WO2024247004A1 - 拡張ソフトウェアにより機械を制御する制御装置 - Google Patents

拡張ソフトウェアにより機械を制御する制御装置 Download PDF

Info

Publication number
WO2024247004A1
WO2024247004A1 PCT/JP2023/019768 JP2023019768W WO2024247004A1 WO 2024247004 A1 WO2024247004 A1 WO 2024247004A1 JP 2023019768 W JP2023019768 W JP 2023019768W WO 2024247004 A1 WO2024247004 A1 WO 2024247004A1
Authority
WO
WIPO (PCT)
Prior art keywords
processing program
extension software
processing
unit
storage unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2023/019768
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
力 石井
隆博 田中
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Priority to DE112023006014.2T priority Critical patent/DE112023006014T5/de
Priority to CN202380097052.2A priority patent/CN120936984A/zh
Priority to JP2025523653A priority patent/JPWO2024247004A1/ja
Priority to PCT/JP2023/019768 priority patent/WO2024247004A1/ja
Priority to TW113115638A priority patent/TW202447364A/zh
Publication of WO2024247004A1 publication Critical patent/WO2024247004A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F8/00—Arrangements for software engineering
    • G06F8/60—Software deployment
    • G06F8/65—Updates
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00—Arrangements for program control, e.g. control units
    • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/44—Arrangements for executing specific programs
    • G06F9/445—Program loading or initiating
    • G06F9/44505—Configuring for program initiating, e.g. using registry, configuration files

Definitions

  • This disclosure relates to a control device that controls a machine using extended software.
  • Robots and machine tools are controlled by a robot roller and a numerical control device (hereinafter sometimes simply referred to as “controllers”), respectively, in accordance with "standard software” and "expansion software.”
  • the standard operation of the machine is controlled by the control device based on the standard software that is already installed (implemented) in the control device when the machine and its control device are shipped from the factory.
  • the operation of optional functions and optional peripheral devices that can be added or removed later is controlled by the control device based on the expansion software.
  • Robots and machine tools are highly flexible and can be used in a variety of applications, and optional functions and optional peripheral devices can be added to or removed from the control device as needed.
  • the user the customer who uses the machine and its control device
  • manufacturer the manufacturer of the machine and its control device
  • the control device includes a pre-processing program storage unit that stores a pre-processing program that is executed before modification processing of the extension software for controlling the extension functions of the machine, a pre-processing program execution unit that executes the pre-processing program stored in the pre-processing program storage unit, and a modification processing unit that executes modification processing of the extension software after execution of the pre-processing program by the pre-processing program execution unit, and the extension software includes a pre-processing program that corresponds to the extension software.
  • FIG. 2 is a block diagram illustrating a control device according to one embodiment of the present disclosure.
  • FIG. 13 is a block diagram showing a control device according to a modified example of an embodiment of the present disclosure.
  • 5 is a flowchart showing an operation flow of an additional process according to a first mode in the control device 1 according to the embodiment and the modified example of the present disclosure.
  • 10 is a flowchart showing an operational flow of an additional process according to a second mode in the control device 1 according to the embodiment and the modified example of the present disclosure.
  • 13 is a flowchart showing an operation flow of an additional process according to a third mode in the control device 1 according to the embodiment and the modified example of the present disclosure.
  • 5 is a flowchart showing an operation flow of a deletion process according to a first mode in the control device 1 according to the embodiment and the modified example of the present disclosure.
  • 10 is a flowchart showing an operation flow of a deletion process according to a second mode in the control device 1 according to the embodiment and the modified example of the present disclosure.
  • 13 is a flowchart showing an operation flow of a deletion process according to a third mode in the control device 1 according to the embodiment and the modified example of the present disclosure.
  • the control device is a robot controller that controls a robot, or a numerical control device that controls a machine tool.
  • a case where the control device is a robot controller will be described, but the following description is also applicable to a case where the control device is a numerical control device.
  • FIG. 1 is a block diagram illustrating a control device according to one embodiment of the present disclosure.
  • control device 1 that controls a robot (not shown) are broadly divided into standard functions and extended functions.
  • the control device 1 according to one embodiment of the present disclosure controls the robot using standard software for controlling the standard functions of the control device 1 and extended software for controlling the extended functions of the control device 1.
  • Standard functions refers to basic functions that are pre-installed (implemented) in the control device 1 and functions that control existing peripheral devices.
  • the control device 1 controls its own standard functions based on standard software.
  • “Expansion function” refers to optional functions that can be added to the control device 1 afterwards, or functions that control optional peripheral devices.
  • the control device 1 controls the robot's expansion functions based on expansion software.
  • the expansion functions of the control device 1 can be changed, such as added or deleted, after the robot and control device 1 are shipped from the factory. For example, if it is necessary to add an expansion function to the control device 1 after the robot and control device 1 are shipped from the factory, the user or manufacturer will add the expansion software corresponding to that expansion function. Also, if there is an expansion function that is no longer necessary in the control device 1 after the robot and control device 1 are shipped from the factory, the user or manufacturer will delete the expansion software corresponding to that expansion function.
  • extension software examples include extension software for controlling specific peripheral devices of the robot, extension software for making the robot's arms perform special movements, and extension software for making the robot's main body (base) perform special movements, but other extension software may also be included.
  • extension software for controlling specific peripheral devices of the robot include extension software for controlling specific hands attached to the robot, extension software for controlling specific tools attached to the robot, extension software for controlling specific cameras attached to the robot, and extension software for controlling specific sensors attached to the robot, but other extension software may also be included.
  • Extension software is defined for each extension function.
  • the extension software is composed of an archive file that contains program information, screen information, setting information, etc., as well as a pre-processing program, all packaged together.
  • the pre-processing program which is one component of the extension software, is a program that is executed in a preparatory stage before executing the change processing on the extension software, so that the "change processing on the extension software," such as the processing of adding the extension software to the control device 1 and the processing of deleting the extension software from the control device 1, can be performed smoothly and normally.
  • the pre-processing program may also be called the "pre-processing program” or the “preparatory processing program.”
  • pre-processing programs include a pre-processing program for changing the file name of the program information, a pre-processing program that specifies the order in which expansion software is added, a pre-processing program for deleting a main program specified in the program information, a pre-processing program for stopping the execution of a main program specified in the program information, a pre-processing program for stopping the operation of a peripheral device controlled by the expansion software, a pre-processing program for deleting an operating main program by referencing the program information of other expansion software, a pre-processing program that specifies the order in which expansion software is deleted, a pre-processing program that resets various variables of a main program specified in the program information to their initial values, and other pre-processing programs may also be included.
  • the program information which is one component of the extension software, specifies the main program that is directly or indirectly involved in controlling the extension function.
  • the program information includes a command file that describes commands for the control device 1 (processing that the control device 1 should execute for the extension function).
  • the screen information which is one component of the extension software, includes screen files and image files used for displaying the screen of a teaching operation panel (not shown) or an external display device (not shown) connected to the control device 1.
  • the setting information which is one component of the extension software, specifies information about various settings of the extension functions controlled by the extension software. For example, there is setting information about the supply voltage of peripheral devices, setting information about communication with peripheral devices, setting information about the robot's coordinate system, setting information about the load, and other setting information.
  • the extension software is created in advance in an archive file format that packages the above-mentioned pre-processing program, program information, screen information, and setting information into one. Then, when performing a modification process (i.e., an addition process or a deletion process) on the extension software, the pre-processing program is executed before executing the modification process on the extension software, and the modification process on the extension software is executed after executing the pre-processing program.
  • a modification process i.e., an addition process or a deletion process
  • a control device 1 includes a candidate storage unit 10, a pre-processing program introduction unit 11, a pre-processing program storage unit 12, a pre-processing program execution unit 13, a change processing unit 14, an extension software storage unit 15, an addition reception unit 16, a deletion reception unit 17, and a control unit 20.
  • the control device 1 includes a power source, a measuring device, an input device, a display device, a cooling device, and other circuits.
  • the candidate storage unit 10 stores extension software that is a candidate for addition.
  • the extension software stored in the candidate storage unit 10 is not directly used by the control device 1 to control the extension functions simply by being stored in the candidate storage unit 10.
  • the extension software that is a candidate for addition is stored in the candidate storage unit 10 by the manufacturer of the control device 1 when the control device 1 is manufactured.
  • the candidate storage unit 10 does not need to be a storage device capable of high-speed reading and writing; an inexpensive storage device capable of low-speed reading and writing can be used.
  • the candidate storage unit 10 is preferably a large-capacity storage device so that it can store multiple extension software that are candidates for addition.
  • Examples of the candidate storage unit 10 include a hard disk drive (HD), a solid-state drive (SSD), and flash memory.
  • HD hard disk drive
  • SSD solid-state drive
  • flash memory flash memory.
  • the candidate storage unit 10 stores extension software A and extension software B, etc.
  • the pre-processing program storage unit 12 stores a pre-processing program that is executed before modification processing is performed on the extension software.
  • the pre-processing program storage unit 12 may be a non-volatile memory such as SRAM or EEPROM, or a volatile memory such as DRAM, as long as it is a rewritable memory.
  • the extension software storage unit 15 stores extension software added to the control device 1.
  • the control unit 1 controls the extended functions by executing the extension software stored in the extension software storage unit 15 by the control unit 20.
  • the extension software stored in the extension software storage unit 15, rather than the extension software stored in the candidate storage unit 10 is directly used to control the extended functions by the control device 1.
  • the extension software storage unit 15 may be a non-volatile memory such as SRAM or EEPROM, or a volatile memory such as DRAM, as long as it is a rewritable memory.
  • the addition reception unit 16 receives an addition command to select the extension software to be added from the extension software candidates to be added stored in the candidate storage unit 10. For example, a list of the extension software candidates to be added is displayed on the screen of the output device of the control device 1 or a teaching operation panel (not shown) connected thereto, and the operator can refer to this and use the input device to select one or more pieces of extension software to be added. In response to the operator's operation, the input device sends an addition command indicating the selected extension software to be added to the addition reception unit 16. The addition reception unit 16 notifies the pre-processing program introduction unit 11 and the change processing unit 14 that it has received the addition command.
  • the deletion reception unit 17 receives a deletion command to select extension software to be deleted from the extension software stored in the extension software storage unit 15. For example, a list of extension software already added to the control unit 1 is displayed on the screen of an output device of the control unit 1 or a teaching operation panel (not shown) connected thereto, and the operator can refer to this list and use the input device to select one or more pieces of extension software to be deleted. In response to the operator's operation, the input device sends a deletion command indicating the selected extension software to be deleted to the deletion reception unit 17. The deletion reception unit 17 notifies the pre-processing program execution unit 13 and the change processing unit 14 that it has received the deletion command.
  • the pre-processing program introduction unit 11 reads out a pre-processing program in the extension software to be added from the candidate storage unit 10 and stores the pre-processing program in the pre-processing program storage unit 12 before the change process, which is the process of adding the extension software, is executed.
  • the pre-processing program introduction unit 11 reads out all pre-processing programs in the multiple extension software to be added from the candidate storage unit 10 and stores all the pre-processing programs in the pre-processing program storage unit 12.
  • the pre-processing program storage unit 12 stores, as an example, pre-processing programs a1 and a2 of extension software A and pre-processing programs b1 and b2 of extension software B.
  • the pre-processing program execution unit 13 executes the pre-processing program stored in the pre-processing program storage unit 12 that corresponds to the extension software to be added.
  • the deletion reception unit 17 receives a deletion command, the pre-processing program execution unit 13 executes the pre-processing program stored in the pre-processing program storage unit 12 that corresponds to the extension software to be deleted. More details are as follows.
  • the pre-processing program execution unit 13 executes the pre-processing program stored in the pre-processing program storage unit 12 that corresponds to the extension software to be added before the change processing unit 14 executes the addition processing of the extension software.
  • the pre-processing program execution unit 13 executes at least one of all the pre-processing programs stored in the pre-processing program storage unit 12 that correspond to the extension software to be added.
  • the pre-processing program execution unit 13 executes a pre-processing program stored in the pre-processing program storage unit 12 that corresponds to the extension software to be deleted before the change processing unit 14 executes the change processing, which is the process of deleting the extension software.
  • the deletion command received by the deletion reception unit 17 indicates the selection of multiple extension software to be deleted
  • the pre-processing program execution unit 13 executes at least one of the multiple pre-processing programs stored in the pre-processing program storage unit 12 that correspond to the extension software to be deleted.
  • the change processing unit 14 executes change processing on the extension software after the pre-processing program execution unit executes the pre-processing program. More details are as follows.
  • the change processing unit 14 executes an addition process in which the pre-processing program execution unit 13 executes a pre-processing program corresponding to the extension software to be added, and then the change processing unit 14 reads the extension software to be added from the candidate storage unit 10 and stores it in the extension software storage unit 15.
  • the change processing unit 14 executes the addition process after the pre-processing program execution unit 13 executes at least one of all the pre-processing programs corresponding to the extension software to be added. In this way, the extension software to be added is added to the control device 1.
  • extension software A and B are stored in the extension software storage unit 15.
  • the change processing unit 14 executes a process to delete the extension software to be deleted from the extension software storage unit 15 as a deletion process after the pre-processing program execution unit 13 executes a pre-processing program corresponding to the extension software to be deleted.
  • the deletion command received by the deletion reception unit indicates the selection of multiple extension software to be deleted
  • the change processing unit 14 executes the deletion process after the pre-processing program execution unit 13 executes at least one of all the pre-processing programs corresponding to the extension software to be deleted. As a result, the extension software to be deleted is deleted from the control device 1.
  • pre-processing program storage unit 12 and the extension software storage unit 15 are separate storage devices, the same storage device may have separate storage areas for the pre-processing program storage unit 12 and the extension software storage unit 15. This can further reduce the mounting area on the board and the manufacturing costs.
  • At least one processor which is an arithmetic processing device, is provided within the control device 1.
  • arithmetic processing devices include ICs, LSIs, CPUs, MPUs, and DSPs.
  • the arithmetic processing device has a pre-processing program introduction unit 11, a pre-processing program execution unit 13, a change processing unit 14, an addition acceptance unit 16, a deletion acceptance unit 17, a control unit 20, and other processing units.
  • Each of these units owned by the arithmetic processing device is, for example, a functional module realized by a program executed on the processor.
  • the functions of each unit can be realized by operating the arithmetic processing device in accordance with this program.
  • the programs for executing the processes in the pre-processing program introduction unit 11, the pre-processing program execution unit 13, the change processing unit 14, the addition acceptance unit 16, the deletion acceptance unit 17, the control unit 20, and other processing units may be provided in a form recorded on a computer-readable recording medium such as a semiconductor memory, a magnetic recording medium, or an optical recording medium.
  • the pre-processing program introduction unit 11, the pre-processing program execution unit 13, the change processing unit 14, the addition acceptance unit 16, the deletion acceptance unit 17, the control unit 20, and other processing units may be realized as a semiconductor integrated circuit in which a program for realizing the function of each unit is written.
  • the memory has a candidate storage unit 10, a pre-processing program storage unit 12, and an extended software storage unit 15.
  • the memory may be, for example, an electrically erasable and recordable non-volatile memory such as an EEPROM (registered trademark), or a high-speed readable and writable random access memory such as a DRAM or SRAM.
  • the storage device may also have a configuration such as an HDD (hard disk drive) or an SSD (solid state drive).
  • the memory may store a pre-processing program introduction unit 11, a pre-processing program execution unit 13, a change processing unit 14, an addition reception unit 16, a deletion reception unit 17, a control unit 20, and programs for operating other processing units.
  • the memory may also store various programs and various data related to the control device 1.
  • the memory may also store various programs and various data related to the robot controlled by the control device 1.
  • FIG. 2 is a block diagram illustrating a control device according to a modified example of an embodiment of the present disclosure.
  • the candidate storage unit 10 is provided within the control device 1, but as a modified example, the candidate storage unit 10 may be provided in an external storage device 2 outside the control device 1.
  • the control device 1 includes a pre-processing program introduction unit 11, a pre-processing program storage unit 12, a pre-processing program execution unit 13, a change processing unit 14, an extension software storage unit 15, an addition reception unit 16, a deletion reception unit 17, and a control unit 20.
  • the control device 1 includes a power source, a measuring device, an input device, a display device, a cooling device, and other circuits.
  • the pre-processing program introduction unit 11, pre-processing program storage unit 12, pre-processing program execution unit 13, change processing unit 14, extended software storage unit 15, addition reception unit 16, deletion reception unit 17, and control unit 20 in the control device 1 are as described with reference to FIG. 1.
  • the external storage device 2 provided outside the control device 1 includes a candidate storage unit 10.
  • the function and operation of the candidate storage unit 10 are as described with reference to FIG. 1.
  • the pre-processing program introduction unit 11 reads a pre-processing program corresponding to the extension software to be added from the candidate storage unit 10 in the external storage device 2 and stores it in the pre-processing program storage unit 12 before the change processing unit 14 executes the addition process when the addition reception unit 16 receives an addition command.
  • the pre-processing program execution unit 13 executes the pre-processing program, and then the change processing unit 14 executes an addition process in which the extension software to be added is read from the candidate storage unit 10 in the external storage device 2 and stored in the extension software storage unit 15.
  • Examples of the external storage device 2 include portable recording media such as USB memory, SD cards, micro SD cards, CDs, DVDs, and MOs.
  • portable recording media such as USB memory, SD cards, micro SD cards, CDs, DVDs, and MOs.
  • the external storage device 2 may be configured as a storage device connected to a network.
  • the candidate storage unit 10 is connected to the pre-processing program introduction unit 11 and the change processing unit 14 by connecting the external storage device 2 on the network to the control device 1 via wireless or wired communication.
  • the external storage device 2 on the network is provided, for example, in the factory, warehouse, or management office where the control device 1 is installed, or in the warehouse, sales office, or maintenance service center of the manufacturer of the control device 1 or the manufacturer of the robot.
  • extension software in the embodiment and its modified examples of the present disclosure Several operational flows for adding extension software to the control device 1 according to the embodiment and modified examples of the present disclosure will be listed below.
  • FIG. 3 is a flowchart showing the operation flow of the first mode of addition processing in the control device 1 according to the embodiment and its modified example of the present disclosure.
  • the first mode of addition processing all pre-processing programs corresponding to the extension software to be added are executed before the addition processing of one piece of extension software is executed.
  • step S101 the addition reception unit 16 determines whether an addition command has been received.
  • step S101 If it is determined in step S101 that an add command has been received, the add reception unit 16 notifies the pre-processing program introduction unit 11 and the change processing unit 14 that an add command has been received. Then, in step S102, the pre-processing program introduction unit 11 reads out from the candidate storage unit 10 the pre-processing program in the extension software to be added that was indicated in the add command. If the extension software to be added includes multiple pre-processing programs, the pre-processing program introduction unit 11 reads out all of the pre-processing programs from the candidate storage unit 10.
  • step S103 the pre-processing program introduction unit 11 stores the read pre-processing program in the pre-processing program storage unit 12. If there are multiple read pre-processing programs, the pre-processing program introduction unit 11 stores them all in the pre-processing program storage unit 12.
  • step S104 the pre-processing program execution unit 13 executes the pre-processing program that corresponds to the extension software to be added from among the pre-processing programs stored in the pre-processing program storage unit 12. If multiple pre-processing programs are stored in the pre-processing program storage unit 12, the pre-processing program execution unit 13 executes all of the pre-processing programs that correspond to the extension software to be added from among the pre-processing programs stored in the pre-processing program storage unit 12.
  • step S105 the change processing unit 14 reads the extension software to be added, which is indicated in the addition command, from the candidate storage unit 10 and stores it in the extension software storage unit 15.
  • FIG. 4 is a flowchart showing the operation flow of the second mode of addition processing in the control device 1 according to the embodiment and its modified example of the present disclosure.
  • the second mode of addition processing all pre-processing programs corresponding to the extension software to be added are executed before the addition processing of multiple extension software is executed in succession.
  • step S201 the addition reception unit 16 determines whether an addition command has been received to select multiple pieces of extension software to be added.
  • step S207 the change processing unit 14 determines whether or not all of the extension software to be added has been added. If it is determined in step S207 that all of the extension software to be added has not been added, the process returns to step S206. If it is determined in step S207 that all of the extension software to be added has been added, the process ends. By repeatedly executing steps S206 and S207, all of the multiple extension software to be added that were specified in the addition command are stored in the extension software storage unit 15.
  • step S301 the addition reception unit 16 determines whether an addition command has been received to select multiple pieces of extension software to be added.
  • step S301 If it is determined in step S301 that an addition command to select multiple extension software to be added has been received, the addition reception unit 16 notifies the pre-processing program introduction unit 11 and the change processing unit 14 that an addition command to select multiple extension software to be added has been received. Then, in step S302, the pre-processing program introduction unit 11 reads out all pre-processing programs included in the multiple extension software to be added from the candidate storage unit 10.
  • step S303 the pre-processing program introduction unit 11 stores all the pre-processing programs that have been read in the pre-processing program storage unit 12.
  • step S306 the pre-processing program execution unit 13 executes a pre-processing program that is to be executed individually from among the pre-processing programs stored in the pre-processing program storage unit 12 and that corresponds to the extension software to be added. Note that the pre-processing program executed in step S306 corresponds to the extension software to be added in step S307 following step S306.
  • step S307 the change processing unit 14 reads the extension software to be added, which is indicated in the addition command, from the candidate storage unit 10 and stores it in the extension software storage unit 15.
  • step S308 the change processing unit 14 determines whether or not all of the extension software to be added has been added. If it is determined in step S308 that all of the extension software to be added has not been added, the process returns to step S306. If it is determined in step S308 that all of the extension software to be added has been added, the process ends. By repeatedly executing steps S306 to S308, the pre-processing programs that should be executed individually are executed, and all of the multiple extension software to be added that were indicated in the addition command are stored in the extension software storage unit 15.
  • the pre-processing program execution unit 13 executes at least one of all the pre-processing programs stored in the pre-processing program storage unit 12. Then, after the pre-processing program execution unit 13 has executed at least one of all the pre-processing programs, the change processing unit 14 executes additional processing to store the extension software in the extension software storage unit 15.
  • FIG. 6 is a flowchart showing the operation flow of the deletion process according to the first form in the control device 1 according to the embodiment and its modified example of the present disclosure.
  • all pre-processing programs corresponding to the extension software to be deleted are executed before the deletion process of one extension software is executed.
  • step S401 If it is determined in step S401 that a deletion command has been received, the deletion receiving unit 17 notifies the pre-processing program execution unit 13 and the change processing unit 14 that a deletion command has been received. Then, in step S402, the pre-processing program execution unit 13 executes the pre-processing program stored in the pre-processing program storage unit 12 that corresponds to the extension software to be deleted.
  • step S403 the change processing unit 14 executes a process to delete the extension software to be deleted from the extension software storage unit 15.
  • steps S401 to S403 are executed each time the deletion reception unit 17 receives a deletion command.
  • FIG. 7 is a flowchart showing the operation flow of the deletion process according to the second form in the control device 1 according to the embodiment and its modified example of the present disclosure.
  • all pre-processing programs corresponding to the extension software to be deleted are executed before the deletion processes of multiple extension software are executed in succession.
  • step S501 the deletion reception unit 17 determines whether a deletion command has been received that selects multiple extension software to be deleted.
  • step S501 If it is determined in step S501 that a deletion command selecting multiple extension software to be deleted has been received, the deletion receiving unit 17 notifies the pre-processing program execution unit 13 and the change processing unit 14 that a deletion command selecting multiple extension software to be added has been received. Then, in step S502, the pre-processing program execution unit 13 executes the pre-processing program stored in the pre-processing program storage unit 12 that corresponds to the extension software to be deleted.
  • step S503 the pre-processing program execution unit 13 determines whether or not all pre-processing programs corresponding to the extension software to be deleted have been executed. If it is determined in step S503 that all pre-processing programs have not been executed, the process returns to step S502. If it is determined in step S503 that all pre-processing programs have been executed, the process proceeds to step S504. By repeatedly executing steps S502 and S503, all pre-processing programs stored in the pre-processing program storage unit 12 will be executed by the pre-processing program execution unit 13.
  • step S504 the change processing unit 14 executes a process to delete the extension software to be deleted from the extension software storage unit 15.
  • step S601 the deletion reception unit 17 determines whether an additional command has been received to select multiple extension software to be deleted.
  • step S601 If it is determined in step S601 that a deletion command selecting multiple extension software to be deleted has been received, the deletion receiving unit 17 notifies the pre-processing program execution unit 13 and the change processing unit 14 that a deletion command selecting multiple extension software to be deleted has been received. Then, in step S602, the pre-processing program that should be executed first and corresponds to the extension software to be deleted, among the pre-processing programs stored in the pre-processing program storage unit 12, is executed.
  • step S603 the pre-processing program execution unit 13 determines whether or not all of the pre-processing programs that should be executed in advance and that correspond to the extension software to be deleted have been executed. If it is determined in step S603 that all of the pre-processing programs that should be executed in advance have not been executed, the process returns to step S602. If it is determined in step S603 that all of the pre-processing programs that should be executed in advance have been executed, the process proceeds to step S604. By repeatedly executing steps S602 and S603, all of the pre-processing programs that correspond to the extension software to be deleted and that are stored in the pre-processing program storage unit 12 and that should be executed in advance are executed together by the pre-processing program execution unit 13.
  • step S604 the pre-processing program execution unit 13 executes a pre-processing program that is to be executed individually from among the pre-processing programs stored in the pre-processing program storage unit 12 and that corresponds to the extension software to be deleted. Note that the pre-processing program executed in step S604 corresponds to the extension software that is scheduled to be deleted in step S605 following step S604.
  • step S605 the change processing unit 14 executes a process to delete the extension software to be deleted from the extension software storage unit 15.
  • control device 1 is a robot controller that controls a robot, but the above description can also be applied to a numerical control device that controls a machine tool.
  • a pre-processing program for deleting a main body program that is running by referencing the program information of other expansion software is included in the expansion software and configured in advance. Then, when adding expansion software to the control device, the pre-processing program for deleting a main body program that is running by referencing the program information of other expansion software is first executed, and then the process for adding the expansion software is executed, so that the addition of the expansion software can be successful.
  • some expansion software is based on the assumption that other expansion software has already been added.
  • the expansion software When adding multiple expansion software, the expansion software must be added in the appropriate order, and in the past, it was not possible to add multiple expansion software together.
  • a pre-processing program that specifies the order in which the expansion software is added is included in the expansion software and configured in advance. Then, when adding multiple expansion software to the control device, the pre-processing program that specifies the order in which the expansion software is added is first executed, and the process of adding the expansion software is executed in the order specified in the pre-processing program. This allows the expansion software to be added normally in the appropriate order, and allows multiple expansion software to be added together.
  • a pre-processing program for stopping the execution of the main program defined in the program information of the extension software is included in the extension software and configured in advance. Then, when deleting the extension software from the control device, the main program is stopped first by executing the pre-processing program for stopping the execution of the main program defined in the program information, and then the deletion process of the extension software is executed. This allows the deletion of the extension software to be performed normally.
  • the peripheral devices controlled by the extension software when deleting extension software from a control device, the peripheral devices controlled by the extension software must be stopped. Conventionally, when an attempt is made to delete extension software while the peripheral devices controlled by the extension software are still in operation, the deletion of the extension software may fail or the peripheral devices may malfunction. To prepare for such situations, in the embodiment and its variants of the present disclosure, a pre-processing program for stopping the operation of the peripheral devices controlled by the extension software is included in the extension software and configured in advance. Then, when deleting the extension software from the control device, the peripheral devices are normally stopped by first executing the pre-processing program for stopping the operation of the peripheral devices controlled by the extension software, and then the deletion process of the extension software is executed. This allows the extension software to be deleted normally.
  • extension software For example, if the program information of an extension software is referenced by another extension software, the extension software cannot be deleted first. For this reason, when deleting multiple extension software, the extension software must be deleted in the appropriate order, and in the past, there were cases where multiple extension software could not be deleted all at once. To prepare for such a situation, in the embodiment and its modified example of the present disclosure, a pre-processing program for deleting a main body program that is operating by referring to the program information of the other extension software is included in the extension software and configured in advance.
  • a pre-processing program for deleting a main body program that is operating by referring to the program information of the other extension software is first executed, and then the deletion process of the extension software is executed, so that the deletion of the extension software can be performed normally and multiple extension software can be deleted all at once.
  • a pre-processing program that specifies the order in which the extension software is deleted is included in the extension software and configured in advance.
  • a pre-processing program that specifies the order in which the extension software is deleted is first executed, and the deletion process of the extension software is executed in the order specified in the pre-processing program. This allows the deletion of the extension software based on the appropriate order to be performed normally and multiple extension software to be deleted all at once.
  • Appendix 1 a pre-processing program storage unit 12 for storing a pre-processing program to be executed before a change process is performed on the extension software for controlling the extension function of the machine; a pre-processing program execution unit 13 that executes a pre-processing program stored in a pre-processing program storage unit 12; a change processing unit that executes a change process on the extension software after the pre-processing program execution unit executes the pre-processing program; Equipped with The control device 1 includes an expansion software including a pre-processing program corresponding to the expansion software.
  • Appendix 2 an addition receiving unit 16 that receives an addition command for selecting an extension software to be added from among the extension software candidates to be added; a pre-processing program introduction unit that reads out a pre-processing program in the extension software to be added and stores the pre-processing program in a pre-processing program storage unit when an addition command is received by an addition reception unit, and before a change process is executed, which is an addition process of the extension software, the pre-processing program introduction unit reads out a pre-processing program in the extension software to be added and stores the pre-processing program in a pre-processing program storage unit; an extension software storage unit 15 for storing added extension software; Equipped with The control device 1 described in Appendix 1, in which when the addition reception unit 16 receives an addition command, the change processing unit 14 executes a process of storing the extension software to be added in the extension software memory unit 15 as an addition process after the pre-processing program execution unit 13 executes the pre-processing program.
  • the pre-processing program introduction unit 11 reads out all pre-processing programs in the plurality of extension software to be added and stores them in the pre-processing program storage unit 12;
  • the pre-processing program execution unit 13 executes at least one of all the pre-processing programs stored in the pre-processing program storage unit 12;
  • the control device 1 according to claim 2, wherein the change processing unit 14 executes an additional process after the pre-processing program execution unit 13 executes at least one of all the pre-processing programs.
  • Appendix 4 A candidate storage unit 10 for storing additional candidate extension software, The control device 1 described in Appendix 2, in which when the addition reception unit 16 receives an addition command, the pre-processing program introduction unit 11 reads out a pre-processing program corresponding to the extension software to be added from the candidate memory unit 10 and stores it in the pre-processing program memory unit 12 before the addition processing is executed by the change processing unit 14.
  • the additional candidate extension software is stored in a candidate storage unit 10 provided in an external storage device outside the control device 1,
  • the control device 1 described in Appendix 2 in which when the addition reception unit 16 receives an addition command, the pre-processing program introduction unit 11 reads out a pre-processing program corresponding to the extension software to be added from the candidate memory unit 10 and stores it in the pre-processing program memory unit 12 before the addition processing is executed by the change processing unit 14.
  • (Appendix 6) a deletion receiving unit that receives a deletion command to select extension software to be deleted from the extension software stored in the extension software storage unit,
  • the pre-processing program executing unit 13 executes a pre-processing program corresponding to the extension software to be deleted from among the pre-processing programs stored in the pre-processing program storage unit 12 before a change process is executed, which is a process for deleting the extension software;
  • the control device 1 according to claim 2, wherein the change processing unit 14 executes a process of deleting the extension software to be deleted from the extension software storage unit 15 as a deletion process after the pre-processing program execution unit 13 executes the pre-processing program.
  • (Appendix 7) a pre-processing program execution unit that executes at least one of the pre-processing programs stored in the pre-processing program storage unit when the deletion command received by the deletion reception unit indicates selection of a plurality of extension software to be deleted;
  • (Appendix 8) The control device 1 according to claim 2, wherein the pre-processing program storage unit 12 and the extension software storage unit 15 are provided in the same storage device.
  • (Appendix 9) The control device 1 according to any one of appendices 1 to 8, wherein the extension software includes at least one pre-processing program corresponding to the extension software.
  • Appendix 10 The control device 1 described in Appendix 9, wherein the pre-processing program storage unit 12 stores at least one pre-processing program.
  • Appendix 11 The control device 1 according to any one of appendices 1 to 10, which is a numerical control device for controlling a machine tool, which is a machine.
  • Appendix 12 The control device 1 described in any one of appendices 1 to 10 is a robot controller that controls a robot, which is a machine.

Landscapes

  • Engineering & Computer Science (AREA)
  • Software Systems (AREA)
  • Theoretical Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Security & Cryptography (AREA)
  • Stored Programmes (AREA)
PCT/JP2023/019768 2023-05-26 2023-05-26 拡張ソフトウェアにより機械を制御する制御装置 Ceased WO2024247004A1 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
DE112023006014.2T DE112023006014T5 (de) 2023-05-26 2023-05-26 Steuervorrichtung zum steuern einer maschine durch erweiterungsssoftware
CN202380097052.2A CN120936984A (zh) 2023-05-26 2023-05-26 通过扩展软件控制机械的控制装置
JP2025523653A JPWO2024247004A1 (https=) 2023-05-26 2023-05-26
PCT/JP2023/019768 WO2024247004A1 (ja) 2023-05-26 2023-05-26 拡張ソフトウェアにより機械を制御する制御装置
TW113115638A TW202447364A (zh) 2023-05-26 2024-04-26 藉由擴充軟體控制機械之控制裝置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2023/019768 WO2024247004A1 (ja) 2023-05-26 2023-05-26 拡張ソフトウェアにより機械を制御する制御装置

Publications (1)

Publication Number Publication Date
WO2024247004A1 true WO2024247004A1 (ja) 2024-12-05

Family

ID=93657059

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2023/019768 Ceased WO2024247004A1 (ja) 2023-05-26 2023-05-26 拡張ソフトウェアにより機械を制御する制御装置

Country Status (5)

Country Link
JP (1) JPWO2024247004A1 (https=)
CN (1) CN120936984A (https=)
DE (1) DE112023006014T5 (https=)
TW (1) TW202447364A (https=)
WO (1) WO2024247004A1 (https=)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003196186A (ja) * 2001-12-28 2003-07-11 Minolta Co Ltd 画像処理装置、ファームウェアの送信方法、及び画像処理装置の管理システム
JP2009054027A (ja) * 2007-08-28 2009-03-12 Ricoh Co Ltd 情報処理装置、表示画面カスタマイズ方法、及び表示画面カスタマイズプログラム
JP2011018134A (ja) * 2009-07-07 2011-01-27 Ricoh Co Ltd 電子機器、情報処理方法、及び情報処理プログラム
JP2011145810A (ja) * 2010-01-13 2011-07-28 Toshiba Mach Co Ltd プログラムデータの書き換え方法及び機器制御システム
JP2016197326A (ja) * 2015-04-03 2016-11-24 富士通株式会社 プログラム、更新制御方法、および更新制御装置
WO2021048976A1 (ja) * 2019-09-12 2021-03-18 三菱電機株式会社 数値制御装置
JP2021091034A (ja) * 2019-12-10 2021-06-17 ファナック株式会社 ロボット制御装置
WO2022024334A1 (ja) * 2020-07-31 2022-02-03 三菱電機株式会社 更新管理プログラム、情報処理装置、および、更新管理方法

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003196186A (ja) * 2001-12-28 2003-07-11 Minolta Co Ltd 画像処理装置、ファームウェアの送信方法、及び画像処理装置の管理システム
JP2009054027A (ja) * 2007-08-28 2009-03-12 Ricoh Co Ltd 情報処理装置、表示画面カスタマイズ方法、及び表示画面カスタマイズプログラム
JP2011018134A (ja) * 2009-07-07 2011-01-27 Ricoh Co Ltd 電子機器、情報処理方法、及び情報処理プログラム
JP2011145810A (ja) * 2010-01-13 2011-07-28 Toshiba Mach Co Ltd プログラムデータの書き換え方法及び機器制御システム
JP2016197326A (ja) * 2015-04-03 2016-11-24 富士通株式会社 プログラム、更新制御方法、および更新制御装置
WO2021048976A1 (ja) * 2019-09-12 2021-03-18 三菱電機株式会社 数値制御装置
JP2021091034A (ja) * 2019-12-10 2021-06-17 ファナック株式会社 ロボット制御装置
WO2022024334A1 (ja) * 2020-07-31 2022-02-03 三菱電機株式会社 更新管理プログラム、情報処理装置、および、更新管理方法

Also Published As

Publication number Publication date
JPWO2024247004A1 (https=) 2024-12-05
CN120936984A (zh) 2025-11-11
TW202447364A (zh) 2024-12-01
DE112023006014T5 (de) 2026-01-08

Similar Documents

Publication Publication Date Title
US20080189477A1 (en) Storage system and storage management method
JP5565157B2 (ja) データ処理装置、データ処理方法、データ処理プログラムおよびストレージ装置
US8140793B2 (en) Virtual tape device, data backup method, and recording medium
JP2013222435A (ja) 半導体記憶装置及びその制御方法
US7958344B2 (en) Method for adjusting set-up default value of bios and mainboard using the same method
JP3847585B2 (ja) エディタの登録装置、登録プログラムおよびそれを記録した記録媒体
US8145857B2 (en) Control of access to an external storage device
WO2024247004A1 (ja) 拡張ソフトウェアにより機械を制御する制御装置
JP7404748B2 (ja) プログラム開発装置およびプログラム開発装置を実現するためのプログラム
KR101918430B1 (ko) 시스템 설계 지원 툴
US8001314B2 (en) Storing a driver for controlling a memory
JP7260191B2 (ja) コンピュータシステムにおけるｂｉｏｓの設定変更システム及び設定変更方法
JP7830925B2 (ja) 制御装置、ロギング方法およびプログラム
JP2004178151A (ja) 表示制御装置、プログラム、および、そのプログラムが記録された記録媒体
CN112748694B (zh) 用于工业机械的控制设备及其设置系统、设置方法和程序产品
JP7021401B1 (ja) ロギング支援装置、ロギングシステム、ロギング支援方法及びプログラム
WO2024185141A1 (ja) 在庫管理システム及びサーボアンプ
JP2008171246A (ja) フラッシュメモリドライブ装置、その制御方法及びそのプログラム
TW201729090A (zh) 一種利用基本輸入輸出系統讀取內建於主控板之系統配置表以回報作業系統之方法與應用此方法之架構
JPWO2006057038A1 (ja) Ｒａｉｄ管理プログラムおよびｒａｉｄ管理方法
KR101535599B1 (ko) 동적 검색 서비스 제공 시스템 및 방법
WO2023218541A1 (ja) 情報記録装置及び情報記録方法
JP4750620B2 (ja) 階層型ストレージ装置のデータリード方法及びシステム
CN120353641A (zh) 数据断电保持方法、装置、存储介质及电子设备
JP2007133535A (ja) 記憶装置内のファイルシステム

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 23939487

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2025523653

Country of ref document: JP

Kind code of ref document: A

WWE Wipo information: entry into national phase

Ref document number: 2025523653

Country of ref document: JP

WWE Wipo information: entry into national phase

Ref document number: 112023006014

Country of ref document: DE

WWP Wipo information: published in national office

Ref document number: 112023006014

Country of ref document: DE