Controller for laser beam machining for controlling approaching operation of machining head
A controller used for irradiating a laser beam to an object from a machining head at a reference gap position is provided. The controller includes a gap sensor for detecting an amount of gap between the machining head and the object, a gap position command calculation part for producing a gap position command, a servo mechanism for driving the machining head to the reference gap position, a servo position deviation reading part for reading an amount of position deviation of the servo mechanism, a position gain calculation part for calculating a corrected position gain of the servo mechanism, based on the amount of position deviation of the servo mechanism and a position gain replacing part for replacing the position gain of the servo mechanism with the corrected position gain.
1. A controller for laser beam machining for machining an object by irradiating a laser beam thereto from a machining head at a reference gap position situated at a predetermined distance away from the object, the controller comprising:
a gap sensor for detecting an amount of gap between the machining head and the object;
a gap position command calculation part for producing a gap position command in cooperation with the gap sensor;
a servo mechanism part for driving the machining head to the reference gap position based on the gap position command;
a servo position deviation reading part for reading an amount of position deviation of the servo mechanism part;
a position gain calculation part for calculating a corrected position gain of the servo mechanism part, based on the amount of position deviation of the servo mechanism part and based on a theoretical amount of position deviation, the theoretical amount of position deviation corresponding to a ratio of an approaching velocity of the machining head to the position gain; and
a position gain replacing part for replacing the position gain of the servo mechanism part with the corrected position gain calculated by the position gain calculating part,
wherein the corrected position gain takes servo delay into account and thereby prevents overshoot of the gap between the machining head and the object.
2. The controller for laser beam machining according to claim 1 , wherein the position gain calculation part calculates a modified value of the corrected position gain by modifying the corrected position gain based on the amount of gap detected by the gap sensor.
3. The controller for laser beam machining according to claim 1 , further comprising a position gain modifying part for modifying the corrected position gain based on an amount of changes in the position gain upon replacement by the position gain replacing part.
4. The controller for laser beam machining according to claim 1 , further comprising a clamp part for clamping the corrected position gain to a predetermined value if the corrected position gain exceeds the predetermined value in comparison of the corrected position gain with the predetermined value.