WO2023127131A1

WO2023127131A1 - Control system and connection abnormality detection device for industrial machine

Info

Publication number: WO2023127131A1
Application number: PCT/JP2021/048881
Authority: WO
Inventors: 大亮小林; 敬介辻川
Original assignee: ファナック株式会社
Priority date: 2021-12-28
Filing date: 2021-12-28
Publication date: 2023-07-06
Also published as: JPWO2023127131A1; DE112021008392T5; CN118234595A

Abstract

Provided are a connection abnormality detection device and a control system capable of preventing unexpected operation if a connection error is made when replacing a part. This connection abnormality detection device comprises: a change condition detection unit that detects a mode change condition for changing from a normal running mode in which an industrial machine normally operates to a start-up mode; a mode processing unit that changes the normal running mode to the start-up mode when the mode change condition is detected by the change condition detection unit; and an abnormality detection unit that detects, on the basis of a feedback value from a drive unit of the industrial machine, a connection abnormality between a drive control unit that controls the drive unit and the drive unit.

Description

WIRING ABNORMALITY DETECTION DEVICE AND CONTROL SYSTEM FOR INDUSTRIAL MACHINE

The present invention relates to a wiring abnormality detection device and control system for industrial machines.

If a wiring error (misconnection) occurs between a control device such as a numerical control device and a servomotor of an industrial machine such as a machine tool, the control device and industrial machine may operate unexpectedly. end up Techniques for detecting such connection anomalies have been proposed (see Patent Document 1, for example).

JP 2020-154772 A

The control system described in Patent Document 1 starts up with the alarm detection threshold lowered (startup mode) when the power is turned on for the first time. The control system maintains the start-up mode until the numerical controller checks the wiring and confirms that the wiring of all axes of the servo motors is correct. Here, the connection check by the numerical controller includes outputting a connection check command and detecting a connection error from the relationship between the command and the position feedback value of the servomotor.

However, after the wiring check is completed, the servo motor may be replaced due to maintenance replacement, etc. There is a possibility that a connection error occurs during this motor replacement, leading to an unexpected operation of the servomotor. It is up to the user whether or not to re-execute the connection check when replacing the motor or the like. Therefore, there is a demand for a connection abnormality detection device and a control system that can prevent unexpected operations when a connection error occurs when replacing parts such as a motor.

A connection abnormality detection device for an industrial machine according to an aspect of the present disclosure includes a change condition detection unit that detects a mode change condition for changing from a normal operation mode in which the industrial machine normally operates to a start-up mode; When the condition detection unit detects the mode change condition, the mode processing unit changes the normal operation mode to the start-up mode, and the drive unit of the industrial machine is controlled based on a feedback value from the drive unit. and an abnormality detection section that detects a connection abnormality between the drive control section and the drive section.

A control system for an industrial machine according to one aspect of the present disclosure includes an operation command unit that creates a command for operating a drive unit of the industrial machine, and a drive control unit that controls the drive unit based on the command. a change condition detection unit for detecting a mode change condition for changing from the normal operation mode for normal operation of the industrial machine to the startup mode; and when the change condition detection unit detects the mode change condition, the normal operation is performed. A mode processing unit for changing the mode to the start-up mode, and an abnormality detection unit for detecting a connection abnormality between the drive control unit and the drive unit based on a feedback value from the drive unit.

According to the present invention, it is possible to prevent unexpected operation when a connection error is made during part replacement.

It is a block diagram showing an outline of a control system concerning this embodiment. 1 is a block diagram showing the configuration of a control system according to this embodiment; FIG. It is a flow chart which shows processing of a control system concerning this embodiment.

An example of an embodiment of the present invention will be described below. FIG. 1 is a block diagram showing an outline of a control system 1 according to this embodiment. As shown in FIG. 1 , the control system 1 according to this embodiment includes a numerical controller 100 and a machine tool 20 . The machine tool 20 includes a plurality of

servo amplifiers

21a, 21b and a plurality of servomotors 22a, 22b. In the example shown in FIG. 1, the control system 1 uses a machine tool 20 as an industrial machine, but a robot or other equipment having a servo amplifier, a servo motor, etc. may be used as the industrial machine. .

The numerical controller 100 and the servo amplifier 21a are connected by a signal line 6, and the

servo amplifiers

21a and 21b are connected by a signal line 7. Thereby, the numerical controller 100 and the plurality of

servo amplifiers

21a and 21b are directly or indirectly connected. The servo amplifier 21a and the servomotor 22a are connected by a power line 4a, and the servo amplifier 21b and the servomotor 22b are connected by a power line 4b.

In FIG. 1, the feedback line 5a, which should originally connect the servo amplifier 21a and the servomotor 22a (specifically, the encoder of the servomotor 22a), connects the servoamplifier 21a and the servomotor 22b. Further, a feedback line 5b connecting the servo amplifier 21b and the servomotor 22b (more specifically, the encoder of the servomotor 22b) connects the servoamplifier 21b and the servomotor 22a.

That is, in FIG. 1, there is a connection error (connection error) between the plurality of

servo amplifiers

21a and 21b and the plurality of servo motors 22a and 22b. The control system 1 according to this embodiment includes a connection abnormality detection device 10 for detecting such connection abnormality. The connection abnormality detection device 10 may be incorporated in the numerical control device 100 or may be provided separately.

FIG. 2 is a block diagram showing the configuration of the control system 1 according to this embodiment. As shown in FIG. 2 , the industrial machine control system 1 includes a connection abnormality detection device 10 and a machine tool 20 . The connection abnormality detection device 10 includes a control section 11 , a storage section 12 , a display section 13 , an operation section 14 and an audio output section 15 .

The machine tool 20 includes a servo amplifier 21, a servo motor 22, and an encoder 23. 2 corresponds to the

servo amplifiers

21a and 21b shown in FIG. 1, and the servo motor 22 shown in FIG. 2 corresponds to the servo motors 22a and 22b shown in FIG.

The servo amplifier 21 drives the servo motor 22 of the machine tool 20 according to the command received from the control unit 11 . Although the servo amplifier 21 is shown singly in FIG. 2, as shown in FIG. 1, it corresponds to each servo motor 22 and is provided in plurality.

The servomotor 22 is a motor for driving the main shaft, X-axis, Y-axis, Z-axis, etc. of the machine tool 20 . The servo motor 22 is driven and controlled in terms of rotation amount, speed, torque, etc. by the servo amplifier 21 . The servomotor 22 is represented by a singular number, but as shown in FIG. 1, it is composed of two or more servomotors.

The encoder 23 is built in or attached to the servomotor 22 and detects the position, speed, acceleration, etc. of the servomotor 22 . The encoder 23 outputs the detected value to the servo amplifier 21 as a feedback value.

The control unit 11 is composed of a processor such as a CPU (Central Processing Unit) and executes various controls in the connection abnormality detection device 10 . The control unit 11 also includes a mode processing unit 111, an operation command unit 112, a connection check command unit 113, a change condition detection unit 114, an abnormality detection unit 115, an individual information acquisition unit 116, and a notification control unit 117. And prepare.

The storage unit 12 includes storage devices such as ROM (Read Only Memory), RAM (Random Access Memory), HDD (Hard Disk Drive), SSD (Solid State Drive), etc., and stores various kinds of information.
The storage unit 12 stores an alarm detection threshold value (or torque limit value) for normal operation mode, an alarm detection threshold value (or torque limit value) for start-up mode, and individual information of servo motor 22 .

The display unit 13 includes an LCD (Liquid Crystal Display), a CRT (Cathode Ray Tube), etc., and displays various information.
The operation unit 14 is composed of a mouse, a keyboard, etc., and receives various inputs.
The audio output unit 15 is composed of a speaker or the like, and outputs audio under the control of the control unit 11 .

<Connection check processing at startup>
First, the process of executing the connection check when starting up the machine tool 20 will be described. The mode processing unit 111 detects a start-up operation of the machine tool 20, and confirms and specifies whether the machine is in the normal operation mode or the start-up mode. The operation command unit 112 outputs an operation command to the servomotor 22 via the servo amplifier 21 when the mode processing unit 111 confirms that the operation mode is the normal operation mode.

The operation command unit 112 starts operation control of the machine tool 20 in accordance with a command value from a host controller such as the numerical controller 100 when the abnormality detection unit 115, which will be described later in detail, does not detect a connection error (connection error). and continue.

The connection check command unit 113 detects the startup operation of the machine tool 20 by the mode processing unit 111 and outputs a command to perform a connection check to the servo amplifier 21 and the abnormality detection unit 115 .

The abnormality detection unit 115 confirms and identifies whether or not there is a connection abnormality in the servo amplifier 21, the servo motor 22, and the like.
The abnormality detection unit 115 receives a connection check command from the connection check command unit 113, and receives a command value from the numerical control device 100 (for example, a drive command value such as the rotation speed and torque of the servo motor 22, a position command of the servo motor 22 value, etc.).

The abnormality detection unit 115 acquires a feedback value indicating the actual drive state of the servomotor 22 . In this embodiment, the feedback value is the difference between the current position of the servomotor 22 and the command value, that is, the positional deviation. Note that the feedback value may be a value corresponding to the command value from the numerical control device 100 (for example, the current position of each servomotor 22).

The abnormality detection unit 115 includes, for example, a timer (not shown), and at a time after a predetermined dead time has passed since the servomotor 22 was started to drive (a time after a certain time has passed), A feedback value may be obtained. As a result, the abnormality detection unit 115 can acquire a stable and accurately measured feedback value.

Note that the abnormality detection unit 115 detects a plurality of times in an arbitrary time period after a predetermined fixed dead time has elapsed since the drive of the servomotor 22 was started (a plurality of times in an arbitrary time period after the elapse of a certain period of time). time), feedback values may be obtained.

The anomaly detection unit 115 selectively acquires from the storage unit 12 an alarm detection threshold value for startup mode and an alarm detection threshold value for normal operation. Thus, in the startup mode, the alarm detection threshold for the startup mode is automatically set without the user (operator) of the machine tool 20 changing the setting. In other words, the alarm threshold value for detecting connection anomalies is relatively reduced. During normal operation, the alarm threshold is automatically set to the alarm detection threshold for normal operation. That is, the alarm threshold value for detecting the connection abnormality is relatively increased.

The abnormality detection unit 115 identifies the presence or absence of a connection error based on the magnitude of the feedback value (positional deviation). Specifically, the abnormality detection unit 115 compares the feedback value with a preset alarm detection threshold to determine whether there is a connection abnormality.

For example, if the positional deviation of the feedback value exceeds the alarm detection threshold for the startup mode, the abnormality detection unit 115 determines that a connection abnormality has occurred, and determines that the positional deviation of the feedback value If the alarm detection threshold is satisfied, it is determined that there is no wiring abnormality.

Further, when the feedback value corresponds to the command value from the numerical controller 100, the abnormality detection unit 115 obtains the difference between the obtained command value and the feedback value, and this difference is the preset alarm detection threshold. The presence or absence of connection abnormality may be determined by determining whether or not the value exceeds .

When the abnormality detection unit 115 determines that a connection abnormality has occurred, the notification control unit 117 causes the audio output unit 15 to generate a warning sound and causes the display unit 18 to display information indicating that a connection abnormality has occurred. , a warning light (not shown) is turned on, etc., to make the operator aware of the abnormality.

In addition, the abnormality detection unit 115 controls the servomotor 22 so that an unexpected dangerous operation and/or an abnormal operation do not occur due to a connection abnormality. Specifically, in order not to shift to the normal operation mode, the abnormality detection unit 115 does not set the alarm detection threshold for the normal operation mode, and maintains the alarm detection threshold for the startup mode.

On the other hand, when the abnormality detection unit 115 determines that there is no connection abnormality, the operation command unit 112 detects that the machine tool 20 normally starts up. Then, the operation command unit 112 outputs a command to the servo amplifier 21 according to the command value of the numerical controller 100 in order to perform normal operation.

Further, when the abnormality detection unit 115 determines that there is no connection abnormality, the notification control unit 117 causes the display unit 18 to display that the state is normal, so that the operator can recognize that the state is normal. .

Furthermore, when it is determined that there is no connection abnormality, the abnormality detection unit 115 acquires the alarm detection threshold for the normal operation mode from the storage unit 12, and after startup, sets the alarm detection threshold for the startup mode to the normal operation mode. Switch to the alarm detection threshold for driving.

In addition, the mode processing unit 111 receives a specific operation from the operation unit 14 regardless of when the machine tool 20 is started up, so that the connection check command unit 113 outputs a connection check command to check the connection in the same manner as described above. is executed.

<Connection check processing in normal operation mode>
Next, the process of executing the connection check even when the machine tool 20 is in the normal operation mode will be described.
As described below, the wiring abnormality detection device 10 according to the present embodiment can be used when replacing the servo amplifier 21, the servo motor 22, the encoder 23, or the like for maintenance, even when the power is not turned on for the first time. , automatically detect wiring anomalies.

The change condition detection unit 114 detects a mode change condition for changing from the normal operation mode in which the machine tool 20 normally operates to the start-up mode used when the machine tool 20 is powered on for the first time.

In addition, the change condition detection unit 114 detects, as mode change conditions, power-on of the machine tool 20, replacement of parts related to the servo motor 22, elapse of a certain period of time after the end of the start-up mode, Any one of the detection of the switching operation to the startup mode, the origin setting of the machine tool 20, and the occurrence of an alarm of the machine tool 20 is detected.

Here, the power-on of the machine tool 20 indicates every power-on of the machine tool 20 except for the initial power-on. Replacing parts associated with the servomotor 22 includes replacing service parts associated with the servomotor 22 . The lapse of a certain period of time from the end of the start-up mode is, for example, to consider deterioration of cables connected to the servomotor 22 and the like. Detection of the switching operation by the operator from the normal operation mode to the start-up mode can be detected, for example, when the control unit 11 receives the operation of the operation unit 14 by the operator. Setting the origin of the machine tool 20 indicates, for example, setting the origin of the machine tool 20 after replacing the servomotor 22 or the like. The occurrence of an alarm for the machine tool 20 includes, for example, the occurrence of a disconnection alarm of the feedback line, an overcurrent alarm of the servo amplifier 21, and the like.

When the change condition detection unit 114 detects the mode change condition, the mode processing unit 111 changes the normal operation mode to the startup mode.

As described above, the abnormality detection unit 115 detects a connection abnormality between the servo amplifier 21 that controls the servo motor 22 and the servo motor 22 based on the feedback value from the servo motor 22 (encoder 23 ) of the machine tool 20 . to detect

In addition, the individual information acquisition unit 116 acquires individual information of parts related to the servo motor 22 from the servo motor 22 . Parts related to the servomotor 22 may be, for example, the entire servomotor 22, a stator and a rotor that constitute the servomotor 22, the servo amplifier 21, the encoder 23, the numerical controller 100, and the like. Alternatively, the individual information may be a serial number of a component related to the servomotor 22 .

In addition, the storage unit 12 stores individual information of parts related to the plurality of servo motors 22 when the connection between the servo amplifier 21 and the servo motors 22 is checked when the power is turned on for the first time. Replacement of parts related to the servomotor 22 is detected based on comparison between the individual information of the parts related to the servomotor 22 currently in use and the individual information stored in the storage unit 12 .

Specifically, the change condition detection unit 114 compares the individual information of parts related to the plurality of servo motors 22 currently in use with the individual information stored in the storage unit 12 . Then, when the individual information of one or more servo motors 22 out of the plurality of servo motors 22 do not match, the change condition detection unit 114 detects replacement of parts related to the servo motors 22 . When the mode change condition is detected by the change condition detection unit 114, the mode processing unit 111 changes the normal operation mode to the start-up mode.

In addition, replacement of parts related to the servo motor 22 may be detected based on changes in set values of parts related to the servo motor 22 .

Also, replacement of parts related to the servo motor 22 is performed by checking the feedback value for the command to the servo motor 22 when checking the connection between the servo amplifier 21 and the servo motor 22, and the feedback value to the servo motor 22 currently in use. It may be detected based on a comparison with the feedback value for the command.

FIG. 3 is a flowchart showing processing of the control system 1 according to this embodiment.
In step S<b>1 , the individual information acquisition unit 116 acquires individual information of parts related to the servomotor 22 from the servomotor 22 .

In step S<b>2 , the change condition detection unit 114 compares the individual information of parts related to the plurality of servo motors 22 currently in use with the individual information stored in the storage unit 12 .

In step S3, the change condition detection unit 114 determines whether or not the individual information of the parts related to the plurality of servo motors 22 currently in use and the individual information stored in the storage unit 12 match. If the individual information of the parts related to the plurality of servo motors 22 currently in use and the individual information stored in the storage unit 12 all match (YES), the process proceeds to step S4. On the other hand, if the individual information of one or more servo motors 22 out of the plurality of servo motors 22 does not match (NO), the change condition detection unit 114 detects the mode change condition for changing from the normal operation mode to the start-up mode. is detected, and the process proceeds to step S5.

In step S4, the mode processing unit 111 maintains the normal operation mode, and then terminates the process.
In step S5, the mode processing unit 111 changes the normal operation mode to the start-up mode when the mode change condition is detected in step S3.

In step S<b>6 , the connection check command section 113 outputs a command to perform a connection check to the servo amplifier 21 and the abnormality detection section 115 . Further, the connection check command section 113 may output a command to perform a connection check to the servo amplifier 21 and the abnormality detection section 115 with the operation of the operation section 14 by the operator as a trigger.
In step S<b>7 , the abnormality detection unit 115 acquires a feedback value indicating the actual drive state of the servomotor 22 .

In step S8, the abnormality detection unit 115 acquires the alarm detection threshold for the startup mode from the storage unit 12 and sets it as the alarm detection threshold.

In step S9, the abnormality detection unit 115 determines whether or not the position deviation of the feedback value exceeds the alarm detection threshold for the startup mode. If the alarm detection threshold is exceeded (YES), the process proceeds to step S10. On the other hand, if the alarm detection threshold is not exceeded (NO), the process proceeds to step S12.

In step S10, the abnormality detection unit 115 determines that a connection abnormality has occurred, and the notification control unit 117 causes the audio output unit 15, the display unit 18, and the warning light to notify the connection abnormality.
In step S11, the abnormality detection unit 115 maintains the alarm detection threshold value for the startup mode, and then terminates the process.

In step S12, the abnormality detection unit 115 determines that there is no connection abnormality, and the notification control unit 117 causes the audio output unit 15, the display unit 18, and the warning light to notify that the connection is normal. Furthermore, the operation command unit 112 outputs a command to the servo amplifier 21 according to the command value of the numerical controller 100 in order to perform normal operation.

In step S13, the abnormality detection unit 115 acquires the alarm detection threshold for the normal operation mode from the storage unit 12, switches the alarm detection threshold for the startup mode to the alarm detection threshold for normal operation after startup, and then End the process.

As described above, according to the present embodiment, the connection abnormality detection device 10 detects a mode change condition for changing the machine tool 20 from the normal operation mode in which the machine tool 20 normally operates to the startup mode of the machine tool 20. When the mode change condition is detected by the condition detection unit 114 and the change condition detection unit 114, the mode processing unit 111 changes the normal operation mode to the start-up mode, and the feedback value from the servo motor 22 (encoder 23) of the machine tool 20. a servo amplifier 21 for controlling the servomotor 22 and an abnormality detection unit 115 for detecting a connection abnormality between the servomotor 22 based on the above.

As a result, the connection abnormality detection device 10 automatically enters the start-up mode when parts related to motors such as the servo amplifier 21, the servo motor 22 and the encoder 23 are replaced, so that the machine tool 20 can confirm that the connection is correct. Until then, normal operation is not possible. Therefore, the connection abnormality detection device 10 can prevent unexpected operation when a connection error is made when replacing a part such as a motor.

In addition, the change condition detection unit 114 detects that the machine tool 20 is powered on, parts related to the servomotor 22 are replaced, a certain period of time has passed since the end of the start-up mode, and the normal operation mode is set by the operator as mode change conditions. to the start-up mode, the origin setting of the machine tool 20, or the generation of an alarm of the machine tool 20 is detected. Thereby, the connection abnormality detection device 10 can detect mode change conditions from various operation states of the machine tool 20 .

In addition, the individual information acquisition unit 116 acquires individual information of parts related to the servo motor 22 from the servo motor 22 . The storage unit 12 stores individual information of parts related to the plurality of servo motors 22 when the connection between the servo amplifier 21 and the servo motors 22 is checked when the power is turned on for the first time. Replacement of parts related to the servomotor 22 is detected based on comparison between the individual information of the parts related to the servomotor 22 currently in use and the individual information stored in the storage unit 12 . Thereby, the connection abnormality detection device 10 can detect the mode change condition using the individual information of the parts related to the servomotor 22 . Therefore, the connection abnormality detection device 10 can appropriately detect a connection abnormality between the servo amplifier 21 and the servo motor 22 .

In addition, replacement of parts related to the servo motor 22 may be detected based on changes in set values of parts related to the servo motor 22 . Thereby, the connection abnormality detection device 10 can appropriately detect the mode change condition from the setting values of the parts related to the servomotor 22 .

Also, replacement of parts related to the servo motor 22 is performed by checking the feedback value for the command to the servo motor 22 when checking the connection between the servo amplifier 21 and the servo motor 22, and the feedback value to the servo motor 22 currently in use. It may be detected based on a comparison with the feedback value for the command. Thereby, the connection abnormality detection device 10 can appropriately detect the mode change condition from the feedback value.

Although the embodiment of the present invention has been described above, the control system 1 and the wiring abnormality detection device 10 can be realized by hardware, software, or a combination thereof. Also, the control method performed by the above-described control system 1 and connection abnormality detection device 10 can be realized by hardware, software, or a combination thereof. Here, "implemented by software" means implemented by a computer reading and executing a program.

Programs can be stored and supplied to computers 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 (e.g., hard disk drives), magneto-optical recording media (e.g., magneto-optical discs), CD-ROMs (Read Only Memory), CD-Rs, CD-R/ W, semiconductor memory (eg, mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (random access memory)).

In addition, although each of the above-described embodiments is a preferred embodiment of the present invention, the scope of the present invention is not limited to only the above-described embodiments, and various modifications can be made without departing from the scope of the present invention. It is possible to implement it in the form applied.

REFERENCE SIGNS LIST 1 control system 10 connection error detection device 11 control unit 12 storage unit 13 display unit 14 operation unit 15 audio output unit 20 machine tool (industrial machine)
21 Servo amplifier (drive control unit)
22 Servo motor (drive part)
23 encoder 100 numerical controller 111 mode processing unit 112 operation command unit 113 connection check command unit 114 change condition detection unit 115 abnormality detection unit 116 individual information acquisition unit 117 notification control unit

Claims

a change condition detection unit that detects a mode change condition for changing from a normal operation mode in which an industrial machine normally operates to a start-up mode of the industrial machine;
a mode processing unit that changes the normal operation mode to the startup mode when the mode change condition is detected by the change condition detection unit;
an abnormality detection unit that detects a connection abnormality between a drive control unit that controls the drive unit and the drive unit based on a feedback value from the drive unit of the industrial machine;
A connection abnormality detection device.
The change condition detection unit detects, as the mode change conditions, power-on of the industrial machine, replacement of parts related to the drive unit, elapse of a certain period of time after the end of the start-up mode, and normal operation by an operator. 2. The connection abnormality detection device according to claim 1, which detects any one of detection of a switching operation from a mode to said start-up mode, setting of an origin of said industrial machine, and generation of an alarm of said industrial machine.
an individual information acquisition unit that acquires individual information of a component that constitutes the driving unit;
a storage unit that stores the individual information of the parts related to the drive unit when checking the connection between the drive control unit and the drive unit;
3. The replacement of a component related to said drive unit is detected based on a comparison between said individual information of said component related to said drive unit currently in use and said individual information stored in said storage unit. 3. The connection abnormality detection device according to 2.
The connection abnormality detection device according to claim 2, wherein replacement of parts related to the drive section is detected based on a change in setting values of the parts related to the drive section.
The replacement of parts related to the drive section includes a feedback value for a command to the drive section when checking the connection between the drive control section and the drive section, and a feedback value to the drive section currently in use. 3. The connection abnormality detection device according to claim 2, wherein the connection abnormality is detected based on comparison with a feedback value for the command.
an operation command unit that creates commands for operating the drive unit of the industrial machine;
a drive control unit that controls the drive unit based on the command;
a change condition detection unit that detects a mode change condition for changing from a normal operation mode in which the industrial machine normally operates to a start-up mode of the industrial machine;
a mode processing unit that changes the normal operation mode to the startup mode when the mode change condition is detected by the change condition detection unit;
an abnormality detection unit that detects a connection abnormality between the drive control unit and the drive unit based on the feedback value from the drive unit;
A control system for an industrial machine with