WO2023058085A1 - Numerical control device - Google Patents

Numerical control device Download PDF

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Publication number
WO2023058085A1
WO2023058085A1 PCT/JP2021/036611 JP2021036611W WO2023058085A1 WO 2023058085 A1 WO2023058085 A1 WO 2023058085A1 JP 2021036611 W JP2021036611 W JP 2021036611W WO 2023058085 A1 WO2023058085 A1 WO 2023058085A1
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WO
WIPO (PCT)
Prior art keywords
unit
hmi
numerical controller
restart
processing machine
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PCT/JP2021/036611
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French (fr)
Japanese (ja)
Inventor
朋和 加藤
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ファナック株式会社
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Priority to PCT/JP2021/036611 priority Critical patent/WO2023058085A1/en
Publication of WO2023058085A1 publication Critical patent/WO2023058085A1/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form

Definitions

  • the present disclosure relates to a numerical control device for processing machines.
  • a HMI Human Machine Interface
  • the HMI is used for editing machining programs and setting various parameters of the numerical controller.
  • Patent Document 1 a technique for restarting only the HMI is known.
  • the HMI when the HMI is restarted, the HMI needs to acquire various data such as machine data from the numerical controller. At this time, the numerical controller is heavily loaded by the data transfer process. Therefore, if the HMI is restarted while the workpiece is being machined, the numerical control processing will be delayed, which may adversely affect the surface of the workpiece being machined. Moreover, if the HMI is restarted while the tool or workpiece is rotating or moving, there is a concern that the machine operator may be concerned about safety during that time.
  • the present disclosure provides a numerical controller that can prevent adverse effects on the surface of a workpiece even if the HMI is restarted while the processing machine is in operation, and that ensures safety during the restart. With the goal.
  • a numerical controller comprises a detection unit that detects an abnormality in the HMI unit that realizes the HMI function, a control unit that operates the processing machine according to the machining program, and whether or not predetermined conditions are satisfied in the control unit during execution of the machining program. and a restarting unit for restarting the HMI unit when the detecting unit detects an abnormality in the HMI unit and the determining unit determines that a predetermined condition is satisfied.
  • FIG. 4 is a flow chart showing an example of the flow of processing executed by a numerical control device; 3 is a block diagram showing an example of functions of an HMI and a numerical controller; FIG.
  • FIG. 1 is a block diagram showing an example of the hardware configuration of a processing machine equipped with a numerical controller.
  • the processing machine 1 is a machine that processes an object to be processed.
  • the processing machine 1 is connected to the HMI 31 .
  • the processing machine 1 includes machine tools, wire electric discharge machines, injection molding machines, and three-dimensional printers.
  • Machine tools include lathes, machining centers and multi-task machines.
  • the processing machine 1 includes a numerical control device 2, an input/output device 3, a servo amplifier 4, a servo motor 5, a spindle amplifier 6, a spindle motor 7, and auxiliary equipment 8.
  • the numerical controller 2 is a device that controls the processing machine 1 as a whole.
  • the numerical controller 2 includes a hardware processor 201 , a bus 202 , a ROM (Read Only Memory) 203 , a RAM (Random Access Memory) 204 and a nonvolatile memory 205 .
  • the hardware processor 201 is a processor that controls the entire numerical controller 2 according to the system program.
  • a hardware processor 201 reads a system program or the like stored in a ROM 203 via a bus 202 and performs various processes based on the system program.
  • the hardware processor 201 controls the servomotor 5 and the spindle motor 7 based on the machining program.
  • the hardware processor 201 is, for example, a CPU (Central Processing Unit) or an electronic circuit.
  • the hardware processor 201 analyzes the machining program and outputs control commands to the servo motor 5 and the spindle motor 7 for each control cycle.
  • a bus 202 is a communication path that connects each piece of hardware in the numerical controller 2 to each other. Each piece of hardware within the numerical controller 2 exchanges data via the bus 202 .
  • the ROM 203 is a storage device that stores system programs and the like for controlling the numerical controller 2 as a whole.
  • a ROM 203 is a computer-readable storage medium.
  • the RAM 204 is a storage device that temporarily stores various data.
  • the RAM 204 functions as a work area for the hardware processor 201 to process various data.
  • the non-volatile memory 205 is a storage device that retains data even when the processing machine 1 is turned off and power is not supplied to the numerical controller 2 .
  • the nonvolatile memory 205 stores, for example, machining programs and various parameters.
  • Non-volatile memory 205 is a computer-readable storage medium.
  • the nonvolatile memory 205 is composed of, for example, an SSD (Solid State Drive).
  • the numerical controller 2 further includes a first interface 206, an axis control circuit 207, a spindle control circuit 208, a PLC (Programmable Logic Controller) 209, an I/O unit 210, and a second interface 211. Prepare.
  • a first interface 206 connects the bus 202 and the input/output device 3 .
  • the first interface 206 sends various data processed by the hardware processor 201 to the input/output device 3, for example.
  • the input/output device 3 is a device that receives various data via the first interface 206 and displays various data. The input/output device 3 also accepts input of various data and sends the various data to the hardware processor 201 via the first interface 206, for example.
  • the input/output device 3 is, for example, a touch panel.
  • the touch panel is, for example, a capacitive touch panel. Note that the touch panel is not limited to the capacitive type, and may be a touch panel of another type.
  • the input/output device 3 is installed on a control panel (not shown) in which the numerical control device 2 is stored.
  • the axis control circuit 207 is a circuit that controls the servo motor 5 .
  • the axis control circuit 207 receives a control command from the hardware processor 201 and outputs various commands to the servo amplifier 4 for driving the servo motor 5 .
  • the axis control circuit 207 sends a torque command for controlling the torque of the servo motor 5 to the servo amplifier 4, for example.
  • the servo amplifier 4 receives a command from the axis control circuit 207 and supplies current to the servo motor 5 .
  • the servo motor 5 is driven by being supplied with current from the servo amplifier 4 .
  • the servomotor 5 is connected to, for example, a ball screw that drives the tool post.
  • the servomotor 5 may incorporate a speed detector (not shown) that detects the feed speed of the axis.
  • a spindle control circuit 208 is a circuit for controlling the spindle motor 7 .
  • a spindle control circuit 208 receives a control command from the hardware processor 201 and outputs a command for driving the spindle motor 7 to the spindle amplifier 6 .
  • the spindle control circuit 208 for example, sends a torque command for controlling the torque of the spindle motor 7 to the spindle amplifier 6 .
  • the spindle amplifier 6 receives a command from the spindle control circuit 208 and supplies current to the spindle motor 7 .
  • the spindle motor 7 is driven by being supplied with current from the spindle amplifier 6 .
  • a spindle motor 7 is connected to the main shaft and rotates the main shaft.
  • the PLC 209 is a device that executes the ladder program and controls the auxiliary equipment 8. PLC 209 sends commands to auxiliary equipment 8 via I/O unit 210 .
  • the I/O unit 210 is an interface that connects the PLC 209 and the auxiliary device 8.
  • the I/O unit 210 sends commands received from the PLC 209 to the auxiliary equipment 8 .
  • the auxiliary device 8 is a device that is installed in the processing machine 1 and performs auxiliary operations in the processing machine 1.
  • the auxiliary equipment 8 operates based on commands received from the I/O unit 210 .
  • the auxiliary device 8 may be a device installed around the processing machine 1 .
  • the auxiliary device 8 is, for example, a tool changer, a cutting fluid injection device, or an opening/closing door drive.
  • a second interface 211 is a communication path for connecting the bus 202 and the HMI 31 .
  • the second interface 211 sends various data processed by the hardware processor 201 to the HMI 31, for example.
  • the second interface 211 is, for example, an interface for wireless communication.
  • the second interface 211 may be an interface for wired communication.
  • the HMI 31 is a device and software that is connected to the numerical controller 2 and implements various settings and operations for the numerical controller 2 .
  • HMI31 contains input devices, such as a display, a keyboard, and a touch panel, for example.
  • the HMI 31 may be software that runs on a general-purpose OS (Operating System) provided in PCs (Personal Computers), tablet terminals, and the like.
  • FIG. 2 is a block diagram showing an example of the hardware configuration of the HMI 31.
  • FIG. HMI 31 includes hardware processor 301 , bus 302 , ROM 303 , RAM 304 , nonvolatile memory 305 , input/output device 306 and interface 307 .
  • the hardware processor 301 is a processor that controls the entire HMI 31 according to the system program.
  • a hardware processor 301 reads a system program or the like stored in a ROM 303 via a bus 302 and performs various processes based on the system program.
  • Hardware processor 301 is, for example, a CPU or an electronic circuit.
  • a bus 302 is a communication path that connects each piece of hardware within the HMI 31 to each other. Each piece of hardware within the HMI 31 exchanges data via the bus 302 .
  • the ROM 303 is a storage device that stores system programs and the like for controlling the HMI 31 as a whole.
  • the RAM 304 is a storage device that temporarily stores various data.
  • a RAM 304 functions as a work area for the hardware processor 301 to process various data.
  • the nonvolatile memory 305 is a storage device that retains data even when the HMI 31 is powered off.
  • the nonvolatile memory 305 is composed of, for example, an SSD (Solid State Drive).
  • the input/output device 306 is a device that receives various data via the bus 302 and displays various data. Also, the input/output device 306 receives input of various data and sends the various data to the hardware processor 301 via the bus 302 .
  • the input/output device 306 is, for example, a touch panel. Input/output devices 306 may include input devices such as a mouse and keyboard.
  • the interface 307 is a communication path for connecting the bus 302 and the numerical controller 2 .
  • the interface 307 sends various data processed by the hardware processor 301 to the numerical controller 2, for example.
  • the interface 307 is, for example, an interface for wireless communication.
  • Interface 307 may be an interface for wired communication.
  • FIG. 3 is a block diagram showing an example of the functions of the HMI 31 and the numerical controller 2.
  • the HMI 31 includes a communication section 311 , an HMI section 312 and an HMI monitoring section 313 .
  • the communication unit 311, the HMI unit 312, and the HMI monitoring unit 313 are operated by the hardware processor 301, for example, using system programs stored in the ROM 303 and various data stored in the nonvolatile memory 305. It is realized by
  • the communication unit 311 communicates with the numerical controller 2 via a communication line to exchange various data.
  • the communication unit 311 receives, for example, machining program data and various parameter data from the numerical controller 2 .
  • the HMI section 312 implements the HMI function.
  • the HMI functions are, for example, a machining program editing function, a machining program simulation function, and a parameter setting function of the numerical controller 2 .
  • the HMI unit 312 has a watchdog counter (not shown) and periodically updates the watchdog counter.
  • the HMI monitoring unit 313 monitors the operation of the HMI unit 312.
  • the HMI monitoring unit 313 monitors, for example, a watchdog counter that the HMI unit 312 has.
  • HMI monitoring section 313 outputs a signal indicating that an abnormality has occurred in HMI section 312 to numerical control device 2 via communication section 311 .
  • the HMI monitoring unit 313 restarts the HMI unit 312 when receiving a restart execution command from a restarting unit, which will be described later.
  • the numerical controller 2 includes a storage unit 21, a communication unit 22, a detection unit 23, a control unit 24, a determination unit 25, and a restart unit 26.
  • the storage unit 21 is implemented by storing various data in the RAM 204 or the nonvolatile memory 205.
  • the storage unit 21 stores various data.
  • the various data are, for example, a machining program, tool correction data, and various parameters.
  • the communication unit 22 communicates with the HMI 31 via a communication line and exchanges various data.
  • Various data are, for example, data stored in the storage unit 21 .
  • the detection unit 23 detects an abnormality in the HMI unit 312 via the communication unit 22. Detection unit 23 detects an abnormality in HMI unit 312 based on the signal output from HMI monitoring unit 313 .
  • Abnormality of the HMI unit 312 is a state in which the HMI unit 312 does not operate normally. Abnormality of the HMI unit 312 includes, for example, a state in which updating of the display screen of the input/output device 306 stops, and freezing.
  • the abnormality of the HMI unit 312 is an abnormality of part or all of the functions realized by the HMI unit 312 .
  • the control unit 24 operates the processing machine 1 according to the processing program.
  • the control unit 24 controls the operation of the processing machine 1 based on, for example, the machining program stored in the storage unit 21 and the correction data of the tool.
  • the control unit 24 identifies cutting blocks and non-cutting blocks when controlling the operation of the processing machine 1 . Cutting blocks and non-cutting blocks are described in detail later.
  • the operation of the processing machine 1 is, for example, movement of the shaft of the processing machine 1 and rotation of the main shaft.
  • FIG. 4 is a diagram showing an example of a machining program executed by the control unit 24.
  • FIG. 5 is a diagram showing the movement path of the tool that moves when the machining program shown in FIG. 4 is executed.
  • G50 written in the block with sequence number N1 is a command that specifies the maximum spindle speed. That is, "G50S2000” specifies that the maximum spindle speed is 2000 [rev/min].
  • T written in the block with sequence number N2 is a command that specifies the tool number and tool correction number. That is, "T0202" designates that the tool with the tool number 02 is called and the correction data with the tool correction number 02 is used.
  • G96 described in the block with sequence number N3 is a command specifying constant peripheral speed control. That is, "G96S120" specifies that the peripheral speed is set to 120 [m/min].
  • G00 written in the block with sequence number N11 is a positioning command. That is, "G00X100Z150" specifies that the tool should be positioned at X100, Z150.
  • the block with sequence number N12 specifies that the tool should be positioned at position X95. Note that the positioning command is a command for moving the tool at rapid feed.
  • G01 written in the block with sequence number N13 is a linear interpolation command.
  • F is a feed speed command. That is, "G01Z100F0.25" designates that the tool is moved to the position of Z100 by linear interpolation at a feed rate of 0.25 [mm/rev].
  • the linear interpolation command is a command to move the tool by cutting feed.
  • the block with the sequence number N14 designates that the tool is moved to the position X100 by linear interpolation.
  • the block with the sequence number N15 designates that the tool is moved to the position of X103, Z103 by linear interpolation.
  • the block with sequence number N18 it is specified that the tool is moved to the position of Z100 by cutting feed at a feed rate of 0.25 [mm/rev].
  • the block with the sequence number N19 designates that the tool is moved to the position X95 by cutting feed.
  • the block with sequence number N20 designates that the tool is moved to the position of X98Z103 by cutting feed.
  • M00 written in the block with sequence number N25 is a program stop command. That is, "M00" designates that the program is stopped and the operation of the processing machine 1 is stopped.
  • the maximum spindle speed is specified, tool change is executed, and constant peripheral speed control is specified (sequence numbers N1 to N3).
  • the tool is positioned at position X100, Z150, after which the tool is rapidly moved along the X axis to position X95 (sequence numbers N11, N12).
  • the tool moves along the Z axis to position Z100 at a feed rate of 0.25 [mm/rev], and moves along the X axis to position X100 (sequence numbers N13, N14).
  • the tool is separated from the workpiece by moving to positions X103 and Z103 by cutting feed, then moves to position Z150 by rapid feed, and then moves to position X90 by rapid feed (sequence numbers N15 to N17). .
  • the tool moves along the Z-axis to the Z100 position with cutting feed, and further moves to the X95 position (sequence numbers N18, N19).
  • the determination unit 25 determines whether or not a predetermined condition is satisfied in the control unit during execution of the machining program.
  • the predetermined condition is, for example, that a predetermined block in the machining program becomes executable.
  • the predetermined condition is satisfied.
  • a predetermined condition may be met during execution of a predetermined block.
  • execution of a given block may be completed, and a given condition may be met before execution of a block next to the given block begins.
  • a predetermined block is, for example, a non-cutting block that does not contain a cutting command.
  • a non-cutting block is a block that does not contain cutting feed commands for the tool.
  • the cutting feed command is, for example, a linear interpolation command and a circular interpolation command.
  • the non-cutting block there is no contact between the tool and the work, and the work is not machined by the tool.
  • blocks with sequence numbers other than sequence numbers N13 to N15 and N18 to N20 are non-cutting blocks.
  • the blocks with sequence numbers N13-N15 and N18-N20 are cutting blocks.
  • the restart unit 26 restarts the HMI unit 312 when the detection unit 23 detects an abnormality in the HMI unit 312 and the determination unit 25 determines that a predetermined condition is satisfied.
  • the restarting unit 26 sends an instruction to restart the HMI unit 312 to the HMI monitoring unit 313 via the communication unit 22 .
  • the HMI monitoring unit 313 restarts the HMI unit 312 .
  • the control unit 24 stops the operation of the processing machine 1 in the non-cutting block.
  • the restart unit 26 may restart the HMI unit 312 after the control unit 24 stops the operation of the processing machine 1 with the non-cutting block.
  • the control unit 24 stops the operation of the processing machine 1 in the non-cutting block until the restart of the HMI unit 312 is completed.
  • “Stopping operation” means at least stopping the movement of the axis. Therefore, while the HMI section 312 is being restarted, machining of the workpiece by the tool is not executed.
  • Completion of restart means that the HMI unit 312 is in a state in which it can operate normally.
  • the state in which the HMI unit 312 can operate normally is, for example, when the hardware processor 301 is physically restarted, and when the HMI unit 312 completes receiving various data for realizing the HMI function from the numerical controller 2.
  • the application program operated by the HMI unit 312 is restarted, and the HMI unit 312 receives various data from the numerical controller 2 for realizing the HMI function. when it's done. Note that even if the HMI unit 312 is restarted, if the HMI unit 312 does not receive various data from the numerical controller 2 and can operate normally, the HMI unit 312 is not necessarily the numerical controller. It is not necessary to receive various data from 2.
  • the control section 24 may restart the operation of the processing machine 1 that has been stopped. Moreover, even when the restart of the HMI section 312 fails, the control section 24 may restart the stopped operation of the processing machine 1 .
  • To restart the operation of the processing machine 1 means to start execution of the machining program from the non-cutting block in which the operation of the processing machine 1 has been stopped or the block next to the non-cutting block.
  • the control unit 24 may prohibit restarting the operation of the processing machine 1 while the HMI unit 312 is restarting. For example, the control unit 24 may not restart the operation of the processing machine 1 even if the start button provided on the operation panel of the numerical controller 2 is pressed while the HMI unit 312 is being restarted.
  • the restart unit 26 restarts the HMI unit 312. reboot.
  • the control unit 24 stops the operation of the processing machine 1 .
  • the control unit 24 may stop the operation of the processing machine 1 during execution of the block with the sequence number N11. Further, the control unit 24 may stop the operation of the processing machine 1 after the execution of the block with the sequence number N11 is completed. Alternatively, the operation of the processing machine 1 may be stopped during or after the execution of the block with the sequence number N12. In other words, the control unit 24 should not execute the cutting block while the HMI unit 312 is restarting.
  • the restart unit 26 restarts the HMI unit 312. do not start.
  • the restart unit 26 may restart the HMI unit 312 after the execution of the cutting blocks with sequence numbers N13 to N15 is completed.
  • FIG. 6 is a flowchart showing an example of the flow of processing executed by the numerical controller 2.
  • the control unit 24 operates the processing machine 1 according to the processing program (step S1).
  • the detection section 23 detects the abnormality in the HMI section 312 (step S2).
  • the determination unit 25 determines whether or not a predetermined condition is satisfied (step S3).
  • the predetermined condition is, for example, that the non-cutting block becomes executable.
  • the restarting unit 26 restarts the HMI unit 312 (step S4). If the determination unit 25 determines that the predetermined condition is not satisfied (No in step S3), the determination unit 25 repeats this determination until the predetermined condition is satisfied.
  • the control unit 24 stops the operation of the processing machine 1 (step S5).
  • the restart unit 26 may restart the HMI unit 312 after the control unit 24 stops the operation of the processing machine 1 .
  • step S6 When the restart of the HMI section 312 is completed (YES in step S6), the control section 24 restarts the operation of the processing machine 1 (step S7), and terminates the processing when the processing is completed.
  • the control unit 24 waits for restarting the operation of the processing machine 1 until the restart of the HMI unit 312 is completed (No in step S6).
  • the numerical controller 2 includes the detection unit 23 that detects an abnormality in the HMI unit 312 that implements the HMI function, the control unit 24 that operates the processing machine 1 according to the machining program, and the Determination unit 25 that determines whether or not a predetermined condition is satisfied; and a restarting unit 26 for restarting 312 .
  • the predetermined condition is that a non-cutting block that does not contain a cutting command becomes executable. Therefore, even if the HMI section 312 is restarted during operation of the processing machine 1, the control section 24 does not execute the cutting block. Therefore, the numerical controller 2 can prevent the surface of the workpiece from being adversely affected.
  • control unit 24 stops the operation of the processing machine 1 with a non-cutting block. Therefore, the numerical controller 2 can reliably prevent contact between the tool and the workpiece while the HMI section 312 is being restarted. As a result, the numerical control device 2 can prevent the surface of the workpiece from being adversely affected, and at the same time, since the tool and workpiece are not rotating or moving, safety is ensured while the HMI section 312 is being restarted. be.
  • the control unit 24 resumes the stopped operation. Therefore, even if the HMI unit 312 is restarted during operation of the processing machine 1, the numerical controller 2 can complete the processing of the workpiece according to the processing program.
  • the control unit 24 restarts the stopped operation. Therefore, even if the restart of the HMI section 312 fails, the numerical controller 2 can complete the machining of the workpiece according to the machining program.
  • control unit 24 prohibits restarting the operation of the processing machine 1 while the HMI unit 312 is being restarted. Therefore, even if the start button on the operation panel is accidentally pressed while the HMI unit 312 is restarting, it is possible to prevent the operation of the processing machine 1 from restarting. As a result, the numerical controller 2 can prevent the surface of the workpiece from being adversely affected, and at the same time, ensure safety during restarting of the HMI section 312 .
  • the storage unit 21 may store time information regarding the time when the control unit 24 restarts the operation of the processing machine 1 .
  • the storage unit 21 also stores time information about the time when the detection unit 23 detected an abnormality in the HMI unit 312, time information about the time when the determination unit 25 determined that the predetermined condition was satisfied, and the restart unit 26. At least one of the time information about the time when the restart of the HMI unit 312 is started by the HMI unit 312 and the time information about the time when the restart of the HMI unit 312 is completed may be stored.
  • the storage unit 21 corresponds to the first storage unit and the second storage unit described in the claims.
  • the HMI 31 may be implemented in the numerical control device 2 as well.
  • the HMI unit 312 and the HMI monitoring unit 313 are implemented by software that operates in a task different from the task in which the hardware processor 201 of the numerical controller 2 implements the functions of the numerical controller 2 .
  • the numerical controller 2 may include a hardware processor 301 that implements the HMI section 312 separately from the hardware processor 201 that implements numerical control.
  • the numerical control device 2 may further include an alarm section that generates an alarm.
  • FIG. 7 is a block diagram showing an example of the functions of the HMI 31 and the numerical controller 2.
  • FIG. 7 differs from the block diagram shown in FIG. 3 in that the numerical controller 2 has an alarm section 27 . Therefore, the description of the configuration other than the alarm unit 27 will be omitted as appropriate.
  • the alarm unit 27 generates an alarm when the restarting unit 26 fails to restart the HMI unit 312 .
  • the alarm unit 27 notifies the operator of an alarm by, for example, rotating and turning on one of a plurality of rotating lights included in a laminated rotating light (not shown).
  • the storage unit 21 may further store time information regarding the time when the alarm unit 27 generates an alarm. Note that the storage unit 21 corresponds to a third storage unit described in the claims.

Abstract

A numerical control device according to the present invention comprises: a detection unit that detects an abnormality of an HMI unit that implements an HMI function; a control unit that drives a machining device according to a machining program; a determination unit that determines whether a prescribed condition has been satisfied in the control unit during execution of the machining program; and a restarting unit that restarts the HMI unit when an abnormality of the HMI unit has been detected by the detection unit, and when the determination unit has determined that the prescribed condition has been satisfied.

Description

数値制御装置Numerical controller
　本開示は、加工機の数値制御装置に関する。 The present disclosure relates to a numerical control device for processing machines.
　加工機を制御する数値制御装置には、ＨＭＩ（Ｈｕｍａｎ　Ｍａｃｈｉｎｅ　Ｉｎｔｅｒｆａｃｅ）が接続されることがある。ＨＭＩは、加工プログラムの編集、および数値制御装置の各種パラメータの設定などに利用される。 A HMI (Human Machine Interface) may be connected to the numerical controller that controls the processing machine. The HMI is used for editing machining programs and setting various parameters of the numerical controller.
　ＨＭＩに異常が生じた場合、ＨＭＩを再起動する必要があり、従来、ＨＭＩのみを再起動する技術が知られている（特許文献１）。 When an abnormality occurs in the HMI, it is necessary to restart the HMI. Conventionally, a technique for restarting only the HMI is known (Patent Document 1).
特開２０１６－５７９３６号公報JP 2016-57936 A
　しかし、ＨＭＩが再起動されると、ＨＭＩは、数値制御装置から機械データなど各種データを取得する必要がある。このとき、数値制御装置にはデータ転送処理によって大きな負荷がかかる。そのため、ワークの加工中にＨＭＩの再起動が行われると、数値制御処理の遅延が発生し、加工中のワーク表面に悪影響が及ぶ可能性がある。また、工具やワークが回転、移動している最中にＨＭＩの再起動が行われると、その間、機械オペレータに安全面の不安を与える懸念がある。 However, when the HMI is restarted, the HMI needs to acquire various data such as machine data from the numerical controller. At this time, the numerical controller is heavily loaded by the data transfer process. Therefore, if the HMI is restarted while the workpiece is being machined, the numerical control processing will be delayed, which may adversely affect the surface of the workpiece being machined. Moreover, if the HMI is restarted while the tool or workpiece is rotating or moving, there is a concern that the machine operator may be concerned about safety during that time.
　本開示は、加工機の稼働中にＨＭＩが再起動されても、ワークの表面に悪影響が及ぶことを防ぐことが可能、かつ再起動中の安全性が確保される数値制御装置を提供することを目的とする。 The present disclosure provides a numerical controller that can prevent adverse effects on the surface of a workpiece even if the HMI is restarted while the processing machine is in operation, and that ensures safety during the restart. With the goal.
　数値制御装置が、ＨＭＩ機能を実現するＨＭＩ部の異常を検出する検出部と、加工プログラムに従って加工機を運転する制御部と、加工プログラムの実行中に制御部において所定の条件が満たされたか否かを判定する判定部と、検出部によってＨＭＩ部の異常が検知され、かつ、判定部によって所定の条件が満たされたと判定された場合、ＨＭＩ部を再起動させる再起動部と、を備える。 A numerical controller comprises a detection unit that detects an abnormality in the HMI unit that realizes the HMI function, a control unit that operates the processing machine according to the machining program, and whether or not predetermined conditions are satisfied in the control unit during execution of the machining program. and a restarting unit for restarting the HMI unit when the detecting unit detects an abnormality in the HMI unit and the determining unit determines that a predetermined condition is satisfied.
　本開示の一態様により、加工機の稼働中にＨＭＩが再起動されても、ワークの表面に悪影響が及ぶことを防ぐこと、および安全性を確保することができる。 According to one aspect of the present disclosure, even if the HMI is restarted while the processing machine is in operation, it is possible to prevent adverse effects on the surface of the workpiece and ensure safety.
加工機のハードウェア構成の一例を示すブロック図である。It is a block diagram which shows an example of the hardware constitutions of a processing machine. ＨＭＩのハードウェア構成の一例を示すブロック図である。It is a block diagram which shows an example of the hardware constitutions of HMI. ＨＭＩおよび数値制御装置の機能の一例を示すブロック図である。3 is a block diagram showing an example of functions of an HMI and a numerical controller; FIG. 加工プログラムの一例を示す図である。It is a figure which shows an example of a processing program. 工具の移動経路の一例を示す図である。It is a figure which shows an example of the movement path|route of a tool. 数値制御装置が実行する処理の流れの一例を示すフローチャートである。4 is a flow chart showing an example of the flow of processing executed by a numerical control device; ＨＭＩおよび数値制御装置の機能の一例を示すブロック図である。3 is a block diagram showing an example of functions of an HMI and a numerical controller; FIG.
　以下、本開示の実施形態について図面を用いて説明する。なお、以下の実施形態で説明する特徴のすべての組み合わせが課題解決に必ずしも必要であるとは限らない。また、必要以上の詳細な説明を省略する場合がある。また、以下の実施形態の説明、および図面は、当業者が本開示を十分に理解するために提供されるものであり、請求の範囲を限定することを意図していない。 Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. Note that not all combinations of features described in the following embodiments are necessarily required to solve the problem. Also, more detailed description than necessary may be omitted. In addition, the following description of the embodiments and drawings are provided for the full understanding of the present disclosure by those skilled in the art, and are not intended to limit the scope of the claims.
　図１は、数値制御装置を備える加工機のハードウェア構成の一例を示すブロック図である。加工機１は、加工対象物を加工する機械である。加工機１は、ＨＭＩ３１に接続される。 FIG. 1 is a block diagram showing an example of the hardware configuration of a processing machine equipped with a numerical controller. The processing machine 1 is a machine that processes an object to be processed. The processing machine 1 is connected to the HMI 31 .
　加工機１は、工作機械、ワイヤ放電加工機、射出成形機、および３次元プリンタを含む。工作機械は、旋盤、マシニングセンタおよび複合加工機を含む。 The processing machine 1 includes machine tools, wire electric discharge machines, injection molding machines, and three-dimensional printers. Machine tools include lathes, machining centers and multi-task machines.
　加工機１は、数値制御装置２と、入出力装置３と、サーボアンプ４と、サーボモータ５と、スピンドルアンプ６と、スピンドルモータ７と、補助機器８とを備える。 The processing machine 1 includes a numerical control device 2, an input/output device 3, a servo amplifier 4, a servo motor 5, a spindle amplifier 6, a spindle motor 7, and auxiliary equipment 8.
　数値制御装置２は、加工機１全体を制御する装置である。数値制御装置２は、ハードウェアプロセッサ２０１と、バス２０２と、ＲＯＭ（Ｒｅａｄ　Ｏｎｌｙ　Ｍｅｍｏｒｙ）２０３と、ＲＡＭ（Ｒａｎｄｏｍ　Ａｃｃｅｓｓ　Ｍｅｍｏｒｙ）２０４と、不揮発性メモリ２０５とを備える。 The numerical controller 2 is a device that controls the processing machine 1 as a whole. The numerical controller 2 includes a hardware processor 201 , a bus 202 , a ROM (Read Only Memory) 203 , a RAM (Random Access Memory) 204 and a nonvolatile memory 205 .
　ハードウェアプロセッサ２０１は、システムプログラムに従って数値制御装置２全体を制御するプロセッサである。ハードウェアプロセッサ２０１は、バス２０２を介してＲＯＭ２０３に格納されたシステムプログラムなどを読み出し、システムプログラムに基づいて各種処理を行う。ハードウェアプロセッサ２０１は、加工プログラムに基づいて、サーボモータ５、およびスピンドルモータ７を制御する。ハードウェアプロセッサ２０１は、例えば、ＣＰＵ（Ｃｅｎｔｒａｌ　Ｐｒｏｃｅｓｓｉｎｇ　Ｕｎｉｔ）、または電子回路である。 The hardware processor 201 is a processor that controls the entire numerical controller 2 according to the system program. A hardware processor 201 reads a system program or the like stored in a ROM 203 via a bus 202 and performs various processes based on the system program. The hardware processor 201 controls the servomotor 5 and the spindle motor 7 based on the machining program. The hardware processor 201 is, for example, a CPU (Central Processing Unit) or an electronic circuit.
　ハードウェアプロセッサ２０１は、制御周期ごとに、例えば、加工プログラムの解析、ならびに、サーボモータ５、およびスピンドルモータ７に対する制御指令の出力を行う。 The hardware processor 201, for example, analyzes the machining program and outputs control commands to the servo motor 5 and the spindle motor 7 for each control cycle.
　バス２０２は、数値制御装置２内の各ハードウェアを互いに接続する通信路である。数値制御装置２内の各ハードウェアはバス２０２を介してデータをやり取りする。 A bus 202 is a communication path that connects each piece of hardware in the numerical controller 2 to each other. Each piece of hardware within the numerical controller 2 exchanges data via the bus 202 .
　ＲＯＭ２０３は、数値制御装置２全体を制御するためのシステムプログラムなどを記憶する記憶装置である。ＲＯＭ２０３は、コンピュータ読み取り可能な記憶媒体である。 The ROM 203 is a storage device that stores system programs and the like for controlling the numerical controller 2 as a whole. A ROM 203 is a computer-readable storage medium.
　ＲＡＭ２０４は、各種データを一時的に格納する記憶装置である。ＲＡＭ２０４は、ハードウェアプロセッサ２０１が各種データを処理するための作業領域として機能する。 The RAM 204 is a storage device that temporarily stores various data. The RAM 204 functions as a work area for the hardware processor 201 to process various data.
　不揮発性メモリ２０５は、加工機１の電源が切られ、数値制御装置２に電力が供給されていない状態でもデータを保持する記憶装置である。不揮発性メモリ２０５は、例えば、加工プログラム、および各種パラメータを記憶する。不揮発性メモリ２０５は、コンピュータ読み取り可能な記憶媒体である。不揮発性メモリ２０５は、例えば、ＳＳＤ（Ｓｏｌｉｄ　Ｓｔａｔｅ　Ｄｒｉｖｅ）で構成される。 The non-volatile memory 205 is a storage device that retains data even when the processing machine 1 is turned off and power is not supplied to the numerical controller 2 . The nonvolatile memory 205 stores, for example, machining programs and various parameters. Non-volatile memory 205 is a computer-readable storage medium. The nonvolatile memory 205 is composed of, for example, an SSD (Solid State Drive).
　数値制御装置２は、さらに、第１のインタフェース２０６と、軸制御回路２０７と、スピンドル制御回路２０８と、ＰＬＣ（Ｐｒｏｇｒａｍｍａｂｌｅ　Ｌｏｇｉｃ　Ｃｏｎｔｒｏｌｌｅｒ）２０９と、Ｉ／Ｏユニット２１０と、第２のインタフェース２１１とを備える。 The numerical controller 2 further includes a first interface 206, an axis control circuit 207, a spindle control circuit 208, a PLC (Programmable Logic Controller) 209, an I/O unit 210, and a second interface 211. Prepare.
　第１のインタフェース２０６は、バス２０２と入出力装置３とを接続する。第１のインタフェース２０６は、例えば、ハードウェアプロセッサ２０１によって処理された各種データを入出力装置３に送る。 A first interface 206 connects the bus 202 and the input/output device 3 . The first interface 206 sends various data processed by the hardware processor 201 to the input/output device 3, for example.
　入出力装置３は、第１のインタフェース２０６を介して各種データを受け、各種データを表示する装置である。また、入出力装置３は、各種データの入力を受け付けて第１のインタフェース２０６を介して各種データを、例えば、ハードウェアプロセッサ２０１に送る。入出力装置３は、例えば、タッチパネルである。入出力装置３がタッチパネルである場合、タッチパネルは、例えば、静電容量方式のタッチパネルである。なお、タッチパネルは、静電容量方式に限らず、他の方式のタッチパネルであってもよい。入出力装置３は、数値制御装置２が格納される操作盤（不図示）に設置される。 The input/output device 3 is a device that receives various data via the first interface 206 and displays various data. The input/output device 3 also accepts input of various data and sends the various data to the hardware processor 201 via the first interface 206, for example. The input/output device 3 is, for example, a touch panel. When the input/output device 3 is a touch panel, the touch panel is, for example, a capacitive touch panel. Note that the touch panel is not limited to the capacitive type, and may be a touch panel of another type. The input/output device 3 is installed on a control panel (not shown) in which the numerical control device 2 is stored.
　軸制御回路２０７は、サーボモータ５を制御する回路である。軸制御回路２０７は、ハードウェアプロセッサ２０１からの制御指令を受けてサーボモータ５を駆動させるための各種指令をサーボアンプ４に出力する。軸制御回路２０７は、例えば、サーボモータ５のトルクを制御するトルクコマンドをサーボアンプ４に送る。 The axis control circuit 207 is a circuit that controls the servo motor 5 . The axis control circuit 207 receives a control command from the hardware processor 201 and outputs various commands to the servo amplifier 4 for driving the servo motor 5 . The axis control circuit 207 sends a torque command for controlling the torque of the servo motor 5 to the servo amplifier 4, for example.
　サーボアンプ４は、軸制御回路２０７からの指令を受けて、サーボモータ５に電流を供給する。 The servo amplifier 4 receives a command from the axis control circuit 207 and supplies current to the servo motor 5 .
　サーボモータ５は、サーボアンプ４から電流の供給を受けて駆動する。サーボモータ５は、例えば、刃物台を駆動させるボールねじに連結される。サーボモータ５が駆動することにより、刃物台などの加工機１の構造物が各軸方向に移動する。サーボモータ５は、軸の送り速度を検出する速度検出器（不図示）を内蔵していてもよい。 The servo motor 5 is driven by being supplied with current from the servo amplifier 4 . The servomotor 5 is connected to, for example, a ball screw that drives the tool post. By driving the servomotor 5, the structure of the processing machine 1 such as the tool post moves in each axial direction. The servomotor 5 may incorporate a speed detector (not shown) that detects the feed speed of the axis.
　スピンドル制御回路２０８は、スピンドルモータ７を制御するための回路である。スピンドル制御回路２０８は、ハードウェアプロセッサ２０１からの制御指令を受けてスピンドルモータ７を駆動させるための指令をスピンドルアンプ６に出力する。スピンドル制御回路２０８は、例えば、スピンドルモータ７のトルクを制御するトルクコマンドをスピンドルアンプ６に送る。 A spindle control circuit 208 is a circuit for controlling the spindle motor 7 . A spindle control circuit 208 receives a control command from the hardware processor 201 and outputs a command for driving the spindle motor 7 to the spindle amplifier 6 . The spindle control circuit 208 , for example, sends a torque command for controlling the torque of the spindle motor 7 to the spindle amplifier 6 .
　スピンドルアンプ６は、スピンドル制御回路２０８からの指令を受けて、スピンドルモータ７に電流を供給する。 The spindle amplifier 6 receives a command from the spindle control circuit 208 and supplies current to the spindle motor 7 .
　スピンドルモータ７は、スピンドルアンプ６から電流の供給を受けて駆動する。スピンドルモータ７は、主軸に連結され、主軸を回転させる。 The spindle motor 7 is driven by being supplied with current from the spindle amplifier 6 . A spindle motor 7 is connected to the main shaft and rotates the main shaft.
　ＰＬＣ２０９は、ラダープログラムを実行して補助機器８を制御する装置である。ＰＬＣ２０９は、Ｉ／Ｏユニット２１０を介して補助機器８に対して指令を送る。 The PLC 209 is a device that executes the ladder program and controls the auxiliary equipment 8. PLC 209 sends commands to auxiliary equipment 8 via I/O unit 210 .
　Ｉ／Ｏユニット２１０は、ＰＬＣ２０９と補助機器８とを接続するインタフェースである。Ｉ／Ｏユニット２１０は、ＰＬＣ２０９から受けた指令を補助機器８に送る。 The I/O unit 210 is an interface that connects the PLC 209 and the auxiliary device 8. The I/O unit 210 sends commands received from the PLC 209 to the auxiliary equipment 8 .
　補助機器８は、加工機１に設置され、加工機１において補助的な動作を行う機器である。補助機器８は、Ｉ／Ｏユニット２１０から受けた指令に基づいて動作する。補助機器８は、加工機１の周辺に設置される機器であってもよい。補助機器８は、例えば、工具交換装置、切削液噴射装置、または開閉ドア駆動装置である。 The auxiliary device 8 is a device that is installed in the processing machine 1 and performs auxiliary operations in the processing machine 1. The auxiliary equipment 8 operates based on commands received from the I/O unit 210 . The auxiliary device 8 may be a device installed around the processing machine 1 . The auxiliary device 8 is, for example, a tool changer, a cutting fluid injection device, or an opening/closing door drive.
　第２のインタフェース２１１は、バス２０２とＨＭＩ３１とを接続するための通信路である。第２のインタフェース２１１は、例えば、ハードウェアプロセッサ２０１によって処理された各種データをＨＭＩ３１に送る。第２のインタフェース２１１は、例えば、無線通信用のインタフェースである。第２のインタフェース２１１は、有線通信用のインタフェースであってもよい。 A second interface 211 is a communication path for connecting the bus 202 and the HMI 31 . The second interface 211 sends various data processed by the hardware processor 201 to the HMI 31, for example. The second interface 211 is, for example, an interface for wireless communication. The second interface 211 may be an interface for wired communication.
　次に、ＨＭＩ３１について説明する。ＨＭＩ３１は、数値制御装置２に接続され、数値制御装置２に対する種々の設定、および操作を実現するための装置、およびソフトウェアである。ＨＭＩ３１は、例えば、表示装置、キーボード、およびタッチパネルなどの入力デバイスを含む。ＨＭＩ３１は、ＰＣ（Ｐｅｒｓｏｎａｌ　Ｃｏｍｐｕｔｅｒ）、およびタブレット端末などが備える汎用のＯＳ（Ｏｐｅｒａｔｉｎｇ　Ｓｙｓｔｅｍ）上で動作するソフトウェアであってもよい。 Next, the HMI 31 will be explained. The HMI 31 is a device and software that is connected to the numerical controller 2 and implements various settings and operations for the numerical controller 2 . HMI31 contains input devices, such as a display, a keyboard, and a touch panel, for example. The HMI 31 may be software that runs on a general-purpose OS (Operating System) provided in PCs (Personal Computers), tablet terminals, and the like.
　図２は、ＨＭＩ３１のハードウェア構成の一例を示すブロック図である。ＨＭＩ３１は、ハードウェアプロセッサ３０１と、バス３０２と、ＲＯＭ３０３と、ＲＡＭ３０４と、不揮発性メモリ３０５と、入出力装置３０６と、インタフェース３０７とを備えている。 FIG. 2 is a block diagram showing an example of the hardware configuration of the HMI 31. FIG. HMI 31 includes hardware processor 301 , bus 302 , ROM 303 , RAM 304 , nonvolatile memory 305 , input/output device 306 and interface 307 .
　ハードウェアプロセッサ３０１は、システムプログラムに従ってＨＭＩ３１全体を制御するプロセッサである。ハードウェアプロセッサ３０１は、バス３０２を介してＲＯＭ３０３に格納されたシステムプログラムなどを読み出し、システムプログラムに基づいて各種処理を行う。ハードウェアプロセッサ３０１は、例えば、ＣＰＵ、または電子回路である。 The hardware processor 301 is a processor that controls the entire HMI 31 according to the system program. A hardware processor 301 reads a system program or the like stored in a ROM 303 via a bus 302 and performs various processes based on the system program. Hardware processor 301 is, for example, a CPU or an electronic circuit.
　バス３０２は、ＨＭＩ３１内の各ハードウェアを互いに接続する通信路である。ＨＭＩ３１内の各ハードウェアはバス３０２を介してデータをやり取りする。 A bus 302 is a communication path that connects each piece of hardware within the HMI 31 to each other. Each piece of hardware within the HMI 31 exchanges data via the bus 302 .
　ＲＯＭ３０３は、ＨＭＩ３１全体を制御するためのシステムプログラムなどを記憶する記憶装置である。 The ROM 303 is a storage device that stores system programs and the like for controlling the HMI 31 as a whole.
　ＲＡＭ３０４は、各種データを一時的に格納する記憶装置である。ＲＡＭ３０４は、ハードウェアプロセッサ３０１が各種データを処理するための作業領域として機能する。 The RAM 304 is a storage device that temporarily stores various data. A RAM 304 functions as a work area for the hardware processor 301 to process various data.
　不揮発性メモリ３０５は、ＨＭＩ３１の電源が切られた状態でもデータを保持する記憶装置である。不揮発性メモリ３０５は、例えば、ＳＳＤ（Ｓｏｌｉｄ　Ｓｔａｔｅ　Ｄｒｉｖｅ）で構成される。 The nonvolatile memory 305 is a storage device that retains data even when the HMI 31 is powered off. The nonvolatile memory 305 is composed of, for example, an SSD (Solid State Drive).
　入出力装置３０６は、バス３０２を介して各種データを受け、各種データを表示する装置である。また、入出力装置３０６は、各種データの入力を受け付けてバス３０２を介して各種データをハードウェアプロセッサ３０１に送る。入出力装置３０６は、例えば、タッチパネルである。入出力装置３０６は、マウス、およびキーボードなどの入力装置を含んでいてもよい。 The input/output device 306 is a device that receives various data via the bus 302 and displays various data. Also, the input/output device 306 receives input of various data and sends the various data to the hardware processor 301 via the bus 302 . The input/output device 306 is, for example, a touch panel. Input/output devices 306 may include input devices such as a mouse and keyboard.
　インタフェース３０７は、バス３０２と数値制御装置２とを接続するための通信路である。インタフェース３０７は、例えば、ハードウェアプロセッサ３０１によって処理された各種データを数値制御装置２に送る。インタフェース３０７は、例えば、無線通信用のインタフェースである。インタフェース３０７は、有線通信用のインタフェースであってもよい。 The interface 307 is a communication path for connecting the bus 302 and the numerical controller 2 . The interface 307 sends various data processed by the hardware processor 301 to the numerical controller 2, for example. The interface 307 is, for example, an interface for wireless communication. Interface 307 may be an interface for wired communication.
　次に、ＨＭＩ３１および数値制御装置２の機能について説明する。 Next, the functions of the HMI 31 and the numerical controller 2 will be explained.
　図３は、ＨＭＩ３１および数値制御装置２の機能の一例を示すブロック図である。ＨＭＩ３１は、通信部３１１と、ＨＭＩ部３１２と、ＨＭＩ監視部３１３とを備える。 FIG. 3 is a block diagram showing an example of the functions of the HMI 31 and the numerical controller 2. FIG. The HMI 31 includes a communication section 311 , an HMI section 312 and an HMI monitoring section 313 .
　通信部３１１、ＨＭＩ部３１２、およびＨＭＩ監視部３１３は、例えば、ハードウェアプロセッサ３０１が、ＲＯＭ３０３に記憶されているシステムプログラムならびに不揮発性メモリ３０５に記憶されている各種データを用いて演算処理することにより実現される。 The communication unit 311, the HMI unit 312, and the HMI monitoring unit 313 are operated by the hardware processor 301, for example, using system programs stored in the ROM 303 and various data stored in the nonvolatile memory 305. It is realized by
　通信部３１１は、通信回線を介して数値制御装置２との間で通信し、各種データをやり取りする。通信部３１１は、例えば、数値制御装置２から加工プログラムのデータ、および各種パラメータのデータを受信する。 The communication unit 311 communicates with the numerical controller 2 via a communication line to exchange various data. The communication unit 311 receives, for example, machining program data and various parameter data from the numerical controller 2 .
　ＨＭＩ部３１２は、ＨＭＩ機能を実現する。ＨＭＩ機能は、例えば、加工プログラムの編集機能、加工プログラムのシミュレーション機能、および数値制御装置２のパラメータ設定機能である。ＨＭＩ部３１２は、ウォッチドッグカウンタ（不図示）を備えており、ウォッチドッグカウンタを定期的に更新する。 The HMI section 312 implements the HMI function. The HMI functions are, for example, a machining program editing function, a machining program simulation function, and a parameter setting function of the numerical controller 2 . The HMI unit 312 has a watchdog counter (not shown) and periodically updates the watchdog counter.
　ＨＭＩ監視部３１３は、ＨＭＩ部３１２の動作を監視する。ＨＭＩ監視部３１３は、例えば、ＨＭＩ部３１２が有するウォッチドッグカウンタを監視する。ＨＭＩ監視部３１３は、所定期間ウォッチドッグカウンタが更新されない場合、通信部３１１を介して数値制御装置２に、ＨＭＩ部３１２において異常が発生したことを示す信号を出力する。 The HMI monitoring unit 313 monitors the operation of the HMI unit 312. The HMI monitoring unit 313 monitors, for example, a watchdog counter that the HMI unit 312 has. When the watchdog counter is not updated for a predetermined period of time, HMI monitoring section 313 outputs a signal indicating that an abnormality has occurred in HMI section 312 to numerical control device 2 via communication section 311 .
　また、ＨＭＩ監視部３１３は、後述する再起動部から再起動の実行指令を受けた場合、ＨＭＩ部３１２を再起動させる。 Also, the HMI monitoring unit 313 restarts the HMI unit 312 when receiving a restart execution command from a restarting unit, which will be described later.
　数値制御装置２は、記憶部２１と、通信部２２と、検出部２３と、制御部２４と、判定部２５と、再起動部２６とを備える。 The numerical controller 2 includes a storage unit 21, a communication unit 22, a detection unit 23, a control unit 24, a determination unit 25, and a restart unit 26.
　記憶部２１は、各種データがＲＡＭ２０４、または不揮発性メモリ２０５に記憶されることにより実現される。通信部２２、検出部２３、制御部２４、判定部２５、および再起動部２６は、例えば、ハードウェアプロセッサ２０１が、ＲＯＭ２０３に記憶されているシステムプログラムならびに不揮発性メモリ２０５に記憶されている各種データを用いて演算処理することにより実現される。 The storage unit 21 is implemented by storing various data in the RAM 204 or the nonvolatile memory 205. The communication unit 22, the detection unit 23, the control unit 24, the determination unit 25, and the restart unit 26, for example, the hardware processor 201 executes a system program stored in the ROM 203 and various programs stored in the nonvolatile memory 205. It is realized by arithmetic processing using data.
　記憶部２１は、各種データを記憶する。各種データとは、例えば、加工プログラム、工具の補正データ、および各種パラメータである。 The storage unit 21 stores various data. The various data are, for example, a machining program, tool correction data, and various parameters.
　通信部２２は、通信回線を介してＨＭＩ３１との間で通信し、各種データをやり取りする。各種データとは、例えば、記憶部２１に記憶されたデータである。 The communication unit 22 communicates with the HMI 31 via a communication line and exchanges various data. Various data are, for example, data stored in the storage unit 21 .
　検出部２３は、通信部２２を介して、ＨＭＩ部３１２の異常を検出する。検出部２３は、ＨＭＩ監視部３１３から出力される信号に基づいて、ＨＭＩ部３１２の異常を検出する。ＨＭＩ部３１２の異常とは、ＨＭＩ部３１２が正常に動作しなくなる状態である。ＨＭＩ部３１２の異常は、例えば、入出力装置３０６の表示画面の更新が停止する状態、およびフリーズが含まれる。なお、ＨＭＩ部３１２の異常とは、ＨＭＩ部３１２が実現する機能の一部の異常、または全部の異常である。 The detection unit 23 detects an abnormality in the HMI unit 312 via the communication unit 22. Detection unit 23 detects an abnormality in HMI unit 312 based on the signal output from HMI monitoring unit 313 . Abnormality of the HMI unit 312 is a state in which the HMI unit 312 does not operate normally. Abnormality of the HMI unit 312 includes, for example, a state in which updating of the display screen of the input/output device 306 stops, and freezing. The abnormality of the HMI unit 312 is an abnormality of part or all of the functions realized by the HMI unit 312 .
　制御部２４は、加工プログラムに従って加工機１を運転する。制御部２４は、例えば、記憶部２１に記憶された加工プログラム、および工具の補正データに基づいて、加工機１の動作を制御する。制御部２４は、加工機１の動作を制御する際、切削ブロックおよび非切削ブロックを特定する。切削ブロックおよび非切削ブロックについては、後に詳しく説明する。加工機１の動作とは、例えば、加工機１の軸の移動、および主軸の回転である。 The control unit 24 operates the processing machine 1 according to the processing program. The control unit 24 controls the operation of the processing machine 1 based on, for example, the machining program stored in the storage unit 21 and the correction data of the tool. The control unit 24 identifies cutting blocks and non-cutting blocks when controlling the operation of the processing machine 1 . Cutting blocks and non-cutting blocks are described in detail later. The operation of the processing machine 1 is, for example, movement of the shaft of the processing machine 1 and rotation of the main shaft.
　次に、加工プログラムおよび軸の移動について説明する。 Next, the machining program and axis movement will be explained.
　図４は、制御部２４によって実行される加工プログラムの一例を示す図である。図５は、図４に示す加工プログラムが実行されることによって移動する工具の移動経路を示す図である。 FIG. 4 is a diagram showing an example of a machining program executed by the control unit 24. As shown in FIG. FIG. 5 is a diagram showing the movement path of the tool that moves when the machining program shown in FIG. 4 is executed.
　加工プログラムの最上段に記載された「Ｏ」は、プログラム番号を指定する指令である。つまり、「Ｏ１００１」によって、プログラム番号が１００１であることが指定されている。 "O" written at the top of the machining program is a command to specify the program number. That is, the program number 1001 is specified by "O1001".
　シーケンス番号Ｎ１のブロックに記載された「Ｇ５０」は、主軸最高回転数を指定する指令である。つまり、「Ｇ５０Ｓ２０００」によって、主軸最高回転数が２０００［ｒｅｖ／ｍｉｎ］であることが指定されている。 "G50" written in the block with sequence number N1 is a command that specifies the maximum spindle speed. That is, "G50S2000" specifies that the maximum spindle speed is 2000 [rev/min].
　シーケンス番号Ｎ２のブロックに記載された「Ｔ」は、工具番号、および工具補正番号を指定する指令である。つまり、「Ｔ０２０２」によって、工具番号が０２番の工具の呼び出しを行い、工具補正番号が０２番の補正データを使用することが指定されている。 "T" written in the block with sequence number N2 is a command that specifies the tool number and tool correction number. That is, "T0202" designates that the tool with the tool number 02 is called and the correction data with the tool correction number 02 is used.
　シーケンス番号Ｎ３のブロックに記載された「Ｇ９６」は、周速一定制御を指定する指令である。つまり、「Ｇ９６Ｓ１２０」によって周速を１２０［ｍ／ｍｉｎ］にすることが指定されている。 "G96" described in the block with sequence number N3 is a command specifying constant peripheral speed control. That is, "G96S120" specifies that the peripheral speed is set to 120 [m/min].
　シーケンス番号Ｎ１１のブロックに記載された「Ｇ００」は、位置決め指令である。つまり、「Ｇ００Ｘ１００Ｚ１５０」によってＸ１００、Ｚ１５０の位置に工具を位置決めすることが指定されている。また、シーケンス番号Ｎ１２のブロックでは、工具をＸ９５の位置に位置決めすることが指定されている。なお、位置決め指令は、工具を早送りで移動させる指令である。 "G00" written in the block with sequence number N11 is a positioning command. That is, "G00X100Z150" specifies that the tool should be positioned at X100, Z150. The block with sequence number N12 specifies that the tool should be positioned at position X95. Note that the positioning command is a command for moving the tool at rapid feed.
　シーケンス番号Ｎ１３のブロックに記載された「Ｇ０１」は、直線補間指令である。また、「Ｆ」は、送り速度指令である。つまり、「Ｇ０１Ｚ１００Ｆ０．２５」によって、Ｚ１００の位置まで送り速度０．２５［ｍｍ／ｒｅｖ］で直線補間によって工具を移動させることが指定されている。なお、直線補間指令は、工具を切削送りで移動させる指令である。シーケンス番号Ｎ１４のブロックでは、Ｘ１００の位置まで直線補間によって工具を移動させることが指定されている。シーケンス番号Ｎ１５のブロックでは、Ｘ１０３、Ｚ１０３の位置まで直線補間によって工具を移動させることが指定されている。 "G01" written in the block with sequence number N13 is a linear interpolation command. "F" is a feed speed command. That is, "G01Z100F0.25" designates that the tool is moved to the position of Z100 by linear interpolation at a feed rate of 0.25 [mm/rev]. Note that the linear interpolation command is a command to move the tool by cutting feed. The block with the sequence number N14 designates that the tool is moved to the position X100 by linear interpolation. The block with the sequence number N15 designates that the tool is moved to the position of X103, Z103 by linear interpolation.
　シーケンス番号Ｎ１６のブロックでは、Ｚ１５０の位置まで工具を早送りで移動させることが指定されている。シーケンス番号Ｎ１７のブロックでは、Ｘ９０の位置まで工具を早送りで移動させることが指定されている。 In the block with sequence number N16, it is specified to move the tool to the position of Z150 by rapid traverse. The block with the sequence number N17 specifies that the tool should be moved to the X90 position by rapid feed.
　シーケンス番号Ｎ１８のブロックでは、送り速度０．２５［ｍｍ／ｒｅｖ］でＺ１００の位置まで工具を切削送りで移動させることが指定されている。シーケンス番号Ｎ１９のブロックでは、Ｘ９５の位置まで工具を切削送りで移動させることが指定されている。シーケンス番号Ｎ２０のブロックでは、Ｘ９８Ｚ１０３の位置まで工具を切削送りで移動させることが指定されている。 In the block with sequence number N18, it is specified that the tool is moved to the position of Z100 by cutting feed at a feed rate of 0.25 [mm/rev]. The block with the sequence number N19 designates that the tool is moved to the position X95 by cutting feed. The block with sequence number N20 designates that the tool is moved to the position of X98Z103 by cutting feed.
　シーケンス番号Ｎ２１のブロックでは、工具をＺ１５０の位置まで早送りで移動させることが指定されている。 In the block with sequence number N21, it is specified to move the tool to the Z150 position by rapid traverse.
　シーケンス番号Ｎ２５のブロックに記載された「Ｍ００」は、プログラムストップ指令である。つまり、「Ｍ００」によってプログラムをストップさせ、加工機１の運転を停止させることが指定されている。 "M00" written in the block with sequence number N25 is a program stop command. That is, "M00" designates that the program is stopped and the operation of the processing machine 1 is stopped.
　したがって、この加工プログラムでは、最初に、主軸最高回転数が指定され、工具交換が実行され、周速一定制御が指定されている（シーケンス番号Ｎ１～Ｎ３）。次に、Ｘ１００、Ｚ１５０の位置に工具が位置決めされ、その後、工具は、Ｘ軸に沿ってＸ９５の位置まで早送りで移動する（シーケンス番号Ｎ１１、Ｎ１２）。 Therefore, in this machining program, first, the maximum spindle speed is specified, tool change is executed, and constant peripheral speed control is specified (sequence numbers N1 to N3). Next, the tool is positioned at position X100, Z150, after which the tool is rapidly moved along the X axis to position X95 (sequence numbers N11, N12).
　次に、工具はＺ軸に沿ってＺ１００の位置まで送り速度０．２５［ｍｍ／ｒｅｖ］で移動し、Ｘ軸に沿ってＸ１００の位置まで移動する（シーケンス番号Ｎ１３、Ｎ１４）。 Next, the tool moves along the Z axis to position Z100 at a feed rate of 0.25 [mm/rev], and moves along the X axis to position X100 (sequence numbers N13, N14).
　次に、工具がＸ１０３、Ｚ１０３の位置まで切削送りで移動することによってワークから離れ、その後、Ｚ１５０の位置まで早送りで移動し、さらに、Ｘ９０の位置まで早送りで移動する（シーケンス番号Ｎ１５～Ｎ１７）。 Next, the tool is separated from the workpiece by moving to positions X103 and Z103 by cutting feed, then moves to position Z150 by rapid feed, and then moves to position X90 by rapid feed (sequence numbers N15 to N17). .
　次に、工具はＺ軸に沿ってＺ１００の位置まで切削送りで移動し、さらに、Ｘ９５の位置まで移動する（シーケンス番号Ｎ１８、Ｎ１９）。 Next, the tool moves along the Z-axis to the Z100 position with cutting feed, and further moves to the X95 position (sequence numbers N18, N19).
　次に、工具がＸ９８、Ｚ１０３の位置まで切削送りで移動することによってワークから離れ、その後、Ｚ１５０の位置まで早送りで移動し、その後、プログラムの実行が停止する（シーケンス番号Ｎ２０～Ｎ２５）。ここで、図３の説明に戻る。 Next, the tool moves away from the workpiece by cutting feed to positions X98 and Z103, then moves rapidly to position Z150, and then program execution stops (sequence numbers N20 to N25). Here, we return to the description of FIG.
　判定部２５は、加工プログラムの実行中に制御部において所定の条件が満たされたか否かを判定する。所定の条件とは、例えば、加工プログラム中の所定のブロックが実行可能な状態になることである。 The determination unit 25 determines whether or not a predetermined condition is satisfied in the control unit during execution of the machining program. The predetermined condition is, for example, that a predetermined block in the machining program becomes executable.
　具体的には、加工プログラムの実行中に所定のブロックの１つ前のブロックの実行が完了し、所定のブロックの実行が可能な状態になったとき、所定の条件が満たされる。あるいは、所定のブロックの実行途中で所定の条件が満たされてもよい。あるいは、所定のブロックの実行が完了し、所定のブロックの次のブロックの実行が開始される前に所定の条件が満たされてもよい。 Specifically, when the execution of the block preceding the predetermined block is completed during the execution of the machining program, and the predetermined block can be executed, the predetermined condition is satisfied. Alternatively, a predetermined condition may be met during execution of a predetermined block. Alternatively, execution of a given block may be completed, and a given condition may be met before execution of a block next to the given block begins.
　所定のブロックは、例えば、切削指令を含まない非切削ブロックである。言い換えれば、非切削ブロックとは、工具の切削送り指令を含まないブロックである。切削送り指令は、例えば、直線補間指令、および円弧補間指令である。非切削ブロックでは、工具とワークとが接触せず、工具によるワークの加工が行われない。 A predetermined block is, for example, a non-cutting block that does not contain a cutting command. In other words, a non-cutting block is a block that does not contain cutting feed commands for the tool. The cutting feed command is, for example, a linear interpolation command and a circular interpolation command. In the non-cutting block, there is no contact between the tool and the work, and the work is not machined by the tool.
　図４および図５に示す例では、シーケンス番号Ｎ１３～Ｎ１５、Ｎ１８～Ｎ２０以外のシーケンス番号が付されたブロックが非切削ブロックである。言い換えれば、シーケンス番号Ｎ１３～Ｎ１５、Ｎ１８～Ｎ２０のブロックは、切削ブロックである。 In the examples shown in FIGS. 4 and 5, blocks with sequence numbers other than sequence numbers N13 to N15 and N18 to N20 are non-cutting blocks. In other words, the blocks with sequence numbers N13-N15 and N18-N20 are cutting blocks.
　再起動部２６は、検出部２３によってＨＭＩ部３１２の異常が検知され、かつ、判定部２５によって所定の条件が満たされたと判定された場合、ＨＭＩ部３１２を再起動させる。再起動部２６は、通信部２２を介して、ＨＭＩ監視部３１３にＨＭＩ部３１２の再起動の実行指令を送る。これにより、ＨＭＩ監視部３１３は、ＨＭＩ部３１２の再起動を実行する。 The restart unit 26 restarts the HMI unit 312 when the detection unit 23 detects an abnormality in the HMI unit 312 and the determination unit 25 determines that a predetermined condition is satisfied. The restarting unit 26 sends an instruction to restart the HMI unit 312 to the HMI monitoring unit 313 via the communication unit 22 . As a result, the HMI monitoring unit 313 restarts the HMI unit 312 .
　再起動部２６がＨＭＩ部３１２の再起動を実行させる際、制御部２４は、非切削ブロックで加工機１の運転を停止させる。あるいは、制御部２４が非切削ブロックで加工機１の運転を停止させた後に、再起動部２６がＨＭＩ部３１２の再起動を実行してもよい。制御部２４は、ＨＭＩ部３１２の再起動が完了するまで、非切削ブロックにおいて加工機１の運転を停止させる。 When the restart unit 26 restarts the HMI unit 312, the control unit 24 stops the operation of the processing machine 1 in the non-cutting block. Alternatively, the restart unit 26 may restart the HMI unit 312 after the control unit 24 stops the operation of the processing machine 1 with the non-cutting block. The control unit 24 stops the operation of the processing machine 1 in the non-cutting block until the restart of the HMI unit 312 is completed.
　運転の停止とは、少なくとも軸の移動が停止することである。したがって、ＨＭＩ部３１２の再起動中は、工具によるワークの加工は実行されない。 "Stopping operation" means at least stopping the movement of the axis. Therefore, while the HMI section 312 is being restarted, machining of the workpiece by the tool is not executed.
　再起動の完了とは、ＨＭＩ部３１２が正常に動作できる状態になることである。ＨＭＩ部３１２が正常な動作ができる状態は、例えば、ハードウェアプロセッサ３０１が物理的に再起動され、さらに、数値制御装置２からＨＭＩ機能を実現するための各種データの受信をＨＭＩ部３１２が完了したときである。あるいは、ＨＭＩ部３１２が正常な動作ができる状態は、ＨＭＩ部３１２が動作させるアプリケーションプログラムが再起動され、さらに、数値制御装置２からＨＭＩ機能を実現するための各種データの受信をＨＭＩ部３１２が完了したときである。なお、ＨＭＩ部３１２の再起動が実行されても、ＨＭＩ部３１２が数値制御装置２から各種データを受信せずに正常な動作ができる状態になる場合には、必ずしもＨＭＩ部３１２は数値制御装置２から各種データを受信しなくてもよい。 Completion of restart means that the HMI unit 312 is in a state in which it can operate normally. The state in which the HMI unit 312 can operate normally is, for example, when the hardware processor 301 is physically restarted, and when the HMI unit 312 completes receiving various data for realizing the HMI function from the numerical controller 2. when Alternatively, when the HMI unit 312 can operate normally, the application program operated by the HMI unit 312 is restarted, and the HMI unit 312 receives various data from the numerical controller 2 for realizing the HMI function. when it's done. Note that even if the HMI unit 312 is restarted, if the HMI unit 312 does not receive various data from the numerical controller 2 and can operate normally, the HMI unit 312 is not necessarily the numerical controller. It is not necessary to receive various data from 2.
　ＨＭＩ部３１２の再起動が完了した場合、制御部２４は停止された加工機１の運転を再開させてもよい。また、ＨＭＩ部３１２の再起動が失敗した場合も、制御部２４は停止された加工機１の運転を再開させてもよい。加工機１の運転を再開させるとは、加工機１の運転を停止させた非切削ブロックまたは、当該非切削ブロックの次のブロックから加工プログラムの実行を開始させることである。 When the restart of the HMI section 312 is completed, the control section 24 may restart the operation of the processing machine 1 that has been stopped. Moreover, even when the restart of the HMI section 312 fails, the control section 24 may restart the stopped operation of the processing machine 1 . To restart the operation of the processing machine 1 means to start execution of the machining program from the non-cutting block in which the operation of the processing machine 1 has been stopped or the block next to the non-cutting block.
　制御部２４は、ＨＭＩ部３１２の再起動中において、加工機１の運転の再開を禁止してもよい。例えば、ＨＭＩ部３１２の再起動中において、数値制御装置２の操作盤に設けられた起動ボタンが押下されたとしても、制御部２４は、加工機１の運転を再開しないようにしてもよい。 The control unit 24 may prohibit restarting the operation of the processing machine 1 while the HMI unit 312 is restarting. For example, the control unit 24 may not restart the operation of the processing machine 1 even if the start button provided on the operation panel of the numerical controller 2 is pressed while the HMI unit 312 is being restarted.
　図４および図５に示す例において、シーケンス番号Ｎ１１のブロック、すなわち、非切削ブロックの実行中に検出部２３によってＨＭＩ部３１２の異常が検知された場合、再起動部２６は、ＨＭＩ部３１２を再起動させる。このとき、制御部２４は、加工機１の運転を停止させる。制御部２４は、シーケンス番号Ｎ１１のブロックの実行途中に加工機１の運転を停止させてもよい。また、制御部２４は、シーケンス番号Ｎ１１のブロックの実行が完了した後に、加工機１の運転を停止させてもよい。あるいは、シーケンス番号Ｎ１２のブロックの実行途中または実行完了後に加工機１の運転を停止させてもよい。つまり、制御部２４は、ＨＭＩ部３１２の再起動中に、切削ブロックを実行しなければよい。 In the example shown in FIGS. 4 and 5, when the detection unit 23 detects an abnormality in the HMI unit 312 during execution of the block with the sequence number N11, that is, the non-cutting block, the restart unit 26 restarts the HMI unit 312. reboot. At this time, the control unit 24 stops the operation of the processing machine 1 . The control unit 24 may stop the operation of the processing machine 1 during execution of the block with the sequence number N11. Further, the control unit 24 may stop the operation of the processing machine 1 after the execution of the block with the sequence number N11 is completed. Alternatively, the operation of the processing machine 1 may be stopped during or after the execution of the block with the sequence number N12. In other words, the control unit 24 should not execute the cutting block while the HMI unit 312 is restarting.
　図４および図５に示す例において、シーケンス番号Ｎ１３のブロック、すなわち、切削ブロックの実行中に検出部２３によってＨＭＩ部３１２の異常が検出された場合、再起動部２６は、ＨＭＩ部３１２を再起動させない。再起動部２６は、シーケンス番号Ｎ１３～Ｎ１５の切削ブロックの実行が完了した後にＨＭＩ部３１２を再起動させるようにしてもよい。 In the example shown in FIGS. 4 and 5, when the detection unit 23 detects an abnormality in the HMI unit 312 during execution of the block with the sequence number N13, that is, the cutting block, the restart unit 26 restarts the HMI unit 312. do not start. The restart unit 26 may restart the HMI unit 312 after the execution of the cutting blocks with sequence numbers N13 to N15 is completed.
　次に、数値制御装置２が実行する処理の流れについて説明する。 Next, the flow of processing executed by the numerical controller 2 will be described.
　図６は、数値制御装置２が実行する処理の流れの一例を示すフローチャートである。まず、制御部２４が加工プログラムに従って加工機１の運転を行う（ステップＳ１）。 FIG. 6 is a flowchart showing an example of the flow of processing executed by the numerical controller 2. FIG. First, the control unit 24 operates the processing machine 1 according to the processing program (step S1).
　加工機１の運転中にＨＭＩ部３１２において異常が発生した場合、検出部２３がＨＭＩ部３１２の異常を検出する（ステップＳ２）。 When an abnormality occurs in the HMI section 312 during operation of the processing machine 1, the detection section 23 detects the abnormality in the HMI section 312 (step S2).
　次に、判定部２５が所定の条件が満たされているか否かを判定する（ステップＳ３）。ここで、所定の条件とは、例えば、非切削ブロックが実行可能な状態になることである。 Next, the determination unit 25 determines whether or not a predetermined condition is satisfied (step S3). Here, the predetermined condition is, for example, that the non-cutting block becomes executable.
　判定部２５によって所定の条件が満たされていると判定された場合（ステップＳ３においてＹｅｓの場合）、再起動部２６がＨＭＩ部３１２を再起動させる（ステップＳ４）。判定部２５によって所定の条件が満たされていないと判定された場合（ステップＳ３においてＮｏの場合）、判定部２５は、所定の条件が満たされるまでこの判定を繰り返す。 When the determining unit 25 determines that the predetermined condition is satisfied (Yes in step S3), the restarting unit 26 restarts the HMI unit 312 (step S4). If the determination unit 25 determines that the predetermined condition is not satisfied (No in step S3), the determination unit 25 repeats this determination until the predetermined condition is satisfied.
　再起動部２６がＨＭＩ部３１２を再起動させると、制御部２４は加工機１の運転を停止させる（ステップＳ５）。なお、制御部２４が加工機１の運転を停止させた後に、再起動部２６がＨＭＩ部３１２の再起動を実行するようにしてもよい。 When the restart unit 26 restarts the HMI unit 312, the control unit 24 stops the operation of the processing machine 1 (step S5). Note that the restart unit 26 may restart the HMI unit 312 after the control unit 24 stops the operation of the processing machine 1 .
　ＨＭＩ部３１２の再起動が完了すると（ステップＳ６においてＹＥＳの場合）、制御部２４は、加工機１の運転を再開させ（ステップＳ７）、加工が完了すると処理を終了させる。ＨＭＩ部３１２の再起動が完了するまで、制御部２４は、加工機１の運転再開を待機する（ステップＳ６においてＮｏの場合）。 When the restart of the HMI section 312 is completed (YES in step S6), the control section 24 restarts the operation of the processing machine 1 (step S7), and terminates the processing when the processing is completed. The control unit 24 waits for restarting the operation of the processing machine 1 until the restart of the HMI unit 312 is completed (No in step S6).
　以上説明したように、数値制御装置２は、ＨＭＩ機能を実現するＨＭＩ部３１２の異常を検出する検出部２３と、加工プログラムに従って加工機１を運転する制御部２４と、加工プログラムの実行中に所定の条件が満たされたか否かを判定する判定部２５と、検出部２３によってＨＭＩ部３１２の異常が検知され、かつ、判定部２５によって所定の条件が満たされたと判定された場合、ＨＭＩ部３１２を再起動させる再起動部２６と、を備える。また、所定の条件は、切削指令を含まない非切削ブロックが実行可能な状態になることである。したがって、加工機１の運転中にＨＭＩ部３１２が再起動されても、制御部２４は、切削ブロックの実行を行わない。そのため、数値制御装置２は、ワークの表面に悪影響が及ぶことを防ぐことができる。 As described above, the numerical controller 2 includes the detection unit 23 that detects an abnormality in the HMI unit 312 that implements the HMI function, the control unit 24 that operates the processing machine 1 according to the machining program, and the Determination unit 25 that determines whether or not a predetermined condition is satisfied; and a restarting unit 26 for restarting 312 . Also, the predetermined condition is that a non-cutting block that does not contain a cutting command becomes executable. Therefore, even if the HMI section 312 is restarted during operation of the processing machine 1, the control section 24 does not execute the cutting block. Therefore, the numerical controller 2 can prevent the surface of the workpiece from being adversely affected.
　また、制御部２４は、非切削ブロックで加工機１の運転を停止させる。したがって、数値制御装置２は、ＨＭＩ部３１２の再起動中に工具とワークが接触することを確実に防ぐことができる。結果として、数値制御装置２は、ワークの表面に悪影響が及ぶことを防ぐことができると同時に、工具やワークが回転、移動していないため、ＨＭＩ部３１２の再起動中の安全性が確保される。 Also, the control unit 24 stops the operation of the processing machine 1 with a non-cutting block. Therefore, the numerical controller 2 can reliably prevent contact between the tool and the workpiece while the HMI section 312 is being restarted. As a result, the numerical control device 2 can prevent the surface of the workpiece from being adversely affected, and at the same time, since the tool and workpiece are not rotating or moving, safety is ensured while the HMI section 312 is being restarted. be.
　また、ＨＭＩ部３１２の再起動が完了した場合、制御部２４は停止された運転を再開させる。したがって、加工機１の運転中にＨＭＩ部３１２の再起動が行われた場合でも、数値制御装置２は加工プログラムに従ってワークの加工を完了させることができる。 Also, when the restart of the HMI unit 312 is completed, the control unit 24 resumes the stopped operation. Therefore, even if the HMI unit 312 is restarted during operation of the processing machine 1, the numerical controller 2 can complete the processing of the workpiece according to the processing program.
　また、ＨＭＩ部３１２の再起動が失敗した場合、制御部２４は停止された運転を再開させる。したがって、ＨＭＩ部３１２の再起動が失敗した場合でも、数値制御装置２は加工プログラムに従ってワークの加工を完了させることができる。 Also, if the restart of the HMI unit 312 fails, the control unit 24 restarts the stopped operation. Therefore, even if the restart of the HMI section 312 fails, the numerical controller 2 can complete the machining of the workpiece according to the machining program.
　また、制御部２４は、ＨＭＩ部３１２の再起動中において、加工機１の運転の再開を禁止する。したがって、ＨＭＩ部３１２の再起動中において操作盤の起動ボタンが誤って押下された場合でも、加工機１の運転が再開することを防ぐことができる。結果として、数値制御装置２は、ワークの表面に悪影響が及ぶことを防ぐことができると同時に、ＨＭＩ部３１２の再起動中の安全性が確保される。 Also, the control unit 24 prohibits restarting the operation of the processing machine 1 while the HMI unit 312 is being restarted. Therefore, even if the start button on the operation panel is accidentally pressed while the HMI unit 312 is restarting, it is possible to prevent the operation of the processing machine 1 from restarting. As a result, the numerical controller 2 can prevent the surface of the workpiece from being adversely affected, and at the same time, ensure safety during restarting of the HMI section 312 .
　なお、記憶部２１は、制御部２４が加工機１の運転を再開したときの時間に関する時間情報を記憶してもよい。また、記憶部２１は、検出部２３によってＨＭＩ部３１２の異常が検出された時間に関する時間情報、判定部２５によって所定の条件が満たされたと判定されたときの時間に関する時間情報、再起動部２６によってＨＭＩ部３１２の再起動が開始されたときの時間に関する時間情報、およびＨＭＩ部３１２の再起動が完了したときの時間に関する時間情報のうち少なくともいずれかを記憶してもよい。ここで、記憶部２１は、請求の範囲に記載された第１の記憶部および第２の記憶部に対応する。 Note that the storage unit 21 may store time information regarding the time when the control unit 24 restarts the operation of the processing machine 1 . The storage unit 21 also stores time information about the time when the detection unit 23 detected an abnormality in the HMI unit 312, time information about the time when the determination unit 25 determined that the predetermined condition was satisfied, and the restart unit 26. At least one of the time information about the time when the restart of the HMI unit 312 is started by the HMI unit 312 and the time information about the time when the restart of the HMI unit 312 is completed may be stored. Here, the storage unit 21 corresponds to the first storage unit and the second storage unit described in the claims.
　上述した実施形態では、ＨＭＩ３１が、数値制御装置２に接続される例について説明した。しかし、ＨＭＩ３１は、数値制御装置２に実装されてもよい。この場合、ＨＭＩ部３１２、およびＨＭＩ監視部３１３は、数値制御装置２が有するハードウェアプロセッサ２０１が数値制御装置２の機能を実現するタスクとは異なるタスクで動作するソフトウェアによって実現される。あるいは、数値制御装置２は、ＨＭＩ部３１２を実現するハードウェアプロセッサ３０１を、数値制御を実現するハードウェアプロセッサ２０１とは別に備えていてもよい。 In the above-described embodiment, an example in which the HMI 31 is connected to the numerical controller 2 has been described. However, the HMI 31 may be implemented in the numerical control device 2 as well. In this case, the HMI unit 312 and the HMI monitoring unit 313 are implemented by software that operates in a task different from the task in which the hardware processor 201 of the numerical controller 2 implements the functions of the numerical controller 2 . Alternatively, the numerical controller 2 may include a hardware processor 301 that implements the HMI section 312 separately from the hardware processor 201 that implements numerical control.
　数値制御装置２は、さらに、アラームを発生させるアラーム部をさらに備えていてもよい。 The numerical control device 2 may further include an alarm section that generates an alarm.
　図７は、ＨＭＩ３１および数値制御装置２の機能の一例を示すブロック図である。図７に示すブロック図は、数値制御装置２がアラーム部２７を備えている点で、図３に示すブロック図と異なる。そのため、アラーム部２７以外の構成については、説明を適宜省略する。 FIG. 7 is a block diagram showing an example of the functions of the HMI 31 and the numerical controller 2. FIG. The block diagram shown in FIG. 7 differs from the block diagram shown in FIG. 3 in that the numerical controller 2 has an alarm section 27 . Therefore, the description of the configuration other than the alarm unit 27 will be omitted as appropriate.
　アラーム部２７は、再起動部２６によるＨＭＩ部３１２の再起動が失敗した場合、アラームを発生させる。アラーム部２７は、例えば、積層回転灯（不図示）に含まれる複数の回転灯のうちの１つの回転灯を回転および点灯させることにより、オペレータにアラームを報知する。 The alarm unit 27 generates an alarm when the restarting unit 26 fails to restart the HMI unit 312 . The alarm unit 27 notifies the operator of an alarm by, for example, rotating and turning on one of a plurality of rotating lights included in a laminated rotating light (not shown).
　記憶部２１は、さらに、アラーム部２７がアラームを発生させたときの時間に関する時間情報を記憶してもよい。なお、記憶部２１は、請求の範囲に記載された第３の記憶部に対応する。 The storage unit 21 may further store time information regarding the time when the alarm unit 27 generates an alarm. Note that the storage unit 21 corresponds to a third storage unit described in the claims.
　なお、本開示は上記実施の形態に限られたものではなく、趣旨を逸脱しない範囲で適宜変更することが可能である。本開示では、実施の形態の任意の構成要素の変形、もしくは実施の形態の任意の構成要素の省略が可能である。 It should be noted that the present disclosure is not limited to the above embodiments, and can be modified as appropriate without departing from the scope. In the present disclosure, modification of any component of the embodiment or omission of any component of the embodiment is possible.
　　１　　　　　加工機
　　２　　　　　数値制御装置
　　２１　　　　記憶部
　　２２　　　　通信部
　　２３　　　　検出部
　　２４　　　　制御部
　　２５　　　　判定部
　　２６　　　　再起動部
　　２７　　　　アラーム部
　　２０１　　　ハードウェアプロセッサ
　　２０２　　　バス
　　２０３　　　ＲＯＭ
　　２０４　　　ＲＡＭ
　　２０５　　　不揮発性メモリ
　　２０６　　　第１のインタフェース
　　２０７　　　軸制御回路
　　２０８　　　スピンドル制御回路
　　２０９　　　ＰＬＣ
　　２１０　　　Ｉ／Ｏユニット
　　２１１　　　第２のインタフェース
　　３　　　　　入出力装置
　　４　　　　　サーボアンプ
　　５　　　　　サーボモータ
　　６　　　　　スピンドルアンプ
　　７　　　　　スピンドルモータ
　　８　　　　　補助機器
　　３１　　　　ＨＭＩ
　　３０１　　　ハードウェアプロセッサ
　　３０２　　　バス
　　３０３　　　ＲＯＭ
　　３０４　　　ＲＡＭ
　　３０５　　　不揮発性メモリ
　　３０６　　　入出力装置
　　３０７　　　インタフェース
　　３１１　　　通信部
　　３１２　　　ＨＭＩ部
　　３１３　　　ＨＭＩ監視部 1 processing machine 2 numerical control device 21 storage unit 22 communication unit 23 detection unit 24 control unit 25 determination unit 26 restart unit 27 alarm unit 201 hardware processor 202 bus 203 ROM
204 RAMs
205 nonvolatile memory 206 first interface 207 axis control circuit 208 spindle control circuit 209 PLC
210 I/O unit 211 second interface 3 input/output device 4 servo amplifier 5 servo motor 6 spindle amplifier 7 spindle motor 8 auxiliary device 31 HMI
301 hardware processor 302 bus 303 ROM
304 RAM
305 nonvolatile memory 306 input/output device 307 interface 311 communication unit 312 HMI unit 313 HMI monitoring unit

Claims (10)

  1. 　ＨＭＩ機能を実現するＨＭＩ部の異常を検出する検出部と、
    　加工プログラムに従って加工機を運転する制御部と、
    　前記加工プログラムの実行中に制御部において所定の条件が満たされたか否かを判定する判定部と、
    　前記検出部によって前記ＨＭＩ部の異常が検知され、かつ、前記判定部によって前記所定の条件が満たされたと判定された場合、前記ＨＭＩ部を再起動させる再起動部と、
    を備える数値制御装置。     a detection unit that detects an abnormality in the HMI unit that realizes the HMI function;
    a control unit that operates a processing machine according to a processing program;
    a determination unit that determines whether a predetermined condition is satisfied in the control unit during execution of the machining program;
    a restart unit that restarts the HMI unit when the detection unit detects an abnormality in the HMI unit and the determination unit determines that the predetermined condition is satisfied;
    Numerical controller with
  2. 　前記所定の条件は、切削指令を含まない非切削ブロックが実行可能な状態になることである請求項１に記載の数値制御装置。 The numerical controller according to claim 1, wherein the predetermined condition is that a non-cutting block that does not contain a cutting command becomes executable.
  3. 　前記制御部は、前記非切削ブロックで前記加工機の運転を停止させる請求項２に記載の数値制御装置。 The numerical control device according to claim 2, wherein the control unit stops the operation of the processing machine at the non-cutting block.
  4. 　前記ＨＭＩ部の再起動が完了した場合、前記制御部は停止された前記運転を再開させる請求項３に記載の数値制御装置。 　The numerical controller according to claim 3, wherein when the restart of the HMI section is completed, the control section restarts the stopped operation.
  5. 　前記ＨＭＩ部の再起動が失敗した場合、前記制御部は停止された前記運転を再開させる請求項３または４に記載の数値制御装置。 The numerical controller according to claim 3 or 4, wherein, if restarting of the HMI section fails, the control section restarts the stopped operation.
  6. 　前記制御部は、前記ＨＭＩ部の再起動中において、前記運転の再開を禁止する請求項３～５いずれか１項に記載の数値制御装置。 The numerical controller according to any one of claims 3 to 5, wherein the control unit prohibits the restart of the operation while the HMI unit is restarting.
  7. 　前記制御部が前記運転を再開したときの時間に関する時間情報を記憶する第１の記憶部をさらに備える請求項３～６のいずれか１項に記載の数値制御装置。 The numerical control device according to any one of claims 3 to 6, further comprising a first storage unit that stores time information regarding the time when the control unit restarts the operation.
  8. 　前記検出部によって前記ＨＭＩ部の異常が検出された時間に関する時間情報、前記判定部によって前記所定の条件が満たされたと判定されたときの時間に関する時間情報、前記再起動部によって前記ＨＭＩ部の再起動が開始されたときの時間に関する時間情報、および前記ＨＭＩ部の再起動が完了したときの時間に関する時間情報のうち少なくともいずれかを記憶する第２の記憶部をさらに備える請求項１～７のいずれか１項に記載の数値制御装置。 Time information about the time when the abnormality of the HMI unit was detected by the detection unit, time information about the time when the determination unit determined that the predetermined condition was satisfied, and restarting of the HMI unit by the restart unit. 8. The device according to any one of claims 1 to 7, further comprising a second storage unit that stores at least one of time information regarding the time when activation is started and time information regarding the time when the restart of the HMI unit is completed. The numerical control device according to any one of items 1 and 2.
  9. 　前記ＨＭＩ部の再起動に失敗した場合、アラームを発生させるアラーム部をさらに備える請求項１～８のいずれか１項に記載の数値制御装置。 The numerical controller according to any one of claims 1 to 8, further comprising an alarm section that generates an alarm when restarting of the HMI section fails.
  10. 　前記アラーム部がアラームを発生させたときの時間に関する時間情報を記憶する第３の記憶部をさらに備える請求項９に記載の数値制御装置。 The numerical control device according to claim 9, further comprising a third storage unit that stores time information regarding the time when the alarm unit generates the alarm.
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JP2003288105A (en) * 2002-03-28 2003-10-10 Fanuc Ltd Control unit
JP2014038562A (en) * 2012-08-20 2014-02-27 Fanuc Ltd Numerical control device with maintenance function during hmi abnormality
JP2015179400A (en) * 2014-03-19 2015-10-08 Dmg森精機株式会社 Control system for machine tool
JP2016057936A (en) * 2014-09-11 2016-04-21 ファナック株式会社 Numerical controller having reboot function in hmi emergency
JP2018067268A (en) * 2016-10-21 2018-04-26 ファナック株式会社 Numerical control system with display switching function and numerical control apparatus

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003288105A (en) * 2002-03-28 2003-10-10 Fanuc Ltd Control unit
JP2014038562A (en) * 2012-08-20 2014-02-27 Fanuc Ltd Numerical control device with maintenance function during hmi abnormality
JP2015179400A (en) * 2014-03-19 2015-10-08 Dmg森精機株式会社 Control system for machine tool
JP2016057936A (en) * 2014-09-11 2016-04-21 ファナック株式会社 Numerical controller having reboot function in hmi emergency
JP2018067268A (en) * 2016-10-21 2018-04-26 ファナック株式会社 Numerical control system with display switching function and numerical control apparatus

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