TW202408749A - Numeric value control system, numeric value control device, industrial device, and computer program - Google Patents

Abstract

Provided is a system in which a robot and a work machine operate together, wherein faults that can occur when a custom macro variable is used in a processing program are prevented. The present invention relates to a numeric value control system that controls a robot via a robot control device according to a processing program in a numeric value control device, the numeric value control system comprising: a variable list information generation unit that acquires variables from within all the processing programs in the numeric value control device and generates variable list information in which the variables and the processing programs are associated with one another; and a program-editing unit that does not use the variables included in the processing programs in the numeric value control device or included in a robot program in the robot control device if said variables are used in a correlation different from that in the variable list information, and moreover does not use the variables included in the variable list information if said variables are used in processing programs that are not present in the variable list information.

Description

Numerical control systems, numerical control devices, industrial devices and computer programs

The present invention relates to a numerical control system, a numerical control device, an industrial device and a computer program.

In order to promote automation in the processing field, it is desired to have an automation system that links a machine tool that processes a workpiece with a robot that loads and unloads the workpiece. A known technology is one that can select or set an action program for a robot according to instructions from a user of a numerical control device of a machine tool (see, for example, Patent Document 1).

In this system in which a robot and a machine tool are linked, the robot control device that controls the robot reads and writes the custom macro variable of the machine tool to link the robot and the machine tool. For example, the robot control device sets the action request to enable (ON) through the custom macro variable of the machine tool and reads and writes the custom macro variable of the machine tool to obtain the action status. In addition, when the action status becomes action completion, the robot control device sets the action request to off (OFF) and proceeds to the next sequence processing (for example, refer to patent document 2). Prior art document Patent document

Patent document 1: Japanese Patent Publication No. 2018-195055 Patent document 2: International Publication No. 2022/097719

Invention Problems to be Solved

Custom macro variables can be used for calculations such as machining conditions in machining formulas. If custom macro variables are used in conditional expressions, the processing of more engineering expressions can be changed according to the value of the variables, and the action of the machine tool can be changed. In a system where a robot and a machine tool are linked, when the robot and the machine tool are to be linked by reading/writing custom macro variables, the user must prepare custom macro variables for linking with the robot.

When the machine tool's custom macro variable is used to link the robot and the machine tool, if this variable is used in the machining program, the robot will read and write the variables used in the machining program. When the robot writes to a variable in use in a machining program, if the variable is already used in a conditional expression in the machining program, the robot will change the value of the variable. Therefore, there is a possibility that the conditional expression may have a different value than what the user originally expected. As a result, there is a possibility that an unexpected processing method is executed, resulting in processing defects, damage to tools, machinery, etc.

On the other hand, in the case where the robot wants to read the variable used in the machining formula, if the variable is not used in the operation in the machining formula, the robot will read the value changed in the operation. There is a possibility that the robot may make a judgment that is not expected by the user based on the value of the read variable, such as the completion of processing of the machine tool or the fact that the door of the machine tool has been opened. As a result, there is a possibility that, for example, the robot determines that the processing has been completed during processing, and attempts to enter the machine tool in order to remove the workpiece, resulting in a collision between the machine tool and the robot.

In this way, if the variables used in the machining process are reused for different purposes, various adverse conditions may occur. Therefore, in a system where a robot and a machine tool are linked, a numerical control system, a numerical control device, an industrial device, and a computer program that can prevent adverse conditions that may occur when custom macro variables are used in machining processes are still highly anticipated. Means for solving the problem

One aspect of the present disclosure is a numerical control system that controls a robot from a processing formula of a numerical control device through a robot control device. The numerical control system comprises: a variable list information generating unit that obtains variables from all the processing formulas in the numerical control device and generates variable list information that has established correspondence between the variables and the processing formulas; and a program editing unit that, when the variables in the processing formula in the numerical control device or the robot program in the robot control device are used in a different correspondence relationship from the variable list information; that is, when the variables in the processing formula in the numerical control device or the robot program in the robot control device are used in a different correspondence relationship from the variable list information; that is, when the variables in the processing formula in the variable list information are used in a processing formula that does not exist in the variable list information, the variables are not used.

One aspect of the present disclosure is a numerical control system that controls a robot from a processing formula of a numerical control device through a robot control device. The numerical control system comprises: a variable list information generating unit that obtains variables from all the processing formulas in the numerical control device and generates variable list information that has established a correspondence between the variables and the processing formulas; and a variable list information output unit that outputs the variable list information to an output device.

One aspect of the present disclosure is a numerical control device that uses a processing formula to control a robot through a robot control device, the numerical control device comprising: a variable list information generating unit that obtains variables from the processing formula in the numerical control device or the robot program in the robot control device, and generates variable list information that has established a correspondence between the variables and the processing formula or the robot program; and a program editing unit that does not use the variables when the variables included in the processing formula or the robot program are used in a different correspondence relationship from the variable list information; and does not use the variables included in the variable list information when the variables are used in the processing formula that does not exist in the variable list information.

One aspect of this disclosure is an industrial device having: The receiving part receives the processing program or robot program from the numerical control device or robot control device; The variable list information generating unit obtains variables from the aforementioned machining program in the aforementioned numerical control device or the aforementioned robot program in the aforementioned robot control device, and generates variable list information that associates the aforementioned variables with the aforementioned machining program or the aforementioned robot program. ;and The variable list information output unit outputs the aforementioned variable list information to the output device.

One aspect of the present disclosure is a computer program used to control the computer of the robot from the processing program of the numerical control device through the robot control device to perform the following steps: Obtain variables from all machining formulas in the aforementioned numerical control device, and generate variable list information that corresponds to the aforementioned variables and the aforementioned machining formulas; When the aforementioned variables included in the aforementioned machining program in the aforementioned numerical control device or the aforementioned robot program in the aforementioned robot control device are used in a different correspondence relationship from the aforementioned variable list information, the aforementioned variables are not used; and If the variable included in the variable list information is used in the processing formula that does not exist in the variable list information, that is, the variable is not used.

The form used to implement the invention

Hereinafter, an example of an embodiment of the present disclosure will be described. FIG. 1 is a functional block diagram of the numerical control system 1 of this embodiment.

The numerical control system 1 includes: a machine tool 2 that processes a workpiece not shown in the figure; a robot 3 that is installed near the machine tool 2 and the machine tool 2; and an industrial device 4 that can communicate with the machine tool 2 and the robot 3. The numerical control device (CNC) 5 controls the movement of the machine tool 2; and the robot control device 6 controls the movement of the robot 3. The numerical control system 1 performs interlocking control of the movements of the machine tool 2 and the robot 3 by using the industrial device 4, the numerical control device 5, and the robot control device 6 that are communicably connected to each other.

The machine tool 2 processes a workpiece (not shown) in response to a machine tool control signal sent from the numerical control device 5. Here, the machine tool 2 may be, for example, a lathe, a drilling machine, a milling machine, a grinding machine, a laser processing machine, and an injection molding machine, but is not limited thereto.

The robot 3 operates under the control of the robot control device 6 and performs a predetermined operation on the workpiece processed by the machine tool 2 , for example. The robot 3 is, for example, a multi-jointed robot, and a tool for holding, processing or inspecting a workpiece is mounted on the front end of its arm. The following describes a case where the robot 3 is a 6-axis multi-joint robot, but it is not limited to this. In addition, although the case where the robot 3 is a 6-axis multi-joint robot is demonstrated below, the number of axes is not limited to this.

The industrial device 4 may be installed in the numerical control device 5 , or may be installed in a computer device or the like external to the numerical control device 5 . The following is a description of an example in which the industrial device 4 is installed outside the numerical control device.

The industrial device 4, the numerical control device 5, and the robot control device 6 are computers respectively composed of the following hardware: a computing and processing mechanism such as a CPU (Central Processing Unit); an auxiliary memory mechanism such as a HDD (Hard Disk Drive) or an SSD (Solid State Drive) that stores various computer programs; a main memory mechanism such as a RAM (Random Access Memory) that stores data temporarily required by the computing and processing mechanism to execute the computer program; an operating mechanism such as a keyboard for an operator to perform various operations; and a display mechanism such as a display that displays various information to the operator. These industrial devices 4, numerical control devices 5, and robot control devices 6 can send and receive various signals to each other via, for example, Ethernet (registered trademark).

As shown in FIG. 1 , the numerical control device 5 is configured by the above-mentioned hardware to realize various functions such as controlling the operation of the machine tool 2 and generating the operation path of the control axis of the robot 3 .

The numerical control device 5 includes a storage unit 51 , a program input unit 52 , an analysis unit 53 , a control unit 54 , a data transmitting and receiving unit 55 , an input unit 56 , a program editing unit 57 and a display unit 58 .

The memory unit 51 stores a plurality of machining formulas 511 created based on, for example, an operator's operation. More specifically, the memory unit 51 stores a plurality of instruction blocks for the machine tool 2 for controlling the operation of the machine tool 2 , a plurality of instruction blocks for the robot 3 for controlling the operation of the robot 3 , etc. The formed processing formula 511. The machining formula 511 stored in the memory unit 51 is described in a known programming language such as G code or M code for controlling the operation of the machine tool 2 .

The memory unit 51 can store, for example, mechanical coordinate values, which represent the positions of various axes of the machine tool 2 (i.e., the positions of the tool table or work table of the machine tool 2) operated under the numerical control program. Furthermore, these mechanical coordinate values are defined under a machine tool coordinate system with a reference point defined at an arbitrary position on or near the machine tool 2 as the origin. The memory unit 51 is updated successively by a process not shown in the figure to store the latest values of the mechanical coordinate values that are successively changed under the numerical control program.

In addition, the storage unit 51 stores, for example, robot coordinate values that represent the positions and postures of control points of the robot 3 operating under the control of the robot control device 6 , in other words, the positions of each control axis of the robot 3 . Furthermore, as mentioned above, these robot coordinate values are defined in a robot coordinate system different from the machine tool coordinate system. The memory unit 51 is sequentially updated with the robot coordinate values obtained from the robot control device 6 through processing not shown in the figure, so as to store the latest values of the robot coordinate values that are sequentially changed under the numerical control program.

In addition, the memory unit 51 can store, for example, teaching positions such as the starting point and the end point of the robot 3 input by the operator. Specifically, the memory unit 51 stores the teaching position of the robot 3 input from a teach pendant or the like, the teaching position input from a keyboard or the like, and the like. The teaching position of the robot 3 includes robot coordinate values indicating the positions of each control axis of the robot 3. These robot coordinate values are defined in a robot coordinate system different from the machine tool coordinate system.

The memory unit 51 further stores custom macro variables (hereinafter also referred to as variables) 512 and variable list information 513.

The custom macro variable 512 can be used for calculation of machining conditions of the machining equation 511 and the like. If the custom macro variable 512 is used in a conditional expression, the processing of the more engineering expression can be changed according to the value of the variable, and the action of the machine tool 2 can be changed. In the numerical control system 1 where the machine tool 2 and the robot 3 are linked, the machine tool 2 and the robot 3 are linked by the robot 3 reading and writing the custom macro variable 512.

The variable list information 513 stores the variable 512 and the program name of the processing formula 511 that uses the variable 512 in a corresponding manner.

The program input unit 52 reads out a numerical control program for the robot composed of a plurality of robot instruction blocks from the memory unit 51 and sequentially inputs the program to the analysis unit 53 .

The analysis unit 53 analyzes the instruction type based on the numerical control program input from the program input unit 52 for each instruction block, and outputs the analysis result to the control unit 54 . More specifically, when the command type of the command block is a machine tool numerical control command for the machine tool 2 , the analysis unit 53 sends the machine tool numerical control command to the control unit 54 . When the instruction type of the instruction block is a robot numerical control instruction for the robot 3, the analysis unit 53 outputs the robot numerical control instruction to the control unit 54.

The control unit 54 generates a machine tool control signal for controlling the operation of the machine tool 2 in response to the analysis result sent from the analysis unit 53, and inputs the signal to the actuators driving the various axes of the machine tool 2. The machine tool 2 operates in response to the machine tool control signal input from the control unit 54 to process a workpiece (not shown).

Furthermore, the control unit 54 generates a robot command signal for each robot command block based on the analysis result of each robot command block input from the analysis unit 53, and writes the generated robot command signal into the data transceiver unit 55. Specifically, the control unit 54 generates a robot command signal for each robot command block based on the robot numerical control command input as the analysis result from the analysis unit 53, and writes the generated robot command signal into the data transceiver unit 55.

The data transceiver unit 55 sends and receives commands, custom macro variables 512, and robot coordinate values to and from the data transceiver unit 65 of the robot control device 6. Specifically, the data transceiver unit 55 sends the robot command signal generated by the control unit 54 to the data transceiver unit 65 of the robot control device 6.

The input unit 56 may be an input device such as a keyboard or a mouse, or a touch sensor formed integrally with the display unit 58 . The input unit 56 accepts input from the operator who operates the numerical control device 5 and outputs it to the program editing unit 57 .

The program editing unit 57 edits or creates the processing program 511 in response to the input from the input unit 56 and saves it in the memory unit 51 .

The display unit 58 is a liquid crystal display or the like, and displays various information in accordance with the control performed by the control unit 54. For example, the display unit 58 can display the variable list information 513.

Next, the structure of the robot control device 6 is described in detail. As shown in FIG1 , the robot control device 6 can realize various functions such as a memory unit 61, a program input unit 62, an analysis unit 63, a control unit 64, a data transceiver unit 65, an input unit 66, a program editing unit 67, and a display unit 68 by using the hardware structure described above. The robot control device 6 controls the actions of the robot 3 by using the program input unit 62, the analysis unit 63, the control unit 64, and the data transceiver unit 65 and according to the robot program 611 or the instructions sent from the numerical control device 5.

The data transmitting and receiving unit 65 receives the robot command signal sent from the data transmitting and receiving unit 55 of the numerical control device 5 . In addition, the data sending and receiving unit 65 will sequentially output the received robot command signals to the analysis unit 63. Furthermore, the data transmitting and receiving unit 65 transmits and receives the customized macro variable 512 of the numerical control device 5 according to the robot program 611 .

The memory unit 61 stores the robot program 611 and variable list information 612. The variable list information 612 stores the variables 512, the processing formula 511 using the variables 512, and/or the program name of the robot program 611 by establishing a correspondence between the variables 512 and/or the processing formula 511 using the variables 512.

The program input unit 62 reads the robot program 611 from the memory unit 61 and sequentially inputs the robot program 611 into the analysis unit 63 .

The analysis unit 63 analyzes the instruction type based on the robot program 611 input from the program input unit 62 for each instruction block, and outputs the analysis result to the control unit 64 . In addition, the analyzing unit 63 analyzes the robot command signal input from the data transmitting and receiving unit 65 . The analysis unit 63 outputs the analysis results to the control unit 64 .

The control unit 64 executes the functions of a robot command generation unit, a program management unit, a trajectory control unit, a kinematics control unit, a servo control unit, etc. as shown below.

The robot command generation unit generates a robot command corresponding to the robot command signal based on the analysis result of the robot command signal input from the analysis unit 63 . The robot command generation unit outputs the generated robot commands to the program management unit.

When the robot command is input from the robot command generation unit, the program management unit generates an action plan of the robot 3 corresponding to the above-mentioned robot instruction signal by successively executing the robot command, and outputs it to the trajectory control unit.

Furthermore, when the robot command input from the robot command generation unit is a block robot command, the program management unit adds the input block robot command to the robot program already stored in the memory unit 61 . Thereby, a robot program corresponding to the robot command signal sent from the numerical control device 5 can be generated and stored in the memory unit 61 . By the program management department accepting the robot program activation command as the robot command, the memorized robot program will be activated and reproduced.

When the action plan is input from the program management unit, the trajectory control unit calculates the time series data of the control points of the robot 3 and outputs it to the kinematics control unit.

The kinematics control unit calculates the target angle of each joint of the robot 3 from the input time series data and outputs it to the servo control unit.

The servo control unit performs feedback control on each servo motor of the robot 3 in order to achieve the target angle input from the kinematic control unit, thereby generating a robot control signal for the robot 3 and inputting it to the servo motor of the robot 3 .

The input unit 66 may be an input device such as a keyboard or a mouse, or a touch sensor integrally formed with the display unit 68. The input unit 66 receives input from an operator operating the robot control device 6 and outputs the input to the program editing unit 67.

The program editing unit 67 edits or creates the robot program 611 in response to the input from the input unit 66 and saves it in the memory unit 61.

The display unit 68 is a liquid crystal display or the like, and displays various information in accordance with the control performed by the control unit 64. For example, the display unit 68 can display the variable list information 612.

Next, in the numerical control system 1 of the present embodiment, a process for preventing adverse conditions that may occur when the custom macro variable 512 is used in the processing formula 511 is described.

The variable list information generating unit 41 of the industrial device 4 notifies the data transmitting and receiving unit 43 of the industrial device 4 of a request to obtain all the processing formulas 511 stored in the memory unit 51 of the numerical control device 5 . Here, all processing equations 511 include variables 512 .

The data transceiver section 43 of the industrial device 4 acquires all the processing formulas 511 read from the memory section 51 of the numerical control device 5 via the data transceiver section of the numerical control device 5 , and inputs the obtained processing formulas to the variable list information generating section 41 .

The variable list information generation unit 41 creates variable list information 513 and searches for variables 512 included in the input machining equation 511. The retrieved variable 512 is associated with the processing formula 511 including the variable 512, and is added to the variable list information 513. After searching all the input processing formulas 511 , the variable list information generating unit 41 inputs the variable list information 513 to the variable list information output unit 42 .

The variable list information output unit 42 outputs the variable list information 513 to the display unit 44 of the industrial device 4. The display unit 44 displays the variable list information 513. The variable list information output unit 42 outputs the variable list information 513 to the data transceiver unit 43 of the industrial device 4, and the data transceiver unit of the industrial device 4 sends the variable list information 513 to the data transceiver unit 55 of the numerical control device 5.

The numerical control device 5 stores the variable list information 513 received in the data transmitting and receiving unit 55 in the memory unit 51 . Thereby, the numerical control device 5 can use the variable list information 513 to avoid editing, creating, and executing the machining formula 511 with the variables 512 repeated.

Next, when creating or editing the machining formula 511, the input unit 56 of the numerical control device 5 notifies the program editing unit 57 of a request to create or edit the machining formula 511.

When creating the processing formula 511, the program editing unit 57 generates the processing formula 511 and stores it in the memory unit 51. When editing the processing formula 511, the program editing unit 57 reads the processing formula 511 from the memory unit 51.

When editing the processing formula 511, the variable 512 is input from the input unit 56 to the program editing unit 57. In addition, the program editing unit 57 reads the variable list information 513 from the memory unit 51 and determines whether the input variable 512 exists in the variable list information 513.

When the variable 512 exists in the variable list information 513, the program editing unit 57 determines the correspondence between the processing formula 511 being edited and the variable 512 according to the variable list information 513. When the processing formula 511 being edited and the variable 512 are not yet corresponding to each other in the variable list information 513, the program editing unit 57 causes the display unit 58 to display a warning message and deletes the input variable 512.

When saving the processing formula 511, the program editing unit 57 reads the variable list information 513 from the memory unit 51. When the processing formula 511 uses a variable 512, the program editing unit 57 determines whether the variable 512 used exists in the variable list information 513.

When the variable 512 exists in the variable list information 513 , the program editing unit 57 determines the correspondence between the processing formula 511 to be saved and the variable 512 based on the variable list information 513 .

When the processing formula 511 and the variables 512 are not corresponding in the variable list information 513 , the program editing unit 57 displays a warning message on the display unit 58 and prohibits the saving of the processing formula 511 . If the variable does not exist in the variable list information, or if the corresponding relationship between the processing formula 511 and the variable 512 is such that the corresponding variable 512 is created in the variable list information 513, the program editing unit 57 will save the processing formula 511.

When executing the processing formula 511, the program input unit 52 reads the processing formula 511 from the memory unit 51 and inputs it to the analysis unit 53. The analysis unit 53 analyzes the instruction type based on the processing formula 511 for each instruction block. When analyzing the variable 512, the analysis unit 53 reads the variable list information 513 from the memory unit 51 and determines whether the variable 512 exists in the variable list information 513.

When the variable 512 exists in the variable list information 513, the analysis unit 53 determines the correspondence between the processing formula 511 being executed and the variable 512 according to the variable list information 513. When the variable 512 in the variable list information 513 is not associated with the processing formula 511 being executed, the analysis unit 53 terminates the execution of the processing formula.

If the variable 512 does not exist in the variable list information, or if the variable 512 has been associated with the machining formula 511 in the variable list information 513, the analysis unit 53 reads and writes the value of the variable 512 in the memory unit 51 according to the analysis result. For example, when the analysis unit 53 analyzes the movement command, the control unit 54 receives the movement command and drives the control axis of the machine tool 2 according to the movement command.

Next, the variable list information 612 is generated from the processing formula 511 and the robot program 611. The variable list information generation unit 41 notifies the data transceiver unit 43 of the industrial device 4 of the acquisition request of the processing formula 511 including the variables 512 in the memory unit 51 of the numerical control device 5 and the acquisition request of the robot program 611 including the variables 512 in the memory unit 61 of the robot control device 6.

The data transceiver 43 of the industrial device 4 acquires all processing formulas 511 including variables 512 read from the memory 51 through the data transceiver 55 of the numerical control device 5. Furthermore, the data transceiver 43 acquires all robot programs 611 including variables 512 read from the memory 61 of the robot control device 6 through the data transceiver 65 of the robot control device 6. The data transceiver 43 inputs all the processing formulas 511 and all the robot programs 611 acquired into the variable list information generating unit 41.

The variable list information generating unit 41 generates the variable list information 612 and searches for the variables 512 included in the input processing formula 511 and the robot program 611. The variable list information generating unit 41 creates a correspondence between the searched variable 512 and the processing formula 511 or the robot program 611 including the variable 512 and adds the result to the variable list information 612. After searching all the input processing formula 511 and the robot program 611, the variable list information generating unit 41 inputs the variable list information 612 to the variable list information output unit 42.

The variable list information output unit 42 displays the variable list information 612 on the display unit 44. The variable list information output unit 42 outputs the variable list information 612 to the data transceiver unit 55, and the data transceiver unit 43 sends the variable list information 612 to the data transceiver unit 65 of the robot control device 6.

The robot control device 6 will save the variable list information 612 received in the data transceiver unit 65 in the memory unit 61 of the robot control device 6.

Next, the process of making or editing the robot program 611 will be described. The input unit 66 of the robot control device 6 notifies the program editing unit 67 of the request to make or edit the robot program 611.

When making the robot program 611, the program editing unit 67 generates the robot program 611 and stores it in the memory unit 61. When editing the robot program 611, the program editing unit 67 reads the robot program 611 from the memory unit 61.

When editing a robot program, the input unit 66 inputs a variable 512 to the program editing unit 67. The program editing unit 67 reads the variable list information 612 from the memory unit 61 and determines whether the input variable 512 exists in the variable list information 612. If the variable 512 exists in the variable list information 612, the program editing unit 67 determines the correspondence between the robot program 611 being edited and the variable 512 based on the variable list information 612.

When the processing program 511 or robot program 611 and the variable 512 are not corresponding in the variable list information 612, the program editing unit 67 causes a warning message to be displayed on the display unit 68 of the robot control device 6, and the input value is Variable 512 is deleted.

When saving the robot program 611, the program editing unit 67 reads the variable list information 612 from the memory unit 61. When the robot program 611 uses the variable 512, it is determined whether the variable 512 used exists in the variable list information.

When the variable 512 exists in the variable list information 612, the program editing unit 67 determines the correspondence between the robot program 611 and the variable 512 according to the variable list information 612. When the robot program 611 and the variable 512 are not corresponded in the variable list information 612, the program editing unit 67 displays a warning message on the display unit 68 and prohibits the saving of the robot program 611.

When the variable 512 does not exist in the variable list information 612, or when the correspondence between the robot program 611 and the variable 512 is established in the variable list information 612, the program editing unit 67 saves the robot program 611 in the memory. Department 61.

When the robot program 611 has been executed, the program input unit 62 reads the robot program 611 from the memory unit 61 and inputs it to the analysis unit 63 .

The analysis unit 63 analyzes the instruction type based on the robot program 611 for each instruction block. When analyzing the variable 512, the analysis unit 63 reads the variable list information 612 from the memory unit 61 and determines whether the variable 512 exists in the variable list information 612.

When the variable 512 exists in the variable list information 612, the analysis unit 63 determines the corresponding relationship between the executing robot program 611 and the variable 512 based on the variable list information 612.

In the variable list information 612 , if the variable 512 does not correspond to the executing robot program 611 , the analysis unit 63 will terminate the execution of the robot program 611 . When the variable 512 does not exist in the variable list information, or when the robot program 611 and the variable 512 are corresponding in the variable list information 612, the analysis unit 63 will use the data sending and receiving unit 55 and the data sending and receiving unit 65 according to the analysis results. To read and write the variables 512 of the memory unit 51 of the numerical control device 5 . For example, when the analysis unit 63 analyzes the movement command, the control unit 64 drives each joint of the robot 3 according to the movement command.

[First Implementation] The processing of the numerical control system 1 of the first implementation is described with reference to FIGS. 2 to 10. FIGS. 2 to 7 are diagrams showing examples of the processing of the numerical control system 1 of the first implementation, and FIGS. 8 to 10 are flow charts showing the flow of the processing of the numerical control system 1 of the first implementation.

The numerical control system 1 of the first embodiment uses and executes the variables 512 used in the machining formula 511 in the existing machining formula 511a.

FIG8 is a flowchart showing the processing of the industrial device 4 of the first embodiment. In step S1, the variable list information generating unit 41 notifies the data transceiver unit 43 of the industrial device 4 of a request to obtain all the processing formulas 511 stored in the memory unit 51 of the numerical control device 5. Here, all the processing formulas 511 include variables 512. The data transceiver unit 43 obtains all the processing formulas 511 read from the memory unit 51 of the numerical control device 5 through the data transceiver unit 55 of the numerical control device 5, and inputs them to the variable list information generating unit 41 (refer to FIG2).

In step S2, the variable list information generation unit 41 creates the variable list information 513 and searches for the variables 512 included in the input processing equation 511 (see FIG. 3). The retrieved variable 512 is associated with the processing formula 511 including the variable 512, and is added to the variable list information 513 (see FIG. 4). Here, as shown in FIG. 4 , the variable list information 513 is stored in association with the variable 512 in use and the program name of the processing formula 511 using the variable 512 . After searching all the input processing formulas 511 , the variable list information generating unit 41 inputs the variable list information 513 to the variable list information output unit 42 .

In step S3 , the variable list information output unit 42 outputs the variable list information 513 to the data transmitting and receiving unit 43 of the industrial device 4 , and the data transmitting and receiving unit 4 of the industrial device 4 sends the variable list information 513 to the numerical control device 5 The data sending and receiving part 55 (refer to Figure 5).

FIG9 is a flowchart showing the processing when editing the processing formula 511 in the numerical control device 5 of the first embodiment. In step S11, the input unit 56 of the numerical control device 5 notifies the program editing unit 57 of the request to edit the processing formula 511a. The program editing unit 57 reads the processing formula 511a from the memory unit 51, and the input unit 56 inputs the variable 512 to the program editing unit 57. In addition, the program editing unit 57 reads the variable list information 513 from the memory unit 51.

In step S12, the program editing unit 57 determines whether the input variable 512 exists in the variable list information 513. If the input variable 512 exists in the variable list information 513 (yes), the process moves to step S13. On the other hand, if the variable 512 does not exist in the variable list information 513 (no), the process moves to step S16.

In step S13, when the variable 512 exists in the variable list information 513, the program editing unit 57 determines the correspondence between the processing formula 511a being edited and the variable 512 according to the variable list information 513. When the correspondence between the processing formula 511a and the variable 512 is different, that is, when the processing formula 511a and the variable 512 are not corresponding (yes), the processing will transfer to step S14. On the other hand, when the processing formula 511a and the variable 512 are corresponding (no), the processing will transfer to step S16.

In step S14, the program editing unit 57 deletes the input variable 512 in the existing processing formula 511a as it is not used.

In step S15, the program editing unit 57 causes the warning message to be displayed on the display unit 58 (see FIG. 6). In the example of FIG. 6 , the display unit 58 displays a warning message indicating that “Variable #121 is used in the machining program name O0456, and the machining program name O0123 cannot be saved.” Here, the machining formula name O0123 indicates the machining formula 511a.

In step S16, the program editing unit 57 uses the variable 512 to edit the existing processing formula 511a.

FIG10 is a flowchart showing the processing of the numerical control device 5 of the first embodiment. In step S21, the input unit 56 of the numerical control device 5 notifies the program editing unit 57 of the request to execute the processing formula 511a. The program editing unit 57 reads the processing formula 511a from the memory unit 51, and the input unit 56 inputs the variable 512 to the program editing unit 57. In addition, the program editing unit 57 reads the variable list information 513 from the memory unit 51.

In step S22, the program editing unit 57 determines whether the input variable 512 exists in the variable list information 513. If the input variable 512 exists in the variable list information 513 (yes), the process moves to step S23. On the other hand, if the variable 512 does not exist in the variable list information 513 (no), the process moves to step S26.

In step S23 , when the variable 512 exists in the variable list information 513 , the program editor 57 determines the corresponding relationship between the processing formula 511 a and the variable 512 based on the variable list information 513 . When the corresponding relationship between the processing formula 511a and the variable 512 is different, that is, when the processing formula 511a and the variable 512 are not corresponding (Yes), the process will transfer to step S24. On the other hand, when the processing equation 511a is associated with the variable 512 (NO), the process proceeds to step S26.

In step S24, the program editing part 57 does not use the input variable 512 in the existing processing program 511a, and stops or prohibits the execution of the processing program 511a.

In step S25, the program editing unit 57 displays a warning message indicating that the existing processing program 511a cannot be executed on the display unit 58 (see FIG. 7).

In step S26, the program editing part 57 uses the variable 512 to execute the existing processing program 511a.

With this configuration, the numerical control system 1 of the first embodiment notifies the numerical control device 5 of the variable list information 513 of the variables 512 associated with the machining formula 511 from all the machining formulas 511 . Thereby, the numerical control system 1 can avoid duplicating the editing of the machining formula in which variables already correspond to the machining formula are created.

Furthermore, when executing a machining formula that duplicates a variable that has been established to correspond to the machining formula, the numerical control system 1 will terminate or prohibit the execution of the machining formula according to the variable list information. In this way, the numerical control system 1 can avoid the following adverse conditions that may be caused by duplication of variables that have been established to correspond to the machining formula: poor machining, damage to the machine tool 2, collision between the machine tool 2 and the robot 3, etc.

In addition, the numerical control system 1 creates variable list information 513 of the variables 512 associated with the processing formula 511 from all the machining formulas 511 of the numerical control device 5, and outputs and displays the variable list information 513. Thereby, the numerical control system 1 can eliminate the labor of confirming the machining formula when deciding the variables to be used in a new application.

Furthermore, in the numerical control system 1, not using a variable includes at least one of the following practices: prohibiting the saving of the variable, prohibiting the reference of the variable, and prohibiting the execution of a machining formula including the variable. With such a configuration, the numerical control system 1 can appropriately avoid the undesirable conditions that may be caused by duplication of variables that have been established to correspond to the machining formula, such as poor machining, damage to the machine tool 2, collision between the machine tool 2 and the robot 3, etc.

Furthermore, the numerical control device 5 further includes a display unit 58. When the variables are not used, the display unit 58 displays a warning message indicating that the variables are not used. With such a configuration, the numerical control system 1 can appropriately notify the user of situations where variables are not used.

[Second Implementation] The processing of the numerical control system 1 of the second implementation is described with reference to Fig. 2 to Fig. 5 and Fig. 11 to Fig. 15. Fig. 2 to Fig. 5, Fig. 11 and Fig. 12 are diagrams showing examples of the processing of the numerical control system 1 of the second implementation, and Fig. 13 to Fig. 15 are flow charts showing the flow of the processing of the numerical control system 1 of the second implementation.

The numerical control system 1 of the second embodiment uses the variable 512 used in the new machining formula 511b and executes the machining formula 511.

FIG. 13 is a flowchart showing the processing of the industrial device 4 of the second embodiment. In step S31, the variable list information generating unit 41 notifies the data transceiver unit 43 of the industrial device 4 of the acquisition request of all processing formulas 511 stored in the memory unit 51 of the numerical control device 5. Here, all processing formulas 511 include variables 512. The data transceiver unit 43 acquires all processing formulas 511 read from the memory unit 51 of the numerical control device 5 through the data transceiver unit 55 of the numerical control device 5, and inputs them to the variable list information generating unit 41 (refer to FIG. 2).

In step S32, the variable list information generating unit 41 creates the variable list information 513 and searches for the variables 512 included in the input machining equation 511 (see FIG. 3). The retrieved variable 512 is associated with the processing formula 511 including the variable 512, and is added to the variable list information 513 (see FIG. 4). Here, as shown in FIG. 4 , the variable list information 513 is stored in association with the variable 512 in use and the program name of the processing formula 511 using the variable 512 . After searching all the input processing formulas 511 , the variable list information generating unit 41 inputs the variable list information 513 to the variable list information output unit 42 .

In step S33, the variable list information output unit 42 outputs the variable list information 513 to the data transceiver unit 43 of the industrial device 4, and the data transceiver unit of the industrial device 4 sends the variable list information 513 to the data transceiver unit 55 of the numerical control device 5 (refer to Figure 5).

FIG14 is a flow chart showing the processing when editing or creating the processing formula 511b in the numerical control device 5 of the second embodiment. In step S41, the input unit 56 of the numerical control device 5 notifies the program editing unit 57 of the request to edit or create the processing formula 511b. The program editing unit 57 reads the processing formula 511b from the memory unit 51, and the input unit 56 inputs the variable 512 to the program editing unit 57. In addition, the program editing unit 57 reads the variable list information 513 from the memory unit 51.

In step S42, the program editor 57 determines whether the input variable 512 exists in the variable list information 513. If the input variable 512 exists in the variable list information 513 (Yes), the process proceeds to step S43. On the other hand, if the variable 512 does not exist in the variable list information 513 (NO), the process proceeds to step S46.

In step S43, when the variable 512 exists in the variable list information 513, the program editing unit 57 determines the correspondence between the processing formula 511b and the variable 512 according to the variable list information 513. When the correspondence between the processing formula 511b and the variable 512 is different, that is, when the processing formula 511b and the variable 512 are not corresponding (yes), the processing will transfer to step S44. On the other hand, when the processing formula 511b and the variable 512 are corresponding (no), the processing will transfer to step S46.

In step S44, the program editor 57 deletes the input variable 512 in the new processing formula 511b because it is not used. Alternatively, the program editor 57 may not use the input variable 512 and prohibit the new processing formula 511b from being saved.

In step S45, the program editing part 57 causes the warning message to be displayed on the display part 58 (see FIG. 11). In the example of FIG. 11 , the display unit 58 displays a warning message indicating that “Variable #101 is used in the machining program name O0123, and the machining program name O0789 cannot be saved.” Here, the processing formula name O0789 indicates the processing formula 511b.

In step S46, the program editing unit 57 uses the variable 512 to edit or create a new processing formula 511b.

FIG15 is a flowchart showing the processing of the numerical control device 5 of the second embodiment. In step S51, the input unit 56 of the numerical control device 5 notifies the program editing unit 57 of the request to execute the processing formula 511b. The program editing unit 57 reads the processing formula 511b from the memory unit 51, and the input unit 56 inputs the variable 512 to the program editing unit 57. In addition, the program editing unit 57 reads the variable list information 513 from the memory unit 51.

In step S52, the program editing unit 57 determines whether the input variable 512 exists in the variable list information 513. If the input variable 512 exists in the variable list information 513 (yes), the process moves to step S53. On the other hand, if the variable 512 does not exist in the variable list information 513 (no), the process moves to step S56.

In step S53 , when the variable 512 exists in the variable list information 513 , the program editing unit 57 determines the corresponding relationship between the processing formula 511 b and the variable 512 based on the variable list information 513 . When the corresponding relationship between the processing formula 511b and the variable 512 is different, that is, when the processing formula 511b and the variable 512 are not corresponding (Yes), the process will transfer to step S54. On the other hand, when the processing equation 511b is associated with the variable 512 (No), the process proceeds to step S56.

In step S54, the program editing unit 57 does not use the input variable 512 in the processing formula 511b, and terminates or prohibits the execution of the processing formula 511b.

In step S55, the program editing unit 57 displays a warning message indicating that the processing program 511b cannot be executed on the display unit 58 (see FIG. 12).

In step S56, the program editing part 57 uses the variable 512 to execute the new processing program 511b.

With such a configuration, the numerical control system 1 of the second embodiment notifies the numerical control device 5 of the variable list information 513 of the variables 512 that have been associated with the processing formulas 511 from among all the processing formulas 511. In this way, the numerical control system 1 can avoid duplication of editing or creating processing formulas that duplicate variables that have been associated with the processing formulas.

Furthermore, when executing a machining formula that duplicates a variable that has been established to correspond to the machining formula, the numerical control system 1 will terminate or prohibit the execution of the machining formula according to the variable list information. In this way, the numerical control system 1 can avoid the following adverse conditions that may be caused by duplication of variables that have been established to correspond to the machining formula: poor machining, damage to the machine tool 2, collision between the machine tool 2 and the robot 3, etc.

[Third Implementation] The processing of the numerical control system 1 of the third implementation is described with reference to Fig. 16 to Fig. 24. Fig. 16 to Fig. 21 are diagrams showing examples of the processing of the numerical control system 1 of the third implementation, and Fig. 22 to Fig. 24 are flow charts showing the flow of the processing of the numerical control system 1 of the third implementation. The numerical control system 1 of the third implementation is in the robot program 611a, and uses and executes the variable 512 used in the processing formula 511.

FIG. 22 is a flowchart showing the processing of the industrial device 4 according to the third embodiment. In step S61, the variable list information generating unit 41 notifies the data transmitting and receiving unit 43 of the industrial device 4 of the acquisition request for all the processing equations 511 including the variables 512 in the memory unit 51 of the numerical control device 5, and the robot control A request to obtain the robot program 611 including all the variables 512 in the memory unit 61 of the device 6 .

The data transceiver unit 43 acquires all processing formulas 511 including variables 512 read from the memory unit 51 through the data transceiver unit 55 of the numerical control device 5. Furthermore, the data transceiver unit 43 acquires all robot programs 611 including variables 512 read from the memory unit 61 of the robot control device 6 through the data transceiver unit 65 of the robot control device 6. The data transceiver unit 43 inputs all the processing formulas 511 and all the robot programs 611 acquired into the variable list information generating unit 41. (See FIG. 16 ).

In step S62, the variable list information generating unit 41 creates variable list information 612 and retrieves the variables 512 included in the input processing formula 511 and the robot program 611 (see FIG. 17). The variable list information generating unit 41 establishes a correspondence between the retrieved variables 512 and the processing formula 511 or the robot program 611 containing the variables 512 and adds them to the variable list information 612 (see FIG. 18). Here, as shown in FIG. 18, the variable list information 612 stores the variables in use by establishing a correspondence with the program names of the processing formula 511 and/or the robot program 611. After searching all the input processing formula 511 and robot program 611 , the variable list information generating unit 41 inputs the variable list information 612 to the variable list information output unit 42 .

In step S63 , the variable list information output unit 42 outputs the variable list information 612 to the data sending and receiving unit 55 , and the data sending and receiving unit 43 outputs the variable list information 612 to the data sending and receiving unit 65 of the robot control device 6 .

FIG. 23 is a flowchart showing the processing when editing or creating a robot program 611a in the robot control device 6 of the third embodiment. In step S71, the input unit 66 of the robot control device 6 notifies the program editing unit 67 of the request to create or edit the robot program 611. When creating the robot program 611, the program editing unit 67 generates the robot program 611 and stores it in the memory unit 61. When editing the robot program 611, the program editing unit 67 reads the robot program 611 from the memory unit 61. When editing the robot program, the input unit 66 inputs the variable 512 to the program editing unit 67.

In step S72, the program editing unit 67 reads the variable list information 612 from the memory unit 61 and determines whether the input variable 512 exists in the variable list information 612. If the input variable 512 exists in the variable list information 612 (yes), the process moves to step S73. On the other hand, if the variable 512 does not exist in the variable list information 612 (no), the process moves to step S76.

In step S73, when the variable 512 exists in the variable list information 612, the program editing unit 67 determines the correspondence between the robot program 611a and the variable 512 according to the variable list information 612. When the correspondence between the robot program 611a and the variable 512 is different, that is, when the robot program 611a and the variable 512 are not corresponding (yes), the process will transfer to step S74. On the other hand, when the robot program 611a and the variable 512 are corresponding (no), the process will transfer to step S76.

In step S74, the program editing unit 67 deletes the input variable 512 from the robot program 611a without using it. In addition, the program editor 67 may not use the input variable 512 and may prohibit the saving of the robot program 611a.

In step S75, the program editing part 57 causes the warning message to be displayed on the display part 68 (see FIG. 20). In the example of FIG. 20 , the display unit 68 displays a warning message indicating that "Variable #101 is used in the machining program name O0123 and the robot program name TEST1, and the robot program name TEST2 cannot be saved." Here, the robot program name TEST2 represents the robot program 611a.

In step S76, the program editing unit 67 uses the variables 512 to edit or create the robot program 611a.

FIG. 24 is a flowchart showing processing when the robot program 611a is executed in the robot control device 6 of the third embodiment. In step S81 , when the robot program 611 has been executed, the program input unit 62 reads the robot program 611 from the storage unit 61 and inputs it into the analysis unit 63 .

In step S82, the analysis unit 63 analyzes the instruction type based on the robot program 611a for each instruction block. When analyzing the variable 512 , the analysis unit 63 reads the variable list information 612 from the storage unit 61 and determines whether the variable 512 exists in the variable list information 612 . If the variable 512 exists in the variable list information 612 (Yes), the process proceeds to step S83. On the other hand, if the variable 512 does not exist in the variable list information 612 (NO), the process proceeds to step S86.

In step S83, the analysis unit 63 determines the correspondence between the robot program 611a being executed and the variable 512 according to the variable list information 612. When the correspondence between the robot program 611a and the variable 512 is different, that is, when the variable 512 is not corresponding to the robot program 611a being executed (yes), the process will transfer to step S84. On the other hand, when the variable 512 does not exist in the variable list information, or when the robot program 611 and the variable 512 are corresponding in the variable list information 612 (no), the process will transfer to step S86.

In step S84, the analyzing unit 63 does not use the variable 512 in the robot program 611a, and terminates or prohibits the execution of the robot program 611a.

In step S85, the analysis unit 63 will display a warning message indicating that the robot program 611a cannot be executed on the display unit 68 (refer to Figure 21).

In step S86, the analysis unit 63 uses the variable 512 to execute the robot program 611a. Specifically, the control unit 64 reads and writes the variable 512 of the memory unit 51 of the numerical control device 5 through the data transceiver unit 55 and the data transceiver unit 65 according to the analysis result. For example, when the analysis unit 63 analyzes the movement command, the control unit 64 drives the joints of the robot 3 according to the movement command.

With such a configuration, the numerical control system 1 of the third embodiment notifies the robot control device 6 of the variable list information 612 . Thereby, for example, when editing a robot program, the numerical control system 1 can prohibit the saving of a robot program that uses variables corresponding to the machining program based on the variable list information, and notify a warning message. Thereby, the numerical control system 1 can avoid creating a robot program that repeatedly uses variables already associated with the machining program.

In addition, when the numerical control system 1 executes a robot program that repeatedly uses variables that have been associated with the machining program, it will prohibit the execution of the robot program until the variables that have been associated with the machining program are read and written based on the variable list information. . In this way, the numerical control system 1 can avoid the following undesirable situations: machining defects caused by the robot 3 writing the values of variables in the machining formula, damage to the machine tool 2, and the robot 3 writing the values of variables in the machining formula. Collisions between the machine tool 2 and the robot 3 that may occur due to reading.

In addition, the variable list information generating unit 41 obtains the variables 512 from all the robot programs 611 in the robot control device 6, and adds the correspondence between the variables 512 and the robot programs 611 to the variable list information 612. When the variable 512 included in the variable list information 612 is used in the robot program 611 that does not exist in the variable list information 612, the program editing unit 67 does not use the variable 512.

Thereby, the numerical control system 1 can avoid the following undesirable conditions: poor processing caused by the robot 3 writing the value of the variable 512 in the processing formula 511, damage to the machine tool 2, and possible collision between the machine tool 2 and the robot 3 caused by the robot 3 reading the value of the variable 512 in the processing formula 511.

In addition, in the numerical control system 1, not using variables includes at least one of the following methods: prohibiting storage of variables, prohibiting reference of variables, and prohibiting execution of a robot program including variables. With such a configuration, the numerical control system 1 can appropriately avoid machining defects, damage to the machine tool 2, and collisions between the machine tool 2 and the robot 3 that may occur due to duplication of variables that have been mapped to the machining program or robot program. etc. adverse conditions.

In addition, the robot control device 6 further includes a display unit 68. When the variables are not used, the display unit 68 displays a warning message indicating that the variables are not used. With such a configuration, the numerical control system 1 can appropriately notify the user of situations where variables are not used.

[Fourth Embodiment] The processing of the numerical control system 1 of the fourth embodiment will be described with reference to FIGS. 16 to 19 and 25 to 27 . 16 to 19 , 25 and 26 are diagrams showing examples of processing in the numerical control system 1 of the fourth embodiment, and FIG. 27 is a flowchart showing the flow of processing in the numerical control system 1 of the fourth embodiment.

The numerical control system 1 of the fourth embodiment displays variable list information on the industrial device 4 .

FIG27 is a flowchart showing the processing of the industrial device 4 of the third embodiment. In step S91, the variable list information generating unit 41 notifies the data transceiving unit 43 of the industrial device 4 of the acquisition request of all processing formulas 511 including variables 512 in the memory unit 51 of the numerical control device 5 and the acquisition request of all robot programs 611 including variables 512 in the memory unit 61 of the robot control device 6.

The data transceiver unit 43 acquires all processing formulas 511 including variables 512 read from the memory unit 51 through the data transceiver unit 55 of the numerical control device 5. Furthermore, the data transceiver unit 43 acquires all robot programs 611 including variables 512 read from the memory unit 61 of the robot control device 6 through the data transceiver unit 65 of the robot control device 6. The data transceiver unit 43 inputs all the processing formulas 511 and all the robot programs 611 acquired into the variable list information generating unit 41. (See FIG. 16 ).

In step S92, the variable list information generation unit 41 creates the variable list information 612 and searches for the variables 512 included in the input machining formula 511 and the robot program 611 (see FIG. 17). The variable list information generating unit 41 associates the retrieved variable 512 with the machining formula 511 or robot program 611 including the variable 512, and adds it to the variable list information 612 (see FIG. 18 ). Here, as shown in FIG. 18 , the variable list information 612 associates and memorizes the variables in use with the program names of the machining program 511 and/or the robot program 611 . The variable list information generation unit 41 inputs the variable list information 612 to the variable list information output unit 42 after searching all the input machining formulas 511 and robot programs 611 .

In step S93, the variable list information output unit 42 displays the variable list information 612 on the display unit 44 (see FIG. 25). Furthermore, the variable list information output unit 42 outputs the variable list information 612 to the data transmitting and receiving unit 55 , and the data transmitting and receiving unit 43 transmits the variable list information 612 to the data transmitting and receiving unit 65 of the robot control device 6 . Furthermore, the data transmitting and receiving unit 43 transmits the variable list information 612 to the data transmitting and receiving unit 55 of the numerical control device 5 .

In step S94, the numerical control device 5 saves the variable list information 612 in the storage unit 51, and the robot control device 6 saves the variable list information 612 in the storage unit 61. When creating the machining formula 511, the numerical control device 5 will use variables in the machining formula 511 or the robot program 611 that are not included in the variable list information 612 to create a new machining formula 511c, and create a new robot program 611c (refer to the figure). 26).

With such a configuration, the numerical control system 1 of the fourth embodiment can avoid creating a machining formula that repeatedly uses the variables 512 already associated with the machining formula 511 . Furthermore, the numerical control system 1 creates variable list information 612 of the variables 512 associated with the processing formula 511 from all the machining formulas 511 of the numerical control device, and outputs the variable list information 612 . Thereby, the numerical control system 1 can save the labor of confirming the processing formula 511 when deciding the variables to be used in a new application.

In addition, the variable list information generating unit 41 obtains the variables 512 from all the robot programs 611 in the robot control device 6, and adds the correspondence between the variables 512 and the robot programs 611 to the variable list information 612. In this way, the numerical control system 1 can avoid the following undesirable situations: machining defects caused by the robot 3 writing the value of the variable 512 in the processing formula 511, damage to the machine tool 2, or damage caused by the robot 3 writing the value of the variable 512 in the processing formula 511. The collision between machine tool 2 and robot 3 may occur when the value of variable 512 is read.

Furthermore, the industrial device 4 is further provided with a display unit 44, and the display unit 44 displays the correspondence between the variable 512 and the processing formula 511 or the robot program 611 according to the variable list information 612. With such a configuration, the numerical control system can appropriately notify the user of the situation where the variable 512 is not used.

The above describes the implementation form of the present invention, but the numerical control system 1 can be implemented by hardware, software or a combination thereof. In addition, the control method that can be performed by the numerical control system 1 can also be implemented by hardware, software or a combination thereof. Here, the so-called implementation by software means that the computer reads the program to execute and implement it.

Programs can be stored and provided to a computer using various types of non-transitory computer readable media. Non-transitory computer readable media include various types of tangible storage media. Examples of non-transitory computer readable media include: magnetic recording media (such as hard disk drives), optical magnetic recording media (such as optical disks), CD-ROM (Read Only Memory), CD-R, CD-R/W, semiconductor memory (such as mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (random access memory)).

Although the present disclosure has been described in detail, the present disclosure is not limited to the above-mentioned individual implementation forms. These implementation forms may be variously added, replaced, changed, partially deleted, etc. without departing from the scope of the main purpose of the present disclosure, or without departing from the content described in the scope of the patent application and the purpose of the present disclosure derived from its equivalents. Moreover, these implementation forms may also be implemented in combination. For example, in the above-mentioned implementation forms, the order of each action or the order of each processing is only shown as an example, and the implementation forms are not limited to these. Moreover, the same is true when numerical values or formulas are used in the description of the above-mentioned implementation forms.

The following notes are further disclosed with respect to the above-mentioned embodiments and variations. (Note 1) A numerical control system controls a robot from a processing formula of a numerical control device through a robot control device, the numerical control system comprising: a variable list information generating unit, which obtains variables from all the processing formulas in the numerical control device and generates variable list information in which the variables are associated with the processing formulas; and a program editing unit, which does not use the variables when the processing formula in the numerical control device or the robot program in the robot control device is used in a different relationship from the variable list information; and does not use the variables when the processing formula in the variable list information is used in a processing formula that does not exist in the variable list information. (Appendix 2) The numerical control system as described in Appendix 1, wherein the variable list information generating unit obtains the variables from all the robot programs in the robot control device, and adds the correspondence between the variables and the robot programs to the variable list information, The program editing unit does not use the variables before the variables included in the variable list information if the variables are not used in the robot programs before the variable list information. (Appendix 3) The numerical control system as described in Appendix 1 or 2, wherein not using the variables includes at least one of the following methods: prohibiting the saving of the variables, prohibiting the reference of the variables, and prohibiting the execution of the processing formula or the robot program before the variables are included. (Appendix 4) The numerical control system described in Appendix 1 or 2 is further provided with a display unit, and the display unit displays a warning message indicating that the variable is not used when the variable is not used. (Appendix 5) A numerical control system controls a robot from a processing formula of a numerical control device through a robot control device, and the numerical control system comprises: a variable list information generating unit, which obtains variables from all the processing formulas in the numerical control device and generates variable list information in which the variables are associated with the processing formulas; and a variable list information output unit, which outputs the variable list information to an output device. (Appendix 6) The numerical control system as described in Appendix 5, wherein the variable list information generating unit obtains the variables from all robot programs in the robot control device, and adds the correspondence between the variables and the robot programs to the variable list information. (Appendix 7) The numerical control system as described in Appendix 6 is further provided with a display unit, and the display unit displays the correspondence between the variables and the processing formula or the robot program according to the variable list information. (Note 8) A numerical control device that uses a processing formula to control a robot through a robot control device, the numerical control device comprising: a variable list information generating unit that obtains variables from the processing formula in the numerical control device or the robot program in the robot control device, and generates variable list information that has established a correspondence between the variables and the processing formula or the robot program; and a program editing unit that does not use the variables when the variables included in the processing formula or the robot program are used in a different correspondence relationship from the variable list information; and does not use the variables included in the variable list information when the variables are used in the processing formula that does not exist in the variable list information. (Appendix 9) The numerical control device as described in Appendix 8, wherein not using the aforementioned variable includes at least one of the following practices: prohibiting the saving of the aforementioned variable, prohibiting the reference of the aforementioned variable, and prohibiting the execution of the aforementioned processing formula or the aforementioned robot program before including the aforementioned variable. (Appendix 10) The numerical control system as described in Appendix 9 is further provided with a display unit, and the aforementioned display unit displays a warning message indicating that the aforementioned variable is not used when the aforementioned variable is not used. (Supplementary Note 11) An industrial device comprises: A receiving unit for receiving a processing formula or a robot program from a numerical control device or a robot control device; A variable list information generating unit for obtaining variables from the processing formula in the numerical control device or the robot program in the robot control device, and generating variable list information in which the variables are associated with the processing formula or the robot program; and A variable list information output unit for outputting the variable list information to an output device. (Supplementary Note 12) The industrial device as described in Supplementary Note 11 is further provided with a display unit, which displays the association between the variables and the processing formula or the robot program according to the variable list information. (Note 13) A computer program for causing a computer that controls a robot from a processing formula of a numerical control device through a robot control device to execute the following steps: Obtaining variables from all processing formulas in the numerical control device and generating variable list information that establishes correspondence between the variables and the processing formulas; When the variables before the processing formula in the numerical control device or the robot program in the robot control device are used in a different correspondence relationship from the variable list information, the variables are not used; and When the variables before the processing formula in the variable list information are not used in the processing formula before the variable list information, the variables are not used.

1: Numerical control system 2: Machine tool 3: Robot 4: Industrial device 5: Numerical control device 6: Robot control device 41: Variable list information generation unit 42: Variable list information output unit 43,55,65: Data receiving and sending unit 44,58,68: Display unit 51,61: Memory unit 52,62: Program input unit 53,63: Analysis unit 54,64: Control unit 56,66: Input unit 57,67: Program editing unit 511,511a,511b,511c: Processing program 512: Variable (custom macro variable) 513,612: Variable list information 611,611a,611c:Robot program S1~S3,S11~S16,S21~S26,S31~S33,S41~S46,S51~S56,S61~S63,S71~S76,S81~S86,S91~S94:Steps

FIG. 1 is a block diagram showing the structure of the numerical control system of this embodiment. FIG. 2 is a diagram showing an example of a processing formula according to the first embodiment. FIG. 3 is a diagram showing an example of the process of retrieving variables in the first embodiment. FIG. 4 is a diagram showing an example of variable list information in the first embodiment. FIG. 5 is a diagram showing an example of output variable list information in the first embodiment. FIG. 6 is a diagram showing an example of displaying a warning message according to the first embodiment. FIG. 7 is a diagram showing an example of suspending or prohibiting the execution of a machining program in the first embodiment. FIG. 8 is a flowchart showing the processing of the industrial device according to the first embodiment. FIG. 9 is a flowchart showing processing when editing a machining formula in the numerical control device according to the first embodiment. FIG. 10 is a flowchart showing the processing of the numerical control device according to the first embodiment. FIG. 11 is a diagram showing an example of displaying a warning message according to the second embodiment. FIG. 12 is a diagram showing an example of suspending or prohibiting the execution of a machining program in the second embodiment. FIG. 13 is a flowchart showing the processing of the industrial device according to the second embodiment. FIG. 14 is a flowchart showing processing when editing or creating a machining program in the numerical control device according to the second embodiment. FIG. 15 is a flowchart showing the processing of the numerical control device according to the second embodiment. FIG. 16 is a diagram showing an example of a machining program and a robot program according to the third embodiment. FIG. 17 is a diagram showing an example of variable search processing in the third embodiment. FIG. 18 is a diagram showing an example of variable list information in the third embodiment. FIG. 19 is a diagram showing an example of output variable list information in the third embodiment. FIG. 20 is a diagram showing an example of displaying a warning message according to the third embodiment. FIG. 21 is a diagram showing an example of stopping or prohibiting the execution of the robot program in the third embodiment. FIG. 22 is a flowchart showing the processing of the industrial device according to the third embodiment. FIG. 23 is a flowchart showing processing when editing or creating a robot program in the robot control device according to the third embodiment. FIG. 24 is a flowchart showing processing when the robot program is executed in the robot control device according to the third embodiment. FIG. 25 is a diagram showing an example of output variable list information according to the fourth embodiment. FIG. 26 is a diagram showing an example of a machining program and a robot program according to the fourth embodiment. FIG. 27 is a flowchart showing the processing of the industrial device according to the fourth embodiment.

1: Numerical control system

2: Machine tool

3:Robots

4:Industrial equipment

5: Numerical control device

6:Robot control device

41: Variable list information generation department

42: Variable list information output department

43,55,65: Data sending and receiving department

44,58,68:Display part

51,61:Memory Department

52,62:Program input department

53,63:Analysis Department

54,64:Control Department

56,66:Input part

57,67: Programming Editing Department

511: Processing formula

512: Variables (customized macro variables)

513,612: variable list information

611:robot program

Claims (13)

A numerical control system that controls a robot through a robot control device from the processing program of the numerical control device. The aforementioned numerical control system has: The variable list information generation unit obtains variables from all the aforementioned machining formulas in the aforementioned numerical control device, and generates variable list information that associates the aforementioned variables with the aforementioned machining formulas; and The program editing department does not use the above-mentioned machining program in the above-mentioned numerical control device or the above-mentioned robot program in the above-mentioned robot control device when the above-mentioned variables are used in a different correspondence relationship with the above-mentioned variable list information. Variables; if the aforementioned variables included in the aforementioned variable list information are used in the aforementioned processing formula that does not exist in the aforementioned variable list information, the aforementioned variables are not used. The numerical control system of claim 1, wherein the variable list information generating unit obtains the aforementioned variables from all the aforementioned robot programs in the aforementioned robot control device, and adds the correspondence between the aforementioned variables and the aforementioned robot programs to the aforementioned variable list information. , The program editor does not use the variables included in the variable list information if they are used in the robot program that does not exist in the variable list information. Such as the numerical control system of claim 1 or 2, wherein not using the aforementioned variables includes at least one of the following practices: prohibiting the saving of the aforementioned variables, prohibiting the reference of the aforementioned variables, and prohibiting the inclusion of the aforementioned variables in the aforementioned machining program or the aforementioned robot program. execution. The numerical control system of claim 1 or 2 is further provided with a display unit, and when the aforementioned variable is not used, the aforementioned display unit displays a warning message indicating that the aforementioned variable is not used. A numerical control system controls a robot from a processing formula of a numerical control device through a robot control device, the numerical control system comprising: a variable list information generating unit, which obtains variables from all the processing formulas in the numerical control device and generates variable list information that has established a correspondence between the variables and the processing formulas; and a variable list information output unit, which outputs the variable list information to an output device. A numerical control system as claimed in claim 5, wherein the variable list information generating unit obtains the variables from all robot programs in the robot control device, and adds the correspondence between the variables and the robot programs to the variable list information. The numerical control system of claim 6 is further provided with a display unit, which displays the correspondence between the variables and the processing formula or the robot program according to the variable list information. A numerical control device uses a processing formula to control a robot through a robot control device, the numerical control device comprising: a variable list information generating unit, which obtains variables from the processing formula in the numerical control device or the robot program in the robot control device, and generates variable list information that has established a correspondence between the variables and the processing formula or the robot program; and a program editing unit, which does not use the variables when the variables included in the processing formula or the robot program are used in a different correspondence relationship from the variable list information; and does not use the variables included in the variable list information when the variables are used in the processing formula that does not exist in the variable list information. A numerical control device as claimed in claim 8, wherein not using the aforementioned variable includes at least one of the following practices: prohibiting the saving of the aforementioned variable, prohibiting the reference of the aforementioned variable, and prohibiting the execution of the aforementioned processing formula or the aforementioned robot program that includes the aforementioned variable. The numerical control device of claim 9 is further provided with a display unit, and when the aforementioned variable is not used, the aforementioned display unit displays a warning message indicating that the aforementioned variable is not used. An industrial device comprises: a receiving unit for receiving a processing formula or a robot program from a numerical control device or a robot control device; a variable list information generating unit for obtaining variables from the processing formula in the numerical control device or the robot program in the robot control device, and generating variable list information in which the variables are associated with the processing formula or the robot program; and a variable list information output unit for outputting the variable list information to an output device. The industrial device of claim 11 is further provided with a display unit, which displays the correspondence between the variables and the processing formula or the robot program according to the variable list information. A computer program for causing a computer that controls a robot from a processing formula of a numerical control device through a robot control device to execute the following steps: Obtaining variables from all processing formulas in the numerical control device and generating variable list information that establishes correspondence between the variables and the processing formulas; When the variables before the processing formula in the numerical control device or the robot program in the robot control device are used in a different correspondence relationship from the variable list information, the variables are not used; and When the variables before the variable list information are used in the processing formula that does not exist before the variable list information, the variables are not used.

Images