Device and method of controlling machine tool, to control synchronized operation of spindle axis and feed axis

• US 10,005,165 B2
• Filed: 06/03/2016
• Issued: 06/26/2018
• Est. Priority Date: 06/04/2015
• Status: Active Grant

• Current Assignee: Fanuc Corporation
• Original Assignee: Fanuc Corporation
• Inventors: Morita, Yuuki, Tajima, Daisuke, Okita, Tadashi
• Primary Examiner(s): Huang, Miranda M
• Assistant Examiner(s): Alvarez, Olvin Lopez
• Application Number:
  US15/172,156
• Publication Number:
  US 20160357171A1
• Time in Patent Office: 753 Days
• Field of Search: 700188
• CPC Class Codes: B23G 1/18 Machines with one working spindle
• CPC Class Codes: B23Q 15/08 Control or regulation of cutting velocity B23Q15/12 takes precedence
• CPC Class Codes: G05B 19/4141 characterised by a controller or microprocessor per axis
• CPC Class Codes: G05B 2219/49086 Adjust feeding speed or rotational speed of main spindle when load out of range
• CPC Class Codes: G05B 2219/50218 Synchronize groups of axis, spindles

Abstract

A controller for controlling a synchronized operation of spindle and feed axes. A spindle-axis control section includes an initial-motion control section for making a spindle axis perform an accelerated rotation at maximum capacity from a process start position; a maximum-acceleration detecting section for detecting a maximum acceleration of the spindle axis; a residual rotation-amount detecting section for detecting a residual rotation amount of the spindle axis; a current-speed detecting section for detecting a current speed of the spindle axis; a decelerating-motion control section for making the spindle axis perform a decelerated rotation at a gradually increasing deceleration so as to reach an intermediate rotation speed after the accelerated rotation; and a positioning-motion control section for making the spindle axis perform a decelerated rotation at maximum capacity so as to reach the target thread depth after reaching the intermediate rotation speed.

Claims

1. A controller of a machine tool, configured to control a synchronized operation of a spindle axis and a feed axis, the controller comprising a hardware configured as:

a numerical control section configured to prepare a spindle-axis command and a feed-axis command based on a tapping program;

a spindle-axis control section configured to control a rotational motion of the spindle axis in accordance with the spindle-axis command;

a rotation detecting section configured to detect a rotational position of the spindle axis;

and a feed-axis control section configured to control a feed motion of the feed axis in accordance with the feed-axis command and based on the rotational position of the spindle axis;

the numerical control section comprising;

a spindle-axis command outputting section configured to obtain, from the tapping program, a total rotation amount and a maximum rotation speed of the spindle axis during a period when the spindle axis operates from a process start position to a target thread depth, and to send the total rotation amount and the maximum rotation speed as the spindle-axis command to the spindle-axis control section;

the spindle-axis control section comprising;

an initial-motion control section configured to make the spindle axis perform an accelerated rotation at maximum capacity using a maximum permissible current of a drive source from the process start position, by a velocity control in which the maximum rotation speed is set as a target value;

a maximum-acceleration detecting section configured to detect a maximum acceleration of the spindle axis during the accelerated rotation at maximum capacity, based on the rotational position;

a residual rotation-amount detecting section configured to detect a residual rotation amount of the spindle axis during a period when the spindle axis operates from a current position to the target thread depth, based on the total rotation amount and the rotational position;

a current-speed detecting section configured to detect a current speed of the spindle axis based on the rotational position;

a decelerating-motion control section configured to make the spindle axis perform a decelerated rotation so as to reach a predetermined intermediate rotation speed, by a velocity control, after the accelerated rotation at maximum capacity;

and a positioning-motion control section configured to make the spindle axis perform a decelerated rotation at maximum deceleration corresponding to the maximum acceleration so as to reach the target thread depth, by a position control, after the spindle axis reaches the intermediate rotation speed, based on the maximum acceleration, the residual rotation amount and the current speed;

wherein the decelerating-motion control section is configured to successively update a velocity command for the decelerated rotation by the velocity control with use of the residual rotation amount and the current speed, and to make the spindle axis perform the decelerated rotation by the successively updated velocity command so that the residual rotation amount at an instant when the spindle axis reaches the intermediate rotation speed becomes equal to a positioning rotation amount of the spindle axis required for the spindle axis to reach the target thread depth under the position control.

2. The controller of claim 1, wherein the spindle-axis command outputting section is configured to obtain, from the tapping program, a total return-rotation amount and a maximum return-rotation speed of the spindle axis during a period when the spindle axis operates from the target thread depth to a return completion position, and to send the total return-rotation amount and the maximum return-rotation speed as the spindle-axis command to the spindle-axis control section;

wherein the initial-motion control section is configured to make the spindle axis perform an accelerated inverse rotation at maximum capacity using a maximum permissible current of a drive source from the target thread depth or from an initial return position at which the spindle axis has returned by a predetermined rotation number from the target thread depth, by a velocity control in which the maximum return-rotation speed is set as a target value;

wherein the maximum-acceleration detecting section is configured to detect or obtain a maximum acceleration of inverse rotation of the spindle axis during a period when the spindle axis performs the accelerated inverse rotation from the target thread depth;

wherein the residual rotation-amount detecting section is configured to detect a residual return-rotation amount of the spindle axis during a period when the spindle axis operates from a current position to the return completion position, based on the total return-rotation amount and the rotational position;

wherein the current-speed detecting section is configured to detect a current speed of inverse rotation of the spindle axis based on the rotational position;

wherein the decelerating-motion control section is configured to make the spindle axis perform a decelerated inverse rotation so as to reach a predetermined intermediate return-rotation speed, by a velocity control, after the accelerated inverse rotation at maximum capacity;

wherein the positioning-motion control section is configured to make the spindle axis perform a decelerated inverse rotation at maximum deceleration corresponding to the maximum acceleration of inverse rotation and stop at the return completion position, by a position control, after the spindle axis reaches the intermediate return-rotation speed, based on the maximum acceleration of inverse rotation, the residual return-rotation amount and the current speed of inverse rotation; and

wherein the decelerating-motion control section is configured to successively update a velocity command for the decelerated inverse rotation by the velocity control with use of the residual return-rotation amount and the current speed of inverse rotation, and to make the spindle axis perform the decelerated inverse rotation by the successively updated velocity command so that the residual return-rotation amount at an instant when the spindle axis reaches the intermediate return-rotation speed becomes equal to a positioning return-rotation amount of the spindle axis required for the spindle axis to stop at the return completion position under the position control.

3. The controller of claim 2, wherein the positioning-motion control section is configured to make the spindle axis stop at the target thread depth;

wherein the initial-motion control section is configured to make the spindle axis perform the accelerated inverse rotation at the maximum capacity from the target thread depth; and

wherein the maximum-acceleration detecting section is configured to detect the maximum acceleration of inverse rotation during the accelerated inverse rotation at maximum capacity, based on the rotational position.

4. The controller of claim 2, wherein the positioning-motion control section is configured not to make the spindle axis stop at the target thread depth but to make the spindle axis perform an accelerated inverse rotation at the maximum acceleration of inverse rotation, which is identical to a maximum deceleration during the decelerated rotation at maximum capacity, to the initial return position by the position control, after the spindle axis reaches the target thread depth;

wherein the initial-motion control section is configured to make the spindle axis perform the accelerated inverse rotation at the maximum capacity from the initial return position; and

wherein the maximum-acceleration detecting section is configured to obtain the maximum deceleration as the maximum acceleration of inverse rotation.

5. The controller of claim 2, wherein the numerical control section is configured to monitor the residual rotation amount and to judge that a tapping process reaches the target thread depth when the residual rotation amount becomes equal to or less than a first predetermined value.

6. The controller of claim 2, wherein the numerical control section is configured to monitor the residual return-rotation amount and to judge that a return motion is completed when the residual return-rotation amount becomes equal to or less than a second predetermined value.

7. The controller of claim 2, further comprising a feed detecting section configured to detect a feed position of the feed axis;

wherein the numerical control section comprises;

a feed-axis command outputting section configured to obtain, from the tapping program, a total return-feed amount and a thread pitch of the feed axis during a period when the feed axis operates from the target thread depth to the return completion position, and to send the total return-feed amount and the thread pitch as the feed-axis command to the feed-axis control section, when the numerical control section judges that the tapping process reaches the target thread depth; and

wherein the feed-axis control section comprises;

a feed-motion control section configured to control a return-feed motion of the feed axis, based on the thread pitch and the rotational position; and

a residual feed-amount detecting section configured to detect a residual return-feed amount of the feed axis during a period when the feed axis operates from a current position to the return completion position, based on the total return-feed amount and the feed position.

8. The controller of claim 7, wherein the numerical control section comprises a position recognizing section configured to recognize the current position of the spindle axis based on the residual return-rotation amount, and also recognize the current position of the feed axis based on the residual return-feed amount.

9. The controller of claim 7, wherein the numerical control section comprises a synchronization-error calculating section configured to calculate a synchronization error in the synchronized operation, based on the residual return-rotation amount, the residual return-feed amount and the thread pitch.

10. The controller of claim 1, further comprising a feed detecting section configured to detect a feed position of the feed axis;

wherein the numerical control section comprises;

a feed-axis command outputting section configured to obtain, from the tapping program, a total feed amount and a thread pitch of the feed axis during a period when the feed axis operates from the process start position to the target thread depth, and to send the total feed amount and the thread pitch as the feed-axis command to the feed-axis control section; and

wherein the feed-axis control section comprises;

a feed-motion control section configured to control the feed motion of the feed axis, based on the thread pitch and the rotational position; and

a residual feed-amount detecting section configured to detect a residual feed amount of the feed axis during a period when the feed axis operates from a current position to the target thread depth, based on the total feed amount and the feed position.

11. The controller of claim 10, wherein the numerical control section comprises a position recognizing section configured to recognize the current position of the spindle axis based on the residual rotation amount, and also recognize the current position of the feed axis based on the residual feed amount.

12. The controller of claim 10, wherein the numerical control section comprises a synchronization-error calculating section configured to calculate a synchronization error in the synchronized operation, based on the residual rotation amount, the residual feed amount and the thread pitch.

13. A controller of a machine tool, configured to control a synchronized operation of a spindle axis and a feed axis, the controller comprising a hardware processor configured as:

a numerical control section configured to prepare a spindle-axis command and a feed-axis command based on a tapping program;

a spindle-axis control section configured to control a rotational motion of the spindle axis in accordance with the spindle-axis command;

a rotation detecting section configured to detect a rotational position of the spindle axis;

and a feed-axis control section configured to control a feed motion of the feed axis in accordance with the feed-axis command and based on the rotational position of the spindle axis;

the numerical control section comprising;

a spindle-axis command outputting section configured to obtain, from the tapping program, a total return-rotation amount and a maximum return-rotation speed of the spindle axis during a period when the spindle axis operates from a target thread depth to a return completion position, and to send the total return-rotation amount and the maximum return-rotation speed as the spindle-axis command to the spindle-axis control section;

the spindle-axis control section comprising;

an initial-motion control section configured to make the spindle axis perform an accelerated inverse rotation at maximum capacity using a maximum permissible current of a drive source from the target thread depth or from an initial return position at which the spindle axis has returned by a predetermined rotation number from the target thread depth, by a velocity control in which the maximum return-rotation speed is set as a target value;

a maximum-acceleration detecting section configured to detect or obtain a maximum acceleration of inverse rotation of the spindle axis during a period when the spindle axis performs the accelerated inverse rotation from the target thread depth;

a residual rotation-amount detecting section configured to detect a residual return-rotation amount of the spindle axis during a period when the spindle axis operates from a current position to the return completion position, based on the total return-rotation amount and the rotational position;

a current-speed detecting section configured to detect a current speed of inverse rotation of the spindle axis based on the rotational position;

a decelerating-motion control section configured to make the spindle axis perform a decelerated inverse rotation so as to reach a predetermined intermediate return-rotation speed, by a velocity control, after the accelerated inverse rotation at maximum capacity;

and a positioning-motion control section configured to make the spindle axis perform a decelerated inverse rotation at maximum deceleration corresponding to the maximum acceleration of inverse rotation and stop at the return completion position, by a position control, after the spindle axis reaches the intermediate return-rotation speed, based on the maximum acceleration of inverse rotation, the residual return-rotation amount and the current speed of inverse rotation;

wherein the decelerating-motion control section is configured to successively update a velocity command for the decelerated inverse rotation by the velocity control with use of the residual return-rotation amount and the current speed of inverse rotation, and to make the spindle axis perform the decelerated inverse rotation by the successively updated velocity command so that the residual return-rotation amount at an instant when the spindle axis reaches the intermediate return-rotation speed becomes equal to a positioning return-rotation amount of the spindle axis required for the spindle axis to stop at the return completion position under the position control.

14. A method of controlling a machine tool, configured to control a synchronized operation of a spindle axis and a feed axis, the method comprising the steps, executed by a controller, of:

obtaining, from a tapping program, a total rotation amount and a maximum rotation speed of the spindle axis during a period when the spindle axis operates from a process start position to a target thread depth;

making the spindle axis perform an accelerated rotation at maximum capacity using a maximum permissible current of a drive source from the process start position, by a velocity control in which the maximum rotation speed is set as a target value;

detecting a maximum acceleration of the spindle axis during the accelerated rotation at maximum capacity, based on a rotational position feedback of the spindle axis;

detecting a residual rotation amount of the spindle axis during a period when the spindle axis operates from a current position to the target thread depth, based on the total rotation amount and the rotational position feedback;

detecting a current speed of the spindle axis based on the rotational position feedback;

making the spindle axis perform a decelerated rotation so as to reach a predetermined intermediate rotation speed, by a velocity control, after the accelerated rotation at maximum capacity;

and making the spindle axis perform a decelerated rotation at maximum deceleration corresponding to the maximum acceleration so as to reach the target thread depth, by a position control, after the spindle axis reaches the intermediate rotation speed, based on the maximum acceleration, the residual rotation amount and the current speed;

wherein the step of making the spindle axis reach the intermediate rotation speed includes the step of successively updating a velocity command for the decelerated rotation by the velocity control with use of the residual rotation amount and the current speed, and making the spindle axis perform the decelerated rotation by the successively updated velocity command so that the residual rotation amount at an instant when the spindle axis reaches the intermediate rotation speed becomes equal to a positioning rotation amount of the spindle axis required for the spindle axis to reach the target thread depth under the position control, and

wherein the method further comprises the steps, executed by the controller, of;

preparing a feed-axis command based on the tapping program; and

controlling a feed motion of the feed axis in accordance with the feed-axis command and based on the rotational position feedback of the spindle axis.

15. A method of controlling a machine tool, configured to control a synchronized operation of a spindle axis and a feed axis, the method comprising the steps, executed by a controller, of:

obtaining, from a tapping program, a total return-rotation amount and a maximum return-rotation speed of the spindle axis during a period when the spindle axis operates from a target thread depth to a return completion position;

making the spindle axis perform an accelerated inverse rotation at maximum capacity using a maximum permissible current of a drive source from the target thread depth or from an initial return position at which the spindle axis has returned by a predetermined rotation number from the target thread depth, by a velocity control in which the maximum return-rotation speed is set as a target value;

detecting or obtaining a maximum acceleration of inverse rotation of the spindle axis during a period when the spindle axis performs the accelerated inverse rotation from the target thread depth;

detecting a residual return-rotation amount of the spindle axis during a period when the spindle axis operates from a current position to the return completion position, based on the total return-rotation amount and a rotational position feedback of the spindle axis;

detecting a current speed of inverse rotation of the spindle axis based on the rotational position feedback;

making the spindle axis perform a decelerated inverse rotation so as to reach a predetermined intermediate return-rotation speed, by a velocity control, after the accelerated inverse rotation at maximum capacity;

and making the spindle axis perform a decelerated inverse rotation at maximum deceleration corresponding to the maximum acceleration of inverse rotation and stop at the return completion position, by a position control, after the spindle axis reaches the intermediate return-rotation speed, based on the maximum acceleration of inverse rotation, the residual return-rotation amount and the current speed of inverse rotation;

wherein the step of making the spindle axis reach the intermediate rotation speed includes the step of successively updating a velocity command for the decelerated inverse rotation by the velocity control with use of the residual return-rotation amount and the current speed of inverse rotation, and making the spindle axis perform the decelerated inverse rotation by the successively updated velocity command so that the residual return-rotation amount at an instant when the spindle axis reaches the intermediate return-rotation speed becomes equal to a positioning return-rotation amount of the spindle axis required for the spindle axis to stop at the return completion position under the position control, and

wherein the method further comprises the steps, executed by the controller, of;

preparing a feed-axis command based on the tapping program; and

controlling a feed motion of the feed axis in accordance with the feed-axis command and based on the rotational position feedback of the spindle axis.