Simulation device and computer program

Abstract

This simulation device for a machine tool comprises: a numerical control simulation unit that generates a shaft operation command for the machine tool on the basis of a machining program; a servo control simulation unit that generates a torque command on the basis of the shaft operation command and a shaft operation virtual result for simulating the shaft operation of the machine tool; and a module unit that is independent of both the numerical control simulation unit and the servo control simulation unit and can be replaced. The module unit is provided with a transmission / reception unit that receives the torque command from the servo control simulation unit and transmits the shaft operation virtual result to the servo control simulation unit, and a drive shaft simulation unit that updates the shaft operation virtual result on the basis of the torque command. The module unit is generated by an external device that does not depend on a system for controlling the machine tool. The servo control simulation unit does not generate the torque command in cases where the shaft operation virtual result is not obtained.

Description

Simulation device and computer program

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

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

[0003] Patent No. 6460138

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

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

[0006] One aspect of the present disclosure is a simulation device for a machine tool, comprising: a numerical control simulator that generates an axis movement command for the machine tool based on a machining program; a servo control simulator that generates a torque command based on the axis movement command and virtual axis movement actual results for simulating axis movement of the machine tool; and a modular unit that is independent of the numerical control simulator and the servo control simulator and is replaceable, wherein the modular unit comprises: a transmitter / receiver that receives the torque command from the servo control simulator and transmits the virtual axis movement actual results to the servo control simulator; and a drive axis simulator that simulates operation of a drive axis of the machine tool based on the torque command and updates the virtual axis movement actual results, wherein the modular unit is generated by an external device that is independent of a system that controls the machine tool, and the servo control simulator generates the torque command when the virtual axis movement actual results are obtained, and does not generate the torque command when the virtual axis movement actual results are not obtained.

[0007] One aspect of the present disclosure is a computer program for causing a computer to execute the following steps: generating, by a numerical control simulator, an axis operation command for a machine tool based on a machining program; generating, by a servo control simulator, a torque command based on the axis operation command and virtual axis operation results for simulating axis operation of the machine tool; receiving, by a replaceable module unit that is independent of the numerical control simulator and the servo control simulator and that transmits the virtual axis operation results to the servo control simulator; and simulating, by the module unit, the operation of a drive axis of the machine tool based on the torque command and updating the virtual axis operation results, wherein the module unit is generated by an external device that is independent of a system that controls the machine tool, and generates the torque command when the virtual axis operation results are obtained, and does not generate the torque command when the virtual axis operation results are not obtained.

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

[0009] First Embodiment An example of an embodiment of the present disclosure will now be described. FIG. 1 is a diagram illustrating an overview of a simulation device 1 according to a first embodiment. The simulation device 1 simulates the operation of a machine tool that includes a drive axis and a controller that controls the drive axis. The simulation device 1 may be, for example, a computer device connected to the machine tool and a numerical control device. Alternatively, the simulation device 1 may be a computer device for simulation that is not connected to the machine tool or the numerical control device.

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

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

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

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

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

[0015] The module unit 13 also includes a transmitter / receiver 131 and a drive axis simulator 132. The transmitter / receiver 131 receives a torque command from the servo control simulator 12 and transmits virtual axis operation results to the servo control simulator 12. The drive axis simulator 132 simulates the operation of the drive axis of the machine tool based on the torque command and updates the virtual axis operation results.

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

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

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

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

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

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

[0022] The simulation device 1 simulates the operation of a feed axis that traces a trajectory based on a machining program and a spindle that rotates a tool or workpiece. For example, when the axis is a feed axis, the simulation device 1 is shown by the block diagram of transfer functions in FIG. 3. Block diagrams with a configuration similar to that of FIG. 3 are described in Japanese Patent Laid-Open Publication No. 3-110607, WO2023 / 157244, etc. The transfer function of the drive axis simulation unit 132 is formed by combining transfer functions 401 to 407.

[0023] In FIG. 3, a transfer function 401 is a transfer function of a position loop, and Kp represents a position gain. A transfer function 402 is a transfer function of a velocity loop, and k １ is the integral gain, k ２ indicates the proportional gain. Transfer functions 403 and 404 are the transfer functions of the motor. K ｔ is the torque constant, J ｍ indicates the motor inertia (moment of inertia). Transfer function 405 indicates a ball screw or the like that is the connection between the servo motor and the machine. Transfer function 406 is the transfer function of the machine, and J L indicates the inertia of the machine. A transfer function 407 is a transfer function of an integral element that obtains the position of the machine by integrating the velocity of the moving part of the machine.

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

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

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

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

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

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

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

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

[0032] 5 is a functional block diagram showing an overview of a simulation apparatus 1A according to a second embodiment. In the description of the second embodiment, differences from the first embodiment will be mainly described, and a description of the same configuration and processing as the first embodiment will be omitted.

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

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

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

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

[0037] When the detector simulation unit 133 performs drive axis calculations every 0.2 ms to reduce the amount of calculations in response to torque commands every 0.1 ms, it predicts missing axis operation virtual results based on the most recent axis operation virtual results.

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

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

[0040] In the example shown in Figure 7, in addition to the example shown in Figure 6, for the sake of calculation, a virtual actual result of axis operation is obtained with a delay of 0.2 ms. In the example shown in Figure 7, the resolution of the detector information is 0.01 deg, the calculation cycle of the drive shaft simulator 132 is 0.2 ms, and the delay is 0.2 ms. In Figure 7, the virtual actual result of axis operation at time -0.1 ms is 100.113.

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

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

[0043] The virtual axis operation result after correction at 0.2 ms is calculated as follows: 100.292 + 3 / 2 * (100.292 - 100.113) = 100.56 The virtual axis operation results after correction at 0.4 ms and 0.6 ms are calculated in the same manner.

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

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

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

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

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

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

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

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

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

[0053] Specifically, the drive shaft simulation unit 132A performs a simulation based on the torque command output to the drive shaft simulation unit 132B or the virtual shaft operation results output to the transmitting / receiving unit 131. Similarly, the drive shaft simulation unit 132B performs a simulation based on the torque command output to the drive shaft simulation unit 132A or the virtual shaft operation results output to the transmitting / receiving unit 131.

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

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

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

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

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

[0059]

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

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

[0062] The above has described an embodiment of the present invention, but the above-described simulation device 1 can be realized by hardware, software, or a combination of these. Furthermore, the control method performed by the above-described simulation device 1 can also be realized by hardware, software, or a combination of these. Here, "realized by software" means that it is realized by a computer reading and executing a program.

[0063] 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)).

[0064] Although the present disclosure has been described in detail, 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 present disclosure or the spirit of the present disclosure derived from the content of the claims and their equivalents. These embodiments can also be implemented in combination. 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.

[0065] The following supplementary note is further disclosed regarding the above embodiment and modified examples. (Supplementary Note 1) A simulation device (1) for a machine tool, comprising: a numerical control simulator (11) that generates an axis operation command for the machine tool based on a machining program (10); a servo control simulator (12) that generates a torque command based on the axis operation command and virtual axis operation results for simulating the axis operation of the machine tool; and a replaceable module unit (13) that is independent of the numerical control simulator (11) and the servo control simulator (12), wherein the module unit (13) comprises: a transmitter / receiver unit (131) that receives the torque command from the servo control simulator (12) and transmits the virtual axis operation results to the servo control simulator (12), and a drive axis simulator (132) that simulates the operation of a drive axis of the machine tool based on the torque command and updates the virtual axis operation results, wherein the module unit (13) is generated by an external device that is independent of a system that controls the machine tool, The simulation device (1) according to Supplementary Note 2, wherein the servo control simulator (12) generates the torque command when the virtual axis operation result is obtained, and does not generate the torque command when the virtual axis operation result is not obtained. (Supplementary Note 2) The simulation device (1) according to Supplementary Note 1, wherein the virtual axis operation result includes a virtual axis operation result initial value that the servo control simulator (12) acquires only in an initial operation, and a virtual axis operation result update value that is updated by the drive axis simulator (132). (Supplementary Note 3) The simulation device (1) according to Supplementary Note 1 or 2, wherein the module unit (13) further includes a detector simulator (133) that corrects the virtual axis operation result based on detector information (134) of the machine tool. (Supplementary Note 4) The simulation device (1) according to Supplementary Note 1 or 2, further comprising a detector simulation unit (14) that corrects the virtual axis operation results based on detector information (15) of the machine tool, and the transmitting / receiving unit (131) transmits the corrected virtual axis operation results to the detector simulation unit (14).(Supplementary Note 5) The simulation device (1) according to Supplementary Note 3, wherein the detector information includes at least a calculation cycle of the drive shaft simulation unit (132), a delay amount of the calculation result, a resolution of a detector of the drive shaft, and a delay amount of feedback. (Supplementary Note 6) The simulation device (1) according to Supplementary Note 1 or 2, wherein the drive shaft simulation unit (132), when simulating a drive mechanism driven by a plurality of motors, executes a simulation based on the torque command of another axis of the machine tool or the virtual axis operation result of the other axis. (Supplementary Note 7) A computer program for causing a computer to execute the following steps: generating, by a numerical control simulation unit (11), an axis operation command for a machine tool based on a machining program; generating, by a servo control simulation unit (12), a torque command based on the axis operation command and virtual axis operation results for simulating axis operations of the machine tool; receiving, by a replaceable module unit (13) that is independent of the numerical control simulation unit (11) and the servo control simulation unit (12), the torque command from the servo control simulation unit (12) and transmitting the virtual axis operation results to the servo control simulation unit (12); and simulating, by the module unit (13), an operation of a drive axis of the machine tool based on the torque command and updating the virtual axis operation results, wherein the module unit (13) is generated by an external device that is independent of a system that controls the machine tool, and generates the torque command when the virtual axis operation results are obtained, and does not generate the torque command when the virtual axis operation results are not obtained.

[0066] 1, 1A, 1B, 1C Simulation device 10 Machining program 11 Numerical control simulation unit 12 Servo control simulation unit 13 Module unit 14, 133 Detector simulation unit 15, 134 Detector information 131 Transmitting / receiving unit 132, 132A, 132B Drive shaft simulation unit

Claims

1. A simulation device for a machine tool, comprising: a numerical control simulator that generates an axis operation command for the machine tool based on a machining program; a servo control simulator that generates a torque command based on the axis operation command and virtual axis operation results for simulating the axis operation of the machine tool; and a module that is independent of the numerical control simulator and the servo control simulator and is replaceable, wherein the module comprises: a transmitter / receiver that receives the torque command from the servo control simulator and transmits the virtual axis operation results to the servo control simulator; and a drive axis simulator that simulates the operation of the drive axis of the machine tool based on the torque command and updates the virtual axis operation results, wherein the module is generated by an external device that is independent of a system that controls the machine tool, and the servo control simulator generates the torque command when the virtual axis operation results are obtained, and does not generate the torque command when the virtual axis operation results are not obtained.

2. The simulation device according to claim 1, wherein the axis operation virtual actual value includes an axis operation virtual actual initial value that the servo control simulation unit acquires only in the first operation and an axis operation virtual actual update value that is updated by the drive axis simulation unit.

3. A simulation device according to claim 1 or 2, wherein the module section further comprises a detector simulation section that corrects the virtual axis operation results based on detector information of the machine tool.

4. The simulation device according to claim 1 or 2, further comprising a detector simulation unit that corrects the virtual axis operation results based on detector information of the machine tool, and the transmitting / receiving unit transmits the corrected virtual axis operation results to the detector simulation unit.

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

6. A simulation device as described in claim 1 or 2, wherein the drive axis simulation unit, when simulating a drive mechanism driven by multiple motors, performs a simulation based on the torque command of another axis of the machine tool or the virtual axis operation results of the other axis.

7. A computer program for causing a computer to execute the following steps: generating, by a numerical control simulator, an axis operation command for a machine tool based on a machining program; generating, by a servo control simulator, a torque command based on the axis operation command and virtual axis operation results for simulating axis operation of the machine tool; receiving, by a replaceable module unit that is independent of the numerical control simulator and the servo control simulator and that transmits the virtual axis operation results to the servo control simulator; simulating, by the module unit, the operation of a drive axis of the machine tool based on the torque command and updating the virtual axis operation results, wherein the module unit is generated by an external device that is independent of the system that controls the machine tool, and generates the torque command when the virtual axis operation results are obtained, and does not generate the torque command when the virtual axis operation results are not obtained.

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