Control device and computer-readable recording medium

Abstract

The control device according to the present disclosure includes a target spindle load designation unit that designates a target spindle load in an industrial machine that processes a workpiece, a spindle load measurement unit that measures the spindle load during processing in the industrial machine, a control gain setting unit that sets a control gain that adjusts the time it takes to reach the target spindle load, a feed spindle speed calculation unit that calculates a feed spindle speed such that the spindle load becomes the target spindle load, a load factor information acquisition unit that acquires spindle load factor information that is information that contributes to the spindle load in processing, a correction coefficient calculation unit that calculates a correction coefficient based on the spindle load factor information, a feed spindle speed correction unit that corrects the feed spindle speed by multiplying the feed spindle speed by the correction coefficient, and a control unit that performs adaptive control based on the feed spindle speed corrected by the feed spindle speed correction unit.

Description

[Technical Field]

[0001] The present disclosure relates to a control device and a computer-readable recording medium. [Background technology]

[0002] There is a technology that adjusts the feed axis speed so as to maintain the spindle load at a target value during workpiece machining, primarily for the purpose of shortening the machining cycle time (see, for example, Patent Document 1). This technology uses a general PI control technique. The control gain is adjusted taking into account the responsiveness of the spindle load obtained during actual machining, i.e., the time it takes for the spindle load to converge to the target value. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2017-097701 Summary of the Invention [Problem to be solved by the invention]

[0004] The responsiveness of the spindle load is also affected by the material of the workpiece, the tools used, the machining program, etc. Therefore, every time the workpiece to be machined, the tools used for machining, or the machining program to be executed is changed, the operator must readjust the control gain. There is a demand for technology that supports the adjustment of control gains in manufacturing sites. [Means for solving the problem]

[0005] The control device disclosed herein solves the above problem by calculating a correction coefficient based on information on spindle load factors before and after the change when the workpiece material, tool type, machining program, or the like that affects the spindle load is changed after the control gain is set, and correcting the feed rate using the correction coefficient.

[0006] One aspect of the present disclosure is a control device including: a target spindle load designation unit that designates a target spindle load in an industrial machine that processes a workpiece; a spindle load measurement unit that measures the spindle load during processing in the industrial machine; a control gain setting unit that sets a control gain that adjusts the time it takes to reach the target spindle load; a feed spindle speed calculation unit that calculates a feed spindle speed such that the spindle load becomes the target spindle load; a load factor information acquisition unit that acquires spindle load factor information that is information that contributes to the spindle load in processing; a correction coefficient calculation unit that calculates a correction coefficient based on the spindle load factor information; a feed spindle speed correction unit that corrects the feed spindle speed by multiplying the feed spindle speed by the correction coefficient; and a control unit that performs adaptive control based on the feed spindle speed corrected by the feed spindle speed correction unit. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 2 is a schematic hardware configuration diagram of a control device according to the first embodiment. [Figure 2] FIG. 2 is a block diagram showing a schematic function of a control device according to the first embodiment. [Figure 3] FIG. 10 is a schematic diagram showing an example of a block diagram relating to adaptive control for keeping the spindle load constant. [Figure 4] FIG. 10 is a block diagram showing a schematic function of a control device according to a second embodiment. [Figure 5] FIG. 10 is a block diagram showing schematic functions of a control device according to a third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In the following description, components having the same or similar functions will be denoted by the same reference numerals. Duplicate descriptions of those components may be omitted.

[0009] In this application, "based on XX" means "based on at least XX," and includes cases where it is based on other elements in addition to XX. Furthermore, "based on XX" is not limited to cases where XX is used directly, but also includes cases where it is based on XX that has been calculated or processed. "XX" is any element (for example, any information).

[0010] [First embodiment] 1 is a schematic hardware configuration diagram showing the main parts of a control device according to an embodiment of the present disclosure. The control device 1 of the present disclosure can be implemented as a control device for controlling industrial machinery such as machine tools.

[0011] The CPU 11 included in the control device 1 of the present disclosure is a processor that controls the entire control device 1. The CPU 11 reads a system program stored in the ROM 12 via the bus 22 and controls the entire control device 1 in accordance with the system program. The RAM 13 temporarily stores temporary calculation data, display data, various data input from outside, and the like.

[0012] The nonvolatile memory 14 is composed of, for example, a memory backed up by a battery (not shown) or an SSD (Solid State Drive), and retains its stored state even when the power to the control device 1 is turned off. The nonvolatile memory 14 stores machining programs and data read from an external device 72 via an interface 15, data and machining programs input via an input device 71, and various data acquired from the industrial machine 3. The machining programs and data stored in the nonvolatile memory 14 may be expanded into the RAM 13 when executed / used. In addition, various system programs such as known analysis programs are written in the ROM 12 in advance.

[0013] The interface 15 is an interface for connecting the CPU 11 of the control device 1 to an external device 72 such as a USB memory, CompactFlash (registered trademark), or SD card. For example, machining programs and various data used to control the industrial machine 3 can be read from the external device 72. Furthermore, machining programs and various data edited within the control device 1 can be stored in the external device 72. A PLC (programmable logic controller) 16 controls the industrial machine 3 by outputting signals to the industrial machine 3 and its peripheral devices (e.g., tool changers, actuators such as robots, sensors attached to the industrial machine 3, etc.) via an I / O unit 17 using a sequence program built into the control device 1. The PLC 16 also receives signals from various switches on an operation panel installed on the main body of the industrial machine 3 and from peripheral devices, performs the necessary signal processing, and then passes the signals to the CPU 11.

[0014] The display device 70 displays various data loaded into the memory, data obtained as a result of executing the machining program, system program, etc., output via the interface 18. In addition, the input device 71, which is composed of a keyboard, pointing device, etc., passes instructions, data, etc. based on operations by the operator to the CPU 11 via the interface 19.

[0015] The interface 20 is an interface for connecting the CPU 11 of the control device 1 to a wired or wireless network 5. The network 5 may be one that communicates using technologies such as serial communication such as RS-485, Ethernet (registered trademark), optical communication, wireless LAN, Wi-Fi (registered trademark), Bluetooth (registered trademark), etc. At least one computer 4, a fog computer 6, a cloud server 7, etc. are connected to the network 5, and data is exchanged between the network 5 and the control device 1.

[0016] The axis control circuit 30 for controlling the feed axes of the industrial machine 3 receives drive axis position commands from the CPU 11 and outputs commands for the feed axes to the servo amplifier 40. The servo amplifier 40 receives these commands and drives the servo motors 50, moving each part of the industrial machine 3 along its respective axis. Each servo motor 50 has a built-in position detector, and feeds back a position feedback signal from this position detector to the axis control circuit 30. The axis control circuit 30 performs feedback control of the servo motor 50 based on this position feedback signal. Note that while the hardware configuration diagram in FIG. 1 shows only one axis control circuit 30, one servo amplifier 40, and one servo motor 50, in reality, there are as many as the number of axes of the industrial machine 3 to be controlled. For example, to control a typical machine tool with three linear axes, three sets of axis control circuits 30, servo amplifiers 40, and servo motors 50 are provided to move a spindle to which a tool is attached and a workpiece relatively in the three linear axes (X-axis, Y-axis, and Z-axis).

[0017] A spindle control circuit 60 receives a spindle rotation command and outputs a spindle speed signal to a spindle amplifier 61. The spindle amplifier 61 receives this spindle speed signal and rotates a spindle motor 62 of the industrial machine 3 at the commanded rotation speed, thereby driving the spindle. The spindle motor 62 rotates a tool or workpiece attached to the industrial machine 3. A position coder 63 is connected to the spindle motor 62. The position coder 63 outputs a feedback pulse in synchronization with the rotation of the spindle, and the feedback pulse is read by the CPU 11.

[0018] 2 is a schematic block diagram illustrating functions of the control device 1 according to the first embodiment of the present disclosure. Each function of the control device 1 according to this embodiment is realized by the CPU 11 included in the control device 1 shown in FIG. 1 executing a system program and controlling the operation of each part of the control device 1.

[0019] The control device 1 of this embodiment includes a target spindle load specifying unit 100, a spindle load measuring unit 110, a control gain setting unit 120, a feed axis speed calculating unit 130, a load factor information acquiring unit 140, a correction coefficient calculating unit 150, a feed axis speed correcting unit 160, and a control unit 170.

[0020] The target spindle load designation unit 100 designates a target spindle load. The target spindle load designation unit 100 may designate the target spindle load based on, for example, an input by an operator via the input device 71. Alternatively, the target spindle load may be designated based on a value set in a parameter setting area provided in the nonvolatile memory 14 of the control device 1 or a value stored in an external memory connected to the external device 72. The target spindle load designation unit 100 outputs the designated target spindle load to the feed axis speed calculation unit 130.

[0021] The spindle load measuring unit 110 measures the spindle load. The spindle load measuring unit 110 may measure the spindle load by, for example, acquiring a load fed back from the motor to the control unit 170 that controls the motor. In general, the load on the motor can be calculated based on the amount of power supplied to the motor. Alternatively, a separate sensor or the like can be attached to measure the load, and the measured value can be used. In either case, the load can be acquired via the control unit 170. The spindle load measuring unit 110 outputs the measured spindle load to the feed axis speed calculation unit 130.

[0022] The control gain setting unit 120 sets a control gain that adjusts the time it takes for the current spindle load to reach the target spindle load in the PI control performed by the feed axis speed calculation unit 130. The control gain referred to here is, for example, a proportional gain K p and integral gain K I In addition, in Figure 3, F p is the command speed by the program, F c is the feed speed commanded to the motor, L G is the target spindle load, L FBindicates the current spindle load that has been fed back. The control gain setting unit 120 may set the control gain based on, for example, an input by an operator via the input device 71. Alternatively, the control gain may be set based on a value set in a parameter setting area provided in the nonvolatile memory 14 of the control device 1.

[0023] The feed axis speed calculation unit 130 calculates the feed axis speed so that the spindle load becomes the target spindle load based on the current spindle load measured by the spindle load measurement unit 110. More specifically, the target spindle load L G and the current spindle load L FB Based on the difference between the feed rate F and the feed rate F, the difference is reduced by performing PI control using the configuration shown in the block diagram of FIG. c The feed axis speed calculation unit 130 calculates the calculated feed speed F c is output to the feed axis speed correction unit 160.

[0024] The load factor information acquiring unit 140 acquires information that is a factor of the spindle load in machining performed by the industrial machine 3. In the present disclosure, the spindle load factor information acquired by the load factor information acquiring unit 140 is information that affects the target spindle load when performing PI control, but is information that cannot be controlled by PI control (i.e., information other than the feed rate). The spindle load factor information may be, for example, a specific cutting resistance value determined by the material of the workpiece, a tool diameter, tool length, machining program determined by the type of tool used for machining, etc. Based on this acquired information, the spindle load factor information may further calculate the cutting depth of the tool into the workpiece calculated from the tool length value of the tool and the analysis result of the machining program, or the cutting width value calculated from the tool diameter value of the tool and the analysis result of the machining program, and these values ​​may be treated as the spindle load factor information.

[0025] The load factor information acquiring unit 140 may acquire the spindle load factor information based on input by an operator via the input device 71. Alternatively, the load factor information acquiring unit 140 may acquire spindle load factor information stored in an area of ​​the nonvolatile memory 14 of the control device 1 or stored in an external memory via the external device 72. Furthermore, the load factor information acquiring unit 140 may acquire the spindle load factor information from a higher-level computer such as the fog computer 6 or the cloud server 7 via the network 5. In this case, for example, specific cutting resistance values ​​corresponding to multiple workpiece materials may be associated with each material, and the specific cutting resistance value may be acquired by presenting these workpiece materials to the operator and allowing them to select one. Similarly, tool diameters and tool lengths may be associated with multiple tool types, and the tool types may be presented to the operator and allowing them to select one, allowing them to acquire the tool diameter and tool length values. The load factor information acquiring unit 140 outputs the acquired spindle load factor information to the correction coefficient calculating unit 150.

[0026] The correction coefficient calculation unit 150 calculates a correction coefficient for the feed axis speed based on the spindle load factor information acquired by the load factor information acquisition unit 140. For example, the correction coefficient may be a value obtained by multiplying a predetermined first reference value by the reciprocal of the specific cutting resistance. Alternatively, the correction coefficient may be a value obtained by multiplying a predetermined second reference value by the reciprocal of the cutting depth, or a value obtained by multiplying a predetermined third reference value by the reciprocal of the cutting width. Furthermore, these values ​​may be multiplied to calculate a correction coefficient that takes all factors into consideration. Appropriate values ​​for the first to third reference values ​​may be obtained in advance by conducting experiments or the like. The correction coefficient calculation unit 150 outputs the calculated correction coefficient to the feed axis speed correction unit 160.

[0027] The feed axis speed correction unit 160 performs correction by multiplying the feed speed calculated by the feed axis speed calculation unit 130 by the correction coefficient calculated by the correction coefficient calculation unit 150. Then, the feed axis speed correction unit 160 outputs to the control unit 170 a speed command for driving the motor at the command speed obtained as a result of the correction.

[0028] The control unit 170 has general functions for controlling the industrial machine 3. For example, based on a speed command for a feed axis of the industrial machine 3, the control unit 170 outputs movement command data for driving the servo motor 50 associated with the feed axis. Furthermore, based on an operation command for a spindle of the industrial machine 3, for example, the control unit 170 outputs rotation command data for controlling the spindle motor 62. Furthermore, the control unit 170 acquires feedback values ​​of the loads acting on the servo motor 50 and the spindle motor 62. In addition, the control unit 170 performs general control required for controlling the industrial machine 3 based on the input commands.

[0029] When machining is performed for the first time using the control device 1 having the above-described configuration, trial machining is first performed to measure the responsiveness of the spindle load. Then, a control gain that provides appropriate responsiveness is set. After that, if the workpiece material, tool type, or machining content in the machining program is changed, the correction coefficient is automatically calculated to match these changes. Therefore, once an appropriate control gain is set, there is no need to readjust the control gain even if the workpiece material, tool type, or machining content in the machining program is changed.

[0030] The control device 1 according to this embodiment having the above configuration eliminates the need to readjust the control gain in response to changes in spindle load factors such as the workpiece material, the type of tool, and the machining content commanded by the machining program when performing PI control (adaptive control) to keep the spindle load constant, thereby reducing the workload on the operator during machining.

[0031] As a modified example of the control device 1 according to this embodiment, when the correction coefficient calculation unit 150 calculates a new correction coefficient, the calculated correction coefficient may be associated with the spindle load factor information acquired by the load factor information acquisition unit 140, and stored in a storage area provided in advance on the RAM 13 or nonvolatile memory 14 of the control device 1. By configuring in this way, the relationship between the spindle load factor information and the correction coefficient can be recorded, which can be used for later analysis, etc.

[0032] [Second embodiment] A control device according to a second embodiment of the present disclosure will be described below. The control device 1 according to this embodiment has the same hardware configuration as the control device 1 according to the first embodiment.

[0033] 4 is a schematic block diagram showing functions of the control device 1 according to the second embodiment of the present disclosure. Each function of the control device 1 according to this embodiment is realized by the CPU 11 included in the control device 1 shown in FIG. 1 executing a system program and controlling the operation of each part of the control device 1.

[0034] Like the control device 1 according to the first embodiment, the control device 1 of this embodiment includes a target spindle load specifying unit 100, a spindle load measuring unit 110, a control gain setting unit 120, a feed axis speed calculating unit 130, a load factor information acquiring unit 140, a correction coefficient calculating unit 150, a feed axis speed correcting unit 160, and a control unit 170. In addition, the RAM 13 to the nonvolatile memory 14 of the control device 1 are provided in advance with a reference information storage unit 200, which is an area for storing reference load factor information.

[0035] The target spindle load designation unit 100, the spindle load measurement unit 110, the feed axis speed calculation unit 130, the feed axis speed correction unit 160, and the control unit 170 according to this embodiment have the same functions as the target spindle load designation unit 100, the spindle load measurement unit 110, the feed axis speed calculation unit 130, the feed axis speed correction unit 160, and the control unit 170 according to the first embodiment.

[0036] The control gain setting unit 120 of this embodiment commands the load factor information acquiring unit 140 to store the acquired spindle load factor information as reference spindle load factor information in the reference information storage unit 200 at the timing when the control gain is set. In response to this command, the load factor information acquiring unit 140 stores the acquired spindle load factor information as reference spindle load factor information in the reference information storage unit 200. Then, the load factor information acquiring unit 140 commands the correction coefficient calculation unit 150 to perform calculation using the correction coefficient as 1. In other cases, the load factor information acquiring unit 140 outputs the acquired spindle load factor information to the correction coefficient calculation unit 150.

[0037] When the correction coefficient calculation unit 150 of this embodiment is instructed by the load factor information acquisition unit 140 to perform calculation using a correction coefficient of 1, it outputs the correction coefficient of 1 to the feed axis speed correction unit 160 as the calculation result. On the other hand, when spindle load factor information is received from the load factor information acquisition unit 140, the correction coefficient calculation unit 150 calculates a correction coefficient based on the reference spindle load factor information stored in the reference information storage unit 200 and the spindle load factor information received from the load factor information acquisition unit 140. For example, when the reference spindle load factor information is that the material of the workpiece is aluminum (specific cutting resistance Ra [N / mm 2 ]) has been stored from the load factor information acquisition unit 140. Then, it is assumed that the material of the workpiece to be machined is iron (specific cutting resistance Rf [N / mm 2 ]) is input. At this time, the correction coefficient calculation unit 150 calculates the correction coefficient Ra / Rf based on the ratio of these materials. Then, the calculated correction coefficient is output to the feed shaft speed correction unit 160. For other types of spindle load factor information, correction coefficients may be calculated based on the ratio with the spindle load factor information stored as a reference in the same way.

[0038] The control device 1 according to this embodiment having the above configuration, when performing PI control (adaptive control) to keep the spindle load constant, sets the correction coefficient to 1 when the control gain is set, stores the spindle load factor information at that time, and thereafter corrects the correction coefficient based on the ratio to the reference spindle load factor information each time the spindle load factor information is changed. This eliminates the need to readjust the control gain in response to changes in the spindle load factor, reducing the operator's workload during machining.

[0039] [Third embodiment] A control device according to a third embodiment of the present disclosure will be described below. The control device 1 according to this embodiment has the same hardware configuration as the control device 1 according to the first embodiment.

[0040] 5 is a schematic block diagram showing functions of the control device 1 according to the third embodiment of the present disclosure. Each function of the control device 1 according to this embodiment is realized by the CPU 11 included in the control device 1 shown in FIG. 1 executing a system program and controlling the operation of each part of the control device 1.

[0041] The control device 1 of this embodiment includes a target spindle load specifying unit 100, a spindle load measuring unit 110, a control gain setting unit 120, a feed axis speed calculating unit 130, a load factor information acquiring unit 140, a correction coefficient calculating unit 150, a feed axis speed correcting unit 160, and a control unit 170, as well as an arrival time measuring unit 180. Furthermore, the RAM 13 to the nonvolatile memory 14 of the control device 1 are provided in advance with a reference information storage unit 200, which is an area for storing reference load factor information and arrival times.

[0042] The target spindle load designation unit 100, the spindle load measurement unit 110, the feed axis speed calculation unit 130, the correction coefficient calculation unit 150, the feed axis speed correction unit 160, and the control unit 170 according to this embodiment have the same functions as the target spindle load designation unit 100, the spindle load measurement unit 110, the feed axis speed calculation unit 130, the correction coefficient calculation unit 150, the feed axis speed correction unit 160, and the control unit 170 according to the second embodiment.

[0043] Similar to the control gain setting unit 120 according to the second embodiment, the control gain setting unit 120 according to the present embodiment commands the load factor information acquiring unit 140 at the timing when the control gain is set to store the acquired spindle load factor information as reference spindle load factor information in the reference information storage unit 200. Also, at the timing when the control gain is set, the control gain setting unit 120 commands the reference information storage unit 200 to store the time taken for the spindle load to reach the target spindle load after the spindle load changes from the target spindle load in the first machining as a reference arrival time.

[0044] The arrival time measurement unit 180 monitors the load on the spindle while PI control (adaptive control) is being performed. When the monitored spindle load changes from the target spindle load, the unit measures the time taken from the time the change occurred until the spindle load reaches the target spindle load as the arrival time. The arrival time measurement unit 180 may provide a margin for the target spindle load and determine that the spindle load has reached the target spindle load when it falls within the margin. When a command is received from the control gain setting unit 120, the arrival time measurement unit 180 stores the measured arrival time in the reference information storage unit 200 as a reference arrival time. Otherwise, the unit outputs the measured arrival time to the load factor information acquisition unit 140.

[0045] In the first machining after the spindle load factor information has been changed, when the load factor information acquisition unit 140 of this embodiment receives the arrival time from the arrival time measurement unit 180, it calculates the ratio between the arrival time received from the arrival time measurement unit 180 and the reference arrival time stored in the reference information storage unit 200. Then, based on the calculation result, it corrects the reference spindle load factor information and outputs it to the correction coefficient calculation unit 150 as the current load factor information. For example, the specific cutting resistance Ra [N / mm 2] is stored in the reference information storage unit 200. Also, suppose that 30 [msec] is stored as the reference arrival time. Then, suppose that in the first machining after the spindle load factor information is changed, an arrival time of 150 [msec] is input from the arrival time measurement unit 180. In this case, the load factor information acquisition unit 140 multiplies the specific cutting resistance Ra, which is the reference spindle load factor information, by a value obtained by dividing the current arrival time of 150 [msec] by the reference arrival time of 30 [msec], and outputs the result of the calculation to the correction coefficient calculation unit 150 as the current non-cutting resistance. Then, in subsequent machining, unless the spindle load factor information is changed, the corrected spindle load factor information is output to the correction coefficient calculation unit 150.

[0046] The control device 1 according to this embodiment having the above configuration, when performing PI control (adaptive control) to keep the spindle load constant, sets the correction coefficient to 1 when the control gain is set, stores the spindle load factor information and arrival time at that time, and thereafter corrects the spindle load factor information based on the reference arrival time ratio each time the spindle load factor information is changed. This eliminates the need to readjust the control gain in response to changes in the spindle load factor, reducing the operator's workload during machining.

[0047] In one modification of the control device 1 according to this embodiment, the load factor information acquisition unit 140 may output to the correction coefficient calculation unit the ratio between the reference arrival time stored in the reference information storage unit 200 and the arrival time received from the arrival time measurement unit 180, instead of correcting the spindle load factor information. For example, assume that the reference arrival time is 30 msec stored in the reference information storage unit 200, and that the arrival time measurement unit 180 inputs 150 msec as the arrival time during the first machining operation after the spindle load factor information is changed. In this case, the load factor information acquisition unit 140 divides the reference arrival time of 30 msec by the current arrival time of 150 msec and outputs the result to the correction coefficient calculation unit. The correction coefficient calculation unit 150 multiplies the received value by a correction coefficient 1 and outputs the result to the feed axis speed correction unit 160 as the current correction coefficient. This allows an appropriate correction coefficient to be set without modifying the spindle load factor information.

[0048] Although the embodiments of the present disclosure have been described in detail above, the present disclosure is not limited to the individual embodiments described above. Various additions, substitutions, modifications, partial deletions, etc. are possible in these embodiments without departing from the gist of the invention or the idea and intent of the present disclosure derived from the content described in the claims and their equivalents. For example, in the above-described 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 mathematical expressions are used in the description of the above-described embodiments.

[0049] Below are notes relating to embodiments of the present disclosure. (Appendix 1) A control device (1) according to one aspect of the present disclosure includes a target spindle load designation unit (100) that designates a target spindle load in an industrial machine (3) that processes a workpiece, a spindle load measurement unit (110) that measures the spindle load during processing in the industrial machine (3), a control gain setting unit (120) that sets a control gain that adjusts the time it takes to reach the target spindle load, a feed spindle speed calculation unit (130) that calculates a feed spindle speed such that the spindle load becomes the target spindle load, a load factor information acquisition unit (140) that acquires spindle load factor information that is information that is a factor of the spindle load in processing, a correction coefficient calculation unit (150) that calculates a correction coefficient based on the spindle load factor information, a feed spindle speed correction unit (160) that corrects the feed spindle speed by multiplying the feed spindle speed by the correction coefficient, and a control unit (170) that performs adaptive control based on the feed spindle speed corrected by the feed spindle speed correction unit (160).

[0050] (Appendix 2) The spindle load factor information acquired by the control device (1) according to another aspect of the present disclosure is at least one of the specific cutting resistance determined by the material of the workpiece to be machined, the tool diameter of the tool used to machine the workpiece, the tool length of the tool used to machine the workpiece, the cutting width in machining the workpiece, and the cutting depth in machining the workpiece. (Appendix 3) The correction coefficients calculated by the correction coefficient calculation unit (150) included in the control device (1) according to another aspect of the present disclosure are proportional to the reciprocals of the values ​​related to the respective load factors acquired as the spindle load factor information. (Appendix 4) The load factor information acquisition unit (140) included in the control device (1) according to another aspect of the present disclosure acquires spindle load factor information from an internal memory or an external memory of the control device (1).

[0051] (Appendix 5) A control device (1) according to another aspect of the present disclosure prepares in advance spindle load factor information relating to at least one of a plurality of workpiece materials and a plurality of tool types, and the load factor information acquisition unit (140) acquires spindle load factor information selected by a user from the spindle load factor information. (Appendix 6) A control device (1) according to another aspect of the present disclosure further includes a reference information storage unit (200) that stores reference spindle load factor information, and the load factor information acquisition unit (140) stores the spindle load factor information when the control gain is set by the control gain setting unit (120) in the reference information storage unit (200), and the correction coefficient calculation unit (150) performs calculation using a correction coefficient of 1 when the control gain is set by the control gain setting unit (120), and otherwise calculates a correction coefficient based on the ratio between the spindle load factor information acquired by the load factor information acquisition unit (140) and the reference spindle load factor information stored in the reference information storage unit (200).

[0052] (Appendix 7) A control device (1) according to another aspect of the present disclosure further includes a reference information storage unit (200) that stores reference spindle load factor information, and an arrival time measurement unit (180) that measures the time it takes for the spindle load to reach the target spindle load after the spindle load has changed, wherein the load factor information acquisition unit (140) stores the spindle load factor information when the control gain is set by the control gain setting unit (120) in the reference information storage unit (200), the arrival time measurement unit (180) stores the arrival time when the control gain is set by the control gain setting unit (120) in the reference information storage unit (200), and the load factor information acquisition unit (140) measures the time it takes for the spindle load factor information to reach the target spindle load after the control gain has been set by the control gain setting unit (120). In cases other than when the control gain is set by the control gain setting unit (120), the correction coefficient calculation unit (150) corrects the reference spindle load factor information stored in the reference information storage unit (200) based on the ratio between the arrival time measured by the arrival time measurement unit (180) and the reference arrival time stored in the reference information storage unit (200), and when the control gain is set by the control gain setting unit (120), the correction coefficient calculation unit (150) calculates the correction coefficient as 1, and in other cases, calculates the correction coefficient based on the ratio between the spindle load factor information acquired by the load factor information acquisition unit (140) and the reference spindle load factor information stored in the reference information storage unit (200).

[0053] (Appendix 8) The load factor information acquisition unit (140) included in the control device (1) according to another aspect of the present disclosure outputs to the correction coefficient calculation unit (150) the ratio between the arrival time measured by the arrival time measurement unit (180) and the reference arrival time stored in the reference information storage unit (200) in cases other than when the control gain is set by the control gain setting unit (120), and the correction coefficient calculation unit (150) calculates a correction coefficient as 1 in cases where the control gain is set by the control gain setting unit (120), and in other cases, calculates a correction coefficient based on the ratio to the reference arrival time stored in the reference information storage unit (200) received from the load factor information acquisition unit (140). (Appendix 9) The correction coefficient calculation unit (150) provided in the control device (1) according to another aspect of the present disclosure associates the calculated correction coefficient with the spindle load factor information used in the calculation and stores them in the memory of the control device.

[0054] (Appendix 10) A computer-readable recording medium according to one aspect of the present disclosure records a program that causes a computer to operate as a target spindle load designation unit (100) that designates a target spindle load in an industrial machine (3) that processes a workpiece, a spindle load measurement unit (110) that measures the spindle load during processing in the industrial machine (3), a control gain setting unit (120) that sets a control gain that adjusts the time it takes to reach the target spindle load, a feed spindle speed calculation unit (130) that calculates a feed spindle speed such that the spindle load becomes the target spindle load, a load factor information acquisition unit (140) that acquires spindle load factor information that is information that is a factor of the spindle load in processing, a correction coefficient calculation unit (150) that calculates a correction coefficient based on the spindle load factor information, a feed spindle speed correction unit (160) that corrects the feed spindle speed by multiplying the feed spindle speed by the correction coefficient, and a control unit (170) that performs adaptive control based on the feed spindle speed corrected by the feed spindle speed correction unit (160). [Explanation of symbols]

[0055] 1. Control device 3. Industrial machinery 4. Computer 5. Network 6. Fog Computer 7. Cloud Server 11 CPU 12 ROM 13 RAM 14 Non-volatile memory 15,18,19,20 Interface 16 PLC 17 I / O units 22 Bus 30-axis control circuit 40 Servo amplifier 50 Servo motor 60 Spindle control circuit 61 Spindle amplifier 62 Spindle motor 63 Position Coda 70 Display device 71 Input Device 72 External Devices 100 Target spindle load specification section 110 Spindle load measurement unit 120 Control gain setting section 130 Feed axis speed calculation section 140 Load factor information acquisition unit 150 Correction coefficient calculation unit 160 Feed axis speed correction unit 170 Control Unit 180 Arrival time measurement unit 200 Standard information storage section

Claims

1. a target spindle load designation unit that designates a target spindle load in an industrial machine that processes a workpiece; a spindle load measuring unit that measures a spindle load during machining in the industrial machine; a control gain setting unit that sets a control gain for adjusting the time required for the load to reach the target spindle load; a feed axis speed calculation unit that calculates a feed axis speed such that the spindle load becomes the target spindle load; a load factor information acquisition unit that acquires spindle load factor information, which is information that becomes a factor of the spindle load in machining; a correction coefficient calculation unit that calculates a correction coefficient based on the spindle load factor information; a feed axis speed correction unit that corrects the feed axis speed by multiplying the feed axis speed by the correction coefficient; a control unit that performs adaptive control based on the feed axis speed corrected by the feed axis speed correction unit; A control device comprising:

2. The spindle load factor information is at least one of a specific cutting resistance determined by the material of a workpiece to be machined, a tool diameter of a tool used to machine the workpiece, a tool length of a tool used to machine the workpiece, a cutting width in machining the workpiece, and a cutting depth in machining the workpiece. The control device according to claim 1 .

3. The correction coefficients calculated by the correction coefficient calculation unit are proportional to the reciprocals of the values ​​related to the respective load factors acquired as the spindle load factor information. The control device according to claim 1 .

4. the load factor information acquisition unit acquires spindle load factor information from an internal memory or an external memory of the control device. The control device according to claim 1 .

5. spindle load factor information relating to at least one of a plurality of workpiece materials and a plurality of tool types is prepared in advance; the load factor information acquisition unit acquires spindle load factor information selected by a user from the spindle load factor information.

5. The control device according to claim 4.

6. Further provided is a reference information storage unit that stores reference spindle load factor information, the load factor information acquisition unit stores, in the reference information storage unit, spindle load factor information when the control gain is set by the control gain setting unit; the correction coefficient calculation unit calculates a correction coefficient as 1 when the control gain is set by the control gain setting unit, and otherwise calculates a correction coefficient based on a ratio between the spindle load factor information acquired by the load factor information acquisition unit and the reference spindle load factor information stored in the reference information storage unit. The control device according to claim 1 .

7. a reference information storage unit that stores reference spindle load factor information; a reaching time measuring unit that measures a time taken for a spindle load to reach the target spindle load after the spindle load has changed; Further provided with the load factor information acquisition unit stores, in the reference information storage unit, spindle load factor information when the control gain is set by the control gain setting unit; the arrival time measurement unit stores the arrival time when the control gain is set by the control gain setting unit in the reference information storage unit; the load factor information acquisition unit corrects the reference spindle load factor information stored in the reference information storage unit based on a ratio between the arrival time measured by the arrival time measurement unit and the reference arrival time stored in the reference information storage unit, in a case other than when the control gain is set by the control gain setting unit; the correction coefficient calculation unit calculates a correction coefficient as 1 when the control gain is set by the control gain setting unit, and otherwise calculates a correction coefficient based on a ratio between the spindle load factor information acquired by the load factor information acquisition unit and the reference spindle load factor information stored in the reference information storage unit. The control device according to claim 1 .

8. the load factor information acquisition unit outputs a ratio between the arrival time measured by the arrival time measurement unit and the reference arrival time stored in the reference information storage unit to the correction coefficient calculation unit, except when the control gain is set by the control gain setting unit; the correction coefficient calculation unit calculates a correction coefficient as 1 when the control gain is set by the control gain setting unit, and otherwise calculates a correction coefficient based on a ratio between the arrival time received from the load factor information acquisition unit and a reference arrival time stored in the reference information storage unit.

8. The control device according to claim 7.

9. the correction coefficient calculation unit associates the calculated correction coefficient with the spindle load factor information used in the calculation and stores the association information in the memory of the control device. The control device according to claim 1 .

10. Computer, a target spindle load designation unit that designates a target spindle load in an industrial machine that processes a workpiece; a spindle load measuring unit that measures a spindle load during machining in the industrial machine; a control gain setting unit that sets a control gain for adjusting the time required for the load to reach the target spindle load; a feed axis speed calculation unit that calculates a feed axis speed such that the spindle load becomes the target spindle load; a load factor information acquisition unit that acquires spindle load factor information, which is information that is a factor of the spindle load in machining; a correction coefficient calculation unit that calculates a correction coefficient based on the spindle load factor information; a feed axis speed correction unit that corrects the feed axis speed by multiplying the feed axis speed by the correction coefficient; a control unit that performs adaptive control based on the feed axis speed corrected by the feed axis speed correction unit; A computer-readable recording medium on which a program that operates as a

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