Control device

Abstract

The applications of the respective control devices cause the devices to be controlled to operate at unconscious operation timing. The control device includes: a plurality of instruction application units, a plurality of platform units, and a shared memory that stores information for communication between the plurality of platforms. The instruction application unit has an instruction mediation method specifying unit that outputs the identification information of the platform unit to be the coordinated control object and the mediation method category to the platform unit. The platform unit has an inter-platform communication unit that transmits instruction values, identification information, and mediation method categories between the platform units via the shared memory, obtains instruction values, identification information, and mediation method categories from all the platform units to be the coordinated control object, and mediates the instruction values according to the identification information and the mediation method category, and outputs the mediated instruction values to the shared memory.

Description

Technical Field

[0001] The present invention relates to a control device. Background Art

[0002] In a manufacturing factory, the use of conveyors, robots, machine tools, etc. on a single production line is increasing. Currently, most conveyors that perform simple operations are commanded using ladder diagrams, function blocks, structured text language (ST language), etc. on a PLC (Programmable Logic Controller). In addition, in the case of robots, commands are given through a robot program on a robot controller. On the other hand, in machine tools and other processing machines, commands are given through G-code on a control device.

[0003] In such a case, in a single production line, multiple different control devices and multiple command languages are used. In a production line where multiple different control devices are used, when waiting for the actions of other devices and performing the next action, for example, the adjustment of the action timing between devices is performed by using applications of the distributed control platforms possessed by each control device (for example, refer to Patent Document 1).

[0004] Prior Art Documents

[0005] Patent Documents

[0006] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2004 - 220326 Summary of the Invention

[0007] Problems to be Solved by the Invention

[0008] Therefore, the designer of the production line must create commands for coordinated actions between devices on the applications of each control device, and is forced to perform complex designs. In addition, in the switching of the actions between these devices, time is required to confirm the actions between devices, and it is difficult to perform smooth coordinated actions.

[0009] There is a need for a technology that enables the devices to be controlled to operate without being aware of the action timing in the applications of each control device.

[0010] Means for Solving the Problems

[0011] One aspect of the present disclosure is a control device having a plurality of platforms, comprising: a plurality of instruction application units; a plurality of platform units respectively corresponding to the plurality of instruction application units; a shared memory storing information for communication between the plurality of platforms; and a servo control processing unit. The instruction application unit has: an instruction processing unit that outputs an instruction value; and an instruction mediation method specifying unit that outputs identification information of the platform unit to be the object of coordinated control and a mediation method category. The platform unit has: a first interface unit that obtains the instruction value from the instruction application unit; a second interface unit that obtains the identification information of the platform unit and the mediation method category from the instruction application unit; an inter-platform communication unit that transfers the instruction value, the identification information, and the mediation method category between the platform units via the shared memory; and an instruction mediation unit that obtains the instruction value, the identification information, and the mediation method category from all the platform units to be the object of coordinated control, mediates the instruction value according to the identification information and the mediation method category, and outputs the mediated instruction value to the shared memory. The servo control processing unit performs servo control based on the mediated instruction value obtained from the shared memory.

[0012] Advantages of the Invention

[0013] According to the present invention, the application of each control device can make the device to be controlled operate without being aware of the operation timing. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a functional block diagram of a control device according to an embodiment.

[0015] Figure 2A It is a flowchart showing the operation of a control device according to an embodiment.

[0016] Figure 2B It is a flowchart showing the operation of a control device according to an embodiment.

[0017] Figure 3 It is a diagram showing the flow of information in a control device according to an embodiment.

[0018] Figure 4 It is a diagram showing an example of a system controlled by a control device according to an embodiment.

[0019] Figure 5 It is a timing diagram showing the operation of a control device according to an embodiment.

[0020] Figure 6 It is a diagram showing the flow of information in a control device according to an embodiment.

[0021] Figure 7This is a diagram showing an example of a system controlled by a control device according to an embodiment.

[0022] Figure 8 This is a timing chart showing the operation of a control device according to an embodiment.

[0023] Figure 9 This is a timing chart showing the operation of a control device according to an embodiment.

[0024] Figure 10 This is a timing chart showing the operation of a control device according to an embodiment. Detailed Embodiment

[0025] Hereinafter, Figures 1 to 7 an embodiment of the present invention will be described.

[0026] [Structure of One Embodiment]

[0027] Figure 1 This is a functional block diagram showing the structure of the control device 1 according to the present embodiment. The control device 1 includes: a first control unit 10, a second control unit 20, a first shared memory 31, a second shared memory 32, and a servo control processing unit 40. In addition, as an example, a control device having two control units is exemplified, but the number of control units is not limited to two. The control device 1 may also have three or more control units. For example, in the case of having three or more control units, each control unit has a functional unit equivalent to the functional unit of the first control unit 10 or the second control unit 20. Specifically, in the case of having three control units, the third control unit (referred to as the "third control unit") has a third instruction application unit and a third platform unit. In addition, in the case of having four control units, the fourth control unit (referred to as the "fourth control unit") has a fourth instruction application unit and a fourth platform unit. In the present embodiment, the case of having two control units is exemplified, but in the case of having three or more control units, each control unit is configured in the same manner.

[0028] The first control unit 10 and the second control unit 20 are control units that respectively control mutually different devices. Here, "mutually different devices" include, for example, conveyors, robots, machine tools, processing machines, stamping machines, etc. The control device 1 performs coordinated control of the mutually different devices through the first control unit 10 and the second control unit 20. In addition, the first control unit 10 and the second control unit 20 are constituted by, for example, CPUs.

[0029] The first control unit 10 has a first instruction application unit 11 and a first platform unit 12.

[0030] The first instruction application unit 11 outputs to the first platform unit 12 an instruction process including an instruction value for the device controlled by the first control unit 10, and a mediation method for mediating the instruction process and the instruction process from the second control unit 20 for the device controlled by the second control unit 20.

[0031] The first instruction application unit 11 includes a first mediation method specifying unit 111 and a first instruction processing unit 112.

[0032] The first mediation method specifying unit 111 negotiates a mediation method of instructions among multiple other platforms according to the coordination control information preset by the user. Here, the "coordination control information" includes, for example, the identification information of all platforms to be the coordination control objects and the mediation method. In addition, the "mediation method" specifically includes any one of sequential control, synchronization, mixing, and overlapping, and includes an operation method of the instruction value.

[0033] Specifically, "sequential control" refers to a process of controlling the execution order of instructions for each platform. "Synchronization" refers to a process of synchronizing the instructions executed by each platform. "Mixing" refers to a process of outputting the instructions of the first platform from the second platform, and on the other hand, outputting the instructions of the second platform from the first platform. "Overlapping" refers to a process of adding the instruction values used in each platform in one platform.

[0034] The first mediation method specifying unit 111 outputs the identification information of all platforms to be the coordination control objects and the category of the mediation method to the first mediation method specifying interface, which will be described later, of the first platform unit 12.

[0035] The first instruction processing unit 112 outputs an instruction value for driving the device controlled by the first control unit 10 to the first platform unit 12. More specifically, the first instruction processing unit 112 outputs the above-mentioned instruction value to the first instruction interface 121, which will be described later, of the first platform unit 12.

[0036] The first platform unit 12 includes: a first instruction interface 121, a first mediation method specifying interface 122, a first inter-platform communication unit 123, and a first instruction mediation unit 124.

[0037] The first instruction interface 121 is an interface for transferring the instruction value obtained from the first instruction application unit 11 to the first instruction mediation unit 124.

[0038] The first mediation method designating interface 122 is an interface for transferring the identification information of all platforms that are the objects of coordinated control and the mediation method category obtained from the first instruction application unit 11 to the first inter-platform communication unit 123. Further, the first mediation method designating interface 122, via the first inter-platform communication unit 123, exchanges information related to the mediation method category and the mediation method of the instruction value with the inter-platform communication units of all platforms that are the objects of coordinated control.

[0039] The first inter-platform communication unit 123 outputs the platform identification information received from all platforms that are the objects of coordinated control, the mediation method category of the platform, the instruction value, and the information related to the mediation method of the instruction value to the first instruction mediation unit 124.

[0040] In addition, the first inter-platform communication unit writes into the first shared memory 31 in order to output the platform identification information of the first platform unit 12 itself, the mediation method category of the platform, the instruction value from the first instruction application unit 11 obtained via the first instruction mediation unit 124 described later, and the information related to the mediation method of the instruction value to other platforms that are the objects of coordinated control.

[0041] When the first instruction mediation unit 124 obtains an instruction value from the first instruction processing unit 112 via the first instruction interface 121, the first instruction mediation unit outputs the instruction value to the first inter-platform communication unit 123. Further, the first instruction mediation unit 124 mediates the instruction value according to the platform identification information of all platforms that are the objects of coordinated control and the mediation method category obtained from the first inter-platform communication unit 123, and writes the mediated instruction value into the second shared memory 32.

[0042] The second control unit 20 includes a second instruction application unit 21 and a second platform unit 22.

[0043] The second instruction application unit 21 has the same functions as the first instruction application unit 11, and thus, its detailed description is omitted. In addition, the second platform unit 22 has the same functions as the first platform unit 12, and thus, its detailed description is omitted.

[0044] The second instruction application unit 21 includes a second mediation method designating unit 211 and a second instruction processing unit 212.

[0045] The second mediation method designating unit 211 has the same functions as the first mediation method designating unit 111, and thus, its detailed description is omitted. The second instruction processing unit 212 has the same functions as the first instruction processing unit 112, and thus, its detailed description is omitted.

[0046] The second platform unit 22 includes: a second instruction interface 221, a second mediation method specification interface 222, a second inter-platform communication unit 223, and a second instruction mediation unit 224.

[0047] The second instruction interface 221 has the same function as the first instruction interface 121, and thus, a detailed description thereof is omitted. The second mediation method specification interface 222 has the same function as the first mediation method specification interface 122, and thus, a detailed description thereof is omitted. The second inter-platform communication unit 223 has the same function as the first inter-platform communication unit 123, and thus, a detailed description thereof is omitted. The second instruction mediation unit 224 has the same function as the first instruction mediation unit 124, and thus, a detailed description thereof is omitted.

[0048] The first shared memory 31 is a memory into which platform identification information, the mediation method category between platforms, instruction values, and information related to the mediation method of the instruction values are written through the first inter-platform communication unit 123 and the second inter-platform communication unit 223.

[0049] The second shared memory 32 is a memory into which the adjusted instruction values, which are adjusted by the first instruction mediation unit 124 and the second instruction mediation unit 224 based on the platform identification information of all platforms that are the objects of coordinated control and the mediation method category obtained from each inter-platform communication unit via the first shared memory 31, are written.

[0050] In addition, the first shared memory 31 and the second shared memory 32 are sometimes collectively referred to as the "shared memory".

[0051] The servo control processing unit 40 performs servo control based on the adjusted instruction values written into the second shared memory 32.

[0052] With the above-described configuration, the control device 1 can mediate (coordinate the actions) the instructions executed by different applications for different devices that require coordinated actions through the first platform unit 12 and the second platform unit 22 without going through the first instruction application unit 11 and the second instruction application unit 21.

[0053] 〔2 Operations of the Embodiment〕

[0054] Hereinafter, with reference to Figure 2A and Figure 2B , the operations of the control device 1 of the present embodiment will be described. Figure 2A is a flowchart showing the basic operations of the control device 1. Figure 2B is a flowchart showing the operations of the control device 1 during mediation.

[0055] 〔2.1 Basic Operations〕

[0056] First, with reference to Figure 2A , the flow of instructions in the basic operation of the control device 1 will be described. Here, the "basic operation" refers to an operation in which the first instruction value output from the first instruction application unit 11 and the second instruction value output from the second instruction application unit 21 are not adjusted, and both instruction values are directly output to the servo control processing unit 40. In addition, for simplicity of explanation, the confirmation of the non - coordination of the two instruction values is confirmed before the processing of the first instruction value and the second instruction value.

[0057] In step S1, in the first instruction application unit 11, the first instruction processing unit 112 calculates the first instruction value using a motion program in a certain execution form, and outputs the instruction value to the first instruction interface 121 of the first platform unit 12.

[0058] In step S2, in the second instruction application unit 21, the second instruction processing unit 212 calculates the second instruction value using a motion program in a certain execution form, and outputs the second instruction value to the second instruction interface 221 of the second platform unit 22.

[0059] In step S3, the first instruction mediation unit 124 obtains the first instruction value from the first instruction interface 121.

[0060] In step S4, the second instruction mediation unit 224 obtains the second instruction value from the second instruction interface 221.

[0061] In step S5, the first instruction mediation unit 124 and the second instruction mediation unit 224 respectively write the first instruction value and the second instruction value into the second shared memory 32.

[0062] In step S6, the servo control processing unit 40 obtains the first instruction value and the second instruction value written into the second shared memory 32, and the servo control processing unit 40 uses these instruction values to perform an operation for servo control. The servo control processing unit 40 drives each motor by outputting the operation result to each amplifier.

[0063] [2.2 Actions during mediation]

[0064] Next, with reference to Figure 2B , the actions during mediation in the control device 1 will be described. During mediation, the control device 1 mediates the above "first instruction value" and "second instruction value", and outputs the mediated instruction value to the servo control processing unit 40. In addition, for simplicity of explanation, the confirmation of the mediation method related to the two instruction values is confirmed before the processing of the first instruction value and the second instruction value. In addition, the confirmation of the mediation method related to the two instruction values can also be carried out during the processing of the first instruction value and the second instruction value.

[0065] The processing of steps S11 to S12 is the same as that of steps S1 to S2 during the basic operation. Therefore, the description thereof is omitted.

[0066] In step S13, the first instruction mediation unit 124 of the first platform unit 12 and the second instruction mediation unit 224 of the second platform unit 22 mediate the first instruction value and the second instruction value according to the specified mediation method via the first inter-platform communication unit 123, the second inter-platform communication unit 223, and the first shared memory 31.

[0067] In step S14, the first instruction mediation unit 124 or the second instruction mediation unit 224 writes the mediated instruction value into the second shared memory 32.

[0068] In step S15, the servo control processing unit 40 obtains each of the mediated instruction values written into the second shared memory 32 by the first instruction mediation unit 124 or the second instruction mediation unit 224, and the servo control processing unit 40 uses the instruction values to perform operations for servo control. The servo control processing unit 40 outputs the operation result to each amplifier to drive each motor.

[0069] 〔3 Embodiment〕

[0070] 〔3.1 First Embodiment〕

[0071] Hereinafter, by referring to Figure 3 and Figure 5 , the first embodiment will be described. The first embodiment is an example of overlapping control between devices with different execution forms in one control device (that is, overlapping control in which the value obtained by adding the above-mentioned "first instruction value" and "second instruction value" is set as the "first instruction value").

[0072] Figure 3 is a diagram showing the flow of information related to the instruction value in the control device 1 of this embodiment. In addition, in Figure 3 , for simplicity of description, some structural elements in the structure of the control device 1 shown in Figure 1 are omitted.

[0073] In addition, Figure 4 is an example of the overall structure diagram of the system that executes the overlapping control as the object in this embodiment. As shown in the example of Figure 4 , in this embodiment, the robot 2 uses the arm 6 to move the workpiece 7 on the conveyor 3. At this time, in order to improve the production rate, the moving distance of the conveyor 3 (equivalent to the second instruction value) is overlapped on the moving distance of the arm 6 in the robot 2 (equivalent to the first instruction value).

[0074] In Figure 3In this case, each instruction value is transmitted along the arrow shown by the solid line. In addition, in Figure 3 In the example shown, the control device 1 controls the robot 2 and the conveyor 3 via the bus 5. More specifically, the first control unit 10 controls the robot 2, and the second control unit 20 controls the conveyor 3. In addition, as an example, the first instruction application unit 11 is a robot controller that controls the robot 2 using a robot program. As an example, the second instruction application unit 21 is a software PLC that controls the conveyor 3 using the ST language.

[0075] The first instruction application unit 11 outputs the movement distance Xr = 40 mm of the arm 6 of the robot 2 to the first platform unit 12 as an instruction value. In addition, the second instruction application unit 21 outputs the movement distance Xc = 20 mm of the conveyor 3 to the second platform unit 22 as an instruction value. At this time, the first platform unit 12 overlaps Xr and Xc, and writes the overlapped instruction value into the second shared memory 32. The servo control processing unit 40 acquires the instruction value written into the second shared memory 32.

[0076] Figure 5 is a timing chart showing the operation of the control device 1 when performing the overlap control.

[0077] In step S1-1, the first instruction application unit 11 outputs the instruction value of the robot 2 (for example, the movement distance Xr = 40 mm of the arm 6) to the first platform unit 12.

[0078] In step S1-2, the first platform unit 12 confirms the mediation method between the first platform unit 12 and the second platform unit 22. The mediation method here refers to overlapping the instruction value for the conveyor 3 from the second platform unit 22 (for example, the movement distance Xc = 20 mm of the conveyor 3) with the instruction value for the robot 2 from the first platform unit 12.

[0079] In step S2-1, the second instruction application unit 21 outputs the instruction value of the conveyor 3 to the second platform unit 22.

[0080] In step S2-2, the second platform unit 22 confirms the mediation method between the second platform unit 22 and the first platform unit 12. The mediation method here refers to overlapping the instruction value from the second platform unit 22 with the instruction value from the first platform unit 12.

[0081] In addition, step S1-1 and step S1-2, and step S2-1 and step S2-2 are executed in parallel as a group, and it doesn't matter which group in each pair is executed first.

[0082] In step S2-3, the second platform unit 22 writes the instruction value of the conveyor 3 into the first shared memory 31 as the instruction value of the second platform unit 22.

[0083] In step S1-3, the first platform unit 12 obtains the command value of the conveyor 3 from the first shared memory 31 as the command value of the second platform unit 22.

[0084] In step S1-4, the first platform unit 12 overlaps the command value of the robot 2 with the command value of the conveyor 3.

[0085] In step S1-5, the first platform unit 12 outputs the command value obtained by overlapping (adding) the command value of the robot 2 with the command value of the conveyor 3 as the command value of the first platform unit 12 to the second shared memory 32.

[0086] In step S2-4, the second platform unit 22 outputs the command value of the conveyor 3 as the command value of the second platform unit 22 to the second shared memory 32.

[0087] Thus, by controlling the production line having the robot 2 and the conveyor 3 using the control device 1, the overlapping operation between devices becomes easy, and the operation on the workpiece can be performed without stopping the conveyor 3.

[0088] 〔3.2 Second Embodiment〕

[0089] Hereinafter, the second embodiment will be described by referring to Figures 6 to 8 . The second embodiment is an example of performing sequential control between devices of different execution forms (i.e., control of the output order to the servo control processing unit 40 of the movement of the robot's arm as the above-mentioned "first command value" and the movement of the slider of the punching machine as the "second command value") in one control device.

[0090] Figure 6 is a diagram showing the flow of information of the command value in the control device 1 of the present embodiment. In addition, in Figure 6 , for simplicity of explanation, a part of the structural elements in the structure of the control device 1 shown in Figure 1 are omitted.

[0091] In addition, Figure 7 is an example of the overall structure diagram of the system in which the present embodiment executes the sequential control as an object. As illustrated in Figure 7 , in the present embodiment, the robot 2 uses the arm 6 to load the workpiece 7 onto the punching machine 4. At this time, in order to improve the production efficiency, after the slider 8 of the punching machine 4 moves upward, the arm 6 of the robot 2 loads the workpiece 7 below the slider 8.

[0092] In Figure 6In this case, each instruction value is transmitted along the arrow shown by the solid line. Additionally, in the example shown in FIG. 2, the control device 1 controls the robot 2 and the stamping machine 4 via the bus 5. More specifically, the first control unit 10 controls the robot 2, and the second control unit 20 controls the stamping machine 4. Additionally, as an example, the first instruction application unit 11 is a robot controller that controls the robot 2 using a robot program. As an example, the second instruction application unit 21 is a numerical control device (CNC) that controls the stamping machine 4 using an NC program.

[0093] The first instruction application unit 11 outputs the operation distance Xr = 40 mm of the arm 6 of the robot 2 to the first platform unit 12 as an instruction value. Additionally, the second instruction application unit 21 outputs the moving distance Xp = 20 mm of the slider 8 of the stamping machine 4 to the second platform unit 22 as an instruction value. At this time, the first platform unit 12 waits for the processing of the movement instruction of the stamping machine 4 from the second platform unit 22, and writes the instruction value into the second shared memory 32. The servo control processing unit 40 obtains the instruction value written into the second shared memory 32.

[0094] Figure 8 It is a timing chart showing the operation of the control device 1 when performing sequence control.

[0095] In step S1-11, the first instruction application unit 11 outputs an instruction value of the robot 2 (for example, the operation distance Xr = 40 mm of the arm 6) to the first platform unit 12.

[0096] In step S1-12, the first platform unit 12 confirms the mediation method between the first platform unit 12 and the second platform unit 22. The mediation method here is such that the output of the instruction value for the stamping machine 4 from the second platform unit 22 (for example, the moving distance Xp = 20 mm of the slider 8) takes precedence over the output of the instruction value for the robot 2 from the first platform unit 12.

[0097] In step S2-11, the second instruction application unit 21 outputs an instruction value of the stamping machine 4 to the second platform unit 22.

[0098] In step S2-12, the second platform unit 22 confirms the mediation method between the second platform unit 22 and the first platform unit 12. The mediation method here is such that the output of the instruction value from the second platform unit 22 takes precedence over the output of the instruction value from the first platform unit 12.

[0099] In addition, step S1-11 and step S1-12, and step S2-11 and step S2-12 are executed in parallel as a group respectively, and it doesn't matter which group in each is executed first.

[0100] In step S2-13, the second platform unit 22 writes the command value of the stamping machine 4 as the command value of the second platform unit 22 into the first shared memory 31.

[0101] In step S1-13, the first platform unit 12 confirms the writing of the command value of the stamping machine 4 from the second platform unit 22 to the first shared memory 31.

[0102] In step S1-14, the first platform unit 12 waits for an arbitrary control cycle to elapse.

[0103] In step S1-15, the first platform unit 12 outputs the command value of the robot 2 as the command value of the first platform unit 12 to the second shared memory 32.

[0104] In step S2-14, the second platform unit 22 outputs the command value of the stamping machine 4 as the command value of the second platform unit 22 to the second shared memory 32.

[0105] Thus, after the first platform unit 12 confirms that the command of the second platform unit 22 has been output from the first shared memory 31, the command value of the first platform unit 12 is output to the second shared memory 32 after an arbitrary control cycle.

[0106] [3.3 Third Embodiment]

[0107] Hereinafter, with reference to Figure 9 The third embodiment will be described. The third embodiment is an example of synchronous control (i.e., control for synchronizing the output timings of the above-mentioned "first command value" and "second command value") between devices with different execution forms in one control device.

[0108] Figure 9 is a timing chart showing the operation of the control device 1 during synchronous control.

[0109] In step S1-21, the first command application unit 11 outputs the command value of the first command application unit 11 to the first platform unit 12.

[0110] In step S1-22, the first platform unit 12 confirms the mediation method between the first platform unit 12 and the second platform unit 22. The mediation method here is to synchronize the output of the command value from the first platform unit 12 with the output of the command value from the second platform unit 22.

[0111] In step S2-21, the second command application unit 21 outputs the command value from the second command application unit 21 to the second platform unit 22.

[0112] In step S2-22, the second platform unit 22 confirms the mediation method between the second platform unit 22 and the first platform unit 12. Here, the mediation method is to synchronize the output of the command value from the first platform unit 12 with the output of the command value from the second platform unit 22.

[0113] In addition, step S1-21 and step S1-22, and step S2-21 and step S2-22 are executed in parallel as a group respectively, and it doesn't matter which group is executed first.

[0114] In step S2-23, the second platform unit 22 writes the command value of the second platform unit 22 into the first shared memory 31.

[0115] In step S1-23, the first platform unit 12 writes the command value of the first platform unit 12 into the first shared memory 31.

[0116] In addition, it doesn't matter which of step S1-23 and step S2-23 is executed first.

[0117] In step S1-24, the first platform unit 12 confirms the writing of the command value from the second platform unit 22 to the first shared memory 31.

[0118] In step S2-24, the second platform unit 22 confirms the writing of the command value from the first platform unit 12 to the first shared memory 31.

[0119] In addition, it doesn't matter which of step S1-24 and step S2-24 is executed first.

[0120] In step S1-25, the first platform unit 12 outputs the command value of the first platform unit 12 to the second shared memory 32.

[0121] In step S2-25, the second platform unit 22 outputs the command value of the second platform unit 22 to the second shared memory 32.

[0122] Thus, the first platform unit 12 confirms that the second platform unit 22 has written the command value into the first shared memory 31, and outputs the command value of the first platform unit 12 to the second shared memory 32. In addition, the second platform unit 22 confirms that the first platform unit 12 has written the command value into the first shared memory 31, and outputs the command value of the second platform unit 22 to the second shared memory 32.

[0123] 〔3.4 Fourth Embodiment〕

[0124] Hereinafter, by referring to Figure 10, a fourth embodiment will be described. The fourth embodiment is an example of hybrid control of devices with different execution forms in one control device (that is, control that outputs the command value from the second platform unit 22 as the "first command value" and outputs the command value from the first platform unit 12 as the "second command value").

[0125] Figure 10 It is a timing chart showing the operation of the control device 1 when performing hybrid control.

[0126] In step S1-31, the first command application unit 11 outputs the command value of the first command application unit 11 to the first platform unit 12.

[0127] In step S1-32, the first platform unit 12 confirms the mediation method between the first platform unit 12 and the second platform unit 22. Here, the mediation method means that the first platform unit 12 outputs the command value of the second platform unit 22, and the second platform unit 22 outputs the command value of the first platform unit 12.

[0128] In step S2-31, the second command application unit 21 outputs the command value from the second command application unit 21 to the second platform unit 22.

[0129] In step S2-32, the second platform unit 22 confirms the mediation method between the second platform unit 22 and the first platform unit 12. Here, the mediation method means that the first platform unit 12 outputs the command value of the second platform unit 22, and the second platform unit 22 outputs the command value of the first platform unit 12.

[0130] In addition, step S1-31 and step S1-32, and step S2-31 and step S2-32 are executed in parallel as a group respectively, and it doesn't matter which group in each is executed first.

[0131] In step S2-33, the second platform unit 22 writes the command value of the second platform unit 22 into the first shared memory 31.

[0132] In step S1-33, the first platform unit 12 writes the command value of the first platform unit 12 into the first shared memory 31.

[0133] In addition, it doesn't matter which of step S1-33 and step S2-33 is executed first.

[0134] In step S1-34, the first platform unit 12 obtains the command value of the second platform unit 22 from the first shared memory 31.

[0135] In step S2-34, the second platform unit 22 obtains the command value of the first platform unit 12 from the first shared memory 31.

[0136] In addition, it doesn't matter which of step S1-34 and step S2-34 is executed first.

[0137] In step S1-35, the first platform unit 12 outputs the command value of the second platform unit 22 to the second shared memory 32.

[0138] In step S2-35, the second platform unit 22 outputs the command value of the first platform unit 12 to the second shared memory 32.

[0139] Thus, the first platform unit 12 confirms that the second platform unit 22 has written the command value to the first shared memory 31, and outputs the command value of the second platform unit 22 to the second shared memory 32. In addition, the second platform unit 22 confirms that the first platform unit 12 has written the command value to the first shared memory 31, and outputs the command value of the first platform unit 12 to the second shared memory 32.

[0140] 〔4 Effect〕

[0141] (1) The control device of this embodiment (for example, the above-mentioned "control device 1") in a control device having multiple platforms includes: a plurality of instruction application units (for example, the above-mentioned "first instruction application unit 11" and "second instruction application unit 21"), a plurality of platform units (for example, the above-mentioned "first platform unit 12" and "second platform unit 22") corresponding to the plurality of instruction application units respectively, a shared memory (for example, the above-mentioned "first shared memory 31" and "second shared memory 32") that stores information communicated between the plurality of platforms, and a servo control processing unit (for example, the above-mentioned "servo control processing unit 40"). The instruction application unit has an instruction processing unit (for example, the above-mentioned "first instruction processing unit 112" and "second instruction processing unit 212") that outputs an instruction value, and a mediation method specifying unit (for example, the above-mentioned "first mediation method specifying unit 111" and "second mediation method specifying unit 211") that outputs identification information of the platform unit to be coordinated and a mediation method category. The platform unit has: a first interface unit (for example, the above-mentioned "first instruction-use interface 121" and "second instruction-use interface 221") that obtains the instruction value from the instruction application unit, a second interface unit (for example, the above-mentioned "first mediation method specifying-use interface 122" and "second mediation method specifying-use interface 222") that obtains the identification information of the platform unit and the mediation method category from the instruction application unit, an inter-platform communication unit (for example, the above-mentioned "first inter-platform communication unit 123" and "second inter-platform communication unit 223") that transmits the instruction value, the identification information, and the mediation method category between the platform units via the shared memory, and an instruction mediation unit (for example, the above-mentioned "first instruction mediation unit 124" and "second instruction mediation unit 224") that obtains the instruction value, the identification information, and the mediation method category from all the platform units to be coordinated, mediates the instruction value according to the identification information and the mediation method category, and outputs the mediated instruction value to the shared memory. The servo control processing unit performs servo control based on the mediated instruction value obtained from the shared memory.

[0142] Thus, by mediating the operation timing between devices performed by the applications of each control device in each platform of a single control device, the applications of each control device can operate the controlled devices without being aware of the operation timing.

[0143] (2) The control device according to (1), characterized in that the mediation method category includes any one of sequential control, synchronization, mixing, and overlapping of the instruction values between the plurality of platform units.

[0144] Accordingly, sequential control, synchronization, mixing, and overlapping between devices can be easily performed, and smooth coordinated operation can be achieved between devices.

[0145] 〔5 Modification Example〕

[0146] The control device 1 of the above-described embodiment is configured to include two control units, i.e., the first control unit 10 and the second control unit 20, but is not limited thereto. For example, it can have any number of control units according to the number of devices controlled by the control device 1.

[0147] Each component included in the control device 1 described above can be implemented by hardware, software, or a combination thereof. In addition, the control method performed through the cooperation of each component included in the control device 1 described above can also be implemented by hardware, software, or a combination thereof. Here, implementation by software means implementation by a computer reading and executing a program.

[0148] Programs can be stored using various types of non-transitory computer-readable media and provided to a computer. 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., floppy disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROM (Read Only Memory), CD-R, CD-R / W, semiconductor memories (e.g., mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (random access memory)). In addition, programs can also be provided to a computer through various types of transitory computer-readable media. Examples of transitory computer-readable media include electrical signals, optical signals, and electromagnetic waves. Transitory computer-readable media can provide programs to a computer via wired communication paths such as wires and optical fibers, or wireless communication paths.

[0149] Reference Signs

[0150] 1 Control device

[0151] 10 First control unit

[0152] 11 First instruction application unit

[0153] 12 First Platform Department

[0154] 20 Second Control Department

[0155] 21 Second Instruction Application Department

[0156] 22 Second Platform Department

[0157] 31 First Shared Memory

[0158] 32 Second Shared Memory

[0159] 40 Servo Control Processing Department

[0160] 111 First Mediation Method Designation Department

[0161] 122 First Mediation Method Designation Interface

[0162] 123 First Inter - Platform Communication Department

[0163] 124 First Instruction Mediation Department

[0164] 211 Second Mediation Method Designation Department

[0165] 222 Second Mediation Method Designation Interface

[0166] 223 Second Inter - Platform Communication Department

[0167] 224 Second Instruction Mediation Department.

Claims

1. A control device with multiple platforms, characterized in that, having: a plurality of instruction application units, each of the plurality of instruction application units being a part of each of the plurality of control units, and each of the plurality of control units controlling one or more of a plurality of different devices respectively; a plurality of platform units, corresponding to the plurality of instruction application units respectively; a shared memory that stores information communicated between the plurality of platforms; and a servo control processing unit, each of the instruction application units having: an instruction processing unit that outputs an instruction value; and an instruction mediation method specifying unit that outputs identification information of the platform unit that becomes the object of coordinated control and a mediation method category, each of the platform units having: a first interface unit that obtains the instruction value from the instruction application unit corresponding to the platform unit, the instruction value being a value of the device controlled by the control unit that is a part of the instruction application unit corresponding to the platform unit; a second interface unit that obtains the identification information of the platform unit and the mediation method category from the instruction application unit corresponding to the platform unit, the mediation method category indicating a mediation method for mediating as a coordinated action of the instruction value between the instruction value for the device and other instruction values for other devices controlled by other control units among the plurality of control units; an inter-platform communication unit that transmits and receives the instruction value, the identification information, and the mediation method category between the platform units via the shared memory; and an instruction mediation unit that obtains the instruction value, the identification information, and the mediation method category from all the platform units that become the object of coordinated control, and mediates the instruction value according to the identification information and the mediation method category, and outputs the mediated instruction value to the shared memory, the servo control processing unit performing servo control according to the mediated instruction value obtained from the shared memory, the mediated instruction value being obtained by mediating the operation timing between the plurality of devices by each of the plurality of platforms of the control device through a coordinated action of instructions executed by different applications for the plurality of devices that require coordinated action.

2. The control device according to claim 1, wherein the mediation method category includes any one of sequential control, synchronization, mixing, and overlapping of the instruction values between the plurality of platform units.

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