coordinate acquisition unit for acquiring actual position coordinates of points on a machine of the component; an assembly error calculation unit that calculates an assembly error of the industrial machine as a difference between an actual position coordinate of a point of the component on the machine and a position coordinate corrected based on the own weight deflection amount and the deflection angle; Function as a The position coordinate correction unit is a program that further corrects position coordinates of points on a machine of the component based on the calculated assembly error.

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