Robot control device, numerical control system, and numerical control method

Abstract

The invention provides a robot control device capable of realizing linkage control with a numerical controller having a plurality of control systems without complicating. A robot control device (3) is provided with: a program input unit (32) that acquires a robot control program for controlling a robot (30) from a storage unit (31); an analysis unit (33) that analyzes the robot control program input by the program input unit (32), and acquires a variable in which a numerical control program for controlling the numerical controller (2) is set, and a read command and a write command for specifying system information of a target system from among a plurality of control systems included in the numerical controller; a system setting unit (37) that outputs, on the basis of the information acquired by the analysis unit (33), a command for reading and writing a variable of the target system; and a data communication unit (39) that causes the numerical control device (2) to execute an update of the variable of the target system by transmitting a command for reading and writing the variable of the target system to the numerical control device (2).

Description

Technical Field

[0001] The present disclosure relates to a robot control device, a numerical control system, and a numerical control method. Background Art

[0002] Conventionally, for the automation of processing machines, a system has been constructed by connecting respective control devices of machine tools, robots, etc. As documents related to this technology, there are Patent Document 1 and Patent Document 2, for example.

[0003] Patent document 1 states that in a numerical control device, comparison relationships of parameters related to settings of the numerical control device are stored in advance in a comparison relationship storage unit, and based on the comparison relationships stored in the comparison relationship storage unit, data with comparison relationships in the parameters related to settings of the numerical control device are extracted, and the data with the comparison relationships are associated and displayed on a display unit.

[0004] Patent document 2 states that in a processing system including a mechanical control device and a robot control device, the mechanical control device has: a communication unit, which, when a determination unit determines that the mobile robot is arranged at a predetermined position adjacent to the processing machine, reads out setting data and a robot motion program corresponding to the type of processing product set by a setting unit from a storage unit, and sends the communication data to the robot control device.

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent Application Publication No. 2021-009480

[0008] Patent Document 2: Japanese Patent Application Publication No. 2018-124910 Summary of the invention

[0009] Problems to be solved by the invention

[0010] However, in a system having a robot and a machine tool, sometimes the robot and the machine tool are linked by reading / writing the macro variables of the machine tool through the robot control device that controls the robot. For example, sometimes the following processing is performed: the robot control device turns on the action request to the machine tool through the macro variable, and reads the macro variable of the machine tool to obtain the action status. When the action status becomes action completion, the action request is turned off and the next sequence is advanced. However, since the existing robot control device does not have the concept of a mechanical control system, it cannot be linked with an existing machine such as a compound processing machine that is composed of multiple tool stations or spindles through macro variables.

[0011] An object of the present disclosure is to provide a robot control device, a numerical control system, and a numerical control method that can realize linkage control with a numerical control device having a plurality of control systems without complicating the robot control device.

[0012] Means for solving problems

[0013] One method of the present disclosure is a robot control device, comprising: a program input unit, which obtains a robot control program for controlling a robot from a storage unit; an analysis unit, which analyzes the robot control program input by the program input unit, and obtains variables of the numerical control program for controlling a numerical control device, and a read command and a write command for determining system information of a target system from a plurality of control systems possessed by the numerical control device; a system setting unit, which outputs an instruction for reading and writing the variables of the target system based on the information obtained by the analysis unit; and a data communication unit, which sends an instruction for reading and writing the variables of the target system to the numerical control device, thereby causing the numerical control device to execute an update of the variables of the target system.

[0014] In addition, one embodiment of the present disclosure is a numerical control system, comprising: a numerical control device having a plurality of control systems; a robot control device that controls a robot in conjunction with the numerical control device, the robot control device comprising: a program input unit that obtains a program for controlling a robot from a storage unit; an analysis unit that analyzes the robot control program input by the program input unit, and obtains a variable of the numerical control program that controls the numerical control device, and a read command and a write command that determine system information of a target system from a plurality of control systems possessed by the numerical control device; a system setting unit that outputs an instruction for reading and writing the variable of the target system based on the information obtained by the analysis unit; and a data communication unit that sends an instruction for reading and writing the variable of the target system to the numerical control device, the numerical control device executing an update of the variable of the target system based on the instruction for reading and writing the variable of the target system received from the robot control device.

[0015] In addition, one embodiment of the present invention is a numerical control method, which controls a robot control device and a numerical control device in a linked manner, and the numerical control method includes: a program input step, obtaining a robot control program for controlling a robot from a storage unit; an analysis step, analyzing the robot control program input by the program input step, obtaining variables set with the numerical control program for controlling the numerical control device, and a read command and a write command for determining system information of an object system from a plurality of control systems possessed by the numerical control device; a system setting step, outputting instructions for reading and writing variables of the object system based on the information obtained by the analysis step; and an update step, in which the robot control device sends instructions for reading and writing variables of the object system to the numerical control device, thereby causing the numerical control device to execute an update of the variables of the object system.

[0016] Effects of the Invention

[0017] According to the present disclosure, it is possible to provide a robot control device, a numerical control system, and a numerical control method that can realize linkage control with a numerical control device having a plurality of control systems without complicating the process. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of a numerical control system according to an embodiment of the present disclosure.

[0019] Figure 2 This is a functional block diagram of a robot control device and a numerical control device according to an embodiment of the present disclosure.

[0020] Figure 3 This is a diagram showing an example of a robot control program including a read command and a write command.

[0021] Figure 4 It is a diagram schematically showing the mechanical configuration of each of the system 1 and the system 2.

[0022] Figure 5 This is a diagram showing an example of a robot control program of a robot control device.

[0023] Figure 6 This is a diagram showing an example of allocation of custom macro variables in a numerical control program updated by a robot controller.

[0024] Figure 7 This is a diagram showing an example of a main program and a subroutine of the system 1.

[0025] Figure 8 This is a diagram showing an example of a main program and a subroutine of system 2.

[0026] Fig. 9This is a flowchart showing an example of processing of the numerical control system 1 according to one embodiment of the present disclosure. DETAILED DESCRIPTION

[0027] Hereinafter, one embodiment of the present disclosure will be described in detail with reference to the accompanying drawings.

[0028] Figure 1 This is a schematic diagram of a numerical control system 1 according to an embodiment of the present disclosure.

[0029] The numerical control system 1 includes: a numerical control device (CNC) 2 that controls a machine tool 20; and a robot control device 3 that is communicably connected to the numerical control device 2 and controls a robot 30 that is installed near the machine tool 20. The numerical control system 1 of the present embodiment controls the operations of the machine tool 20 and the robot 30 in a linked manner by using the numerical control device 2 and the robot control device 3 that are communicably connected to each other.

[0030] The numerical control device 2 generates a machine tool command signal as a command to the machine tool 20 according to a predetermined numerical control program, and transmits the signal to the machine tool 20 .

[0031] The machine tool 20 processes a workpiece (not shown) according to a machine tool command signal sent from the numerical controller 2. The machine tool 20 is, for example, a compound processing machine having a turret, a table, a tool rest, a spindle, etc. The machine tool 20 may also be a compound processing machine having a structure appropriately combined with a lathe, a drilling machine, a milling machine, a grinding machine, a laser processing machine, an injection molding machine, and the like.

[0032] The robot 30 operates under the control of the robot control device 3, for example, performing a predetermined operation on a workpiece processed inside the machine tool 2. The robot 30 is, for example, a multi-joint robot, and a tool 30b is installed at the front end portion 30a of its arm, and the tool 30b is used to hold, process or inspect the workpiece. The following describes the case where the robot 30 is a 6-axis multi-joint robot, but the number of axes is not limited to this. The following describes the case where the robot 30 is a 6-axis multi-joint robot, but the number of axes is not limited to this.

[0033] Figure 2 This is a functional block diagram of the robot controller 3 and the numerical controller 2 according to one embodiment of the present disclosure.

[0034] The numerical controller 2 and the robot controller 3 are computers composed of hardware such as a CPU (Central Processing Unit), an auxiliary storage unit such as a HDD (Hard Disk Drive) or SSD (Solid State Drive) storing various computer programs, a main storage unit such as a RAM (Random Access Memory) storing data temporarily required when the calculation processing unit executes the computer program, an operation unit such as a keyboard for the operator to perform various operations, and a display unit such as a display that displays various information to the operator. These numerical controllers 2 and robot controllers 3 can send and receive various signals to each other through, for example, Ethernet (registered trademark).

[0035] First, the structure of the numerical control device 2 is described. The numerical control device 2 realizes the machine tool control function of controlling the operation of the machine tool 20 linked with the operation of the control axis of the robot 30 through the above-mentioned hardware structure. Specifically, the numerical control device 2 includes a storage unit 21, a program input unit 22, an analysis unit 23, a robot control variable unit 26, an I / O control unit 25, an interpolation control unit 24, a servo control unit 27, and a data communication unit 28 in order to realize these functions.

[0036] The storage unit 21 stores a numerical control program. The numerical control program is created based on, for example, an operator's operation. The numerical control program is composed of a plurality of instruction blocks for the machine tool 20 for controlling the operation of the machine tool 20. The numerical control program is described in a known programming language such as a G code or an M code.

[0037] In addition, various information other than the numerical control program is also stored in the storage unit 21. The various information is, for example, machine coordinate values, robot coordinate values, robot teaching positions, and the like.

[0038] The mechanical coordinate values ​​are values ​​indicating the positions of various axes of the machine tool 20 (i.e., the positions of the tool rest or table of the machine tool 20) operating under the numerical control program. The mechanical coordinate values ​​are defined in a machine coordinate system having a reference point determined at an arbitrary position on or near the machine tool 20 as an origin. The latest values ​​of the mechanical coordinate values ​​that gradually change under the numerical control program are stored in the storage unit 21 by gradually updating them through processing not shown in the figure.

[0039] The robot coordinate value is a value that represents the position and posture of a control point (e.g., the front end portion 30a of the arm of the robot 30) of the robot 30 operating under the control of the robot control device 3, in other words, represents the position of each control axis of the robot 30. As described above, the robot coordinate value is defined in a robot coordinate system that is different from the machine tool coordinate system. The robot coordinate system is a coordinate system with a reference point determined at an arbitrary position on or near the robot 30 as the origin. The following describes the case where the robot coordinate system is different from the machine tool coordinate system, but is not limited to this. The robot coordinate system can also be made consistent with the machine tool coordinate system. In other words, the origin or coordinate axis direction of the robot coordinate system can also be made consistent with the origin or coordinate axis direction of the machine tool coordinate system. In addition, the robot coordinate system can be switched between two or more coordinate formats with different control axes. More specifically, in the numerical control program, the position and posture of the control point of the robot 30 can be specified in an orthogonal coordinate format or in the coordinate format of each axis.

[0040] The storage unit 21 is updated step by step with the robot coordinate values ​​acquired from the robot controller 3 by a process not shown in the figure, so as to store the latest values ​​of the robot coordinate values ​​that are gradually changed under the numerical control program.

[0041] The robot teaching position is a teaching position such as the start point and the end point of the robot 30 input by the operator, specifically, the teaching position of the robot 30 input from a teaching pendant, etc., or the teaching position input from a keyboard, etc. The teaching position of the robot 30 includes robot coordinate values ​​indicating the positions of the control axes of the robot 30.

[0042] The program input unit 22 reads the numerical control program from the storage unit 21 and gradually inputs it to the analysis unit 23. In addition, the program input unit 22 reads various information such as machine coordinate values, robot coordinate values, and robot teaching positions stored in the storage unit 21 and inputs them to the analysis unit 23.

[0043] The analysis unit 23 analyzes the instruction type based on the numerical control program input from the program input unit 22 for each instruction program block, and obtains information about the custom macro variable from the robot control variable unit 26. The analysis unit 23 outputs instructions for controlling the machine tool 20 to the interpolation control unit 24 and the I / O control unit 25 based on the analysis results of the numerical control program and the custom macro variables. The custom macro variables are described below as variables.

[0044] In the present embodiment, when the robot control variables are updated, the analyzing unit 23 outputs a command for operating the target system to the interpolation control unit 24 and the I / O control unit 25 based on the information specifying the system.

[0045] The interpolation control unit 24 is connected to the servo control unit 27, and interpolation control such as linear interpolation, circular interpolation, and helical interpolation is performed through the servo control unit 27. The servo control unit 27 generates a machine tool control signal for controlling the operation of the machine tool 20, and inputs it to the actuators driving various axes of the machine tool 20. The machine tool 20 operates according to the machine tool control signal to process a workpiece not shown in the figure. After the operation of the machine tool 20 is controlled according to the numerical control program, the above-mentioned machine coordinate value is updated by the latest machine coordinate value.

[0046] The robot control variable unit 26 analyzes the commands in the machining program read and written by the robot control device 3 and updates the variables.

[0047] The data communication unit 28 exchanges various commands and data with the data communication unit 39 of the robot control device 3 .

[0048] Next, the structure of the robot control device 3 will be described in detail. Figure 2 As shown, the robot control device 3 includes a storage unit 31, a program input unit 32, an analysis unit 33, a trajectory control unit 34, a kinematic control unit 35, a servo control unit 36, a system setting unit 37, a robot control variable unit 38 and a data communication unit 39 in order to control the movement of the robot 30.

[0049] The storage unit 31 stores various information such as the robot control program. The robot control program is created based on, for example, an operator's operation. The robot control program is composed of a plurality of instruction blocks for the robot 30 for controlling the actions of the robot 30. The various information is, for example, machine coordinate values, robot coordinate values, robot teaching positions, and the like.

[0050] The program input unit 32 reads the robot control program from the storage unit 31 and inputs the program to the analysis unit 33 .

[0051] The analyzing unit 33 determines the command type of the input robot control program and sends a command of an operation plan based on the analysis result to the trajectory control unit 34 .

[0052] When a command of a motion plan is input from the analyzing unit 33 , the trajectory control unit 34 calculates time series data of control points of the robot 30 and outputs the calculated data to the kinematic control unit 35 .

[0053] The kinematics control unit 35 calculates the target angle of each joint of the robot 30 by inverse kinematics calculation based on the input time series data, and outputs it to the servo control unit 36. Here, the inverse kinematics calculation of the robot 30 refers to a calculation method for calculating the angle of each joint based on the finger position and posture of the robot 30.

[0054] The servo control unit 36 ​​performs feedback control on each servomotor of the robot 30 in order to realize the target angle input from the kinematic control unit 35 , thereby generating a robot control signal for the robot 30 and inputting the signal to the servomotor of the robot 30 .

[0055] Furthermore, when the analyzing unit 33 of the present embodiment analyzes that the command type of the input robot control program is a read / write command of a variable of the numerical controller 2 , the analyzing unit 33 notifies the target system included in the read / write command.

[0056] The read and write commands are read commands and write commands. Figure 3 70 is a diagram showing an example of a robot control program including a read command 60 and a write command 70. The read command 60 has four parameters, namely, a first independent variable 61, a second independent variable 62, a third independent variable 63, and a fourth independent variable 64. The first independent variable 61 indicates the machine that is the object of the read command 60, and is "MACHINE1" in this example. The second independent variable 62 is a system number (system information) for identifying which system it is from a plurality of systems, and is "1" in this example. The third independent variable 63 is a macro variable number for identifying a macro variable of the object, and is "100" in this example. The fourth independent variable 64 indicates the address where the read value is stored, and is "1" in this example.

[0057] In addition, the write command 70 also has four parameters, namely, the first argument 71, the second argument 72, the third argument 73, and the fourth argument 74. The first argument 71 indicates the machine that is the object of the write command 70, and is "MACHINE1" in this example. The second argument 72 is a system number (system information) for specifying which system is the object from a plurality of systems, and is "1" in this example. The third argument 73 is a macro variable number for specifying the macro variable of the object, and is "100" in this example. The fourth argument 74 indicates the value written in the macro variable of the object, and is "1" in this example.

[0058] The system setting unit 37 sends a command for reading and writing variables of the target system to the robot control variable unit 38 based on the robot control program including the read command 60 and the write command 70 .

[0059] The robot control variable unit 38 sends a variable read / write instruction to the data communication unit 39 based on the instruction notified from the system setting unit 37. The data communication unit 39 sends and receives instruction signals to the data communication unit 28. The variable read / write instruction is sent to the robot control variable unit 26 via the data communication unit 28.

[0060] Next, refer to Figures 4 to 8 Specific embodiments of the control system 1 and the system 2 will be described. Figure 4Schematic diagram of the mechanical structure of system 1 and system 2. Figure 4 The system 1 and the system 2 are shown. The system 1 processes the workpiece W1 placed on the table 53 by the second turret 52 , and the system 2 processes the workpiece W2 placed on the table 54 by the first turret 51 .

[0061] Figure 4 Z1 of system 1 represents the z-axis direction, corresponding to the variable representing the coordinate of the z-axis direction of system 1. X2 represents the x-axis direction, corresponding to the variable representing the coordinate of the x-axis direction of system 1. Similarly, Z2 of system 2 represents the z-axis direction, corresponding to the variable representing the coordinate of the z-axis direction of system 2. X1 represents the x-axis direction, corresponding to the variable representing the coordinate of the x-axis direction of system 2.

[0062] Figure 5 3 is a diagram showing an example of a robot control program input from the program input unit 32 to the analysis unit 33. Figure 5 As shown, the label [1] is described in the first line. The "Call WR CNC_MACRO('MACHINE1',1,101,1)" in the second line is a read command of system 1, and performs the read processing of the processing start request of system 1. The "Call WR CNC_MACRO('MACHINE1',2,101,1)" in the third line is a read command of system 2, and performs the read processing of the processing start request of system 2.

[0063] The label [2] is written in the 4th line. The "wait 10.0 sec" in the 5th line is a 10-second standby process. The "call RD_CNC_MACRO('MACHINE1',1,101,1)" in the 6th line is a write command for system 1. "If register [1] = ON, jump to label 2" is a process to confirm that the processing of system 1 is completed. When the condition "If register [1] = ON" is met, the process is transferred to "label 2".

[0064] Label [3] is written in line 7. "Standby 10.0 sec" in line 8 is a 10-second standby process. In line 9, "Call RD_CNC_MACRO('MACHINE1',2,101,2)" is a write command for system 2. "If register [2] = ON, jump to label 3" is a process to confirm that the processing of system 2 is completed. When the condition "If register [2] = ON" is met, the process is transferred to label 3.

[0065] like Figure 5 As shown, in the robot control program, the robot control device 3 performs processing for distinguishing between reading and writing variables in the system. Figure 62 is a diagram showing an example of the allocation of custom macro variables of a numerical control program read and written by the robot controller 3. Figure 6 In the example, variable #100 is a variable indicating a program stop request, #100=0 means a request OFF, and #100=1 means a request ON. In addition, variable #101 means a processing request, variable #102 means a door open request, variable #103 means a door close request, variable #104 means a chuck open request, and variable #105 means a chuck close request. In any of variables #101 to #105, 0 means a request OFF, and 1 means a request ON.

[0066] Next, refer to Figure 7 and Figure 8 , indicating that Figure 7 The control of system 1 and system 2 under the condition where variables have been set is shown in the example.

[0067] Figure 7 1 is a diagram showing an example of a main program and a subroutine of the system 1. Figure 7 Shown in Figure 5 The program of system 1 is called in the robot control program.

[0068] First, the control of system 1 is described. A conditional branch is set at sequence number "N10". In the first "IF[#101EQ 1]GOTO20", when variable #101=1 is established, the processing is transferred to sequence number "N20". In sequence number "N20", subroutine O1000 corresponding to program number 1000 is called and executed by "M98P1000".

[0069] In subroutine O1000, positioning processing is performed based on the coordinates of X2=100 and Z1=100 by "G00". Positioning processing is processing that moves linearly to the coordinates of Z1=0 at a feed rate based on F=1000 by "G01". Next, 0 indicating request OFF is input to "#101", and the subroutine is terminated by "M99". After subroutine O1000 is terminated, the processing is returned to sequence number "N10" by "GOTO10", and the processing of conditional branching is repeated.

[0070] When #101=1 is not true in the initial "IF[#101EQ 1]GOTO20", the processing is transferred to "IF[#102EQ1]GOTO30". When #102=1 is true in this "IF[#102EQ 1]GOTO30", the processing is transferred to the sequence number "N30" which is omitted from the diagram. In the sequence number "N30", although the specific processing is omitted, the processing related to the action of opening the door is executed. When #102=1 is not true in "IF[#102EQ 1]GOTO30", the processing is transferred to "IF[#103EQ 1]GOTO40". When #103=1 is true in this "IF[#103EQ 1]GOTO40", the processing is transferred to the sequence number "N40" which is omitted from the diagram. In the sequence number "N40", although the specific processing is omitted, the processing related to the action of closing the door is executed. When #103=1 is not true in "IF[#103EQ 1]GOTO40", the processing is transferred to "IF[#104EQ 1]GOTO50". When #104=1 is true in "IF[#104EQ 1]GOTO50", the processing is transferred to the sequence number "N50" which is omitted from the diagram. In the sequence number "N50", although the specific processing is omitted, the processing related to the action of opening the chuck is executed. When #104=1 is not true in "IF[#104EQ 1]GOTO50", the processing is transferred to "IF[#105EQ 1]GOTO60". When #105=1 is true in "IF[#105EQ 1]GOTO60", the processing is transferred to the sequence number "N60" which is omitted from the diagram. In the sequence number "N60", although the specific processing is omitted, the processing related to the action of closing the chuck is executed.

[0071] When the judgment condition of "IF[#105EQ 1]GOTO60" is not satisfied, the judgment of "IF[#100EQ 1]GOTO100" is performed. When the judgment condition of "IF[#100EQ 1]GOTO100" is satisfied, the program is terminated by "M30" in sequence number "N100".

[0072] Figure 8 2 is a diagram showing an example of a main program and a subroutine of system 2. Figure 8 Shown in Figure 5 The program of system 2 is called in the robot control program of Figure 8 In the example, we also Figure 7 The example shown is handled in the same way. Figure 8 The difference in the example is that in sequence number "N20", subroutine O2000 corresponding to program number 2000 is called through "M98P2000".

[0073] In subroutine O2000, positioning processing is performed based on the coordinates of X1 = 200 and Z2 = 0 by "G00". Positioning processing is processing that moves linearly to the coordinates of Z2 = 1000 at a feed rate of F = 1000 by "G01". Next, 0 indicating request OFF is input to "#101", and the subroutine is terminated by "M99". After subroutine O2000 is terminated, the processing returns to sequence number "N10" by "GOTO10", and the processing of conditional branching is repeated.

[0074] In reference Figure 8 and Fig. 9 In the example described, variables #100 to #105 are common between system 1 and system 2. In the configuration of this embodiment, since system 1 and system 2 are distinguished in the command output from robot controller 3, the numerical controller 2 can identify the system.

[0075] Next, refer to Fig. 9 The flow of the system selection process of the numerical control system 1 will be described. Fig. 9 : is a flowchart showing an example of the processing of the numerical control system 1 according to one embodiment of the present disclosure. Fig. 9 Only one example of the flow of the system selection process is described, and other parallel processes are omitted.

[0076] First, the program input unit 32 of the robot control device 3 reads the robot control program from the storage unit 31 and executes an input process to the analysis unit 33 (step S1 ).

[0077] Next, the analysis unit 33 performs analysis processing, and the analysis processing determines the instruction category of the input robot control program. When the instruction category is analyzed as a variable read and write command of the numerical control device 2, the system information of the system and the variables belonging to the system are obtained, and the target system is notified to the system setting unit 37 (step S2).

[0078] The system setting unit 37 of the target system notified in step S2 executes a setting process of outputting the target system notified by the analyzing unit 33 and the variables belonging to the target system to the robot control variable unit 38 (step S3).

[0079] The robot control variable unit 38 performs an update process, in which the data communication unit 39 sends the object system and the variables belonging to the object system to the data communication unit 28 of the numerical control device 2, thereby updating the object system and the variables belonging to the object system of the robot control variable unit 26 of the numerical control device 2 (step S4).

[0080] Robot controller 3 executes a machining request process to instruct the target system of machine tool 20 to perform machining, and the target system of machine tool 20 performs machining on the workpiece (step S5 ). This process ends as described above.

[0081] As described above, the numerical control system 1 of the present embodiment includes: a numerical control device 2 having a plurality of control systems; and a robot control device 3 that controls a robot 30 in conjunction with the numerical control device 2. The robot control device 3 includes: a program input unit 32 that obtains a robot control program for controlling the robot 30 from a storage unit 31; an analysis unit 33 that analyzes the robot control program input by the program input unit 32, and obtains a read command and a write command that set variables of the numerical control program for controlling the numerical control device 2 and system information (system number) of a target system from a plurality of control systems of the numerical control device; a system setting unit 37 that outputs a command for reading and writing the variables of the target system based on the information obtained by the analysis unit 33; and a data communication unit 39 that sends a command for reading and writing the variables of the target system to the numerical control device 2, thereby causing the numerical control device 2 to update the variables of the target system.

[0082] In addition, the numerical control method of the present embodiment for controlling the robot control device 3 and the numerical control device 2 in linkage includes: a program input step, obtaining a robot control program for controlling the robot 30 from the storage unit 31; an analysis step, analyzing the robot control program input by the program input step, obtaining variables set with the numerical control program for controlling the numerical control device 2, and a read command and a write command for determining the system information (system number) of the target system from the multiple control systems possessed by the numerical control device 2; a system setting step, outputting instructions for reading and writing the variables of the target system based on the information obtained by the analysis step; and an update step, in which the robot control device 3 sends instructions for reading and writing the variables of the target system to the numerical control device 2, thereby causing the numerical control device 2 to execute an update of the variables of the target system.

[0083] The robot controller 3, numerical control system 1, and numerical control method of this embodiment have the following effects. That is, even when the numerical control device 2 has multiple control systems and the variables are common in each control system, the robot controller 3 can read and write the variables of the numerical control device 2 according to the system. Therefore, it is possible to appropriately update the variables of the target system without setting the variables of different systems on the numerical control device 2 side, and the linkage control between the numerical control device 2 having multiple control systems and the robot controller 3 can be appropriately realized without complicating it.

[0084] Furthermore, the analyzing unit 33 of the robot controller 3 of the present embodiment outputs a command for controlling the robot in a manner interlocking with a plurality of control systems controlled by the numerical controller 2 based on the updated variable of the target system.

[0085] This makes it possible to appropriately perform linkage between the numerical controller 2 having a plurality of control systems and the robot controller 3 .

[0086] In addition, in the present embodiment, the plurality of control systems (system 1 and system 2) each controls at least one of the tool rest, turret, table, and spindle to process a workpiece, and controls at least one of the tool rest, turret, table, and spindle based on the variable of the target system updated by the numerical control device 2. In the present embodiment, the first turret 51, the second turret, the table 53, and the table 54 are the control targets.

[0087] Thus, since each of the plurality of control systems includes at least one of the tool post, the turret, the table, and the spindle, even when a variety of controls are set, it is possible to construct an efficient control program using variables.

[0088] In addition, the present disclosure is not limited to the above-mentioned embodiment, and various changes and modifications can be made.

[0089] Description of Reference Numerals

[0090] 1 Numerical control system

[0091] 2 Numerical control device

[0092] 3 Robot control device

[0093] 20 Machine Tools

[0094] 30 Robot

[0095] 31 Storage

[0096] 32 Program input unit

[0097] 33 Analysis Department

[0098] 37 System Settings

[0099] 39 Data Communications Department.

Claims

1. A robot control device, characterized in that: have: a program input unit that obtains a robot control program for controlling the robot from the storage unit; an analyzing unit that analyzes the robot control program input by the program input unit, and obtains a variable of the numerical control program that controls the numerical control device, and a read command and a write command for specifying system information of a target system from among a plurality of control systems included in the numerical control device; a system setting unit that outputs a command for reading and writing a variable of the target system based on the information acquired by the analyzing unit; A data communication unit transmits a command for reading and writing the variable of the target system to the numerical controller, thereby causing the numerical controller to update the variable of the target system.

2. The robot control device according to claim 1, characterized in that: The analyzing unit outputs a command for controlling the robot in a manner interlocking with the plurality of control systems controlled by the numerical controller based on the updated variable of the target system.

3. The robot control device according to claim 1 or 2, characterized in that: The multiple control systems each control at least one of the tool rest, turret, worktable and spindle to process a workpiece, and control at least one of the tool rest, turret, worktable and spindle based on the variables of the object system updated by the numerical control device.

4. A numerical control system, characterized in that: have: A numerical control device having a plurality of control systems; a robot control device that controls the robot in conjunction with the numerical control device, The robot control device comprises: a program input unit that obtains a robot control program for controlling the robot from the storage unit; an analyzing unit that analyzes the robot control program input by the program input unit, and obtains a variable set in the numerical control program for controlling the numerical control device, and a read command and a write command for specifying system information of a target system from a plurality of control systems included in the numerical control device; a system setting unit that outputs a command for reading and writing a variable of the target system based on the information acquired by the analyzing unit; a data communication unit that sends a command for reading and writing a variable of the target system to the numerical control device, The numerical controller updates the variables of the target system based on a command for reading and writing the variables of the target system received from the robot controller.

5. The numerical control system according to claim 4, characterized in that: The analyzing unit outputs a command for controlling the robot in a manner interlocking with the plurality of control systems controlled by the numerical controller based on the updated variable of the target system.

6. The numerical control system according to claim 4 or 5, characterized in that: The multiple control systems each control at least one of the tool rest, turret, worktable and spindle to process a workpiece, and control at least one of the tool rest, turret, worktable and spindle based on the variables of the object system updated by the numerical control device.

7. A numerical control method for controlling a robot control device and a numerical control device in linkage, characterized in that: The numerical control method comprises: a program input step of acquiring a robot control program for controlling the robot from a storage unit; an analysis step of analyzing the robot control program inputted by the program input step, obtaining variables of the numerical control program for controlling the numerical control device, and a read command and a write command for specifying system information of a target system from among a plurality of control systems possessed by the numerical control device; a system setting step of outputting instructions for reading and writing variables of the target system based on the information obtained by the analyzing step; In the updating step, the robot control device sends a command for reading and writing the variable of the target system to the numerical control device, thereby causing the numerical control device to execute the updating of the variable of the target system.

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