Numerical controller and numerical control program
A numerical controller 10 according to an aspect of the present disclosure does not require excessive speed and acceleration yet suppress errors in movement paths, and in accordance with a machining program containing a plurality of command blocks that each specify a designated speed of a target, controls a machining device having a plurality of driving axes for driving the target. The numerical controller 10 comprises: a synthetic speed calculation unit 16 that, for at least a curve block which designates curve movement and which is from among the plurality of command blocks, calculates a synthetic speed that is revised so that the designated speed is initially accelerated from zero by a prior revision time constant and finally decelerated to zero by the prior revision time constant; and a prior revision speed calculation unit 17 that calculates a prior revision speed of each driving axis for each time to realize the synthetic speed.
1 . A numerical controller for controlling, in accordance with a machining program containing a plurality of command blocks that each specify a designated speed of a target, a machining device having a plurality of driving axes for driving the target, the numerical controller comprising:
a synthetic speed calculation unit configured to, for at least a curve block that designates a curve movement among the plurality of command blocks, calculate a synthetic speed that is revised so that the designated speed is initially accelerated from zero by a prior revision time constant and finally decelerated to zero by the prior revision time constant;
a prior revision speed calculation unit configured to calculate a prior revision speed of each driving axis for each time to realize the synthetic speed;
a block identifying unit configured to identify whether each of the command blocks is the curve block or a linear block that designates a linear movement;
a reference speed calculation unit configured to calculate, for each linear block, a reference speed of each driving axis for each time to realize the designated speed;
a posterior revision speed calculation unit configured to calculate a posterior revision speed that is revised so that the reference speed is initially accelerated from zero by a posterior revision time constant and finally decelerated to zero by the posterior revision time constant; and
an output speed calculation unit configured to calculate an output speed by adding the prior revision speed and the posterior revision speed.
2 . The numerical controller according to claim 1 , wherein
the synthetic speed calculation unit sets the synthetic speed to be accelerated from a starting point time of the curve block, and decelerated from an ending point time of the curve block, and
the posterior revision speed calculation unit sets the posterior revision speed to be accelerated from a starting point time of the reference speed, and decelerated from an ending point time of the reference speed.
3 . The numerical controller according to claim 1 , wherein
the synthetic speed calculation unit, when the immediately previous command block is the linear block, sets the prior revision time constant to be equal to the posterior revision time constant that is applied to the immediately previous linear block.
4 . A non-transitory storage medium which non-transitorily stores a numerical control program for controlling, in accordance with a machining program containing a plurality of command blocks that each specify a designated speed of a target, a machining device having a plurality of driving axes for driving the target, the numerical control program comprising:
a synthetic speed calculation control unit configured to, for at least a curve block that designates a curve movement among the plurality of command blocks, calculate a synthetic speed that is revised so that the designated speed is initially accelerated from zero by a prior revision time constant and finally decelerated to zero by the prior revision time constant;
a prior revision speed calculation control unit configured to calculate a prior revision speed of each driving axis for each time to realize the synthetic speed;
a block identifying control unit configured to identify whether each of the command blocks is the curve block or a linear block that designates a linear movement;
a reference speed calculation control unit configured to calculate, for each linear block, a reference speed of each driving axis for each time to realize the designated speed;
a posterior revision speed calculation control unit configured to calculate a posterior revision speed that is revised so that the reference speed is initially accelerated from zero by a posterior revision time constant and finally decelerated to zero by the posterior revision time constant; and
an output speed calculation control unit configured to calculate an output speed by adding the prior revision speed and the posterior revision speed.