Simulation device and computer program

Abstract

To provide a simulation device capable of simulating various types of drive shafts by changing a simulation model of the drive shaft. [Solution] A simulation device for a machine tool comprising: a numerical control simulator which generates axis operation commands for the machine tool based on a machining program; a servo control simulator which generates a torque command based on the axis operation commands and virtual axis operation results for simulating the axis operation of the machine tool; and a modular unit which is independent of the numerical control simulator and the servo control simulator and is replaceable, the modular unit comprising a transmitter / receiver unit which receives a torque command from the servo control simulator and transmits the virtual axis operation results to the servo control simulator, and a drive axis simulator which updates the virtual axis operation results based on the torque command, and is generated by an external device which is independent of the system which controls the machine tool, and the servo control simulator does not generate a torque command if the virtual axis operation results cannot be obtained.

Description

[Technical field]

[0001] The present disclosure relates to a simulation device and a computer program. [Background technology]

[0002] Conventionally, in order to verify the operation of a machine tool having multiple drive axes and a controller that controls the multiple drive axes, the operation can be verified by a simulation device that simulates the execution of a user program of the controller. In such a simulation device, a model for simulating the drive axes is determined in advance (for example, see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6460138 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the operation of a machine tool depends largely on the state of the drive shaft, such as the inertia, friction, and interference of the shaft. The state of the drive shaft in a machine tool is diverse, and a fixed model cannot simulate all drive shafts. For example, Patent Document 1 cannot simulate the configuration of a drive shaft, such as considering shaft interference, friction, or changes in inertia depending on the state of other axes.

[0005] As described above, existing machine tool simulation devices can only simulate drive shafts using a fixed, predetermined model. Therefore, there is a demand for a simulation device and a computer program that can change the simulation model of the drive shaft and simulate various types of drive shafts. [Means for solving the problem]

[0006] One aspect of the present disclosure is a simulation device for a machine tool, comprising: a numerical control simulator that generates an axis operation command for the machine tool based on a machining program; a servo control simulator that generates a torque command based on the axis operation command and an axis operation virtual actual result for simulating an axis operation of the machine tool; and a replaceable module that is independent of the numerical control simulator and the servo control simulator, wherein the module comprises: a transmitter / receiver that receives the torque command from the servo control simulator and transmits the axis operation virtual actual result to the servo control simulator; and a drive axis simulator that simulates the operation of a drive axis of the machine tool based on the torque command and updates the axis operation virtual actual result. R It is a simulation device.

[0007] One aspect of the present disclosure is a computer program for causing a computer to execute the steps of: generating, by a numerical control simulator, an axis operation command for a machine tool based on a machining program; generating, by a servo control simulator, a torque command based on the axis operation command and an axis operation virtual actual result for simulating an axis operation of the machine tool; receiving, by a replaceable module unit that is independent of the numerical control simulator and the servo control simulator, the torque command from the servo control simulator and transmitting the axis operation virtual actual result to the servo control simulator; and simulating, by the module unit, an operation of a drive axis of the machine tool based on the torque command and updating the axis operation virtual actual result, wherein the module unit is generated by an external device that is independent of a system that controls the machine tool, and generates the torque command when the axis operation virtual actual result is obtained, and does not generate the torque command when the axis operation virtual actual result is not obtained. is . One aspect of the present disclosure is a simulation device for a machine tool, comprising: a simulation software main body that generates a torque command based on an axis operation command of the machine tool and an axis operation virtual actual result for simulating the axis operation of the machine tool; and a replaceable module unit that is independent of the simulation software main body, wherein the module unit simulates the operation of a drive axis of the machine tool based on the torque command and outputs the axis operation virtual actual result. [Brief description of the drawings]

[0008] [Figure 1] 1 is a functional block diagram showing an overview of a simulation device according to a first embodiment. [Diagram 2] FIG. 2 is a diagram showing a correspondence relationship between the configurations of an actual machine tool and a simulation device. [Diagram 3] FIG. 11 is a block diagram of a transfer function in a simulation example using a simulation device. [Figure 4] FIG. 2 is a diagram illustrating an example of the operation of the simulation device according to the first embodiment. [Diagram 5] FIG. 11 is a functional block diagram showing an overview of a simulation device according to a second embodiment. [Figure 6] FIG. 11 is a diagram showing an example of calculating a corrected axis operation virtual actual result according to the second embodiment. [Figure 7] FIG. 11 is a diagram showing an example of calculating a corrected axis operation virtual actual result according to the second embodiment. [Figure 8] FIG. 7 is a diagram showing an example of predicting the virtual axis operation result shown in FIG. 6. [Figure 9] FIG. 11 is a functional block diagram showing an overview of a simulation device according to a third embodiment. [Figure 10] FIG. 13 is a diagram illustrating an overview of a simulation device according to a fourth embodiment. [Figure 11] FIG. 13 is a diagram illustrating an example of tandem control. [Figure 12] FIG. 1 is a diagram showing an example of turning; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] [First embodiment] An example of an embodiment of the present disclosure will be described below. Fig. 1 is a diagram showing an overview of a simulation device 1 according to a first embodiment. The simulation device 1 simulates the operation of a machine tool having a drive shaft and a controller that controls the drive shaft. The simulation device 1 may be, for example, a computer device connected to the machine tool and a numerical control device. The simulation device 1 may also be a computer device for simulation that is not connected to the machine tool and the numerical control device.

[0010] The simulation device 1 includes a numerical control simulator 11, a servo control simulator 12, and a module unit 13.

[0011] The numerical control simulator 11 is a functional unit that simulates the CNC (Computer Numerical Control) control of the machine tool. The numerical control simulator 11 generates axis operation commands for the drive axes of the machine tool based on the machining program 10.

[0012] The servo control simulator 12 is a functional unit that simulates servo motor control of a machine tool. The servo control simulator 12 generates a torque command based on an axis operation command for a drive axis of the machine tool and an axis operation virtual result for simulating the axis operation of the drive axis of the machine tool.

[0013] Here, the axis motion virtual actual result includes an axis motion virtual actual result initial value that the servo control simulator 12 acquires only in the first operation, and an axis motion virtual actual result update value that is updated by the drive axis simulator. The axis motion virtual actual result initial value may be provided by the numerical control simulator 11, may be stored in another database (not shown), or may be set in the module unit 13. For example, the final position at the time of the previous start is provided as the initial value for the axis motion virtual actual result. Also, the axis motion virtual actual result may be any one of the position of the drive axis, the speed of the drive axis, the acceleration of the drive axis, and the movement amount of the drive axis.

[0014] The module unit 13 is independent of the numerical control simulator 11 and the servo control simulator 12 and is replaceable. The module unit 13 is, for example, a file or application in a format such as DLL (dynamic link library) or .exe (executable format) that can be handled individually on a computer. The module unit 13 may also be a storage medium such as a USB memory or an SD card, or a microcomputer, and may store files or applications in a format such as DLL or .exe that can be handled individually.

[0015] Moreover, the module unit 13 includes a transmission / reception unit 131 and a drive shaft simulation unit 132. The transmission / reception unit 131 receives a torque command from the servo control simulation unit 12, and transmits virtual axis operation results to the servo control simulation unit 12. The drive shaft simulation unit 132 simulates the operation of the drive shaft of the machine tool based on the torque command, and updates the virtual axis operation results.

[0016] The module unit 13 is generated by an external device that does not depend on the system that controls the machine tool. The servo control simulator 12 generates a torque command when a virtual axis operation result is obtained, and does not generate a torque command when a virtual axis operation result is not obtained. The system that controls the machine tool may be, for example, an operating system that controls the machine tool, or an operating system or application program of a simulation device for simulating the operation of the machine tool. The external device is a computer device or an application program that can communicate with the simulation device 1. The external device may be a computer device or an application program that can transfer data to the simulation device 1 via a storage medium such as a USB memory or an SD card.

[0017] In addition, the calculation period of the numerical control simulator 11, the calculation period of the servo control simulator 12, and the calculation period of the drive shaft simulator 132 described above are assumed to operate without any problems even if the calculation periods are different in the communications between the numerical control simulator 11, the servo control simulator 12, and the drive shaft simulator 132.

[0018] Fig. 2 is a diagram showing the correspondence relationship between the configurations of an actual machine tool 100 and the simulation device 1. As shown in Fig. 2, the actual machine tool 100 includes, for example, a CNC (Computer Numerical Control) control unit 101, a servo control unit 102, and a motor drive shaft 103. The CNC control unit 101 outputs a position command to the servo control unit 102, and the servo control unit 102 outputs a torque command to the motor drive shaft 103 based on the position command. The motor drive shaft 103 drives the shaft based on the torque command, and outputs position feedback output from a detector such as a rotary encoder to the servo control unit 102.

[0019] On the other hand, the simulation device 1 includes a simulation software main body 20 corresponding to a numerical control simulator 11, a servo control simulator 12, etc., and a module section 13 in which a drive shaft simulator 132, etc. are stored.

[0020] In order to simulate the above-mentioned actual machine tool 100, the simulation software main body 20 outputs a torque command to the module unit 13, and the module unit 13 executes a simulation based on the torque command and outputs position feedback to the simulation software main body 20. Here, the module unit 13 in which the drive shaft simulation unit 132 and the like are stored is created by the machine tool manufacturer or the user of the machine tool in correspondence with each machine. Therefore, the model of the drive shaft simulated by the drive shaft simulation unit 132 can include drive shafts of various modes.

[0021] Fig. 3 is a block diagram of a transfer function in an example of a simulation performed by the simulation device 1. In detail, Fig. 3 is a block diagram of a transfer function in an example in which the drive axis is a feed axis and the axis operation is simulated by the simulation device 1.

[0022] The simulation device 1 simulates the operation of a feed axis that traces a trajectory based on a machining program and a spindle that rotates a tool or a workpiece. For example, when the axis is a feed axis, the simulation device 1 is shown by a block diagram of a transfer function in FIG. 3. Block diagrams having a configuration similar to that of the block diagram in FIG. 3 are described in JP-A-3-110607, WO2023 / 157244, etc. The transfer function of the drive axis simulation unit 132 is formed by combining transfer functions 401 to 407.

[0023] In FIG. 3, a transfer function 401 is a transfer function of a position loop, and Kp indicates a position gain. A transfer function 402 is a transfer function of a speed loop, and k1 indicates an integral gain and k2 indicates a proportional gain. Transfer functions 403 and 404 are transfer functions of the motors. K t is the torque constant, J m indicates the motor inertia (moment of inertia). Transfer function 405 indicates a ball screw or the like that is a coupling between the servo motor and the machine. Transfer function 406 is the transfer function of the machine, and J L indicates the inertia of the machine. A transfer function 407 is a transfer function of an integral element that obtains the position of the machine by integrating the speed of the moving part of the machine.

[0024] The position loop represented by transfer function 401 and the velocity loop represented by transfer function 402 form a servo control model, and the motor, ball screw, etc. and integral elements represented by transfer functions 403, 404, 405, 406 and 407 form a plant model.

[0025] Feedback signal P of the machine position detected by a linear scale, etc. from the position command f This position deviation is multiplied by the position gain Kp to obtain the speed command V c This speed command V c The feedback value V of the motor speed detected by a pulse coder or the like attached to the servo motor f The speed deviation is calculated by subtracting C (current command). The servo motor calculates the torque command Tc The servo motor is driven based on the servo control, and its position and speed are feedback controlled in a closed loop manner.

[0026] In addition, the simulation device 1 may be configured such that the transfer function 407 obtains the angle of the servo motor by integrating the angular velocity of the servo motor, and the value obtained by converting the angle of the servo motor into the position of the machine is regarded as the position of the machine. Such transfer functions 404, 405, 406, and 407 correspond to the simulation by the drive shaft simulation unit 132.

[0027] 4 is a diagram showing an example of the operation of the simulation device 1 according to the first embodiment. As described above, the numerical control simulator 11 generates an axis operation command for the drive axis of the machine tool based on the machining program 10. The servo control simulator 12 generates a torque command based on the axis operation command and the virtual axis operation result. The drive axis simulator 132 updates the virtual axis operation result based on the torque command.

[0028] That is, as shown in Fig. 4, the servo control simulator 12 generates a torque command C1 based on the X-axis command position A1 as an axis operation command and the X-axis initial position B as an axis operation virtual actual result initial value based on the machining program 10. Then, the servo control simulator 12 generates a torque command C2 based on the X-axis command position A2 and the X-axis movement position D1 as an updated value of the axis operation virtual actual result. Here, the servo control simulator 12 does not generate the torque command C2 unless the X-axis movement position D1, which is the axis operation virtual actual result, is obtained. In this way, the torque command and the axis operation virtual actual result are sequentially generated and updated by the servo control simulator 12 and the drive axis simulator 132.

[0029] As described above, according to the first embodiment, the simulation device 1 includes a numerical control simulator 11 that generates an axis operation command for the machine tool based on the machining program 10, a servo control simulator 12 that generates a torque command based on the axis operation command and the virtual axis operation results for simulating the axis operation of the machine tool, and a replaceable module unit 13 that is independent of the numerical control simulator 11 and the servo control simulator 12. The module unit 13 includes a transmission / reception unit 131 that receives a torque command from the servo control simulator 12 and transmits the virtual axis operation results to the servo control simulator 12, and a drive axis simulator 132 that simulates the operation of the drive axis of the machine tool based on the torque command and updates the virtual axis operation results. The module unit 13 is generated by an external device that does not depend on the system that controls the machine tool, and the servo control simulator 12 generates a torque command when the virtual axis operation results are obtained, and does not generate a torque command when the virtual axis operation results are not obtained.

[0030] With such a configuration, the simulation device 1 according to the first embodiment can change the simulation model of the drive shaft to simulate various types of drive shafts. Furthermore, since the simulation device 1 can independently develop a simulation corresponding to the state of the drive shaft, it becomes possible to perform a simulation that reflects the state of the drive shaft by the developed simulation.

[0031] The axis movement virtual actual result includes an axis movement virtual actual result initial value that the servo control simulator 12 acquires only in the first operation and an axis movement virtual actual actual update value that is updated by the drive shaft simulator 132. This allows the simulation device 1 to generate a torque command even in the first operation by the servo control simulator 12 and to perform a simulation by the drive shaft simulator 132.

[0032] [Second embodiment] 5 is a functional block diagram showing an overview of a simulation device 1A according to a second embodiment. In the description of the second embodiment, differences from the first embodiment will be mainly described, and descriptions of configurations and processes similar to those of the first embodiment will be omitted.

[0033] The simulation device 1A according to the second embodiment further includes a detector simulation unit 133 that corrects the virtual axis operation results based on detector information 134 of the machine tool. In addition, the transmission / reception unit 131 transmits the corrected virtual axis operation results to the detector simulation unit 133.

[0034] Here, the detector information 134 includes at least the calculation period of the drive shaft simulation unit 132, the delay amount of the calculation result, the resolution of the drive shaft detector (simulation target), and the delay amount of feedback due to data transmission and reception.

[0035] 6 and 7 are diagrams showing an example of calculating a post-correction virtual shaft movement result according to the second embodiment. Specifically, Fig. 6 and Fig. 7 show a pre-correction virtual shaft movement result output from the drive shaft simulation unit 132 and a post-correction virtual shaft movement result output from the detector simulation unit 133.

[0036] In the example shown in Fig. 6, the resolution of the detector information is 0.01 deg, and the calculation period of the drive shaft simulation unit 132 is 0.2 ms. Also, in Fig. 6, the virtual axis operation result at time -0.1 ms is 100.113.

[0037] When the detector simulator 133 performs drive axis calculations every 0.2 ms to reduce the amount of calculations for a torque command every 0.1 ms, it predicts missing axis operation virtual results based on the most recent axis operation virtual results.

[0038] Fig. 8 is a diagram showing an example of predicting the axis movement virtual actual result shown in Fig. 6. For example, as shown in Fig. 8, the axis movement virtual actual result after correction at 0.6 ms in Fig. 6 is obtained from the axis movement virtual actual result before correction at 0.5 ms (100.626) and the axis movement virtual actual result before correction at 0.3 ms (100.464).

[0039] In detail, the axis movement virtual actual result after correction at 0.6 ms in Fig. 6 is calculated as 100.626 + 1 / 2 (100.626 - 100.464) = 100.71. Similarly, the axis movement virtual actual result after correction at 0.2 ms in Fig. 6 is calculated as 100.292 + 1 / 2 * (100.292 - 100.113) = 100.38. The axis movement virtual actual result after correction at 0.4 ms is calculated as 100.464 + 1 / 2 * (100.464 - 100.292) = 100.55.

[0040] In the example shown in Fig. 7, in addition to the example shown in Fig. 6, for the sake of calculation, a virtual axis movement result delayed by 0.2 ms is obtained. In the example shown in Fig. 7, the detector information has a resolution of 0.01 deg, the calculation period of the drive shaft simulation unit 132 is 0.2 ms, and the delay is 0.2 ms. In Fig. 7, the virtual axis movement result at time -0.1 ms is 100.113.

[0041] In such a case, the detector simulator 133 predicts the missing axis operation virtual result for the torque command every 0.1 ms based on the most recent axis operation virtual result.

[0042] For example, the axis movement virtual actual value after correction at 0.1 ms in Fig. 7 is calculated from the axis movement virtual actual value before correction at 0.1 ms (100.292) and the axis movement virtual actual value before correction at -0.1 ms (100.113). In detail, the axis movement virtual actual value after correction at 0.1 ms in Fig. 7 is calculated as 100.292+2 / 2*(100.292-100.113)=100.47. The axis movement virtual actual values ​​after correction at 0.3 ms and 0.5 ms are calculated in the same manner.

[0043] Further, the virtual axis movement actual value after correction at 0.2 ms is calculated as follows: 100.292+3 / 2*(100.292-100.113)=100.56 The virtual axis movement actual values ​​after correction at 0.4 ms and 0.6 ms are calculated in the same manner.

[0044] 6 and 7, if the virtual axis operation results are not corrected, the servo control simulator 12 may stop every 0.2 ms and may not be able to achieve an accurate simulation. In the above example, the virtual axis operation results after correction are not interrupted, so the servo control simulator 12 outputs a torque command every 0.1 ms without any problems.

[0045] As described above, according to the second embodiment, the module unit 13 further includes a detector simulation unit 133 that corrects the virtual axis operation results based on the machine tool detector information 134. As a result, the simulation device 1A can interpolate the difference in the calculation periods even if the calculation periods of the numerical control simulation unit 11, the servo control simulation unit 12, and the drive axis simulation unit 132 are different from one another.

[0046] Moreover, the detector information 134 includes at least the calculation period of the drive shaft simulation unit 132, the delay amount of the calculation result, the resolution of the detector of the drive shaft, and the delay amount of the feedback. This allows the simulation device 1A to interpolate the influence of the calculation period, the resolution, the delay amount, etc.

[0047] [Third embodiment] 9 is a functional block diagram showing an overview of a simulation device 1B according to the third embodiment. In the description of the third embodiment, differences from the first and second embodiments will be mainly described, and descriptions of configurations and processes similar to those of the first and second embodiments will be omitted.

[0048] The simulation device 1B according to the third embodiment further includes a detector simulation unit 14 that corrects the virtual axis operation results based on detector information 15 of the machine tool. In addition, the transmission / reception unit 131 transmits the corrected virtual axis operation results to the detector simulation unit 133. That is, the simulation device 1B according to the third embodiment includes the detector simulation unit 14 and detector information 15 instead of the detector simulation unit 133 and detector information 134 according to the second embodiment.

[0049] Here, the detector information 15 includes at least the calculation period of the drive shaft simulation unit 132, the delay amount of the calculation result, the resolution of the detector of the drive shaft, and the delay amount of the feedback, as in the second embodiment.

[0050] As described above, according to the third embodiment, the simulation device 1B further includes a detector simulation unit 133 that corrects the virtual axis operation results based on detector information 134 of the machine tool, and the transmission / reception unit 131 transmits the corrected virtual axis operation results to the detector simulation unit 133. As a result, even if the calculation period of the numerical control simulation unit 11, the calculation period of the servo control simulation unit 12, and the calculation period of the drive axis simulation unit 132 are different from one another, the simulation device 1B can interpolate the difference in the calculation periods.

[0051] [Fourth embodiment] 10 is a diagram showing an overview of a simulation device 1C according to a fourth embodiment. In the description of the fourth embodiment, differences from the first, second and third embodiments will be mainly described, and a description of configurations and processes similar to those of the first, second and third embodiments will be omitted. The simulation device 1C according to the fourth embodiment has drive shaft simulation units 132A and 132B.

[0052] When simulating a drive mechanism driven by multiple (e.g., two) motors, the drive shaft simulation units 132A and 132B perform the simulation based on the torque commands of other axes of the machine tool or virtual axis operation results of the other axes.

[0053] Specifically, the drive shaft simulation unit 132A executes a simulation based on a torque command output to the drive shaft simulation unit 132B or a virtual shaft operation result output to the transmission / reception unit 131. Similarly, the drive shaft simulation unit 132B executes a simulation based on a torque command output to the drive shaft simulation unit 132A or a virtual shaft operation result output to the transmission / reception unit 131.

[0054] Examples of a drive mechanism driven by multiple motors include tandem control and turning using a main shaft and a feed shaft.

[0055] Fig. 11 is a diagram showing an example of tandem control. A control device 500 shown in Fig. 11 is for performing tandem control in which one drive mechanism 501 is driven by a plurality (two) of motors 54, 55. The drive mechanism 501 is a machine tool made up of a moving body 58 and mechanical parts 56, 57 such as gears. A driving force is transmitted to the moving body 58 from the motor 54 via the mechanical part 56, and a driving force is transmitted to the moving body 58 from the motor 55 via the mechanical part 57.

[0056] The control device 500 includes a CNC control unit 50 and a motor control unit 51. The CNC control unit 50 performs various processes for operating a drive mechanism 501. The motor control unit 51 performs current control of a motor 54 via an amplifier 52 based on a command from the CNC control unit 50, and also performs current control of a motor 55 via an amplifier 53. The motors 54 and 55 are servo motors, and the motor control unit 4 receives feedback signals from the motors 54 and 55 to obtain the position and speed.

[0057] 11, in the tandem control in which one driving mechanism 501 is driven by two motors 54, 55, the external force acting on one motor changes depending on the operation of the other motor. Therefore, when simulating the driving mechanism 501, the simulation device 1C can use the torque command or virtual actual result of the other axis.

[0058] Fig. 12 is a diagram showing an example of turning. In general, the principal component of cutting resistance (cutting resistance in the rotation direction of the spindle 600) is considered to be proportional to the cutting cross-sectional area. Therefore, the principal component of cutting resistance in turning as shown in Fig. 12 can be calculated by the following formula.

[0059]

number

[0060] Here, ap (mm) indicates the cutting depth, l (mm / min) indicates the feed rate of the linear axis, Kc (MPa) indicates the specific cutting resistance, and n (min-1) indicates the spindle rotation speed. As shown in the above formula, the cutting reaction force (F) of the spindle 600 in turning is affected by the feed rate (l) of the linear axis 601. Therefore, when accurately simulating the spindle 600, the simulation device 1C can use the virtual axial motion performance (speed) of the linear axis 601, which is another axis.

[0061] Thus, according to the fourth embodiment, when simulating a drive mechanism driven by multiple motors, the drive shaft simulation units 132A and 132B perform the simulation based on the torque commands of other axes of the machine tool or the virtual axis operation results of the other axes, thereby enabling the simulation device 1C to perform an accurate simulation taking into account interference with other drive shafts.

[0062] Although the embodiment of the present invention has been described above, the above-mentioned simulation device 1 can be realized by hardware, software, or a combination of these. In addition, the control method performed by the above-mentioned simulation device 1 can also be realized by hardware, software, or a combination of these. Here, being realized by software means being realized by a computer reading and executing a program.

[0063] The program can be stored and provided to a 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., 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, and RAM (random access memory)).

[0064] Although the present disclosure has been described in detail, the present disclosure is not limited to the above-mentioned individual embodiments. Various additions, replacements, modifications, partial deletions, etc. are possible for these embodiments within the scope of the gist of the present disclosure, or within the scope of the gist of the present disclosure derived from the contents described in the claims and their equivalents. These embodiments can also be implemented in combination. For example, in the above-mentioned embodiments, the order of each operation and the order of each process are shown as examples, and are not limited to these. The same applies when numerical values ​​or formulas are used in the description of the above-mentioned embodiments.

[0065] The following supplementary notes are further disclosed regarding the above embodiment and modified examples. (Appendix 1) A machine tool simulation device (1) a numerical control simulator (11) that generates axis operation commands for the machine tool based on a machining program (10); a servo control simulator (12) that generates a torque command based on the axis operation command and an axis operation virtual result for simulating the axis operation of the machine tool; a replaceable module unit (13) that is independent of the numerical control simulator (11) and the servo control simulator (12); The module portion (13) is a transmission / reception unit (131) that receives the torque command from the servo control simulator (12) and transmits the virtual axis operation result to the servo control simulator (12); a drive shaft simulation unit (132) that simulates the operation of the drive shaft of the machine tool based on the torque command and updates the virtual actual shaft operation results; Equipped with The module section (13) is generated by an external device independent of a system that controls the machine tool, The servo control simulator (12) generates the torque command when the virtual shaft operation result is obtained, and does not generate the torque command when the virtual shaft operation result is not obtained. (Appendix 2) The simulation device (1) described in Appendix 1, wherein the axis operation virtual actual result includes an axis operation virtual actual result initial value that the servo control simulation unit (12) acquires only in an initial operation, and an axis operation virtual actual result update value that is updated by the drive axis simulation unit (132). (Appendix 3) The simulation device (1) according to appendix 1 or 2, wherein the module unit (13) further comprises a detector simulation unit (133) that corrects the axis operation virtual actual results based on detector information (134) of the machine tool. (Appendix 4) The simulation device (1) further comprises a detector simulation unit (14) that corrects the virtual axis operation results based on detector information (15) of the machine tool, 3. The simulation device (1) according to claim 1 or 2, wherein the transmitting / receiving unit (131) transmits the corrected axis operation virtual actual result to the detector simulation unit (14). (Appendix 5) The simulation device (1) according to appendix 3, wherein the detector information includes at least a calculation period of the drive shaft simulation unit (132), a delay amount of the calculation result, a resolution of a detector of the drive shaft, and a delay amount of feedback. (Appendix 6) The simulation device (1) according to appendix 1 or 2, wherein, when simulating a drive mechanism driven by a plurality of motors, the drive shaft simulation unit (132) executes a simulation based on the torque commands of other axes of the machine tool or the virtual axis operation results of the other axes. (Appendix 7) a step of generating, by a numerical control simulator (11), an axis operation command for a machine tool based on a machining program; a step of generating, by a servo control simulator (12), a torque command based on the axis operation command and an axis operation virtual actual result for simulating the axis operation of the machine tool; a step of receiving, by a replaceable module unit (13) that is independent of the numerical control simulator (11) and the servo control simulator (12), the torque command from the servo control simulator (12) and transmitting the axis operation virtual actual result to the servo control simulator (12); and a step of simulating, by the module unit (13), an operation of a drive axis of the machine tool based on the torque command and updating the axis operation virtual actual result, wherein the module unit (13) is generated by an external device that is independent of a system that controls the machine tool, and the computer program generates the torque command when the axis operation virtual actual result is obtained, and does not generate the torque command when the axis operation virtual actual result is not obtained. [Explanation of symbols]

[0066] 1, 1A, 1B, 1C Simulation Device 10 Machining Program 11 Numerical Control Simulation Section 12 Servo control simulation section 13 Module section 14,133 Detector simulation part 15,134 Detector Information 131 Transmitter / receiver 132, 132A, 132B Drive shaft simulation part

Claims

1. A machine tool simulation device, comprising: a numerical control simulator that generates axis operation commands for the machine tool based on a machining program; a servo control simulator that generates a torque command based on the axis operation command and an axis operation virtual result for simulating the axis operation of the machine tool; a replaceable module unit that is independent of the numerical control simulator and the servo control simulator; The module portion includes: a transmission / reception unit that receives the torque command from the servo control simulator and transmits the axis operation virtual result to the servo control simulator; a drive shaft simulation unit that simulates an operation of the drive shaft of the machine tool based on the torque command and updates the virtual actual shaft operation result; An apparatus comprising:

2. 2. The simulation device according to claim 1, wherein the axis movement virtual actual result includes an axis movement virtual actual result initial value that is obtained by the servo control simulator only in an initial operation, and an axis movement virtual actual actual result update value that is updated by the drive shaft simulator.

3. 3. The simulation device according to claim 1, wherein the module unit further comprises a detector simulation unit that corrects the virtual axis operation results based on detector information of the machine tool.

4. The simulation device further includes a detector simulation unit that corrects the virtual axis operation result based on detector information of the machine tool, 3. The simulation device according to claim 1, wherein the transmitting / receiving unit transmits the corrected virtual axis operation result to the detector simulation unit.

5. 4. The simulation device according to claim 3, wherein the detector information includes at least a calculation cycle of the drive shaft simulation unit, a delay amount of a calculation result, a resolution of a detector of the drive shaft, and a delay amount of a feedback.

6. 3. The simulation device according to claim 1, wherein, when simulating a drive mechanism driven by a plurality of motors, the drive shaft simulation unit performs a simulation based on the torque command of another axis of the machine tool or the virtual axis operation result of the other axis.

7. On the computer, generating axis operation commands for the machine tool based on the machining program by a numerical control simulator; generating a torque command based on the axis operation command and an axis operation virtual result for simulating the axis operation of the machine tool by a servo control simulator; a step of receiving the torque command from the servo control simulator and transmitting the virtual axis operation result to the servo control simulator by a replaceable module unit, the module unit being independent of the numerical control simulator and the servo control simulator; a step of simulating an operation of a drive axis of the machine tool based on the torque command by the module unit and updating the axis operation virtual result; A computer program for executing the above.

8. A machine tool simulation device, comprising: a simulation software main body that generates an axis operation command simulating a CNC (Computer Numerical Control) control of the machine tool and a torque command based on an axis operation virtual result for simulating the axis operation of the machine tool; A replaceable module unit that is independent of the simulation software main body, The module portion includes: A simulation device that simulates the operation of the drive axis of the machine tool based on the torque command and outputs the virtual axis operation result.

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