JP6897443B2 - Control system, sub-control device and control method - Google Patents

Description

The present invention uses a control system including a first control device and a second control device related to a machine that moves an axis, a sub-control device that controls the machine with the control system, and the sub-control device. Regarding the control method.

In recent years, machining systems that control machine tools and robots used for machining with control devices have become widespread.

For example, the robot control device of Patent Document 1 includes a teaching operation panel for operating the robot control device, and is connected to two machine tool control devices by a network cable. The teaching operation panel has a display, and displays information about the machine tool acquired from the two machine tool control devices via a network cable on the display of the teaching operation panel.

Japanese Unexamined Patent Publication No. 2010-277425

However, in the robot control device of Patent Document 1 described above, a plurality of machine tools are connected in series, and the entire plurality of machine tools and the teaching operation panel are connected in series by a single network cable. To do. Therefore, when a trouble such as disconnection occurs in such a network cable, there is a problem that the teaching operation panel cannot display and control information for all of a plurality of machine tools.

The present invention has been made in view of such circumstances, and an object of the present invention is the influence of disconnection or the like that occurs between the sub-control device and any of the plurality of control devices. , To provide a control system, sub-control device and control method that can be prevented from affecting other control devices.

The control system according to the present invention is a control system including a first control device and a second control device that control a first machine and a second machine that perform an operation in which an axis moves, respectively. It is characterized by including a sub-control device to be controlled, the sub-control device, and a relay device for connecting the first control device and the second control device.

In the present invention, the relay device is interposed between the sub-control device and the first control device and the second control device. The sub-control device is connected in parallel to the first control device and the second control device by the relay device, respectively. Therefore, it is possible to prevent the sub-control device from being unable to be controlled by the other due to a disconnection between the first control device and one of the second control devices.

The control system according to the present invention is characterized in that the sub-control device includes a display unit that displays data received from the first control device or the second control device.

In the present invention, the display unit displays data received from the first control device or the second control device. Even if there is a disconnection between the first control device and either of the second control devices, the sub-control device can receive data from the other and display the data.

The control system according to the present invention is characterized by including a data processing device that is connected to the relay device and that transmits / receives data to / from the first control device or the second control device.

In the present invention, the data processing device can control the first control device and the second control device via the relay device.

In the control system according to the present invention, the sub-control device has an operation instruction unit that transmits an operation instruction of axis movement to the first control device or the second control device, and a discard instruction that discards data received from another device. Is provided with a discard instruction unit to be transmitted to the first control device or the second control device when the operation instruction is transmitted.

In the present invention, for example, immediately before the transmission of the operation instruction, the discard instruction unit transmits the 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.

In the control system according to the present invention, when the first control device and the second control device receive an operation instruction for axis movement from the sub-control device, the data processing device is instructed to limit data transmission. It is characterized by including a restriction indicator for transmission.

In the present invention, when the operation instruction of the axis movement is received from the sub-control device, the restriction instruction unit transmits the restriction instruction to the data processing device. The data processing device restricts data transmission in response to the restriction instruction. Therefore, the data transmission from the data processing device does not interfere with the transmission of the operation instruction.

The control system according to the present invention is characterized in that the restriction instruction unit transmits the restriction instruction instructing the interruption of data transmission to the data processing device.

In the present invention, the data processing device temporarily suspends data transmission in response to the restriction instruction. Therefore, the data transmission from the data processing device does not interfere with the transmission of the operation instruction.

The control system according to the present invention is characterized in that the restriction instruction unit transmits the restriction instruction for instructing a reduction in the amount of data to be transmitted to the data processing device.

In the present invention, the data processing apparatus reduces the amount of data transmitted in response to the restriction instruction. Therefore, the data transmission from the data processing device does not interfere with the transmission of the operation instruction.

The control system according to the present invention is characterized in that the data processing device includes a dividing unit that divides data to be transmitted and transmits the data at predetermined intervals when the restriction instruction is received.

In the present invention, 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 device does not interfere with the transmission of the operation instruction.

The control system according to the present invention is characterized in that the second machine is an arm robot, the sub-control device performs positioning related to the operation of the arm robot, and the operation instruction includes a stop instruction in the positioning. ..

In the present invention, when a stop instruction for positioning is received from the sub-control device, the restriction instruction unit transmits the restriction instruction to the data processing device. The data processing device restricts data transmission in response to the restriction instruction. Therefore, the arm robot can preferentially receive and execute the stop instruction.

In the control system according to the present invention, the first machine is a machine tool, the sub-control device gives an instruction related to the machining work in the machine tool, and the operation instruction includes a stop instruction in the machining work. It is a feature.

In the present invention, when a stop instruction in the processing work is received from the sub-control device, the restriction instruction unit transmits the restriction instruction to the data processing device. The data processing device restricts data transmission in response to the restriction instruction. Therefore, the machine tool can preferentially receive and execute the stop instruction.

The sub-control device according to the present invention is connected to the first control device of the first machine that performs the operation of moving the shaft or the second control device of the second machine that performs the operation of moving the shaft, and is connected to the first machine or the first machine. 2. The sub-control device that controls the machine is characterized by including a communication unit that connects to the first control device and the second control device via a relay device.

In the present invention, the sub-control device is connected in parallel to the first control device and the second control device by the relay device, respectively. Therefore, it is possible to prevent the sub-control device from being unable to be controlled by the other due to a disconnection between the first control device and one of the second control devices.

The sub-control device according to the present invention is characterized by including a display unit that displays data received from the first control device or the second control device.

In the present invention, the display unit displays data received from the first control device or the second control device. Even if there is a disconnection between the first control device and either of the second control devices, the sub-control device can receive data from the other and display the data.

The sub-control device according to the present invention discards an operation instruction unit that transmits an axis movement operation instruction to the first control device or the second control device, and data received from another device when the operation instruction is transmitted. It is characterized by including a discard instruction unit for transmitting a discard instruction to be sent to the first control device or the second control device.

In the present invention, for example, immediately before the transmission of the operation instruction, the discard instruction unit transmits the 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 sub-control device according to the present invention is characterized in that the second machine is an arm robot, positioning is performed according to the operation of the arm robot, and the operation instruction includes a stop instruction in the positioning.

In the present invention, for example, immediately before transmitting the stop instruction in the positioning, the discard instruction unit transmits the 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 stop instruction.

The sub-control device according to the present invention is characterized in that the first machine is a machine tool and gives an instruction related to a machining work in the machine tool, and the operation instruction includes a stop instruction in the machining work.

In the present invention, for example, immediately before transmitting a stop instruction in the processing work, the discard instruction unit transmits the 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 stop instruction.

The control method according to the present invention is a sub-control device that connects to the first control device of the first machine that moves the shaft or the second control device of the second machine that moves the shaft via a relay device. In the control method for controlling the first machine or the second machine, the step of transmitting the operation instruction of the axis movement to the first control device or the second control device, and the transmission of the operation instruction, etc. It is characterized by including a step of transmitting a discard instruction for discarding data received from the device to the first control device or the second control device.

In the present invention, for example, immediately before transmitting the operation instruction, the 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.

According to the present invention, it is possible to prevent the sub-control device from being unable to be controlled by another control device due to a disconnection or the like occurring between the sub-control device and any of the plurality of control devices. ..

It is a block diagram which shows the main part structure of the control system which concerns on this embodiment. It is a block diagram which shows the main part structure of the 1st control device, the 2nd control device, the robot, and the auxiliary control device which concerns on this Embodiment. It is a block diagram which shows the main part structure of the control system which concerns on this embodiment. It is a block diagram which shows the main part structure of the 1st control device, the 2nd control device, the robot, the auxiliary control device, and the data processing device which concerns on this Embodiment. It is a functional block diagram which shows the main part structure of the TP control part of the sub-control device in the control system which concerns on this embodiment. It is a flowchart explaining the process of a sub-control device in the control system which concerns on this embodiment. It is a functional block diagram which shows the main part structure of the robot control device of the 1st control device in the control system which concerns on this embodiment. It is a flowchart explaining the process between a robot control device and a data processing device in the control system which concerns on this embodiment. It is a functional block diagram which shows the composition of the main part of the 1st control part of the 1st control device in the control system which concerns on this embodiment. It is a functional block diagram which shows the main part structure of the PC control part of the data processing apparatus in the control system which concerns on this embodiment. It is a flowchart explaining the process between the 1st control apparatus and the data processing apparatus in the control system which concerns on this embodiment.

Hereinafter, the control system, the sub-control device, and the control method according to the present embodiment will be described with reference to the drawings.

(Embodiment 1)
FIG. 1 is a configuration diagram showing a configuration of a main part of the control system 100 according to the present embodiment.
The control system 100 according to the present embodiment includes a robot 40, a first machine tool 30 (first machine), a first control device 31 for controlling the first machine tool 30, a second machine tool 50, and a first machine tool. 2. A second control device 51 for controlling the machine tool 50, a relay device 20, and a sub-control device 10 for remotely controlling the robot 40 (second machine), the first machine tool 30, and the second machine tool 50 are provided.

The robot 40 is connected to, for example, the first machine tool 30. The first control device 31 and the second control device 51 are connected to the ports of the relay device 20, respectively. The sub-control device 10 is connected to another port of the relay device 20, and the sub-control device 10 is connected to the first control device 31 and the second control device 51 via the relay device 20. The robot 40 is, for example, an articulated arm robot having a plurality of axes, and the plurality of axes move to transport a work or the like.

The first machine tool 30 and the second machine tool 50 include a plurality of shafts, a magazine, a table on which a work is placed, and the like. Doors are provided on the front wall of the first machine tool 30 and the second machine tool 50. The robot 40 conveys the work onto the table through the door. The plurality of axes move appropriately to process the work on the table. The first machine tool 30 is provided with a first control device 31 at the rear. The second machine tool 50 is provided with a second control device 51 at the rear. The first control device 31 and the second control device 51 perform control related to the processing.

In the present embodiment, a case where the control system 100 includes two machine tools (first machine tool 30 and second machine tool 50) will be described as an example, but the present invention is not limited to this, and three or more are described. It may be configured to include the machine tool of. Further, the robot 40 may have an independent configuration that is not connected to the first machine tool 30 or the like.

The relay device 20 is, for example, a switching hub, a router, or the like, and is connected to the first control device 31, the second control device 51, and the robot control device 35 (second control device) described later. Specifically, on one side of the relay device 20, the first control device 31, the robot control device 35, and the second control device 51 are connected to each other. Further, a sub-control device 10 is connected to the other side of the relay device 20, and the relay device 20 connects the first control device 31, the second control device 51, the robot control device 35, and the sub-control device 10. To do.

The sub-control device 10 is, for example, a teaching pendant. The sub-control device 10 transmits instruction data for controlling the first machine tool 30 and the second machine tool 50 to the first machine tool 30 and the second machine tool 50 via the relay device 20, and the first control device 31 The second control device 51 is controlled. As a result, the sub-control device 10 can remotely control the machining work of the workpieces in the first machine tool 30 and the second machine tool 50. By appropriately operating the sub-control device 10, the user sets and changes the parameters in the first machine tool 30 and the second machine tool 50, and starts or stops the machining work of the work.

Further, the sub-control device 10 can control the robot control device 35 via the relay device 20 to remotely control the operation of the robot 40.
The sub-control device 10 inputs and sets a series of operations related to the work to be executed by the robot 40 to the robot 40 (robot control device 35). Such input settings include, for example, positioning related to the series of operations. Specifically, in the positioning, the series of operations is divided into predetermined categories, and the user appropriately operates the sub-control device 10 to teach the robot 40 to rotate, move, stop, etc. of each joint, and the robot 40 ( The robot control device 35) stores such teachings.

FIG. 2 is a block diagram showing a main configuration of the first control device 31, the second control device 51, the robot 40, and the sub control device 10 according to the present embodiment. Since the first control device 31 and the second control device 51 have the same configuration, only the configuration of the first control device 31 will be described below.

The first control device 31 includes a drive mechanism 32, a first control unit 33, and a communication unit 34.
The drive mechanism 32 includes the plurality of shafts, various motors for driving the magazine, and the like, and the plurality of shafts are appropriately moved to process the work, and the magazine is used to replace the tool.
The first control unit 33 appropriately controls the various motors and the like to control the machining of the work, the replacement of the tools, and the like.
The communication unit 34 performs LAN communication with, for example, the sub-control device 10. The communication unit 34 transmits / receives data to / from the sub-control device 10 via the relay device 20.

Further, the first control device 31 includes a robot control device 35. The robot control device 35 controls the robot 40. Specifically, the robot control device 35 transmits instruction data for controlling the operation of the robot 40 to the robot 40, and the robot 40 transfers the work or the like as described above according to the instruction data.
Further, the robot control device 35 performs LAN communication with the sub control device 10, for example. The robot control device 35 transmits / receives data to / from the sub control device 10 via the relay device 20.

The robot 40 includes a drive mechanism 41 and a communication unit 42.
The communication unit 42 performs LAN communication with the robot control device 35. The communication unit 42 receives the instruction data from the robot control device 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 receives instruction data from the robot control device 35. The drive mechanism 41 controls the plurality of axes according to the received instruction data to convey the work.

The sub control device 10 includes a display unit 11, a reception unit 12, a TP control unit 13, and a communication unit 14.
The display unit 11 includes an LCD, an EL (Electroluminescence) panel, or the like. The display unit 11 displays various data (for example, operating status, setting contents, etc.) received from the first control device 31, the second control device 51, and the robot control device 35 via the relay device 20.

The reception unit 12 receives an instruction from the user via a handle, an operation panel, or the like provided on the sub-control device 10. Specifically, in order to remotely control the first machine tool 30, the second machine tool 50, and the robot 40, the user operates the handle, the operation panel, and the like of the sub-control device 10 to give instructions. The reception unit 12 receives instructions from the user via the handle, the operation panel, and the like.

The communication unit 14 is a LAN or the like for wired communication. The communication unit 14 transmits the instruction received from the user by the reception unit 12 as command data (instruction data) to the first machine tool 30, the second machine tool 50, and the robot control device 35 via the relay device 20. Further, the communication unit 14 receives various data from the first machine tool 30, the second machine tool 50, and the robot control device 35. The display unit 11 displays the data received by the communication unit 14.

As described above, in the control system 100 according to the present embodiment, the first machine tool 30 includes the robot control device 35 together with the first control device 31. In the relay device 20, the first control device 31 and the robot control device 35 are connected to each other. Further, both the first control device 31 and the robot control device 35 are connected to the sub control device 10 via the relay device 20. That is, the first control device 31 and the robot control device 35 are connected in parallel with the sub control device 10 by the relay device 20.
In the control system 100, even if one of the relay device 20 and the first control device 31 or the robot control device 35 is disconnected for some reason, the information related to the other is transmitted to the sub control device 10. It is displayed on (display unit 11), and the sub-control device 10 can be operated.

(Embodiment 2)
The control system 100 according to the second embodiment is substantially the same as the first embodiment, but further includes a data processing device.
FIG. 3 is a configuration diagram showing a configuration of a main part of the control system 100 according to the present embodiment.
The control system 100 according to the present embodiment includes a robot 40, a first machine tool 30, a first control device 31, a second machine tool 50, a second control device 51, a relay device 20, and sub-control. A device 10 is provided, and a data processing device 60 is further provided. The main components of the robot 40, the first machine tool 30, the first control device 31, the second machine tool 50, the second control device 51, the relay device 20, and the sub-control device 10 have already been described, and detailed explanations will be given. Omit.

The data processing device 60 is, for example, a personal computer (PC) and is connected to the relay device 20. The data processing device 60 is connected to the first machine tool 30 and the second machine tool 50 via the relay device 20.

FIG. 4 is a block diagram showing a main configuration of the first control device 31, the second control device 51, the robot 40, the sub control device 10, and the data processing device 60 according to the present embodiment. Since the first control device 31, the second control device 51, the robot 40, and the sub control device 10 have already been described, only the configuration of the data processing device 60 will be described below.

The data processing device 60 includes a reception unit 61, a PC control unit 62, and a communication unit 63. The data processing device 60 sets parameters to the first control device 31, the second control device 51, and the robot control device 35, and various data (for example, from the first control device 31, the second control device 51, and the robot control device 35). Receives operation status, settings, etc.).

The reception unit 61 receives input from the user via, for example, a keyboard, a touch panel, or the like (not shown). For example, the user inputs parameters to the first machine tool 30, the second machine tool 50, and the robot 40 by appropriately operating the keyboard of the data processing device 60. The reception unit 61 receives the input via the keyboard.

The PC control unit 62 receives input from the user, transmits / receives data to / from the first control device 31, the second control device 51, and the robot control device 35 via the relay device 20, and displays the received data (not shown). ) Is controlled.
The communication unit 63 transmits the input received from the user as command data to the first machine tool 30, the second machine tool 50, and the robot control device 35 via the relay device 20. Further, the communication unit 63 receives various data from the first control device 31, the second control device 51, and the robot control device 35. The display unit displays various data.

FIG. 5 is a functional block diagram showing a main configuration of the TP control unit 13 of the sub-control device 10 in the control system 100 according to the present embodiment.
The TP control unit 13 includes a CPU 131, a storage unit 132, a determination unit 133, an operation instruction unit 134, and a discard instruction unit 135.

The CPU 131 executes a control program stored in advance to remotely control the machining work of the workpieces on the first machine tool 30 and the second machine tool 50, remotely control the operation of the robot 40, and perform the positioning of the robot 40 and the like.

The storage unit 132 is, for example, a non-volatile storage medium such as a flash memory, EEPROM (registered trademark), HDD, MRAM (magnetoresistive memory), FeRAM (ferroelectric memory), or OUM. The storage unit 132 stores, for example, a control program for remote control of the machining work of the work in the first machine tool 30 and the second machine tool 50, remote control of the operation of the robot 40, the positioning of the robot 40, and the like. ..

When the reception unit 12 receives an instruction from the user, the determination unit 133 determines whether or not the received instruction is an instruction related to the movement of the axes in the first machine tool 30, the second machine tool 50, and the robot 40. To do.
In particular, in the determination unit 133, the instructions received by the reception unit 12 are remote control of the machining work of the work in the first machine tool 30 and the second machine tool 50, remote control of the operation of the robot 40, and the positioning of the robot 40. In the above, it is determined whether or not the operation instruction indicates the operation related to the movement of the axis. Such an operation instruction is at least an operation instruction for stopping the machining work of the work in the first machine tool 30 and the second machine tool 50 (hereinafter, also referred to as a stop operation instruction), and the movement is stopped at the positioning of the robot 40. Includes operation instructions (hereinafter, also referred to as stop operation instructions).
In the following, a case where the operation instruction is a stop operation instruction or a stop operation instruction will be described as an example.

When the determination unit 133 determines that the operation instruction (stop operation instruction or stop operation instruction) instructing the operation related to the movement of the axis has been received, the operation instruction unit 134 represents the received operation instruction via the communication unit 14. The operation instruction data is transmitted to the first machine tool 30, the second machine tool 50, or the robot control device 35.

When the operation instruction unit 134 transmits the operation instruction data, the discard instruction unit 135 transmits the discard instruction data indicating the discard instruction for discarding the data received from another device to the transmission destination of the operation instruction data via the communication unit 14. Send to. Preferably, the discard instruction unit 135 transmits the discard instruction data to the destination of the operation instruction data immediately before the operation instruction unit 134 transmits the operation instruction data.
As will be described later, the first machine tool 30, the second machine tool 50, or the robot control device 35 that has received the discard instruction data is another device (data processing device) other than the sub-control device 10 after receiving the discard instruction data. All the data received from 60) is discarded.

FIG. 6 is a flowchart illustrating the processing of the sub-control device 10 in the control system 100 according to the present embodiment. In the following, for convenience of explanation, a case where the sub-control device 10 transmits operation instruction data will be described as an example. The operation instruction data represents a stop operation instruction for stopping the machining work of the work in the first machine tool 30.

First, the reception unit 12 receives an instruction from the user via the handle, the operation panel, or the like (step S101). At this time, 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 instruction received is not an operation instruction (step S102: NO), the process proceeds to step S107, and the CPU 131 executes the instruction received by the reception unit 12 (step S107).

On the other hand, as shown in the above-mentioned premise, since the sub-control device 10 transmits the operation instruction data indicating the stop operation instruction to the first machine tool 30, the determination unit 133 determines that the received instruction is an operation instruction ( Step S102: YES).

Next, the discard instruction unit 135 transmits the discard instruction data representing the discard instruction for discarding the data received from the other device to the first machine tool 30 via the communication unit 14 (step S103). Further, the operation instruction unit 134 transmits the operation instruction data representing the operation instruction (stop operation instruction) received in step S101 to the first machine tool 30 via the communication unit 14 (step S104).

At this time, in the first machine tool 30, after receiving the discard instruction data, all the data received from other devices (for example, the data processing device 60) other than the sub control device 10 is discarded or blocked, and the sub control is performed. Only the operation instruction data from the device 10 is received, and the process corresponding to the operation instruction data is executed.

The CPU 131 determines whether or not the reception of the operation instruction has been completed (step S105). For example, if the user does not operate the handle of the sub-control device 10 or the operation panel for a predetermined time, the CPU 131 determines that the acceptance of the operation instruction has been completed.

When the CPU 131 determines that the reception of the operation instruction has been completed (step S105: YES), the CPU 131 transmits the end instruction data indicating that the reception of the operation instruction has been completed to the first machine tool 30 via the communication unit 14. (Step S106). When the CPU 131 determines that the reception of the operation instruction has not been completed (step S105: NO), the CPU 131 repeats such a determination until it determines that the reception of the operation instruction has been completed.

After receiving the end instruction data, the first machine tool 30 also receives data from other devices (for example, the data processing device 60) other than the sub-control device 10.

Since the control system 100 according to the present embodiment has the above configuration, the user (sub-control device 10) gives an instruction requiring quick reaction, such as a stop operation instruction for urgently stopping the machining work of the work. In this case, since the instruction partner (first machine tool 30) discards / blocks the data received from the other device (data processing device 60), the stop operation instruction can be preferentially received. Therefore, it is possible to quickly respond to an instruction that requires urgent or quick response.

The same parts as those in the first embodiment are designated by the same reference numerals, and detailed description thereof will be omitted.

(Embodiment 3)
Since the control system 100 according to the third embodiment has the same configuration as that of the second embodiment, detailed description of the overlapping portion will be omitted.
FIG. 7 is a functional block diagram showing a main configuration of the robot control device 35 of the first control device 31 in the control system 100 according to the present embodiment.

The robot control device 35 includes a CPU 351, a storage unit 352, a stop instruction determination unit 353, and a restriction instruction unit 354.

The CPU 351 executes a control program stored in advance to operate the robot 40, position the robot 40, and the like.

The storage unit 352 is a non-volatile storage medium such as a flash memory, EEPROM (registered trademark), HDD, MRAM (magnetoresistive memory), FeRAM (ferroelectric memory), or OUM. The storage unit 352 stores, for example, a control program for the operation of the robot 40, the positioning of the robot 40, and the like.

The stop instruction determination unit 353 determines whether or not the operation instruction data representing the operation of the robot 40 and the operation instruction related to the positioning of the robot 40 has been received from the sub-control device 10. For example, the stop instruction determination unit 353 determines whether or not the stop operation instruction data representing the stop operation instruction to stop the movement has been received in the positioning of the robot 40.
Specifically, information indicating that the transmitted data is the stop operation instruction data is added to the preamble or header of the stop operation instruction data (data frame) sent by the sub control device 10 to the robot control device 35. The stop instruction determination unit 353 monitors the preamble and header of the data frame from the sub-control device 10 and makes the determination.

When the limit instruction unit 354 determines that the stop instruction determination unit 353 has received the stop operation instruction data from the sub control device 10, the limit instruction unit 354 transmits the data to other devices other than the sub control device 10 connected to the own device. Send a restriction instruction to temporarily suspend. That is, when the stop operation instruction data is received from the sub control device 10, the restriction instruction unit 354 transmits the restriction instruction data representing the restriction instruction to another device (data processing device 60) other than the sub control device 10. ..
The data processing unit 60, when receiving the restriction instruction data, temporarily suspend data transmission to the robot controller 35.

FIG. 8 is a flowchart illustrating processing between the robot control device 35 and the data processing device 60 in the control system 100 according to the present embodiment.

For example, the data processing device 60 (PC control unit 62) transmits data related to the firmware version upgrade to the robot control device 35 (step S301), and the robot control device 35 receives the data.

At this time, the stop instruction determination unit 353 determines whether or not the received data is operation instruction data by monitoring the preamble and header of the received data (step S201). Since the data received by the robot control device 35 is the data related to the firmware version upgrade, the stop instruction determination unit 353 determines that the received data is not the operation instruction data (step S201: NO), and the process proceeds to step S205. ..

On the other hand, when the stop operation instruction data is received from the sub-control device 10, the stop instruction determination unit 353 determines that the received data is the operation instruction data (step S201: YES), and the restriction instruction unit 354 determines the restriction. The instruction data is transmitted to the data processing device 60 (step S202). Such restriction instruction data is data representing a restriction instruction to temporarily suspend data transmission.

The PC control unit 62, which has received the restriction instruction data from the robot control device 35 via the communication unit 63, temporarily suspends the transmission of the data related to the firmware version upgrade according to the restriction instruction data (step S302). ..

After that, in the robot control device 35, it is determined whether or not the CPU 351 has received the end instruction data from the sub control device 10 (step S203). The end instruction data has already been described, and detailed description thereof will be omitted.

When the CPU 351 determines that the end instruction data has not been received (step S203: NO), the CPU 351 repeats such determination until it determines that the end instruction data has been received. Further, when the sub-control device 10 transmits the end instruction data to the robot control device 35, the CPU 351 determines that the end instruction data has been received (step S203: YES). At this time, the robot control device 35 transmits a release instruction for canceling the temporary interruption of data transmission to the data processing device 60. That is, the robot control device 35 transmits the release instruction data representing the release instruction to the data processing device 60 (step S204).

On the other hand, in the PC control unit 62, after the data transmission is interrupted, the CPU 621, which will be described later, determines whether or not the release instruction has been received from the robot control device 35 (step S303). That is, the CPU 621 monitors the communication unit 63 to determine whether or not the release instruction data representing the release instruction has been received.

When the CPU 621 determines that the release instruction has not been received (step S303: NO), the CPU 621 repeats such a determination until it determines that the release instruction has been received. Further, when the robot control device 35 transmits the release instruction data to the data processing device 60, the CPU 621 determines that the release instruction has been received (step S303: YES). At this time, the PC control unit 62 restarts the data transmission related to the firmware version upgrade, which has been temporarily suspended (step S304).

After the release instruction data is transmitted in step S204, or when the data received in step S201 is not the operation instruction data, the CPU 351 executes the process corresponding to the received instruction data after the reception of such instruction data is completed. Step S205).

Since the control system 100 according to the present embodiment has the above configuration, the user (sub-control device 10) gives an instruction requiring quick responsiveness such as a stop operation instruction for stopping the movement in the positioning of the robot 40. In this case, another device (data processing device 60) interrupts the transmission of data, so that the stop operation instruction from the robot control device 35 can be preferentially received. Therefore, it is possible to quickly respond to an instruction that requires urgent or quick response.

In the above, it has been described that when the stop operation instruction data is received from the sub control device 10, the robot control device 35 transmits the restriction instruction data to the data processing device 60, but the present embodiment is limited to this. Not a thing. When the first control device 31 and the second control device 51 receive the stop operation instruction data from the sub control device 10, the first control device 31 and the second control device 51 may have a configuration in which the restriction instruction data is transmitted to the data processing device 60.

The same parts as those in the first and second embodiments are designated by the same reference numerals, and detailed description thereof will be omitted.

(Embodiment 4)
Since the control system 100 according to the fourth embodiment has the same configuration as that of the second embodiment, detailed description of the overlapping portion will be omitted.
FIG. 9 is a functional block diagram showing a main configuration of a first control unit 33 of the first control device 31 in the control system 100 according to the present embodiment.

The first control unit 33 includes a CPU 331, a storage unit 332, a stop instruction determination unit 333, and a restriction instruction unit 334.

The CPU 331 executes a control program stored in advance, and controls the various hardware in the machining work of the work in the first machine tool 30 and the like.

The storage unit 332 is, for example, a non-volatile storage medium such as a flash memory, EEPROM (registered trademark), HDD, MRAM (magnetoresistive memory), FeRAM (ferroelectric memory), or OUM. The storage unit 332 stores, for example, a control program for machining a work in the first machine tool 30.

The stop instruction determination unit 333 determines whether or not the operation instruction data representing the operation instruction related to the machining work of the work of the first machine tool 30 has been received from the sub-control device 10. For example, the stop instruction determination unit 333 determines whether or not the stop operation instruction data indicating the stop operation instruction for stopping the work has been received in the machining work of the work in the first machine tool 30.
Specifically, information indicating that the transmission data is the stop operation instruction data is added to the preamble or header of the stop operation instruction data (data frame) sent by the sub control device 10 to the first control device 31. The stop instruction determination unit 333 monitors the preamble and header of the data frame from the sub-control device 10 and makes the determination.

When the limit instruction unit 334 determines that the stop instruction determination unit 333 has received the stop operation instruction data from the sub control device 10, the limit instruction unit 334 attaches the own device to another device other than the sub control device 10 which is connected to the own device. A restriction instruction to reduce the amount of transmission data to be transmitted is transmitted. That is, when the stop operation instruction data is received from the sub-control device 10, the restriction instruction unit 334 transmits the restriction instruction data representing the restriction instruction to the data processing device 60.
When the data processing device 60 receives such restriction instruction data, the data processing device 60 reduces the amount of data to be transmitted to the first control device 31, divides the data, and transmits the data at predetermined intervals.

FIG. 10 is a functional block diagram showing a main configuration of a PC control unit 62 of the data processing device 60 in the control system 100 according to the present embodiment.

The PC control unit 62 includes a CPU 621, a ROM 622, a RAM 623, a restriction instruction determination unit 624, and a division unit 625.

The ROM 622 stores basically fixed data among various control programs and parameters for calculation in advance, and the RAM 623 temporarily stores the data and can read it regardless of the storage order, storage position, etc. It is possible. Further, the RAM 623 stores, for example, a program read from the ROM 622, various data generated by executing the program, parameters that change appropriately during the execution, and the like.

The CPU 621 controls the various hardware described above by loading and executing the control program stored in advance in the ROM 622 on the RAM 623, and operates the entire device as the PC control unit 62 according to the present embodiment.

The restriction instruction determination unit 624 determines whether or not the restriction instruction data has been received from the first control device 31, the second control device 51, or the robot control device 35. Such a determination is performed by the restriction instruction determination unit 624 monitoring the communication unit 63.

When the restriction instruction determination unit 624 determines that the restriction instruction data has been received, the division unit 625 limits the data to be transmitted to the transmission source of the restriction instruction data thereafter. For example, when the restriction instruction data is received from the first control device 31, the division unit 625 reduces the amount of data transmitted to the first control device 31 to a plurality of portions than before receiving the restriction instruction data. To divide. A predetermined threshold value may be set and divided into less than or equal to such a threshold value. Hereinafter, the data divided in this way is referred to as divided data. Further, the division unit 625 transmits the division data to the first control device 31 at predetermined intervals.

FIG. 11 is a flowchart illustrating processing between the first control device 31 and the data processing device 60 in the control system 100 according to the present embodiment.

For example, the data processing device 60 (PC control unit 62) transmits data related to the parameter change of the setting to the first control device 31 (step S501), and the first control unit 33 receives the data via the communication unit 34.

At this time, the stop instruction determination unit 333 determines whether or not the received data is the operation instruction data (step S401). When the stop instruction determination unit 333 determines that the received data is not the operation instruction data (step S401: NO), the process proceeds to step S405.

On the other hand, when the stop operation instruction data is received from the sub-control device 10, the stop instruction determination unit 333 determines that the received data is the operation instruction data (step S401: YES), and the restriction instruction unit 334 limits the data. The instruction data is transmitted to the data processing device 60 (step S402). Such restriction instruction data represents a restriction instruction to divide the data to be transmitted and transmit the divided data in which the amount of data is reduced at predetermined intervals.

The PC control unit 62 receives the restriction instruction data from the first control device 31 via the communication unit 63, and the division unit 625 receives the data to be transmitted to the first control device 31 such restriction instruction data. It is divided into a plurality of parts smaller than the previous one (step S502). Then, the division unit 625 transmits such division data to the first control device 31 at predetermined intervals (step S503).

After that, in the first control device 31, the CPU 331 monitors the communication unit 34 to determine whether or not the end instruction data has been received from the sub control device 10 (step S403).

When the CPU 331 determines that the end instruction data has not been received (step S403: NO), the CPU 331 repeats such determination until it determines that the end instruction data has been received. Further, when the sub-control device 10 transmits the end instruction data to the first control device 31, the CPU 331 determines that the end instruction data has been received (step S403: YES). At this time, the CPU 331 transmits to the data processing device 60 a release instruction for canceling the transmission of the divided data at predetermined intervals. That is, the CPU 331 transmits the release instruction data representing the release instruction to the data processing device 60 via the communication unit 34 (step S404).

On the other hand, in the PC control unit 62, after starting to transmit the divided data at predetermined intervals, the CPU 621 determines whether or not the release instruction is received from the first control device 31 (step S504).

When the CPU 621 determines that the release instruction has not been received (step S504: NO), the CPU 621 repeats such a determination until it determines that the release instruction has been received. Further, when the first control device 31 transmits the release instruction data to the data processing device 60, the CPU 621 determines that the release instruction has been received (step S504: YES). At this time, the CPU 621 performs normal data transmission in the same manner as before the reception of such restriction instruction data (step S505). That is, the same amount of data as before the restriction instruction data was received in step S502 is continuously transmitted to the first control device 31.

After the release instruction data is transmitted in step S404, or when the data received in step S401 is not the operation instruction data, the CPU 331 executes the process corresponding to the received instruction data after the reception of such instruction data is completed. Step S405).

Since the control system 100 according to the fourth embodiment has the above configuration, the user (sub-control device 10) gives an instruction requiring quick reactivity such as a stop operation instruction for urgently stopping the machining work of the work. In this case, the communication band between the sub-control device 10 and the first machine tool 30 in the relay device 20 can be widened and secured. Further, at this time, since the PC control unit 62 transmits the divided data at a predetermined interval, the sub-control device 10 gives an instruction to the first machine tool 30 for urgent or quick reactivity during such an interval. You can also do it. Therefore, it is possible to quickly respond to an instruction that requires urgent or quick response.

In the above, the process with and from the PC control unit 62 has been described by taking the first control device 31 (first control unit 33) as an example, but the present embodiment is not limited to this. Needless to say, the same applies to the second control device 51 (second control unit 53). Further, the robot control device 35 may be configured to have the same configuration as the first control device 31 (first control unit 33).

The same parts as those in the first to third embodiments are designated by the same reference numerals, and detailed description thereof will be omitted.

In the above, the case where the first machine tool 30 is provided with both the first control device 31 and the robot control device 35 has been described as an example, but the present embodiment is not limited to this. The first machine tool 30 may be provided with both the first control device 31 and the second control device 51.

The above-mentioned determination unit 133, operation instruction unit 134, discard instruction unit 135, stop instruction determination unit 353, restriction instruction unit 354, stop instruction determination unit 333, restriction instruction unit 334, restriction instruction determination unit 624, and division unit 625 , It may be configured by hardware logic, or it may be constructed by software by the CPU 131, 351, 331, 621 executing a predetermined program.

10 Sub-control device 11 Display unit 20 Relay device 30 1st machine tool 31 1st control device 35 Robot control device 40 Robot 50 2nd machine tool 51 2nd control device 100 Control system 134 Operation instruction unit 135 Discard instruction unit 334 Restriction instruction Part 625 Divided part

Claims (13)

In a control system including a first control device and a second control device that control a first machine and a second machine that perform an operation in which an axis moves, respectively.
The sub-control device that controls the first machine and the second machine,
The sub-control device is provided with a relay device for connecting the first control device and the second control device .
The sub-control device
An operation instruction unit that transmits an operation instruction for axis movement to the first control device or the second control device, and
When the operation instruction is transmitted, the discard instruction unit for transmitting the discard instruction for discarding the data received from the other device to the first control device or the second control device is used.
Control system according to claim Rukoto equipped with. In a control system including a first control device and a second control device that control a first machine and a second machine that perform an operation in which an axis moves, respectively.
The sub-control device that controls the first machine and the second machine,
A relay device that connects the sub-control device, the first control device, and the second control device,
It is connected to the relay device and includes a data processing device that transmits / receives data to / from the first control device or the second control device.
The first control device and the second control device
A control system characterized in that, when an operation instruction for axis movement is received from the sub-control device, the data processing device includes a restriction instruction unit for transmitting a restriction instruction for restricting data transmission. The control system according to claim 1 or 2 , wherein the sub-control device includes a display unit that displays data received from the first control device or the second control device. The control system according to claim 2 , wherein the restriction instruction unit transmits the restriction instruction instructing the interruption of data transmission to the data processing device. The control system according to claim 2 , wherein the restriction instruction unit transmits the restriction instruction for instructing a reduction in the amount of data to be transmitted to the data processing device. The data processing device is
When the restriction instruction is received
The control system according to claim 5 , further comprising a dividing unit that divides data to be transmitted and transmits the data at predetermined intervals. The second machine is an arm robot.
The sub-control device performs positioning related to the operation of the arm robot, and performs positioning.
The control system according to any one of claims 1 to 6 , wherein the operation instruction includes a stop instruction in the positioning. The first machine is a machine tool and
The sub-control device gives an instruction related to the machining work with the machine tool, and
The control system according to any one of claims 1 to 6 , wherein the operation instruction includes a stop instruction in the processing work. In the first control device of the first machine that moves the shaft or the sub-control device that controls the first machine or the second machine by connecting to the second control device of the second machine that moves the shaft. ,
A communication unit connected to the first control device and the second control device via a relay device ,
An operation instruction unit that transmits an operation instruction for axis movement to the first control device or the second control device, and
A sub-control device including a discard instruction unit that transmits a discard instruction for discarding data received from another device to the first control device or the second control device when transmitting the operation instruction. The sub-control device according to claim 9 , further comprising a display unit that displays data received from the first control device or the second control device. The second machine is an arm robot.
Positioning related to the operation of the arm robot is performed.
The sub-control device according to claim 9 or 10 , wherein the operation instruction includes a stop instruction in the positioning. The first machine is a machine tool and
Give instructions related to the processing work with the machine tool,
The sub-control device according to claim 9 or 10 , wherein the operation instruction includes a stop instruction in the processing operation. The first control device of the first machine that moves the shaft or the second control device of the second machine that moves the shaft and the sub-control device connected via the relay device, the first machine or In the control method for controlling the second machine,
A step of transmitting an operation instruction of axis movement to the first control device or the second control device, and
A control method comprising a step of transmitting a discard instruction for discarding data received from another device to the first control device or the second control device when transmitting the operation instruction.

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