WO2024089881A1 - Robot control device, machine tool, and cooperation system - Google Patents

Robot control device, machine tool, and cooperation system Download PDF

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Publication number
WO2024089881A1
WO2024089881A1 PCT/JP2022/040392 JP2022040392W WO2024089881A1 WO 2024089881 A1 WO2024089881 A1 WO 2024089881A1 JP 2022040392 W JP2022040392 W JP 2022040392W WO 2024089881 A1 WO2024089881 A1 WO 2024089881A1
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machine tool
control device
memory area
robot
robot control
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PCT/JP2022/040392
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French (fr)
Japanese (ja)
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修弥 佐野
豪 稲葉
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ファナック株式会社
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Priority to PCT/JP2022/040392 priority Critical patent/WO2024089881A1/en
Publication of WO2024089881A1 publication Critical patent/WO2024089881A1/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
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts

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  • This disclosure relates to a robot control device, a machine tool, and a linkage system, and in particular to a linkage system that includes a machine tool and a robot control device and in which the machine tool and the robot control device operate in linkage with each other, and to a robot control device and a machine tool used in this linkage system.
  • Patent Document 1 describes an integrated control system for a work robot that includes a CPU for controlling the robot, a CPU for controlling a work tool, a common memory, and a system bus that is connected to the boards of these CPUs and memory and integrates these CPUs and memories. Patent Document 1 also describes an integrated control system for a work robot that is connected to other systems via a network CPU.
  • Patent Document 2 describes a line equipment control device that is applied when multiple operating devices are program-controlled to assemble multiple models of products.
  • the control program numbers of each operating device for each model of product are stored in an X register, and the control program numbers of each of the operating devices corresponding to the specified model are specified based on information specifying the product model and the contents stored in the X register.
  • the line equipment control device then operates each operating device according to the control program with the specified control program number.
  • Patent document 3 describes a manufacturing system that includes multiple types of manufacturing equipment that are driven by operation programs with different language specifications.
  • the manufacturing system includes a cell control device that generates operation programs to be executed by the manufacturing equipment, and a communication device that transmits the operation programs generated by the cell control device to each of the manufacturing equipment.
  • a common language specification is determined in advance for the different types of manufacturing equipment.
  • the cell control device includes a reading unit that reads a common program generated based on the common language specification, and a conversion unit that converts the common program into an operation program for each of the manufacturing equipment.
  • Patent Document 4 describes creating a ladder logic program using a function block that executes a preset process, an internal counter whose count value is incremented by one each time the function block completes its operation, and a judgment block that judges whether the count value of the internal counter matches an operation count value set in itself and outputs a message that the operation condition of the function block is satisfied if it is judged to match.
  • Patent Document 4 also describes that when a program is displayed, a process number indicating an arbitrary process order is displayed in a manner that the user can set as the judgment block's operation count value, and the function block is displayed by connecting it to the output of the judgment block corresponding to the process number to be executed.
  • a first representative aspect of the present disclosure is a robot control device that operates in cooperation with a machine tool that is sequence-controlled by a ladder program, A communication unit that communicates with the machine tool; a robot program execution unit that designates an address assigned to a memory area of the machine tool for reference in the ladder program, requests data of the address of the memory area from the machine tool via the communication unit, and is accessible from the machine tool via the communication unit;
  • the present invention relates to a robot control device.
  • a second representative aspect of the present disclosure is a machine tool that operates in cooperation with a robot control device that controls a robot by a robot program, A communication unit that communicates with the robot control device; a ladder program execution unit that executes a ladder program for sequence control of the machine tool; A memory area accessed by the ladder program execution unit; a synchronous memory area provided separately from the memory area; a synchronous memory transfer unit that stores write data acquired from the robot control device via the communication unit in the synchronous memory area and transfers the stored write data to the memory area when execution of one cycle of the ladder program is completed; It is a machine tool equipped with the following.
  • a third representative aspect of the present disclosure is a collaborative system that includes a machine tool and a robot control device, and in which the machine tool and the robot control device operate in collaboration, where the robot control device is the robot control device of the first aspect or the machine tool is the machine tool of the second aspect.
  • FIG. 1 is a block diagram showing a configuration of a linkage system according to a first embodiment of the present disclosure.
  • FIG. 13 is a diagram illustrating an example of a robot program when collaborating with a machine tool.
  • FIG. 11 is a block diagram showing a configuration of a collaboration system according to a second embodiment of the present disclosure.
  • FIG. 11 is a flowchart showing the operation of the linkage system of the second embodiment.
  • FIG. 13 is a diagram for explaining an example of tearing.
  • FIG. 1 is a block diagram showing a configuration of a linkage system according to a first embodiment of the present disclosure.
  • the collaboration system 10 includes a robot controller 100 and a machine tool 200.
  • the robot controller 100 and the machine tool 200 operate in collaboration with each other.
  • the robot controller 100 controls a robot 300.
  • the robot control device 100 includes a robot program 101, an execution unit 102, and a communication unit 103.
  • the execution unit 102 serves as a robot program execution unit.
  • the robot program 101 is a program for controlling the robot 300.
  • the robot program 101 describes a reference command to the ladder program 204 of the machine tool 200.
  • the robot program 101 is, for example, a robot ladder program for sequence control of the robot 300.
  • the execution unit 102 controls the robot 300 based on the robot program 101.
  • the execution unit 102 transmits a reference request to the communication unit 201 of the machine tool 200 via the communication unit 103.
  • the reference request includes an address assigned to the memory area 202 for reference in the ladder program 204 of the machine tool 200, which will be described later.
  • the execution unit 102 can specify an address assigned to the memory area 202 of the machine tool 200 for reference in the ladder program 204, and access data at the address of the memory area 202 via the communication unit 103.
  • the execution unit 102 acquires the data specified by the address from the machine tool 200 via the communication unit 103, it executes the robot program 101 using the data.
  • the communication unit 103 communicates with a communication unit 201 of the machine tool 200 via Ethernet (registered trademark) or the like.
  • the machine tool 200 includes a communication unit 201, a memory area 202, an execution unit 203, and a ladder program 204.
  • the execution unit 203 serves as a ladder program execution unit.
  • a communication unit 201 communicates with the communication unit 103 via Ethernet (registered trademark) or the like.
  • the memory area 202 stores data necessary for the execution unit 203 to execute the ladder program 204. Addresses are assigned to the memory area 202 to refer to the data when the ladder program is executed.
  • the execution unit 203 reads out the ladder program 204 and controls the machining of the workpiece (workpiece) by the machine tool 200.
  • the execution unit 203 receives a reference request including an address via the communication unit 201, it references the memory area 202 based on the address and reads out the data specified by the address.
  • the execution unit 203 transmits the read data to the communication unit 103 of the robot control device 100 via the communication unit 201.
  • FIG. 2 is a diagram showing an example of a robot program for cooperation with a machine tool.
  • the data corresponding to address (Y0000.0) is stored in memory area 202.
  • Execution unit 102 issues a reference request by specifying address (Y0000.0) on ladder program 204 of machine tool 200 as an argument.
  • the return value from machine tool 200 is data corresponding to the specified address (Y0000.0) read from memory area 202.
  • Execution unit 102 stores the data corresponding to address (Y0000.0) in register R[1] in execution unit 102.
  • the robot program also includes commands other than robot operation commands.
  • the above description is an example in which the execution unit 102 reads data from the memory area 202 of the machine tool 200, but this embodiment can also be applied to an example in which the execution unit 102 writes data to the memory area 202 of the machine tool 200.
  • the robot program 101 of the robot control device 100 describes a write command to the ladder program 204 of the machine tool 200.
  • the execution unit 102 transmits a write request to the communication unit 201 of the machine tool 200 via the communication unit 103.
  • the write request includes an address assigned to the memory area 202 of the machine tool 200 and write data.
  • Second Embodiment Fig. 3 is a block diagram showing a configuration of a linkage system according to a second embodiment of the present disclosure
  • Fig. 4 is a flow diagram showing an operation of the linkage system according to the second embodiment.
  • the linkage system 11 includes a robot control device 100 and a machine tool 210.
  • the machine tool 200 of the linkage system 10 shown in Fig. 1 is replaced with the machine tool 210.
  • the machine tool 210 includes a communication unit 201, a memory area 202, an execution unit 203, a ladder program 204, a synchronous memory area 205, and a synchronous memory transfer unit 206.
  • the configuration of the machine tool 210 other than the synchronous memory area 205 and the synchronous memory transfer unit 206 is the same as that of the machine tool 200, and therefore a description thereof will be omitted.
  • the operation of the link system 11 will be described below with reference to FIGS.
  • the robot program 101 of the robot control device 100 describes a write command to the ladder program 204 of the machine tool 200 .
  • the execution unit 102 of the robot control device 100 starts the execution of the robot program 101 (step S11), and when a write command is written in the robot program 101, it transmits a write request to the communication unit 201 of the machine tool 200 via the communication unit 103 (step S12).
  • the write request includes an address assigned to the synchronous memory area 205 of the machine tool 200 and the write data.
  • the synchronous memory transfer unit 206 writes write data into the synchronous memory area 205 based on a write request acquired via the communication unit 201, and saves the data (step S21).
  • the execution unit 203 of the machine tool 200 starts executing the ladder program 204 (step S31).
  • the synchronous memory transfer unit 206 checks the execution status of the ladder program 204 with the execution unit 203 (step S22). When the execution of one cycle of the ladder program 204 is completed, the execution unit 203 notifies the synchronous memory transfer unit 206 of the completion of execution (step S32).
  • the synchronous memory transfer unit 206 If the synchronous memory transfer unit 206 does not receive a notification of completion of execution from the execution unit 203, it waits until one cycle of the ladder program 204 is completed.
  • the synchronous memory transfer unit 206 receives the execution completion notification, it refers to the contents of the synchronous memory area 205, writes (transfers) the data written in the synchronous memory area 205 to the memory area 202, and updates the data (step S23).
  • the synchronous memory transfer unit 206 notifies the robot control device 100 via the communication unit 201 that the data has been updated and the writing has been completed (completion notification), and also notifies the execution unit 203 of the completion (step S24).
  • the execution unit 203 When the execution unit 203 receives the completion notification, it runs the ladder program 204 using the updated data in the memory area 202 .
  • the robot control device can access and write to the synchronous memory area of the machine tool by specifying the address of the ladder program. Therefore, there is no need for IO devices for IO communication, allocation between the IO devices and ladders, or changes to the ladder program of the machine tool. As a result, even if a robot control device is retrofitted to an existing machine tool, the end user can handle it. Moreover, in this embodiment, unexpected malfunctions such as tearing can be prevented.
  • FIG. 5 is a diagram for explaining an example of tearing.
  • FIG. 5 for example, assume that there is an 8-bit memory area shared by a plurality of processes, with process S A always updating data 1 bit at a time, and process S B reading 8 bits at a time at any timing. In such a case, a problem occurs when reading and writing asynchronously. If process S B reads asynchronously while process S A is writing, process S B will read inconsistent data because the data is being updated by process S A.
  • a synchronous memory area is provided in addition to the memory area, so data can be prevented from being asynchronously read into the memory area at an inappropriate time, preventing tearing.
  • each of the robot control device and the machine tool can be realized by hardware, software, or a combination of these.
  • being realized by software means being realized by a computer reading and executing a program.
  • the robot control device and the machine tool each include a processor such as a CPU (Central Processing Unit).
  • the processor functions as an execution unit.
  • the robot control device and the machine tool each include an auxiliary storage device such as a HDD (Hard Disk Drive) that stores various control programs such as application software or an OS (Operating System), and a main storage device such as a RAM (Random Access Memory) for storing data temporarily required for the processor to execute a program.
  • the main storage device includes at least one of a memory area or a synchronous memory area.
  • the arithmetic processing device reads the application software or OS from the auxiliary storage device, and while expanding the loaded application software or OS into the main storage device, performs arithmetic processing based on the application software or OS. Also, based on the results of this calculation, various pieces of hardware equipped in each device are controlled. In this way, the functional blocks of this embodiment are realized.
  • Each component included in the robot control device and the machine tool can be realized by hardware including electronic circuits, etc.
  • the robot control device and the machine tool are each configured from hardware, some or all of the functions of each component included in the robot control device and the machine tool can be configured from integrated circuits (ICs) such as ASICs (Application Specific Integrated Circuits), gate arrays, FPGAs (Field Programmable Gate Arrays), CPLDs (Complex Programmable Logic Devices), etc.
  • ICs integrated circuits
  • ASICs Application Specific Integrated Circuits
  • FPGAs Field Programmable Gate Arrays
  • CPLDs Complex Programmable Logic Devices
  • 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 disks), CD-ROM (Read Only Memory), CD-R, CD-R/W, and semiconductor memory (e.g., mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, and RAM (random access memory)).
  • the program may also be provided to the computer by various types of transitory computer readable media.
  • the effect of at least one of the embodiments described above is that it is possible to access the memory area or synchronous memory area of the machine tool from the robot control device by specifying the address of the ladder program. This eliminates the need for IO devices for IO communication, allocation between IO devices and ladders, and changes to the ladder program of the machine tool. As a result, there is an effect that end users can handle even when retrofitting a robot control device to an existing machine tool.
  • a robot control device that operates in cooperation with a machine tool (200, 210) that is sequence-controlled by a ladder program, A communication unit (103) for communicating with the machine tool, and a robot program execution unit (102) that specifies an address assigned to a memory area (202) of the machine tool for reference in the ladder program, requests data at the address in the memory area from the machine tool via the communication unit, and is accessible from the machine tool via the communication unit.
  • the robot program includes a robot ladder program for sequence control, The robot control device according to claim 2, wherein the robot ladder program accesses the memory area by specifying the address.
  • a coordination system (10, 11) comprising a robot control device (100) according to any one of Supplementary Notes (1) to (3) and a machine tool (200, 210), in which the robot control device and the machine tool operate in coordination,
  • the machine tool (200, 210) a ladder program execution unit (203) that executes a ladder program for sequence control of the machine tool;
  • a communication unit (201) that communicates with the robot control device, The memory area is assigned an address for reference by the ladder program.
  • a machine tool (210) that operates in cooperation with a robot control device (100) that controls a robot by a robot program
  • the machine tool includes a communication unit (201) that communicates with the robot control device; a ladder program execution unit (203) that executes a ladder program for sequence control of the machine tool; A memory area (202) accessed by the ladder program execution unit; A synchronous memory area (205) provided separately from the memory area; and a synchronous memory transfer unit (206) that stores write data acquired from the robot control device via the communication unit in the synchronous memory area, and transfers the stored write data to the memory area when one cycle of the ladder program is executed.
  • a robot control device (100) that operates in cooperation with the machine tool (210) according to supplementary note (5),
  • the robot control device (100) includes a communication unit (103) that communicates with the machine tool; a robot program execution unit (102) that designates an address assigned to a synchronous memory area of the machine tool for reference in the ladder program, and transmits the write data to the synchronous memory area via the communication unit to the machine tool;
  • a robot control device comprising:
  • a linkage system (11) comprising a machine tool (210) and a robot control device (100), the machine tool and the robot control device operating in cooperation with each other,
  • the machine tool (210), A communication unit (201) that communicates with the robot control device; a ladder program execution unit (203) that executes a ladder program for sequence control of the machine tool; A memory area (202) accessed by the ladder program execution unit; A synchronous memory area (205) provided separately from the memory area; a synchronous memory transfer unit (206) that stores write data acquired from the robot control device via the communication unit in the synchronous memory area and transfers the stored write data to the memory area when execution of one cycle of the ladder program is completed; Equipped with The robot control device, A communication unit (103) that communicates with the machine tool; a robot program execution unit (102) that designates an address assigned to the synchronous memory area for reference in the ladder program and transmits write data to the synchronous memory area via the communication unit to the machine tool; It is equipped with:
  • Reference Signs List 10 10
  • Robot control device 101
  • Robot program 102
  • Execution unit 103
  • Communication unit 200
  • Communication unit 202
  • Memory area 203
  • Execution unit 204
  • Ladder program 205
  • Synchronous memory area 206 Synchronous memory transfer unit

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Abstract

The present invention makes it possible to directly access a synchronous memory region that corresponds to an address of a ladder program of a machine tool from a robot control device.　The robot control device according to the present invention operates in cooperation with a machine tool that is sequence-controlled by a ladder program, the robot control device comprising: a communication unit that communicates with the machine tool; and a robot program execution unit that designates an address that is assigned to a memory region of the machine tool for referencing by the ladder program, and is able to access the data of the address of the memory region via the communication unit.

Description

ロボット制御装置、工作機械及び連携システムRobot control device, machine tool and linkage system
　本開示は、ロボット制御装置、工作機械及び連携システムに関し、特に、工作機械とロボット制御装置とを備え、工作機械とロボット制御装置とが連携して動作する連携システム、この連携システムに用いられるロボット制御装置及び工作機械に関する。 This disclosure relates to a robot control device, a machine tool, and a linkage system, and in particular to a linkage system that includes a machine tool and a robot control device and in which the machine tool and the robot control device operate in linkage with each other, and to a robot control device and a machine tool used in this linkage system.
　ロボット制御装置と工作機械とが連携して動作する連携システムは、例えば、特許文献１、特許文献２及び特許文献３に記載されている。 　Linkage systems in which a robot control device and a machine tool work in coordination are described in, for example, Patent Document 1, Patent Document 2, and Patent Document 3.
　特許文献１には、ロボット制御用ＣＰＵと、作業用ツール制御用ＣＰＵと、共通メモリと、これらのＣＰＵおよびメモリのボードに接続されてこれらのＣＰＵおよびメモリを統合するシステムバスと、を含む作業用ロボットの統合制御システムが記載されている。また、特許文献１には、他のシステムとネットワークＣＰＵを介して接続された作業用ロボットの統合制御システムが記載されている。 Patent Document 1 describes an integrated control system for a work robot that includes a CPU for controlling the robot, a CPU for controlling a work tool, a common memory, and a system bus that is connected to the boards of these CPUs and memory and integrates these CPUs and memories. Patent Document 1 also describes an integrated control system for a work robot that is connected to other systems via a network CPU.
　特許文献２には、複数の作動機器をプログラム制御して複数機種の製品を組立てる場合に適用されるライン設備用制御装置が記載されている。ライン設備用制御装置では、製品の各機種に対する各作動機器の制御プログラムのナンバーがＸレジスタに記憶され、製品の機種を指定する情報とＸレジスタの記憶内容とに基づいて、指定された機種に対応する上記各作動機器の制御プログラムナンバーが指定される。そして、ライン設備用制御装置は、指定された制御プログラムナンバーの制御プログラムに従って各作動機器を作動させる。 Patent Document 2 describes a line equipment control device that is applied when multiple operating devices are program-controlled to assemble multiple models of products. In the line equipment control device, the control program numbers of each operating device for each model of product are stored in an X register, and the control program numbers of each of the operating devices corresponding to the specified model are specified based on information specifying the product model and the contents stored in the X register. The line equipment control device then operates each operating device according to the control program with the specified control program number.
　特許文献３には、製造システムが、互いに異なる言語仕様の動作プログラムにて駆動する複数の種類の製造装置を備えることが記載されている。製造システムは、製造装置にて実行するための動作プログラムを生成するセル制御装置と、セル制御装置にて生成された動作プログラムを、それぞれの製造装置に送信する通信装置とを備えている。互いに種類の異なる製造装置に共通の言語仕様が予め定められている。セル制御装置は、共通の言語仕様に基づいて生成された共通プログラムを読み込む読取り部と、共通プログラムをそれぞれの製造装置の動作プログラムに変換する変換部とを含んでいる。 Patent document 3 describes a manufacturing system that includes multiple types of manufacturing equipment that are driven by operation programs with different language specifications. The manufacturing system includes a cell control device that generates operation programs to be executed by the manufacturing equipment, and a communication device that transmits the operation programs generated by the cell control device to each of the manufacturing equipment. A common language specification is determined in advance for the different types of manufacturing equipment. The cell control device includes a reading unit that reads a common program generated based on the common language specification, and a conversion unit that converts the common program into an operation program for each of the manufacturing equipment.
　作業用ロボットをシーケンス制御するラダープログラムは、例えば、特許文献４に記載されている。
　特許文献４には、予め設定されている処理を実行する機能ブロックと、機能ブロックの動作が完了する毎にカウント値が１ずつインクリメントされる内部カウンタと、内部カウンタのカウント値が自身に設定されている動作カウント値に一致するかを判定し、一致すると判定すると機能ブロックの動作条件が成立した旨を出力する判定ブロックと、を用いてラダーロジックのプログラムを作成することが記載されている。また特許文献４には、プログラムを表示するときに、判定ブロックを動作カウント値として任意の工程順を示す工程番号をユーザが設定可能に表示し、機能ブロックを実行される工程番号に対応した判定ブロックの出力に接続して表示することが記載されている。 A ladder program for sequence control of a working robot is described in, for example, Patent Document 4.
Patent Document 4 describes creating a ladder logic program using a function block that executes a preset process, an internal counter whose count value is incremented by one each time the function block completes its operation, and a judgment block that judges whether the count value of the internal counter matches an operation count value set in itself and outputs a message that the operation condition of the function block is satisfied if it is judged to match. Patent Document 4 also describes that when a program is displayed, a process number indicating an arbitrary process order is displayed in a manner that the user can set as the judgment block's operation count value, and the function block is displayed by connecting it to the output of the judgment block corresponding to the process number to be executed.
特開平０９－３２３２７９号公報Japanese Patent Application Laid-Open No. 09-323279 特開平０６－１１４６５６号公報Japanese Patent Application Laid-Open No. 06-114656 特開２０１７－１３４７２２号公報JP 2017-134722 A 特開２０１６－０８１２２３号公報JP 2016-081223 A
　ロボット制御装置と工作機械とが連携して動作する連携システムでは、ロボット制御装置によって制御されるロボットの動作と工作機械の加工との間でインタロックをとる等のために、工作機械とロボット制御装置との間で通信が行われる。
　通常、この通信には、例えば、ＩＯ通信を使用する。ＩＯ通信をするためには、ＩＯ通信のためのＩＯ機器、ＩＯ機器とラダー間などの割り付け、工作機械のラダープログラムの変更等が必要となり、設定が複雑になる。
　また、稼働している工作機械に後から、ロボット導入したいケースがある。その場合に、ＩＯ機器等のハードウェアの追加又はラダープログラムの変更は、エンドユーザには難しいため、工作機械メーカ等に対応依頼が必要となる。 In a collaborative system in which a robot control device and a machine tool operate in collaboration with each other, communication is carried out between the machine tool and the robot control device to, for example, interlock the operation of the robot controlled by the robot control device and the machining of the machine tool.
Usually, this communication uses, for example, IO communication. To perform IO communication, it is necessary to assign IO devices for IO communication, between the IO devices and ladders, change the ladder program of the machine tool, etc., which makes the settings complicated.
In addition, there are cases where a robot is to be introduced into a machine tool that is already in operation. In such cases, it is difficult for the end user to add hardware such as IO devices or change the ladder program, so a request must be made to the machine tool manufacturer.
　よって、ＩＯ通信のためのＩＯ機器、ＩＯ機器とラダーとの間の割り付け、及び工作機械のラダープログラムの変更等が不要となる、ロボット制御装置、工作機械及び連携システムが望まれていた。 Therefore, there was a demand for a robot control device, machine tool, and linkage system that would eliminate the need for IO devices for IO communication, allocation between IO devices and ladders, and changes to the ladder programs of machine tools.
　本開示の代表的な第１の態様は、ラダープログラムでシーケンス制御される工作機械と連携して動作するロボット制御装置であって、
　前記工作機械と通信する通信部と、
　前記ラダープログラムで参照するために前記工作機械のメモリ領域に割り当てられたアドレスを指定して、前記メモリ領域の前記アドレスのデータを、前記通信部を介して前記工作機械に要求し、前記工作機械から前記通信部を介してアクセス可能なロボットプログラム実行部と、
　を備えた、ロボット制御装置である。 A first representative aspect of the present disclosure is a robot control device that operates in cooperation with a machine tool that is sequence-controlled by a ladder program,
A communication unit that communicates with the machine tool;
a robot program execution unit that designates an address assigned to a memory area of the machine tool for reference in the ladder program, requests data of the address of the memory area from the machine tool via the communication unit, and is accessible from the machine tool via the communication unit;
The present invention relates to a robot control device.
　本開示の代表的な第２の態様は、ロボットプログラムでロボットを制御するロボット制御装置と連携して動作する工作機械であって、
　前記ロボット制御装置と通信する通信部と、
　前記工作機械のシーケンス制御をするラダープログラムを実行するラダープログラム実行部と、
　前記ラダープログラム実行部がアクセスするメモリ領域と、
　前記メモリ領域とは別に設けられた同期メモリ領域と、
　前記ロボット制御装置から前記通信部を介して取得した書き込みデータを前記同期メモリ領域に保存し、保存された前記書き込みデータを前記ラダープログラムの１周期の実行が完了した際に前記メモリ領域に転送する同期メモリ転送部と、
　を備えた、工作機械である。 A second representative aspect of the present disclosure is a machine tool that operates in cooperation with a robot control device that controls a robot by a robot program,
A communication unit that communicates with the robot control device;
a ladder program execution unit that executes a ladder program for sequence control of the machine tool;
A memory area accessed by the ladder program execution unit;
a synchronous memory area provided separately from the memory area;
a synchronous memory transfer unit that stores write data acquired from the robot control device via the communication unit in the synchronous memory area and transfers the stored write data to the memory area when execution of one cycle of the ladder program is completed;
It is a machine tool equipped with the following.
　本開示の代表的な第３の態様は、工作機械とロボット制御装置とを備え、前記工作機械と前記ロボット制御装置とが連携して動作する連携システムであって、前記ロボット制御装置が第１の態様のロボット制御装置であるか又は前記工作機械が第２の態様の工作機械である。 A third representative aspect of the present disclosure is a collaborative system that includes a machine tool and a robot control device, and in which the machine tool and the robot control device operate in collaboration, where the robot control device is the robot control device of the first aspect or the machine tool is the machine tool of the second aspect.
本開示の第１の実施形態の連携システムの構成を示すブロック図である。1 is a block diagram showing a configuration of a linkage system according to a first embodiment of the present disclosure. 工作機械と連携する場合のロボットプログラムの一例を示す図である。FIG. 13 is a diagram illustrating an example of a robot program when collaborating with a machine tool. 本開示の第２の実施形態の連携システムの構成を示すブロック図である。FIG. 11 is a block diagram showing a configuration of a collaboration system according to a second embodiment of the present disclosure. 第２の実施形態の連携システムの動作を示すフロー図である。FIG. 11 is a flowchart showing the operation of the linkage system of the second embodiment. テアリングの一例を説明するための図である。FIG. 13 is a diagram for explaining an example of tearing.
　以下、本開示の実施形態について図面を用いて詳細に説明する。
（第１の実施形態）
　図１は本開示の第１の実施形態の連携システムの構成を示すブロック図である。
　連携システム１０は、図１に示すように、ロボット制御装置１００と工作機械２００とを備えている。ロボット制御装置１００と工作機械２００とは連携して動作する。ロボット制御装置１００はロボット３００を制御する。 Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings.
First Embodiment
FIG. 1 is a block diagram showing a configuration of a linkage system according to a first embodiment of the present disclosure.
1, the collaboration system 10 includes a robot controller 100 and a machine tool 200. The robot controller 100 and the machine tool 200 operate in collaboration with each other. The robot controller 100 controls a robot 300.
　ロボット制御装置１００は、ロボットプログラム１０１、実行部１０２及び通信部１０３を備えている。実行部１０２はロボットプログラム実行部となる。
　ロボットプログラム１０１は、ロボット３００を制御するプログラムである。ロボット制御装置１００と工作機械２００との連携制御のために、ロボットプログラム１０１には、工作機械２００のラダープログラム２０４の参照命令が記述されている。ロボットプログラム１０１は、例えば、ロボット３００をシーケンス制御するロボットラダープログラムである。 The robot control device 100 includes a robot program 101, an execution unit 102, and a communication unit 103. The execution unit 102 serves as a robot program execution unit.
The robot program 101 is a program for controlling the robot 300. For cooperative control between the robot control device 100 and the machine tool 200, the robot program 101 describes a reference command to the ladder program 204 of the machine tool 200. The robot program 101 is, for example, a robot ladder program for sequence control of the robot 300.
　実行部１０２は、ロボットプログラム１０１に基づいてロボット３００を制御する。実行部１０２は、ロボットプログラム１０１に参照命令が記述されているときは、通信部１０３を介して工作機械２００の通信部２０１に参照要求を送信する。参照要求には、後述する、工作機械２００のラダープログラム２０４で参照するためにメモリ領域２０２に割り当てられたアドレスが含まれている。つまり、実行部１０２は、ラダープログラム２０４で参照するために工作機械２００のメモリ領域２０２に割り当てられたアドレスを指定して、メモリ領域２０２のアドレスのデータを、通信部１０３を介してアクセス可能となっている。実行部１０２は、アドレスで指定されたデータを工作機械２００から通信部１０３を介して取得すると、そのデータを用いてロボットプログラム１０１を実行する。
　通信部１０３は、工作機械２００の通信部２０１とイーサネット（登録商標）等で通信を行う。 The execution unit 102 controls the robot 300 based on the robot program 101. When a reference command is described in the robot program 101, the execution unit 102 transmits a reference request to the communication unit 201 of the machine tool 200 via the communication unit 103. The reference request includes an address assigned to the memory area 202 for reference in the ladder program 204 of the machine tool 200, which will be described later. In other words, the execution unit 102 can specify an address assigned to the memory area 202 of the machine tool 200 for reference in the ladder program 204, and access data at the address of the memory area 202 via the communication unit 103. When the execution unit 102 acquires the data specified by the address from the machine tool 200 via the communication unit 103, it executes the robot program 101 using the data.
The communication unit 103 communicates with a communication unit 201 of the machine tool 200 via Ethernet (registered trademark) or the like.
　工作機械２００は、通信部２０１、メモリ領域２０２、実行部２０３及びラダープログラム２０４を備えている。実行部２０３は、ラダープログラム実行部となる。 The machine tool 200 includes a communication unit 201, a memory area 202, an execution unit 203, and a ladder program 204. The execution unit 203 serves as a ladder program execution unit.
　通信部２０１は、通信部１０３とイーサネット（登録商標）等で通信を行う。
　メモリ領域２０２は、実行部２０３がラダープログラム２０４を実行するために必要なデータを記憶する。メモリ領域２０２には、ラダープログラムの実行に際してデータを参照するためにアドレスが割り当てられている。 A communication unit 201 communicates with the communication unit 103 via Ethernet (registered trademark) or the like.
The memory area 202 stores data necessary for the execution unit 203 to execute the ladder program 204. Addresses are assigned to the memory area 202 to refer to the data when the ladder program is executed.
　実行部２０３は、ラダープログラム２０４を読み出して、工作機械２００による被加工物（ワーク）の加工を制御する。実行部２０３は、通信部２０１を介して、アドレスを含む参照要求を受けると、アドレスに基づいてメモリ領域２０２を参照し、アドレスで指定されるデータを読み出す。実行部２０３は、読み出したデータを、通信部２０１を介して、ロボット制御装置１００の通信部１０３に送信する。 The execution unit 203 reads out the ladder program 204 and controls the machining of the workpiece (workpiece) by the machine tool 200. When the execution unit 203 receives a reference request including an address via the communication unit 201, it references the memory area 202 based on the address and reads out the data specified by the address. The execution unit 203 transmits the read data to the communication unit 103 of the robot control device 100 via the communication unit 201.
　図２は、工作機械と連携する場合のロボットプログラムの一例を示す図である。
　図２に示すロボットプログラムにおいて、「7: R[1]=ReadCNCPMC (Y0000.0)」は、工作機械２００側のラダープログラム２０４のアドレス(Y0000.0)に対応するデータを実行部１０２のレジスタ(R[1])に格納する命令である。アドレス(Y0000.0)に対応するデータはメモリ領域２０２に記憶されている。実行部１０２は、引数に工作機械２００のラダープログラム２０４上のアドレス(Y0000.0)を指定して参照要求を行う。工作機械２００からの返戻値はメモリ領域２０２から読み出した、指定したアドレス(Y0000.0)に対応するデータとなる。実行部１０２は、アドレス(Y0000.0)に対応するデータを実行部１０２内のレジスタR[1]に格納する。図２で示すように、ロボットプログラムはロボットの動作命令以外の命令も含む。 FIG. 2 is a diagram showing an example of a robot program for cooperation with a machine tool.
In the robot program shown in FIG. 2, "7: R[1]=ReadCNCPMC (Y0000.0)" is a command to store data corresponding to address (Y0000.0) of ladder program 204 on the machine tool 200 side in register (R[1]) of execution unit 102. The data corresponding to address (Y0000.0) is stored in memory area 202. Execution unit 102 issues a reference request by specifying address (Y0000.0) on ladder program 204 of machine tool 200 as an argument. The return value from machine tool 200 is data corresponding to the specified address (Y0000.0) read from memory area 202. Execution unit 102 stores the data corresponding to address (Y0000.0) in register R[1] in execution unit 102. As shown in FIG. 2, the robot program also includes commands other than robot operation commands.
　以上の説明は、実行部１０２が、工作機械２００のメモリ領域２０２からデータを読み込む例であるが、本実施形態は、実行部１０２が、工作機械２００のメモリ領域２０２にデータを書き込む例にも適用できる。
　この場合、ロボット制御装置１００のロボットプログラム１０１は、工作機械２００のラダープログラム２０４への書き込み命令が記述されている。そして、実行部１０２は、通信部１０３を介して工作機械２００の通信部２０１に書き込み要求を送信する。書き込み要求は、工作機械２００のメモリ領域２０２に割り当てられたアドレスと、書き込みデータとが含まれている。 The above description is an example in which the execution unit 102 reads data from the memory area 202 of the machine tool 200, but this embodiment can also be applied to an example in which the execution unit 102 writes data to the memory area 202 of the machine tool 200.
In this case, the robot program 101 of the robot control device 100 describes a write command to the ladder program 204 of the machine tool 200. Then, the execution unit 102 transmits a write request to the communication unit 201 of the machine tool 200 via the communication unit 103. The write request includes an address assigned to the memory area 202 of the machine tool 200 and write data.
　以上説明した、本実施形態では、ロボット制御装置から工作機械のメモリ領域を、ラダープログラムのアドレスで指定してアクセスすることが可能となる。そのため、ＩＯ通信のためのＩＯ機器、ＩＯ機器とラダーとの間の割り付け、及び工作機械のラダープログラムの変更等が不要となる。その結果、既存の工作機械にロボット制御装置を後付けする場合でも、エンドユーザが対応できる。 As explained above, in this embodiment, it is possible to access the memory area of the machine tool from the robot control device by specifying the address of the ladder program. This eliminates the need for IO devices for IO communication, allocation between IO devices and ladders, and changes to the ladder program of the machine tool. As a result, end users can handle this even when retrofitting a robot control device to an existing machine tool.
（第２の実施形態）
　図３は本開示の第２の実施形態の連携システムの構成を示すブロック図である。図４は第２の実施形態の連携システムの動作を示すフロー図である。
　連携システム１１は、図３に示すように、ロボット制御装置１００と工作機械２１０とを備えている。連携システム１１は、図１に示した連携システム１０の工作機械２００が工作機械２１０に置き替わっている。 Second Embodiment
Fig. 3 is a block diagram showing a configuration of a linkage system according to a second embodiment of the present disclosure, and Fig. 4 is a flow diagram showing an operation of the linkage system according to the second embodiment.
As shown in Fig. 3, the linkage system 11 includes a robot control device 100 and a machine tool 210. In the linkage system 11, the machine tool 200 of the linkage system 10 shown in Fig. 1 is replaced with the machine tool 210.
　工作機械２１０は、通信部２０１、メモリ領域２０２、実行部２０３、ラダープログラム２０４、同期メモリ領域２０５及び同期メモリ転送部２０６を備えている。工作機械２１０における、同期メモリ領域２０５及び同期メモリ転送部２０６以外の構成は、工作機械２００と同じ構成なので、説明を省略する。 The machine tool 210 includes a communication unit 201, a memory area 202, an execution unit 203, a ladder program 204, a synchronous memory area 205, and a synchronous memory transfer unit 206. The configuration of the machine tool 210 other than the synchronous memory area 205 and the synchronous memory transfer unit 206 is the same as that of the machine tool 200, and therefore a description thereof will be omitted.
　以下、図３及び図４を参照して、連携システム１１の動作について説明する。
　ロボット制御装置１００のロボットプログラム１０１は、工作機械２００のラダープログラム２０４への書き込み命令が記述されている。 The operation of the link system 11 will be described below with reference to FIGS.
The robot program 101 of the robot control device 100 describes a write command to the ladder program 204 of the machine tool 200 .
　ロボット制御装置１００の実行部１０２は、図４に示すように、ロボットプログラム１０１の実行を開始し（ステップＳ１１）、ロボットプログラム１０１に書き込み命令が記述されているときは、通信部１０３を介して工作機械２００の通信部２０１に書き込み要求を送信する（ステップＳ１２）。書き込み要求は、工作機械２００の同期メモリ領域２０５に割り当てられたアドレスと、書き込みデータとが含まれている。 As shown in FIG. 4, the execution unit 102 of the robot control device 100 starts the execution of the robot program 101 (step S11), and when a write command is written in the robot program 101, it transmits a write request to the communication unit 201 of the machine tool 200 via the communication unit 103 (step S12). The write request includes an address assigned to the synchronous memory area 205 of the machine tool 200 and the write data.
　同期メモリ転送部２０６は、図４に示すように、通信部２０１を介して取得した書き込み要求に基づいて、同期メモリ領域２０５に書き込みデータの書き込みを行い、データを保存する（ステップＳ２１）。
　工作機械２００の実行部２０３はラダープログラム２０４の実行を開始している（ステップＳ３１）。同期メモリ転送部２０６は、実行部２０３へラダープログラム２０４の実行状況の確認をする（ステップＳ２２）。実行部２０３は、ラダープログラム２０４の１周期の実行が完了している場合は、実行完了の通知を同期メモリ転送部２０６に対して行う（ステップＳ３２）。 As shown in FIG. 4, the synchronous memory transfer unit 206 writes write data into the synchronous memory area 205 based on a write request acquired via the communication unit 201, and saves the data (step S21).
The execution unit 203 of the machine tool 200 starts executing the ladder program 204 (step S31). The synchronous memory transfer unit 206 checks the execution status of the ladder program 204 with the execution unit 203 (step S22). When the execution of one cycle of the ladder program 204 is completed, the execution unit 203 notifies the synchronous memory transfer unit 206 of the completion of execution (step S32).
　同期メモリ転送部２０６は、実行部２０３からの実行完了の通知を受けない場合には待機し、ラダープログラム２０４の１周期の完了を待つ。
　同期メモリ転送部２０６は、実行完了の通知を受けた場合には、同期メモリ領域２０５の内容を参照し、同期メモリ領域２０５に書き込まれたデータをメモリ領域２０２に書き込み（転送し）、データを更新する（ステップＳ２３）。その後、同期メモリ転送部２０６は、通信部２０１を介してロボット制御装置１００に対して、データを更新して書き込みが完了した旨の通知（完了通知）を行い、完了通知を実行部２０３に対しても行う（ステップＳ２４）。
　実行部２０３は、完了通知を受けると、メモリ領域２０２の更新されたデータを用いてラダープログラム２０４を動作する。 If the synchronous memory transfer unit 206 does not receive a notification of completion of execution from the execution unit 203, it waits until one cycle of the ladder program 204 is completed.
When the synchronous memory transfer unit 206 receives the execution completion notification, it refers to the contents of the synchronous memory area 205, writes (transfers) the data written in the synchronous memory area 205 to the memory area 202, and updates the data (step S23). After that, the synchronous memory transfer unit 206 notifies the robot control device 100 via the communication unit 201 that the data has been updated and the writing has been completed (completion notification), and also notifies the execution unit 203 of the completion (step S24).
When the execution unit 203 receives the completion notification, it runs the ladder program 204 using the updated data in the memory area 202 .
　図２に示すロボットプログラムにおいて、「５: CNC K0000.1 1」は、工作機械２００側のラダープログラム２０４のアドレスK0000.0で指定される同期メモリ領域２０５に「１」を書き込む命令である。実行部１０２は、工作機械２００のラダープログラム２０４上のアドレス(K0000.0)を指定して書き込み要求を行う。工作機械２００の同期メモリ転送部２０６は、書き込み要求を取得すると、図４に示した動作を行う。 In the robot program shown in FIG. 2, "5: CNC K0000.1 1" is a command to write "1" to the synchronous memory area 205 specified by address K0000.0 of ladder program 204 on the machine tool 200 side. The execution unit 102 issues a write request by specifying an address (K0000.0) on ladder program 204 of the machine tool 200. When the synchronous memory transfer unit 206 of the machine tool 200 receives the write request, it performs the operation shown in FIG. 4.
　以上説明した、本実施形態では、ロボット制御装置から工作機械の同期メモリ領域を、ラダープログラムのアドレスを指定してアクセスして書き込みすることが可能となる。そのため、ＩＯ通信のためのＩＯ機器、ＩＯ機器とラダーとの間の割り付け、及び工作機械のラダープログラムの変更等が不要となる。その結果、既存の工作機械にロボット制御装置を後付けする場合でも、エンドユーザが対応できる。
　また、本実施形態では、テアリング等の予期しない誤動作を防ぐことができる。 As described above, in the present embodiment, the robot control device can access and write to the synchronous memory area of the machine tool by specifying the address of the ladder program. Therefore, there is no need for IO devices for IO communication, allocation between the IO devices and ladders, or changes to the ladder program of the machine tool. As a result, even if a robot control device is retrofitted to an existing machine tool, the end user can handle it.
Moreover, in this embodiment, unexpected malfunctions such as tearing can be prevented.
　テアリング（ティアリングともいう）は、不適切なタイミングのデータを読み書きによりデータが破損することをいう。
　図５はテアリングの一例を説明するための図である。
　図５に示すように、例えば、複数の処理で共有される８ｂｉｔのメモリ領域があり、処理ＳＡは常に１ｂｉｔずつデータを更新し、処理ＳＢは任意のタイミングで８ｂｉｔを一度に読み込むとする。
　このような場合、非同期で読み書きを行うと問題が発生する。処理ＳＡが書き込んでいる途中で処理ＳＢが非同期で読み込むと、データは処理ＳＡで更新している途中なので、処理ＳＢで一貫性のないデータが読み込まれる。 Tearing (also known as tearing) refers to data corruption caused by reading or writing data at inappropriate times.
FIG. 5 is a diagram for explaining an example of tearing.
As shown in FIG. 5, for example, assume that there is an 8-bit memory area shared by a plurality of processes, with process S A always updating data 1 bit at a time, and process S B reading 8 bits at a time at any timing.
In such a case, a problem occurs when reading and writing asynchronously. If process S B reads asynchronously while process S A is writing, process S B will read inconsistent data because the data is being updated by process S A.
　本実施形態では、メモリ領域とは別に同期メモリ領域が設けられているので、非同期でメモリ領域に不適切なタイミングでデータが読み込まれることを防止でき、テアリングを防ぐことができる。 In this embodiment, a synchronous memory area is provided in addition to the memory area, so data can be prevented from being asynchronously read into the memory area at an inappropriate time, preventing tearing.
　以上、各実施形態における、連携システムのロボット制御装置及び工作機械のそれぞれに含まれる機能ブロックを実現するために、ロボット制御装置及び工作機械のそれぞれは、ハードウェア、ソフトウェア又はこれらの組み合わせにより実現することができる。ここで、ソフトウェアによって実現されるとは、コンピュータがプログラムを読み込んで実行することにより実現されることを意味する。 In order to realize the functional blocks included in the robot control device and the machine tool of the linked system in each of the above embodiments, each of the robot control device and the machine tool can be realized by hardware, software, or a combination of these. Here, being realized by software means being realized by a computer reading and executing a program.
　本実施形態における、ロボット制御装置及び工作機械のそれぞれに含まれる機能ブロックをソフトウェア又はこれらの組み合わせにより実現する実現するために、具体的には、ロボット制御装置及び工作機械はそれぞれ、ＣＰＵ（Central Processing Unit）等の演算処理装置を備える。演算処理装置は実行部として機能する。また、ロボット制御装置及び工作機械のそれぞれは、アプリケーションソフトウェア又はＯＳ（Operating System）等の各種の制御用プログラムを格納したＨＤＤ（Hard Disk Drive）等の補助記憶装置、及び演算処理装置がプログラムを実行する上で一時的に必要とされるデータを格納するためのＲＡＭ（Random Access Memory）といった主記憶装置も備える。主記憶装置は、メモリ領域又は同期メモリ領域の少なくとも一方を含んでいる。 In this embodiment, in order to realize the functional blocks included in the robot control device and the machine tool by software or a combination of these, specifically, the robot control device and the machine tool each include a processor such as a CPU (Central Processing Unit). The processor functions as an execution unit. In addition, the robot control device and the machine tool each include an auxiliary storage device such as a HDD (Hard Disk Drive) that stores various control programs such as application software or an OS (Operating System), and a main storage device such as a RAM (Random Access Memory) for storing data temporarily required for the processor to execute a program. The main storage device includes at least one of a memory area or a synchronous memory area.
　そして、ロボット制御装置及び工作機械のそれぞれにおいて、演算処理装置が補助記憶装置からアプリケーションソフトウェア又はＯＳを読み込み、読み込んだアプリケーションソフトウェア又はＯＳを主記憶装置に展開させながら、これらのアプリケーションソフトウェア又はＯＳに基づいた演算処理を行なう。また、この演算結果に基づいて、各装置が備える各種のハードウェアを制御する。これにより、本実施形態の機能ブロックは実現される。 Then, in each of the robot control device and the machine tool, the arithmetic processing device reads the application software or OS from the auxiliary storage device, and while expanding the loaded application software or OS into the main storage device, performs arithmetic processing based on the application software or OS. Also, based on the results of this calculation, various pieces of hardware equipped in each device are controlled. In this way, the functional blocks of this embodiment are realized.
　ロボット制御装置及び工作機械のそれぞれに含まれる各構成部は、電子回路等を含むハードウェアにより実現することができる。ロボット制御装置及び工作機械のそれぞれをハードウェアで構成する場合、ロボット制御装置及び工作機械のそれぞれに含まれる各構成部の機能の一部又は全部を、例えば、ＡＳＩＣ（Application Specific Integrated Circuit）、ゲートアレイ、ＦＰＧＡ（Field Programmable Gate Array）、ＣＰＬＤ（Complex Programmable Logic Device）等の集積回路（ＩＣ）で構成することができる。 Each component included in the robot control device and the machine tool can be realized by hardware including electronic circuits, etc. When the robot control device and the machine tool are each configured from hardware, some or all of the functions of each component included in the robot control device and the machine tool can be configured from integrated circuits (ICs) such as ASICs (Application Specific Integrated Circuits), gate arrays, FPGAs (Field Programmable Gate Arrays), CPLDs (Complex Programmable Logic Devices), etc.
　プログラムは、様々なタイプの非一時的なコンピュータ可読媒体(non-transitory computer readable medium)を用いて格納され、コンピュータに供給することができる。非一時的なコンピュータ可読媒体は、様々なタイプの実体のある記録媒体(tangible storage medium)を含む。非一時的なコンピュータ可読媒体の例は、磁気記録媒体（例えば、ハードディスクドライブ）、光磁気記録媒体（例えば、光磁気ディスク）、ＣＤ－ＲＯＭ(Read Only Memory)、ＣＤ－Ｒ、ＣＤ－Ｒ／Ｗ、半導体メモリ（例えば、マスクＲＯＭ、ＰＲＯＭ(Programmable ROM)、ＥＰＲＯＭ(Erasable PROM)、フラッシュＲＯＭ、ＲＡＭ(random access memory))を含む。また、プログラムは、様々なタイプの一時的なコンピュータ可読媒体(transitory computer readable medium)によってコンピュータに供給されてもよい。 The program may be stored and provided to the computer using various types of non-transitory computer readable media. Non-transitory computer readable media include various types of tangible storage media. Examples of non-transitory computer readable media include magnetic recording media (e.g., hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROM (Read Only Memory), CD-R, CD-R/W, and semiconductor memory (e.g., mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, and RAM (random access memory)). The program may also be provided to the computer by various types of transitory computer readable media.
　以上説明した少なくとも一つの実施形態の効果は、ロボット制御装置から工作機械のメモリ領域又は同期メモリ領域を、ラダープログラムのアドレスで指定してアクセスすることが可能となることである。これにより、ＩＯ通信のためのＩＯ機器、ＩＯ機器とラダーとの間の割り付け、及び工作機械のラダープログラムの変更等が不要となる。その結果、既存の工作機械にロボット制御装置を後付けする場合でも、エンドユーザが対応できる効果がある。 The effect of at least one of the embodiments described above is that it is possible to access the memory area or synchronous memory area of the machine tool from the robot control device by specifying the address of the ladder program. This eliminates the need for IO devices for IO communication, allocation between IO devices and ladders, and changes to the ladder program of the machine tool. As a result, there is an effect that end users can handle even when retrofitting a robot control device to an existing machine tool.
　以上、本開示について説明したが、本開示は上述した個々の実施形態に限定されるものではない。これらの実施形態は本開示の要旨を逸脱しない範囲で、又は特許請求の範囲に記載された内容とその均等物から導き出される本開示の要旨を逸脱しない範囲で、種々の追加、置き替え、変更、部分的削除等が可能である。
　また、これらの実施形態は、組み合わせて実施することもでる。例えば、上述した実施形態において、各動作の順序や各処理の順序は、一例として示したものであり、これらに限定されるものではない。 Although the present disclosure has been described above, the present disclosure is not limited to the above-mentioned individual embodiments. Various additions, substitutions, changes, partial deletions, etc. are possible to these embodiments without departing from the gist of the present disclosure, or without departing from the gist of the present disclosure derived from the contents described in the claims and their equivalents.
In addition, these embodiments can be implemented in combination. For example, in the above-described embodiments, the order of each operation and the order of each process are shown as examples, and the present invention is not limited to these.
　上記各実施形態及び変形例に関し、さらに以下の付記を開示する。
　（付記１）
　ラダープログラムでシーケンス制御される工作機械（２００、２１０）と連携して動作するロボット制御装置（１００）であって、
　前記ロボット制御装置が、前記工作機械と通信する通信部（１０３）と、
　前記ラダープログラムで参照するために前記工作機械のメモリ領域（２０２）に割り当てられたアドレスを指定して、前記メモリ領域の前記アドレスのデータを、前記通信部を介して前記工作機械に要求し、前記工作機械から前記通信部を介してアクセス可能なロボットプログラム実行部（１０２）と、を備える。 The following supplementary notes are further disclosed regarding the above-described embodiments and modifications.
(Appendix 1)
A robot control device (100) that operates in cooperation with a machine tool (200, 210) that is sequence-controlled by a ladder program,
A communication unit (103) for communicating with the machine tool,
and a robot program execution unit (102) that specifies an address assigned to a memory area (202) of the machine tool for reference in the ladder program, requests data at the address in the memory area from the machine tool via the communication unit, and is accessible from the machine tool via the communication unit.
　（付記２）
　前記ロボットプログラム実行部（１０２）は、ロボットプログラムの命令から前記メモリ領域を前記アドレスで指定する、付記（１）に記載のロボット制御装置。 (Appendix 2)
The robot control device according to claim 1, wherein the robot program execution unit (102) specifies the memory area by the address from an instruction of the robot program.
　（付記３）
　前記ロボットプログラムとして、シーケンス制御をするロボットラダープログラムを備え、
　前記ロボットラダープログラムが前記メモリ領域を前記アドレスで指定してアクセスする、付記（２）に記載のロボット制御装置。 (Appendix 3)
The robot program includes a robot ladder program for sequence control,
The robot control device according to claim 2, wherein the robot ladder program accesses the memory area by specifying the address.
　（付記４）
　付記（１）から３のいずれかに記載のロボット制御装置（１００）と工作機械（２００、２１０）とを備え、前記ロボット制御装置と前記工作機械とが連携して動作する連携システム（１０、１１）であって、
　前記工作機械（２００、２１０）は、
　前記工作機械のシーケンス制御をするラダープログラムを実行するラダープログラム実行部（２０３）と、
　前記ラダープログラム実行部がアクセスするメモリ領域（２０２）と、
　前記ロボット制御装置と通信する通信部（２０１）とを備え、
　前記メモリ領域には、前記ラダープログラムで参照するためにアドレスが割り当てられている。 (Appendix 4)
A coordination system (10, 11) comprising a robot control device (100) according to any one of Supplementary Notes (1) to (3) and a machine tool (200, 210), in which the robot control device and the machine tool operate in coordination,
The machine tool (200, 210)
a ladder program execution unit (203) that executes a ladder program for sequence control of the machine tool;
A memory area (202) accessed by the ladder program execution unit;
A communication unit (201) that communicates with the robot control device,
The memory area is assigned an address for reference by the ladder program.
　（付記５）
　ロボットプログラムでロボットを制御するロボット制御装置（１００）と連携して動作する工作機械（２１０）であって、
　前記工作機械は、前記ロボット制御装置と通信する通信部（２０１）と、
　前記工作機械のシーケンス制御をするラダープログラムを実行するラダープログラム実行部（２０３）と、
　前記ラダープログラム実行部がアクセスするメモリ領域（２０２）と、
　前記メモリ領域とは別に設けられた同期メモリ領域（２０５）と、
　前記ロボット制御装置から前記通信部を介して取得した書き込みデータを前記同期メモリ領域に保存し、保存された前記書き込みデータを前記ラダープログラムの１周期の実行が完了した際に前記メモリ領域に転送する同期メモリ転送部（２０６）と、を備える。 (Appendix 5)
A machine tool (210) that operates in cooperation with a robot control device (100) that controls a robot by a robot program,
The machine tool includes a communication unit (201) that communicates with the robot control device;
a ladder program execution unit (203) that executes a ladder program for sequence control of the machine tool;
A memory area (202) accessed by the ladder program execution unit;
A synchronous memory area (205) provided separately from the memory area;
and a synchronous memory transfer unit (206) that stores write data acquired from the robot control device via the communication unit in the synchronous memory area, and transfers the stored write data to the memory area when one cycle of the ladder program is executed.
　（付記６）
　付記（５）に記載の工作機械（２１０）と連携して動作するロボット制御装置（１００）であって、
　前記ロボット制御装置（１００）は、前記工作機械と通信する通信部（１０３）と、
　前記ラダープログラムで参照するために前記工作機械の同期メモリ領域に割り当てられたアドレスを指定して、前記同期メモリ領域に前記書き込みデータを、前記通信部を介して前記工作機械に送信するロボットプログラム実行部（１０２）と、
　を備えた、ロボット制御装置。 (Appendix 6)
A robot control device (100) that operates in cooperation with the machine tool (210) according to supplementary note (5),
The robot control device (100) includes a communication unit (103) that communicates with the machine tool;
a robot program execution unit (102) that designates an address assigned to a synchronous memory area of the machine tool for reference in the ladder program, and transmits the write data to the synchronous memory area via the communication unit to the machine tool;
A robot control device comprising:
　（付記７）
　工作機械（２１０）とロボット制御装置（１００）とを備え、前記工作機械と前記ロボット制御装置とが連携して動作する連携システム（１１）であって、
　前記工作機械（２１０）が、
　前記ロボット制御装置と通信する通信部（２０１）と、
　前記工作機械のシーケンス制御をするラダープログラムを実行するラダープログラム実行部（２０３）と、
　前記ラダープログラム実行部がアクセスするメモリ領域（２０２）と、
　前記メモリ領域とは別に設けられた同期メモリ領域（２０５）と、
　前記ロボット制御装置から前記通信部を介して取得した書き込みデータを前記同期メモリ領域に保存し、保存された前記書き込みデータを前記ラダープログラムの１周期の実行が完了した際に前記メモリ領域に転送する同期メモリ転送部（２０６）と、
を備え、
　前記ロボット制御装置が、
　前記工作機械と通信する通信部（１０３）と、
　前記ラダープログラムで参照するために前記同期メモリ領域に割り当てられたアドレスを指定して、前記同期メモリ領域に書き込みデータを、前記通信部を介して前記工作機械に送信するロボットプログラム実行部（１０２）と、
　を備えている。 (Appendix 7)
A linkage system (11) comprising a machine tool (210) and a robot control device (100), the machine tool and the robot control device operating in cooperation with each other,
The machine tool (210),
A communication unit (201) that communicates with the robot control device;
a ladder program execution unit (203) that executes a ladder program for sequence control of the machine tool;
A memory area (202) accessed by the ladder program execution unit;
A synchronous memory area (205) provided separately from the memory area;
a synchronous memory transfer unit (206) that stores write data acquired from the robot control device via the communication unit in the synchronous memory area and transfers the stored write data to the memory area when execution of one cycle of the ladder program is completed;
Equipped with
The robot control device,
A communication unit (103) that communicates with the machine tool;
a robot program execution unit (102) that designates an address assigned to the synchronous memory area for reference in the ladder program and transmits write data to the synchronous memory area via the communication unit to the machine tool;
It is equipped with:
　１０、１１　連携システム
　１００　ロボット制御装置
　１０１　ロボットプログラム
　１０２　実行部
　１０３　通信部
　２００、２１０　工作機械
　２０１　通信部
　２０２　メモリ領域
　２０３　実行部
　２０４　ラダープログラム
　２０５　同期メモリ領域
　２０６　同期メモリ転送部 Reference Signs List 10, 11 Linkage system 100 Robot control device 101 Robot program 102 Execution unit 103 Communication unit 200, 210 Machine tool 201 Communication unit 202 Memory area 203 Execution unit 204 Ladder program 205 Synchronous memory area 206 Synchronous memory transfer unit

Claims (7)

  1. 　ラダープログラムでシーケンス制御される工作機械と連携して動作するロボット制御装置であって、
    　前記工作機械と通信する通信部と、
    　前記ラダープログラムで参照するために前記工作機械のメモリ領域に割り当てられたアドレスを指定して、前記メモリ領域の前記アドレスのデータを、前記通信部を介してアクセス可能なロボットプログラム実行部と、
    　を備えた、ロボット制御装置。     A robot control device that operates in cooperation with a machine tool that is sequence-controlled by a ladder program,
    A communication unit that communicates with the machine tool;
    a robot program execution unit that can specify an address assigned to a memory area of the machine tool for reference in the ladder program and access data at the address in the memory area via the communication unit;
    A robot control device comprising:
  2. 　前記ロボットプログラム実行部は、ロボットプログラムの命令から前記メモリ領域を前記アドレスで指定する、請求項１に記載のロボット制御装置。 The robot control device according to claim 1, wherein the robot program execution unit specifies the memory area by the address from an instruction in the robot program.
  3. 　前記ロボットプログラムとして、シーケンス制御をするロボットラダープログラムを備え、
    　前記ロボットラダープログラムが前記メモリ領域を前記アドレスで指定してアクセスする、
    　請求項２に記載のロボット制御装置。     The robot program includes a robot ladder program for sequence control,
    The robot ladder program accesses the memory area by specifying the address.
    The robot control device according to claim 2 .
  4. 　請求項１から３のいずれか１項に記載のロボット制御装置と工作機械とを備え、前記ロボット制御装置と前記工作機械とが連携して動作する連携システムであって、
    　前記工作機械は、
    　前記工作機械のシーケンス制御をするラダープログラムを実行するラダープログラム実行部と、
    　前記ラダープログラム実行部がアクセスするメモリ領域と、
    　前記ロボット制御装置と通信する通信部とを備え、
    　前記メモリ領域には、前記ラダープログラムで参照するためにアドレスが割り当てられている、連携システム。     A coordination system comprising the robot control device according to any one of claims 1 to 3 and a machine tool, the robot control device and the machine tool operating in coordination,
    The machine tool comprises:
    a ladder program execution unit that executes a ladder program for sequence control of the machine tool;
    A memory area accessed by the ladder program execution unit;
    A communication unit that communicates with the robot control device,
    An interconnection system in which an address is assigned to the memory area for reference by the ladder program.
  5. 　ロボットプログラムでロボットを制御するロボット制御装置と連携して動作する工作機械であって、
    　前記ロボット制御装置と通信する通信部と、
    　前記工作機械のシーケンス制御をするラダープログラムを実行するラダープログラム実行部と、
    　前記ラダープログラム実行部がアクセスするメモリ領域と、
    　前記メモリ領域とは別に設けられた同期メモリ領域と、
    　前記ロボット制御装置から前記通信部を介して取得した書き込みデータを前記同期メモリ領域に保存し、保存された前記書き込みデータを前記ラダープログラムの１周期の実行が完了した際に前記メモリ領域に転送する同期メモリ転送部と、
    　を備えた、工作機械。     A machine tool that operates in cooperation with a robot control device that controls a robot by a robot program,
    A communication unit that communicates with the robot control device;
    a ladder program execution unit that executes a ladder program for sequence control of the machine tool;
    A memory area accessed by the ladder program execution unit;
    a synchronous memory area provided separately from the memory area;
    a synchronous memory transfer unit that stores write data acquired from the robot control device via the communication unit in the synchronous memory area and transfers the stored write data to the memory area when execution of one cycle of the ladder program is completed;
    A machine tool equipped with
  6. 　請求項５に記載の工作機械と連携して動作するロボット制御装置であって、
    　前記工作機械と通信する通信部と、
    　前記ラダープログラムで参照するために前記工作機械の同期メモリ領域に割り当てられたアドレスを指定して、前記同期メモリ領域に前記書き込みデータを、前記通信部を介して前記工作機械に送信するロボットプログラム実行部と、
    　を備えた、ロボット制御装置。     A robot control device that operates in cooperation with the machine tool according to claim 5,
    A communication unit that communicates with the machine tool;
    a robot program execution unit that designates an address assigned to a synchronous memory area of the machine tool for reference by the ladder program, and transmits the write data to the synchronous memory area via the communication unit to the machine tool;
    A robot control device comprising:
  7. 　工作機械とロボット制御装置とを備え、前記工作機械と前記ロボット制御装置とが連携して動作する連携システムであって、
    　前記工作機械が、
    　前記ロボット制御装置と通信する通信部と、
    　前記工作機械のシーケンス制御をするラダープログラムを実行するラダープログラム実行部と、
    　前記ラダープログラム実行部がアクセスするメモリ領域と、
    　前記メモリ領域とは別に設けられた同期メモリ領域と、
    　前記ロボット制御装置から前記通信部を介して取得した書き込みデータを前記同期メモリ領域に保存し、保存された前記書き込みデータを前記ラダープログラムの１周期の実行が完了した際に前記メモリ領域に転送する同期メモリ転送部と、
    を備え、
    　前記ロボット制御装置が、
    　前記工作機械と通信する通信部と、
    　前記ラダープログラムで参照するために前記同期メモリ領域に割り当てられたアドレスを指定して、前記同期メモリ領域に書き込みデータを、前記通信部を介して前記工作機械に送信するロボットプログラム実行部と、
    　を備えている、連携システム。     A coordination system including a machine tool and a robot control device, the machine tool and the robot control device operating in coordination with each other,
    The machine tool,
    A communication unit that communicates with the robot control device;
    a ladder program execution unit that executes a ladder program for sequence control of the machine tool;
    A memory area accessed by the ladder program execution unit;
    a synchronous memory area provided separately from the memory area;
    a synchronous memory transfer unit that stores write data acquired from the robot control device via the communication unit in the synchronous memory area and transfers the stored write data to the memory area when execution of one cycle of the ladder program is completed;
    Equipped with
    The robot control device,
    A communication unit that communicates with the machine tool;
    a robot program execution unit that designates an address assigned to the synchronous memory area for reference by the ladder program, and transmits write data to the synchronous memory area via the communication unit to the machine tool;
    A collaborative system that includes:
PCT/JP2022/040392 2022-10-28 2022-10-28 Robot control device, machine tool, and cooperation system WO2024089881A1 (en)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0628019A (en) * 1992-07-10 1994-02-04 Hitachi Seiki Co Ltd Method and device for calling robot program for numerically controlled machine tool
JP2019067046A (en) * 2017-09-29 2019-04-25 オムロン株式会社 Control system and control unit
JP2021012405A (en) * 2019-07-03 2021-02-04 オムロン株式会社 Control system, setting device and computer program
JP2021036392A (en) * 2019-08-30 2021-03-04 株式会社安川電機 Data collection system, data collection method, and program

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0628019A (en) * 1992-07-10 1994-02-04 Hitachi Seiki Co Ltd Method and device for calling robot program for numerically controlled machine tool
JP2019067046A (en) * 2017-09-29 2019-04-25 オムロン株式会社 Control system and control unit
JP2021012405A (en) * 2019-07-03 2021-02-04 オムロン株式会社 Control system, setting device and computer program
JP2021036392A (en) * 2019-08-30 2021-03-04 株式会社安川電機 Data collection system, data collection method, and program

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