JP2019179513A - Control system, controller, control method, and computer program - Google Patents

Abstract

Provided are a control system, a control device, a control method, and a computer program in which a plurality of input commands do not collide even when a plurality of receiving units input a plurality of commands. A control system includes a control device that controls driving of a machine body, and a plurality of receiving units that receive an operation. The plurality of receiving units include a first receiving unit and a second receiving unit different from the first receiving unit. The control device, when receiving the request for the operation right from the first reception unit prior to the request for the operation right from the second reception unit, grants the operation right to the first reception unit, the There is a grant processing unit that does not grant the operation right to the second reception unit. [Selection diagram] FIG.

Description

  The present invention relates to a control system, a control device, a control method, and a computer program for controlling driving of a machine body.

  The machine tool includes a spindle head having a spindle, a workpiece holding unit, a control device, and a receiving unit. The control device controls driving of the spindle head and the workpiece holding unit. The reception unit includes a switch, a button, or the like, and receives an operator's operation (for example, see Patent Document 1).

JP 2013-202765 A

  A teaching device or a personal computer can be connected to the machine tool as a reception unit. When the teaching device and the personal computer are connected to the machine tool, a plurality of receiving units can input a plurality of commands to the control device. When a plurality of input commands collide, the machine tool may perform an unintended operation.

  The present invention has been made in view of such circumstances, and provides a control system, a control device, a control method, and a computer program in which a plurality of input commands do not collide even when a plurality of receiving units input a plurality of commands. For the purpose.

  A control system according to the present invention includes a control device that controls driving of a machine body and a plurality of reception units that receive an operation. The plurality of reception units include a first reception unit and the first reception unit. A second receiving unit different from the first receiving unit, and the control device receives the operation right request from the first receiving unit prior to the operation right request from the second receiving unit. It has the grant processing part which grants the operation right to one reception part, and does not grant the operation right to the second reception part.

  In the present invention, the operation right is granted only to the first reception unit that has previously requested the operation right. The control device controls the machine body based on an operation from the first reception unit. A plurality of commands are not input from a plurality of reception units, and a plurality of input commands do not collide.

  In the control system according to the present invention, the first receiving unit and the second receiving unit include an effective operation unit that receives an operation when the control device does not grant the operation right, and the control device includes the operation right. And an invalid operation unit that does not accept an operation when no operation is given.

  In the present invention, the operation of the effective operation unit in the reception unit to which no operation right is given is received. Even when the operation right is not given, the operation unit used in an emergency, for example, the operation of a stop switch is accepted to ensure convenience and safety.

  In the control system according to the present invention, the first reception unit and the second reception unit include an image display unit that displays the valid operation unit and the invalid operation unit, and the image display unit includes the valid operation unit and the invalid operation unit. The operation unit is displayed in different colors.

  In the present invention, the valid operation unit and the invalid operation unit are displayed in different colors. The operator can intuitively recognize the effective operation unit.

  The control system according to the present invention is a case where the control device does not grant the operation right to the first reception unit and the second reception unit, and sends the request for the operation right to the first reception unit and the second reception unit. And a non-granting processing unit that does not grant the operation right to the first receiving unit and the second receiving unit when simultaneously received from the two receiving units.

  In the present invention, when the operation right is not given to the first reception unit and the second reception unit, and when the request for the operation right is simultaneously received from the first reception unit and the second reception unit, Operation rights are not given to the department and the second reception part. Prevent collision of multiple input commands.

  The control system according to the present invention further includes a third reception unit that cannot request the operation right, and the control device grants the operation right to the first reception unit and the second reception unit. In a case where there is no operation, the first reception unit and the second reception unit receive an operation from the third reception unit when the operation right is not requested.

  In the present invention, when the operation right is not given to the first reception unit and the second reception unit that can request the operation right, and the first reception unit and the second reception unit do not request the operation right In addition, an operation from a third reception unit that cannot request an operation right is received. When the operation right is given to the first reception unit and the second reception unit, the operation of the third reception unit becomes invalid and the collision of a plurality of input commands is prevented.

  The control device according to the present invention controls the drive of the machine body and receives operations from a plurality of receiving units. The plurality of receiving units are different from the first receiving unit and the first receiving unit. A second reception unit, and when the operation right request from the first reception unit is received prior to the operation right request from the second reception unit, the operation right is granted to the first reception unit. In addition, the second reception unit includes a grant processing unit that does not grant the operation right.

  In the present invention, the operation right is granted only to the first reception unit that has previously requested the operation right. The control device controls the machine body based on an operation from the first reception unit. A plurality of commands are not input from a plurality of reception units, and a plurality of input commands do not collide.

  A control method according to the present invention is a control method in which an operation is received from a plurality of reception units including a first reception unit and a second reception unit, and the control device controls driving of the machine body. When the operation right request from the reception unit is received prior to the operation right request from the second reception unit, the operation right is given to the first reception unit, and the operation right is given to the second reception unit. Is not provided.

  In the present invention, the operation right is granted only to the first reception unit that has previously requested the operation right. The control device controls the machine body based on an operation from the first reception unit. A plurality of commands are not input from a plurality of reception units, and a plurality of input commands do not collide.

  A computer program according to the present invention is a computer program that can be executed by a control device of a machine body that receives operations from a plurality of reception units including a first reception unit and a second reception unit, and the control device includes the first When the operation right request from the reception unit is received prior to the operation right request from the second reception unit, the operation right is given to the first reception unit, and the operation right is given to the second reception unit. It is characterized by executing a process that does not give the above.

  In the present invention, the operation right is granted only to the first reception unit that has previously requested the operation right. The control device controls the machine body based on an operation from the first reception unit. A plurality of commands are not input from a plurality of reception units, and a plurality of input commands do not collide.

  In the control system, the control method of the control device, and the computer program according to the present invention, the operation right is given only to the first reception unit that has previously requested the operation right. The control device controls the machine body based on an operation from the first reception unit. A plurality of commands are not input from a plurality of reception units, and a plurality of input commands do not collide.

1 is a schematic perspective view of a machine tool. It is a perspective view which shows the cover for machine tools schematically. It is a block diagram which shows a control apparatus, a line concentrator, a teaching apparatus, and a personal computer. It is a front view of a teaching device. It is a front view of a teaching device. It is a front view of a teaching device. It is a front view of PC. It is a front view of PC. It is a front view of PC. It is a front view of a switch apparatus. It is a flowchart explaining the operation right grant process by a control apparatus.

  Hereinafter, the present invention will be described based on the drawings showing a machine tool according to an embodiment. In the following description, up, down, front, back, left, and right shown in the figure are used. FIG. 1 is a schematic perspective view of a machine tool 100. The machine tool 100 includes a machine body. The machine body includes a base 20, a fixed base 21, a Y-direction moving device 22, an X-direction moving device 26, a column 28, a Z-direction moving device 30, a spindle head 32, and a tool changer 10. The spindle motor 35 and the like are provided. The base 20 is fixed on the floor surface. A work holding unit 120 is provided at the front of the base 21. The fixed base 21 has a rectangular box shape that is long in the front-rear direction, and is provided on the base 20. The fixed base 21 fixes the Y-direction moving device 22. The Y-direction moving device 22 includes a Y-direction drive motor (not shown) and a ball screw mechanism (not shown) driven by the Y-direction drive motor.

  An X-direction moving device 26 is provided in the ball screw mechanism of the Y-direction moving device 22. The X-direction moving device 26 includes an X-direction drive motor (not shown) and a ball screw mechanism (not shown) driven by the X-direction drive motor. A column 28 is provided in the ball screw mechanism of the X-direction moving device 26. The X-direction moving device 26 and the Y-direction moving device 22 support the column 28 so as to be movable in the X direction (left-right direction) and the Y direction (front-back direction).

  The Z-direction moving device 30 is provided on the front surface of the column 28. The Z-direction moving device 30 includes a Z-direction drive motor (not shown) and a ball screw mechanism (not shown) driven by the Z-direction drive motor. The spindle head 32 is provided in the Z direction moving device 30. The column 28 supports the spindle head 32 through the Z-direction moving device 30 so as to be movable in the Z direction (vertical direction). The spindle motor 35 is provided on the upper part of the spindle head 32. The spindle head 32 supports a spindle (not shown) whose axial direction is the top and bottom. The main shaft motor 35 rotates around the main shaft. The tool changer 10 changes a tool attached to the spindle.

  FIG. 2 is a perspective view schematically showing the machine tool cover 1. As shown in FIG. 2, the machine tool 100 includes a machine tool cover 1 that surrounds the machine body. A machine tool cover 1 is provided above the base 20. The machine tool cover 1 extends in the vertical direction, and includes a rectangular front wall 5, a left wall 6, a right wall 7, and a rear wall 8 that respectively cover the front, rear, left and right of the machine body of the machine tool 100. Moreover, the upper side of the machine tool 100 is covered and the rectangular ceiling 9 parallel to the left-right direction and the front-back direction is provided. The rear wall 8 is provided with a control device 80 having a control board for controlling the operation of the machine tool 100 and an amplifier for adjusting the power supplied to the motor. The control device 80 includes a CPU, ROM, RAM, nonvolatile memory, and the like. The CPU reads the control program stored in the ROM into the RAM and controls the machine tool 100. The RAM or the non-volatile memory stores a grant flag corresponding to the teaching device 15 and the PC 16 as necessary. A logic circuit such as an FPGA may be used instead of the CPU.

  A vertically long rectangular opening 51 is provided at the center of the front wall 5, and an operation panel 54 for an operator to input a command is provided to the right of the opening 51. A vertically long rectangular right door 52 and left door 53 are juxtaposed in the opening 51 so as to be movable in the left-right direction.

  FIG. 3 is a block diagram showing the control device 80, the concentrator 81, the teaching device 15, and the personal computer 16. A concentrator 81 is provided in the controller 80. The teaching device 15, personal computer (hereinafter referred to as PC) 16, and switch device 17 are connected to the line concentrator 81. The teaching device 15, the PC 16, and the switch device 17 constitute a reception unit.

  4 to 6 are front views of the teaching device 15. The teaching device 15 includes an image display unit 15a, an emergency stop button 15b, and an operation right switch 15c. The image display unit 15a has a touch panel and displays a stop button, a reset button, an edit button, and the like. The emergency stop button 15b is a mechanical button. The operation right switch 15c inputs acquisition and release of the operation right. When the operation right switch 15c is set to “valid”, the teaching device 15 requests the control device 80 to give the operation right. When the operation right switch 15c is set to “invalid”, the teaching device 15 notifies the control device 80 that the operation right is released. When the control device 80 is notified of the release of the operation right, the control device 80 stores the grant flag corresponding to the teaching device 15 stored in the RAM or the nonvolatile memory.

  When the control device 80 gives the operation right to the teaching device 15, the image display unit 15a displays various operation buttons such as a stop button, a reset button, and an edit button, as shown in FIG. The teaching device 15 receives operations on various operation buttons. When the teaching device 15 releases the operation right, as shown in FIG. 5, the image display unit 15 a displays, for example, “The operation right switch is disabled”, “When enabling the operation of the teaching device, the operation right switch Please enable ". The image display unit 15a displays a stop button and a screen erase button, but does not display other buttons.

  When the operation right switch 15c is set to “valid” and the control device 80 does not give the operation right to the teaching device 15, as shown in FIG. Cannot be operated "is displayed. The image display unit 15a displays various operation buttons as in FIG. 4, but displays the home movement button and the jog button in a color different from those of other operation buttons. For example, it is displayed in gray. In FIG. 6, hatched operation buttons are displayed in gray. The teaching device 15 does not accept an operation on an operation button displayed in gray. The gray operation buttons constitute an invalid operation unit, and the non-gray operation buttons constitute an effective operation unit.

  The invalid operation unit is an operation unit that performs operations related to rotation or movement of the spindle and movement of the workpiece. There is a high possibility that a plurality of input commands will collide when an operation of the invalid operation unit is received when another reception unit receives the operation. The effective operation unit is an operation unit that performs operations other than operations related to rotation or movement of the spindle and movement of the workpiece. For example, it is an operation unit for referring to the position of the spindle, a variable, and the like. When another receiving unit receives an operation, even if an operation of an invalid operating unit is received, a plurality of input commands do not collide.

  7 to 9 are front views of the PC 16. The PC 16 includes an image display unit 16a. When the control device 80 grants the operation right to the PC 16, as shown in FIG. 7, a stop button, reset button, override setting button, single operation on / off button, servo on / off button, start button, next task button, program selection Various operation buttons such as buttons, and information such as program codes and spindle coordinates are displayed. The override setting button is used to set the spindle feed rate. The single operation ON / OFF button is used to set whether to wait or execute a plurality of codes continuously each time a program code is executed in one line. The servo on / off button is used to turn on or off the servo function of the motor. The image display unit 16a displays “Acquiring operation right” and displays an operation right release button. “Acquiring operation right” indicates that the operation right has been acquired. When the operator operates the operation right release button using the keyboard or mouse of the PC 16, the PC 16 notifies the control device 80 that the operation right is released. When the control device 80 is notified of the release of the operation right, the control device 80 deletes the grant flag corresponding to the PC 16 stored in the RAM or the nonvolatile memory.

  When the operation right is released, the PC 16 displays an override setting button, a single operation on / off button, a servo on button, a start button, and a program selection button in different colors from the other operation buttons, as shown in FIG. For example, it is displayed in gray. In FIG. 8, the hatched operation buttons are displayed in gray. The PC 16 does not accept an operation on the operation button displayed in gray. The operation buttons displayed in gray form an invalid operation unit, and the operation buttons not displayed in gray form an effective operation unit.

  The image display unit 16a deletes the “obtaining operation right” and the operation right release button, and displays the operation right acquisition button. When the operator operates the operation right acquisition button using the keyboard or mouse of the PC 16, the PC 16 requests the control device 80 to give the operation right. When the control device 80 grants the operation right to the PC 16, the image display unit 16a displays the image shown in FIG.

  When the operation right acquisition button is operated and the control device 80 does not grant the operation right to the PC 16, as shown in FIG. 9, the image display unit 16a, for example, as shown in FIG. "Couldn't get." And OK button. When the operator operates the OK button using the keyboard or mouse of the PC 16, the image display unit 16 a deletes the display “The operation right could not be acquired” and displays the image shown in FIG. 7. .

  FIG. 10 is a front view of the switch device 17. The switch device 17 includes an alarm lamp 17a, a mode switching button 17b, an override setting switch 17c, an LR activation button 17d, and an LR feed hold button 17e. The mode switching button 17b, the override setting switch 17c, the LR start button 17d, and the LR feed hold button 17e are mechanical switches or buttons. The switch device 17 does not have an image display unit and an operation unit for requesting an operation right and cannot request an operation right.

  The alarm lamp 17a notifies the warning by lighting. The mode switching button 17b switches between manual operation and automatic operation. The override setting switch 17c sets the spindle feed speed. The LR feed hold button 17e temporarily stops the movement of the spindle. The LR start button 17d re-moves the temporarily stopped spindle.

  FIG. 11 is a flowchart for explaining the operation right grant processing by the control device 80. The CPU of the control device 80 determines whether or not an operation right is requested from the teaching device 15 or the PC 16 (step S1). When there is no request for the operation right from the teaching device 15 or the PC 16 (step S1: NO), the CPU determines whether or not the operation right has been given to the teaching device 15 or the PC 16 (step S2). Specifically, the CPU refers to the RAM or the non-volatile memory and determines whether or not the grant flag corresponding to the teaching device 15 or the PC 16 is set.

  When the operation right has been given to the teaching device 15 or the PC 16 (step S2: YES), the CPU returns the process to step S1. When the operation right has not been given to the teaching device 15 or the PC 16 (step S2: NO), the CPU accepts an operation from the switch device 17 (step S3), and returns the process to step S1.

  When the operation right is requested from the teaching device 15 or the PC 16 (step S1: YES), the CPU determines whether or not the operation right has been given to the teaching device 15 or the PC 16 (step S4). Specifically, the CPU refers to the RAM or the non-volatile memory, whether or not the grant flag corresponding to the teaching device 15 or the PC 16 is set, that is, there is a reception unit that has requested the operation right first, It is determined whether or not the operation right has been given to the reception unit. When the operation right has been given to the other of the teaching apparatus 15 or the PC 16 prior to one of the teaching apparatus 15 or the PC 16 requesting the operation right (step S4: YES), the CPU has requested the operation right. The operation right is not given to the teaching device 15 or the PC 16 (step S8), and as shown in FIG. 6 or FIG. 8, the invalid operation unit is displayed in gray on the image display units 15a and 16a (step S9). The CPU displays that the acquisition of the operation right has failed on the image display units 15a and 16a (step S10). For example, as shown in FIG. 6 or FIG. 9, “cannot be operated from a plurality of terminals” or “could not acquire the operation right” is displayed on the image display units 15a and 16a, and the process returns to step S1.

  When the operation right has not been given to one of the teaching device 15 or the PC 16 (step S4: NO), that is, when the operation right has not been given to both the teaching device 15 and the PC 16, the CPU It is determined whether or not both request the operation right at the same time (step S5). When both the teaching device 15 and the PC 16 are requesting the operation right at the same time (step S5: YES), the CPU advances the process to step S8.

  When both the teaching device 15 and the PC 16 do not request the operation right at the same time (step S5: NO), the CPU gives the operation right to the teaching device 15 or the PC 16 that has requested the operation right (step S6), and the RAM or nonvolatile memory In response to the teaching device 15 or the PC 16 to which the operation right is assigned, the grant flag is set in the sexual memory (step S7), and the process returns to step S1.

  In the machine tool 100 according to the embodiment, the operation right is given only to one of the teaching device 15 or the PC 16 that has previously requested the operation right. The control device 80 controls the machine tool 100 based on an operation from one of the teaching device 15 or the PC 16. A plurality of commands are not input from a plurality of reception units, and a plurality of input commands do not collide.

  The operation of the effective operation unit in the other of the teaching device 15 or the PC 16 to which no operation right is given is accepted. Even when the operation right is not given, the operation unit used in an emergency, for example, the operation of a stop switch is accepted to ensure convenience and safety. The valid operation unit and the invalid operation unit are displayed in different colors. The operator can intuitively recognize the effective operation unit.

  In addition, when the operation right is not given to the first reception unit and the second reception unit and the request for the operation right is received from the first reception unit and the second reception unit at the same time, the first reception unit and the second reception unit No operation right is given to the reception unit. Prevent collision of multiple input commands.

  In addition, when the operation right is not given to the teaching device 15 and the PC 16 that can request the operation right, and the teaching device 15 and the PC 16 do not request the operation right, the operation from the switch device 17 that cannot request the operation right. Accept. When the operation right is given to the teaching device 15 and the PC 16, the operation of the switch device 17 becomes invalid and the collision of a plurality of input commands is prevented.

  Although the above-mentioned embodiment demonstrated the control apparatus which controls the drive of a machine tool, the control apparatus may control machine main bodies other than a machine tool. For example, you may control the conveyance robot which conveys a workpiece | work, a tool, etc.

15 Teaching device 16 Personal computer (PC)
17 Switch device 80 Control device 81 Concentrator 100 Machine tool

Claims (8)

In a control system comprising a control device for controlling the driving of the machine body and a plurality of receiving units for receiving operations,
The plurality of reception units include a first reception unit and a second reception unit different from the first reception unit,
The controller is
When the request for the operation right from the first reception unit is received prior to the request for the operation right from the second reception unit, the operation right is given to the first reception unit, and the second reception unit A control system comprising: a grant processing unit that does not grant the operation right. The first reception unit and the second reception unit are
An effective operation unit that accepts an operation when the control device does not grant the operation right;
The control system according to claim 1, further comprising: an invalid operation unit that does not accept an operation when the control device does not grant the operation right. The first reception unit and the second reception unit have an image display unit that displays the effective operation unit and the invalid operation unit,
The control system according to claim 2, wherein the image display unit displays the valid operation unit and the invalid operation unit in different colors. The controller is
When the operation right is not given to the first reception unit and the second reception unit, and when the request for the operation right is simultaneously received from the first reception unit and the second reception unit, the first reception unit The control system according to any one of claims 1 to 3, further comprising a non-grant processing unit that does not grant the operation right to the unit and the second reception unit. The reception unit further includes a third reception unit that cannot request the operation right,
The controller is
When the operation right is not given to the first reception unit and the second reception unit, and the first reception unit and the second reception unit do not request the operation right, the third reception The control system according to any one of claims 1 to 4, wherein an operation from a unit is received. In the control device that controls the drive of the machine body and receives operations from a plurality of receiving units,
The plurality of reception units include a first reception unit and a second reception unit different from the first reception unit,
When the request for the operation right from the first reception unit is received prior to the request for the operation right from the second reception unit, the operation right is given to the first reception unit, and the second reception unit A control apparatus comprising: a grant processing unit that does not grant the operation right. In a control method in which operations are received from a plurality of reception units including a first reception unit and a second reception unit, and the control device controls the drive of the machine body,
When the control device receives the operation right request from the first reception unit prior to the operation right request from the second reception unit, the control device grants the operation right to the first reception unit, The control method is characterized in that the operation right is not given to the second reception unit. A computer program that can be executed by a control device of a machine body that receives operations from a plurality of reception units including a first reception unit and a second reception unit,
When the control device receives the operation right request from the first reception unit prior to the operation right request from the second reception unit, the control device grants the operation right to the first reception unit, A computer program for executing a process of not giving the operation right to a second reception unit.

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