Numerical control device and method for calculating expected power consumption

Abstract

The present invention improves the accuracy of a predicted value of electric power consumption. In addition, by visualizing actual electric power consumption and expected electric power consumption, the present invention supports electric power consumption while facilitating comparison.　This numerical control device comprises: a program storage unit for storing an operation program that operates a machine; an actual electric power consumption acquisition unit for operating the machine according to a first acceleration / deceleration setting based on the operation program, and acquiring an actual electric power consumption by calculation or measurement; an expected electric power consumption calculation unit for calculating an expected electric power consumption by adding at least the actual electric power consumption and an increase / decrease in electric power consumption of a change in acceleration / deceleration from the first acceleration / deceleration setting to a second acceleration / deceleration setting; a setting storage unit for storing at least part of information that is required for the calculation of the electric power consumption of the first acceleration / deceleration setting and the second acceleration / deceleration setting in the expected electric power consumption calculation unit; and a display unit for displaying the actual electric power consumption and the expected electric power consumption.

Description

[Technical Field]

[0001] The present invention relates to a numerical control device and a method for calculating estimated power consumption, which calculates estimated power consumption and displays it together with actual power consumption. [Background technology]

[0002] From an economical standpoint or from the standpoint of energy conservation, which has been attracting attention recently, it is desirable to obtain an expected value of power consumption when the machine operation is changed.

[0003] Patent Document 1 describes a display device and a machine tool that can clearly display how improvements to a machining program affect the entire machining process. Specifically, Patent Document 1 describes a display device that displays information obtained from a machine tool executing a machining program including multiple blocks as multiple program blocks identified by sequence numbers. The display device includes a data acquisition unit that acquires status information indicating the operating status of the machine tool in terms of change and time axis and timing information indicating predetermined timing of the machining program being executed by the machine tool, a time-series information generation unit that generates time-series information based on the acquired status information and timing information, a superposition unit that aligns the timing indicated by the timing information and superimposes the multiple pieces of time-series information, and a display unit that displays the superimposed multiple pieces of time-series information. The display device acquires processing status data such as machining load, speed, amount of change in machining position, and amount of change in power as status information.

[0004] Patent Document 2 describes a servo motor control device that can calculate the output of a servo motor with high precision. Specifically, Patent Document 2 describes that a servo motor control device that controls a servo motor includes a memory unit that stores a torque constant that is predetermined for the servo motor, a torque constant correction unit that corrects the torque constant stored in the memory unit when magnetic saturation occurs in the windings of the servo motor, and an output calculation unit that calculates the output of the servo motor based on the torque constant stored in the memory unit or the corrected torque constant calculated by the torque constant correction unit, a value related to the current of the servo motor, and a value related to the speed of the servo motor.

[0005] Patent Document 3 describes a robot program correction system that corrects a robot's operation program with high precision. Specifically, Patent Document 3 describes a robot program correction system that includes a robot control device and a program correction device. The robot control device has an information acquisition unit that executes an operation program and acquires robot detection information from the robot, and a communication unit that transmits the acquired robot detection information to the program correction device. The program correction device has a simulation unit that executes simulations based on the operation program PR, a program correction unit that repeats simulations in the simulation unit and modifies the operation program PR based on the robot detection information so that the simulation results satisfy predetermined evaluation criteria, and a communication unit that transmits the modified operation program PR1 to the robot control device. The program correction unit modifies the command speed and command acceleration at the teaching point of the operation program PR using the speed, current value, etc. of each axis motor obtained from the robot control device to minimize the cycle time. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Japanese Patent Application Publication No. 2019-133346 [Patent Document 2] Japanese Patent Application Publication No. 2018-153041 [Patent Document 3] Japanese Patent Application Laid-Open No. 2016-16488 Summary of the Invention [Problem to be solved by the invention]

[0007] It is desirable to improve the accuracy of power consumption predictions so that accurate predictions can be obtained. It is also desirable to visualize actual power consumption and predicted power consumption, making comparison easier and supporting power consumption reduction. [Means for solving the problem]

[0008] (1) A first aspect of the present disclosure provides a machine including: a program storage unit that stores an operation program for operating a machine; an actual power consumption acquisition unit that operates the machine using a first acceleration / deceleration setting based on the operation program and acquires actual power consumption by calculation or actual measurement; an expected power consumption calculation unit that calculates expected power consumption by adding at least the actual power consumption and an increase or decrease in power consumption due to a change in acceleration / deceleration from the first acceleration / deceleration setting to the second acceleration / deceleration setting; a set value storage unit that stores at least a portion of information required for calculating the power consumption of the first acceleration / deceleration setting and the second acceleration / deceleration setting in the expected power consumption calculation unit; a display unit that displays the actual power consumption and the predicted power consumption; It is a numerical control device equipped with

[0009] (2) A second aspect of the present disclosure provides a computer as a numerical control device having a program storage unit that stores an operation program for operating a machine, storing information necessary for calculating power consumption for the first acceleration / deceleration setting and the second acceleration / deceleration setting based on the operation program; Operate the machine at the first acceleration / deceleration setting, and obtain actual power consumption by calculation or actual measurement; This is an expected power consumption calculation method that calculates expected power consumption by adding at least the actual power consumption and the increase or decrease in power consumption resulting from a change in acceleration / deceleration from the first acceleration / deceleration setting to the second acceleration / deceleration setting. [Effects of the Invention]

[0010] According to the aspects of the present disclosure, it is possible to improve the accuracy of predicted values ​​of power consumption. In addition, by visualizing actual power consumption and predicted power consumption, it is possible to facilitate comparison and support power consumption reduction. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a block diagram showing a configuration of a numerically controlled machine tool including a numerical control device according to an embodiment of the present disclosure; [Figure 2] FIG. 2 is a block diagram showing an example of the configuration of a servo control device. [Figure 3] 1 is a block diagram illustrating a configuration of a numerical control device according to an embodiment of the present disclosure. [Figure 4] FIG. 10 is a characteristic diagram showing the change in speed over time before and after changing linear acceleration / deceleration. [Figure 5] 10A and 10B are characteristic diagrams showing changes in acceleration over time before and after a change in acceleration / deceleration in linear acceleration / deceleration; [Figure 6] FIG. 10 is a characteristic diagram showing the change in speed over time before acceleration / deceleration is changed. [Figure 7] FIG. 10 is a characteristic diagram showing the change over time in speed during acceleration before the acceleration / deceleration change. [Figure 8] FIG. 10 is a characteristic diagram showing the change in speed over time before and after the change in acceleration / deceleration of the bell-shaped acceleration / deceleration. [Figure 9] FIG. 10 is a characteristic diagram showing the change in acceleration over time before and after the change in acceleration / deceleration of the bell-shaped acceleration / deceleration. [Figure 10] FIG. 10 is a characteristic diagram showing the time change of the speed before and after the change in acceleration / deceleration of the exponential acceleration / deceleration. [Figure 11] FIG. 10 is a characteristic diagram showing the change in acceleration over time before and after the change in acceleration / deceleration of exponential acceleration / deceleration. [Figure 12] FIG. 2 is a block diagram showing an example of the configuration of a display setting unit. [Figure 13] FIG. 2 is a diagram showing a first example of a graph displayed on the display unit. [Figure 14]FIG. 10 is a diagram showing a second example of a graph displayed on the display unit. [Figure 15] FIG. 10 is a characteristic diagram showing the integrated power of a coolant pump, the integrated power of a conveyor, and the integrated power of a light relative to the integrated power of a motor. [Figure 16] 3 is a flowchart showing the operation of the numerical control device in the present embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. FIG. 1 is a block diagram showing the configuration of a numerically controlled machine tool including a numerical control device according to an embodiment of the present disclosure. 1, a numerically controlled machine tool 10 includes a numerical control device 20 such as a CNC (Computerized Numerical Control) device, a servo control device 30, a motor 40, and an external device 50. The servo control device 30 controls the motor 40. In this embodiment, a machine tool is taken as the machine controlled by the numerical control device 20, and the operation program will be described as a machining program.

[0013] The numerical control device 20 outputs control commands such as position commands to the servo control device 30 based on a machining program that commands the movement of a tool or workpiece. The numerical control device 20 also calculates the actual power consumption during program operation from feedback information from the servo control device 30, or measures the actual power consumption with a power meter, and calculates the predicted power consumption during a set period when acceleration or deceleration is changed in the program. The numerical control device 20 then displays a power graph of the actually measured power consumption and the predicted power consumption on the display screen of the display unit 212, which will be described later. The numerical control device 20 may include a servo control device 30 .

[0014] Servo control device 30 controls motor 40 based on control commands such as position commands from numerical control device 20. Servo control device 30 includes an X-axis servo control unit that drives the X-axis motor, a Y-axis servo control unit that drives the Y-axis motor, a Z-axis servo control unit that drives the Z-axis motor, and a spindle motor control unit that drives the spindle motor, but only one servo control unit that controls motor 40 is shown in Fig. 1, and the configurations of the other servo control units and spindle motor control units are omitted.

[0015] The motor 40 is provided as a part of the machine tool, but may also be provided as a part of the servo control device 30. In the following description, the motor 40 will be described as a motor that performs rotary motion, but it may also be a linear motor that performs linear motion.

[0016] Motor 40 is included in a machine tool such as a three-axis machining center, and serves as, for example, an X-axis feed motor. When numerically controlled machine tool 10 is used in a three-axis machining center, Y-axis and Z-axis motors are also provided as feed motors, and the three-axis machining center also has a spindle motor that rotates a tool such as a ball end mill.

[0017] If motor 40 is a rotary motor used in a three-axis machining center, motor 40 linearly moves a table on which a workpiece is placed in the X-axis direction via a ball screw or the like. Note that the configuration of the three-axis machining center is not limited to this configuration, and for example, the tool may be fixed and the table may be linearly moved in the X-axis, Y-axis, and Z-axis directions, or the table may be fixed and the tool may be linearly moved in the X-axis, Y-axis, and Z-axis directions. The machine tool is not limited to a three-axis machining center, and may be, for example, a five-axis machining center.

[0018] The external equipment 50 is a coolant pump that circulates the coolant, a conveyor that collects chips and the like, a light, etc. Although one external equipment 50 is shown in FIG. 1, there may be a plurality of external equipment 50.

[0019] Next, the configurations and operations of the servo control device 30, the numerical control device 20, and the external device 50 will be described in more detail. <Servo control device> In the case of a three-axis machining center, the servo control device 30 includes an X-axis servo control unit, a Y-axis servo control unit, a Z-axis servo control unit, and a spindle motor control unit, but the following explanation focuses on the X-axis servo control unit. The Y-axis servo control unit and the Z-axis servo control unit have the same configuration as the X-axis servo control unit, and the configuration of the spindle motor control unit is described in, for example, JP 2019-040556 A.

[0020] FIG. 2 is a block diagram showing an example of the configuration of a servo control device. As shown in FIG. 2, the servo control device 30 includes a subtractor 301 , a position control section 302 , a subtractor 303 , a speed control section 304 , a subtractor 305 , a current control section 306 , and an integrator 307 .

[0021] The subtractor 301 calculates the difference between the position command output from the numerical control device 20 and the detected position fed back, and outputs this difference to the position control section 302 as a position deviation. Position control section 302 outputs a value obtained by multiplying the position deviation by position gain PG to subtractor 303 as a speed command value.

[0022] Subtractor 303 calculates the difference between the speed command value output from position control section 302 and the speed detection value fed back as speed feedback, and outputs this difference to speed control section 304 as a speed deviation.

[0023] The speed control unit 304 adds together the value obtained by multiplying the speed deviation by integral gain K1v and integrating the result, and the value obtained by multiplying the speed deviation by proportional gain K2v, and outputs the result to the subtractor 305 as a current command value.

[0024] The subtractor 305 calculates the difference between the current command value output from the speed control unit 304 and the current detection value fed back as current, and outputs this difference to the current control unit 306 as a current deviation. The current control unit 306 generates a voltage command for driving the motor 40 based on the current deviation, and outputs the voltage command to the motor 40 .

[0025] The rotation angle position of the motor 40 is detected by a rotary encoder (not shown), and the detected speed value is input as speed feedback information (speed FB information) to the subtractor 303. The detected speed value is input to the numerical control device 20. The integrator 307 integrates the detected speed value to obtain a detected position value, and inputs the detected position value to the subtractor 301 as position feedback information (position FB information). A current detector (not shown) attached to the motor 40 detects the current and inputs the detected current value as current feedback information (current FB information) to the subtractor 305. The detected current value is input to the numerical control device 20. In addition, a voltage detector (not shown) attached to the motor 40 detects the voltage and inputs the detected voltage value to the numerical control device 20. In addition, if the voltage detection value is not used in the calculation of actual power consumption, which will be described later, the voltage detection value does not need to be input to the numerical control device 20, and if the speed detection value is not used, the speed detection value does not need to be input to the numerical control device 20.

[0026] <Numerical control device> FIG. 3 is a block diagram showing the configuration of a numerical control device according to an embodiment of the present disclosure. As shown in FIG. 3, the numerical control device 20 includes a program memory unit 201, a command analysis unit 202, an interpolation unit 203, an acceleration / deceleration control unit 204, a command output unit 205, a setting value memory unit 206, an expected power consumption calculation unit 207, a setting change unit 208, an FB acquisition unit 209, an actual power consumption acquisition unit 210, a display setting unit 211, and a display unit 212.

[0027] The program storage unit 201 stores a machining program. The command analysis unit 202 sequentially reads and analyzes blocks containing commands for movement of the X-axis, Y-axis, Z-axis, and spindle from the machining program, and creates movement command data for commanding movement of each axis based on the analysis results. The interpolation unit 203 generates interpolated data by performing interpolation calculations on points on the command path at an interpolation period based on the movement command commanded by the movement command data output from the command analysis unit 202 .

[0028] An acceleration / deceleration control unit 204 performs acceleration / deceleration processing based on the interpolation data output from the interpolation unit 203, calculates the machining speed of each axis for each interpolation period, and outputs the calculated speed to a command output unit 205, which will be described later. The command output unit 205 generates a position command based on the machining speed of each axis output from the acceleration / deceleration control unit 204 and outputs it to the servo control device 30.

[0029] The set value storage unit 206 stores motor specification values, measurement values, power consumption of external devices, and parameter setting values. The motor specification values ​​are, for example, torque constants. Measurement values ​​include viscous friction, Coulomb friction, etc. Parameter setting values ​​include speed, acceleration, etc. The speed and acceleration as parameter setting values ​​are changed by the setting change unit 208. The power consumption of external devices is calculated by determining the operating time from an operation signal input from the external device and referring to the power consumption per unit time obtained from the catalog specifications.

[0030] The expected power consumption calculation unit 207 acquires the actual power consumption from the actual power consumption acquisition unit 210, acquires the speed and acceleration (which become the first acceleration / deceleration setting) determined from the machining program from the set value storage unit 206, and also acquires the speed and acceleration (which become the second acceleration / deceleration setting) changed by the setting change unit 208 from the set value storage unit 206. The expected power consumption calculation unit 207 then calculates the expected power consumption using the actual power consumption, the speed and acceleration (first acceleration / deceleration setting) before the change, and the speed and acceleration (second acceleration / deceleration setting) after the change. A calculation method for the expected power consumption will be described later. Note that the acceleration includes both a case where the speed increases and a case where the speed decreases. The speed and acceleration determined from the machining program may be stored in the setting change unit 208. The expected power consumption calculation unit 207 acquires the power consumption of the external device 50 from the set value storage unit 206 and can calculate the expected power consumption including the power consumption of the external device 50. When the setting change unit 208 issues an instruction to recalculate using the changed second acceleration / deceleration setting, the expected power consumption calculation unit 207 recalculates the expected power consumption using the speed, acceleration, etc. that result from the changed second acceleration / deceleration setting.

[0031] The setting change unit 208, for example, obtains the speed and acceleration (first acceleration / deceleration setting) from the machining program stored in the program storage unit 201 and stores them in the set value storage unit 206. Furthermore, the setting change unit 208 changes the speed and acceleration obtained from the machining program and stores the speed and acceleration (second acceleration / deceleration setting) in the set value storage unit 206. The speed and acceleration of the second acceleration / deceleration setting may be set by the user, or the amount of change may be determined in advance based on the first acceleration / deceleration setting. The setting change unit 208 changes the acceleration / deceleration settings such as the speed and acceleration that become the second acceleration / deceleration setting in response to the user's designation of the time constant and expected power consumption, and stores the changed speed and acceleration in the setting value storage unit 206. The setting change unit 208 also sets the acceleration / deceleration time constant, constant speed time, etc. of the acceleration / deceleration control unit 204 so as to achieve the determined expected power consumption. In the above description, an example has been described in which the setting change unit 208 changes the speed and acceleration, but the acceleration / deceleration parameters to be changed differ depending on the acceleration / deceleration type. When the acceleration / deceleration type is linear acceleration / deceleration (to be described later), for example, the speed and acceleration, or the time constant during acceleration / deceleration, are changed. When the acceleration / deceleration type is bell-shaped acceleration / deceleration (to be described later), for example, the primary acceleration / deceleration time and secondary acceleration / deceleration time during acceleration / deceleration, or the time constant and speed change are changed. When the acceleration / deceleration type is exponential acceleration / deceleration (to be described later), for example, the time constant during acceleration / deceleration and the final arrival speed are changed.

[0032] The FB acquisition unit 209 acquires the detected current value and the detected voltage value, or the detected current value and the detected speed value, which are feedback information from the servo control device 30. The feedback information obtained from the servo control device 30 is obtained by operating the servo control device 30 based on a position command generated by the first acceleration / deceleration setting. The actual power consumption acquisition unit 210 calculates the actual power consumption using the detected current value and detected voltage value, or the detected current value and detected speed value, acquired by the FB acquisition unit 209. The actual power consumption acquisition unit 210 may acquire the actual power consumption using a power meter, in which case the FB acquisition unit 209 may not be provided.

[0033] The display setting unit 211 performs display setting on the display unit 212 so as to display the actual power consumption acquired by the actual power consumption acquisition unit 210 and the estimated power consumption calculated by the estimated power consumption calculation unit 207 for each set period. The display unit 212 displays the actual power consumption and the estimated power consumption on the display screen based on the display settings of the display setting unit 211. The detailed configuration of the display setting unit 211 and examples of display by the display unit 212 will be described later.

[0034] The user can change the value of the estimated power consumption by looking at the estimated power consumption displayed on the display unit 212. As will be described later, if a time constant or the like is displayed on the display screen, the user can change the value of the estimated power consumption by changing the time constant or the like.

[0035] The numerical control device 20 described above acquires actual power consumption based on a first acceleration / deceleration setting using the actual power consumption acquisition unit 210, and calculates estimated power consumption based on a second acceleration / deceleration setting using the estimated power consumption calculation unit 207. The display unit 212 displays the actual power consumption and the estimated power consumption. When a user looking at the display screen of the display unit 212 changes the time constant or the estimated power consumption, the setting change unit 208 changes the second acceleration / deceleration settings such as speed and acceleration, and stores the changed speed, acceleration, etc. in the setting value storage unit 206. These operations are described in more detail below.

[0036] First, a method for acquiring actual power consumption by the actual power consumption acquiring unit 210 will be described. (Actual power consumption acquisition method) The actual power consumption acquiring unit 210 can obtain the actual power consumption P by calculating it using Equation 1 (Equation 1 below). In Equation 1, Iq is the detected current, which is current feedback, V is the detected voltage, and ω is the angular velocity. The detected current Iq and the detected voltage V are output from the servo control device 30. The angular velocity ω can be obtained from a detected velocity value, which is velocity feedback, as described later. The actual power consumption P can be calculated using the detected current Iq and the detected voltage V, or the detected current Iq and the angular velocity ω.

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[0037] Next, a method for calculating the estimated power consumption by the estimated power consumption calculation unit 207 will be described.

[0038] (Calculation method for estimated power consumption) In a machining program, when there are n (n is a natural number) acceleration and deceleration operations, the total expected power consumption Pe is expressed by Equation 2 (Equation 2 below). In Equation 2, power Pa represents the expected power consumption of the servo control device at a certain time, time T represents the time from the start position to the target position, Tx represents the expected operating time of the machine, and A represents the power consumption of the external device 50 at a certain time. Here, the expected power consumption calculation unit 207 calculates the power consumption of the external device 50 within time Tx, but it is not necessary to calculate the power consumption of the external device 50.

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[0039] The first term of Equation 2 is the integral value of the predicted power consumption Pa within the time T, and indicates the predicted power consumption in the first acceleration / deceleration operation in the machining program.

[0040] Here, if the power consumption at the set acceleration / deceleration is Px, the power consumption Px can be calculated by inserting Equation 3 (hereinafter Equation 3) into Equation 4 (hereinafter Equation 4). In Equations 3 and 4, Kt is the torque constant, Iqa is the current, Jm is the inertia, F is the viscous friction or Coulomb friction, and ω is the angular velocity.

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[0041] A method for calculating the integral value of the expected power consumption Pe in the time period T in Equation 2 will be described below using a specific example. (linear acceleration / deceleration) An example will be described below in which, when a machine tool operates at linear acceleration / deceleration, the time required to reach a position increases due to a change in acceleration / deceleration. In the case of linear acceleration / deceleration, the predicted power consumption is calculated by changing the speed change or the time constant. Fig. 4 is a characteristic diagram showing the change in speed over time before and after the change in acceleration / deceleration in linear acceleration / deceleration. Fig. 5 is a characteristic diagram showing the change in acceleration over time before and after the change in acceleration / deceleration in linear acceleration / deceleration.

[0042] In Fig. 4, the solid line indicates the speed change before the acceleration / deceleration change, and the dashed line indicates the speed change after the acceleration / deceleration change. In Fig. 5, the solid line indicates the acceleration change before the acceleration / deceleration change, and the dashed line indicates the acceleration change after the acceleration / deceleration change. In Figs. 4 and 5, time T1 indicates the acceleration period before the acceleration / deceleration change, time T2 indicates the difference between the constant speed periods before and after the acceleration / deceleration change, time T3 indicates the deceleration period before the acceleration / deceleration change, and time T4 indicates the difference between the deceleration periods before and after the acceleration / deceleration change. Time T5 indicates the constant speed period before the acceleration / deceleration change. In FIG. 4, time T indicates the time from the start position to the target position after the acceleration / deceleration change, and time Ts indicates the time from the start position to the target position before the acceleration / deceleration change.

[0043] As shown in FIG. 4, the speed after the acceleration / deceleration change has a longer acceleration period, a shorter constant speed period, and a longer deceleration period compared to the speed before the acceleration / deceleration change. The integral value of the expected power consumption Pa of the first term of Equation 2, which is the expected power consumption within time T, and the power of the external device 50 can be calculated by Equation 5 below.

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[0044] The power consumption during constant speed before acceleration / deceleration, which does not include the power consumption of external devices, can be calculated using Equation 6 (Equation 6 below). Fig. 6 is a characteristic diagram showing the change in speed over time before the acceleration / deceleration change. In Fig. 6, as in Fig. 4, time T1 indicates the acceleration period before the acceleration / deceleration change, time T3 indicates the deceleration period before the acceleration / deceleration change, and time T5 indicates the constant speed period before the acceleration / deceleration change. The power consumption at time T5, which does not include the power consumption of external devices, can be calculated using Equation 6 (Equation 6 below). In Equation 6, (actual power consumption up to period Ts) includes the power consumption of external devices, and (time (T1+ T3 ) power consumption during acceleration / deceleration periods) does not include power consumption by external devices.

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[0045] In the case of linear acceleration / deceleration, times T1, T2, T3, T4, and T5, and distance Z to the destination position can be calculated using equation 8 (Equation 8 below). In equation 8, v1 is the final speed, a1 is the acceleration before the acceleration / deceleration change, and a2 is the acceleration after the acceleration / deceleration change. The final speed v1 is the same before and after the acceleration / deceleration change.

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[0046] When a time constant is specified, the times T1 and T2 can be calculated using the time constant. As an example, a case where times T1 and T2 are obtained will be described. If the time constant during acceleration before the change in acceleration / deceleration is time constant T' and the time constant during acceleration after the change in acceleration / deceleration is time constant T'', times T1 and T2 can be calculated using equation 9 (Equation 9 below).

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[0047] (Bell-shaped acceleration / deceleration) An example will be described below in which the time required to reach a position increases due to a change in acceleration / deceleration when the machine tool operates with bell-shaped acceleration / deceleration. In the case of bell acceleration, the expected power consumption is calculated from the changes in the primary acceleration / deceleration time t1 and secondary acceleration / deceleration time t2. The acceleration / deceleration setting after the acceleration / deceleration change (second acceleration / deceleration setting) is obtained by changing the primary acceleration / deceleration time t1 and secondary acceleration / deceleration time t2 of the acceleration / deceleration setting before the acceleration / deceleration change (first acceleration / deceleration setting). Fig. 8 is a characteristic diagram showing the time change of speed before and after the change in acceleration / deceleration of the bell-shaped acceleration / deceleration. Fig. 9 is a characteristic diagram showing the time change of acceleration before and after the change in acceleration / deceleration of the bell-shaped acceleration / deceleration. In Fig. 8, the solid line indicates the speed change before the acceleration / deceleration change, and the dashed line indicates the speed change after the acceleration / deceleration change. In Fig. 9, the solid line indicates the acceleration change before the acceleration / deceleration change, and the dashed line indicates the acceleration change after the acceleration / deceleration change.

[0048] 8 and 9, time T1 indicates the acceleration period before the acceleration / deceleration change, time T2 indicates the difference between the constant speed periods before and after the acceleration / deceleration change, time T3 indicates the deceleration period before the acceleration / deceleration change, time T4 indicates the difference between the deceleration periods before and after the acceleration / deceleration change, and time T5 indicates the constant speed period before the acceleration / deceleration change. As shown in FIG. 8, the speed after the acceleration / deceleration change has a longer acceleration period, a shorter constant speed period, and a longer deceleration period compared to the speed before the acceleration / deceleration change. The integral value of the predicted power consumption Pa of the first term of Equation 2 within time T and the power of the external device can be calculated by Equation 10 below.

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[0049] In the case of bell-shaped acceleration / deceleration, the times T1, T2, T3, T4, and T5, and the distance Z to the destination position can be calculated using Equation 11 (see below). In Equation 11, v1 represents the final speed, and a1 represents the acceleration before the acceleration / deceleration change. The final speed v1 is the same before and after the acceleration / deceleration change. Also in Equation 11, τ1 represents the time constant before the acceleration / deceleration change, τ2 represents the time constant after the acceleration / deceleration change, t1 represents the primary acceleration / deceleration time before the acceleration / deceleration change, t2 represents the secondary acceleration / deceleration time before the acceleration / deceleration change, and T5 represents the actual constant speed time. Note that T5 - T2 represents the predicted constant speed time.

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[0050] (Exponential acceleration / deceleration) An example will be described below in which the time required to reach a position increases due to a change in acceleration / deceleration when the machine tool operates at exponential acceleration / deceleration. In the case of exponential acceleration / deceleration, the expected power consumption is calculated from the change in the time constant or the final speed. The acceleration / deceleration setting after the acceleration / deceleration change (second acceleration / deceleration setting) is obtained by changing the time constant during acceleration / deceleration and the final speed of the acceleration / deceleration setting before the acceleration / deceleration change (first acceleration / deceleration setting). Fig. 10 is a characteristic diagram showing the time change of speed before and after the change in acceleration / deceleration of exponential acceleration / deceleration. Fig. 11 is a characteristic diagram showing the time change of acceleration before and after the change in acceleration / deceleration of exponential acceleration / deceleration.

[0051] In Fig. 10, the solid line indicates the speed change before the acceleration / deceleration change, and the dashed line indicates the speed change after the acceleration / deceleration change. In Fig. 11, the solid line indicates the acceleration change before the acceleration / deceleration change, and the dashed line indicates the acceleration change after the acceleration / deceleration change. In Fig. 10, time T1 indicates the acceleration period before the acceleration / deceleration change, time T2 indicates the difference between the constant speed periods before and after the acceleration / deceleration change, time T3 indicates the deceleration period before the acceleration / deceleration change, and time T4 indicates the difference between the deceleration periods before and after the acceleration / deceleration change. Time T5 indicates the constant speed period before the acceleration / deceleration change.

[0052] As shown in FIG. 10, the speed after the acceleration / deceleration change has a longer acceleration period, a shorter constant speed period, and a longer deceleration period compared to the speed before the acceleration / deceleration change. The integral value of the predicted power consumption Pa of the first term of Equation 2 within time T and the power of the external device can be calculated by Equation 12 below.

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[0053] In the case of exponential acceleration / deceleration, times T1, T2, T3, T4, and T5, and distance Z to the target position can be calculated using Equation 13 (hereinafter Equation 13) and Equation 14 (hereinafter Equation 14). In Equation 13 and Equation 14, v1 is the final speed, τ1 is the time constant before the acceleration / deceleration change, τ2 is the time constant after the acceleration / deceleration change, V1(t) is the speed during acceleration, and V'1(t) is the speed during deceleration. Since it is difficult to calculate the exact time T1 in the exponential case, the time when the speed feedback reaches v1 is taken as time T1.

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[0054] The above has described examples in which the time to reach a position increases due to a change in acceleration / deceleration for linear acceleration / deceleration, bell-shaped acceleration / deceleration, and exponential acceleration / deceleration. However, this embodiment can also be applied to examples in which the time to reach a position decreases due to a change in acceleration / deceleration. In this case, the signs of the second and third terms of Equations 5, 10, and 12, which are equations for calculating the expected power consumption, are reversed.

[0055] Next, the details of the configuration of the display setting unit 211 and examples of display by the display unit 212 will be described. (Configuration of the display setting section and example of the display section) FIG. 12 is a block diagram showing an example of the configuration of the display setting unit. As shown in FIG. 12, the display setting unit 211 includes an actual power consumption input unit 2111, an expected power consumption input unit 2112, a period setting unit 2113, a period dividing unit 2114, and a display information generating unit 2115.

[0056] The actual power consumption input unit 2111 outputs the actual power consumption input from the actual power consumption acquisition unit 210 to the display information generation unit 2115 . The expected power consumption input unit 2112 outputs the expected power consumption input from the expected power consumption calculation unit 207 to the display information generation unit 2115 .

[0057] The period setting unit 2113 outputs the set period set by the user as period setting information to the display information generation unit 2115. The period setting unit 2113 stores the set period. Note that although the set period is set by the user here, the set period may also be set in advance. When the user instructs the period division unit 2114 to divide the set period, the period division unit 2114 reads the set period from the period setting unit 2113, divides the set period, and outputs the divided multiple set periods to the display information generation unit 2115 as period setting information. The display information generation unit 2115 stores in chronological order the actual power consumption input from the actual power consumption input unit 2111, and stores in chronological order the estimated power consumption input from the estimated power consumption input unit 2112. The display information generation unit 2115 then reads out the actual power consumption and estimated display power within the set period set by the period setting unit 2113, graphs them, and outputs display information to the display unit 212 for displaying the graph on the screen. When there are multiple predicted power consumptions calculated using multiple acceleration / deceleration settings or acceleration / deceleration settings before and after a change, the multiple predicted power consumptions and actual power consumptions may be displayed on a single graph, or multiple graphs may be provided that display one predicted power consumption and one actual power consumption.

[0058] An example of a display displayed on the display unit 212 will be described below. FIG. 13 is a diagram showing a first example of a graph displayed on the display unit. Figure 13 shows a graph (top) that shows the change over time in the actual power consumption and the predicted power consumption since the machine started operating, and a graph (bottom) that shows the trends in the actual power consumption and predicted power consumption on a daily basis. The actual power consumption and predicted power consumption for the first to fifth days after today in the bottom graph of Figure 13 are future data predicted from the trends in the data between past actual power consumption and predicted power consumption, based on today's actual power consumption and predicted power consumption. In order to display the content shown in FIG. 13 on the display unit 212, the user inputs the time and date for which the actual power consumption and the estimated power consumption are to be displayed in a graph in the period setting section 2113 of the display setting section 211. If the operation time or number of operation cycles of the machining program varies depending on the day, the display unit 212 can also display the operation time or number of operation cycles of the machining program together. Furthermore, when the set period is divided by the period dividing unit 2114, one or both of the upper and lower graphs in FIG. 13 can be divided into multiple graphs and displayed.

[0059] FIG. 14 is a diagram showing a second example of a graph displayed on the display unit. FIG. 14 shows a table displaying the integration period, period division, time constant, acceleration type, power consumption, cycle time, etc., and a graph of the actual power consumption (current settings) and the predicted power consumption. The user inputs the accumulated period and the division of the period into the display setting unit 211 and arbitrarily sets, for example, Monday to Friday, Saturday, or Sunday. When dividing the period, it can also be divided into Monday to Friday and Saturday and Sunday. The time constant and acceleration / deceleration type (linear acceleration / deceleration, bell-shaped acceleration / deceleration, or exponential acceleration / deceleration) are set by the display information generating unit 2115 by determining them from the machining program or by reading them from the set value storage unit 206. The user can also set them from the display screen. The power consumption and cycle time are calculated by the estimated power consumption calculation unit 207 and input to the display information generation unit 2115 of the display setting unit 211. The power consumption (estimated power consumption) and cycle time may be calculated by the display information generation unit 2115. The display information generation unit 2115 may display the electricity charge instead of the cycle time on the display unit 212, or may display both the cycle time and the electricity charge, depending on the user's specification. The cycle time (axis operation time) can be calculated from the time T shown in Figures 4, 6, and 10, for example. When multiple axes are moved simultaneously, the longest operation time is taken as the cycle time. A waiting time such as a dwell may also be added to the cycle time. The operation time of the spindle is determined from the specified rotation time. The table and graph shown in Figure 14 can be linked; for example, the graph shows the actual power consumption and the predicted power consumption after the change, and if the user changes the value of the power consumption (predicted power consumption) in the table, the length of the predicted power consumption in the graph also changes. The user may be allowed to directly change the length of the graph of predicted power consumption.

[0060] The change of acceleration / deceleration settings by the setting change unit 208 will be described below. When the user inputs the time constant and the acceleration / deceleration type, the setting change unit 208 outputs the time constant and the acceleration / deceleration type to the expected power consumption calculation unit 207 . The expected power consumption calculation unit 207 calculates the expected power consumption from a time constant depending on the acceleration / deceleration type. When the user inputs the expected power consumption, the system calculates backward how to change the acceleration / deceleration to achieve the target expected power consumption. When changing the time constant or acceleration / deceleration, the acceleration / deceleration time changes and the constant speed time also changes. Since the power during constant speed is determined from actual measurements, the optimum value is calculated taking into account the change in external device power due to acceleration / deceleration and increases / decreases in constant speed time. When changing the expected power consumption, the acceleration / deceleration can be changed by the same increase / decrease rate for all acceleration / deceleration time constants, or individual settings for acceleration / deceleration are also possible. The range of change for expected power consumption is within the range that can be changed by acceleration / deceleration. When the acceleration / deceleration type is linear acceleration / deceleration, the setting change unit 208 changes, for example, the time constant during acceleration / deceleration. When the acceleration / deceleration type is bell-shaped acceleration / deceleration, the setting change unit 208 changes, for example, the primary acceleration / deceleration time and secondary acceleration / deceleration time, or the time constant and speed change during acceleration / deceleration. If the acceleration / deceleration type is exponential acceleration / deceleration, the setting change unit 208 changes the time constant during acceleration / deceleration and the final speed.

[0061] <External device> As already explained, the external devices 50 include a coolant pump that circulates the coolant, a conveyor that collects chips, etc., a light, a vibration measuring device, a camera, a brake device, etc. The power consumption of the external devices 50 is calculated based on the operating time of the external devices 50 using the power consumption per unit time obtained from the catalog specifications, as already explained. FIG. 15 is a characteristic diagram showing the integrated power consumption of the coolant pump, the conveyor, and the light relative to the integrated power consumption of the motor. In Figure 15, 0 to te1 indicate the motor waiting time (dwell), te1 to te2 indicate the acceleration time, te2 to te3 indicate the constant speed time, te3 to te4 indicate the deceleration time, te4 to te5 indicate the motor waiting time (dwell), te5 to te6 indicate the acceleration time, te6 to te7 indicate the constant speed time, te7 to te8 indicate the deceleration time, and te8 to te9 indicate the motor waiting time (dwell). As shown in FIG. 15, the coolant pump operates in conjunction with the operation of the motor, and power for the coolant pump is not consumed during the standby time of the motor. The conveyor that collects chips and the light operate independently of the motor. The conveyor operates when a certain amount of chips has been collected, consuming power for the conveyor. The light is turned on before the motor starts, consuming power for the light.

[0062] According to the numerical control device of this embodiment described above, it is possible to calculate a more accurate predicted power consumption than a simple predicted value from the actual power consumption and the increase or decrease in power consumption due to changes in acceleration or deceleration. In addition, the actual measured power consumption and the predicted power consumption can be displayed in a graph and visualized to assist with the settings.

[0063] The functional blocks included in the numerical control device 20 and the servo control device 30 have been described above. To realize these functional blocks, the numerical control device 20 and the servo control device 30 each include an arithmetic processing device such as a CPU (Central Processing Unit).The numerical control device 20 and the servo control device 30 also include an auxiliary storage device such as an HDD (Hard Disk Drive) that stores various control programs such as application software or an OS (Operating System), and a main storage device such as a RAM (Random Access Memory) that stores data temporarily required when the arithmetic processing device executes a program.

[0064] In the numerical control device 20 and the servo control device 30, the respective arithmetic processing units load application software or an OS from the auxiliary storage device, and execute arithmetic processing based on the application software or OS while loading the loaded application software or OS into the main storage device. Furthermore, based on the results of this calculation, the various hardware components of each device are controlled. This realizes the functional blocks of this embodiment. In other words, this embodiment can be realized by the cooperation of hardware and software.

[0065] In addition, the numerical control device 20 may include a servo control device 30. In this case, the arithmetic processing device such as a CPU (Central Processing Unit), auxiliary memory device, and main memory device are shared, and there is no need to provide them separately for the numerical control device 300 and the servo control device 400.

[0066] When the amount of calculation required for the numerical control device 20 or the servo control device 30 is large, high-speed processing can be achieved by, for example, equipping a personal computer with a GPU (Graphics Processing Unit) and using the GPU for calculation processing associated with machine learning using a technology called GPGPU (General-Purpose Computing on Graphics Processing Units).Furthermore, in order to achieve even faster processing, a computer cluster may be constructed using multiple computers equipped with such GPUs, and parallel processing may be performed by the multiple computers included in this computer cluster.

[0067] Next, the operation of the numerical control device 20 in this embodiment will be described with reference to the flowchart of Fig. 16. Fig. 16 is a flowchart showing the operation of the numerical control device 20 in this embodiment.

[0068] First, in step S11 of FIG. 16, the actual power consumption acquisition unit 210 acquires the detected current value and the detected voltage value from the FB acquisition unit 209, and calculates the actual power consumption. In step S12, the expected power consumption calculation unit 207 calculates the operating time of the external device 50, and calculates the power consumption of the external device 50 using the power consumption per unit time obtained from the catalog specifications.

[0069] In step S13, the increase or decrease in power consumption due to the change in acceleration or deceleration is calculated. Specifically, the expected power consumption calculation unit 207 reads out the inertia Jm and the friction F, which is viscous friction and Coulomb friction, from the set value storage unit 206, and obtains the angular velocity ω and angular acceleration dω / dt from the machining program stored in the program storage unit 201, or from the velocity and acceleration stored in the set value storage unit 206. The expected power consumption calculation unit 207 also obtains a change in acceleration / deceleration from the setting change unit 208. Then, the expected power consumption calculation unit 207 calculates the increase / decrease in power consumption due to the change in acceleration / deceleration using Equation 4 into which Equation 3 has been inserted. In step S14, the estimated power consumption calculation unit 207 calculates estimated power consumption by adding the actual power consumption, the increase or decrease in power consumption due to the change in acceleration or deceleration, and the power consumption of the external device 50.

[0070] In step S15, the display setting unit 211 sets the display of the display unit 212 to display the actual power consumption acquired by the actual power consumption acquisition unit 210 and the estimated power consumption calculated by the estimated power consumption calculation unit 207 for each set period, and the display unit 212 displays the actual power consumption and the estimated power consumption in graphs.

[0071] The user, viewing the display screen of the display unit 212, decides whether to use the current power consumption (actual power consumption), the estimated power consumption, or to recalculate a new estimated power consumption.

[0072] In step S16, if the user, viewing the display screen of display unit 212, inputs a change to acceleration / deceleration or power consumption into setting change unit 208 in order to recalculate new estimated power consumption, setting change unit 208 determines to change the set values ​​for acceleration / deceleration ("new power consumption" in step S16). Then, setting change unit 208 instructs estimated power consumption calculation unit 207 to recalculate the estimated power consumption, stores the changed values ​​for speed, acceleration, etc. in setting value storage unit 206, and returns to step S13. In steps S13 and S14, the estimated power consumption is recalculated. In step S16, if the user inputs the expected power consumption into the setting change unit 208, the process proceeds to step S17. In step 17, the setting change unit 208 changes the acceleration / deceleration of the acceleration / deceleration control unit 204 so as to achieve the predicted power consumption, and the process ends. In step 16, if the user inputs the actual power consumption into the setting change unit 208, there is no change in acceleration or deceleration, and the process ends.

[0073] Each component included in the above-described numerical control device 10 can be realized by hardware, software, or a combination thereof. In addition, the control parameter adjustment method performed by the cooperation of each component included in the above-described numerical control device 10 can also be realized by hardware, software, or a combination thereof. Here, "realized by software" means that it is realized by a computer reading and executing a program.

[0074] The program can be stored and supplied to a computer using various types of non-transitory computer readable media. Non-transitory computer readable media include various types of tangible storage media. Examples of non-transitory computer readable media include magnetic recording media (e.g., hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, and semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, and RAMs (Random Access Memory)). The program may also be supplied to a computer by various types of transitory computer readable media.

[0075] The above-described embodiment is a preferred embodiment of the present invention, but the scope of the present invention is not limited to the above-described embodiment alone, and the present invention can be implemented in various modified forms within the scope that does not deviate from the gist of the present invention. For example, in the above-described embodiment, a numerically controlled machine tool is described in which the machine tool is controlled by a numerical control device, but the machine controlled by the numerical control device is not limited to a machine tool, and may also be a robot or industrial machine.

[0076] The numerical control device and the estimated power consumption calculation method according to the present disclosure can take various forms, including the above-described embodiment, having the following configurations. (1) a program storage unit (e.g., program storage unit 201) that stores an operation program for operating the machine; an actual power consumption acquisition unit (e.g., actual power consumption acquisition unit 210) that operates the machine at a first acceleration / deceleration setting based on the operation program and acquires actual power consumption by calculation or actual measurement; an expected power consumption calculation unit (e.g., an expected power consumption calculation unit 207) that calculates expected power consumption by adding at least the actual power consumption and an increase or decrease in power consumption due to a change in acceleration / deceleration from the first acceleration / deceleration setting to the second acceleration / deceleration setting; a set value storage unit (e.g., a set value storage unit 206) that stores at least a portion of information necessary for the expected power consumption calculation unit to calculate the power consumption of the first acceleration / deceleration setting and the second acceleration / deceleration setting; a display unit (for example, the display unit 212) that displays the actual power consumption and the predicted power consumption; A numerical control device (for example, a numerical control device 20) equipped with the above. This numerical control device can improve the accuracy of predicted power consumption values. Also, by visualizing actual power consumption and predicted power consumption, it is possible to easily compare them and provide support for power consumption.

[0077] (2) The numerical control device is connected to a servo control device (e.g., servo control device 30) that operates the machine; a feedback acquisition unit (for example, an FB feedback acquisition unit) that acquires feedback information consisting of a detected voltage and a detected current, or a detected current and a detected speed, from the servo control device; The numerical control device according to (1) above, wherein the actual power consumption acquisition unit acquires the actual power consumption by calculation using the feedback information.

[0078] (3) A numerical control device as described in (1) above, which is provided with a display setting unit (e.g., a display setting unit 211) that performs display settings to display the actual power consumption and the predicted power consumption for each set period on the display unit.

[0079] (4) The numerical control device described in (3) above, wherein the display setting unit has a period setting unit (e.g., period setting unit 2113) that sets the period and a period division unit (e.g., period division unit 2114) that divides the period set by the period setting unit, and the display setting unit performs display settings on the display unit to display the actual power consumption and the predicted power consumption for each divided period.

[0080] (5) A setting change unit (for example, the setting change unit 208) that changes the first acceleration / deceleration setting to the second acceleration / deceleration setting, the setting change unit changes the second acceleration / deceleration setting, The numerical control device according to (1) above, wherein the expected power consumption calculation unit recalculates the expected power consumption based on the second acceleration / deceleration setting changed by the setting change unit.

[0081] (6) The numerical control device according to (1) above, wherein the estimated power consumption calculation unit acquires the power consumption of an external device from the setting value storage unit and calculates the estimated power consumption including the power consumption of the external device.

[0082] (7) A numerical control device described in any of (1) to (6) above, wherein the expected power consumption calculation unit calculates the expected power consumption by adding up the actual power consumption by the increase or decrease in power consumption during constant speed before and after changing the acceleration / deceleration setting from the first acceleration / deceleration setting to the second acceleration / deceleration setting, and the increase or decrease in power consumption during acceleration / deceleration before and after changing the acceleration / deceleration setting from the first acceleration / deceleration setting to the second acceleration / deceleration setting.

[0083] (8) The first and second acceleration / deceleration settings are set to linear acceleration / deceleration, a setting change unit (for example, a setting change unit 208) that changes the first acceleration / deceleration setting to the second acceleration / deceleration setting; The numerical control device according to (7) above, wherein the setting change unit changes a time constant during acceleration / deceleration.

[0084] (9) The first and second acceleration / deceleration settings are set to bell-shaped acceleration / deceleration; a setting change unit (for example, a setting change unit 208) that changes the first acceleration / deceleration setting to the second acceleration / deceleration setting; The numerical control device according to (7) above, wherein the setting change unit changes a primary acceleration / deceleration time and a secondary acceleration / deceleration time, or a time constant and a speed change during acceleration / deceleration.

[0085] (10) The first and second acceleration / deceleration settings are set to exponential acceleration / deceleration, a setting change unit (for example, a setting change unit 208) that changes the first acceleration / deceleration setting to the second acceleration / deceleration setting; The numerical control device according to (7) above, wherein the setting change unit changes a time constant during acceleration / deceleration and a final attainment speed.

[0086] (11) A computer as a numerical control device having a program memory unit for storing an operation program for operating a machine, storing information necessary for calculating power consumption for the first acceleration / deceleration setting and the second acceleration / deceleration setting based on the operation program; Operate the machine at the first acceleration / deceleration setting, and obtain actual power consumption by calculation or actual measurement; A method for calculating estimated power consumption, which calculates estimated power consumption by adding at least the actual power consumption and an increase or decrease in power consumption resulting from a change in acceleration / deceleration from the first acceleration / deceleration setting to the second acceleration / deceleration setting. According to this method for calculating the estimated power consumption, it is possible to improve the accuracy of the estimated value of the power consumption. [Explanation of symbols]

[0087] 10. Numerical control machine tools 20 Numerical Control Device 30 Servo control device 40 Motor 50 External equipment 201 Program Memory Unit 2012 Command Analysis Department 203 Interpolation section 204 Acceleration / Deceleration Control Unit 205 Command output section 206 Setting value memory section 207 Estimated power consumption calculation section 208 Setting change section 209 FB acquisition department 210 Actual power consumption acquisition unit 211 Display setting section 212 Display section 301 Subtractor 302 Position control section 303 Subtractor 304 Speed ​​control section 305 Subtractor 306 Current control section 307 Integrator

Claims

1. a program storage unit that stores an operation program for operating the machine; an actual power consumption acquisition unit that operates the machine using a first acceleration / deceleration setting based on the operation program and acquires actual power consumption by calculation or actual measurement; an expected power consumption calculation unit that calculates expected power consumption by adding at least the actual power consumption and an increase or decrease in power consumption due to a change in acceleration / deceleration from the first acceleration / deceleration setting to the second acceleration / deceleration setting; a set value storage unit that stores at least a portion of information necessary for the expected power consumption calculation unit to calculate the power consumption of the first acceleration / deceleration setting and the second acceleration / deceleration setting; a display unit that displays the actual power consumption and the predicted power consumption; A numerical control device equipped with:

2. the numerical control device is connected to a servo control device that operates the machine; a feedback acquisition unit that acquires feedback information consisting of a detected voltage and a detected current, or a detected current and a detected speed, from the servo control device; The numerical control device according to claim 1 , wherein the actual power consumption acquisition unit acquires the actual power consumption by calculation using the feedback information.

3. The numerical control device according to claim 1 , further comprising a display setting unit that performs display setting for displaying the actual power consumption and the predicted power consumption for each set period on the display unit.

4. 4. The numerical control device according to claim 3, wherein the display setting unit has a period setting unit that sets the period and a period dividing unit that divides the period set by the period setting unit, and the display setting unit performs display setting on the display unit to display the actual power consumption and the predicted power consumption for each divided period.

5. a setting change unit that changes the first acceleration / deceleration setting to the second acceleration / deceleration setting, the setting change unit changes the second acceleration / deceleration setting, The numerical control device according to claim 1 , wherein the expected power consumption calculation unit recalculates the expected power consumption based on the second acceleration / deceleration setting changed by the setting change unit.

6. The numerical control device according to claim 1 , wherein the estimated power consumption calculation unit acquires the power consumption of the external device from the set value storage unit, and calculates the estimated power consumption including the power consumption of the external device.

7. 7. The numerical control device according to claim 1, wherein the expected power consumption calculation unit calculates the expected power consumption by adding to the actual power consumption an increase or decrease in power consumption during constant speed before and after changing the acceleration / deceleration setting from the first acceleration / deceleration setting to the second acceleration / deceleration setting, and an increase or decrease in power consumption during acceleration / deceleration before and after changing the acceleration / deceleration setting from the first acceleration / deceleration setting to the second acceleration / deceleration setting.

8. the first and second acceleration / deceleration settings are set to linear acceleration / deceleration, a setting change unit that changes the first acceleration / deceleration setting to the second acceleration / deceleration setting, The numerical control device according to claim 7 , wherein the setting change unit changes the time constant during acceleration and deceleration.

9. the first and second acceleration / deceleration settings are set to bell-shaped acceleration / deceleration; a setting change unit that changes the first acceleration / deceleration setting to the second acceleration / deceleration setting, The numerical control device according to claim 7 , wherein the setting change unit changes a primary acceleration / deceleration time and a secondary acceleration / deceleration time, or a time constant and a speed change during acceleration / deceleration.

10. the first and second acceleration / deceleration settings are set to exponential acceleration / deceleration; a setting change unit that changes the first acceleration / deceleration setting to the second acceleration / deceleration setting, The numerical control device according to claim 7 , wherein the setting change unit changes a time constant during acceleration / deceleration and a final speed.

11. A computer as a numerical control device having a program storage unit that stores an operation program for operating a machine, storing information necessary for calculating power consumption for the first acceleration / deceleration setting and the second acceleration / deceleration setting based on the operation program; operating the machine at the first acceleration / deceleration setting and obtaining actual power consumption by calculation or actual measurement; A method for calculating estimated power consumption, which calculates estimated power consumption by adding at least the actual power consumption and an increase or decrease in power consumption resulting from a change in acceleration / deceleration from the first acceleration / deceleration setting to the second acceleration / deceleration setting.

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