CN109491331B - Control system, sub-control device, and control method - Google Patents
Control system, sub-control device, and control method Download PDFInfo
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- CN109491331B CN109491331B CN201811056693.0A CN201811056693A CN109491331B CN 109491331 B CN109491331 B CN 109491331B CN 201811056693 A CN201811056693 A CN 201811056693A CN 109491331 B CN109491331 B CN 109491331B
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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 invention relates to a control system, a sub-control device and a control method, which can prevent the sub-control device from being unable to control due to the disconnection between the sub-control device and any device in a plurality of devices. The control system includes a first control device for controlling a first machine tool capable of performing an axial movement operation, and a robot control device for controlling a robot capable of performing an axial movement operation, and includes: a sub-control device capable of controlling the first machine tool and the robot; and a relay device that connects the sub-control device and the first control device, and connects the sub-control device and the robot control device.
Description
Technical Field
The present invention relates to a control system including a first control device and a second control device for a device capable of performing an axial movement operation, a sub-control device capable of controlling the device by the control system, and a control method for performing control using the sub-control device.
Background
In recent years, a robot control device that controls a machine tool or a robot by using a control device has become widespread. The robot control device described in japanese laid-open patent publication No. 2010-277425 has a teaching operation panel for operating the robot control device, and the robot control device is connected to two machine tool control devices by a network cable. The teaching operation panel has a display, and information on the machine tool acquired from the two machine tool control devices via the network cable can be displayed on the display of the teaching operation panel. The robot control device connects a plurality of machine tools in series, and the teaching operation panel and the plurality of machine tools are connected in series by one network cable. Therefore, there are the following problems: when a network cable is disconnected, the teaching operation panel cannot display information of all machine tools, and all machine tools cannot be controlled by the teaching operation panel.
Disclosure of Invention
An object of the present invention is to provide a control system, a sub-control device, and a control method that can prevent an influence of disconnection or the like between the sub-control device and any of a plurality of control devices from reaching another control device.
The control system according to claim 1 includes a first control device for controlling a first device capable of performing an axial movement operation and a second control device for controlling a second device capable of performing an axial movement operation, and includes: a sub-control device capable of controlling the first apparatus and the second apparatus; and a relay device that connects the sub-control device and the first control device and connects the sub-control device and the second control device, wherein the sub-control device has a display unit that can display data received from the first control device or the second control device.
The relay device is interposed between the sub-control device and the first control device, and is interposed between the sub-control device and the second control device. The first control device and the second control device are connected in parallel to the sub-control device via the relay device. Therefore, it is possible to prevent the sub-control device from being unable to control the other of the first control device and the second control device due to a disconnection occurring between the sub-control device and either of the first control device and the second control device. The display unit can display data received from the first control device or the second control device. Even if a disconnection occurs between the sub-control device and either one of the first control device and the second control device, the sub-control device can receive data from the other of the first control device and the second control device and display the data.
The sub-control device of the control system according to claim 2 includes: an operation instruction unit capable of transmitting an operation instruction of moving the shaft to the first control device or the second control device; and a discard instruction unit that transmits a discard instruction to discard data received from another device to the first control device or the second control device to which the operation instruction unit is to transmit, when the operation instruction unit transmits the operation instruction.
When the operation instruction unit is to transmit the operation instruction, the discard instruction unit transmits a discard instruction to the first control device or the second control device. Therefore, the data from the other device does not interfere with the transmission of the operation instruction.
The control system according to claim 3 includes a data processing device that is connected to the relay device and that is capable of transmitting and receiving data to and from the first control device or the second control device.
The data processing device is capable of controlling the first control device and the second control device via the relay device.
The first control device and the second control device of the control system according to claim 4 each have a restriction instruction unit that transmits a restriction instruction for restricting data transmission to the data processing device when an operation instruction for moving the shaft is received from the sub-control device.
When the first control device and the second control device receive an operation instruction of the shaft movement from the sub-control device, the restriction instruction unit transmits a restriction instruction to the data processing device. The data processing apparatus can restrict data transmission according to the restriction instruction. Therefore, the data transmission from the data processing apparatus does not interfere with the transmission of the operation instruction.
The restriction instructing unit of the control system according to claim 5 transmits a restriction instruction for interrupting data transmission to the data processing apparatus.
The data processing device temporarily interrupts data transmission in response to the restriction instruction. Therefore, the data transmission from the data processing apparatus does not interfere with the transmission of the operation instruction.
The limit instruction unit of the control system according to claim 6 transmits a limit instruction to reduce the amount of data to be transmitted to the data processing apparatus.
The data processing device reduces the amount of data to be transmitted in accordance with the restriction instruction. Therefore, the data transmission from the data processing apparatus does not interfere with the transmission of the operation instruction.
The data processing device of the control system according to claim 7 includes a dividing unit that divides data to be transmitted and transmits the data at predetermined intervals when the data processing device receives the restriction instruction.
When the data processing device receives the restriction instruction, the dividing unit divides the data to be transmitted and transmits the data at predetermined intervals. Therefore, the data transmission from the data processing apparatus does not interfere with the transmission of the operation instruction.
In the control system according to claim 8, the second device is a robot arm, and the sub-control device is capable of performing a positioning operation with respect to the robot arm, and the operation instruction includes a stop instruction to stop the positioning operation.
When the second control device receives a stop instruction during positioning from the sub-control device, the restriction instruction unit transmits a restriction instruction to the data processing device. The data processing apparatus restricts data transmission according to the restriction instruction. Therefore, the robot arm can preferentially receive and execute the stop instruction.
In the control system according to claims 9 and 10, the first device is a machine tool, the sub-control device is capable of giving an instruction to perform a machining operation by the machine tool, and the operation instruction includes a suspension instruction to suspend the machining operation.
When the first control device receives an instruction to stop the machining operation from the sub-control device, the limitation instruction unit transmits a limitation instruction to the data processing device. The data processing apparatus restricts data transmission according to the restriction instruction. Therefore, the machine tool can preferentially receive and execute the suspension instruction.
The sub-control device according to claim 11 is a sub-control device that is connected to a first control device for a first device capable of performing an axial movement operation and that is capable of controlling the first device, or a sub-control device that is connected to a second control device for a second device capable of performing an axial movement operation and that is capable of controlling the second device, the sub-control device including: a communication unit connected to the first control device and the second control device via the relay device; and a display unit capable of displaying data received from the first control device or the second control device. The first control device and the second control device are connected in parallel to the sub-control device via the relay device, and the display unit can display data received from the first control device or the second control device, so that the same effect as that of claim 1 can be obtained.
The sub-control device according to claim 12 includes: an operation instruction unit capable of transmitting an operation instruction of moving the shaft to the first control device or the second control device; and a discard instruction unit that transmits a discard instruction to discard data received from another device to the first control device or the second control device when the operation instruction unit transmits the operation instruction. Therefore, the same effect as in claim 2 can be obtained.
In the sub-control apparatus according to claim 13, the second device is a robot arm, and the sub-control apparatus is capable of performing a positioning operation with respect to the robot arm, and the operation instruction includes a stop instruction which is an instruction to stop the positioning operation. Therefore, the same effect as in claim 8 can be obtained.
In the sub-control device according to claim 14, the first device is a machine tool, and the sub-control device is capable of giving an instruction to perform a machining operation by the machine tool, and the operation instruction includes a suspension instruction which is an instruction to suspend the machining operation. Therefore, the same effects as in claims 9 and 10 can be obtained.
A control method according to claim 15 is a method for controlling a first device or a second device by using a sub-control device connected to a first control device for the first device capable of performing an axial movement operation or a second control device for the second device capable of performing an axial movement operation via a relay device, wherein the control method includes the steps of: transmitting an operation instruction of the shaft movement to the first control device or the second control device; and transmitting a discard instruction for discarding data received from another device to the first control device or the second control device when the operation instruction is to be transmitted.
When the operation instruction is to be transmitted, a discard instruction is transmitted to the first control device or the second control device. Therefore, the data from the other device does not interfere with the transmission of the operation instruction.
Drawings
Fig. 1 is a configuration diagram showing a configuration of a main part of a control system according to the present embodiment.
Fig. 2 is a block diagram showing the configuration of the main parts of the first control device, the second control device, the robot, the sub-control device, and the data processing device according to the present embodiment.
Fig. 3 is a functional block diagram showing a configuration of a main part of a first control unit of a first control device in the control system of the present embodiment.
Fig. 4 is a functional block diagram showing a configuration of a main part of a robot control device of the first control device in the control system of the present embodiment.
Fig. 5 is a functional block diagram showing a configuration of a main part of a TP control unit of the sub-control device in the control system of the present embodiment.
Fig. 6 is a functional block diagram showing a configuration of a main part of a PC control unit of the data processing device in the control system according to the present embodiment.
Fig. 7 is a flowchart for explaining a process performed by the sub-controller in the control system according to the present embodiment.
Fig. 8 is a flowchart illustrating a process performed between the robot control device and the data processing device in the control system according to the present embodiment.
Fig. 9 is a flowchart for explaining processing performed between the first control device and the data processing device in the control system according to the present embodiment.
Detailed Description
Next, a control system, a sub-control device, and a control method according to the present embodiment will be described with reference to the drawings.
Embodiment mode 1
As shown in fig. 1 and 2, a control system 100 of the present embodiment includes a robot 40 (second device), a first machine tool 30 (first device), a second machine tool 50, a relay device 20, a sub-control device 10, a data processing device 60, a robot control device 35 (second control device) for controlling the robot 40, a first control device 31 for controlling the first machine tool 30, and a second control device 51 for controlling the second machine tool 50.
The robot 40 is connected to the first machine tool 30. The first control device 31, the robot control device 35, and the second control device 51 are connected to different ports on one side of the relay device 20. The sub-control device 10 and the data processing device 60 are connected to different ports on the other side in the relay device 20, respectively. The sub-controller 10 and the data processing device 60 are connected to the first controller 31, the second controller 51, and the robot controller 35 via the relay device 20.
The robot 40 is a multi-joint robot arm having a plurality of axes, and the robot 40 transports a workpiece and the like by moving the plurality of axes.
The first machine tool 30 and the second machine tool 50 have a tool magazine, a table, a plurality of axes, and the like, and a workpiece can be arranged on the table. The first machine tool 30 and the second machine tool 50 have doors on the walls on the front side. The robot 40 can transfer the workpiece through the door to the above-mentioned table. The plurality of axes of the first machine tool 30 and the second machine tool 50 move to machine the workpiece on the table. The first machine tool 30 has a first control device 31 at the rear. The second machine tool 50 has a second control device 51 at the rear. The first control device 31 and the second control device 51 can control the plurality of axes.
In the present embodiment, an example in which the control system 100 includes two machine tools (the first machine tool 30 and the second machine tool 50) will be described, but the present invention is not limited thereto. Three or more machine tools may be provided. Alternatively, the robot 40 may not be connected to the first machine tool 30, and the robot 40 may be independent from the first machine tool 30.
The relay device 20 is a switching hub, a router, or the like. The data processing device 60 is a Personal Computer (PC). The sub-controller 10 is a teaching manipulator. The sub-controller 10 can transmit instruction data for controlling the first machine tool 30 to the first controller 31 and transmit instruction data for controlling the second machine tool 50 to the second controller 51 via the relay device 20. Therefore, the sub-controller 10 can remotely operate the first machine tool 30 and the second machine tool 50, and the user can start or stop the machining operation of the first machine tool 30 and the second machine tool 50 by setting or changing the parameters of the first machine tool 30 and the second machine tool 50 by operating the sub-controller 10.
The sub-controller 10 can control the robot controller 35 via the relay device 20, and the sub-controller 10 can remotely control the operation of the robot 40. The sub-controller 10 can input a series of operations in setting the work to be performed by the robot 40 to the robot 40 (the robot controller 35). The input setting includes the positioning of the series of operations. For this positioning, the series of operations are divided into predetermined categories, and the user operates the sub-control device 10 to teach the robot 40 the rotation, movement, stop, and the like of each joint, and the robot 40 (robot control device 35) stores the teaching.
As shown in fig. 2, the first control device 31 and the second control device 51 have the same configuration, and therefore, only the configuration of the first control device 31 will be described. The first control device 31 includes a drive mechanism 32, a first control unit 33, a communication unit 34, and a robot control device 35.
The drive mechanism 32 includes various motors and the like for driving the plurality of shafts, the tool magazine, and the like, and is capable of moving the plurality of shafts to machine a workpiece and replacing a tool with the tool magazine.
The first control unit 33 controls the machining of the workpiece and the replacement of the tool by appropriately controlling the various motors and the like. The communication unit 34 can transmit and receive data between the relay device 20 and the sub-controller 10.
As shown in fig. 3, the first control unit 33 includes a CPU331, a storage unit 332, a stop instruction determination unit 333, and a limit instruction unit 334. The CPU331 can execute a control program stored in advance, and the CPU331 can control the various hardware described above when a work is performed on a workpiece by the first machine tool 30. The storage unit 332 is a nonvolatile storage medium such as a flash memory, an EEPROM (registered trademark), an HDD, an MRAM (magnetoresistive memory), an FeRAM (ferroelectric memory), or an oum (electronic Unified memory). The storage unit 332 stores a machining program for realizing a machining operation of the workpiece by the first machine tool 30. The stop instruction determination unit 333 determines whether or not a stop operation instruction (stop operation instruction data) for stopping the machining operation of the workpiece by the first machine tool 30 is received. Information indicating that the transmitted data is the suspension instruction data is marked in the preamble or the frame header of the suspension instruction data (data frame) transmitted from the sub-controller 10 to the first controller 31. The stop instruction determination unit 333 performs the determination by monitoring the preamble and the frame header of the data frame from the sub-controller 10. When the stop instruction determination unit 333 determines that the stop operation instruction data is received from the sub-controller 10, the limitation instruction unit 334 transmits, to the other devices except the sub-controller 10, a limitation instruction to reduce the amount of transmission data to be received by the own device (the first controller 31). That is, upon receiving the operation suspension instruction data from the sub-controller 10, the limitation instruction unit 334 transmits limitation instruction data indicating the limitation instruction to the data processing device 60.
Upon receiving the restriction instruction data, the data processing device 60 divides the data by reducing the amount of data to be transmitted to the first control device 31, and transmits the data at predetermined intervals.
The robot controller 35 and the sub-controller 10 perform local area network communication. The robot controller 35 can transmit and receive data to and from the sub-controller 10 via the relay device 20.
As shown in fig. 4, the robot controller 35 includes a CPU351, a storage unit 352, a stop instruction determination unit 353, and a limit instruction unit 354. The CPU351 can execute a control program stored in advance, and can cause the robot 40 to perform an operation (positioning, etc.). The storage unit 352 is a nonvolatile storage medium similar to the storage unit 332. The storage unit 352 stores an operation program for operating the robot 40 and for causing the robot 40 to perform the above-described positioning and the like. The stop instruction determination unit 353 determines whether or not operation instruction data indicating an instruction to operate the robot 40 is received from the sub-controller 10. The stop instruction determination unit 353 determines whether or not stop operation instruction data indicating that the operation of the robot 40 is to be stopped is received. Information indicating that the transmitted data is the stop instruction data is indicated in the preamble or the frame header of the stop instruction data (data frame) transmitted from the sub-controller 10 to the robot controller 35. The stop instruction determination unit 353 performs the determination by monitoring the preamble and the frame header of the data frame transmitted by the sub-controller 10. When the stop instruction determining unit 353 determines that the stop operation instruction data is received from the sub-controller 10, the restriction instructing unit 354 transmits a restriction instruction to temporarily interrupt data transmission to a device other than the sub-controller 10. That is, upon receiving the stop operation instruction data from the sub-controller 10, the limitation instructing unit 354 transmits limitation instruction data indicating the limitation instruction to the other device (the data processing device 60) other than the sub-controller 10.
Upon receiving the restriction instruction data, the data processing device 60 temporarily interrupts transmission of data to the robot control device 35.
The robot 40 has a drive mechanism 41 and a communication unit 42. The communication unit 42 performs local area network communication with the robot controller 35. The communication unit 42 can receive the instruction data from the robot controller 35. The drive mechanism 41 includes various motors and the like for driving the plurality of shafts (joints) and the like. The communication unit 42 can receive instruction data from the robot controller 35, and cause the drive mechanism 41 to control the plurality of axes based on the instruction data, thereby conveying the workpiece.
The sub-controller 10 includes a display unit 11, a receiving unit 12, a TP control unit 13, and a communication unit 14.
The display unit 11 is an LCD or el (electroluminescence) panel. The display unit 11 can display various data (operation status, setting contents, and the like) received from the first control device 31, the second control device 51, and the robot control device 35 via the relay device 20. The receiving unit 12 can receive instructions from a user via a handle, an operation panel, and the like provided in the sub-controller 10. In order to remotely operate the first machine tool 30, the second machine tool 50, and the robot 40, a user instructs the sub-control device 10 by operating a handle, an operation panel, and the like. As shown in fig. 5, the TP control unit 13 includes a CPU131, a storage unit 132, a determination unit 133, an operation instruction unit 134, and a discard instruction unit 135. The CPU131 can execute a control program stored in advance, and can remotely operate the work for machining the workpiece by the first machine tool 30 and the second machine tool 50, and can remotely operate the robot 40. The storage unit 132 is a nonvolatile storage medium, like the storage unit 332. The storage unit 132 stores a control program for realizing the following operations and the like: remote operation for the work of machining a workpiece by the first machine tool 30 and the second machine tool 50; remotely operating the operation of the robot 40; and the robot 40 is positioned as described above. The determination unit 133 determines whether or not the instruction received by the reception unit 12 is an operation instruction as follows: an operation instruction for instructing an operation related to the axial movement when the machining operation of the workpiece is remotely operated by the first machine tool 30 and the second machine tool 50; an operation instruction for instructing an operation related to the axis movement when the operation of the robot 40 is remotely controlled; and an operation instruction for instructing an operation related to the axis movement when the robot 40 is positioned. The operation instruction includes at least a stop operation instruction and an operation instruction (hereinafter, also referred to as a stop operation instruction) to stop the operation in the above positioning of the robot 40. The communication unit 14 is a local area network or the like for wired communication. The communication unit 14 transmits the instruction data received from the user by the receiving unit 12 to the first machine tool 30, the second machine tool 50, and the robot control device 35 via the relay device 20, as the instruction data. The communication unit 14 can receive various data from the first machine tool 30, the second machine tool 50, and the robot control device 35. The display unit 11 can display the data received by the communication unit 14.
The data processing device 60 includes a receiving unit 61, a PC control unit 62, and a communication unit 63. The data processing device 60 is capable of performing, among other things: setting parameters of the first control device 31, the second control device 51, and the robot control device 35; and various data (operation status, setting contents, etc.) from the first control device 31, the second control device 51, and the robot control device 35.
The receiving unit 61 can receive an input from a user via a keyboard, a touch panel, or the like (not shown). The user inputs parameters to first machine tool 30, second machine tool 50, and robot 40 by operating the keyboard of data processing device 60. The PC control section 62 can control operations and the like of: accepting input from a user; data transmission and reception is performed between the relay device 20 and the first controller 31, the second controller 51, and the robot controller 35; and displaying the received data on a display unit (not shown). As shown in fig. 6, the PC control section 62 includes a CPU621, a ROM622, a RAM623, a restriction instruction determination section 624, and a dividing section 625. The ROM622 stores various control programs, basic fixed data among parameters for calculation, and the like in advance, the RAM623 is used for temporarily storing data, and the RAM623 can be read out without being limited by the storage order, storage location, and the like. The RAM623 can store programs read from the ROM622, various data generated by executing the programs, parameters that change during the execution, and the like.
The CPU621 loads a control program stored in advance in the ROM622 on the RAM623 and then executes the program, thereby controlling the various hardware described above and operating the entire apparatus as the PC control unit 62 according to the present embodiment. The restriction instruction determination unit 624 determines whether or not restriction instruction data is received from the first control device 31, the second control device 51, or the robot control device 35. Restriction instruction determination unit 624 performs this determination by monitoring communication unit 63. When the limitation instruction determination unit 624 determines that the limitation instruction data has been received, the division unit 625 limits data to be transmitted to the transmission source of the limitation instruction data. For example, upon receiving the restriction instruction data from the first control device 31, the dividing unit 625 divides the data into a plurality of portions such that the amount of data to be transmitted to the first control device 31 immediately before the restriction instruction data is received is smaller than the amount of data to be transmitted to the first control device 31 before the restriction instruction data is received. A predetermined threshold value may be set, and the data may be divided into pieces of a size equal to or smaller than the threshold value. Hereinafter, the data obtained by the division is referred to as divided data. The dividing unit 625 transmits the divided data to the first control device 31 at predetermined intervals.
Next, an example in which the operation instruction is a stop operation instruction or a stop operation instruction will be described.
When the determination unit 133 determines that an operation instruction (operation stop instruction or operation stop instruction) related to the shaft movement is received, the operation instruction unit 134 transmits operation instruction data indicating the operation instruction to the first machine tool 30, the second machine tool 50, or the robot controller 35 via the communication unit 14. When the operation instructing unit 134 transmits the operation instruction data, the discarding instructing unit 135 transmits a discarding instruction (discarding instruction data) for discarding the data received from another device to the destination of the operation instruction data via the communication unit 14. When the operation instructing unit 134 is ready to transmit the operation instruction data, the discard instructing unit 135 transmits the discard instruction data to the destination of the operation instruction data. As will be described later, the first machine tool 30, the second machine tool 50, or the robot controller 35 that has received the discard instruction data discards all the data received from the other device (the data processing device 60) except the sub-controller 10 after receiving the discard instruction data.
The processing performed by the sub-controller 10 will be described with reference to fig. 7. For convenience of explanation, an example in which the sub-controller 10 transmits the operation instruction data will be described below. The operation instruction data is used to describe an example of an operation stop instruction for stopping the machining operation of the workpiece by the first machine tool 30.
The receiving unit 12 receives an instruction from a user via a handle, an operation panel, or the like (step S101). The determination unit 133 determines whether or not the instruction received by the reception unit 12 is an operation instruction (step S102). When the determination unit 133 determines that the received instruction is not an operation instruction (no in step S102), the process proceeds to step S107, and the CPU131 executes the instruction received by the reception unit 12 (step S107). Since the sub-controller 10 transmits the operation instruction data indicating the operation suspension instruction to the first machine tool 30, the determination unit 133 determines that the received instruction is an operation instruction (yes in step S102). The discard instruction unit 135 transmits discard instruction data for discarding all data received from another device later to the first machine tool 30 via the communication unit 14 (step S103). The operation instructing unit 134 transmits the operation instruction data indicating the operation instruction (operation suspension instruction) received in step S101 to the first machine tool 30 via the communication unit 14 (step S104). After receiving the discard instruction data, the first machine tool 30 discards all or blocks data received from the other device (the data processing device 60) except the sub-controller 10, receives only the operation instruction data from the sub-controller 10, and executes processing corresponding to the operation instruction data.
The CPU131 determines whether the reception of the operation instruction is completed (step S105). If the user does not operate the handle or the operation panel of the sub-controller 10 for a predetermined period of time, the CPU131 determines that the reception of the operation instruction is completed. When the CPU131 determines that the reception of the operation instruction has ended (yes in step S105), the CPU131 transmits end instruction data indicating that the reception of the operation instruction has ended to the first machine tool 30 via the communication unit 14 (step S106). When the CPU131 determines that the reception of the operation instruction is not completed (no in step S105), the CPU131 repeats the determination until it determines that the reception of the operation instruction is completed. After receiving the end instruction data, the first machine tool 30 can also receive data from another device (the data processing device 60) other than the sub-controller 10.
As described above, in the control system 100 of the present embodiment, the first machine tool 30 includes the first control device 31 and the robot control device 35. The first control device 31 and the robot control device 35 are connected to each other via the relay device 20. The first control device 31 and the robot control device 35 are connected to the sub-control device 10 together via the relay device 20. That is, the first controller 31 and the robot controller 35 are connected in parallel to the sub-controller 10 via the relay device 20. With the control system 100, even if one of the relay device 20 and the first control device 31 and the relay device 20 and the robot control device 35 is disconnected for some reason, the other information can be displayed on the sub-control device 10 (display unit 11), and the sub-control device 10 can still be used to perform an operation. When the user (sub-controller 10) instructs a request for quick response such as an instruction to stop the machining operation for the workpiece in an urgent manner, the instructed target (first machine tool 30) discards or blocks data received from another device (data processing device 60), and therefore, the instruction to stop the machining operation can be received with priority. Therefore, an emergency instruction or an instruction requiring a quick response can be promptly dealt with. Upon receiving the stop instruction data from the sub-controller 10, the robot controller 35 transmits restriction instruction data indicating the restriction instruction to another device (the data processing device 60) other than the sub-controller 10. Upon receiving the restriction instruction data, the data processing device 60 temporarily interrupts transmission of data to the robot control device 35.
Embodiment mode 2
The processing performed between the robot controller 35 and the data processing device 60 will be described with reference to fig. 8. Fig. 8 shows an example of the execution of the instruction of the suspension operation by the teaching manipulator while the version of the control program of the robot control device 35 is upgraded by the data processing device 60.
The data processing device 60(PC control unit 62) transmits data relating to firmware version-up to the robot control device 35 (step S301), and the robot control device 35 receives the data.
The stop instruction determining unit 353 monitors the preamble and the frame header of the received data to determine whether or not the received data is operation instruction data (step S201). Since the data received by the robot controller 35 is data related to the version-up of the control program, the stop instruction determination unit 353 determines that the received data is not the operation instruction data (no in step S201), and advances the process to step S205.
Upon receiving the stop operation instruction data from the sub-controller 10, the stop instruction determination unit 353 determines that the received data is the operation instruction data (yes in step S201), and the limitation instruction unit 354 transmits the limitation instruction data to the data processing device 60 (step S202). The restriction instruction data is data indicating a restriction instruction that is intended to temporarily interrupt data transmission. The PC control unit 62 that has received the restriction instruction data from the robot control device 35 via the communication unit 63 temporarily suspends transmission of data related to the version-up of the control program, based on the restriction instruction data (step S302).
After that, the CPU351 of the robot controller 35 determines whether or not the end instruction data is received from the sub-controller 10 (step S203). The end instruction data has already been described, and the description is omitted here.
When the CPU351 determines that the end instruction data has not been received (no in step S203), the CPU351 repeats the determination until determining that the end instruction data has been received. When the sub-controller 10 transmits the end instruction data to the robot controller 35, the CPU351 determines that the end instruction data has been received (yes in step S203). The robot control device 35 transmits a release instruction to release the state in which the data transmission is temporarily suspended to the data processing device 60. That is, the robot controller 35 transmits the cancellation instruction data indicating the cancellation instruction to the data processing device 60 (step S204).
After the data transmission is interrupted, the CPU621 of the PC control section 62 determines whether or not the above-described cancellation instruction is received from the robot control device 35 (step S303). That is, the CPU621 monitors the communication unit 63 to determine whether or not the release instruction data indicating the release instruction is received. When the CPU621 determines that the release instruction is not received (no in step S303), the CPU621 repeats the determination until it determines that the release instruction is received. When the robot controller 35 transmits the removal instruction data to the data processing device 60, the CPU621 determines that the removal instruction is received (yes in step S303). At this time, the PC control unit 62 restarts transmission of the data related to the version-up of the control program that has been temporarily interrupted (step S304).
After the reception of the data is completed, or when the data received in step S201 is not the operation instruction data, the CPU351 executes processing corresponding to the received data (step S205).
Since the control system 100 has the above configuration, when the user (the sub-controller 10) instructs the robot 40 to request a quick response such as a stop instruction to stop the operation during the above positioning, the other device (the data processing device 60) interrupts the transmission of data, and therefore the robot 40 can preferentially receive the stop instruction from the sub-controller 10. Therefore, an emergency instruction or an instruction requiring a quick response can be promptly dealt with.
The above description has been given of the case where the robot controller 35 transmits the restriction instruction data to the data processing device 60 when the stop instruction data is received from the sub-controller 10, but the present embodiment is not limited to this. When receiving the stop instruction data from the sub-controller 10, the first controller 31 and the second controller 51 may transmit the restriction instruction data to the data processing device 60.
Embodiment 3
The processing performed between the first control device 31 and the data processing device 60 will be described with reference to fig. 9.
The data processing device 60(PC control unit 62) transmits parameter change data to the first control device 31 (step S501), and the first control unit 33 receives the data via the communication unit 34.
The suspension instruction determination unit 333 determines whether or not the received data is operation instruction data (step S401). When the stop instruction determination unit 333 determines that the received data is not the operation instruction data (no in step S401), the process proceeds to step S405.
When the stop operation instruction data is received from the sub-controller 10, the stop instruction determination unit 333 determines that the received data is operation instruction data (yes in step S401), and the limitation instruction unit 334 transmits the limitation instruction data to the data processing device 60 (step S402). The restriction indication data represents a restriction indication of the subject matter: data to be transmitted is divided, and divided data with a reduced data amount is transmitted at predetermined intervals.
The PC control part 62 receives the restriction instruction data from the first control device 31 via the communication part 63, and the dividing part 625 divides the data to be transmitted to the first control device 31 into a plurality of parts each smaller than the data transmitted to the first control device 31 before the restriction instruction data is received (step S502). The dividing unit 625 transmits the divided data to the first control device 31 at predetermined intervals (step S503).
After that, the CPU331 of the first control device 31 monitors the communication unit 34 to determine whether or not the end instruction data is received from the sub-control device 10 (step S403).
When CPU331 determines that the end instruction data has not been received (no in step S403), CPU331 repeats the determination until determining that the end instruction data has been received. When the sub-controller 10 transmits the end instruction data to the first controller 31, the CPU331 determines that the end instruction data has been received (step S403: yes). At this time, the CPU331 transmits a release instruction to release the state of transmitting the divided data at predetermined intervals to the data processing device 60. That is, the CPU331 transmits the release instruction data indicating the release instruction to the data processing apparatus 60 via the communication unit 34 (step S404).
After the divided data starts to be transmitted at the predetermined interval, the CPU621 of the PC control section 62 determines whether or not the release instruction is received from the first control device 31 (step S504).
When the CPU621 determines that the release instruction is not received (no in step S504), the CPU621 repeats the determination until it determines that the release instruction is received. When the first control device 31 transmits the cancellation instruction data to the data processing device 60, the CPU621 determines that the cancellation instruction is received (step S504: yes). At this time, the CPU621 performs normal data transmission in the same manner as before the restriction instruction data is received (step S505). That is, the data amount is continuously transmitted to the first control device 31 in the same data amount as the data amount before the limit instruction data is received in step S502.
After the reception of the data is completed, or when the data received in step S401 is not the operation instruction data, the CPU331 executes processing corresponding to the received data (step S405).
The control system 100 according to embodiment 3 has the above configuration, and therefore, when a user (the sub-controller 10) makes an instruction requiring a quick response, such as a stop operation instruction for an emergency stop of a machining operation on a workpiece, a wide communication area can be secured in the relay device 20 for use between the sub-controller 10 and the first machine tool 30. In this case, since the PC control unit 62 can transmit the divided data at predetermined intervals, the sub-controller 10 can give an emergency instruction or an instruction to request a quick response to the first machine tool 30 during the interval. Therefore, an emergency instruction or an instruction requiring a quick response can be promptly dealt with.
The processing performed between the first control device 31 and the PC control unit 62 has been described above by taking the first control device 31 (first control unit 33) as an example, but the present embodiment is not limited to this. The same applies to the second control device 51 (second control unit 53). The robot controller 35 may have the same configuration as the first controller 31 (first controller 33). The first control device 31 (first control unit 33) may have the same configuration as the robot control device 35. The first machine tool 30 includes the first controller 31 and the robot controller 35, but the first machine tool 30 may include the first controller 31 and the second controller 51.
The determination unit 133, the operation instruction unit 134, the discard instruction unit 135, the stop instruction determination unit 353, the limit instruction unit 354, the stop instruction determination unit 333, the limit instruction unit 334, the limit instruction determination unit 624, and the division unit 625 may be configured by circuits, or may be configured by programs executable by the CPU131, the CPU351, the CPU331, and the CPU 621.
Claims (15)
1. A control system (100) has a first control device (31) and a second control device (35),
the first control device is used for controlling a first device (30) capable of performing the action of axial movement, the second control device is used for controlling a second device (40) capable of performing the action of axial movement,
the control system is characterized in that it is,
the control system has:
a secondary control device (10) capable of controlling the first and second apparatuses; and
a relay device (20) that connects the sub-control device and the first control device and connects the sub-control device and the second control device,
the sub-control device has a display unit (11) capable of displaying data received from the first control device or the second control device,
the sub-control device includes:
an operation instruction unit (134) capable of transmitting an operation instruction of axial movement to the first control device or the second control device; and
and a discard instruction unit (135) that, when the operation instruction unit is to transmit the operation instruction, transmits a discard instruction to discard data received from another device to the first control device or the second control device to which the operation instruction unit is to be transmitted.
2. The control system of claim 1,
the control system includes a data processing device (60) that is connected to the relay device and that is capable of transmitting and receiving data to and from the first control device or the second control device.
3. The control system of claim 2,
the first control device and the second control device each have a restriction instruction unit (334, 354) that, when receiving an operation instruction for moving the axis from the sub-control device, transmits a restriction instruction for restricting data transmission to the data processing device.
4. The control system of claim 3,
the restriction instruction unit transmits the restriction instruction for interrupting data transmission to the data processing apparatus.
5. The control system of claim 3,
the limit instruction unit transmits the limit instruction for reducing the amount of data to be transmitted to the data processing apparatus.
6. The control system of claim 5,
the data processing device has a dividing unit (625) that divides data to be transmitted and transmits the data at predetermined intervals when the data processing device receives the restriction instruction.
7. The control system according to any one of claims 1 to 6,
the second device is a robotic arm that,
the sub-control device is capable of performing positioning operation for the robot arm,
the motion instruction includes a stop instruction to stop the positioning motion.
8. The control system of claim 4,
the second device is a robotic arm that,
the sub-control device is capable of performing positioning operation for the robot arm,
the action indication includes a stop indication to stop the positioning action,
the restriction instruction unit of the second control device transmits a restriction instruction for interrupting data transmission to the data processing device.
9. The control system according to any one of claims 1 to 6,
the first device is a machine tool,
the sub-controller is capable of instructing a machining operation by the machine tool,
the operation instruction includes a stop instruction for stopping the machining operation.
10. The control system of claim 5,
the first device is a machine tool,
the sub-controller is capable of instructing a machining operation by the machine tool,
the operation instruction includes a stop instruction for stopping the machining operation,
the limit instruction unit of the first control device transmits a limit instruction for reducing the amount of data to be transmitted to the data processing device.
11. The control system of claim 7,
the first device is a machine tool,
the sub-controller is capable of instructing a machining operation by the machine tool,
the operation instruction includes a stop instruction for stopping the machining operation.
12. A sub-control device connected to a first control device for a first apparatus capable of performing an axial movement and capable of controlling the first apparatus, or connected to a second control device for a second apparatus capable of performing an axial movement and capable of controlling the second apparatus, wherein,
the sub-control device includes: a communication unit connected to the first control device and the second control device via a relay device; and a display unit capable of displaying data received from the first control device or the second control device,
the sub-control device includes:
an operation instruction unit capable of transmitting an operation instruction of shaft movement to the first control device or the second control device; and
and a discard instruction unit that transmits a discard instruction to discard data received from another device to the first control device or the second control device when the operation instruction unit transmits the operation instruction.
13. The sub-control apparatus according to claim 12,
the second device is a robotic arm that,
the sub-control device is capable of performing positioning operation for the robot arm,
the operation instruction includes a stop instruction that is an instruction to stop the positioning operation.
14. The sub-control apparatus according to claim 13,
the first device is a machine tool,
the sub-controller can give an instruction for performing a machining operation by the machine tool,
the operation instruction includes a stop instruction that is an instruction to stop the machining operation.
15. A control method for controlling a first device or a second device by using a sub-controller connected to a first controller for the first device capable of performing an axial movement operation or a second controller for the second device capable of performing an axial movement operation via a relay device, wherein,
the control method comprises the following steps:
transmitting an operation instruction of shaft movement to the first control device or the second control device; and
when the operation instruction is to be transmitted, a discard instruction for discarding data received from another device is transmitted to the first control device or the second control device.
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| JP2017176122A JP6897443B2 (en) | 2017-09-13 | 2017-09-13 | Control system, sub-control device and control method |
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| JP7188407B2 (en) * | 2020-03-25 | 2022-12-13 | ブラザー工業株式会社 | Machine tools and machine tool control methods |
| 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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| JP2019053439A (en) | 2019-04-04 |
| CN109491331A (en) | 2019-03-19 |
| JP6897443B2 (en) | 2021-06-30 |
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