Control device and control method for an industrial machine

Abstract

The present invention prevents an unintended operation from being performed on a moving object during a test run when a press control is executed. A control device for executing a press control for pressing a moving object in an industrial machine against an object to be pressed by means of a program command comprises: a first determination unit for determining whether a program containing the program command is executed during the test run; a second determination unit for determining, based on the program command, whether the press control is to be executed; and a control method selection unit for selecting a control method in which no drive control of the axis is performed and the moving object is held stationary when it is determined that the program is to be executed during the test run and that the press control is to be executed.

Description

Technical area

[0001] The present disclosure relates to a control device and a control method for an industrial machine that performs a press control to press a movable object within the industrial machine against an object to be pressed, based on a program command. background

[0002] Control devices that perform a press control to press a movable object, such as a tailstock, against an object to be pressed within an industrial machine are disclosed, for example, in patent documents 1, 2 and 3.

[0003] Patent document 1 discloses a press force control device for a tailstock in which the press force of the tailstock is automatically controlled. In particular, the control device for a tailstock disclosed in patent document 1 comprises a first line that supplies pressurized oil from a pressurized oil source to a pressure chamber on the pressure side of a tailstock cylinder, and a first electromagnetic proportional pressure reducing valve that is connected in the first line. A digital controller performs feedback control so that the pressure detected by a pressure sensor in the first line becomes the pressure received by an NC control unit. In this way, the press force of the tailstock is automatically determined and regulated.

[0004] Patent 2 discloses a control device for a machine tool in a compound lathe, which grips both ends of a long workpiece with two opposing headstocks and machines the workpiece while the two headstocks are driven synchronously. In particular, the control device for a machine tool disclosed in patent document 2 comprises two press completion determination units configured to press the two headstocks against the workpiece, two setpoints for moving the two headstocks, two parameters for setting data required for CNC calculations, such as axis movement data, and two torque limit values ​​for determining the torque values ​​of two Z-axis servomotors.

[0005] Patent document 3 discloses a numerical control device capable of automatically calculating an optimal tailstock clamping force. Specifically, the numerical control device disclosed in patent document 3 comprises a tailstock clamping force calculation unit that uses machine learning to calculate a tailstock clamping force to stabilize the behavior of a workpiece during lathe machining. The numerical control device acquires preconditions, including the current shape of the workpiece, acquires the current tailstock clamping force as state information, acquires at least one of the current vibrations or displacements of the workpiece or the current consumption of the tailstock axis as determination data, updates a value function based on the determination data, and outputs an adjustment value of the state information based on the value function. Citation list of patent documents Patent document 1: Japanese unexamined patent application, publication no. H10-80802 Patent document 2: Japanese unexamined patent application, publication no. H7-186007 Patent document 3: Japanese unexamined patent application, publication no. 2018-130798 Disclosure of the invention Problems to be solved by the invention

[0006] Industrial machines are known to execute press control via program commands such as CNC (Computer Numerical Control) or PLC (Programmable Logic Controller) programs. A technique is known in which the industrial machine is actually operated to perform a test run to verify the validity of the program for the overall operation of the machine. If the program includes press control, there is a possibility that a moving object, such as a tailstock, may be operated in an unintended manner during the test run. For example, if the press control is executed in a state where no object, such as a workpiece to be pressed, is present, there is a possibility that the moving object could enter an area that would be inaccessible if an object to be pressed were present.When performing a test run of the industrial machine, it is desirable not to stop the test run in the middle of program execution.

[0007] Therefore, if a press control is included in a program, there is a need for a control device and a control procedure for an industrial machine that can control the test run in such a way that the moving object does not operate in a manner unintended by the user, without stopping the test run during program execution. Means to solve the problems

[0008] A representative first aspect of the present disclosure relates to a control device for an industrial machine configured to perform a press control to press a movable object within the industrial machine against an object to be pressed, based on a program instruction, wherein the control device comprises: a first determination unit configured to determine whether a program containing the program instruction is executed in the test run; a second determination unit configured to determine, based on the program instruction, whether the press control should be performed; a control method selection unit configured to select a control method for controlling an axis that moves the movable object, based on a determination result of the first determination unit and a determination result of the second determination unit;and an axis control unit configured to control the axis according to the selected control method, wherein the control method selection unit selects a method that does not perform drive control of the axis and keeps the moving object stopped when the first determination unit determines that a test run is to be performed, and the second determination unit determines that press control is to be performed.

[0009] A representative second aspect of the present disclosure relates to a control method for an industrial machine configured to perform a press control to press a movable object within the industrial machine against an object to be pressed, based on a program instruction, wherein the method causes a computer to perform: processing to determine whether a program containing the program instruction is running in test mode; processing to determine, based on the program instruction, whether the press control should be performed; and processing to refrain from performing the drive control of an axis moving the movable object and to keep the movable object stopped when it is determined that a test run is being performed and the press control should be performed. Brief description of the drawings Fig. Figure 1 is an explanatory diagram illustrating the press control for pressing a tailstock against a workpiece. Fig. Figure 2 is a block diagram that represents an example of a configuration of a control device according to a first embodiment of the present disclosure. Fig. Figure 3 is a block diagram that shows an example of a configuration of a control device including a receiving unit. Fig. Figure 4 is an explanatory diagram illustrating the normal operation of a control system including an industrial machine and a control device. Fig. Figure 5 presents an explanatory diagram that provides a first example of the operation of a test run of a control system including an industrial machine and a control device. Fig. Figure 6 presents an explanatory diagram that illustrates a second example of the operation of a test run of a control system including an industrial machine and a control device. Fig. Figure 7 is an explanatory diagram that represents a form of a third example of the operation of a test run of a control system including an industrial machine and a control device. Fig. Figure 8 presents an explanatory diagram illustrating another form of the third example of operating a test run of a control system including an industrial machine and a control device. Fig. Figure 9 presents an explanatory diagram that illustrates another form of the third example of operating a test run of a control system comprising an industrial machine and a control device. Fig. Figure 10 presents an explanatory diagram illustrating a form of the fourth example of operating a test run of a control system comprising an industrial machine and a control device. Fig. Figure 11 presents an explanatory diagram illustrating a fifth example of the operation of a test run of a control system comprising an industrial machine and a control device. Fig. Figure 12 presents a flowchart illustrating an example of the operation of the control device according to the first embodiment. Fig. Figure 13 represents a block diagram illustrating an example configuration of a control device according to a second embodiment of the present disclosure. Preferred method for implementing the invention

[0010] In the following, embodiments of the present disclosure are described in detail with reference to the drawings. Before describing the control device of the embodiments of the present disclosure, the press control implemented by the control device of the embodiments of the present disclosure is explained. The press control is a control for pressing a movable object within an industrial machine against an object to be pressed. The industrial machine can be a machine tool or a robot. As an example of a press control, there is a control for pressing a tailstock against a workpiece to prevent any change in the workpiece during machining. In this case, the tailstock corresponds to the movable object and the workpiece to the object to be pressed.When implementing the press control, the tailstock can serve as the object to be pressed and the workpiece as the moving object, so that the workpiece is pressed against the stationary tailstock.

[0011] Fig. Figure 1 is an explanatory diagram illustrating the press control for pressing a tailstock against a workpiece. A tailstock 31 is controlled so that it aligns itself with a long workpiece 32 in the Fig. The tool 34 approaches the W-axis direction shown in Figure 1 and is pressed against an end face of the long workpiece 32, which is fixed by a chuck 33. The workpiece 32 is machined with a tool 34. The tailstock 31 is connected to a ball screw or a linear motor, which is connected to a motor for rotating a rotary axis. The movement of the tailstock is controlled by an axis control unit 104, described later, which is connected to the motor for rotating the rotary axis or to the linear motor.

[0012] Next, a control device is described that is configured to perform a press control according to the embodiments of the present disclosure. The following description explains an example in which the control device performs a press control to press a tailstock against a workpiece. (First embodiment)

[0013] Fig. Figure 2 is a block diagram illustrating an example of a control device configuration according to a first embodiment of the present disclosure. A control device 10 performs a press control to press the tailstock 31, which serves as a movable object within an industrial machine, against the workpiece 32, which serves as the object to be pressed, based on a program command. The control device 10 comprises a first determination unit 101, a second determination unit 102, a control method selection unit 103, and an axis control unit 104.

[0014] The first determination unit 101 determines, based on the input information, whether a program is executed in the test run and outputs the determination result to the control procedure selection unit 103. The program is a program that controls the entire industrial machine, and the test run of the program is not limited to the press control but also includes, for example, the relative feed control between the workpiece 32, which serves as the object to be pressed, and the tool 34. The program can be, for example, a CNC program, a PLC program, or a program that combines a CNC program and a PLC program. The test run includes a case in which the test run is performed by setting the workpiece 32, which serves as the object to be pressed, and a case in which the test run is performed without setting the workpiece 32, in order to reduce the number of machining operations or for similar reasons.A procedure for determining whether the program is tested by the first determination unit 101 will be described later.

[0015] The second determination unit 102 determines whether a press control should be performed based on the program command and outputs the result to the control procedure selection unit 103. For example, if the program contains a program command "TRQON", which indicates that the torque control is enabled, the second determination unit 102 determines that a press control should be performed. If the program does not include the program command "TRQON", the second determination unit 102 determines that no press control should be performed.

[0016] If, based on the determination result of the first determination unit 101, it is determined that a test run is to be performed, and based on the determination result of the second determination unit 102, it is determined that a press control is to be performed, the control procedure selection unit 103 does not perform any drive control of the axis and keeps the tailstock 31, which serves as the moving object, stationary. However, if the determination result of the first determination unit 101 is determined that no test run is to be performed, and if the determination result of the second determination unit 102 is determined that a press control is to be performed, the control procedure selection unit 103 performs a drive control of the axis that moves the tailstock 31, so that the tailstock 31 is pressed against the workpiece 32.

[0017] The axis control unit 104 controls the axis that moves the tailstock 31 based on a drive control signal output by the control method selection unit 103. In particular, the axis control unit 104 controls a motor or a linear motor that moves the tailstock 31. (Method to determine whether the first determination unit performs a test run)

[0018] Procedures by which the first determination unit 101 determines whether a program is executed in test mode include the following. (1) Determination method based on input information from an input device. The control device 10 receives input information from an external input device, and the first determination unit 101 can use the input information to determine whether a test run is performed. If input information is received from an external input device, it is desirable to insert a receiving unit 105 into the control device 10. Fig. Figure 3 is a block diagram representing a control device 10A into which the receiving unit 105 is inserted. As shown in Fig. As shown in Figure 3, the receiving unit 105 of the control device 10A receives input information from an external input device 20 and outputs the input information to the first destination unit 101. The input information from the external input device 20 includes at least one piece of information selected from the following: an instruction for a test run, entered by a user using the input device 20, such as a keyboard or touch panel; a first operating mode for operating the industrial machine at a speed different from a command speed of the program; a second operating mode for executing the program by a predetermined configuration unit consisting of one or more commands and for pausing program execution until a predetermined trigger is detected after completion of execution; or a third operating mode for operating the program synchronously with an input result from the external input device 20.The first determination unit 101 determines that a test run is performed if the input information contains at least one of the following elements: information indicating a test run; or information indicating the three operating modes mentioned above. (2) Determination procedure based on input information from the axis control unit. As described above, there are cases in which it is desirable to perform a test run without setting the workpiece 32, for example, to reduce the number of machining operations. In such a case, the first determination unit 101 can perform a determination during the determination process based on input information from the axis control unit, for example, based on at least one of two types of information: a support force received by the tailstock 31 when a press control is commanded, or a travel distance of the tailstock 31 when a press control is commanded. If the workpiece 32 is not set, the tailstock 31 does not receive a support force equal to or greater than a predetermined value and is not stopped by the workpiece 32, thus increasing the travel distance of the tailstock 31.Whether a press control is requested can be determined by a notification of the second determination unit 102.

[0019] The support force absorbed by the tailstock 31 is detected by a pressure sensor mounted at the tip of the tailstock 31. If the first determination unit 101, based on a detected value of the support force output by the pressure sensor, determines that the tailstock 31 is not absorbing a support force equal to or greater than a predetermined value, the first determination unit 101 determines that a test run is to be performed. Since the support force absorbed by the tailstock is proportional to the torque of a motor, the support force can also be obtained based on a torque value. The torque value can be calculated, for example, by multiplying a drive current by a torque constant.When the tailstock 31 is moved by the motor, its travel distance can be detected by a distance sensor, for example, a rotary encoder attached to a motor or a linear scale attached to the tailstock 31. If the first determining unit 101, based on a travel distance output by the distance sensor, determines that the travel distance of the tailstock 31 exceeds a predetermined distance, the first determining unit 101 determines that a test run is performed.

[0020] The following describes a specific example of the operation of the control device 10. (Operation when the control device is performing normal operation)

[0021] As in Fig. As shown in Figure 4, the control device 10 controls an industrial machine 30 based on a program. Fig. Figure 4 is an explanatory diagram that presents a first example of a control system comprising an industrial machine and a control device. The industrial machine 30 comprises the tailstock 31, the chuck 33 to which the long workpiece 32 is attached, and the tool 34, as shown in Figure 4. Fig. 1 shown.

[0022] As in Fig. As shown in Figure 4, the control device 10, via the program, controls the tailstock 31 so that it moves in the negative direction along the W-axis and is pressed against the workpiece 32. The command "F6000" in the program indicates a feed rate of 6000 mm / min for the tailstock 31. The workpiece 32 is positioned at the coordinates "X0" and "Z0", and the tailstock 31 moves from position "WO" to position "W-20". Position "W-20" is the position at which the tailstock 31 presses the workpiece 32.

[0023] Since the program contains the command "TRQON" including this function, the second determining unit 102 determines that a press control should be performed. Because the first determining unit 101 does not receive any input information indicating a test run (such as input information from the input device or the axis control unit) from the receiving unit or other sources, the first determining unit 101 determines that the operation is not a test run but normal operation. The command "TRQON" in the program represents a command to activate the torque control, and in response to this command, the torque of the tailstock 31 is regulated to a constant value, thereby performing a press control in the negative direction along the W-axis with a torque of 0.1 N·mm.

[0024] If the control procedure selection unit 103 determines, based on the determination result of the first determination unit 101, that the process is normal operation and not a test run, and determines, based on the determination result of the second determination unit 102, that a press control is to be carried out, the control procedure selection unit 103 controls the axis that moves the tailstock 31 via the axis control unit 104, so that the tailstock 31 is pressed against the workpiece 32.

[0025] Next, four examples of the operation of the control device during a test run are described. (Operation when the control device performs a test run based on a test run switching instruction)

[0026] Fig. Figure 5 presents an explanatory diagram illustrating a first example of the operation of a test run of a control system, including an industrial machine and a control device. The control device 10A receives a switching signal (serving as input information) via the receiver unit 105. This signal is entered by a user via a switch on a control panel 21, which serves as the input device 20, to initiate a test run. When the first destination unit 101 receives the switching signal from the receiver unit 105, the first destination unit 101 determines that a test run is to be performed.

[0027] As in Fig. As shown in Figure 5, the control device 10A uses a program to control the tailstock 31 so that it moves in the negative direction along the W-axis and into the clamping position of the workpiece 32, similar to the following: Fig. 4 described. Since the program contains the command “TRQON”, the second determining unit 102 specifies that a press control should be carried out.

[0028] The control procedure selection unit 103 determines, based on the determination results of the first determination unit 101 and the second determination unit 102, that no drive control of the axis for pressing the tailstock 31 against the workpiece 32 should be carried out, and prevents the tailstock 31 from moving in the W-axis direction. (Operation of the control device at a speed that differs from the program command)

[0029] Fig. Figure 6 is an explanatory diagram that presents a second example of the operation of a test run of a control system including an industrial machine and a control device. The control device 10A receives a first operating mode switching signal (serving as input information) via the receiver unit 105. This signal is entered by a user via a switch on the control panel 21, which serves as the input device 20, to switch to a first operating mode. The first operating mode is an operating mode in which at least one of the tool 34, workpiece 32, or tailstock 31 within the industrial machine 30 is operated at a speed that differs from the command speed in the program command. The speed in the first operating mode is a speed that was previously stored in the control device 10A for idle operation (operation without actual machining of the workpiece 32). Fig. Figure 6 shows an example where the feed rate of the tool 34 in the Z-axis direction is set to an idle speed V1 that differs from the command speed in the program. The idle speed V1 can be greater or less than the command speed in the program; however, for the purpose of reducing idle time, it is advantageous for the idle speed V1 to be greater than the command speed in the program.

[0030] When the first destination unit 101 receives the first operating mode switching signal from the receiving unit 105, the first destination unit 101 determines that a test run is performed. As in Fig. As shown in Figure 6, the control device 10A uses a program to control the tailstock 31 so that it moves in the negative direction along the W-axis and moves into the clamping position of the workpiece 32, similar to the process described in Figure 6. Fig. 5 described operation. Since the program contains the command “TRQON”, the second determining unit 102 specifies that a press control should be carried out.

[0031] The control procedure selection unit 103 determines, based on the determination results of the first determination unit 101 and the second determination unit 102, that no drive control of the axis for pressing the tailstock 31 against the workpiece 32 should be carried out, and prevents the tailstock 31 from moving in the W-axis direction. (Operation of the control device when a program command is executed based on a switch press)

[0032] The Fig. Figures 7 to 9 are explanatory diagrams showing various forms of a third example of the operation of a test run of a control system comprising an industrial machine and a control device. The control device 10A receives a second operating mode switching signal (serving as input information) via the receiver unit 105. This signal is entered by a user via a switch on the control panel 21, which serves as the input device 20, to switch to the second operating mode. The second operating mode is an operating mode in which the program is executed line by line (block by line), multi-line (multi-block by line), or through specific cycles under several motion commands (cycles) within a block.Each time the user presses a cycle start switch on the control panel 21, a switch pressure signal (a predetermined trigger) is sent to the control device 10A, and the control device 10A executes one line (one block), multiple lines (multiple blocks), or specific cycles under multiple motion commands (cycles) within a block of the program. The control device 10A only executes the program when a switch pressure signal is detected. Except for the execution of the program of one line (one block), multiple lines (multiple blocks), or specific cycles under multiple motion commands (cycles) within a block, the configuration of the control device 10A corresponds to that shown in [reference]. Fig. 6 shown.

[0033] Fig. Figure 7 is an explanatory diagram that illustrates an example where the program is executed line by line. As shown in Fig. As shown in Figure 7, for example, each time the cycle start switch is pressed, program lines N1 to N6 are executed one after the other, line by line. Fig. Figure 8 is an explanatory diagram that presents an example where single-line and multi-line executions of a program are mixed. As in Fig. As shown in Figure 8, for example, each time the cycle start switch is pressed, program lines N1 and N2, N3 and N4 to N6 are executed one after the other. Fig. Figure 9 is an explanatory diagram showing an example where a large number of movement commands (cycles) are executed within a single line of code. As shown in Fig. As shown in Figure 9, for example, pressing the cycle start switch executes cycle "a" of the program and stops at the endpoint of cycle "a". If the cycle start switch is pressed again, cycles "b" and "c" of the program are executed and stop at the endpoint of cycle "c". If the cycle start switch is pressed again, cycle "d" of the program is executed and stops at the endpoint of cycle "d". In this way, the control device 10A stops operation after the execution of a specific cycle and prevents progress to subsequent cycles unless the user presses the cycle start switch.

[0034] When the first determination unit 101 receives the second operating mode switching signal from the receiving unit 105, the first determination unit 101 determines that a test run is performed. As in Fig. As shown in Figure 6, the control device 10A controls the tailstock 31 by means of a program so that it moves in the negative direction along the W-axis and moves to the contact position of the workpiece 32, similar to the one based on Fig. 5 described operation. Since the program contains the command “TRQON”, the second determining unit 102 specifies that a press control should be carried out.

[0035] The control procedure selection unit 103 determines, based on the determination results of the first determination unit 101 and the second determination unit 102, that no drive control of the axis for pressing the tailstock 31 against the workpiece 32 should be carried out, and prevents the tailstock 31 from moving in the W-axis direction. (Operation of the control device when the program is executed synchronously with the input into the external control device)

[0036] Fig. Figure 10 is an explanatory diagram illustrating a fourth example of the operation of a test run of a control system comprising an industrial machine and a control device. The control device 10A receives a third operating mode switching signal (serving as input information) via the receiver unit 105. This signal is entered by a user via a switch on the control panel 21, which serves as the input device 20, to switch to a third operating mode. The third operating mode is one in which the program is executed synchronously with an external operating device, such as the rotation of a manual handle. Except for the synchronous execution of the program with an external operating device, such as the rotation of a manual handle, the configuration of the control device 10A corresponds to that described in Figure 10. Fig. 6 shown.

[0037] Fig. Figure 10 presents an example where the program is executed synchronously with the rotation of a manual handle. The operating speed of at least one of tool 34, workpiece 32, or tailstock 31 within the industrial machine 30 varies depending on the rotational speed of the manual handle. If the manual handle is rotated in the opposite direction, the program is executed in reverse order. As shown in Fig. As shown in Figure 10, for example, program lines N1, N2, and N3 are executed when the manual handle is rotated clockwise (in the positive direction) at a constant speed. If the manual handle is stopped and then rotated counterclockwise (in the negative direction) at a constant speed, program lines N3 and N2 are executed in reverse order. If the manual handle is stopped again and then rotated clockwise (in the positive direction) at a constant speed, program lines N2 through N6 are executed.

[0038] When the first determination unit 101 receives the third operating mode switching signal from the receiving unit 105, the first determination unit 101 determines that a test run is to be carried out. As in Fig. As shown in Figure 6, the control device 10A controls the tailstock 31 by means of a program so that it moves in the negative direction along the W-axis and moves into the pressing position of the workpiece 32, similar to the one shown below. Fig. 5 described operation. Since the program contains the command “TRQON”, the second determining unit 102 specifies that a press control should be carried out.

[0039] The control procedure selection unit 103 determines, based on the determination results of the first determination unit 101 and the second determination unit 102, that the drive control of the axis for pressing the tailstock 31 against the workpiece 32 should not be carried out, and prevents the tailstock 31 from moving in the direction of the W-axis.

[0040] The four examples described above are examples where the control device performs a test run based on switching signals input by a user via an input device. Next, an example is described where the control device performs a test run based on input information from the axis control unit. This example corresponds to a case where a test run is to be performed without inserting a workpiece, for example, to reduce the number of machining operations. (Operation when the control device performs a test run based on input information from the axis control unit)

[0041] As in Fig. As shown in Figure 11, the workpiece 32 is not attached to the chuck 33 in the industrial machine 30. As in Fig. As shown in Figure 11, the control device 10 uses a program to control the tailstock 31 so that it moves in the negative direction along the W-axis. The command "F6000" in the program indicates a feed rate of 6000 mm / min for the tailstock 31. The tailstock 31 moves from position "W0" to position "W-20".

[0042] “X0” and “Z0” are the positions where the workpiece 32 would be located if it were mounted. Position “W-20” is the position where the tailstock 31 would be pressed against the workpiece 32 if it were present. The control device 10 regulates the torque of the tailstock 31 to a constant value based on the program command “TRQON” (command to activate torque control) and performs a negative press action along the W-axis with a torque of 0.1 N·mm.

[0043] The control device 10 receives at least one of two types of information from the axis control unit 104: a support force received from the tailstock when a press control is commanded, or a travel distance of the tailstock when a press control is commanded. As in Fig. As shown in Figure 11, the first determination unit 101 determines that a test run is carried out when it detects that the tailstock 31 has moved by a distance equal to or greater than a distance “d” in the W-axis direction, or when it detects that the support force received by the tailstock 31 is less than a predetermined value.

[0044] Since the program includes the command "TRQON", the second determination unit 102 specifies that a press control should be performed. Based on the results of the determination units 101 and 102, the control procedure selection unit 103 specifies that no drive control of the axis for pressing the tailstock 31 against the workpiece 32 should be performed, and prevents the tailstock 31 from moving in the W-axis direction.

[0045] Next, the operation of control device 10 or control device 10A will be described using a flowchart. Fig. Figure 12 represents a flowchart that illustrates an example of the operation of control device 10 or control device 10A.

[0046] In step S11, the first determination unit 101 determines whether a program is executed in the test run, and the second determination unit 102 determines whether a press control is to be carried out based on a program command.

[0047] In step S12, the control procedure selection unit 103 determines, based on the determination result of the second determination unit 102, whether a press control should be performed. If a press control is to be performed, processing continues with step S13. If no press control is to be performed, processing is terminated.

[0048] In step S13, the control procedure selection unit 103 determines, based on the determination result of the first determination unit 101, whether a test run should be performed. If a test run is to be performed, processing continues with step S14. If no test run is to be performed, processing continues with step S15.

[0049] In step S14, the control procedure selection unit 103 does not perform any drive control of the axis and keeps the tailstock 31, which serves as a moving object, stopped.

[0050] In step S15, the control procedure selection unit 103 performs a drive control of the axis that moves the tailstock 31, so that the tailstock 31, serving as the moving object, is pressed against the workpiece 32. The processing is completed after step S14 or step S15.

[0051] The following effects can be achieved using the control device 10 or 10A of the first embodiment described above. (1) When a test run is performed and a press control is to be executed, no drive control of the axis is carried out, and a moving object such as the tailstock can be stopped. Accordingly, it is possible to control the operation in such a way that a moving object does not perform any unintended movement by the user during a test run. Even if, for example, a program with press control is executed in a state in which there is no object to be pressed, it can be prevented that the moving object enters an area that would not be accessible if an object to be pressed were present. (2) During a test run of a program that includes a press control command, the test run may be carried out without stopping operations other than those of the moving object. (3) During a test run, no mechanical mechanism is required to prevent the tailstock from being moved mechanically. (Second embodiment)

[0052] In the present embodiment, a configuration is described in which at least one of: a determination result by the first determination unit 101, a determination result by the second determination unit or a selection result by the control procedure selection unit 103 is notified by a notification unit.

[0053] Fig. Figure 13 represents a block diagram showing an example of a configuration of a control device according to a second embodiment of the present disclosure. A control device 11 according to the second embodiment of the present disclosure comprises, in addition to the one described in Fig. The configuration of the control device 10 shown in Figure 2 includes a notification unit 106. Fig. 12 are components that are identical to those of the control device 10A, designated with the same reference numerals, and their descriptions are omitted.

[0054] The notification unit 106 notifies a user of at least one determination result by the first determination unit 101, a determination result by the second determination unit 102, or a selection result by the control procedure selection unit 103. The notification unit 106 can, for example, be a display device such as a liquid crystal display device that displays at least one of the two determination results or the selection result, or a communication unit that transmits at least one of the two determination results or the selection result to a user communication terminal.

[0055] For example, notification unit 106 displays either "Test run in progress" or "Normal operation" on the display device as the result of the first determination unit 101. Notification unit 106 displays either "Press control running" or "Press control not running" on the display device as the result of the second determination unit 102. Notification unit 106 displays either "Tailstock press control running" or "Tailstock stopped" on the display device as the selection result of the control procedure selection unit 103.

[0056] According to the control device 11 of the second embodiment described above, a user can, in addition to the effects of the first embodiment, detect at least one of the following features: whether a test run is running, whether a press control is running, or the operating status of a moving object such as a tailstock. Accordingly, the user can determine that a specific operation (e.g., a manual operation that moves the moving object) should not be performed on the moving object.

[0057] In the embodiments described above, the functional blocks contained in the control device can be implemented by hardware, software, or a combination thereof. Here, implementation by software means that the functions are implemented when a computer reads and executes a program. To implement the components contained in the control device by software or a combination thereof, the control device includes a processing unit such as a central processing unit (CPU). The processing unit acts as the execution unit.The control device also includes an auxiliary storage device, such as an HDD (Hard Disk Drive), which stores various control programs, such as application software or an operating system (OS), and a main storage device, such as a RAM (Random Access Memory), for temporarily storing data that is needed when the processing unit executes a program.

[0058] The control device instructs the processing unit to read application software or an operating system from the auxiliary storage device, to expand the read application software or operating system in the main memory device, and to perform arithmetic operations based on the application software or operating system. Based on the result of the arithmetic operations, the control device controls various hardware components provided therein. In this way, the functional blocks of the present embodiment are implemented.

[0059] The components contained in the control device include hardware, including electronic circuits or the like. If the control device is configured by hardware, some or all of the functions of each component contained in the control device can be implemented by an integrated circuit (IC), such as an ASIC (application-specific integrated circuit), a gate array, an FPGA (field-programmable gate array), or a CPLD (complex programmable logic device).

[0060] A program can be stored and delivered to a computer using various types of non-volatile, computer-readable media. Non-volatile, computer-readable media include various types of physical storage media. Examples of non-volatile, computer-readable media are magnetic storage media (e.g., a hard disk), magneto-optical storage media (e.g., a magneto-optical disk), CD-ROM (Read Only Memory), CD-R, CD-R / W, and semiconductor memory (e.g., mask ROM, PROM (programmable ROM), EPROM (erasable PROM), flash ROM, and RAM (random access memory)). A program can also be delivered to a computer via various types of transient, computer-readable media.

[0061] According to the control device of the present disclosure, including the embodiments described above, no drive control of the axis is performed during a test run and the execution of a press control, and a moving object, such as a tailstock, can be stopped. Accordingly, it is possible to perform a test run without interrupting the execution of the program and to control the operation in such a way that a moving object does not perform any movement unintended by the user during the test run.

[0062] The embodiments described above are preferred embodiments of the present invention; however, the present invention is not limited to these embodiments. Various modifications can be made without departing from the spirit and scope of the present invention. Another example of a press control includes a control for performing friction stir welding by pressing a rotating tool attached to a hand of an industrial robot against a workpiece. In this case, the rotating tool corresponds to the moving object and the workpiece to be pressed. Another example of a press control is press forming.

[0063] The following additional remarks are disclosed with regard to the embodiments described above. (Additional note 1)

[0064] A control device (10, 10A, 11) for an industrial machine (30) configured to perform a press control to press a movable object within the industrial machine against an object to be pressed, based on a program command, the control device comprising: a first determination unit (101) configured to determine whether a program containing the program command is in test mode; a second determination unit (102) configured to determine, based on the program command, whether the press control should be performed; a control method selection unit (103) configured to select a control method for controlling an axis that moves the movable object, based on a determination result of the first determination unit and a determination result of the second determination unit;and an axis control unit (104) configured to control the axis according to the selected control method, wherein the control method selection unit selects a method that does not perform drive control of the axis and keeps the moving object stopped when the first determination unit determines that a test run is to be performed and the second determination unit determines that press control is to be performed. (Additional note 2)

[0065] The control device described in additional note 1, wherein the control method selection unit (103) selects a method for carrying out a drive control of the axis, so that the movable object is pressed against the object to be pressed when the first determination unit (101) determines that the test run is not carried out and the second determination unit (102) determines that the press control is to be carried out. (Additional note 3)

[0066] The control device described in Additional Note 1 further comprises a receiving unit (105) configured to receive input information from an external input device (20, 21), wherein the first determining unit (101) uses the input information to determine whether a test run is performed. (Additional note 4)

[0067] The control device described in Additional Note 3, wherein the input information includes at least one piece of information selected from the following: an instruction for a test run; an operating mode for operating the industrial machine at a speed different from an instruction speed in the program; an operating mode for executing the program by each predetermined configuration unit consisting of one or more instructions and for pausing the execution of the program until a predetermined trigger is detected after completion of execution; or an operating mode for executing the program synchronously with an input result from the external input device (20, 21). (Additional note 5)

[0068] The control device according to additional note 1, wherein the first determining unit (101) determines that a test run is carried out when a pressing command is executed in the program, when the moving object does not receive a support force equal to or greater than a predetermined value from the object to be pressed and / or when the moving object has moved a predetermined distance. (Additional note 6)

[0069] The control device according to one of claims 1 to 5, which further comprises a notification unit (106) configured to notify at least one of a determination result by the first determination unit (101), a determination result by the second determination unit (102) or a selection result by the control method selection unit (103). (Additional note 7)

[0070] A control method for an industrial machine (30) configured to perform a press control to press a movable object within the industrial machine against an object to be pressed, based on a program instruction, wherein the method causes a computer to perform: processing to determine whether a program containing the program instruction is executed in the test run; processing to determine whether the press control should be performed based on the program instruction; and processing to refrain from performing the drive control of an axis moving the movable object and to keep the movable object stopped when it is determined that a test run is being performed and the press control should be performed. EXPLANATION OF REFERENCE SYMBOLS 10, 10a, 11 Control device 20 Input device 21 Control Panel 30 industrial machines 31 tailstock 32 workpieces 33 chucks 34 tools 101 first unit of determination 102 second unit of determination 103 Control Procedure Selection Unit 104 Axis control unit 105 receiver unit 106 notification units 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 10-80802

[0005] JP 7-186007

[0005] JP 2018-130798

[0005]

Claims

[1] A control device for an industrial machine configured to perform a press control to press a movable object inside the industrial machine against an object to be pressed, based on a program command, wherein the control device comprises: a first determination unit configured to determine whether a program containing the program command is running in test mode; a second determining unit that is configured to determine, based on the program command, whether the press control should be carried out; a control method selection unit configured to select a control method for controlling an axis that moves the movable object, based on a determination result from the first determination unit and a determination result from the second determination unit; and an axis control unit configured to control the axis according to the selected control method, wherein the control method selection unit selects a method that does not perform drive control of the axis and keeps the moving object stopped when the first determination unit determines that a test run is to be performed, and the second determination unit determines that press control is to be performed. [2] The control device according to claim 1, wherein the control method selection unit selects a method for carrying out the drive control of the axis such that the movable object is pressed against the object to be pressed when the first determination unit determines, that the test run is not carried out, and the second determining unit determines that the press control should be carried out. [3] The control device according to claim 1, which further comprises a receiving unit configured to receive input information from an external input device, wherein the first determining unit determines, on the basis of the input information, whether a test run is performed. [4] The control device according to claim 3, wherein the input information comprises at least one part of the information selected from the following: instructions for a test run; an operating mode for operating the industrial machine at a speed that differs from a command speed in the program; an operating mode for executing the program through each predetermined configuration unit consisting of one or more commands, and for pausing the execution of the program until a predetermined trigger is detected after completion of execution; or an operating mode for running the program synchronously with an input result from the external input device. [5] The control device according to claim 1, wherein the first determining unit determines that a test run is carried out when a command of the press control is executed in the program, when the movable object does not receive a support force equal to or greater than a predetermined value from the object to be pressed, and / or when the movable object has moved by a predetermined distance. [6] The control device according to any one of claims 1 to 5, further comprising a notification unit configured to notify at least one of a determination result by the first determination unit, a determination result by the second determination unit or a selection result by the control method selection unit. [7] A control method for an industrial machine configured to perform a press control to press a movable object inside the industrial machine against an object to be pressed, based on a program instruction, wherein the method causes a computer to execute: Processing to determine whether a program containing the program command will be executed in the test run; Processing to determine, based on the program command, whether the press control should be carried out; and Processing to prevent the drive control of an axis that moves the moving object and to keep the moving object stopped when it is determined that a test run is being performed and the press control is to be carried out.

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