Servo controller, control method, and computer-readable recording medium for machine tool used for oscillating cutting

Patent metadata

Field	Value
Publication number	US-10353374-B2
Application number	US-201715470093-A
Country	US
Kind code	B2
Filing date	Mar 27, 2017
Priority date	Mar 29, 2016
Publication date	Jul 16, 2019
Grant date	Jul 16, 2019

Abstract

A controller including: a positional deviation calculating unit that calculates positional deviation using a position command directed to a servo motor for driving a cutting tool, etc., and a position feedback value corresponding to the position of the cutting tool, etc.; an oscillation command calculating unit that calculates an oscillation command using the position command and a spindle axis angle of the rotated work, etc., or using the position feedback value and the spindle axis angle; an oscillation offset calculating unit that calculates an offset for the oscillation command using the positional deviation, the oscillation command, and the spindle axis angle; and a driving unit that determines a drive signal for the servo motor based on the positional deviation, the oscillation command, and the oscillation offset, and outputs the drive signal.

First claim

What is claimed is:

1. A controller that controls a machine tool comprising multiple control axes and used for machining by cutting of a work as a machining target by means of coordinated motion of the control axes, the controller comprising:
a position command acquiring unit that acquires a position command directed to a servo motor for driving a cutting tool or a position command directed to a servo motor for driving the work;
a position acquiring unit that acquires the position of the cutting tool or that of the work as a position feedback value;
a positional deviation calculating unit that calculates positional deviation using the acquired position command and the acquired position feedback value;
a spindle axis angle acquiring unit that acquires a spindle axis angle corresponding to an angle of rotation of a spindle axis of the rotated work or that of a spindle axis of the rotated cutting tool;
an oscillation command calculating unit that calculates an oscillation command for causing the servo motor to perform an oscillating motion using the acquired position command and the acquired spindle axis angle, or using the acquired position feedback value and the acquired spindle axis angle;
an oscillation offset calculating unit that calculates an offset using the calculated positional deviation, the calculated oscillation command, and the spindle axis angle, the offset being added to the oscillation command to generate an adjusted oscillation command for causing the servo motor to perform the oscillating motion; and
a driving unit that determines a drive signal to be used for driving the servo motor including causing the servo motor to perform the oscillating motion based on the positional deviation and the adjusted oscillation command, and outputs the drive signal.

2. The controller according to claim 1 , wherein, to shred chips caused during the cutting, the oscillation command calculating unit calculates the oscillation command for causing the cutting tool and the work to oscillate relative to each other in a machining direction in which the cutting tool travels.

3. The controller according to claim 1 , wherein the oscillation command calculating unit determines an amplitude by multiplying the position command or multiplying the position feedback value by a first designated number, determines a first angle by multiplying the spindle axis angle by a second designated number, and calculates the oscillation command using the determined amplitude and the determined first angle.

4. The controller according to claim 3 , wherein the oscillation offset calculating unit determines second positional deviation by adding the oscillation command to the positional deviation and calculates the offset using the determined second positional deviation and the first angle, thereby executing learning control.

5. The controller according to claim 1 , wherein the spindle axis angle is a spindle axis command output from an external higher-order device or the position feedback value of the spindle axis.

6. The controller according to claim 3 , wherein the first designated number and the second designated number are provided from an external higher-order device and the provided first designated number and the provided second designated number are used.

7. The controller according to claim 1 , wherein the first designated number is calculated based on the position command and the spindle axis angle.

8. The controller according to claim 1 , wherein the oscillation command calculating unit starts, stops, or finishes calculation of the oscillation command based on a signal given from a higher-order controller.

9. The controller according to claim 1 , wherein the oscillation offset calculating unit starts, stops, or finishes calculation of the offset based on a signal given from a higher-order controller.

10. The controller according to claim 1 , wherein the oscillation offset calculating unit determines second positional deviation by adding the oscillation command to the positional deviation,
determines third positional deviation by extracting an oscillation frequency component from the second positional deviation, and calculates the offset using the determined third positional deviation and the first angle, thereby executing learning control.

11. A method of controlling a machine tool comprising multiple control axes and used for machining by cutting of a work as a machining target by means of coordinated motion of the control axes, the method comprising:
a position command acquiring step of acquiring a position command directed to a servo motor for driving a cutting tool or a position command directed to a servo motor for driving the work;
a position acquiring step of acquiring the position of the cutting tool or that of the work as a position feedback value;
a positional deviation calculating step of calculating positional deviation using the acquired position command and the acquired position feedback value;
a spindle axis angle acquiring step of acquiring a spindle axis angle of the rotated work or that of the rotated cutting tool;
an oscillation command calculating step of calculating an oscillation command for causing the servo motor to perform an oscillating motion using the acquired position command and the acquired spindle axis angle, or using the acquired position feedback value and the acquired spindle axis angle;
an oscillation offset calculating step of calculating an offset using the calculated positional deviation, the calculated oscillation command, and the spindle axis angle, the offset being added to the oscillation command to generate an adjusted oscillation command for causing the servo motor to perform the oscillating motion; and
a driving step of determining a drive signal to be used for driving the servo motor including causing the servo motor to perform the oscillating motion based on the positional deviation and the adjusted oscillation command, and outputting the drive signal.

12. A non-transitory computer-readable recording medium storing a computer program that causes a computer to operate as a controller that controls a machine tool comprising multiple control axes and used for machining by cutting of a work as a machining target by means of coordinated motion of the control axes, the computer-readable recording medium storing a computer program causing the computer to execute:
a position command acquiring procedure of acquiring a position command directed to a servo motor for driving a cutting tool or a position command directed to a servo motor for driving the work;
a position acquiring procedure of acquiring the position of the cutting tool or that of the work as a position feedback value;
a positional deviation calculating procedure of calculating positional deviation using the acquired position command and the acquired position feedback value;
a spindle axis angle acquiring procedure of acquiring a spindle axis angle of the rotated work or that of the rotated cutting tool;
an oscillation command calculating procedure of calculating an oscillation command for causing the servo motor to perform an oscillating motion using the acquired position command and the acquired spindle axis angle, or using the acquired position feedback value and the acquired spindle axis angle;
an oscillation offset calculating procedure of calculating an offset using the calculated positional deviation, the calculated oscillation command, and the spindle axis angle, the offset being added to the oscillation command to generate an adjusted oscillation command for causing the servo motor to perform the oscillating motion; and
a driving procedure of determining a drive signal to be use

Assignees

• Fanuc Corp

Inventors

• Sonoda Naoto
• Haga Makoto

Classifications

• G05B2219/41229

  Adding a vibration, noise signal to reference signal of position, speed or acceleration · CPC title

• G05B19/416

  characterised by control of velocity, acceleration or deceleration (G05B19/19 takes precedence) · CPC title

• G05B19/18 Primary

  Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form (G05B19/418 takes precedence) · CPC title

• G05B2219/49314

  Machine with oscillating workpiece, no full rotation · CPC title

• G05B19/41815

  characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell · CPC title