# US 9,939,804 B2 · Numerical control device and numerical control method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,939,804 B2 - Document ID: US9939804B2 - Status: Granted - Kind: B2 - Application number: 15/101,218 - Filed: 2013-12-13 - Published: 2016-12-01 - Granted: 2018-04-10 - Earliest claimed: 2013-12-13 - Assignees: Mitsubishi Electric Corporation - Applicants: Mitsubishi Electric Corporation - Inventors: Toshiaki Kimata; Kotaro Nagaoka; Naoki Nakamura - Web page: https://patentgrep.com/patent/US9939804B2 ## CPC - G05B 19/404: characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia (G05B19/19, G05B19/41 take precedence) - G05B 19/402: characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position (G05B19/19 takes precedence) - G05B 19/416: characterised by control of velocity, acceleration or deceleration (G05B19/19 takes precedence) - G05B 2219/37388: Acceleration or deceleration, inertial measurement - G05B 2219/37621: Inertia, mass of rotating, moving tool, workpiece, element - G05B 2219/41056: Compensation for changing stiffness, deformation of workpiece - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract To dynamically change the acceleration without trial executions of a machining program, a numerical control device, which controls a motor on the basis of a machining program that specifies a path for a drive target of the motor, includes a changing unit that changes the acceleration of the motor under the control of the motor on the basis of the inertia ratio, the acceleration-deceleration factor that can be externally input, or the current value of the motor. ## Claims ### Claim 1 A numerical control device that controls a motor according to a program that specifies a path for a drive target of the motor, the numerical control device comprising: an acceleration-deceleration processing unit: to perform an acceleration-deceleration process on a velocity at which the drive target is moved on the path on the basis of an acceleration set value at the time point and to output a velocity obtained after the acceleration-deceleration process; an interpolation unit to calculate a position command per control cycle for the motor so as to drive the motor at the velocity obtained after the acceleration-deceleration process; and a changing unit: to monitor a state quantity related to the motor while the motor is being controlled, and to change the acceleration set value on the basis of the state quantity while the motor is being controlled, wherein the changing unit: acquires an acceleration candidate value on the basis of the state quantity, acquires a required distance for reducing a velocity of the drive target from a present value to a velocity at a target position specified in the program by using the acceleration candidate value, determines whether it is possible for the drive target to be moved to the target position at the acceleration candidate value on the basis of the required distance and a distance from a present position of the drive target to the target position, changes the acceleration set value to the acceleration candidate value when it is determined to be possible for the drive target to be moved to the target position at the acceleration candidate value, and leaves the acceleration set value unchanged when it is determined to be impossible for the drive target to be moved to the target position at the acceleration candidate value. ### Claim 2 (depends on 1) The numerical control device according to claim 1, wherein the state quantity is an inertia ratio, and the changing unit changes the acceleration set value to a smaller value when the inertia ratio is changed to a greater value, or changes the acceleration set value to a greater value when the inertia ratio is changed to a smaller value. ### Claim 3 (depends on 1) The numerical control device according to claim 1, wherein the state quantity is a current value of the motor, and the changing unit calculates a load value of the motor on the basis of the current value, and when the load value is changed to a greater value, the changing unit changes the acceleration set value to a smaller value, or when the load value is changed to a smaller value, the changing unit changes the acceleration set value to a greater value. ### Claim 4 (depends on 1) The numerical control device according to claim 1, wherein the state quantity is a current value of the motor, and the changing unit calculates a load value of the motor on the basis of the current value, and changes, when the load value exceeds a predetermined overload threshold, the acceleration set value to a value smaller than the acceleration set value at the time point when the load value exceeds. ### Claim 5 (depends on 1) The numerical control device according to claim 1, wherein the state quantity is an acceleration-deceleration factor that is externally input, and the changing unit changes the acceleration set value to a value obtained by multiplying a predetermined acceleration reference value by the acceleration-deceleration factor. ### Claim 6 (depends on 1) The numerical control device according to claim 1, wherein the state quantities include at least two types out of an inertia ratio, an acceleration-deceleration factor that is externally input, and a current value of the motor, priorities of which are defined for each type, and determination conditions of which are defined for each type, and the changing unit changes the acceleration set value according to a higher-priority type of state quantity when respective determination conditions for a plurality of state quantities are simultaneously satisfied. ### Claim 7 (depends on 1) The numerical control device according to claim 1, further comprising: an interpolation unit to calculate a position command per control cycle for the motor; and a filtering unit to perform a filtering process on the position command per control cycle, wherein the program includes designation of first mode or second mode, and the changing unit: changes the acceleration set value when the first mode is designated, and changes a time constant of the filtering process on the basis of the state quantity when the second mode is designated. ### Claim 8 (depends on 7) The numerical control device according to claim 7, wherein the state quantity is an inertia ratio, and the changing unit changes the time constant to a greater value when the inertia ratio is changed to a greater value, or changes the time constant to a smaller value when the inertia ratio is changed to a smaller value. ### Claim 9 (depends on 7) The numerical control device according to claim 7, wherein the state quantity is a current value of the motor, and the changing unit calculates a load value of the motor on the basis of the current value, and the changing unit changes the time constant to a greater value when the load value is changed to a greater value, or changes the time constant to a smaller value when the load value is changed to a smaller value. ### Claim 10 (depends on 7) The numerical control device according to claim 7, wherein the state quantity is a current value of the motor, and the changing unit calculates a load value of the motor on the basis of the current value, and changes, when the load value exceeds a predetermined overload threshold, the time constant to a value greater than the time constant at the time point when the load value exceeds. ### Claim 11 (depends on 7) The numerical control device according to claim 7, wherein the state quantity is an externally-input parameter, and the changing unit calculates a new time constant on the basis of the time constant and the parameter, and changes the time constant before the calculation to the calculated new time constant. ### Claim 12 (depends on 7) The numerical control device according to claim 7, wherein the state quantity is at least two types out of an inertia ratio, an acceleration-deceleration factor that is externally input, and a current value of the motor, priorities of which are defined for each type, and determination conditions of which are defined for each type, and the changing unit changes the time constant according to a higher-priority type of state quantity when respective determination conditions for a plurality of types of the state quantities are simultaneously satisfied. ### Claim 13 (depends on 7) The numerical control device according to claim 7, wherein when the second mode is designated, and then when the changing unit receives an external signal, or reads a preset code described in the program, the changing unit changes the time constant to a predetermined value. ### Claim 14 (depends on 1) The numerical control device according to claim 1, wherein the changing unit changes the acceleration that is set to a predetermined set value when the changing unit receives an external signal or reads a preset code described in the program. ### Claim 15 (depends on 1) The numerical control device according to claim 1, wherein the changing unit stops an operation of changing the set acceleration value when the changing unit reads a preset code described in the program. ### Claim 16 A numerical control method for a numerical control device to control a motor according to a program that specifies a path for a drive target of the motor, the numerical control method comprising: performing an acceleration-deceleration process on a velocity at which the drive target is moved on the path on the basis of an acceleration set value at that time point, and outputting a velocity obtained after the acceleration-deceleration process; calculating a position command per control cycle for the motor so as for the motor to drive at the velocity obtained after the acceleration-deceleration process; monitoring a state quantity related to the motor while the motor is being controlled; and changing the acceleration set value on the basis of the state quantity while the motor is being controlled, wherein the monitoring includes: acquiring an acceleration candidate value on the basis of the state quantity, acquiring a required distance for reducing a velocity of the drive target from a present value to a velocity at a target position specified in the program by using the acceleration candidate value, determining whether it is possible for the drive target to be moved to the target position at the acceleration candidate value on the basis of the required distance and a distance from a present position of the drive target to the target position, and changing the acceleration set value to the acceleration candidate value when it is determined to be possible for the drive target to be moved to the target position at the acceleration candidate value, and leaving the acceleration set value unchanged when it is determined to be impossible for the drive target to be moved to the target position at the acceleration candidate value.