Numerical control device and numerical control program

Abstract

The purpose of the present disclosure is to reduce a load associated with creation of a laser processing program. This numerical control device comprises a storage unit, an analysis unit, a laser axis determination unit, a reference calculation unit, and a main orientation calculation unit. The storage unit stores a laser processing program. The analysis unit analyzes the laser processing program and reads command information. The laser axis determination unit determines a main control axis as a control axis related to control of a main laser. The reference calculation unit calculates, on the basis of the command information for the main control axis, a reference vector that serves as a reference for a sub orientation vector indicating the orientation of a sub laser. The main orientation calculation unit calculates a main orientation vector indicating the orientation of the main laser on the basis of the reference vector.

Description

Numerical control device and numerical control program

[0001] The present disclosure relates to a numerical control device that controls a laser based on a predetermined laser processing program.

[0002] Some machine tools move the irradiation position of a main laser that performs a predetermined processing on a workpiece and the irradiation position of a sub-laser that assists the processing by the main laser relative to the workpiece along multiple control axes. Some numerical devices control such machine tools based on a predetermined laser processing program.

[0003] Japanese Patent Application Laid-Open No. 2008-246502

[0004] The present inventors have noticed that there are the following problems in controlling such a laser.

[0005] For example, a sub-laser may be used to melt the surface of a workpiece, and a main laser may be used to perform groove preparation on the portion of the workpiece surface melted by the sub-laser. Groove preparation here refers to cutting the end of the workpiece at an angle relative to the thickness direction of the workpiece to facilitate welding of the end of the workpiece to a predetermined welding target. For this reason, the main laser may be irradiated at an angle relative to the normal direction of the workpiece surface. On the other hand, it is often preferable to irradiate the sub-laser in a direction approximately normal to the workpiece, as this increases the energy absorption rate of the workpiece.

[0006] However, if the attitude of the main laser and the attitude of the sub-laser are to be controlled separately, the burden of creating a laser processing program increases.

[0007] In the above, the problems have been explained using the example of melting the surface of the workpiece with a sub-laser and performing groove processing with a main laser, but similar problems can also occur when performing processing other than the above example using a sub-laser and a main laser.

[0008] The present disclosure has been made in consideration of the above circumstances, and aims to reduce the burden of creating a laser processing program.

[0009] The numerical control device disclosed herein is a numerical control device that controls a machine tool that moves the irradiation position of a main laser that performs predetermined processing on a workpiece and the irradiation position of a sub-laser that assists the processing by the main laser along multiple control axes relative to the workpiece based on a predetermined laser processing program, and includes: a memory unit that stores the laser processing program; an analysis unit that analyzes the laser processing program and reads command information; a laser axis determination unit that determines the main control axis as the control axis related to control of the main laser; a reference calculation unit that calculates a reference vector that serves as a reference for a sub-posture vector that indicates the posture of the sub-laser based on the command information for the main control axis; and a main posture calculation unit that calculates a main posture vector that indicates the posture of the main laser based on the reference vector.

[0010] The numerical control program disclosed herein is a numerical control program for controlling, based on a predetermined laser processing program, a machine tool that moves the irradiation position of a laser, including a main laser that performs predetermined processing on a workpiece and a sub-laser that assists the processing by the main laser, along multiple control axes relative to the workpiece, and causes a computer to function as: a memory unit that stores the laser processing program; an analysis unit that analyzes the laser processing program and reads command information; a laser axis determination unit that determines the main control axis as the control axis related to control of the main laser; a reference calculation unit that calculates a reference vector that serves as a reference for a sub-attitude vector that indicates the attitude of the sub-laser based on the command information for the main control axis; and a main attitude calculation unit that calculates a main attitude vector that indicates the attitude of the main laser based on the reference vector.

[0011] Fig. 1 is a block diagram showing a numerical control device of a first embodiment; Fig. 2 is a perspective view showing a machine tool and a workpiece; Fig. 3 is a perspective view showing each vector; Fig. 4 is a block diagram showing a numerical control device of a second embodiment; Fig. 5 is a block diagram showing a numerical control device of a third embodiment; Fig. 6 is a block diagram showing a numerical control device of a fourth embodiment; Fig. 7 is a block diagram showing a numerical control device of a fifth embodiment;

[0012] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. However, the present disclosure is not limited to the following embodiments and can be appropriately modified and implemented within the scope of the present disclosure.

[0013] [First embodiment] A numerical control device 30 shown in Fig. 1 controls a machine tool 40 shown in Fig. 2. Hereinafter, three predetermined directions that are orthogonal to one another will be referred to as the "X-axis direction," the "Y-axis direction," and the "Z-axis direction." Furthermore, the direction of rotation about the X-axis direction will be referred to as the "direction around the X-axis," and the direction of rotation about the Y-axis direction will be referred to as the "direction around the Y-axis."

[0014] The machine tool 40 shown in FIG. 2 is a machine for performing predetermined processing on the workpiece W, and includes a main laser irradiation unit 40a, a sub-laser irradiation unit 40b, and a feeder (not shown).

[0015] The main laser irradiation unit 40a irradiates a predetermined main laser La. The main laser La is, for example, a fiber laser (near-infrared laser). The sub-laser irradiation unit 40b irradiates a predetermined sub-laser Lb. The sub-laser Lb is, for example, a blue laser. The workpiece W is, for example, a copper material. For these reasons, the sub-laser Lb has a higher energy absorption rate for the surface of the workpiece W than the main laser La. However, once the surface of the workpiece W is melted to a certain extent by the sub-laser Lb, the energy absorption rate of the main laser La for the surface of the workpiece W becomes higher than before the workpiece W was melted.

[0016] As described above, the sub-laser irradiation unit 40b melts the surface of the workpiece W by irradiating the surface of the workpiece W with the sub-laser Lb. This makes it difficult for the main laser La to be reflected by the surface of the workpiece W. The main laser irradiation unit 40a irradiates the main laser La onto the portion Mp of the workpiece W where the surface has been melted. This performs laser cutting such as groove processing. Note that groove processing here refers to cutting the end of the workpiece W at a predetermined angle θ with respect to the thickness direction of the workpiece W in order to make it easier to weld the end of the workpiece W to a predetermined welding target.

[0017] In other words, the sub-laser irradiation unit 40b assists the processing by the main laser La by irradiating the sub-laser Lb onto the portion of the workpiece W that will be irradiated with the main laser La.

[0018] A feed device (not shown) moves the irradiation position of the main laser La and the irradiation position of the sub-laser Lb along a plurality of control axes relative to the workpiece W. Specifically, as an example, the plurality of control axes include an X control axis, a Y control axis, a Z control axis, a main rotation axis, a main Y control axis, a sub rotation axis, and a sub X control axis.

[0019] The X control axis is a control axis that moves the main laser irradiation unit 40a and the sub laser irradiation unit 40b in the X axis direction relative to the workpiece W. The Y control axis is a control axis that moves the main laser irradiation unit 40a and the sub laser irradiation unit 40b in the Y axis direction relative to the workpiece W. The Z control axis is a control axis that moves the main laser irradiation unit 40a and the sub laser irradiation unit 40b in the Z axis direction relative to the workpiece W.

[0020] The main rotation axis is a control axis that moves the main laser irradiation unit 40a relative to the workpiece W and the sub-laser irradiation unit 40b in the direction around the X axis. The main Y control axis is a control axis that moves the main laser irradiation unit 40a relative to the workpiece W and the sub-laser irradiation unit 40b in the Y axis direction.

[0021] The sub-rotation axis is a control axis that moves the sub-laser irradiation unit 40b relative to the workpiece W and the main laser irradiation unit 40a in the direction around the Y axis. The sub-X control axis is a control axis that moves the sub-laser irradiation unit 40b relative to the workpiece W and the main laser irradiation unit 40a in the X axis direction.

[0022] As mentioned above, the above is merely one example, and the feed device may also move the irradiation position of the main laser La and the irradiation position of the sub-laser Lb relative to the workpiece W along multiple control axes in a combination different from the above.

[0023] Hereinafter, the control axes related to the control of the main laser La will be referred to as "main control axes." Specifically, in the above example, the main control axes are the X control axis, the Y control axis, the Z control axis, the main rotation axis, and the main Y control axis. In other words, the main control axes are control axes that move the irradiation position of the main laser La relative to the workpiece W.

[0024] In the following, the control axes related to the control of the sub-laser Lb will be referred to as "sub-control axes." Specifically, in the above example, the sub-control axes are the X control axis, the Y control axis, the Z control axis, the sub-rotation axis, and the sub-X control axis. In other words, the sub-control axes are control axes that move the irradiation position of the sub-laser Lb relative to the workpiece W.

[0025] The numerical control device 30 shown in Fig. 1 is mainly composed of a computer and a numerical control program loaded into the computer. The computer includes, for example, a CPU, ROM, RAM, etc. The numerical control program causes the computer to function as the numerical control device 30. In other words, the numerical control device 30 is realized by the cooperation of the computer and the numerical control program. A predetermined laser processing program is loaded into the numerical control device 30. The numerical control device 30 controls the machine tool 40 based on the laser processing program.

[0026] This numerical control device 30 comprises, in terms of functions, a memory unit 31 , an analysis unit 32 , a laser axis determination unit 33 , a reference calculation unit 34 , an attitude calculation unit 37 , and an actual control unit 39 .

[0027] The storage unit 31 stores a laser processing program. In this embodiment, the laser processing program includes a main program for controlling the main laser La and a sub program for controlling the sub laser Lb.

[0028] The main program includes, for example, information about the irradiation path of the main laser La, information about the attitude of the main laser La, and information about the output of the main laser La. The sub program includes, for example, information about the irradiation path of the sub laser Lb, information about the attitude of the sub laser Lb, and information about the output of the sub laser Lb.

[0029] The analysis unit 32 includes a main analysis unit 32a and a sub analysis unit 32b in terms of function. The main analysis unit 32a analyzes the main program and reads command information for the main control axis. The sub analysis unit 32b analyzes the sub program and reads command information for the sub laser Lb.

[0030] The laser axis determination unit 33 determines the main control axis and the sub control axis based on the analysis result by the analysis unit 32. Specifically, for example, the laser axis determination unit 33 makes this determination based on one or more of the number in the laser processing program, the program name, a comment, whether the command is specific to the main laser, and whether the command is specific to the sub laser Lb.

[0031] Hereinafter, as shown in FIG. 3, the vector indicating the posture of the main laser La will be referred to as the "main posture vector Va." Furthermore, the vector indicating the posture of the sub-laser Lb will be referred to as the "sub-posture vector Vb." Furthermore, the vector that serves as the reference for the sub-posture vector Vb will be referred to as the "reference vector Vo." Furthermore, the vector that indicates the direction of relative movement of the main laser La and the sub-laser Lb with respect to the workpiece W will be referred to as the "feed direction vector Vf."

[0032] The reference calculation unit 34 shown in Fig. 1 calculates a reference vector Vo from command information for the main control axis. Specifically, for example, the reference calculation unit 34 identifies the irradiation surface of the main laser La on the workpiece W shown in Fig. 2 from the command information for the main control axis. The vector in the normal direction of the irradiation surface is calculated as the reference vector Vo, as shown in Fig. 3. That is, in this case, for example, if the normal direction of the irradiation surface of the main laser La is the Z-axis direction, the vector in the Z-axis direction becomes the reference vector Vo.

[0033] As shown in FIG. 1, the attitude calculation unit 37 includes a main attitude calculation unit 37a and a sub attitude calculation unit 37b.

[0034] The main attitude calculation unit 37a calculates the main attitude vector Va based on the reference vector Vo and the analysis results by the main analysis unit 32a. Specifically, for example, when groove processing is performed as shown in Figure 2, a vector inclined at a predetermined angle θ with respect to the reference vector Vo is calculated as the main attitude vector Va as shown in Figure 3. More specifically, for example, when the direction of the reference vector Vo is the Z-axis direction, a vector inclined at a predetermined angle θ, such as 30° toward the Y-axis direction with respect to the Z-axis direction, is calculated as the main attitude vector Va.

[0035] On the other hand, the sub-attitude calculation unit 37b directly adopts the reference vector Vo as the sub-attitude vector Vb.

[0036] 1 creates and outputs a command CL for controlling the main laser La and the sub-laser Lb based on the calculation result by the attitude calculation unit 37 and the analysis result by the analysis unit 32. Specifically, for example, the actual control unit 39 creates and outputs a command CL for moving the main laser La in the X-axis direction while maintaining the attitude of the main attitude vector Va, and for moving the sub-laser Lb in the X-axis direction while maintaining the attitude of the sub-attitude vector Vb.

[0037] The configuration and effects of this embodiment are summarized below.

[0038] The main attitude calculation unit 37a shown in FIG. 1 calculates the main attitude vector Va shown in FIG. 3 based on the reference vector Vo, which is the basis for the sub-attitude vector Vb. Therefore, both the main attitude vector Va and the sub-attitude vector Vb can be calculated based on the reference vector Vo. As a result, the effort required to write a program related to the attitudes of the main laser La and the sub-laser Lb can be reduced compared to when the main attitude vector Va and the sub-attitude vector Vb are calculated separately. As a result, the burden of creating a laser processing program can be reduced. Furthermore, the calculation load for the attitude of the main laser La and the attitude of the sub-laser Lb can be reduced compared to when the main attitude vector Va and the sub-attitude vector Vb are calculated separately.

[0039] 1 includes a main analysis unit 32a that analyzes a main program and a sub analysis unit 32b that analyzes a sub program, which allows for smooth handling of a laser processing program that includes a main program and a sub program, as in this embodiment.

[0040] The sub-attitude calculation unit 37b shown in Fig. 1 directly uses the reference vector Vo shown in Fig. 3 as the sub-attitude vector Vb, thereby reducing the calculation load of the sub-attitude vector Vb.

[0041] Second Embodiment Next, a second embodiment will be described with reference to Fig. 4. The following embodiment will be described based on the first embodiment, focusing on differences from the first embodiment, and descriptions of the same or similar aspects to the first embodiment will be omitted as appropriate.

[0042] This embodiment differs from the first embodiment in that the laser processing program includes a main program and a sub-program in an integrated manner, and the analyzer 32 reads command information related to the control of the main laser La and the sub-laser Lb from the analysis of this single laser processing program.

[0043] For the reasons described above, in this embodiment, it is more difficult than in the first embodiment to determine which part of the laser processing program is involved in controlling the main laser La and which part of the laser processing program is involved in controlling the sub-laser Lb. For this reason, for example, the system and axis number that will control the sub-laser Lb are set in advance. The laser axis determination unit 33 determines the main control axis and the sub-control axis based on this setting.

[0044] According to this embodiment, it is possible to effectively deal with the case where the laser processing program integrally includes a main program and a sub-program.

[0045] [Third Embodiment] Next, a third embodiment will be described with reference to Fig. 5. This embodiment differs from the first embodiment in that the sub-attitude vector Vb is slightly tilted with respect to the reference vector Vo from the state of the first embodiment shown in Fig. 3. For this reason, as shown in Fig. 5, the numerical control device 30 further includes a sub-condition input unit 35.

[0046] The sub-condition input unit 35 is configured to allow the user to input a sub-laser condition as a condition for the attitude of the sub-laser Lb with respect to the reference vector Vo. The sub-laser condition is, for example, the angle of the sub-attitude vector Vb with respect to the reference vector Vo. More specifically, for example, when the direction of the reference vector Vo is the Z-axis direction, the sub-laser condition is, for example, the angle of the sub-attitude vector Vb in the direction around the Y-axis with respect to the Z-axis direction.

[0047] The sub-attitude calculation unit 37b calculates a sub-attitude vector Vb based on the reference vector Vo and the sub-laser condition. Specifically, for example, if the direction of the reference vector Vo is the Z-axis direction and the sub-laser condition is 5° around the Y-axis, the sub-attitude calculation unit 37b calculates a vector tilted 5° around the Y-axis with respect to the Z-axis direction as the sub-attitude vector Vb.

[0048] According to this embodiment, the following effects can be obtained. In order to facilitate absorption of the sub-laser Lb shown in FIG. 2 by the workpiece W, it is preferable that the direction of the sub-orientation vector Vb is normal to the surface of the workpiece W, as shown in FIG. 3 . However, if the direction of the sub-orientation vector Vb is normal to the surface of the workpiece W, there is a risk that the sub-laser irradiated from the sub-laser irradiation unit 40b shown in FIG. 2 and reflected by the surface may strike the sub-laser irradiation unit 40b and cause damage. In this regard, according to this embodiment, the orientation of the sub-laser Lb with respect to the reference vector Vo can be freely set based on the input of the sub-laser conditions from the sub-condition input unit 35. Specifically, the orientation can be freely set based on, for example, the results of a machining test. This allows the orientation to be appropriately set.

[0049] [Fourth Embodiment] Next, a fourth embodiment shown in Fig. 6 will be described. As in the third embodiment, this embodiment differs from the first embodiment in that the sub-attitude vector Vb is slightly inclined with respect to the reference vector Vo from the state of the first embodiment shown in Fig. 3. For this reason, the numerical control device 30 further includes a feed direction calculation unit 36.

[0050] The feed direction calculation unit 36 ​​calculates a feed direction vector Vf based on command information for the sub control axis. The sub attitude calculation unit 37b calculates a sub attitude vector Vb based on the reference vector Vo and the feed direction vector Vf. Specifically, for example, the sub attitude vector Vb is calculated as a vector tilted by a predetermined angle around an axis perpendicular to the reference vector Vo.

[0051] According to this embodiment, the attitude of the sub-laser Lb with respect to the reference vector Vo can be automatically tilted based on the feed direction of the sub-laser Lb.

[0052] Fifth Embodiment Next, a fifth embodiment shown in Fig. 7 will be described. This embodiment differs from the first embodiment in that the numerical control device 30 further includes a sub-output correction unit 38. Also, the sub-attitude calculation unit 37b differs from the first embodiment shown in Fig. 3 in that it employs, as the sub-attitude vector Vb, a vector slightly inclined relative to the reference vector Vo, rather than the reference vector Vo.

[0053] The sub-output correction unit 38 corrects the output command of the sub-laser Lb based on the sub-orientation vector Vb. Specifically, for example, the output command of the sub-laser Lb is corrected so that the output of the sub-laser Lb is greater when the angle of the sub-orientation vector Vb with respect to the reference vector Vo shown in FIG. 3 is greater than a predetermined value than when the angle is a predetermined value. In this case, for example, when the angle of the sub-orientation vector Vb with respect to the reference vector Vo is small and the absorption of the sub-laser Lb by the surface of the workpiece W is sufficient, the output of the sub-laser Lb can be suppressed. On the other hand, when the angle of the sub-orientation vector Vb with respect to the reference vector Vo is large and the absorption of the sub-laser Lb by the surface of the workpiece W is insufficient, the output of the sub-laser Lb can be increased.

[0054] According to this embodiment, the output of the sub-laser Lb can be automatically corrected based on the attitude of the sub-laser Lb.

[0055] [Other Embodiments] The above-described embodiments can be modified, for example, as follows. The third to fifth embodiments may be implemented based on the second embodiment instead of the first embodiment. The fifth embodiment may be implemented in combination with the third or fourth embodiment.

[0056] According to the above embodiment, the numerical control device (30) of Supplementary Notes 1 to 7 and the numerical control program of Supplementary Note 8 shown below can be realized.

[0057] [Supplementary Note 1] A numerical control device (30) that controls a machine tool (40) that moves, along a plurality of control axes, the irradiation position of a main laser (La) that performs predetermined processing on a workpiece (W) and the irradiation position of a sub-laser (Lb) that assists processing by the main laser (La) relative to the workpiece (W), based on a predetermined laser processing program, the numerical control device (30) comprising: a storage unit (31) that stores the laser processing program; an analysis unit (32) that analyzes the laser processing program and reads command information; a laser axis determination unit (33) that determines a main control axis that is the control axis related to control of the main laser (La); a reference calculation unit (34) that calculates a reference vector (Vo) that serves as a reference for a sub-posture vector (Vb) that indicates the posture of the sub-laser (Lb) based on the command information for the main control axis; and a main posture calculation unit (37a) that calculates a main posture vector (Va) that indicates the posture of the main laser (La) based on the reference vector (Vo).

[0058] [Supplementary Note 2] The numerical control device (30) according to Supplementary Note 1, wherein the laser processing program includes a main program for controlling the main laser (La) and a sub program for controlling the sub laser (Lb), the analysis unit (32) includes a main analysis unit (32a) that analyzes the main program and a sub analysis unit (32b) that analyzes the sub program, and the laser axis determination unit (33) determines the main control axis based on an analysis result by the main analysis unit (32a).

[0059] [Supplementary Note 3] The numerical control device (30) according to Supplementary Note 1, wherein the laser processing program is a program for controlling the main laser (La) and the sub-laser (Lb), the analysis unit (32) analyzes the laser processing program to read the command information related to the control of the main laser (La) and the sub-laser (Lb), and the laser axis determination unit (33) determines the main control axis based on a preset setting.

[0060] [Supplementary Note 4] The numerical control device (30) according to any one of Supplementary Notes 1 to 3, wherein the reference vector (Vo) is adopted as the sub-attitude vector (Vb).

[0061] [Supplementary Note 5] A numerical control device (30) according to any one of Supplementary Notes 1 to 3, comprising: a sub-condition input unit (35) configured to be able to input sub-laser conditions as conditions for the attitude of the sub-laser (Lb) relative to the reference vector (Vo); and a sub-attitude calculation unit (37b) that calculates the sub-attitude vector (Vb) based on the reference vector (Vo) and the sub-laser conditions.

[0062] [Supplementary Note 6] The numerical control device (30) according to any one of Supplementary Notes 1 to 3, wherein the laser axis determination unit (33) determines a sub-control axis as the control axis related to the control of the sub-laser (Lb), and the numerical control device comprises: a feed direction calculation unit (36) that calculates a feed direction vector (Vf) indicating a direction of relative movement of the sub-laser (Lb) with respect to the workpiece (W) based on the command information for the sub-control axis; and a sub-orientation calculation unit (37b) that calculates the sub-orientation vector (Vb) based on the reference vector (Vo) and the feed direction vector (Vf).

[0063] [Supplementary Note 7] The numerical control device (30) according to any one of Supplementary Notes 1 to 3, 5, and 6, further comprising a sub-output correction unit (38) that corrects an output command of the sub-laser (Lb) based on the sub-attitude vector (Vb).

[0064] [Appendix 8] A numerical control program for controlling a machine tool (40) that moves a laser irradiation position, including a main laser (La) that performs predetermined processing on a workpiece (W) and a sub-laser (Lb) that assists processing by the main laser (La) along multiple control axes relative to the workpiece (W), based on a predetermined laser processing program, the numerical control program causing a computer to function as: a memory unit (31) that stores the laser processing program; an analysis unit (32) that analyzes the laser processing program and reads command information; a laser axis determination unit (33) that determines a main control axis that is the control axis related to control of the main laser (La); a reference calculation unit (34) that calculates a reference vector (Vo) that serves as a reference for a sub-posture vector (Vb) that indicates the posture of the sub-laser (Lb) based on the command information for the main control axis; and a main posture calculation unit (37a) that calculates a main posture vector (Va) that indicates the posture of the main laser (La) based on the reference vector (Vo).

[0065] 30 Numerical control device 31 Memory unit 32 Analysis unit 32a Main analysis unit 32b Sub analysis unit 33 Laser axis determination unit 34 Reference calculation unit 35 Sub condition input unit 36 ​​Feed direction calculation unit 37a Main attitude calculation unit 37b Sub attitude calculation unit 38 Sub output correction unit 40 Machine tool La Main laser Lb Sub laser Va Main attitude vector Vb Sub attitude vector Vf Feed direction vector Vo Reference vector W Workpiece

Claims

1. A numerical control device that controls a machine tool that moves the irradiation position of a main laser that performs predetermined processing on a workpiece and the irradiation position of a sub-laser that assists the processing by the main laser along multiple control axes relative to the workpiece based on a predetermined laser processing program, the numerical control device comprising: a memory unit that stores the laser processing program; an analysis unit that analyzes the laser processing program and reads command information; a laser axis determination unit that determines the main control axis that is the control axis related to control of the main laser; a reference calculation unit that calculates a reference vector that serves as a reference for a sub-posture vector that indicates the posture of the sub-laser based on the command information for the main control axis; and a main posture calculation unit that calculates a main posture vector that indicates the posture of the main laser based on the reference vector.

2. The numerical control device according to claim 1, wherein the laser processing program includes a main program for controlling the main laser and a sub program for controlling the sub laser, the analysis unit includes a main analysis unit that analyzes the main program and a sub analysis unit that analyzes the sub program, and the laser axis determination unit determines the main control axis based on the analysis results by the main analysis unit.

3. The numerical control device according to claim 1, wherein the laser processing program is a program for controlling the main laser and the sub-laser, the analysis unit analyzes the laser processing program to read the command information related to the control of the main laser and the sub-laser, and the laser axis determination unit determines the main control axis based on a preset setting.

4. The numerical control device according to any one of claims 1 to 3, wherein the reference vector is adopted as the sub-attitude vector.

5. A numerical control device according to any one of claims 1 to 3, comprising: a sub-condition input unit configured to be able to input sub-laser conditions as conditions for the attitude of the sub-laser relative to the reference vector; and a sub-attitude calculation unit that calculates the sub-attitude vector based on the reference vector and the sub-laser conditions.

6. A numerical control device according to any one of claims 1 to 3, wherein the laser axis determination unit determines a sub-control axis as the control axis related to the control of the sub-laser, and the numerical control device comprises: a feed direction calculation unit that calculates a feed direction vector indicating the direction of relative movement of the sub-laser with respect to the workpiece based on the command information for the sub-control axis; and a sub-posture calculation unit that calculates the sub-posture vector based on the reference vector and the feed direction vector.

7. A numerical control device according to any one of claims 1 to 3, 5 and 6, further comprising a sub-output correction unit that corrects an output command of the sub-laser based on the sub-attitude vector.

8. A numerical control program for controlling a machine tool that moves the irradiation position of a laser, including a main laser that performs predetermined processing on a workpiece and a sub-laser that assists the processing by the main laser, along multiple control axes relative to the workpiece based on a predetermined laser processing program, the numerical control program causing a computer to function as: a storage unit that stores the laser processing program; an analysis unit that analyzes the laser processing program and reads command information; a laser axis determination unit that determines the main control axis as the control axis related to control of the main laser; a reference calculation unit that calculates a reference vector that serves as a reference for a sub-posture vector that indicates the posture of the sub-laser based on the command information for the main control axis; and a main posture calculation unit that calculates a main posture vector that indicates the posture of the main laser based on the reference vector.

Images