CN109491331A - Control system, sub-control device and control method - Google Patents
Control system, sub-control device and control method Download PDFInfo
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- CN109491331A CN109491331A CN201811056693.0A CN201811056693A CN109491331A CN 109491331 A CN109491331 A CN 109491331A CN 201811056693 A CN201811056693 A CN 201811056693A CN 109491331 A CN109491331 A CN 109491331A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—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 programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4142—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by the use of a microprocessor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35026—Design of machine tool, of cnc machine
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Abstract
The present invention relates to control system, sub-control device and control methods, using the control system, sub-control device and control method, can prevent from causing sub-control device that can not be controlled because broken string occurs between any equipment in sub-control device and multiple equipment.The control system has first control device and robot controller, the first control device is used to control the first lathe that can be carried out the mobile movement of axis, the robot controller is used to control the robot that can be carried out the mobile movement of axis, wherein, the control system includes sub-control device, can control the first lathe and robot；And relay, sub-control device is connected with first control device, and sub-control device is connected with robot controller.
Description
Technical field
The present invention relates to control system, sub-control device and control methods, wherein control system, which has, can be carried out axis movement
Movement equipment first control device and second control device, sub-control device can using above-mentioned control system control on
Equipment is stated, control method is the method controlled using above-mentioned sub-control device.
Background technique
In recent years, a kind of robot controller controlled using control device lathe, robot is universal comes.
Robot controller described in Japanese Patent Publication the 2010-277425th has teaching operation panel, teaching behaviour
Make panel for operating to the robot controller, which is filled using cable and two Machine-Tool Controls
It sets and is connected.Teaching operation panel has display, can show through cable in the display of teaching operation panel from above-mentioned two
The information for the related lathe that a machine control unit is got.More lathes are connected in series the robot controller, teaching
It is connected in series between operation panel and Duo Tai lathe by a cable.Accordingly, there exist following problems: broken string etc. occurs in cable
When, teaching operation panel can not show the information of all lathes, and all lathes can not all be taught operation panel control.
Summary of the invention
The purpose of the present invention is to provide control system, sub-control device and control methods, using the control system, secondary control
Device processed and control method can prevent from occurring between any control device in sub-control device and multiple control devices disconnected
Bring influence feeds through to other control systems whens line etc..
The control system of technical solution 1 has first control device and second control device, which is used for
Control can be carried out the first equipment of the mobile movement of axis, which is used to control the of the movement that can be carried out that axis moves
Two equipment, wherein the control system includes sub-control device, can control the first equipment and the second equipment；And relaying dress
It sets, sub-control device is connected with first control device, and sub-control device is connected with second control device,
The sub-control device has display unit, which can show from the first control device or the second control device
The data received.
Relay controls between sub-control device and first control device, and between sub-control device and second
Between device.First control device and second control device are connected with sub-control device in parallel by relay
It connects.Therefore, it can prevent because breaking between any one of sub-control device and first control device, second control device
Cause sub-control device that can not control the other of first control device, second control device.Display unit can be shown
Show the data received from first control device or second control device.Even if sub-control device and first control device, second
Break between any one of control device, sub-control device also can be from first control device, second control device
Another one receive and data and show the data.
The sub-control device of the control system of technical solution 2 includes movement instruction unit, can to first control device or
Second control device sends the mobile movement instruction of axis；And discarded instruction unit should when movement instruction unit wants sending action to indicate
Discarded instruction unit to the first control device of the sending object as the movement instruction unit or second control device transmission make from
The discarded discarded instruction of the received data of other devices.
When acting instruction unit is to indicate sending action, instruction unit is discarded to first control device or second control device
Send discarded instruction.Therefore, the transmission that the data from other devices will not interfere movement to indicate.
The control system of technical solution 3 has data processing equipment, which is connected with relay, and
The transmitting and receiving of data is able to carry out between first control device or second control device.
Data processing equipment can relayed device control first control device and second control device.
The first control device and second control device of the control system of technical solution 4 are respectively provided with from sub-control device
When receiving the movement instruction of axis movement, the limitation that the limitation for sending and being limited to data indicates is sent to data processing equipment
Instruction unit.
When first control device and second control device receive the mobile movement instruction of axis from sub-control device, limitation
Instruction unit sends limitation instruction to data processing equipment.Data processing equipment can limit data transmission according to limitation instruction
System.Therefore, the data from data processing equipment send the transmission that movement will not be interfered to indicate.
The limitation instruction unit of the control system of technical solution 5 is sent to data processing equipment makes data send the limitation interrupted
Instruction.
Data processing equipment makes data send temporarily interruption according to limitation instruction.Therefore, from the number of data processing equipment
It will not interfere to act the transmission indicated according to sending.
The limitation instruction unit of the control system of technical solution 6 subtracts the data volume that will be sent to data processing equipment transmission
Few limitation instruction.
Data processing equipment reduces the data volume that will be sent according to limitation instruction.Therefore, data processing equipment is come from
Data send will not interfere movement indicate transmission.
The data processing equipment of the control system of technical solution 7 has cutting part, receives limitation in data processing equipment
When instruction, which is split to sent data, and sends data at regular intervals.
When data processing equipment receives limitation instruction, cutting part is split to sent data, and by regulation
Interval sends data.Therefore, the data from data processing equipment send the transmission that movement will not be interfered to indicate.
In the control system of technical solution 8, the second equipment is mechanical arm, and sub-control device is able to carry out for mechanical arm
Location action, movement instruction comprising make location action stop stopping instruction.
When second control device receives the stopping in positioning from sub-control device and indicates, limitation instruction unit is at data
It manages device and sends limitation instruction.Data processing equipment limits data transmission according to limitation instruction.Therefore, mechanical arm can
Preferential receipt simultaneously executes stopping instruction.
In the control system of technical solution 9,10, the first equipment is lathe, and sub-control device, which is able to carry out, utilizes lathe
Carry out the instruction of processing operation, suspension instruction of the movement instruction comprising making processing job abort.
When first control device receives the suspension instruction in processing operation from sub-control device, instruction unit is limited to number
Limitation instruction is sent according to processing unit.Data processing equipment limits data transmission according to limitation instruction.Therefore, lathe energy
Enough preferential receipts simultaneously execute suspension instruction.
First control used in first equipment of the sub-control device of technical solution 11 movement mobile with can be carried out axis fills
It sets and is connected and can control the first equipment, or second control device used in the second equipment of the movement mobile with can be carried out axis
It is connected and the second equipment can be controlled, wherein the sub-control device includes communication unit, relayed device and the first control
Device is connected with second control device；And display unit, it can show from the first control device or second control
The data that device receives.First control device and second control device are filled with sub-control in parallel by relay
It sets and is connected, display unit can show the data received from first control device or second control device, therefore, can obtain
Effect same as technical solution 1.
The sub-control device of technical solution 12 includes movement instruction unit, can control to first control device or second
Device sends the mobile movement instruction of axis；And discarded instruction unit, when movement instruction unit wants sending action to indicate, the discarded instruction
Portion sends the discarded instruction for making to discard from the received data of other devices to first control device or second control device.Therefore,
Effect same as technical solution 2 can be obtained.
In the sub-control device of technical solution 13, the second equipment is mechanical arm, and sub-control device is able to carry out for machine
The location action of tool arm, movement instruction stop instruction comprising the instruction for stopping location action.Therefore, it can obtain and technology
The same effect of scheme 8.
In the sub-control device of technical solution 14, the first equipment is lathe, which, which is able to carry out, utilizes machine
Bed carries out the instruction of processing operation, and movement instruction is comprising making the instruction for processing job abort stop instruction.Therefore, it can obtain
With technical solution 9,10 same effects.
The control method of technical solution 15 is the method that the first equipment or the second equipment are controlled using sub-control device, should
First control device used in first equipment of the relayed device of the sub-control device movement mobile with can be carried out axis is connected, or
Second control device used in second equipment of the movement mobile with can be carried out axis is connected, wherein under the control method includes
It states step: sending the mobile movement instruction of axis to first control device or second control device；And when wanting sending action to indicate,
The discarded instruction for making to discard from the received data of other devices is sent to first control device or second control device.
When indicating sending action, discarded instruction is sent to first control device or second control device.Therefore, come
The transmission that movement will not be interfered to indicate from the data of other devices.
Detailed description of the invention
Fig. 1 is the structure chart for indicating the structure of the major part of control system of present embodiment.
Fig. 2 is the first control device for indicating present embodiment, second control device, robot, sub-control device sum number
According to the block diagram of the structure of the major part of processing unit.
Fig. 3 is the major part of the first control units of the first control device in the control system for indicate present embodiment
The Function Block Diagram of structure.
Fig. 4 is the main portion of the robot controller of the first control device in the control system for indicate present embodiment
The Function Block Diagram for the structure divided.
Fig. 5 is the structure of the major part of the TP control unit of the sub-control device in the control system for indicate present embodiment
Function Block Diagram.
Fig. 6 is the knot of the major part of the PC control unit of the data processing equipment in the control system for indicate present embodiment
The Function Block Diagram of structure.
Fig. 7 is the flow chart for the processing that the sub-control device in the control system for illustrate present embodiment is carried out.
Fig. 8 be between robot controller and data processing equipment in the control system for illustrate present embodiment institute into
The flow chart of capable processing.
Fig. 9 is carried out between first control device and data processing equipment in the control system for illustrate present embodiment
Processing flow chart.
Specific embodiment
In the following, being illustrated based on the drawings the control system of present embodiment, sub-control device and control method.
Embodiment 1
As depicted in figs. 1 and 2, the control system 100 of present embodiment has robot 40 (the second equipment), the first lathe
30 (the first equipment), the second lathe 50, relay 20, sub-control device 10, data processing equipment 60, for controlling robot
It 40 robot controller 35 (second control device), the first control device 31 for controlling the first lathe 30 and is used for
Control the second control device 51 of the second lathe 50.
Robot 40 is connected with the first lathe 30.First control device 31, robot controller 35 and the second control
Device 51 is connected with the different port positioned at side in relay 20 respectively.Sub-control device 10 and data processing equipment
60 are connected with the different port positioned at the other side in relay 20 respectively.Sub-control device 10 and data processing equipment 60
Relayed device 20 is connected with first control device 31, second control device 51, robot controller 35.
Robot 40 be the multi-joint mechanical arm with multiple axis, robot 40 by above-mentioned multiple axis moved come into
Conveying etc. of the row to workpiece.
First lathe 30, the second lathe 50 have tool magazine, workbench and multiple axis etc., can match on above-mentioned workbench
Set workpiece.First lathe 30, the second lathe 50 have door in the wall in that positive side.Robot 40 can pass through goalkeeper's workpiece
It is transported on above-mentioned workbench.Above-mentioned multiple axis of first lathe 30 and the second lathe 50 are moved, to positioned at above-mentioned work
The workpiece made on platform is processed.First lathe 30 has first control device 31 at rear.Second lathe 50 has at rear
Second control device 51.First control device 31, second control device 51 can control above-mentioned multiple axis.
In the present embodiment, there is the example of two lathes (the first lathe 30, the second lathe 50) to control system 100
It is illustrated, but not limited to this.Also three or more lathes be can have.Be also possible to robot 40 not with the first lathe 30
It is connected, robot 40 is independent relative to the first lathe 30.
Relay 20 is switch hub, router etc..Data processing equipment 60 is personal computer (PC).Pair control
Device 10 processed is that teaching manipulates machine.Sub-control device 10 can relayed device 20 to first control device 31 send for controlling
The designation date of first lathe 30 sends the designation date for controlling the second lathe 50 to second control device 51.Therefore, secondary
Control device 10 can remotely operate the first lathe 30, the second lathe 50, and user can pass through operation sub-control dress
10 are set, the parameter of the first lathe 30, the second lathe 50 is set or be changed, makes the first lathe 30, the second lathe 50
Processing operation starts or stops.
Sub-control device 10 can relayed device 20 control robot controller 35, sub-control device 10 can be right
The movement of robot 40 is remotely operated.Sub-control device 10 can be inputted to robot 40 (robot controller 35) and be set
Series of actions in the fixed operation to be executed by robot 40.Input setting is comprising fixed possessed by above-mentioned series of actions
Position.For the positioning, above-mentioned series of actions is classified according to the rules and is divided, user passes through operation sub-control device 10
Carry out rotation, movement, the stopping etc. to each joint of 40 teaching of robot, robot 40 (robot controller 35) stores this and shows
Religion.
As shown in Fig. 2, first control device 31 and second control device 51 are therefore same structure only illustrates first
The structure of control device 31.First control device 31 has driving mechanism 32, first control units 33, communication unit 34 and robot control
Device 35 processed.
Driving mechanism 32 has the various motors etc. for driving above-mentioned multiple axis, above-mentioned tool magazine etc., can be by above-mentioned
Multiple axis are moved to process workpiece, can replace cutter using above-mentioned tool magazine.
First control units 33 is by suitably controlling above-mentioned various motors etc., to control the above-mentioned processing to workpiece, above-mentioned
Replacement to cutter.Communication unit 34 can carry out the transmitting and receiving of data between relayed device 20 and sub-control device 10.
As shown in figure 3, first control units 33 has CPU331, storage unit 332, stops to indicate that determination unit 333 and limitation refer to
Show portion 334.CPU331 is able to carry out the control program stored in advance, is carrying out processing operation etc. to workpiece using the first lathe 30
When, CPU331 can control above-mentioned various hardware.Storage unit 332 is flash memory, EEPROM (registered trademark), HDD, MRAM
The non-volatile memories such as (magnetoresistive memory), FeRAM (strong dielectric memory) or OUM (Ovonic Unified Memory)
Medium.Storage unit 332 is stored with the processing program for realizing the first lathe 30 to the processing operation of workpiece.Stop instruction to determine
Portion 333, which is used to determine whether it has received, makes the first lathe 30 indicate (middle stop to the abort actions of the processing job abort of workpiece
Make designation date).In the abort actions designation date (data frame) for being sent to first control device 31 by sub-control device 10
Lead code or frame head indicate the information that the data for indicating transmitted are abort actions designation date.It is logical to stop instruction determination unit 333
Lead code, the frame head of data frame of the monitoring from sub-control device 10 are crossed, to carry out above-mentioned judgement.Stopping to indicate determination unit
333 when being judged to receiving above-mentioned abort actions designation date from sub-control device 10, limits instruction unit 334 in addition to sub-control
Other devices other than device 10 send purport be make be with the present apparatus (first control device 31) collection of letters object transmission data
Measure reduced limitation instruction.That is, limiting instruction unit when receiving above-mentioned abort actions designation date from sub-control device 10
334 send the limitation designation date for indicating that above-mentioned limitation indicates to data processing equipment 60.
Data processing equipment 60 makes the number that will be sent to first control device 31 when receiving the limitation designation date
It is reduced according to amount, and data is split, then be spaced apart specified interval and send data.
Local area network communication is carried out between robot controller 35 and sub-control device 10.Robot controller 35 can
The transmitting and receiving of data is carried out between relayed device 20 and sub-control device 10.
As shown in figure 4, robot controller 35 has CPU351, storage unit 352, stops instruction determination unit 353 and limit
Instruction unit 354 processed.CPU351 is able to carry out the control program stored in advance, and robot 40 can be made to be acted (positioning etc.).
Storage unit 352 is non-volatile memory medium same as storage unit 332.Storage unit 352 be stored with for make robot 40 into
Action is made, for making robot 40 carry out the operation program of above-mentioned positioning etc..Stop instruction determination unit 353 to determine whether to control from pair
Device 10 processed receives the movement designation date for indicating the instruction for acting robot 40.Stop instruction determination unit 353 to sentence
It is fixed whether to receive the stopping movement designation date for indicating to make the movement of robot 40 to stop.It is sent to by sub-control device 10
The lead code or frame head of stopping movement designation date (data frame) of robot controller 35 indicate the data for indicating transmitted
The information of designation date is acted for stopping.Stop the data frame that instruction determination unit 353 is sent by monitoring by sub-control device 10
Lead code, frame head, to carry out above-mentioned judgement.It is judged to receiving from sub-control device 10 stopping instruction determination unit 353
When stating stopping movement designation date, limitation instruction unit 354 sends purport to other devices other than sub-control device 10 and is
Data are made to send the limitation instruction temporarily interrupted.That is, when receiving above-mentioned stopping movement designation date from sub-control device 10,
It limits instruction unit 354 and sends the above-mentioned limitation of expression to other devices (data processing equipment 60) other than sub-control device 10
The limitation designation date of instruction.
Data processing equipment 60 is temporarily interrupted and is sent out to robot controller 35 when receiving above-mentioned limitation designation date
Send data.
Robot 40 has driving mechanism 41 and communication unit 42.Carry out office between communication unit 42 and robot controller 35
Domain Network Communication.Communication unit 42 can receive above-mentioned designation date from robot controller 35.Driving mechanism 41 has for driving
Move the various motors etc. of above-mentioned multiple axis (joint) etc..Communication unit 42 can receive designation date from robot controller 35,
And it is based on the designation date, so that driving mechanism 41 is controlled above-mentioned multiple axis, carries out the conveying to workpiece.
Sub-control device 10 has display unit 11, receiving portion 12, TP control unit 13 and communication unit 14.
Display unit 11 is LCD or EL (Electroluminescence) panel etc..Display unit 11 can show relayed dress
Set 20 various data (the operation shapes received from first control device 31, second control device 51, robot controller 35
Condition, setting content etc.).Receiving portion 12 can through handle possessed by sub-control device 10, operation panel etc. from user there
Receive instruction.In order to remotely operate to the first lathe 30, the second lathe 50 and robot 40, user passes through to sub-control
Handle, operation panel of device 10 etc. are operable to be indicated.As shown in figure 5, TP control unit 13 has CPU131, storage
Portion 132, determination unit 133, movement instruction unit 134 and discarded instruction unit 135.CPU131 is able to carry out the control journey stored in advance
Sequence, can be for the processing operation of workpiece be remotely operated by the first lathe 30, the second lathe 50, can be to robot 40
It is remotely operated.Storage unit 132 is non-volatile memory medium in the same manner as storage unit 332.Storage unit 132, which is stored with, to be used for
Realize the control program of operations described below etc., it may be assumed that remote for being carried out by the first lathe 30, the second lathe 50 to the processing operation of workpiece
Journey operation；The movement of robot 40 is remotely operated；And above-mentioned positioning is carried out to robot 40.Determination unit 133 determines
What receiving portion 12 was received indicate whether for following actions instruction: instruction be directed to it is right by the first lathe 30, the second lathe 50
The movement instruction of the mobile relevant movement of axis when the processing operation of workpiece is remotely operated；It indicates and moving to robot 40
The movement instruction of the mobile relevant movement of axis when being remotely operated；And it indicates and above-mentioned positioning is carried out to robot 40
When the mobile relevant movement of axis movement instruction.The movement instruction include at least abort actions indicate and to robot 40 into
The movement instruction (hereinafter also referred to as stopping movement instruction) for stopping movement in the above-mentioned positioning of row.Communication unit 14 is wire communication
Local area network etc..Communication unit 14 is to be designated as designation date, relayed device 20 from what user there received by receiving portion 12
The designation date is sent to the first lathe 30, the second lathe 50 and robot controller 35.Communication unit 14 can be from the first machine
The 30, second lathe 50 of bed and robot controller 35 receive various data.Display unit 11 can be shown to be received by communication unit 14
The data arrived.
Data processing equipment 60 has receiving portion 61, PC control unit 62 and communication unit 63.Data processing equipment 60 can be into
Following operation of row etc., it may be assumed that the parameter of first control device 31, second control device 51 and robot controller 35 is set
It is fixed；And various data (operation shape is received from first control device 31, second control device 51 and robot controller 35
Condition, setting content etc.).
Receiving portion 61 can receive input from user there through keyboard, touch tablet etc. (illustration omitted).User passes through
The keyboard of data processing equipment 60 is operated, parameter is inputted to the first lathe 30, the second lathe 50 and robot 40.PC
Control unit 62 can control operations described below etc., it may be assumed that receive the input from user；Relayed device 20 and the first control
The transmitting and receiving of data is carried out between device 31 processed, second control device 51 and robot controller 35；And in display unit
The received data of (illustration omitted) display.As shown in fig. 6, PC control unit 62 has CPU621, ROM622, RAM623, limit
System instruction determination unit 624 and cutting part 625.ROM622 stores various control programs, basic in the parameter of operation in advance
Fixed data etc., RAM623 is used for interim storing data, and RAM623 can not be limited to ground by storage order, storage location etc.
It is read.RAM623 can store the program read from ROM622, because executing various data caused by program, holding above-mentioned
Changed parameter etc. when row.
CPU621 executes the program after loading on the control program stored in advance in ROM622 on RAM623, thus right
Above-mentioned various hardware are controlled, and act whole device as the PC control unit 62 of present embodiment.Limitation instruction is sentenced
Determine portion 624 and determine whether to receive limitation from first control device 31, second control device 51 or robot controller 35 to refer to
Registration evidence.Limitation instruction determination unit 624 carries out the judgement by monitoring communication unit 63.Determine in limitation instruction determination unit 624
When to receive limitation designation date, cutting part 625 is to the transmission source that will be sent to the limitation designation date after this
Data are limited.For example, cutting part 625 makes to send when receiving limitation designation date from first control device 31
It is less than the data that first control device 31 is sent to before receiving limitation designation date to the data volume of first control device 31
Data are divided into multiple portions by amount ground.It is also possible to set defined threshold, data is divided into threshold value size below.
In the following, the data obtained after segmentation are known as to divide data.Moreover, cutting part 625 is with being spaced apart specified interval to the first control dress
Set 31 transmissions segmentation data.
In the following, the example for being designated as abort actions instruction or stopping movement instruction to movement is illustrated.
It is judged to receiving and axis mobile relevant movement instruction (abort actions instruction or stopping movement in determination unit 133
Instruction) when, movement instruction unit 134 is sent through communication unit 14 to the first lathe 30, the second lathe 50 or robot controller 35
Indicate the movement designation date of movement instruction.When movement instruction unit 134 wants sending action designation date, instruction unit is discarded
135 send the discarded instruction for making to discard from the received data of other devices to the collection of letters object of movement designation date through communication unit 14
(discarded designation date).When acting instruction unit 134 is by sending action designation date, discards instruction unit 135 and indicated to movement
The collection of letters object of data sends discarded designation date.As described later, the first lathe 30, second of discarded designation date is received
Lathe 50 or robot controller 35 make after receiving discarded designation date from its other than sub-control device 10
The received data of his device (data processing equipment 60) are all discarded.
Illustrate the processing that sub-control device 10 is carried out using Fig. 7.In the following, for ease of description, being filled to by sub-control
The example for setting 10 sending action designation dates is illustrated.It the use of movement designation date is to make to add workpiece by the first lathe 30
The example of the abort actions instruction of work job abort is illustrated.
Receiving portion 12 receives instruction (step S101) from user there through handle or operation panel etc..Determination unit 133 is sentenced
It is fixed to be indicated whether by what receiving portion 12 received for movement instruction (step S102).It is judged to being received in determination unit 133
When instruction is not movement instruction (step S102: no), processing is made to proceed to step S107, CPU131 execution is received by receiving portion 12
The instruction (step S107) arrived.Sub-control device 10 sends the movement instruction for indicating that above-mentioned abort actions indicate to the first lathe 30
Data, therefore, what determination unit 133 was judged to being received is designated as movement instruction (step S102: yes).Discarded instruction unit 135
Making through communication unit 14 to the transmission of the first lathe 30 will be in the discarded indicated number all discarded from the received data of other devices later
According to (step S103).Movement instruction unit 134 sends the expression received in step s101 to the first lathe 30 through communication unit 14
The movement designation date (step S104) of movement instruction (abort actions instruction).First lathe 30 is receiving above-mentioned discarded instruction
After data, make all discarded from the received data of other devices (data processing equipment 60) other than sub-control device 10
Or by the data interception, the movement designation date from sub-control device 10 is only received, and execute and the movement designation date phase
The processing answered.
Whether the receiving of CPU131 acts of determination instruction has terminated (step S105).During the stipulated time, do not have
In the case that appearance user operates handle, the operation panel of sub-control device 10, CPU131 is judged to acting instruction
Receiving terminated.At the end of CPU131 is judged to acting the receiving of instruction (step S105: yes), CPU131 is through communication unit
The 14 termination instruction data (step S106) terminated to the receiving that the first lathe 30 sends expression movement instruction.Sentence in CPU131
It is set to (step S105: no) when the receiving that movement indicates is not finished, CPU131 repeats always the judgement, refers to until being judged to acting
The receiving shown has terminated.After receiving termination instruction data, the first lathe 30 can be received also from addition to sub-control fills
Set the data of other devices (data processing equipment 60) other than 10.
As described above, the first lathe 30 has first control device 31 and machine in the control system 100 of present embodiment
Device people control device 35.First control device 31 and robot controller 35 are connected with each other by relay 20.The
One control device 31 and robot controller 35 are connected by relay 20 with sub-control device 10 together.That is, first
Control device 31 and robot controller 35 are connected with sub-control device 10 in parallel by relay 20.It adopts
With control system 100, even if between relay 20 and first control device 31 and relay 20 and robot controller
Whens because of certain reason broken string etc. occurs for the side between 35 in this two side, it can also be shown at sub-control device 10 (display unit 11)
The information of another party still is able to be operated using sub-control device 10.Make pair in user's (sub-control device 10)
When requiring the instruction of quick response as the instruction of abort actions that the processing operation of workpiece promptly stops, the object that is instructed to
(the first lathe 30) makes discarded or by the data interception, therefore, energy from other devices (data processing equipment 60) received data
Enough preferential receipt abort actions instructions.Therefore, the instruction for promptly indicating or requiring quick response can be coped with rapidly.Robot control
Device 35 processed is when receiving above-mentioned stopping movement designation date from sub-control device 10, to other than sub-control device 10
Other devices (data processing equipment 60) send the limitation designation date for indicating above-mentioned limitation instruction.Data processing equipment 60 is connecing
When receiving limitation designation date, temporarily interrupts to robot controller 35 and send data.
Embodiment 2
Illustrate the processing carried out between robot controller 35 and data processing equipment 60 using Fig. 8.Fig. 8 is shown
Be during data processing equipment 60 carries out edition upgrading to the control program of robot controller 35 Rigen according to teaching
Manipulation machine executes the example of abort actions instruction.
Data processing equipment 60 (PC control unit 62) sends relevant to firmware version upgrade to robot controller 35
Data (step S301), robot controller 35 receive the data.
Stop instruction determination unit 353 and passes through the lead code of the received data of monitoring, frame head, it is received to determine
Whether data are movement designation date (step S201).The data as received by robot controller 35 be and control journey
Therefore the relevant data of the edition upgrading of sequence stop instruction determination unit 353 to be determined as received data not being movement instruction
Data (step S201: no), make processing proceed to step S205.
When receiving stopping movement designation date from sub-control device 10, stops instruction determination unit 353 and be judged to being connect
The data received are movement designation date (step S201: yes), and limitation instruction unit 354 sends limitation to data processing equipment 60 and refers to
Registration is according to (step S202).The limitation designation date is to indicate that purport is the number for making data send the limitation instruction temporarily interrupted
According to.The PC control unit 62 of limitation designation date is received according to the limitation indicated number from robot controller 35 through communication unit 63
According to temporarily interruption sends data (step S302) relevant to the control edition upgrading of program.
Later, the CPU351 of robot controller 35 determines whether to receive termination instruction data from sub-control device 10
(step S203).Explanation had been carried out about termination instruction data, had been omitted the description herein.
When CPU351 is judged to not receiving termination instruction data (step S203: no), CPU351 repeats always this and sentences
It is fixed, until being judged to receiving termination instruction data.End is had sent to robot controller 35 in sub-control device 10 to refer to
Registration according to when, CPU351 is judged to receiving termination instruction data (step S203: yes).Robot controller 35 is at data
Reason device 60 sends the releasing instruction for making data send the status releasing temporarily interrupted.That is, robot controller 35 is to data
Processing unit 60 sends the releasing designation date (step S204) for indicating above-mentioned releasing instruction.
After making data send interruption, the CPU621 of PC control unit 62 determines whether to receive from robot controller 35
(step S303) is indicated to above-mentioned releasing.That is, CPU621 indicates above-mentioned solution by monitoring communication unit 63, to determine whether it has received
Except the releasing designation date of instruction.When CPU621 is judged to not receiving above-mentioned releasing instruction (step S303: no), CPU621
The judgement is repeated always, releases instruction until being judged to receiving.It is sent out in robot controller 35 to data processing equipment 60
When having sent releasing designation date, CPU621 is judged to receiving releasing instruction (step S303: yes).At this point, PC control unit 62 makes
The transmission of temporarily discontinued data relevant to the control edition upgrading of program restarts (step S304).
After the finishing receiving of the data, or when the data that receive in step s 201 are not movement designation dates,
CPU351 executes processing (step S205) corresponding with received data.
Control system 100 have above structure, therefore, user (sub-control device 10) carry out to robot 40 into
When requiring the instruction of quick response as the stopping movement instruction for stopping movement in the above-mentioned positioning of row, other device (data
Processing unit 60) interrupt send data, therefore, robot 40 can preferential receipt from sub-control device 10 stopping movement referring to
Show.Therefore, the instruction for promptly indicating or requiring quick response can be coped with rapidly.
Above, to when receiving above-mentioned stopping movement designation date from sub-control device 10, by robot controller
35 are illustrated the case where sending above-mentioned limitation designation date to data processing equipment 60, but present embodiment is without being limited thereto.
It is also possible to first control device 31, second control device 51 is receiving above-mentioned stopping movement instruction from sub-control device 10
When data, above-mentioned limitation designation date is sent to data processing equipment 60.
Embodiment 3
Illustrate the processing carried out between first control device 31 and data processing equipment 60 using Fig. 9.
Data processing equipment 60 (PC control unit 62) sends parameter modification data (step S501) to first control device 31,
First control units 33 receives the data through communication unit 34.
Stop instruction determination unit 333 and determines whether received data are movement designation date (step S401).In
It is (step S401: no) when acting designation date that only instruction determination unit 333, which is determined as received data not, and processing is made to advance
To step S405.
When receiving above-mentioned abort actions designation date from sub-control device 10, stops instruction determination unit 333 and be determined as
Received data are movement designation date (step S401: yes), and limitation instruction unit 334 is sent to data processing equipment 60
State limitation designation date (step S402).The limitation designation date indicates the limitation instruction of following purports, it may be assumed that sent number
According to being split, the segmentation data for reducing data volume are sent at regular intervals.
PC control unit 62 receives limitation designation date from first control device 31 through communication unit 63, and cutting part 625 will be pending
The data for giving first control device 31 are divided into multiple portions (step S502), and multiple part, which is respectively less than, receives the limitation
The data of first control device 31 are sent to before designation date.Cutting part 625 is with being spaced apart specified interval to first control device
31 send the segmentation data (step S503).
Later, the CPU331 of first control device 31 is by monitoring communication unit 34, to determine whether from sub-control device 10
Receive termination instruction data (step S403).
When CPU331 is judged to not receiving termination instruction data (step S403: no), CPU331 repeats always this and sentences
It is fixed, until being judged to receiving termination instruction data.Termination instruction is had sent to first control device 31 in sub-control device 10
When data, CPU331 is judged to receiving termination instruction data (step S403: yes).At this point, CPU331 is to data processing equipment
60 send the releasing instruction for making to send the status releasing of segmentation data at regular intervals.That is, CPU331 is through communication unit 34 to data
Processing unit 60 sends the releasing designation date (step S404) for indicating above-mentioned releasing instruction.
After starting to send segmentation data at regular intervals, the CPU621 of PC control unit 62 determines whether from the first control
Device 31 receives above-mentioned releasing instruction (step S504).
When CPU621 is judged to not receiving above-mentioned releasing instruction (step S504: no), CPU621 repeats always this and sentences
It is fixed, instruction is released until being judged to receiving.Releasing indicated number is had sent to data processing equipment 60 in first control device 31
According to when, CPU621 be judged to receiving releasing instruction (step S504: yes).At this point, CPU621 with receive the limitation indicate
Same mode carries out normal data transmission (step S505) before data.That is, with receive limitation in step S502 and refer to
The identical data volume of data volume before registration evidence is continuously sent to first control device 31.
After the finishing receiving of the data, or when the data that receive in step S401 are not movement designation dates,
CPU331 executes processing (step S405) corresponding with received data.
There is the control system 100 of embodiment 3 above structure therefore to make in user's (sub-control device 10)
When requiring the instruction of quick response as the abort actions instruction promptly stopped to the processing operation of workpiece, it can be ensured that relaying
It is wider for the communication zone that is used between sub-control device 10 and the first lathe 30 in device 20.In this case, PC is controlled
Portion 62 sends above-mentioned segmentation data in which can be spaced apart specified interval, therefore, during the interval in, sub-control device 10 can
First lathe 30 is promptly indicated or is required the instruction of quick response.Therefore, urgent instruction can be coped with rapidly or is required
The instruction of quick response.
Above, by taking first control device 31 (first control units 33) as an example, illustrate that first control device 31 and PC control
The processing carried out between portion 62, but present embodiment is without being limited thereto.For second control device 51 (the second control unit 53)
Speech is also the same.Being also possible to robot controller 35 has tie same as first control device 31 (first control units 33)
Structure.It is also possible to first control device 31 (first control units 33) with structure same as robot controller 35.First
Lathe 30 has first control device 31 and robot controller 35 but it is also possible to be the first lathe 30 has the first control
Device 31 and second control device 51.
Above-mentioned determination unit 133, discarded instruction unit 135, stops instruction determination unit 353, limitation instruction at movement instruction unit 134
Portion 354 stops to indicate that determination unit 333, limitation instruction unit 334, limitation instruction determination unit 624 and cutting part 625 both can be by electricity
Road is constituted, and can also be made of the program that CPU131, CPU351, CPU331, CPU621 can be executed.
Claims (17)
1. a kind of control system, which has first control device (31) and second control device (35),
The first control device is used to control the first equipment (30) that can be carried out the mobile movement of axis, which is used for
Control can be carried out the second equipment (40) of the mobile movement of axis,
The control system is characterized in that,
The control system includes
Sub-control device (10) can control first equipment and the second equipment；And
Relay (20) connects the sub-control device with the first control device, and by the sub-control
Device is connected with the second control device,
The sub-control device has display unit (11), which can show from the first control device or described second
The data that control device receives.
2. control system according to claim 1, wherein
The sub-control device includes
It acts instruction unit (134), the dynamic of axis movement can be sent to the first control device or the second control device
It indicates；And
Discarded instruction unit (135), when the movement instruction unit will send movement instruction, the discarded instruction unit is to as institute
The first control device or second control device transmission for stating the sending object of movement instruction unit make to connect from other devices
The discarded discarded instruction of the data of receipts.
3. control system according to claim 2, wherein
The control system has data processing equipment (60), which is connected with the relay, and with institute
State the transmitting and receiving that data are able to carry out between first control device or the second control device.
4. control system according to claim 3, wherein
The first control device and the second control device, which are respectively provided with, is receiving axis movement from the sub-control device
Movement instruction when, Xiang Suoshu data processing equipment send to data send limited limitation instruction limitation instruction unit
(334、354)。
5. control system according to claim 4, wherein
The limitation instruction unit is sent to the data processing equipment makes data send the limitation instruction interrupted.
6. control system according to claim 4, wherein
The limitation instruction unit sends the limitation instruction for reducing the data volume that will be sent to the data processing equipment.
7. control system according to claim 6, wherein
The data processing equipment has cutting part (625), should when the data processing equipment receives limitation instruction
Cutting part is split to sent data, and sends data at regular intervals.
8. the control system according to any one of claim 2~7, wherein
Second equipment is mechanical arm,
The sub-control device is able to carry out the location action for the mechanical arm,
The movement instruction is indicated comprising the stopping for stopping the location action.
9. control system according to claim 5, wherein
Second equipment is mechanical arm,
The sub-control device is able to carry out the location action for the mechanical arm,
Stopping instruction of the movement instruction comprising making the location action stopping,
The limitation instruction unit of the second control device sends the limitation for making data send interruption to the data processing equipment and refers to
Show.
10. the control system according to any one of claim 2~7, wherein
First equipment is lathe,
The sub-control device is able to carry out the instruction that processing operation is carried out using the lathe,
Suspension instruction of the movement instruction comprising making the processing job abort.
11. control system according to claim 6, wherein
First equipment is lathe,
The sub-control device is able to carry out the instruction that processing operation is carried out using the lathe,
Suspension instruction of the movement instruction comprising making the processing job abort,
The limitation instruction unit of the first control device reduces the data volume that will be sent to data processing equipment transmission
Limitation instruction.
12. control system according to claim 8, wherein
First equipment is lathe,
The sub-control device is able to carry out the instruction that processing operation is carried out using the lathe,
Suspension instruction of the movement instruction comprising making the processing job abort.
13. a kind of sub-control device, the sub-control device and the first control used in the first equipment that can be carried out the movement that axis moves
Device processed is connected and can control first equipment, or second used in the second equipment of the movement mobile with can be carried out axis
Control device is connected and can control second equipment, wherein
The sub-control device includes communication unit, and relayed device is connected with the first control device and second control device
It connects；And display unit, it can show the data received from the first control device or the second control device.
14. sub-control device according to claim 13, wherein
The sub-control device includes
Instruction unit is acted, the mobile movement of axis can be sent to the first control device or the second control device and referred to
Show；And
Discarded instruction unit, when the movement instruction unit will send movement instruction, which controls to described first
Device processed or the second control device send the discarded instruction for making to discard from the received data of other devices.
15. sub-control device according to claim 14, wherein
Second equipment is mechanical arm,
The sub-control device is able to carry out the location action for the mechanical arm,
The movement instruction stops instruction comprising the instruction for stopping the location action.
16. sub-control device according to claim 15, wherein
First equipment is lathe,
The sub-control device is able to carry out the instruction that processing operation is carried out using the lathe,
The movement instruction is comprising making the instruction of the processing job abort stop instruction.
17. a kind of control method, which is the method that the first equipment or the second equipment are controlled using sub-control device,
First control device phase used in first equipment of the relayed device of the sub-control device movement mobile with can be carried out axis
Connection, or second control device used in second equipment of the movement mobile with can be carried out axis are connected, wherein
The control method includes the following steps:
The mobile movement instruction of axis is sent to the first control device or the second control device；And
When to send movement instruction, Xiang Suoshu first control device or second control device transmission make to fill from other
Set the discarded discarded instruction of received data.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2017176122A JP6897443B2 (en) | 2017-09-13 | 2017-09-13 | Control system, sub-control device and control method |
| JP2017-176122 | 2017-09-13 |
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| Publication Number | Publication Date |
|---|---|
| CN109491331A true CN109491331A (en) | 2019-03-19 |
| CN109491331B CN109491331B (en) | 2021-10-22 |
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| CN201811056693.0A Active CN109491331B (en) | 2017-09-13 | 2018-09-11 | Control system, sub-control device, and control method |
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| CN (1) | CN109491331B (en) |
Cited By (1)
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| CN113441960A (en) * | 2020-03-25 | 2021-09-28 | 兄弟工业株式会社 | Machine tool and control method for machine tool |
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| JP7332822B1 (en) * | 2022-08-25 | 2023-08-23 | ファナック株式会社 | Numerical controller and numerical control system |
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Also Published As
| Publication number | Publication date |
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| JP6897443B2 (en) | 2021-06-30 |
| CN109491331B (en) | 2021-10-22 |
| JP2019053439A (en) | 2019-04-04 |
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