JP7294085B2 - Control system, control device and control method - Google Patents

Description

The present invention relates to a control system, control device and control method.

Conventionally, in the FA (Factory Automation) field, a system configuration in which a control device such as a PLC (Programmable Logic Controller) and a robot are combined is known.

For example, Japanese Patent Laying-Open No. 62-175808 (Patent Document 1) discloses a robot control device that uses an image processing device, which is a visual sensor, to control an industrial robot. Japanese Patent Laying-Open No. 61-208103 (Patent Document 2) describes a control device for controlling a controlled mechanism such as a robot and robot peripherals, and an input/output device such as a printer in a total manner. Disclosed is a configuration in which a function for analyzing and executing a unified control language for an input/output device is provided, and a control device for controlling each controlled object is standardized. Japanese Patent Laying-Open No. 2000-010616 (Patent Document 3) discloses a robot control system capable of high-speed execution of a user program for an industrial robot.

Also, there is a well-known configuration for compensating for delays occurring in motors and robots.
For example, Japanese Patent Application Laid-Open No. 2009-169468 (Patent Document 4) describes the delay from the start time and the execution start time to the start time of the processing cycle for generating the position command after detecting the start signal as the delay time. Based on the delay time, a configuration is disclosed in which a position command is generated so as to approximate the ideal position command starting from the time when the activation signal is detected. Japanese Patent Laying-Open No. 2017-68353 (Patent Document 5) discloses a numerical control system capable of maintaining synchronization accuracy particularly in synchronization control between numerical controllers.

JP-A-62-175808 JP-A-61-208103 Japanese Patent Application Laid-Open No. 2000-010616 JP 2009-169468 A JP 2017-68353 A

The above prior art documents merely disclose individual configurations such as a configuration in which a control device controls a motor or a configuration in which a control device controls a robot. An object of the present invention is to provide a configuration that can more easily realize more complicated control than such a conventional configuration.

A control system according to an embodiment of the present invention includes a control device for controlling a controlled object, and a network for connecting sensors, motor drivers and robots to the control device. The control device includes a state value acquisition unit that collects state values from sensors at predetermined intervals, a command transmission unit that generates command values at predetermined intervals according to motion commands and sends them to the motor driver, and is written in a predetermined programming language. and a command transmission unit that interprets the program that has been written, generates commands, and sequentially transmits the commands to the robot.

According to this configuration, the motor driver and the robot connected on the same network can be controlled by the same control device, so that more complicated control can be realized more easily.

The control system further includes a synchronization adjustment unit that changes at least one of transmission of command values by the command transmission unit and transmission of commands by the command transmission unit so that driving of the motor by the motor driver and operation of the robot are synchronized. may contain. According to this configuration, the motor by the motor driver and the robot can be operated in more accurate synchronization.

The synchronization adjustment section may delay transmission of the command value by the command transmission section. According to this configuration, it is possible to absorb the delay caused by the robot processing the command.

The synchronization adjustment unit sets at least a first timing at which the motor driver should start processing the command value transmitted by the command transmission unit and a second timing at which the robot should start processing the command transmitted by the command transmission unit. One may be appended to the transmitted command. According to this configuration, it is possible to specify the timing to start processing in each of the motor driver and the robot, so that the synchronization of operations can be reliably realized.

The synchronization adjustment section may change at least one of transmission of the command value by the command transmission section and transmission of the command by the command transmission section in consideration of the time required for transmission of the command by the command transmission section. According to this configuration, it is possible to absorb synchronization deviation caused by the time required for the command transmission unit to transmit the command.

The robot may act according to the result of interpreting the commands. The synchronization adjustment section may change at least one of transmission of the command value by the command transmission section and transmission of the command by the command transmission section, taking into account the time required for the robot to interpret the command. According to this configuration, it is possible to absorb synchronization deviation caused by the time required for the robot to interpret commands.

The control system further includes a setting receiver that receives settings for the motor drivers and the robot whose motions must be synchronized. According to this configuration, it is possible to easily set the target to be synchronously operated.

At least one of a safety controller that performs safety control and a visual sensor that performs recognition processing on a captured image and outputs a recognition result is connected to the network. According to this configuration, in addition to the motor driver and the robot, it is possible to realize integrated control including the safety controller and the visual sensor.

According to another embodiment of the present invention, a control device for controlling a controlled object comprises a network interface for exchanging data between a sensor, a motor driver, and a robot via a network; a state value acquisition unit that collects state values from the motion command, a command transmission unit that generates command values at predetermined intervals according to motion commands and transmits them to the motor driver, and a command that interprets a program written in a predetermined programming language. and a command sending unit for generating and sequentially sending to the robot.

According to still another embodiment of the present invention, there is provided a control method in a control system including a control device for controlling a controlled object. Sensors, motor drivers, and robots are connected to the controller via a network. The control method is described in a predetermined programming language by the step of the control device collecting state values from sensors at predetermined intervals, the steps of generating command values at predetermined intervals according to motion instructions and transmitting them to the motor driver. and interpreting the received program to generate commands and sequentially transmit them to the robot.

ADVANTAGE OF THE INVENTION According to this invention, the structure which can implement|achieve more complicated control more easily can be provided.

FIG. 2 is a schematic diagram showing an application example of the control system according to the present embodiment; FIG. 1 is a schematic diagram showing a configuration example of a control system according to an embodiment; FIG. FIG. 2 is a schematic diagram showing a hardware configuration example of a control device that configures the control system according to the present embodiment; FIG. 2 is a schematic diagram showing a hardware configuration example of a support device that configures the control system according to the present embodiment; FIG. 2 is a schematic diagram showing a hardware configuration example of a servo driver and a servo motor that configure the control system according to the present embodiment; 1 is a schematic diagram showing a hardware configuration example of an industrial robot that constitutes a control system according to an embodiment; FIG. FIG. 2 is a schematic diagram showing a hardware configuration example of a safety controller that configures the control system according to the present embodiment; FIG. 2 is a schematic diagram showing a hardware configuration example of a safety controller that configures the control system according to the present embodiment; FIG. 3 is a schematic diagram showing a hardware configuration example of an IO unit that configures the control system according to the embodiment; FIG. 4 is a diagram for explaining processing of a motion command by the control device according to the embodiment; FIG. 4 is a diagram for explaining processing of a robot program by the control device according to the embodiment; It is a figure for demonstrating an example of the cyclic processing by the control apparatus which concerns on this Embodiment. FIG. 5 is a diagram for explaining an example of a delay time required by the control device according to the embodiment to start an actuator operation; FIG. 3 is a schematic diagram showing a main part of a functional configuration related to realizing synchronous operation of actuators by the control device according to the present embodiment; FIG. 4 is a diagram for explaining an implementation example for realizing synchronous operation of actuators in the control system according to the present embodiment; 4 is a flow chart showing a processing procedure in a control device for realizing synchronous operation of actuators in the control system according to the present embodiment; FIG. 7 is a diagram for explaining another implementation example for realizing synchronous operation of actuators in the control system according to the present embodiment; 9 is a flowchart showing another processing procedure in the control device for realizing synchronous operation of the actuators in the control system according to the present embodiment; FIG. 4 is a schematic diagram showing an example of a user interface provided in the support device of the control system according to the embodiment; 4 is a time chart for explaining synchronous operation including input and output in the control system according to the embodiment; FIG. 5 is a schematic diagram showing another example of a user interface provided in the support device of the control system according to the present embodiment; FIG. 5 is a schematic diagram showing an example of a user interface screen for setting input devices and actuators to be synchronously operated provided in the support device of the control system according to the present embodiment;

Embodiments of the present invention will be described in detail with reference to the drawings. The same or corresponding parts in the drawings are given the same reference numerals, and the description thereof will not be repeated.

<A. Application example>
First, an example of a scene to which the present invention is applied will be described. In the control system 1 according to the present embodiment, one control device can integrate and control various devices.

FIG. 1 is a schematic diagram showing an application example of a control system 1 according to this embodiment. FIG. 1 shows an example in which a custom robot 540 and an industrial robot 600 are synchronously packed into a box 40 with workpieces 42 . More specifically, the work 42 is conveyed while being sucked by the suction part 44 provided at the tip of the custom robot 540, and placed inside the box 40 prepared in advance. After the work 42 is placed inside the box 40 by the custom robot 540, the industrial robot 600 performs lid tightening, adhesion, and destination labeling of the box 40. FIG.

A visual sensor 800 (which constitutes a camera) is arranged near the custom robot 540. By performing recognition processing on the image captured by the camera, the position of the box 40, the state of the workpiece 42, etc. are detected. identified.

The custom robot 540 is a robot arbitrarily created according to the application, and has, for example, one or more servomotors 550 and a link mechanism 46 mechanically coupled to each servomotor 550 . The number of servo motors 550, the structure of the link mechanism 46, and the like are arbitrarily designed according to the application.

The industrial robot 600 is, for example, a vertical articulated robot, and has a plurality of shafts 30 corresponding to joints. Can be placed in any position and any posture. A force sensor 950 is arranged near the hand 32 to detect the force applied by the hand 32 to the workpiece 42 or the box 40, and execute processing according to the detected force.

A restricted area (robot movable area) (not shown) is defined around the custom robot 540 and the industrial robot 600, and safety devices such as light curtains are arranged to detect human intrusion into this area. When the safety device detects human intrusion and determines that safety cannot be maintained, the safety controller slows down or stops the custom robot 540 or the industrial robot 600 .

Note that the control system 1 shown in FIG. 1 can be applied to any application.
The control system 1 according to the present embodiment can control an application in which a plurality of devices are combined as shown in FIG. 1 with a single control device.

FIG. 2 is a schematic diagram showing a configuration example of the control system 1 according to this embodiment. A configuration example of the control system 1 according to the present embodiment will be described with reference to FIG.

The control system 1 is an integrated system that controls various devices with one control device. More specifically, the control system 1 includes a control device 100 for realizing integrated control. The control device 100 is a device for controlling a controlled object, and typically uses a PLC (Programmable Logic Controller). More specifically, control device 100 includes arithmetic unit 101 and one or more expansion units 130 .

The control system 1 further includes one or more devices connected to the control device 100 via a field network 20 that is an industrial network. EtherCAT (registered trademark) may be adopted as an example of the protocol of the field network 20 .

In field network 20, control device 100 functions as a communication master, and other devices function as communication slaves. Therefore, devices connected to the control device 100 via the field network 20 are sometimes called "slave devices". Each of the control device 100 and slave devices connected to the field network 20 has a counter synchronized with the communication master, and can be controlled synchronously based on this counter. The details of this synchronous control will be described later.

2 includes a servo driver 500, which is an example of a motor driver, an industrial robot 600, a safety controller 700, a visual sensor 800, and an IO unit 900, as an example of such a slave device. A safety device 750 such as a light curtain is electrically connected to the safety controller 700, and an arbitrary sensor such as a force sensor 950 and/or an arbitrary device such as a relay (not shown) is connected to the IO unit 900. actuators are electrically connected.

Thus, the control system 1 includes the field network 20 as a network for connecting arbitrary sensors such as the force sensor 950 , motor drivers and robots to the control device 100 . Further, the field network 20 includes a safety controller 700 for executing safety control, a visual sensor 800 for performing recognition processing on a captured image and outputting a recognition result, an input of a signal from the sensor, and an actuator. At least one of the IO unit 900, which is an example of an input/output device responsible for at least one of outputting signals to, may be connected.

Control device 100 is further connected to support device 200 , display device 300 , and server device 400 via host network 12 . The upper network 12 may implement a branched topology using the network hub 10 . Industrial Ethernet (registered trademark) such as EtherNet/IP may be adopted as an example of the protocol of the upper network 12 .

Thus, according to the present embodiment, it is possible to provide an integrated control system 1 that controls various devices with one control device.

<B. Hardware configuration example>
Next, an example of the hardware configuration of each device constituting the control system 1 according to the present embodiment will be described.

(b1: control device 100)
FIG. 3 is a schematic diagram showing a hardware configuration example of the control device 100 that configures the control system 1 according to the present embodiment. Referring to FIG. 3, arithmetic unit 101 of control device 100 includes processor 102, main memory 104, storage 110, host network controller 106, field network controller 108, and USB (Universal Serial Bus) controller 120. , a memory card interface 112 and a local bus controller 116 . These components are connected via processor bus 118 .

The processor 102 corresponds to an arithmetic processing unit that executes control arithmetic, and includes a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), and the like. Specifically, the processor 102 reads out the program stored in the storage 110, develops it in the main memory 104, and executes it, thereby realizing control calculation according to the control target and various processes described later. do.

The main memory 104 is composed of a volatile storage device such as a DRAM (Dynamic Random Access Memory) or an SRAM (Static Random Access Memory). The storage 110 is configured by, for example, a non-volatile storage device such as SSD (Solid State Drive) or HDD (Hard Disk Drive).

The storage 110 stores a system program 1102 for realizing basic functions, a user program 1104 created according to the object to be controlled, and the like. User program 1104 may include sequence instructions 1105 and motion instructions 1106 . These instructions may typically be created in a format compliant with IEC61131-3. The robot program 1108 may be written in a predetermined programming language (for example, a programming language dedicated to robot control such as V+ language, or a programming language related to NC control such as G code).

Since the controller 100 can refer to any information via a slave device connected to the field network 20, the user program 1104 includes interlock processing for the industrial robot 600, positioning processing for the servo driver 500, force A process of determining a command value for the industrial robot 600 and/or the servo driver 500 based on the amount detected by the sensor 950 can be included.

The host network controller 106 exchanges data with any information processing device via the host network.

Field network controller 108 exchanges data with arbitrary devices via field network 20 . In other words, field network controller 108 corresponds to a network interface that exchanges data with servo driver 500 and industrial robot 600 via field network 20 . A field network controller 108 has a counter 109 synchronized with other devices. In the configuration shown in FIG. 3 , field network controller 108 functions as a communication master for field network 20 .

The USB controller 120 exchanges data with the support device 200 or the like via a USB connection.

Memory card interface 112 accepts memory card 114, which is an example of a removable storage medium. The memory card interface 112 is capable of reading/writing arbitrary data from/to the memory card 114 . The memory card 114 stores, for example, a robot program 1108 for operating the industrial robot 600 and the like.

Local bus controller 116 exchanges data with optional expansion units 130 that make up control device 100 via local bus 122 . Local bus controller 116 has a counter 117 synchronized with expansion unit 130 . In the configuration shown in FIG. 3, local bus controller 116 functions as a communication master for local bus 122 .

The expansion unit 130 is mainly a functional unit that exchanges signals with field devices. It consists of a digital IO unit, a counter unit that receives pulses from an encoder, and so on.

(b2: support device 200)
FIG. 4 is a schematic diagram showing a hardware configuration example of the support device 200 that configures the control system 1 according to this embodiment. Support device 200 is implemented, for example, using hardware (for example, a general-purpose personal computer) conforming to a general-purpose architecture.

4, support device 200 includes processor 202, main memory 204, input unit 206, output unit 208, storage 210, optical drive 212, USB controller 220, and communication controller 222. include. These components are connected via processor bus 218 .

The processor 202 is composed of a CPU, a GPU, or the like, and reads out a program (for example, an OS 2102 and a development program 2104) stored in the storage 210, develops it in the main memory 204, and executes it to perform various functions as described later. Realize processing.

The main memory 204 is composed of a volatile memory device such as DRAM and SRAM. The storage 210 is configured by, for example, a non-volatile storage device such as an HDD or SSD.

The storage 210 stores an OS 2102 for realizing basic functions, a development program 2104 for realizing an integrated development environment, and the like.

The support device 200 provides an integrated development environment capable of integrally creating settings for each device included in the control system 1 and programs to be executed by each device. In the integrated development environment, it is possible to create and debug programs directed to the control device 100, the servo driver 500, the industrial robot 600, the safety controller 700, the visual sensor 800, and the like.

An input unit 206 includes a keyboard, a mouse, and the like, and receives user operations. An output unit 208 includes a display, various indicators, a printer, and the like, and outputs processing results from the processor 202 and the like.

The USB controller 220 exchanges data with the control device 100 or the like via a USB connection. The communication controller 222 exchanges data with any information processing device via the host network 12 .

The support device 200 has an optical drive 212, in which a computer-readable program can be transferred from a storage medium 214 (for example, an optical storage medium such as a DVD (Digital Versatile Disc)) that stores a computer-readable program in a non-transitory manner. The stored program is read and installed in the storage 210 or the like.

The development program 2104 and the like executed by the support device 200 may be installed via the computer-readable storage medium 214, or may be installed by being downloaded from a server device or the like on the network. Also, the functions provided by the support device 200 according to the present embodiment may be realized by using some of the modules provided by the OS.

Note that the support device 200 may be removed from the control device 100 while the control system 1 is in operation.

(b3: display device 300)
The display device 300 constituting the control system 1 according to the present embodiment is also called HMI (Human Machine Interface) or PT (Programmable Terminal), and provides a monitoring operation screen by referring to information held by the control device 100. At the same time, an instruction corresponding to the user's operation is sent to control device 100 .

Display device 300 is implemented, as an example, using hardware (for example, a general-purpose personal computer) conforming to a general-purpose architecture. A basic hardware configuration example is the same as the hardware configuration example of the support device 200 shown in FIG. 4, so a detailed description will not be given here.

(b4: server device 400)
The server device 400 that configures the control system 1 according to the present embodiment functions, for example, as a file server, a manufacturing execution system (MES), a production management system, and the like.

Server device 400 is implemented, as an example, using hardware (for example, a general-purpose personal computer) conforming to a general-purpose architecture. A basic hardware configuration example is the same as the hardware configuration example of the support device 200 shown in FIG. 4, so a detailed description will not be given here.

(b5: servo driver 500)
A servo driver 500 that configures the control system 1 according to the present embodiment drives an electrically connected servo motor 550 . The servo driver 500 is an example of a motor driver, and a motor driver different from the servo driver 500 may be employed. Similarly, the servomotor 550 is an example of a motor, and a motor different from the servomotor 550 (for example, an induction motor, a linear motor, etc.) may be employed. As the motor driver, a configuration corresponding to the motor to be driven can be adopted.

FIG. 5 is a schematic diagram showing a hardware configuration example of the servo driver 500 and the servo motor 550 that configure the control system 1 according to the present embodiment. Referring to FIG. 5, servo driver 500 includes field network controller 502 , arithmetic processing circuit 510 , drive circuit 530 and feedback receiving circuit 532 .

Field network controller 502 exchanges data with arbitrary devices via field network 20 . A field network controller 502 has a counter 503 synchronized with other devices.

The arithmetic processing circuit 510 executes arithmetic processing required to operate the servo driver 500 . As an example, processing circuitry 510 includes processor 512 , main memory 516 , and storage 520 . Processor 512 performs control operations for driving servo motor 550 .

The main memory 516 is composed of a volatile memory device such as DRAM and SRAM. The storage 520 is configured by, for example, a non-volatile storage device such as SSD or HDD.

The storage 520 stores a servo control program 5202 for realizing servo control, and setting information 5204 for defining processing in the servo driver 500 .

Drive circuit 530 includes a converter circuit, an inverter circuit, and the like, and according to instructions from arithmetic processing circuit 510 , generates power of specified voltage, current, and phase, and supplies it to servo motor 550 .

Feedback receiving circuit 532 receives a feedback signal from servo motor 550 and outputs the reception result to arithmetic processing circuit 510 .

Servo motor 550 typically includes a three-phase AC motor 552 and an encoder 554 attached to the rotating shaft of the three-phase AC motor 552 .

(b6: industrial robot 600)
Industrial robot 600 constituting control system 1 according to the present embodiment operates according to commands from control device 100 . Any general-purpose robot such as a vertical articulated robot, a horizontal articulated (scalar) robot, a parallel link robot, or an orthogonal robot may be used as the industrial robot 600, for example.

FIG. 6 is a schematic diagram showing a hardware configuration example of an industrial robot 600 that constitutes the control system 1 according to this embodiment. Referring to FIG. 6, industrial robot 600 includes a robot body 610 and a robot controller 650 that drives robot body 610 .

Robot controller 650 includes field network controller 652 and arithmetic processing circuit 660 .

Field network controller 652 exchanges data with arbitrary devices via field network 20 . Field network controller 652 has a counter 653 synchronized with other devices.

Arithmetic processing circuit 660 executes arithmetic processing necessary to drive robot main body 610 . As an example, processing circuitry 660 includes processor 662 , main memory 666 , storage 670 , and interface circuitry 668 . Processor 662 executes control operations for driving robot body 610 .

The main memory 666 is composed of a volatile storage device such as DRAM and SRAM. The storage 670 is composed of, for example, a non-volatile storage device such as an SSD or HDD.

The storage 670 stores a robot system program 6702 for realizing drive control of the robot and setting information 6704 for defining processing in the robot controller 650 .

The interface circuit 668 gives commands to drive circuits 680 that drive each axis.

Each of the drive circuits 680 includes a converter circuit, an inverter circuit, and the like, and according to commands from the interface circuit 668 , generates power of specified voltage, current, and phase, and supplies it to the servo motor 690 . The servomotor 690 is mechanically coupled to the arm portion of the robot body 610, and the rotation of the servomotor 690 drives the corresponding arm portion.

(b7: safety controller 700)
A safety controller 700 that configures the control system 1 according to the present embodiment executes safety control.

7 and 8 are schematic diagrams showing a hardware configuration example of the safety controller 700 that constitutes the control system 1 according to the present embodiment. Referring to FIG. 7, safety controller 700 includes communication interface unit 710 in charge of communication via field network 20, safety control unit 730 in charge of safety control, and one or more safety expansion units that connect safety components. 740.

Communication interface unit 710 is connected to safety control unit 730 and safety expansion unit 740 via local bus 760 .

Communication interface unit 710 includes processor 711 , main memory 712 , storage 713 , field network controller 714 , USB controller 716 and local bus controller 717 . These components are connected via processor bus 719 .

The processor 711 corresponds to an arithmetic processing unit that controls communication with the field network 20, and is composed of a CPU, GPU, or the like.

The main memory 712 is composed of a volatile memory device such as DRAM and SRAM. The storage 713 is configured by, for example, a non-volatile storage device such as a flash ROM, SSD, HDD, or the like.

Field network controller 714 exchanges data with arbitrary devices via field network 20 . Field network controller 714 has a counter 715 synchronized with other devices.

The USB controller 716 exchanges data with an information processing device such as the support device 200 via a USB connection.

Local bus controller 717 exchanges data with expansion units such as safety control unit 730 and safety expansion unit 740 via local bus 760 . The local bus controller 717 has a counter 718 which is synchronized with the counter 715 of the field network controller 714 .

Referring to FIG. 8A, safety control unit 730 includes processor 731 , main memory 732 , storage 733 and local bus controller 738 . These components are connected via processor bus 737 .

The processor 731 corresponds to a calculation processing unit that executes control calculations related to safety control, and is composed of a CPU, a GPU, or the like.

The main memory 732 is composed of a volatile memory device such as DRAM and SRAM. The storage 733 is composed of, for example, a non-volatile storage device such as a flash ROM, SSD, HDD, or the like.

The storage 733 contains setting information 734 for defining processing in the safety control unit 730, a safety program 735 created according to required safety functions, and a system program 736 for realizing basic functions. Stored.

Local bus controller 738 transfers data to and from communication interface unit 710 via local bus 760 . Local bus controller 738 has a counter 739 which is synchronized with counter 718 of local bus controller 717 of communication interface unit 710 .

Referring to FIG. 8B, safety expansion unit 740 includes processor 741 , main memory 742 , safety IO module 743 and local bus controller 748 . These components are connected via processor bus 747 .

The processor 741 corresponds to a calculation processing unit that executes control calculations related to safety control, and is composed of a CPU, a GPU, or the like.

The main memory 742 is composed of a volatile memory device such as DRAM and SRAM.
The safety IO module 743 is electrically connected to the safety device 750 , receives inputs such as detection results from the safety device 750 , and outputs power via the safety device 750 .

Local bus controller 748 transfers data to and from communication interface unit 710 via local bus 760 . Local bus controller 748 has a counter 749 which is synchronized with counter 718 of local bus controller 717 of communication interface unit 710 .

Furthermore, data can be exchanged between the safety control unit 730 and the safety expansion unit 740 via the local bus 760 and the communication interface unit 710, respectively. That is, the safety control unit 730 can refer to the safety input data input to the safety extension unit 740 when executing the safety program 735, and outputs the safety output data determined by the execution of the safety program 735 from the safety extension unit 740. can.

(b8: visual sensor 800)
The visual sensor 800 that constitutes the control system 1 according to the present embodiment executes predetermined recognition processing on an image captured by a camera and outputs the recognition result.

Visual sensor 800 is implemented, for example, using hardware (for example, a general-purpose personal computer) following a general-purpose architecture. A basic hardware configuration example is the same as the hardware configuration example of the support device 200 shown in FIG. 4, so a detailed description will not be given here. Further, since various recognition processes executed by the visual sensor 800 are also known, detailed description thereof will not be given here.

(b9: IO unit 900)
IO unit 900 that configures control system 1 according to the present embodiment receives signals from arbitrary sensors such as force sensor 950 and outputs commands to arbitrary actuators such as relays (not shown).

FIG. 9 is a schematic diagram showing a hardware configuration example of an IO unit 900 that configures the control system 1 according to this embodiment. Referring to FIG. 9, IO unit 900 includes field network controller 902 and arithmetic processing circuit 910 .

Field network controller 902 exchanges data with arbitrary devices via field network 20 . A field network controller 902 has a counter 903 synchronized with other devices.

The arithmetic processing circuit 910 executes arithmetic processing necessary for realizing the functions of the IO unit 900 . As an example, arithmetic processing circuit 910 includes processor 912 , main memory 916 , and ROM 920 . Processor 912 performs the control operations necessary to implement the functionality of IO unit 900 .

A main memory 916 is composed of a volatile storage device such as a DRAM or an SRAM. Firmware 922 for implementing the functions of the IO unit 900 is stored in the ROM 920 .

Interface circuit 930 exchanges signals with any sensor, such as force sensor 950, and/or any actuator.

(b10: other forms)
3 to 9 show configuration examples in which one or more processors execute programs to provide necessary functions. It may be implemented using a hardware circuit (for example, ASIC (Application Specific Integrated Circuit) or FPGA (Field-Programmable Gate Array)).

Also, the main part of the control device 100 and/or the safety controller 700 may be realized using hardware following a general-purpose architecture (for example, an industrial personal computer based on a general-purpose personal computer). In this case, virtualization technology may be used to execute a plurality of OSs with different purposes in parallel, and necessary applications may be executed on each OS. Furthermore, a configuration in which functions such as the support device 200 and the display device 300 are integrated into the control device 100 may be adopted.

<C. Synchronous Operation of Actuators in Control System 1>
When EtherCAT is adopted as the field network 20, communication frames containing command values and input values cyclically circulate between devices. By using this communication frame, command values directed to different devices and stored in the same communication frame sent from the control device 100 are reflected in each device at substantially the same timing.

However, the industrial robot 600 often has its own command interface. Therefore, there is a possibility that strict synchronization between the servo driver 500 or various mechanisms configured by the servo driver 500 and the industrial robot 600 cannot be realized. The control system 1 according to the present embodiment can realize more strictly synchronous operation including the industrial robot 600 having its own command interface.

First, processing of motion instructions 1106 and processing of robot program 1108 will be described.

FIG. 10 is a diagram for explaining processing of motion command 1106 by control device 100 according to the present embodiment. FIG. 10A shows an example of motion instructions 1106 included in a user program 1104 executed by the control device 100. FIG. The motion instructions 1106 shown in FIG. 10A are drawn in function block format, but are not limited to this and can be defined in any format. The control device 100 processes the motion command 1106 in the following procedure.

That is, referring to FIG. 10B, when motion command execution instruction 141 is given, motion command interpretation 140 is executed for motion command 1106 . A target trajectory generation process 142 is executed based on the interpreted result. That is, a target trajectory is generated that defines the relationship between time and position that the target axis (typically, the target servo driver 500) should move. Based on the generated target trajectory, command value determination processing 144 is executed in each control cycle. As a result, a command value (typically, a position command or a speed command for each control cycle) to be given to the target servo driver 500 can be determined for each control cycle.

FIG. 11 is a diagram for explaining the processing of robot program 1108 by control device 100 according to the present embodiment. Referring to FIG. 11, program interpretation 146 is executed for robot program 1108 in controller 100 . Command generation processing 148 is executed based on the interpreted result. A command generation process 148 generates commands that can be interpreted by the robot controller 650 . The generated command is transmitted to robot controller 650 via field network 20 .

In robot controller 650 , command interpretation 672 is performed on commands sent from controller 100 . A target trajectory generation process 674 is executed based on the interpreted result. That is, the industrial robot 600 operates according to the result of interpreting the transmitted command.

More specifically, a target trajectory is generated that defines the relationship between time and position to which each of the axes 30 of the industrial robot 600 should move. Based on the generated target trajectory, command value determination processing 676 is executed in each control cycle. As a result, a command value (typically, a position command or a speed command for each control cycle) to be given to the drive circuit 680 of the industrial robot 600 can be determined for each control cycle.

As shown in FIG. 10, when the motion command 1106 included in the user program 1104 is used to control the servo driver 500 or the like, the command value for each control cycle can be determined in the control device 100, and the target value is directly transmitted via the field network 20. can be sent to the servo driver 500. Then, the servo driver 500 operates according to the command value.

On the other hand, as shown in FIG. 11 , when the robot program 1108 controls the industrial robot 600 , a command directed to the target industrial robot 600 is generated from the control device 100 . After the generated command is sent to the industrial robot 600, the industrial robot 600 generates a target trajectory and starts moving. Further, exchange of commands between the control device 100 and the industrial robot 600 usually requires a plurality of communication frames.

As described above, the servo driver 500 or various mechanisms configured by the servo driver 500 are different because the methods of exchanging commands between the control device 100 and the actuators (the servo driver 500 and the industrial robot 600) are different. , there is a possibility that strict synchronization with the industrial robot 600 cannot be achieved.

The control device 100 according to the present embodiment provides a mechanism that realizes more strictly synchronous operation even if actuators with different methods of exchanging commands exist in the same field network 20.

FIG. 12 is a diagram for explaining an example of cyclic processing by control device 100 according to the present embodiment. FIG. 12 shows an example in which a plurality of tasks are set according to priority in the control device 100 . More specifically, a high-priority task that is cyclically executed every control period T1 and a low-priority task that has an application execution period T2 (>T1) are set.

The high-priority tasks include communication frame transmission processing 150 (O/I/Com) for transmitting and receiving communication frames over the field network 20, user program execution processing 152 for executing the user program 1104, and motion command processing 1106. A process 154 and a robot process 156 are set up to process commands generated from the robot program 1108 .

The communication frame transmission processing 150 stores the command value (output data) calculated by the processing executed in the immediately preceding control cycle in the communication frame and transmits it, and acquires the input data stored in the communication frame by each slave device. process is executed. Furthermore, in the communication frame transmission processing 150, transmission/reception processing of commands exchanged with the industrial robot 600 is also executed.

Motion processing 154 includes motion instruction interpretation 140, target trajectory generation processing 142, and command value determination processing 144 shown in FIG. Robot processing 156 includes command generation processing 148 shown in FIG.

A robot program interpretation process 158 for interpreting the robot program 1108 and generating commands is set for the low priority task. Robot program interpretation processing 158 includes program interpretation 146 shown in FIG. Commands generated by robot program interpretation processing 158 are written to buffer 159 in sequence. The commands written in the buffer 159 are sequentially read in the robot processing 156 and sent to the target industrial robot 600 .

In this way, the controller 100 executes multiple tasks with different cycles to control slave devices according to the user program 1104 (which may include sequence instructions 1105 and motion instructions 1106) and to control the industrial device according to the robot program 1108. The control of the robot 600 for use is realized.

13A and 13B are diagrams for explaining an example of the delay time required until the actuator starts to operate by the control device 100 according to the present embodiment.

Referring to FIG. 13, the processing time required for command value generation 60 from the start of processing of motion command 1106 included in user program 1104 to the operation of the target actuator (servo driver 500 and servo motor 550) is , a transmission delay 62, and a response delay 64 for the actuator to start operating according to the command value.

On the other hand, the processing time required for command generation 70, the time required for command transmission 72 including transmission delay, There may be delays in the processing time 74 required for the robot controller 650 to interpret the command and generate the command value, and the response delay 76 for the actuator to start moving according to the command value.

Control device 100 according to the present embodiment adjusts the timing to absorb the difference in delay time that occurs between the motion control of the actuator following motion command 1106 and the actuator following robot program 1108 . By absorbing such a difference in delay time, a more accurate synchronous operation can be realized.

<D. Implementation example of synchronous operation>
Next, several implementation examples for synchronizing the actuators will be described.

(d1: functional configuration)
FIG. 14 is a schematic diagram showing a main part of the functional configuration related to realizing the synchronous operation of the actuators by the control device 100 according to the present embodiment. Each functional module shown in FIG. 14 is typically implemented by processor 102 of control device 100 executing system program 1102 .

14, control device 100 includes, as a functional configuration, user program processing portion 160, target locus calculation portion 162, command value calculation portion 164, output delay amount calculation portion 166, axis command value calculation 168 and an input delay calculator 170 . These functional modules are directed to processing motion instructions 1106 contained in user program 1104 .

The user program processing unit 160 reads and executes the user program 1104 stored in the storage 110 . The target trajectory calculator 162 interprets the motion command 1106 included in the user program 1104 to generate a target trajectory. The command value calculator 164 determines a command value for each control cycle based on the generated target trajectory. The command value calculator 164 may consider the input delay (feedback delay) calculated by the input delay calculator 170 when determining the command value.

The output delay amount calculator 166 refers to the delay parameter 176 to determine the output delay amount required for timing adjustment with the industrial robot 600 to be synchronized.

Each axis command value calculation unit 168 refers to the mechanism or robot kinematics 174 configured by the target servo driver 500, and is given to each axis for realizing the command value determined by the command value calculation unit 164. Determine the command value. Kinematics 174 includes information that defines the relationship between the physical position and orientation of the mechanism or robot in which servo motor 550 is incorporated and the rotation angle of servo motor 550 . With reference to the kinematics 174, the rotation angle of each of the servo motors 550 for realizing the target trajectory determined by the target trajectory calculation unit 162 and the like are calculated.

Each axis command value calculation unit 168 transmits the determined each axis command value to the target servo driver 500 according to the output delay amount determined by the output delay amount calculation unit 166 . Each axis command value determined by each axis command value calculator 168 is transmitted through the field network controller 108 .

In this manner, the user program processing unit 160, the target locus calculation unit 162, the command value calculation unit 164, and the axis command value calculation unit 168 generate command values at predetermined intervals according to the motion command 1106, It corresponds to a command transmission unit that transmits to the driver 500 .

Control device 100 further includes a robot program processing section 180, a command value synchronization section 182, an output delay amount calculation section 184, and an input delay calculation section 186 as functional configurations. These functional modules are directed to processing robot program 1108 .

The robot program processing unit 180 reads the robot program 1108 stored in the storage 110, interprets the content, and generates commands. That is, the robot program processing unit 180 corresponds to a command transmission unit that interprets the robot program 1108 written in a predetermined programming language, generates commands, and sequentially transmits the commands to the industrial robot 600 .

The robot program processing unit 180 may consider the input delay (feedback delay) calculated by the input delay calculating unit 186 when generating commands.

The command value synchronization unit 182 shares information necessary for timing adjustment with one or more servo drivers 500 to be synchronized.

The output delay amount calculator 184 refers to the delay parameter 176 to determine the output delay amount required for timing adjustment with one or more servo drivers 500 to be synchronized. The output delay amount calculation unit 184 transmits the command generated by the robot program processing unit 180 to the target industrial robot 600 according to the determined output delay amount. Commands are sent through the field network controller 108 .

As described above, the output delay amount calculation unit 166 for the motion command 1106 and the output delay amount calculation unit 184 for the robot program 1108 determine that the driving of the servo motor 550 by the servo driver 500 and the operation of the industrial robot 600 are A synchronization adjusting unit that changes at least one of transmission of command values (command values given to each axis) generated according to the motion command 1106 and transmission of commands generated by interpreting the robot program 1108 so as to be synchronized. corresponds to

The delay parameter 176 includes (1) a transmission delay of a communication frame transmitted via the field network 20, (2) a control cycle of the control device 100 (a cycle in which the command value is updated according to the motion command 1106), and (3) a servo Dead time until driver 500 receives a command and drives servo motor 550, (4) size of processing resources of control device 100 (time required to interpret robot program 1108), (5) industrial robot 600 (robot It may include a delay time determined by considering the dead time for the controller 650) to receive the command and start the operation, and the like.

The delay time included in the delay parameter 176 may be a theoretical value calculated at the stage of designing the control system 1, or an actual measurement value measured when the control system 1 is started up. It may be a value that is dynamically updated based on a value measured during operation of the system 1, or a value that is determined according to a predetermined arithmetic expression based on various information measured about the necessary configuration of the control system 1. can be any value.

In other words, the control device 100 according to the present embodiment can hold information in advance or measure each time to absorb the difference in delay time as shown in FIG. 13 . The output delay amount calculation section 166 and the output delay amount calculation section 184 corresponding to the synchronization adjustment section consider the time required for command transmission from the control device 100 (the time required for command transmission 72), Adjustments may be made. In addition, the output delay amount calculation unit 166 and the output delay amount calculation unit 184, which correspond to the synchronization adjustment unit, measure the time required for the industrial robot 600 to interpret the command (the processing time required to interpret the command and generate the command value). 74) may be taken into account to make necessary adjustments for synchronous operation. Furthermore, an output delay amount calculation unit 166 and an output delay amount calculation unit 184, which correspond to synchronization adjustment units, provide a response delay 64 for the actuator to start operating according to the command value, and a response delay 64 for the actuator to start operating according to the command value. response delay 76 may be taken into account and adjustments necessary for synchronous operation may be made.

Control device 100 further includes a state value updating unit 190 and a state value holding unit 192 as functional configurations. These functional modules are directed to updating IO data, which is an example of state values. That is, the state value updating unit 190 periodically acquires input data from the sensor or the IO unit 900 connected via the field network 20, and the command value calculated for each control cycle by executing the user program 1104. (output data) is transmitted to the corresponding actuator or IO unit 900 via the field network 20 . In this way, the state value updating unit 190 corresponds to a state value acquisition unit that collects state values from sensors at predetermined intervals.

The state value holding unit 192 is a storage unit that holds input data and command values (output data) updated by the state value updating unit 190 and is accessible from the user program processing unit 160 and the robot program processing unit 180 . That is, by accessing the state value holding unit 192, the user program processing unit 160 and the robot program processing unit 180 can refer to the input data and output the calculated command value (output data) during execution of the process.

Several implementation examples for absorbing the difference in delay time and synchronously operating the actuators will be described below.

(d2: Transmission delay of command value according to motion command: implementation example 1)
As an implementation example for synchronously operating the actuators, a configuration will be described in which the control device 100 waits for transmission of a command value according to the motion command 1106 and synchronizes with the operation of the industrial robot 600 according to the robot program 1108 .

FIG. 15 is a diagram for explaining an implementation example for realizing synchronous operation of the actuators in the control system 1 according to the present embodiment. Referring to FIG. 15, at time t11, when processing of motion instruction 1106 included in user program 1104 is started, a command value is generated based on motion instruction 1106 (command value generation 60).

On the other hand, at the same time t11, the robot program 1108 is interpreted and a command is generated (command generation 70). Then, the generated command is transmitted to the industrial robot 600 (command transmission 72).

The industrial robot 600 (robot controller 650) interprets a command from the control device 100 to generate a command value, and then starts operating. Assume that the timing at which the industrial robot 600 starts to operate is time t13.

Based on the time required to transmit a command to the industrial robot 600, the time required for the industrial robot 600 to generate a command value from the command, the response delay in the industrial robot 600, etc. , the time t13 at which the industrial robot 600 starts to operate is estimated. In addition, the control device 100 determines the start timing of the command value transmission 66 generated based on the motion command 1106 (time t12). Then, control device 100 starts transmitting command values according to motion command 1106 at time t12.

In this way, the controller 100 delays the transmission of the command value according to the motion command 1106 , thereby realizing synchronized motion with the industrial robot 600 controlled by the robot program 1108 . That is, the output delay amount calculator 166 (see FIG. 14) of the control device 100 delays the transmission of the command value (command value given to each axis) generated according to the motion command 1106 .

FIG. 16 is a flowchart showing a processing procedure in control device 100 for realizing synchronous operation of actuators in control system 1 according to the present embodiment. Each step shown in FIG. 16 is typically implemented by processor 102 of control device 100 executing system program 1102 .

Referring to FIG. 16, when a command for synchronously operating actuators of different types is subject to processing (YES in step S100), control device 100 interprets target motion command 1106 to generate a target trajectory ( Along with step S102), the target robot program 1108 is interpreted to generate a command (step S104).

Control device 100 refers to delay parameter 176 to determine the waiting time corresponding to the generated target trajectory and command (step S106). That is, the standby time until time t12 shown in FIG. 15 is determined.

The control device 100 sequentially transmits the generated commands to the industrial robot 600 (step S108). Then, control device 100 determines whether or not the standby time determined in step S106 has elapsed (step S110).

If the standby time determined in step S106 has elapsed (YES in step S110), control device 100 determines a command value (a command value according to motion command 1106) based on the target trajectory generated in step S102 ( Step S112), the determined command value is transmitted to the target servo driver 500 for each control cycle (step S114). The processing shown in FIG. 16 is repeatedly executed each time a new instruction is processed.

As described above, the control device 100 waits for transmission of command values according to the motion command 1106 , thereby synchronizing the operation of the industrial robot 600 according to the robot program 1108 . That is, different types of actuators controlled by the control device 100 can be operated in synchronization with each other more accurately.

(d3: Designation of command value and command processing start timing: implementation example 2)
As another implementation example for synchronously operating actuators, a configuration for synchronizing operations by designating processing start timings for command values according to the motion instructions 1106 and commands generated from the robot program 1108 will be described. .

FIG. 17 is a diagram for explaining another implementation example for realizing synchronous operation of the actuators in the control system 1 according to the present embodiment. Referring to FIG. 17, at time t21, when processing of motion instruction 1106 included in user program 1104 is started, a command value is generated based on motion instruction 1106 (command value generation 60). On the other hand, at the same time t21, the robot program 1108 is interpreted and a command is generated (command generation 70).

The control device 100 determines the response delay 64 in the servo driver 500, the time required to send a command to the industrial robot 600, the time required for the industrial robot 600 to generate a command value from the command (processing time 74), Then, based on the response delay 76 of the industrial robot 600, etc., the time t24 at which the synchronous operation should be started is determined. Then, the control device 100 adds the processing start time determined according to the time t24 at which the synchronous operation is started, and transmits the generated command values (command value group) over the predetermined period to the target servo driver 500. At the same time, (command value transmission 67), the generated command is transmitted to the target industrial robot 600 (command transmission 73).

When the process start time t23 specified by the control device 100 arrives, the servo driver 500 starts the process of driving the servo motor 550 according to the received command value group. When the received processing start time t22 arrives, the processing for driving the robot main body 610 is started according to the received command.

That is, when the servo driver 500 starts processing the command value group from the processing start time t23, the servo motor 550 is driven from the time t24 with a delay of the response delay 64. FIG. Further, when the industrial robot 600 starts processing the command at the processing start time t22, the operation of the robot body 610 is delayed from the time t24 by the processing time 74 required to generate the command value from the command and the response delay 76. starts.

In this way, the output delay amount calculation unit 166 (see FIG. 14) of the control device 100 sets the command value (command value given to each axis) generated according to the motion command 1106 to the servo driver 500. The start time t23 (first timing) is added to the transmitted command (command value given to each axis). Further, the output delay amount calculation unit 184 (see FIG. 14) of the control device 100 transmits the processing start time t22 (second timing) at which the industrial robot 600 should start processing the command generated from the robot program 1108. Append to the command to be sent.

By designating the processing start time as described above, the control device 100 designates the processing start timing for each command value according to the motion command 1106 and the command generated from the robot program 1108, so that the servo Synchronous motion can be achieved between the motor 550 and the industrial robot 600 .

Each of the slave devices connected to the field network 20 has a counter synchronized with the control device 100, which is the communication master. When the processing start time arrives, the processing can be started.

FIG. 18 is a flow chart showing another processing procedure in the control device 100 for realizing the synchronous operation of the actuators in the control system 1 according to this embodiment. Each step shown in FIG. 18 is typically implemented by processor 102 of control device 100 executing system program 1102 .

Referring to FIG. 18, when a command for synchronously operating actuators of different types is subject to processing (YES in step S200), control device 100 interprets target motion command 1106 to generate a target trajectory ( Step S202), a command value for each control cycle is calculated over a predetermined period to generate a group of command values (step S204).

In parallel, the control device 100 interprets the target robot program 1108 and generates commands (step S206).
The control device 100 refers to the delay parameter 176 to determine the processing start time for starting the processing of the generated command value group and command (step S208). That is, the processing start times t22 and t23 shown in FIG. 17 are determined.

Finally, the control device 100 adds the determined processing start time information to the generated command value group, and transmits it to the target servo driver 500 (step S210). In parallel, the control device 100 adds the information of the determined processing start time to the generated commands and sequentially transmits them to the target industrial robot 600 (step S212). The processing shown in FIG. 18 is repeatedly executed each time a new instruction is processed.

The target servo driver 500 and the industrial robot 600 start the target process when the designated process start time arrives.

As described above, the control device 100 designates the processing start timings for the command value according to the motion command 1106 and the command generated from the robot program 1108, respectively. Actuators can be synchronized with each other more accurately.

(d4: Modified example of implementation example 2)
In FIGS. 17 and 18 above, a configuration example has been described in which information designating the timing of starting processing is added to both the command value according to the motion command 1106 and the command generated from the robot program 1108. , and information designating the timing of starting processing may be added to only one of them.

Also, in FIGS. 17 and 18 above, a configuration example in which different processing start times are given to both command values according to the motion command 1106 and commands generated from the robot program 1108 has been described. If the response delay or the like is sufficiently small, the same processing start time may be given.

<E. Synchronous action setting>
The flowcharts shown in FIGS. 16 and 18 described above include processing for evaluating whether or not an instruction for synchronously operating actuators of different types is to be processed. A command for synchronously operating actuators of different types can be arbitrarily created by the user in the user program 1104, but an environment for presetting targets to be synchronously operated may be provided. A configuration example for presetting targets for synchronous operation will be described below.

FIG. 19 is a schematic diagram showing an example of a user interface provided in support device 200 of control system 1 according to the present embodiment. FIG. 19A shows an example of a user interface screen 250 for setting actuators to be synchronized.

On the user interface screen 250, it is possible to define objects or variables that indicate groups to be synchronized. The user can specify any character string in the synchronous action group setting 252 . A character string specified in the synchronous action group setting 252 can be referred to as an object or variable in the development environment of the user program 1104 shown in FIG. 19B.

The user can set the number of actuators belonging to the group in the number-of-members setting column 254 and set a variable indicating the member actuators in the member setting column 256 . By pressing the generate button 258 after these contents are set, the setting of the synchronous action group composed of the actuators set in the member setting column 256 is validated. In this example, the variable "Sync_Gr000" becomes referable.

FIG. 19B shows an example of a user interface screen 260 for developing a user program. A user can create any user program on the user interface screen 260 . In the example shown in FIG. 19B, a function block 262 is defined for synchronously operating a plurality of actuators targeted for synchronous operation. By designating the variable "Sync_Gr000" to the input 264 of the function block 262, the processing as described above is executed between the actuators defined as the variable "Sync_Gr000".

In this way, the support device 200 corresponds to a setting reception unit that receives settings for the servo driver 500 and the industrial robot 600 whose operations must be synchronized.

With the configuration as described above, even if the user sets different types of actuators as members of the synchronous operation group, the user can easily realize the synchronous operation without worrying about the difference in type.

Note that the variable indicating the synchronous operation group is not limited to the example of the user program shown in FIG. 19B, and may be referred to in any form.

<F. Synchronous operation including input and output>
In the above-described embodiment, the description focused on the process of synchronously operating the actuators such as the motor driver and the robot, but a series of processes including input and output may be synchronized.

FIG. 20 is a time chart for explaining synchronous operation including input and output in the control system according to this embodiment. FIG. 20 shows an example in which three sensors 01, 02, 03, a custom robot 540, and an industrial robot 600 perform synchronous operations. At a certain timing, sensing results (input values) indicated by the three sensors 01, 02, and 03 are acquired, and control calculations are executed based on the acquired input values from each sensor. Then, commands are given to the custom robot 540 and the industrial robot 600 based on the execution result of the control calculation. Through the processing described above, the custom robot 540 and the industrial robot 600 start operating in synchronization at a certain timing.

In this way, the control device 100 (the state value update unit 190 corresponding to the state value acquisition unit shown in FIG. 14) can acquire state values from a plurality of input devices set in a group at synchronized timing.

As shown in FIG. 20, the control system 1 according to the present embodiment regards one or more input devices such as sensors and a plurality of actuators as a single group to achieve more accurate synchronous control. You can also

Any method can be used to set one or a plurality of input devices and a plurality of actuators in a single group.

FIG. 21 is a schematic diagram showing another example of a user interface provided in support device 200 of control system 1 according to the present embodiment. A user interface screen 260A shown in FIG. 21 defines a function block 262A for synchronously operating one or more input devices to be synchronized and a plurality of actuators. By designating the variable "Sync_Gr000" to the input 264 of the function block 262A, it is defined that a plurality of actuators defined as the variable "Sync_Gr000" are subject to synchronous operation.

In addition, specifying variables "Input_001", "Input_002", and "Input_003" to inputs 265 of function block 262A indicates that the corresponding input devices are synchronized with a plurality of actuators defined as variable "Sync_Gr000". Defined.

By using a user interface screen 260A as shown in FIG. 21, synchronous operation including input and output can be realized.

Furthermore, a user interface screen 250A for setting the input device and actuator to be synchronized may be provided.

FIG. 22 is a schematic diagram showing an example of a user interface screen for setting input devices and actuators to be synchronously operated provided in the support device 200 of the control system 1 according to the present embodiment. Referring to FIG. 22, user interface screen 250A corresponds to user interface screen 250 shown in FIG. 19(A) in which input devices can be further set. On the user interface screen 250A, the user can set the number of input devices belonging to the group in the number-of-members setting field 255, and can set a variable indicating the input devices to be members in the member setting field 257. FIG. By pressing the generate button 258 after these contents are set, the setting of the synchronous action group composed of the actuators set in the member setting column 256 is validated. In this example, the variable "Sync_Gr000" becomes referable.

That is, the variable "Sync_Gr000" can be treated as an object that includes the set input device and output device (actuator) as members.

In this manner, the input device and output device (actuator) to be synchronized can be set on a single user interface screen, thereby reducing the user's effort for setting. Since it is possible to operate synchronously including the input device and the actuator, more accurate synchronous control can be realized.

<G. Variation>
In the above description, a configuration example in which one control device 100 integrates and controls various devices including different types of actuators is shown, but multiple control devices 100 cooperate to integrate various devices. may be controlled by That is, a configuration may be adopted in which processing is shared among a plurality of control devices 100 and executed. Such a configuration is not excluded from the technical scope of the present invention.

Further, in the above description, an example in which all devices are connected to a single field network 20 is shown, but the present invention is not limited to this. The device may be connected to any field network. Such a configuration is not excluded from the technical scope of the present invention.

Furthermore, although FIG. 2 shows an example in which various devices are connected to the field network 20, not all types of devices need to be connected to the field network 20. FIG.

<H. Note>
The present embodiment as described above includes the following technical ideas.

[Configuration 1]
A control system (1),
a control device (100) for controlling a controlled object;
a network (20) for connecting sensors (950), motor drivers (500) and robots (600) to said controller;
The control device is
a state value acquisition unit (190) that collects state values from the sensors at predetermined intervals;
a command transmission unit (160, 162, 164, 168) that generates a command value at predetermined intervals according to a motion command (1106) and transmits it to the motor driver;
A control system comprising a command transmission unit (180) that interprets a program (1108) written in a predetermined programming language to generate commands and sequentially transmit them to the robot.

[Configuration 2]
A synchronization adjustment unit that changes at least one of transmission of the command value by the command transmission unit and transmission of the command by the command transmission unit so that driving of the motor by the motor driver and operation of the robot are synchronized. 2. The control system of arrangement 1, further comprising (166, 184).

[Configuration 3]
The control system according to configuration 2, wherein the synchronization adjustment unit delays transmission of the command value by the command transmission unit.

[Configuration 4]
The synchronization adjustment unit processes the command value transmitted by the command transmission unit at a first timing (t23) at which the motor driver should start processing the command value and the command transmitted by the command transmission unit by the robot. 3. The control system of configuration 2, wherein at least one of the second timing (t22) at which to start is added to the transmitted command.

[Configuration 5]
Considering the time (72) required for transmission of the command by the command transmission unit, the synchronization adjustment unit performs at least transmission of the command value by the command transmission unit and transmission of the command by the command transmission unit. Control system according to any one of configurations 2-4, wherein one is changed.

[Configuration 6]
The robot operates according to a result of interpreting the command,
The synchronization adjustment unit adjusts at least one of transmission of the command value by the command transmission unit and transmission of the command by the command transmission unit in consideration of the time (74) required for the robot to interpret the command. 6. The control system of any one of aspects 2-5, wherein the control system is modified.

[Configuration 7]
7. The control system according to any one of configurations 2 to 6, further comprising a setting reception unit (200) that receives settings of the motor driver and the robot whose operations must be synchronized.

[Configuration 8]
Configuration 1, wherein at least one of a safety controller (700) that performs safety control and a visual sensor (800) that performs recognition processing on a captured image and outputs a recognition result is connected to the network. 8. A control system according to any one of claims 1-7.

[Configuration 9]
A control device (100) for controlling a controlled object,
a network interface (108) for exchanging data with the sensor (950), the motor driver (500) and the robot (600) over the network (20);
a state value acquisition unit (190) that collects state values from sensors at predetermined intervals;
a command transmission unit (160, 162, 164, 168) that generates a command value at predetermined intervals according to a motion command (1106) and transmits it to the motor driver;
A control device comprising a command transmission unit (180) that interprets a program (1108) written in a predetermined programming language, generates commands, and sequentially transmits them to the robot.

[Configuration 10]
A control method in a control system (1) including a control device (100) for controlling a controlled object, wherein the control device includes a sensor (950), a motor driver (500) and A robot (600) is connected, the control method comprising:
the controller collecting state values from the sensors at predetermined intervals;
Steps (S114, S210) in which the control device generates a command value in accordance with a motion command and transmits the command value to the motor driver at predetermined intervals;
A control method comprising steps (S108, S212) in which the control device interprets a program written in a predetermined programming language, generates commands, and sequentially transmits them to the robot.

<I. Advantage>
According to the control system 1 according to the present embodiment, one or more motors (or a mechanism composed of one or more motors) and one or more industrial robots are controlled by a single controller. can do. Since a plurality of actuators can be controlled by a single control device in this way, the control details for the plurality of actuators can be specified by a user program executed by the control device. Synchronous operation can sometimes be realized without considering synchronization between actuators.

Further, according to the control system 1 according to the present embodiment, not only motors and industrial robots, but also safety controllers, visual sensors, IO units, etc. can be connected to the same network, and the control device can connect these devices. Since it can be integrated and controlled, more complicated control can be realized more easily.

It should be considered that the embodiments disclosed this time are illustrative in all respects and not restrictive. The scope of the present invention is indicated by the scope of the claims rather than the above description, and is intended to include all modifications within the scope and meaning equivalent to the scope of the claims.

1 control system, 10 network hub, 12 host network, 20 field network, 30 axis, 32 hand, 40 box, 42 workpiece, 44 adsorption unit, 46 link mechanism, 60 command value generation, 62 transmission delay, 64, 76 response delay , 66, 67 command value transmission, 70 command generation, 72, 73 command transmission, 74 processing time, 100 control device, 101 arithmetic unit, 102, 202, 512, 662, 711, 731, 741, 912 processor, 104, 204 , 516, 666, 712, 732, 742, 916 Main memory, 106 Upper network controller, 108, 502, 652, 714, 902 Field network controller, 109, 117, 503, 653, 715, 718, 739, 749, 903 counter, 110, 210, 520, 670, 713, 733 storage, 112 memory card interface, 114 memory card, 116, 717, 738, 748 local bus controller, 118, 218, 719, 737, 747 processor bus, 120, 220 , 716 USB controller, 122, 760 local bus, 130 expansion unit, 140 motion command interpretation, 141 motion command execution instruction, 142, 674 target trajectory generation processing, 144, 676 command value determination processing, 146 program interpretation, 148 command generation processing , 150 communication frame transmission processing, 152 user program execution processing, 154 motion processing, 156 robot processing, 158 robot program interpretation processing, 159 buffer, 160 user program processing section, 162 target trajectory calculation section, 164 command value calculation section, 166, 184 output delay amount calculation unit 168 axis command value calculation unit 170, 186 input delay calculation unit 174 kinematics 176 delay parameter 180 robot program processing unit 182 command value synchronization unit 190 state value update unit 192 state Value holding unit 200 Support device 206 Input unit 208 Output unit 212 Optical drive 214 Storage medium 222 Communication controller 250, 250A, 260, 260A User interface screen 252 Synchronous operation group setting 254, 255 Number of members Setting column 256, 257 Member setting column 258 Generation button 262, 262A Function block 264, 265 Input 300 Display device 400 Server device 500 Servo driver 510, 660, 910 Arithmetic processing circuit 530, 680 Drive circuit, 532 feedback receiving circuit, 540 custom robot, 550,690 servo motor, 552 three-phase AC motor, 554 encoder, 600 industrial robot, 610 robot body, 650 robot controller, 668,930 interface circuit, 672 command interpretation, 700 Safety Controller, 710 Communication Interface Unit, 730 Safety Control Unit, 734, 5204, 6704 Setting Information, 735 Safety Program, 736, 1102 System Program, 740 Safety Expansion Unit, 743 Module, 750 Safety Device, 800 Vision Sensor, 900 IO Unit , 920 ROM, 922 firmware, 950 force sensor, 1104 user program, 1105 sequence instruction, 1106 motion instruction, 1108 robot program, 2104 development program, 5202 servo control program, 6702 robot system program, T1 control cycle, T2 application execution cycle , t11, t12, t13, t21, t24 times, t22, t23 processing start times.

Claims (10)

A control system,
a control device for controlling a controlled object;
a network for connecting sensors, motor drivers and robots to the controller;
The control device is
a state value acquisition unit that collects state values from the sensor at predetermined intervals;
a command transmission unit that generates a command value for each predetermined cycle according to a motion command and transmits the command value to the motor driver;
A control system, comprising: a command transmission unit that interprets a program written in a predetermined programming language, generates commands, and sequentially transmits the commands to the robot. A synchronization adjustment unit that changes at least one of transmission of the command value by the command transmission unit and transmission of the command by the command transmission unit so that driving of the motor by the motor driver and operation of the robot are synchronized. 2. The control system of claim 1, further comprising: 3. The control system according to claim 2, wherein said synchronization adjusting section delays transmission of said command value by said command transmitting section. The synchronization adjustment unit determines a first timing at which the motor driver should start processing the command value transmitted by the command transmission unit, and a first timing for starting processing of the command transmitted by the command transmission unit by the robot. 3. The control system of claim 2, which appends at least one of the second timings to the transmitted command. The synchronization adjustment unit changes at least one of transmission of the command value by the command transmission unit and transmission of the command by the command transmission unit in consideration of the time required for transmission of the command by the command transmission unit. The control system according to any one of claims 2 to 4, wherein The robot operates according to a result of interpreting the command,
The synchronization adjustment unit changes at least one of transmission of the command value by the command transmission unit and transmission of the command by the command transmission unit, taking into account the time required for the robot to interpret the command. Control system according to any one of claims 2-5. 7. The control system according to any one of claims 2 to 6, further comprising a setting reception unit that receives settings of said motor driver and said robot whose operations should be synchronized. 8. The network according to any one of claims 1 to 7, wherein at least one of a safety controller that executes safety control and a visual sensor that performs recognition processing on a captured image and outputs a recognition result is connected to the network. A control system according to claim 1. A control device for controlling a controlled object,
a network interface for exchanging data between sensors, motor drivers and robots via a network;
a state value acquisition unit that collects state values from the sensor at predetermined intervals;
a command transmission unit that generates a command value for each predetermined cycle according to a motion command and transmits the command value to the motor driver;
A control device, comprising: a command transmission unit that interprets a program written in a predetermined programming language, generates commands, and sequentially transmits the commands to the robot. A control method in a control system including a control device for controlling a controlled object, wherein a sensor, a motor driver and a robot are connected to the control device via a network, the control method comprising:
the controller collecting state values from the sensors at predetermined intervals;
a step in which the control device generates a command value in accordance with a motion command and transmits the command value to the motor driver at predetermined intervals;
A control method comprising the step of having said control device interpret a program written in a predetermined programming language, generate commands, and sequentially transmit them to said robot.

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