Numerical controller

1 . A numerical controller that controls a relative speed between a tool and a workpiece on a basis of a machining program, the numerical controller comprising:

a processor configured to:

analyze a first block and a second block that are included in the machining program, the first block being a movement command, the second block being a next movement command;

in a case where a corner part exists between the first block and the second block, calculate an allowable speed at the corner part at the time of passing through the corner part;

calculate a block command movement amount that is a distance between a start point and an end point of the first block;

calculate a movement amount in each of an acceleration part where a pre-interpolation speed at the start point of the first block is accelerated to a command speed of the machining program, a constant-speed part where the command speed of the machining program is maintained, and a deceleration part where deceleration is performed from the command speed of the machining program to the allowable speed at the corner part adjacent to the second block on a basis of the pre-interpolation speed at the start point of the first block, the allowable speed at the corner part, and the block command movement amount of the first block;

obtain a remaining movement amount of the first block from the movement amount of each of the acceleration part, the constant-speed part, and the deceleration part, and the block command movement amount;

correct the command-speed of the constant speed, wherein in a case where a correction amount of the command speed exceeds a preset threshold value, the processor adjusts the correction amount of the command speed by increasing a number of times of interpolation processing; and

correct a pre-interpolation acceleration of the acceleration part, wherein in a case where a correction amount of the pre-interpolation acceleration of the acceleration part exceeds a preset threshold value, the processor adjusts the pre-interpolation acceleration by increasing or decreasing a number of times of interpolation processing in the acceleration part,

wherein the processor is configured to correct at least one of the pre-interpolation acceleration of the acceleration part, the command speed of the constant-speed part, and a pre-interpolation acceleration of the deceleration part to adjust the movement amount of the acceleration part, the movement amount of the constant-speed part, and the movement amount of the deceleration part to be extended by a same amount as the remaining movement amount, and to make a sum of the movement amount of the acceleration part, the movement amount of the constant-speed part, and the movement amount of the deceleration part is equal to the calculated block command movement amount, and

wherein the processor controls a movement of the tool in accordance with the adjusted movement amount of the acceleration part, the constant speed part or the decelerated part of the block command movement amount to cause the tool to pass through the corner part while maintaining the allowable speed at the corner part.

2 . A numerical controller that controls a relative speed between a tool and a workpiece on a basis of a machining program, the numerical controller comprising:

a processor configured to:

analyze a first block and a second block that are included in the machining program, the first block being a movement command, the second block being a next movement command;

in a case where a corner part exists between the first block and the second block, calculate an allowable speed at the corner part at the time of passing through the corner part;

calculate a block command movement amount that is a distance between a start point and an end point of the first block;

calculate a movement amount in each of an acceleration part where a pre-interpolation speed at the start point of the first block is accelerated to a command speed of the machining program, a constant-speed part where the command speed of the machining program is maintained, and a deceleration part where deceleration is performed from the command speed of the machining program to the allowable speed at the corner part adjacent to the second block on a basis of the pre-interpolation speed at the start point of the first block, the allowable speed at the corner part, and the block command movement amount of the first block;

obtain a remaining movement amount of the first block from the movement amount of each of the acceleration part, the constant-speed part, and the deceleration part, and the block command movement amount;

correct the command-speed of the constant speed, wherein in a case where a correction amount of the command speed exceeds a preset threshold value, the processor adjusts the correction amount of the command speed of the constant-speed part by increasing a number of times of interpolation processing; and

correct a pre-interpolation acceleration of the deceleration part, wherein in a case where a correction amount of the pre-interpolation acceleration of the deceleration part exceeds a preset threshold value, the processor adjusts the pre-interpolation acceleration by increasing or decreasing a number of times of interpolation processing,

wherein the processor is configured to correct at least one of a pre-interpolation acceleration of the acceleration part, the command speed of the constant-speed part, and the pre-interpolation acceleration of the deceleration part to adjust the movement amount of the acceleration part, the movement amount of the constant-speed part, and the movement amount of the deceleration part to be extended by a same amount as the remaining movement amount, and to make a sum of the movement amount of the acceleration part, the movement amount of the constant-speed part, and the movement amount of the deceleration part equal to the calculated block command movement amount, and

wherein the processor controls a movement of the tool in accordance with the adjusted movement amount of the acceleration part, the constant speed part or the decelerated part of the block command movement amount to cause the tool to pass through the corner part while maintaining the allowable speed at the corner part.

3 . A non-transitory computer-readable storage medium storing a computer-readable command that, when executed by one or more processors, causes the one or more processors to perform operations comprising:

analyzing a first block and a second block that are included in a machining program, the first block being a movement command, the second block being a next movement command;

in a case where a corner part exists between the first block and the second block, calculating an allowable speed at the corner part at the time of passing through the corner part;

calculating a block command movement amount that is a distance between a start point and an end point of the first block;

calculating a movement amount in each of an acceleration part where a pre-interpolation speed at the start point of the first block is accelerated to a command speed of the machining program, a constant-speed part where the command speed of the machining program is maintained, and a deceleration part where deceleration is performed from the command speed of the machining program to the allowable speed at the corner part adjacent to the second block on the basis of the pre-interpolation speed at the start point of the first block, the allowable speed at the corner part, and the block command movement amount of the first block;

obtaining a remaining movement amount of the first block from the movement amount of each of the acceleration part, the constant-speed part, and the deceleration part and the block command movement amount;

correcting at least one of a pre-interpolation acceleration of the acceleration part, the command speed of the constant-speed part, and a pre-interpolation acceleration of the deceleration part to adjust the movement amount of the acceleration part, the movement amount of the constant-speed part, and the movement amount of the deceleration part to be extended by a same amount as the remaining movement amount, and bring a sum of the movement amount of the acceleration part, the movement amount of the constant-speed part, and the movement amount of the deceleration part equal to the calculated block command movement amount,

wherein in a case where a correction amount of the command speed of the constant speed part exceeds a threshold value, the correction amount of the command speed of the constant speed part is adjusted by increasing a number of times of a pulse interpolation processing in the constant speed part,

wherein in a case where a correction amount of the pre-interpolation acceleration exceeds a threshold value, the pre-interpolation acceleration is corrected by increasing or decreasing a number of times of interpolation processing in the acceleration part; and

controlling a movement of the tool in accordance with the adjusted movement amount of the acceleration part, the constant speed part or the decelerated part of the block command movement amount to cause the tool to pass through the corner part while maintaining the allowable speed at the corner part.

4 . A non-transitory computer-readable storage medium storing a computer-readable command that, when executed by one or more processors, causes the one or more processors to perform operations comprising:

analyzing a first block and a second block that are included in a machining program, the first block being a movement command, the second block being a next movement command;

in a case where a corner part exists between the first block and the second block, calculating an allowable speed at the corner part at the time of passing through the corner part;

calculating a block command movement amount that is a distance between a start point and an end point of the first block;

calculating a movement amount in each of an acceleration part where a pre-interpolation speed at the start point of the first block is accelerated to a command speed of the machining program, a constant-speed part where the command speed of the machining program is maintained, and a deceleration part where deceleration is performed from the command speed of the machining program to the allowable speed at the corner part adjacent to the second block on the basis of the pre-interpolation speed at the start point of the first block, the allowable speed at the corner part, and the block command movement amount of the first block;

obtaining a remaining movement amount of the first block from the movement amount of each of the acceleration part, the constant-speed part, and the deceleration part and the block command movement amount;

correcting at least one of a pre-interpolation acceleration of the acceleration part, the command speed of the constant-speed part, and a pre-interpolation acceleration of the deceleration part to adjust the movement amount of the acceleration part, the movement amount of the constant-speed part, and the movement amount of the deceleration part to be extended by a same amount as the remaining movement amount, and bring a sum of the movement amount of the acceleration part, the movement amount of the constant-speed part, and the movement amount of the deceleration part equal to the calculated block command movement amount, wherein in a case where a correction amount of the command speed of the constant-speed part exceeds a threshold value, the correction amount of the command speed of the constant-speed part is adjusted by increasing a number of times of a pulse interpolation processing in the constant-speed part,

wherein in a case where a correction amount of the pre-interpolation acceleration of the deceleration part exceeds a threshold value, the pre-interpolation acceleration is corrected by increasing or decreasing a number of times of an interpolation processing in the deceleration part; and

controlling a movement of the tool in accordance with the adjusted movement amount of the acceleration part, the constant speed part or the decelerated part of the block command movement amount to cause the tool to pass through the corner part while maintaining the allowable speed at the corner part.