Control device and computer-readable storage medium

Abstract

In the present invention, a reversal correction processing is performed without adding unnecessary delays in instructions or the like. A control device (1) according to the present disclosure comprises: a program analysis unit (100) for analyzing a control program for instructing the operation of an industrial machine in order to generate a motion command; an interpolation unit (110) for generating initial motion command data of interpolation periods relating to respective axes of the industrial machine based on the motion command; a reversal detection unit (120) for detecting, based on the initial motion command data calculated by the interpolation unit, a time at which a direction of movement of a predetermined axis is reversed;an acceleration / deceleration unit (130) to generate second motion command data obtained by performing predetermined acceleration / deceleration processing on the first motion command data; and a servo control unit (140) to control a motor with respect to each of the axes of the industrial machine in accordance with the second motion command data. The servo control unit performs reversal correction processing on the second motion command data based on the time detected by the reversal detection unit at which the direction of motion of the predetermined axis is reversed.

Description

Technical field

[0001] The present disclosure relates to a control device and a computer-readable storage medium. State of the art

[0002] When the direction of movement of a feed axis in a machine tool is changed, the direction of a frictional force reverses. Consequently, the direction of deformation in a mechanical unit also reverses. If the influence of the reversal in the direction of the frictional force and the reversal in the direction of the deformation is not eliminated, the feed axis's path of movement will deviate from its intended path. Various methods have been devised to correct this phenomenon (e.g., patent literature 1 and 2). State of the art document (patent literature) [Patent Literature 1] Japanese Patent Application No. 2012-093989 [Patent Literature 2] Japanese Patent Application No. H05-011824 Summary of the invention Problems to be solved by the invention

[0003] In the case of a correction taking into account the reversal of the direction of frictional force and the reversal of the direction of deformation, the correction of a speed command or a torque command must begin slightly before the actual reversal of the axis to minimize its influence. Thus, a motion command for the feed axis must be aware of the occurrence of the reversal in advance. For example, there is a method that delays the transmission of the motion command to a control unit for the feed axis by a given time interval, in order to detect the reversal first during the delay period and adjust the timing of the correction accordingly. Another method begins the execution of a reversal correction command by advancing the time relative to the reversal time of a motor.However, both methods cause various problems, such as unnecessary delays in responding to a change in a target speed and an emergency stop request.

[0004] Therefore, there is a need for a technology that performs reverse correction processing without adding unnecessary instruction delays. Means to solve the problem

[0005] A control device for an industrial machine according to the present disclosure detects the reversal of the motion command and determines a reversal state before acceleration / deceleration processing to be applied to each axis in order to solve the above-mentioned problems without delaying the command.

[0006] One aspect of the present disclosure is a control device comprising: a program analysis unit that analyzes a control program for instructing the operation of an industrial machine in order to generate a motion command; an interpolation unit that, based on the motion command, creates initial motion command data in each interpolation period for each axis included in the industrial machine; a reversal detection unit that, based on the initial motion command data calculated by the interpolation unit, detects a time at which a direction of motion of a predetermined axis is reversed; an acceleration / deceleration unit that creates secondary motion command data by performing predetermined acceleration / deceleration processing on the initial motion command data calculated by the interpolation unit;and a servo control unit configured to control a motor for each axis of the industrial machine based on the second motion command data, wherein the servo control unit performs a reversal correction processing on the second motion command data based on the time detected by the reversal detection unit at which the direction of motion of the predetermined axis is reversed. Brief description of the drawings Fig. Figure 1 is a schematic hardware configuration diagram of a control device according to a first embodiment; Fig. Figure 2 is a block diagram showing schematic functions of the control device according to the first embodiment; Fig. Figure 3 is a graph showing an example of motion command data about a predetermined axis, generated by an interpolation unit; Fig. Figure 4 is a graph showing an example of motion command data in each interpolation period during which acceleration / deceleration processing is performed by an acceleration / deceleration unit; and Fig. Figure 5 is a graph showing an example of a servo control unit outputting reversal correction command data. embodiment of the invention

[0007] Embodiments of the present invention will now be described with reference to the accompanying drawings. In the following description, configurations having the same or similar functions are assigned the same reference numerals. Furthermore, the description may not be repeated with respect to these configurations.

[0008] In this application, the expression "based on XX" means "at least based on XX" and includes elements other than XX. Furthermore, the expression "based on XX" is not limited to cases where XX is used directly, but also includes cases where calculations and / or processing are performed on XX. The word "XX" is any element (e.g., any piece of information). First embodiment

[0009] Fig. Figure 1 is a schematic hardware configuration diagram showing a main part of a control device according to an embodiment of the present invention. A control device 1 of the present invention can be implemented as a control device for controlling industrial machines, such as machine tools and robots, which contain a movable object that is moved by driving a motor. In an example below, a description is given of the control device 1, which controls a relative position between a tool and a workpiece in order to control a machine tool for machining the workpiece.

[0010] The control device 1 of the present invention comprises a CPU 11, which is a processor configured to control the entire control device 1. The CPU 11 reads a system program stored in a ROM 12 via a bus 22 in order to control the entire control device 1 according to the system program. A RAM 13 is configured to temporarily store calculation data, display data, various externally entered data, and other information.

[0011] A non-volatile memory 14 consists of a memory backed by a battery (not shown) or a solid-state drive (SSD) and is configured to retain data even when a power source of the control device 1 is switched off. The non-volatile memory 14 stores a control program and data read from an external device 72 via an interface 15, data elements and a control program entered by an input device 71, and data elements acquired by an industrial machine 3. The control program and data stored in the non-volatile memory 14 can be loaded into RAM 13 when executed / used. Furthermore, ROM 12 contains various pre-written system programs, such as known analysis programs.

[0012] Interface 15 is configured to connect the CPU 11 of control device 1 to external device 72, such as USB storage, Compact Flash (trademark), and SD card. A control program and various data for use in controlling industrial machine 3 can be read from external device 72. Additionally, the control program and various data edited in control device 1 can be stored in external device 72. A programmable logic controller (PLC) 16 is configured to output signals via an I / O unit 17 according to a sequence program stored in control device 1, thereby controlling industrial machine 3 and its peripheral devices, such as actuators of a tool turret or robot, and sensors attached to industrial machine 3.In addition, the PLC 16 receives signals from various switches of an operator panel installed on the main body of the industrial machine 3, the peripheral devices and others, and forwards the signals to the CPU 11 after performing the necessary signal processing.

[0013] A display device 70 is configured to display various data output through an interface 18, such as data read into a memory and data elements acquired by executing the control program, the system program, and the like. The input device 71 consists of a keyboard, a pointing device, or the like and is configured to transmit commands and data elements based on operations performed by a worker to the CPU 11 via an interface 19.

[0014] An interface 20 is configured to connect the CPU 11 of the control device 1 to a wired or wireless network 5. For example, the network 5 can communicate using technologies such as serial communication via RS-485 and the like, Ethernet communication (trademark), optical communication, Wireless LAN, Wi-Fi (trademark), and Bluetooth (trademark). The network 5 is connected, for example, to another industrial machine 4, a fog computer 6, or a cloud server 7 to exchange data with the control device 1.

[0015] An axis control circuit 30 for controlling a drive axis contained in the industrial machine 3 is configured to receive a position command for the drive axis from the CPU 11 and, in turn, output the command for the corresponding drive axis to a servo amplifier 40. The servo amplifier 40 is configured to drive a servo motor 50, which is the drive axis, in response to the received command, thereby moving each component of the industrial machine 3 along its axis. The servo motor 50 contains a position detector, so that a position feedback signal is fed back from the position detector to the axis control circuit 30. Based on this position feedback signal, the axis control circuit 30 performs feedback control on the servo motor 50. It should be noted that the hardware configuration diagram in Fig. Figure 1 shows one axis control circuit 30, one servo amplifier 40, and one servo motor 50, but in practice, these components are provided in the number corresponding to the number of axes to be controlled by the industrial machine 3. For example, in the case of controlling a typical machine tool equipped with three linear axes, three sets of axis control circuit 30, servo amplifier 40, and servo motor 50 are prepared to move a spindle attached to the tool and a workpiece relative to the directions of the three linear axes (X-axis, Y-axis, and Z-axis).

[0016] A spindle control circuit 60 is configured to output a spindle speed signal to a spindle amplifier 61 in response to a spindle rotation command. Upon receiving the spindle speed signal, the spindle amplifier 61 rotates a spindle motor 62 of the industrial machine 3 at a specified rotational speed to drive the spindle. A position encoder 63 is coupled to the spindle motor 62. The position encoder 63 is synchronized with the rotation of the spindle to output a feedback pulse, and this feedback pulse is read by the CPU 11.

[0017] Fig. Figure 2 shows the functions included in the control device 1 according to the first embodiment of the present disclosure in a schematic block diagram. Each of the functions included in the control device 1 according to the embodiment is implemented such that the CPU 11, which is located in the Fig. The control device 1 shown contains the system program that executes to control the operation of each component of the control device 1.

[0018] The control device 1 of the illustrative embodiment comprises a program analysis unit 100, an interpolation unit 110, a reversal detection unit 120, an acceleration / deceleration unit 130, and a servo control unit 140. Furthermore, the RAM 13 or the non-volatile memory 14 of the control device 1 stores a control program 200 for controlling the industrial machine 3.

[0019] The program analysis unit 100 is configured to sequentially read blocks in the control program and analyze these blocks. Based on the analysis result, the program analysis unit 100 then generates a motion command for a path along which a drive unit of the industrial machine 3 is moved. The motion command generated by the program analysis unit 100 for the path takes into account, for example, an offset relative to a tool. The program analysis unit 100 then outputs the generated motion command to the interpolation unit 110.

[0020] The interpolation unit 110 is configured to perform interpolation processing to calculate the stroke of each axis in the industrial machine 3 in each interpolation period, based on the motion command generated by the program analysis unit 100. The interpolation unit 110 then generates motion command data specifying the stroke of each axis in each interpolation period. Finally, the interpolation unit 110 outputs this generated motion command data to the reversal detection unit 120 and the acceleration / deceleration unit 130 in each interpolation period.

[0021] The reversal detection unit 120 is configured to detect a reversal in the direction of movement along each axis of the drive unit contained in the industrial machine 3, based on the motion command data generated by the interpolation unit 110 in each interpolation period. The reversal detection unit 120 notifies the servo control unit 140 of the time of a reversal in the direction of movement in a predetermined axis.

[0022] The acceleration / deceleration unit 130 is configured to perform post-interpolation acceleration / deceleration processing to adjust the stroke in each interpolation period for the motion command data generated by the interpolation unit 110. For example, the post-interpolation acceleration / deceleration processing performed by the acceleration / deceleration unit 130 applies mean-value filtering to the motion command data in each interpolation period to suppress the magnitude of a first derivative value in the motion of the drive unit along the predetermined axis based on the motion command data. The motion command data subjected to post-interpolation acceleration / deceleration processing is intended for acceleration / deceleration over a predetermined acceleration / deceleration time constant period after interpolation.The acceleration / deceleration unit 130 outputs the motion command data subjected to acceleration / deceleration processing to the servo control unit 140 in each interpolation period.

[0023] The servo control unit 140 controls each servo motor 50 based on the motion command data input by the acceleration / deceleration unit 130 in each interpolation period, such that the drive unit of the industrial machine 3 moves along each axis. Additionally, when the reverse detection unit 120 notifies the user that the direction of movement has reversed along the predetermined axis, the servo control unit 140 initiates a reverse correction processing for that axis. This processing simultaneously outputs the motion command data for the servo motor 50 and the reverse correction command data. The reverse correction command data can be used to correct a speed command or, alternatively, to correct a torque command.The correction amount of the reversal correction command data varies depending on the configuration of industrial machine 3 and the structure of any element used for the axis. Therefore, an appropriate correction amount can be determined in advance by conducting experiments. In a machine tool, the effect of reversal correction is confirmed by roundness. Thus, there is also a method that issues a circular command to two feed axes for one or more revolutions and applies repetitive control to it in order to calculate a reversal correction amount from control data after convergence of the position deviation.

[0024] Now, with reference to the Fig. 3 to 5 describe an operation from the detection of the reversal in the direction of movement of the predetermined axis by the reversal detection unit 120 to the output of the reversal correction command data by the servo control unit 140.

[0025] Fig. Figure 3 is a graph showing an example of the motion command data created by the interpolation unit 110 for the predetermined axis. Fig. Figure 3 displays the motion command data for each interpolation period using a white bar graph. The height of the white bar indicates the stroke in the corresponding interpolation period. (See example from...) Fig. 3. The movement command data is processed in each interpolation period T. itp created. Before a time t n The motion command data for a movement around a hub L will be itp in each interpolation period T itp created. Furthermore, after time t n the motion command data for a movement around a hub -L itp in each interpolation period T itp created. When such motion command data is created, the reversal detection unit 120 recognizes that the direction of movement of the predetermined axis is at time t.n The reverse is true.

[0026] Fig. Figure 4 is a graph showing an example of the motion command data in each interpolation period, generated by the acceleration / deceleration unit 130 and subjected to acceleration / deceleration processing. The motion command data in Fig. 4 are the ones in Fig. 3 motion command data shown, on which the post-interpolation acceleration / deceleration processing is performed. According to the example in Fig. 4. The mean filtering is applied to the movement command data before and after time t. n The process is carried out such that the velocity is reduced by multiplying the time by a post-interpolation acceleration / deceleration time constant τ, and then the direction of motion is reversed. The stroke during the interpolation period is recorded at time t. pzero. The direction of motion of an actual axis is determined at this point at time t. p vice versa.

[0027] Fig. Figure 5 is a graph showing an example where the servo control unit 140 outputs the reversal correction command data. Fig. Figure 5 shows the reversal correction command data with a black bar graph. The servo control unit 140 is notified by the reversal detection unit 120 that the direction of movement of the predetermined axis has changed at time t. n The motion command data generated by the interpolation unit 110 is reversed. Furthermore, according to the result of the acceleration / deceleration processing performed by the acceleration / deceleration unit 130, the axis is actually at the point at time t. p Conversely, the servo control unit 140 estimates the period from time t. n until time t p as a reverse correction processing start period T icpAssuming that the acceleration or deceleration before and after the reversal of the direction of motion is constant, the reversal correction processing start period T is icp τ / 2. The servo control unit 140 starts the reversal correction processing at any point between time t. n and the inverse correction processing start period T icp Regarding the timing of the inverse correction processing, experiments can be conducted beforehand to determine how long before time t p The inversion correction processing should be started at the point in time when the axis is actually reversed after the acceleration / deceleration processing. For example, it is sufficient to determine a time in advance through experimentation at which the positional deviation during the inversion is smallest. The time at which the positional deviation is smallest approaches time t. pThe system detects when the acceleration increases during the reversal, allowing the timing to be checked under multiple conditions with varying accelerations during the reversal. This enables the determination of a start time for the reversal correction processing for each condition based on the acceleration during the reversal. For example, an acceleration start time can be set proportional to the acceleration during the reversal of the direction of motion or to the square root of the acceleration during the reversal of the direction of motion. The servo control unit 140 generates the reversal correction command data based on the motion command data and overlays the generated data as a velocity command onto the motion command data to control the speed of the servo motor 50. Fig. Figure 5 shows the velocity command of the reversal correction command data as the correction amount in each interpolation period.

[0028] The control device 1 according to the embodiment with the configuration described above performs the reversal detection and makes a determination about the reversal state of the motion command before the acceleration / deceleration processing usually applied to each axis, so that a delay caused by the acceleration / deceleration processing can be used to perform the correction during the reversal slightly before the reversal occurs, without adding a buffer of a large motion command, thereby reducing the position deviation during the reversal.

[0029] As a variation of the control device 1 according to the illustrative embodiment, the servo control unit 140 can estimate the value of the inverse correction processing start period T. icpThe acceleration or deceleration before and after reversing the direction of movement of the predetermined axis is increased or decreased according to the acceleration or deceleration before and after the reversal of the axis's direction of movement. Thus, if the axis's direction of movement is indeed reversed, the reversal detection unit 120 can notify the servo control unit 140 of the acceleration before and after the reversal, or of the change in acceleration over a predetermined period after the reversal. In a case where there is a difference in the command speeds before and after the reversal of the direction of movement, the acceleration / deceleration unit 130 performs averaging filtering on the motion command data for each interpolation command, so that the period until the stroke becomes zero will not simply be τ / 2.For example, in a case where the command velocity after reversing the direction of motion is large, the period until the stroke in the motion command data becomes zero after acceleration / deceleration processing is longer than τ / 2. In a case where the command velocity after reversing the direction of motion is small, the period until the stroke in the motion command data becomes zero after acceleration / deceleration processing is shorter than τ / 2. Then the servo control unit 140 estimates the reversal correction processing start period T. icp Enter as less than τ / 2 if the acceleration or deceleration after reversing the direction of motion of the predetermined axis is greater than the acceleration or deceleration before the reversal, or estimate the reversal correction processing start period T. icpEnter as less than τ / 2 if the acceleration or deceleration is smaller. For example, the following equation 1 can be used to determine the inverse correction processing start period T. icp to estimate. In Equation 1, the term τ is the post-interpolation acceleration / deceleration time constant, and the term A is a square root of a value obtained by dividing the pre-reversal acceleration by the post-reversal acceleration. The pre- and post-reversal accelerations can be calculated as suitable based on the pre- and post-reversal stroke changes in the motion command data generated by the Interpolation Unit 110 and the acceleration / deceleration processing algorithm used by the Acceleration / Deceleration Unit 130. With such a configuration, the reversal correction processing can be started at an appropriate time. Ticp=τ⋅A1+A

[0030] As a further variation of the control device 1 according to the illustrative embodiment, the servo control unit 140 can monitor the change in the motion command data generated by the interpolation unit 110 after the time notified by the reversal detection unit 120 at which the direction of motion along the predetermined axis is reversed, and recalculate the reversal time if the acceleration is increased or decreased. At this point, after the stroke in each interpolation period reaches a predetermined value in the motion command data generated by the interpolation unit 110, the servo control unit 140 can measure the time until the velocity after the post-interpolation acceleration / deceleration reaches the predetermined value at one or more points, in order to calculate the reversal time based on the measured time.

[0031] As yet another variation of the control device 1 according to the illustrative embodiment, the servo control unit 140 can, in a case where the time of reversal of the direction of movement of the predetermined axis in the motion command data after acceleration / deceleration processing by the acceleration / deceleration unit 130 differs from the endpoint of the estimated reversal correction processing start period Ti cp If the actual time of reversal differs, the correction amount in the reversal correction instruction data can be changed in each interpolation period. For example, in a case where the actual time of reversal is slower than the endpoint of the estimated reversal correction processing start period T, the correction amount can be changed. icpThe correction amount in each interpolation period is decreased by the reversal correction instruction data, and in a case where the actual time of reversal is faster, the correction amount in each interpolation period can be increased by the reversal correction instruction data. At this point, an accumulated correction amount is adjusted by the reversal correction instruction data to ensure consistency. With such a configuration, appropriate reversal correction processing can be performed even if the actual time of reversal differs from the estimated time of reversal.

[0032] The present disclosure has been described in detail, but is not limited to the individual embodiments described above. Thus, various additions, substitutions, modifications, partial deletions, and so forth may be made to these embodiments without deviating from the core or spirit of the disclosure as derived from the content described in the appended claims and their equivalents. For example, the sequence of operations and the sequence of processes in the embodiments described above are presented as examples and are not limited thereto. The same applies to cases in which numerical values ​​or formulas are used in the embodiments described above.

[0033] Additional remarks on the embodiments of the present disclosure are set out below. Supplementary Note 1

[0034] A control device (1) according to one aspect of the present disclosure comprises a program analysis unit (100) that analyzes a control program (200) for instructing an industrial machine (3) to operate in order to generate a motion command, an interpolation unit (110) that, based on the motion command, creates initial motion command data in each interpolation period for each axis contained in the industrial machine (3), a reversal detection unit (120) that, based on the initial motion command data calculated by the interpolation unit (110), detects a time at which the direction of motion of a predetermined axis is reversed, an acceleration / deceleration unit (130) that creates secondary motion command data by performing predetermined acceleration / deceleration processing on the initial motion command data calculated by the interpolation unit (110), and a servo control unit (140).which controls a motor for each axis of the industrial machine based on the second motion command data, wherein the servo control unit (140) performs a reversal correction processing on the second motion command data based on the time detected by the reversal detection unit (120) at which the direction of movement of the predetermined axis is reversed. Supplementary Note 2

[0035] The control device (1) according to one aspect of the present disclosure, wherein the servo control unit (140) starts the reversal correction processing at a reversal processing start period from the time detected by the reversal detection unit (120) at which the direction of movement of the predetermined axis is reversed, until the direction of movement of the predetermined axis is reversed in the second motion command data. Supplementary Note 3

[0036] The control device (1) according to one aspect of the present disclosure, wherein the servo control unit (140) estimates that the inverse processing start period is half the time of a post-interpolation acceleration / deceleration time constant set for the axis concerned. Supplementary note 4

[0037] The control device (1) according to one aspect of the present disclosure, wherein the servo control unit (140), when the acceleration varies before and after the time at which the direction of movement of the predetermined axis is reversed, increases or decreases an estimated value of the reversal processing start period depending on the acceleration before and after the reversal. Supplementary note 5

[0038] The control device (1) according to one aspect of the present disclosure, wherein the servo control unit (140) estimates the reversal processing start period as longer than half the time of the post-interpolation acceleration / deceleration time constant when the acceleration after reversal is reduced with respect to the acceleration before the time at which the direction of motion of the predetermined axis is reversed, and estimates the reversal processing start period as shorter than half the time of the post-interpolation acceleration / deceleration time constant when the acceleration after reversal is increased. Supplementary Note 6

[0039] The control device (1) according to one aspect of the present disclosure, wherein the servo control unit (140) estimates the reverse processing start period using the following equation 1: Ticp=τ⋅A1+A where the term Ti cpwhere the inversion correction processing start period is the term τ is the post-interpolation acceleration / deceleration time constant, and the term A is a square root of a value obtained by dividing the pre-inversion acceleration by the post-inversion acceleration. Supplementary note 7

[0040] The control device (1) according to one aspect of the present disclosure, wherein the servo control unit (140) observes a change in the initial motion command data after the direction of motion has been reversed and recalculates a reversal time based on the change in the initial motion command data. Supplementary Note 8

[0041] The control device (1) according to one aspect of the present disclosure, wherein the servo control unit (140) measures a time at one or more points from the time at which a velocity before the post-interpolation acceleration / deceleration reaches a predetermined value during the deceleration, until the time at which a velocity after the post-interpolation acceleration / deceleration reaches the predetermined value, in order to use the result for recalculating the reversal time. Supplementary note 9

[0042] The control device according to one aspect of the present disclosure, wherein the servo control unit (140) starts the reversal correction processing a predetermined time before the time in the second motion command data at which the direction of motion of the predetermined axis is reversed. Supplementary Note 10

[0043] The control device (1) according to one aspect of the present disclosure, wherein the predetermined time is set such that a position deviation during the reversal is minimized. Supplementary Note 11

[0044] The control device (1) according to one aspect of the present disclosure, wherein the predetermined time is determined based on several conditions in which the acceleration during the reversal differs, and is set to be proportional to the acceleration or a square root of the acceleration of the predetermined axis during the reversal. Supplementary Note 12

[0045] The control device (1) according to one aspect of the present disclosure, wherein, if the time of reversal in the second motion command data at which the direction of motion of the predetermined axis deviates differs from the endpoint of the estimated reversal processing start period, an adjustment is made to decrease a correction amount in each interpolation period in the reversal correction processing if the estimated endpoint is early, or to increase the correction amount in each interpolation period in the reversal correction processing if the endpoint is late. Supplementary Note 13

[0046] The control device (1) according to one aspect of the present disclosure, wherein the adjustment of the correction amount is made to the size of the correction amount in each interpolation period, such that an accumulated correction amount is consistent in the reverse correction processing. Supplementary Note 14

[0047] The control device (1) according to one aspect of the present disclosure, wherein the servo control unit (140) outputs a notification at least about the acceleration when the direction of movement of the predetermined axis is reversed, or a change in acceleration over a predetermined period after the reversal. Supplementary Note 15

[0048] A computer-readable storage medium according to one aspect of the present disclosure, which stores a program that enables a computer to function as: a program analysis unit (100) for analyzing a control program (200) for instructing an industrial machine (3) to operate in order to generate a motion command; an interpolation unit (110) for generating, based on the motion command, initial motion command data in each interpolation period for each axis contained in the industrial machine (3); a reversal detection unit (120) for detecting, based on the initial motion command data calculated by the interpolation unit (110), a time at which the direction of motion of a predetermined axis is reversed;an acceleration / deceleration unit (130) for generating second motion command data by performing predetermined acceleration / deceleration processing on the first motion command data calculated by the interpolation unit (110); and a servo control unit (140) for controlling a motor for each axis of the industrial machine based on the second motion command data, wherein the servo control unit (140) performs reversal correction processing on the second motion command data based on the time detected by the reversal detection unit (120) at which the direction of motion of the predetermined axis is reversed. Reference symbol list 1 Control device 3 industrial machines 4 industrial machines 5 Network 6 Fog Computer 7 cloud servers 11 CPU 12 ROM 13 RAM 14 Non-volatile storage 15, 18, 19, 20 interface 16 PLC 17 I / O units 22 Bus 30-axis control circuit 40 servo amplifiers 50 servo motor 60 Spindle control circuit 61 Spindle amplifiers 62 Spindle motor 63 position encoders 70 Display device 71 Input device 72 External Device 100 program analysis units 110 interpolation unit 120 Reverse detection unit 130 Acceleration / Deceleration Unit 140 servo control unit 200 tax program QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] JP 2012-093989

[0002] JP 05-011824

[0002]

Claims

[1] Control device comprising: a program analysis unit designed to analyze a control program for instructing the operation of an industrial machine in order to generate a motion command; an interpolation unit that is set up to create initial motion command data in each interpolation period for each axis included in the industrial machine, based on the motion command; a reversal detection unit which is configured to detect, based on the initial motion command data calculated by the interpolation unit, a time at which a direction of movement of a predetermined axis is reversed; an acceleration / deceleration unit configured to generate secondary motion command data by performing predetermined acceleration / deceleration processing on the primary motion command data calculated by the interpolation unit; and a servo control unit that is set up to control a motor for each axis of the industrial machine based on the second motion command data, wherein the servo control unit is configured to perform a reversal correction processing on the second motion command data based on the time detected by the reversal detection unit at which the direction of movement of the predetermined axis is reversed. [2] Control device according to claim 1, wherein the servo control unit is configured to start the reversal correction processing at a reversal processing start period from the time detected by the reversal detection unit at which the direction of movement of the predetermined axis is reversed, until the direction of movement of the predetermined axis is reversed in the second motion command data. [3] Control device according to claim 2, wherein the servo control unit is configured to estimate that the inverse processing start period is half the time of a post-interpolation acceleration / deceleration time constant set for the predetermined axis. [4] Control device according to claim 2, wherein the servo control unit, when the acceleration is configured to vary before and after the time at which the direction of movement of the predetermined axis is reversed, increases or decreases an estimated value of the reversal processing start period depending on an acceleration before and after the reversal. [5] Control device according to claim 4, wherein the servo control unit is configured to estimate the reversal processing start period as longer than half the time of the post-interpolation acceleration / deceleration time constant when the acceleration after reversal is reduced with respect to the acceleration before the time at which the direction of motion of the predetermined axis is reversed, and to estimate the reversal processing start period as shorter than half the time of the post-interpolation acceleration / deceleration time constant when the acceleration after reversal is increased. [6] Control device according to claim 5, wherein the servo control unit is configured to estimate the reverse processing start period using equation 1 below: Ticp=τ⋅A1+A where a term T icpwhere the inversion correction processing start period is a term τ is the post-interpolation acceleration / deceleration time constant, and a term A is a square root of a value obtained by dividing the pre-inversion acceleration by the post-inversion acceleration. [7] Control device according to any one of claims 3 to 6, wherein the servo control unit is configured to observe a change in the first motion command data after the direction of motion has been reversed and recalculates a reversal time based on the change in the first motion command data. [8] Control device according to claim 7, wherein the servo control unit is configured to measure a time at one or more points from the time at which a velocity before the post-interpolation acceleration / deceleration reaches a predetermined value during the deceleration, until the time at which a velocity after the post-interpolation acceleration / deceleration reaches the predetermined value, in order to use the result for recalculating the reversal time. [9] Control device according to claim 1, wherein the servo control unit is configured to start the reversal correction processing a predetermined time before the time in the second motion command data at which the direction of movement of the predetermined axis is reversed. [10] Control device according to claim 9, wherein the predetermined time is set to be adjusted such that a position deviation during the reversal is minimized. [11] Control device according to claim 9, wherein the predetermined time is configured to be determined based on several conditions in which the acceleration during the reversal differs, and is set to be proportional to the acceleration or a square root of the acceleration of the predetermined axis during the reversal. [12] Control device according to any one of claims 3 to 6, wherein, if the time of reversal in the second motion command data at which the direction of motion of the predetermined axis is reversed differs from an endpoint of the estimated reversal correction processing start period, an adjustment is made to decrease a correction amount in each interpolation period in the reversal correction processing if an estimated endpoint is early, or to increase the correction amount in each interpolation period in the reversal correction processing if the endpoint is late. [13] Control device according to claim 12, wherein the adjustment of the correction amount is arranged to be made on the size of the correction amount in each interpolation period, so that an accumulated correction amount is consistent in the reverse correction processing. [14] Control device according to claim 1, wherein the servo control unit is configured to output a notification of at least one acceleration when the direction of movement of the predetermined axis is reversed, or a change in acceleration over a predetermined period of time after the reversal. [15] Computer-readable storage medium designed to store a program that enables a computer to function as: a program analysis unit designed to analyze a control program for instructing the operation of an industrial machine in order to generate a motion command; an interpolation unit that is set up to create initial motion command data in each interpolation period for each axis included in the industrial machine, based on the motion command; a reversal detection unit which is configured to detect, based on the initial motion command data calculated by the interpolation unit, a time at which a direction of movement of a predetermined axis is reversed; an acceleration / deceleration unit configured to generate secondary motion command data by performing predetermined acceleration / deceleration processing on the primary motion command data calculated by the interpolation unit; and a servo control unit that is set up to control a motor for each axis of the industrial machine based on the second motion command data, wherein the servo control unit performs a reversal correction processing on the second motion command data based on the time detected by the reversal detection unit at which the direction of movement of the predetermined axis is reversed.

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