Industrial machine

Abstract

To address a technical problem that a control utilizing a conventionally known skip function takes a time until determining a skip coordinate.SOLUTION: A control device has a skip function of, in accordance with an external signal, interrupting a block being executed in a machine program, and executing the next block. When a touch switch contacts an object to be detected while a first block is being executed, and when the signal output by the touch switch changes, the control device interrupts the first block and executes a second block. When the signal output by the touch switch returns to the original signal while the second block is being executed, the control device interrupts the second block. The control device determines, as a skip coordinate, a contact position between the touch switch and the object to be detected when the signal output by the touch switch returns to the original signal.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to industrial machinery. [Background technology]

[0002] In machine tools, touch switches are often used to accurately grasp the position of tools or workpieces (see, for example, Patent Document 1). The positioning of detectable objects such as tools or workpieces is performed by moving the touch switch or the detectable object and utilizing a signal output from the touch switch when the detectable object comes into contact with the touch switch. The control of moving the touch switch or the detectable object is performed, for example, by utilizing a skip function of a numerical control device.

[0003] For example, the touch switch is disposed facing the object to be detected. Then, for example, the numerical control device moves the touch switch in a first direction toward the object to be detected at a first speed. When the touch switch comes into contact with the object to be detected, a signal output from the touch switch changes from an OFF state to an ON state. When the signal output from the touch switch changes from an OFF state to an ON state, the numerical control device assumes that a skip signal has been output, interrupts the control being executed, and executes control to stop the movement of the touch switch. The numerical control device stores, as a skip coordinate, the contact position between the touch switch and the object to be detected when the skip signal is output. The touch switch stops with the contact pressed in, since it requires a distance to stop due to dead time.

[0004] Then, the numerical control device moves the touch switch at a first speed to a specific position ahead of the skip coordinate in a second direction opposite to the first direction. In the process of moving in the second direction, the signal output from the touch switch returns from an on state to an off state, for example. However, even if the signal output from the touch switch returns, the numerical control device does not consider that a skip signal has been output. When the touch switch moves to the specific position, the numerical control device moves the touch switch in the first direction at a second speed slower than the first speed. When the touch switch comes into contact with the object to be detected, the signal output from the touch switch changes from an off state to an on state. When the signal output from the touch switch changes from an off state to an on state, the numerical control device considers that a skip signal has been output and interrupts the control being executed. The numerical control device determines the contact position between the touch switch and the object to be detected when the skip signal is output as the skip coordinate. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent No. 3577887 Summary of the Invention [Problem to be solved by the invention]

[0006] In the known control using the skip function, it takes time to determine the skip coordinates. [Means for solving the problem]

[0007] A first aspect of the present invention is an industrial machine that handles an automated process. The industrial machine includes a control device capable of executing a machine program including a plurality of blocks. The machine program includes a first block including an instruction to move a touch switch for detecting the position of a detectable object in a first direction toward the detectable object. The machine program includes a second block including an instruction to stop the movement of the touch switch and move the touch switch in a second direction opposite to the first direction. The control device has a skip function that interrupts a block being executed in the machine program and executes a next block in response to a signal from an external source. When the touch switch comes into contact with the detectable object during execution of the first block and a signal output from the touch switch changes, the control device interrupts the first block and executes the second block. When the signal output from the touch switch returns to its original state during execution of the second block, the control device interrupts the second block. The control device determines the contact position between the touch switch and the detectable object when the signal output from the touch switch returns to its original state as a skip coordinate.

[0008] A second aspect of the present invention is an industrial machine that handles an automated process. The industrial machine includes a control device capable of executing a machine program including a plurality of blocks. The machine program includes a first block including an instruction to move the detectable object in a first direction toward a touch switch for detecting the position of the detectable object. The machine program includes a second block including an instruction to stop the movement of the detectable object and move the detectable object in a second direction opposite to the first direction. The control device has a skip function that interrupts a block being executed in the machine program and executes a next block in response to a signal from an external source. When the detectable object comes into contact with the touch switch during execution of the first block and a signal output from the touch switch changes, the control device interrupts the first block and executes the second block. When the signal output from the touch switch returns to its original state during execution of the second block, the control device interrupts the second block. The control device determines the contact position between the touch switch and the detectable object when the signal output from the touch switch returns to its original state as a skip coordinate. Effect of the Invention

[0009] According to the above aspect, the industrial machine can reduce the time required to determine the skip coordinates.

[0010] In the first and second aspects described above, the control device may be operable in either one of a first mode and a second mode. When operating in the first mode, the control device may execute a skip function when a signal output from the touch switch changes from a first state to a second state. When operating in the second mode, the control device may execute a skip function when a signal output from the touch switch returns from the second state to the first state. When executing the skip function while operating in the first mode, the control device may switch the operation mode from the first mode to the second mode. According to this aspect, the industrial machine can prevent the skip function from being executed due to a malfunction in which the signal returns from the second state to the first state during execution of the first block. Also, the industrial machine can prevent the skip function from being executed due to a malfunction in which the signal changes from the first state to the second state during execution of the second block.

[0011] In the first aspect above, the first block may include an instruction to move the touch switch at a first speed. The second block may include an instruction to move the touch switch at a second speed slower than the first speed. According to this aspect, the industrial machine can accurately determine the skip coordinate during execution of the second block.

[0012] The machine program may include a third block including an instruction to move the touch switch in the second direction at a third speed faster than the second speed. The control device may interrupt the second block and execute the third block when the signal output from the touch switch returns to its original state during execution of the second block. According to this aspect, the industrial machine can quickly retract the touch switch after determining the skip coordinate.

[0013] In the second aspect, the first block may include a command to move the object at a first speed. The second block may include a command to move the object at a second speed slower than the first speed. According to this aspect, the control device can accurately determine the skip coordinate during execution of the second block.

[0014] The machine program may include a third block including an instruction to move the object in the second direction at a third speed faster than the second speed. The control device may interrupt the second block and execute the third block when the signal output from the touch switch returns to its original state during execution of the second block. According to this aspect, the industrial machine can quickly move the object away after determining the skip coordinates.

[0015] The above summary of the invention does not list all of the necessary features of the present invention. Also, any subcombination of these features may constitute an invention. [Brief description of the drawings]

[0016] [Figure 1] FIG. 1 is a diagram showing an example of the configuration of a machine tool 100. [Diagram 2] FIG. 2 is a diagram illustrating an example of instructions included in a machine program. [Diagram 3] 10 is a flowchart showing an example of control for moving the touch switch 130. [Figure 4] FIG. 13 is a diagram showing an example in which the touch switch 130 moves. [Diagram 5] 13 is a flowchart showing another example of the control for moving the touch switch 130. [Figure 6] 13 is a flowchart showing another example of the control for moving the touch switch 130. [Figure 7] FIG. 11 is a diagram showing another example of instructions included in a machine program. [Figure 8] 13 is a flowchart showing an example of control for moving a blade 120. [Figure 9] FIG. 13 is a diagram showing an example in which a blade 120 moves. [Figure 10] 10 is a flowchart showing another example of control for moving the blade 120. [Figure 11] 10 is a flowchart showing another example of control for moving the blade 120. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] The present invention will be described below through the embodiments of the invention, but the following embodiments do not limit the invention according to the claims. In addition, all combinations of features described in the embodiments are not necessarily essential to the solution of the invention. In addition, the same reference numbers are given to the same or similar parts in the drawings, and duplicated explanations may be omitted.

[0018] FIG. 1 is a diagram showing an example of the configuration of a machine tool 100. Machine tool 100 is a machine that removes unnecessary portions of a workpiece, which is mainly made of metal, by cutting, grinding, or using electricity or other energy, and shapes the workpiece into a required shape. Machine tool 100 includes a numerical control device 110, a blade 120, and a touch switch 130. Machine tool 100 is an example of an industrial machine. Removing unnecessary portions of a workpiece and creating a required shape is an example of an automated process.

[0019] The numerical control device 110 is a device that analyzes a numerical control program and issues commands using numerical information consisting of numbers and codes regarding tool paths for a workpiece, work steps required for machining, etc., in order to operate the machine tool 100. The numerical control device 110 is capable of executing a machine program. A machine program is a sequence of instructions arranged in a language and format that allows direct operation of a numerical control system. The numerical control device 110 is an example of a control device.

[0020] The numerical controller 110 has a skip function, which is a function for interrupting a currently executed block in a machine program and executing the next block in response to an external signal.

[0021] The numerical control device 110 of this embodiment executes the skip function when the signal output from the touch switch 130 changes from an OFF state to an ON state. In other words, when the signal output from the touch switch 130 changes from an OFF state to an ON state, the numerical control device 110 regards it as having received a skip signal and executes the skip function.

[0022] Furthermore, the numerical control device 110 of this embodiment executes the skip function when the signal output from the touch switch 130 returns from the on state to the off state. In other words, when the signal output from the touch switch 130 returns from the on state to the off state, the numerical control device 110 regards it as having received a skip signal and executes the skip function.

[0023] The blade 120 is supported by a tool holder TH. The tool holder TH is attached to a tool rest TR. The tool rest TR is electrically connected to the numerical control device 110. The tool rest TR is movable in the Y direction by being controlled by the numerical control device 110. The blade 120 is an example of an object to be detected.

[0024] The touch switch 130 is used as a sensor for detecting the position of the blade 120. The touch switch 130 includes a switch body 131 and a probe 132. The touch switch 130 is attached to a support SD such that the probe 132 faces the cutting edge of the blade 120. The support SD is electrically connected to the numerical control device 110. The support SD is movable along the Y direction by being controlled by the numerical control device 110. The touch switch 130 is electrically connected to the numerical control device 110. The touch switch 130 outputs a signal of an OFF state or an ON state to the numerical control device 110. The OFF state is an example of a first state. The ON state is an example of a second state.

[0025] The touch switch 130 in this embodiment is a contact A switch. The signal output from the touch switch 130 changes from an OFF state to an ON state when the touch switch 130 comes into contact with the blade 120. More specifically, the signal output from the touch switch 130 changes when the touch switch 130 comes into contact with the blade 120 and the probe 132 is pressed from the free position to the operating position. The free position is the position of the probe 132 when no force is applied to the probe 132. The operating position is the position where the signal changes when the probe 132 is pressed.

[0026] Furthermore, the signal output from touch switch 130 returns from the ON state to the OFF state when pressed-in probe 132 returns to its original position. More specifically, the signal output from touch switch 130 returns from the ON state to the OFF state when pressed-in probe 132 returns to its return position. The return position is a position between the free position and the operating position, and is the position where the changed signal returns to its original state.

[0027] Fig. 2 is a diagram showing an example of instructions included in a machine program. The machine program includes a number of blocks. A block is a group of words that includes all instructions for one operation. The machine program shown in Fig. 2 includes a first block B1, a second block B2, and a third block B3.

[0028] The first block B1 includes an instruction to move the touch switch 130 at a first speed in the +Y direction toward the blade 120. The first block B1 may be an instruction to specify a first coordinate that is a target when the touch switch 130 is moved at the first speed in the +Y direction. For example, the first coordinate may be a coordinate estimated as the position of the cutting edge of the blade 120. The +Y direction is an example of the first direction.

[0029] The second block B2 includes an instruction to stop the movement of the touch switch 130 and move the touch switch 130 in the -Y direction at a second speed slower than the first speed. The second block B2 may be an instruction to specify a second coordinate that is a target when the touch switch 130 is moved in the -Y direction at the second speed. For example, the second coordinate may be a coordinate of the contact position +α between the touch switch 130 and the blade 120 when the signal changes from the OFF state to the ON state during execution of the first block B1. Also, for example, the second coordinate may be a coordinate of the return position of the contact point 132. The -Y direction is an example of the second direction opposite to the first direction.

[0030] The third block B3 includes an instruction to move the touch switch 130 in the -Y direction at a third speed that is faster than the second speed. The third block B3 may be an instruction to specify a third coordinate that is a target when the touch switch 130 is moved in the -Y direction at the third speed. For example, the third coordinate may be the coordinate of the initial position of the touch switch 130 when the instruction of the first block B1 is started.

[0031] The numerical control device 110 executes a machine program to move the touch switch 130 relative to the blade 120 .

[0032] Fig. 3 is a flowchart showing an example of control for moving the touch switch 130. Fig. 4 is a diagram showing an example of movement of the touch switch 130. The explanation of Fig. 3 and Fig. 4 relates to the control when a machine program including the instructions shown in Fig. 2 is executed.

[0033] First, the numerical controller 110 executes a first block B1 of the machine program to move the touch switch 130 at a first speed in the +Y direction (S101). In S101, the numerical controller 110 controls the support part SD to move the touch switch 130 at the first speed in the +Y direction. As described above, the first block B1 may be a command that specifies a first coordinate that is a target when the touch switch 130 is moved at the first speed in the +Y direction. When the first coordinate is specified, in S101, the numerical controller 110 controls the support part SD to move the touch switch 130 to the first coordinate. By executing the control of S101, the touch switch 130 moves at the first speed in the +Y direction as shown in FIG. 4(A).

[0034] The numerical control device 110 executes the first block B1 of the machine program until the signal changes from the OFF state to the ON state (S102; NO→S101).

[0035] 4(B), when the touch switch 130 comes into contact with the blade 120, the signal output from the touch switch 130 changes from an OFF state to an ON state. More specifically, as described above, the signal output from the touch switch 130 changes when the touch switch 130 comes into contact with the blade 120 and the probe 132 is pressed from the free position to the operating position.

[0036] When the signal changes from the OFF state to the ON state (S102; YES), the numerical controller 110 assumes that a skip signal has been received and suspends the first block B1 (S103).

[0037] Then, the numerical controller 110 executes the second block B2 of the machine program to stop the movement of the touch switch 130 (S104). In S104, the numerical controller 110 controls the support part SD to stop the movement of the touch switch 130.

[0038] In the process of stopping the movement of the touch switch 130, dead time occurs. Due to the dead time, the touch switch 130 stops ahead of the position when the signal output from the touch switch 130 changes from the OFF state to the ON state, as shown in Fig. 4(C). As described above, the signal output from the touch switch 130 changes when the touch switch 130 comes into contact with the blade 120 and the probe 132 is pushed from the free position to the operating position. Therefore, the touch switch 130 stops with the probe 132 pushed further in than the operating position.

[0039] When the touch switch 130 stops, the numerical controller 110 executes the second block B2 of the machine program, and moves the touch switch 130 in the -Y direction at a second speed slower than the first speed (S105). In S105, the numerical controller 110 controls the support part SD to move the touch switch 130 in the -Y direction at the second speed. As described above, the second block B2 may be a command that specifies the second coordinates that are the target when the touch switch 130 is moved in the -Y direction at the second speed. When the second coordinates are specified, in S105, the numerical controller 110 controls the support part SD to move the touch switch 130 to the second coordinates. By executing the control of S105, the touch switch 130 moves in the -Y direction at the second speed as shown in FIG. 4(D).

[0040] The numerical controller 110 executes the second block B2 of the machine program until the signal returns from the ON state to the OFF state (S106; NO→S105).

[0041] When the pressed-in measurement element 132 returns to its original position, the signal output from the touch switch 130 returns from the ON state to the OFF state. More specifically, as described above, when the pressed-in measurement element 132 returns to its original position, the signal output from the touch switch 130 returns from the ON state to the OFF state.

[0042] When the signal returns from the ON state to the OFF state (S106: YES), the numerical controller 110 assumes that a skip signal has been received and suspends the second block B2 (S107).

[0043] Furthermore, the numerical controller 110 determines skip coordinates (S108). In S108, the numerical controller 110 determines, as the skip coordinates, the contact position between the touch switch 130 and the blade 120 when the signal output from the touch switch 130 returns from the ON state to the OFF state.

[0044] Then, the numerical controller 110 executes the third block B3 of the machine program, moves the touch switch 130 in the -Y direction at a third speed faster than the second speed (S109), and ends the control shown in FIG. 3. In S109, the numerical controller 110 controls the support part SD to move the touch switch 130 in the -Y direction at the third speed. As described above, the third block B3 may be a command that specifies a third coordinate that is a target when the touch switch 130 is moved in the -Y direction at the third speed. When the third coordinate is specified, in S109, the numerical controller 110 controls the support part SD to move the touch switch 130 to the third coordinate. By executing the control of S109, the touch switch 130 moves in the -Y direction at the third speed as shown in FIG. 4(E).

[0045] As described above, the machine tool 100 of this embodiment is a machine that removes unnecessary parts of a workpiece and creates a required shape. The machine tool 100 is equipped with a numerical control device 110 capable of executing a machine program including a plurality of blocks. The machine program includes a first block B1 including an instruction to move the touch switch 130 for detecting the blade 120 in the +Y direction toward the blade 120. The machine program includes a second block B2 including an instruction to stop the movement of the touch switch 130 and move the touch switch 130 in the -Y direction. The numerical control device 110 has a skip function that interrupts a block being executed in the machine program and executes the next block in response to a signal from the outside. When the touch switch 130 comes into contact with the blade 120 during execution of the first block B1 and the signal output from the touch switch 130 changes, the numerical control device 110 interrupts the first block B1 and executes the second block B2. When the signal output from the touch switch 130 returns to the original state during execution of the second block B2, the numerical control device 110 interrupts the second block B2. Numerical control device 110 determines, as the skip coordinate, the contact position between touch switch 130 and blade 120 when the signal output from touch switch 130 returns to its original state. According to this embodiment, machine tool 100 can reduce the time required to determine the skip coordinate.

[0046] Moreover, the first block B1 of this embodiment includes an instruction to move the touch switch 130 at a first speed. The second block B2 includes an instruction to move the touch switch 130 at a second speed that is slower than the first speed. According to this embodiment, the numerical controller 110 can accurately determine the skip coordinate during execution of the second block B2.

[0047] Furthermore, the machine program of this embodiment includes a third block B3 including an instruction to move the touch switch 130 in the negative direction at a third speed faster than the second speed. When the signal output from the touch switch 130 returns to the original state during execution of the second block B2, the numerical controller 110 interrupts the second block B2 and executes the third block B3. According to this embodiment, the numerical controller 110 can quickly retract the touch switch 130 after determining the skip coordinate.

[0048] Figures 5 and 6 are flowcharts showing another example of the control for moving the touch switch 130. The explanation of Figures 5 and 6 relates to the control when a machine program including the command shown in Figure 2 is executed. The controls from S101 to S103 and from S104 to S109 in the flowcharts shown in Figures 5 and 6 are similar to the controls from S101 to S103 and from S104 to S109 shown in Figure 3.

[0049] The numerical control device 110 of this embodiment can operate in either one of a first mode and a second mode. When operating in the first mode, the numerical control device 110 executes a skip function when a signal output from the touch switch 130 changes from an OFF state to an ON state. When operating in the second mode, the numerical control device 110 executes a skip function when a signal output from the touch switch 130 returns from an OFF state to an ON state.

[0050] First, the numerical control device 110 sets the operation mode to the first mode (S201).

[0051] Next, the numerical control device 110 executes the first block B1 of the machine program, and moves the touch switch 130 in the +Y direction at a first speed (S101). By executing the control of S101, the touch switch 130 moves in the +Y direction at the first speed as shown in FIG. 4(A).

[0052] The numerical control device 110 executes the first block B1 of the machine program until the signal changes from the OFF state to the ON state (S102; NO→S101).

[0053] As shown in FIG. 4B, when the touch switch 130 comes into contact with the blade 120, the signal output from the touch switch 130 changes from the OFF state to the ON state.

[0054] When the signal changes from the OFF state to the ON state (S102; YES), since the numerical controller 110 is operating in the first mode, it assumes that a skip signal has been received and suspends the first block B1 (S103).

[0055] When the first block B1 is interrupted by the skip function, the numerical controller 110 switches the operation mode from the first mode to the second mode (S202).

[0056] Then, the numerical control device 110 executes the second block B2 of the machine program, and stops the movement of the touch switch 130 (S104).

[0057] Dead time occurs in the process of stopping the movement of touch switch 130. Due to the dead time, touch switch 130 stops ahead of the position at which the signal output from touch switch 130 changed from the OFF state to the ON state, as shown in FIG.

[0058] When the touch switch 130 stops, the numerical control device 110 executes the second block B2 of the machine program, and moves the touch switch 130 in the -Y direction at a second speed slower than the first speed (S105). By executing the control of S105, the touch switch 130 moves in the -Y direction at the second speed as shown in FIG. 4(D).

[0059] The numerical controller 110 executes the second block B2 of the machine program until the signal returns from the ON state to the OFF state (S106; NO→S105).

[0060] When the pressed-in measuring element 132 is released, the signal output from the touch switch 130 returns from the ON state to the OFF state.

[0061] When the signal returns from the on state to the off state (S106: YES), since the numerical controller 110 is operating in the second mode, it assumes that a skip signal has been received and suspends the second block B2 (S107).

[0062] Furthermore, the numerical control device 110 determines the skip coordinates (S109).

[0063] Then, the numerical control device 110 executes the third block B3 of the machine program, moves the touch switch 130 in the -Y direction at a third speed that is faster than the second speed (S108), and ends the control shown in Figures 5 and 6. By executing the control of S108, the touch switch 130 moves in the -Y direction at the third speed as shown in Figure 4(E).

[0064] As described above, the numerical control device 110 of this embodiment can operate in either one of the first and second operation modes. When operating in the first mode, the numerical control device 110 executes the skip function when the signal output from the touch switch 130 changes from the off state to the on state. When operating in the second mode, the numerical control device 110 executes the skip function when the signal output from the touch switch 130 returns from the on state to the off state. When the numerical control device 110 executes the skip function while operating in the first mode, the numerical control device 110 switches the operation mode from the first mode to the second mode. According to this embodiment, the numerical control device 110 can prevent the skip function from being executed due to a malfunction in which the signal returns from the second state to the first state during the execution of the first block B1. Also, the numerical control device 110 can prevent the skip function from being executed due to a malfunction in which the signal changes from the first state to the second state during the execution of the second block B2.

[0065] Fig. 7 is a diagram showing another example of instructions included in a machine program. The machine program shown in Fig. 7 includes a first block B1, a second block B2, and a third block B3.

[0066] The first block B1 includes a command to move the blade 120 at a first speed in the -Y direction toward the touch switch 130. The first block B1 may be a command to specify a first coordinate that is a target when the blade 120 is moved at the first speed in the -Y direction. For example, the first coordinate may be a coordinate estimated as the position of the tip of the feeler 132. The -Y direction is an example of the first direction.

[0067] The second block B2 includes a command to stop the movement of the blade 120 and move the blade 120 in the +Y direction at a second speed slower than the first speed. The second block B2 may be a command to specify a second coordinate that is a target when the blade 120 is moved in the +Y direction at the second speed. For example, the second coordinate may be a coordinate of the contact position +α between the touch switch 130 and the blade 120 when the signal changes from the OFF state to the ON state during execution of the first block B1. Also, for example, the second coordinate may be a coordinate of the return position of the feeler 132. The +Y direction is an example of a second direction opposite to the first direction.

[0068] The third block B3 includes a command to move the blade 120 in the +Y direction at a third speed that is faster than the second speed. The third block B3 may be a command to specify a third coordinate that is a target when the blade 120 is moved in the +Y direction at the third speed. For example, the third coordinate may be the coordinate of the initial position of the blade 120 when the command in the first block B1 is started.

[0069] The numerical control device 110 executes a machine program to move the blade 120 relative to the touch switch 130 .

[0070] Fig. 8 is a flowchart showing an example of control for moving the blade 120. Fig. 9 is a diagram showing an example of movement of the blade 120. The explanation of Fig. 8 and Fig. 9 relates to the control when a machine program including the instructions shown in Fig. 7 is executed.

[0071] First, the numerical controller 110 executes a first block B1 of the machine program to move the blade 120 in the -Y direction at a first speed (S301). In S301, the numerical controller 110 controls the tool rest TR to move the blade 120 in the -Y direction at the first speed. As described above, the first block B1 may be a command that specifies a first coordinate that is a target when the blade 120 is moved in the -Y direction at the first speed. When the first coordinate is specified, in S301, the numerical controller 110 controls the tool rest TR to move the blade 120 to the first coordinate. By executing the control of S301, the blade 120 moves in the -Y direction at the first speed as shown in FIG. 9(A).

[0072] The numerical controller 110 executes the first block B1 of the machine program until the signal changes from the OFF state to the ON state (S302; NO→S301).

[0073] 9(B), when the blade 120 comes into contact with the touch switch 130, the signal output from the touch switch 130 changes from an OFF state to an ON state. More specifically, as described above, the signal output from the touch switch 130 changes when the blade 120 comes into contact with the touch switch 130 and the probe 132 is pressed from the free position to the operating position.

[0074] When the signal changes from the OFF state to the ON state (S302; YES), the numerical controller 110 assumes that a skip signal has been received and suspends the first block B1 (S303).

[0075] Then, the numerical controller 110 executes the second block B2 of the machine program to stop the movement of the blade 120 (S304). In S304, the numerical controller 110 controls the tool rest TR to stop the movement of the blade 120.

[0076] In the process of stopping the movement of the blade 120, dead time occurs. Due to the dead time, the blade 120 stops ahead of the position when the signal output from the touch switch 130 changes from the OFF state to the ON state, as shown in Fig. 9(C). As described above, the signal output from the touch switch 130 changes when the blade 120 comes into contact with the touch switch 130 and the probe 132 is pushed from the free position to the operating position. Therefore, the blade 120 stops with the probe 132 pushed further in than the operating position.

[0077] When the blade 120 stops, the numerical controller 110 executes the second block B2 of the machine program, and moves the blade 120 in the +Y direction at a second speed slower than the first speed (S305). In S305, the numerical controller 110 controls the tool rest TR to move the blade 120 in the +Y direction at the second speed. As described above, the second block B2 may be a command that specifies the second coordinates that are the target when the blade 120 is moved in the +Y direction at the second speed. When the second coordinates are specified, in S305, the numerical controller 110 controls the tool rest TR to move the blade 120 to the second coordinates. By executing the control of S305, the blade 120 moves in the +Y direction at the second speed as shown in FIG. 9(D).

[0078] The numerical controller 110 executes the second block B2 of the machine program until the signal returns from the ON state to the OFF state (S306; NO→S305).

[0079] When the pressed-in measurement element 132 returns to its original position, the signal output from the touch switch 130 returns from the ON state to the OFF state. More specifically, as described above, when the pressed-in measurement element 132 returns to its original position, the signal output from the touch switch 130 returns from the ON state to the OFF state.

[0080] When the signal returns from the ON state to the OFF state (S306: YES), the numerical controller 110 assumes that a skip signal has been received and suspends the second block B2 (S307).

[0081] Furthermore, the numerical controller 110 determines skip coordinates (S308). In S308, the numerical controller 110 determines, as the skip coordinates, the contact position between the touch switch 130 and the blade 120 when the signal output from the touch switch 130 returns from the ON state to the OFF state.

[0082] Then, the numerical controller 110 executes the third block B3 of the machine program, moves the blade 120 in the +Y direction at a third speed faster than the second speed (S309), and ends the control shown in FIG. 8. In S309, the numerical controller 110 controls the tool rest TR to move the blade 120 in the +Y direction at the third speed. As described above, the third block B3 may be a command that specifies a third coordinate that is a target when the blade 120 is moved in the +Y direction at the third speed. When the third coordinate is specified, in S309, the numerical controller 110 controls the tool rest TR to move the blade 120 to the third coordinate. By executing the control of S309, the blade 120 moves in the +Y direction at the third speed as shown in FIG. 9(E).

[0083] As described above, the machine tool 100 of this embodiment is a machine that removes unnecessary parts of a workpiece and creates a required shape. The machine tool 100 is equipped with a numerical control device 110 capable of executing a machine program including a plurality of blocks. The machine program includes a first block B1 including an instruction to move the blade 120 in the -Y direction toward the touch switch 130 for detecting the blade 120. The machine program includes a second block B2 including an instruction to stop the movement of the blade 120 and move the blade 120 in the +Y direction. The numerical control device 110 has a skip function that interrupts a block being executed in the machine program and executes the next block in response to a signal from the outside. When the blade 120 comes into contact with the touch switch 130 during execution of the first block B1 and the signal output from the touch switch 130 changes, the numerical control device 110 interrupts the first block B1 and executes the second block B2. When the signal output from the touch switch 130 returns to the original state during execution of the second block B2, the numerical control device 110 interrupts the second block B2. The numerical control device 110 determines, as the skip coordinate, the contact position between the touch switch 130 and the blade 120 when the signal output from the touch switch 130 returns to its original state. According to this embodiment, the numerical control device 110 can reduce the time required to determine the skip coordinate.

[0084] Moreover, the first block B1 of this embodiment includes a command to move the blade 120 at a first speed. The second block B2 includes a command to move the blade 120 at a second speed that is slower than the first speed. According to this embodiment, the numerical control device 110 can accurately determine the skip coordinates during execution of the second block B2.

[0085] The machine program of this embodiment also includes a third block B3 including an instruction to move the blade 120 in the + direction at a third speed faster than the second speed. When the signal output from the touch switch 130 returns to its original state during execution of the second block B2, the numerical controller 110 interrupts the second block B2 and executes the third block B3. According to this embodiment, the numerical controller 110 can quickly retract the blade 120 after determining the skip coordinates.

[0086] Figures 10 and 11 are flowcharts showing another example of the control for moving the blade 120. The explanation of Figures 10 and 11 relates to the control when a machine program including the command shown in Figure 7 is executed. The controls from S301 to S303 and S304 to S309 in the flowcharts shown in Figures 10 and 11 are similar to the controls from S301 to S303 and S304 to S309 shown in Figure 8.

[0087] The numerical control device 110 of this embodiment can operate in either one of a first mode and a second mode. When operating in the first mode, the numerical control device 110 executes a skip function when a signal output from the touch switch 130 changes from an OFF state to an ON state. When operating in the second mode, the numerical control device 110 executes a skip function when a signal output from the touch switch 130 returns from an OFF state to an ON state.

[0088] First, the numerical control device 110 sets the operation mode to the first mode (S401).

[0089] Next, the numerical control device 110 executes the first block B1 of the machine program, and moves the blade 120 in the -Y direction at a first speed (S301). By executing the control of S301, the blade 120 moves in the -Y direction at the first speed as shown in FIG. 9(A).

[0090] The numerical controller 110 executes the first block B1 of the machine program until the signal changes from the OFF state to the ON state (S302; NO→S301).

[0091] As shown in FIG. 9(B), when the blade 120 comes into contact with the touch switch 130, the signal output from the touch switch 130 changes from the OFF state to the ON state.

[0092] When the signal changes from the OFF state to the ON state (S302; YES), since the numerical controller 110 is operating in the first mode, it assumes that a skip signal has been received and suspends the first block B1 (S303).

[0093] When the first block B1 is interrupted by the skip function, the numerical controller 110 switches the operation mode from the first mode to the second mode (S402).

[0094] Then, the numerical control device 110 executes the second block B2 of the machine program, and stops the movement of the blade 120 (S304).

[0095] Dead time occurs in the process of stopping the movement of the blade 120. Due to the dead time, the blade 120 stops ahead of the position at which the signal output from the touch switch 130 changes from the OFF state to the ON state, as shown in Fig. 9(C).

[0096] When the blade 120 stops, the numerical control device 110 executes the second block B2 of the machine program, and moves the blade 120 in the +Y direction at a second speed slower than the first speed (S305). By executing the control of S305, the blade 120 moves in the +Y direction at the second speed as shown in FIG. 9(D).

[0097] The numerical controller 110 executes the second block B2 of the machine program until the signal returns from the ON state to the OFF state (S306; NO→S305).

[0098] When the pressed-in measuring element 132 is released, the signal output from the touch switch 130 returns from the ON state to the OFF state.

[0099] When the signal returns from the on state to the off state (S306: YES), since the numerical controller 110 is operating in the second mode, it assumes that a skip signal has been received and suspends the second block B2 (S307).

[0100] Furthermore, the numerical controller 110 determines the skip coordinates (S309).

[0101] Then, the numerical control device 110 executes the third block B3 of the machine program, moves the blade 120 in the +Y direction at a third speed faster than the second speed (S308), and ends the control shown in Figures 10 and 11. By executing the control of S308, the touch switch 130 moves in the +Y direction at the third speed as shown in Figure 9(E).

[0102] As described above, the numerical control device 110 of this embodiment can operate in either one of the first and second operation modes. When operating in the first mode, the numerical control device 110 executes the skip function when the signal output from the touch switch 130 changes from the off state to the on state. When operating in the second mode, the numerical control device 110 executes the skip function when the signal output from the touch switch 130 returns from the on state to the off state. When the numerical control device 110 executes the skip function while operating in the first mode, the numerical control device 110 switches the operation mode from the first mode to the second mode. According to this embodiment, the numerical control device 110 can prevent the skip function from being executed due to a malfunction in which the signal returns from the second state to the first state during the execution of the first block B1. Also, the numerical control device 110 can prevent the skip function from being executed due to a malfunction in which the signal changes from the first state to the second state during the execution of the second block B2.

[0103] Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It is clear that a person skilled in the art can make various modifications or improvements to the above embodiments. In addition, the matters described for a specific embodiment can be applied to other embodiments to the extent that they are not technically inconsistent. It is clear from the claims that the technical scope of the present invention can include forms that have been modified or improved in such a manner.

[0104] For example, the above embodiment has been described taking the machine tool 100 as an example of industrial machinery. However, the industrial machinery is not limited to the machine tool 100. The industrial machinery may be, for example, a construction machine, an agricultural machine, a woodworking machine, a machine that precisely shapes the cutting edge of the blade 120 using pulsed laser grinding, or the like.

[0105] For example, the object to be detected in the above embodiment is the blade 120. However, the object to be detected is not limited to the blade 120. The object to be detected may be, for example, a workpiece.

[0106] For example, the touch switch 130 in the above embodiment is an A-contact switch. However, the touch switch 130 is not limited to an A-contact switch. The touch switch 130 may be, for example, a B-contact switch. When using the B-contact touch switch 130, the numerical control device 110 may execute the skip function when the signal changes from an ON state to an OFF state. Also, the numerical control device 110 may execute the skip function when the signal returns from an OFF state to an ON state. When using the B-contact touch switch 130, the ON state is an example of the first state. The OFF state is an example of the second state.

[0107] For example, the touch switch 130 in the above embodiment is a switch that outputs an OFF or ON signal. However, the touch switch 130 is not limited to a switch that outputs an OFF or ON signal. The touch switch 130 may be a switch that outputs a LOW or HIGH signal. When using an A-contact touch switch 130 that outputs a LOW or HIGH signal, the numerical controller 110 may execute the skip function when the signal changes from a LOW state to a HIGH state. Also, the numerical controller 110 may execute the skip function when the signal returns from a HIGH state to a LOW state. When using an A-contact touch switch 130 that outputs a LOW or HIGH signal, the LOW state is an example of the first state. The HIGH state is an example of the second state.

[0108] When using a contact B touch switch 130 that outputs a low or high signal, the numerical controller 110 may execute the skip function when the signal changes from a high state to a low state. Also, the numerical controller 110 may execute the skip function when the signal returns from a low state to a high state. When using a contact B touch switch 130 that outputs a low or high signal, the high state is an example of a first state. The low state is an example of a second state.

[0109] The order of execution of each process, such as operations, procedures, steps, and stages in the devices, systems, programs, and methods shown in the claims, specifications, and drawings, is not specifically stated as "before," "prior to," or the like. It should be noted that the order of execution of each process may be arbitrary, as long as the output of a previous process is not used in a subsequent process. With regard to the operational flow in the claims, specifications, and drawings, even if "first," "next," or the like is used for convenience, it does not mean that it is essential to carry out the process in this order. [Explanation of symbols]

[0110] 110 Numerical control device, 120 Cutting tool, 130 Touch switch, 131 Switch body, 132 Contact point B1 First block, B2 Second block, B3 Third block, SD Support, TH Tool holder, TR Tool rest,

Claims

1. An industrial machine that handles automated processes, A control device capable of executing a machine program including a plurality of blocks; The machine program comprises: a first block including an instruction to move a touch switch for detecting a position of a detection target in a first direction toward the detection target; a second block including an instruction to stop the movement of the touch switch and move the touch switch in a second direction opposite to the first direction; The control device includes: a skip function for interrupting a currently executed block in the machine program and executing a next block in response to an external signal; When the touch switch comes into contact with the object to be detected during execution of the first block, causing a change in the signal output from the touch switch, the first block is interrupted and the second block is executed; When the signal output from the touch switch returns to the original state during execution of the second block, the second block is interrupted; The industrial machine determines, as a skip coordinate, a contact position between the touch switch and the object to be detected when the signal output from the touch switch returns to its original state.

2. An industrial machine that handles automated processes, A control device capable of executing a machine program including a plurality of blocks; The machine program comprises: a first block including an instruction to move the object in a first direction toward a touch switch for detecting a position of the object; a second block including an instruction to stop the movement of the detection object and move the detection object in a second direction opposite to the first direction, The control device includes: a skip function for interrupting a currently executed block in the machine program and executing a next block in response to an external signal; When the object to be detected comes into contact with the touch switch during execution of the first block, causing a change in a signal output from the touch switch, the first block is interrupted and the second block is executed; When the signal output from the touch switch returns to the original state during execution of the second block, the second block is interrupted; The industrial machine determines, as a skip coordinate, a contact position between the touch switch and the object to be detected when the signal output from the touch switch returns to its original state.

3. The control device includes: The device is operable in either a first mode or a second mode; When operating in the first mode, the skip function is executed when the signal output from the touch switch changes from a first state to a second state; When operating in the second mode, the skip function is executed when the signal output from the touch switch returns from the second state to the first state; 3. The industrial machine according to claim 1, wherein when the skip function is executed while the industrial machine is operating in the first mode, the operation mode is switched from the first mode to the second mode.

4. the first block includes instructions for moving the touch switch at a first speed; The industrial machine of claim 1 , wherein the second block includes instructions for moving the touch switch at a second speed slower than the first speed.

5. the machine program includes a third block including instructions for moving the touch switch in the second direction at a third speed that is faster than the second speed; 5. The industrial machine according to claim 4, wherein the control device interrupts the second block and executes the third block when the signal output from the touch switch returns to its original state during execution of the second block.

6. the first block includes a command to move the object at a first speed; 3. The industrial machine according to claim 2, wherein the second block includes an instruction to move the object to be detected at a second speed slower than the first speed.

7. the machine program includes a third block including instructions for moving the object in the second direction at a third speed that is faster than the second speed; 7. The industrial machine according to claim 6, wherein the control device interrupts the second block and executes the third block when the signal output from the touch switch returns to its original state during execution of the second block.

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