Control device

Abstract

This machine control device comprises an actuator that produces a thrust force, detects the thrust force of the actuator, acquires the temperature, calculates a threshold value that decreases monotonically with respect to the temperature, compares the thrust force of the actuator with the threshold value, and detects abutment when the thrust force exceeds the threshold value. This machine control device comprises an actuator that produces a thrust force, acquires the temperature, calculates a thrust force limit value that decreases monotonically with respect to the temperature, limits the thrust force of the actuator with the thrust force limit value as an upper limit, detects the speed of a part driven by the thrust force of the actuator, and detects abutment when the part has stopped.

Description

[Technical field]

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

[0002] When positioning a machine, a method called butting is used. Butting is a method of positioning a part by placing a reference part, moving the part to be positioned, and stopping it when it comes into contact with the reference part.

[0003] Patent document 1 states that "in a machine tool equipped with a variable speed motor that drives a movable part and a control mechanism that controls the rotation of the variable speed motor, the machine tool is provided with a stopper which the movable part abuts when it reaches a predetermined position, detection means which detects excessive current flowing through the variable speed motor when the movable part abuts the stopper and issues a position signal, and a position register which stores the predetermined position based on the signal from the detection means, and which issues a stop signal to the control mechanism based on the memory when the movable part reaches the predetermined position, thereby stopping the variable speed motor." [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 58-124907 Summary of the Invention [Problem to be solved by the invention]

[0005] In the positioning device of Patent Document 1, arrival at the stopper is detected based on the overcurrent of the variable speed motor. However, the torque of the motor changes depending on the environment. For example, when moving a table with a screw feed mechanism as in Patent Document 1, the viscosity of the lubricant increases as the temperature decreases, and the friction coefficient of the screw feed mechanism increases. As a result, there is a risk of an excessive current being erroneously detected from the load torque before the stopper abuts. On the other hand, as the temperature increases, the viscosity of the lubricant decreases, and the friction coefficient of the screw feed mechanism decreases. For this reason, it is not preferable to set the threshold value for determining that an excessive current is present unnecessarily high.

[0006] In addition, in hydraulic systems, the load pressure of the cylinder changes depending on the temperature of the working fluid. When the temperature of the working fluid is low, the viscosity is high and the load pressure is high. When the temperature of the working fluid is high, the viscosity is low and the load pressure is low. For this reason, when determining whether the stopper abuts based on the increase in load pressure, if the temperature of the working fluid is low, there is a risk that the increase in load pressure before the stopper abuts will be erroneously determined to be the stopper abutment. On the other hand, when considering when the temperature of the working fluid is high, it is not preferable to set the load pressure for determining whether the stopper abuts unnecessarily high.

[0007] In the field of control devices, there is a demand for collision detection that is adaptable to changes in environmental temperature. [Means for solving the problem]

[0008] A control device according to one aspect of the present disclosure is a Position the part to be positioned by butting it against the reference part. The control device includes an actuator that generates thrust, a thrust detection unit that detects the thrust of the actuator, a temperature acquisition unit that acquires temperature, a threshold calculation unit that calculates a threshold that monotonically decreases with temperature, and a collision detection unit that compares the thrust of the actuator with the threshold and detects a collision of a member driven by the thrust of the actuator when the thrust exceeds the threshold. A control device according to one aspect of the present disclosure is a Position the part to be positioned by butting it against the reference part.The control device includes an actuator that generates thrust, a temperature acquisition unit that acquires temperature, a thrust limit value calculation unit that calculates a thrust limit value that monotonically decreases with temperature, a thrust limiting unit that limits the thrust of the actuator with the thrust limit value as an upper limit, a speed detection unit that detects the speed of a member driven by the thrust of the actuator, and a collision detection unit that detects a collision when the member stops. Effect of the Invention

[0009] According to one aspect of the present invention, it is possible to detect abutment in response to a change in the environmental temperature. [Brief description of the drawings]

[0010] [Figure 1] FIG. 2 is a block diagram of a control device according to the first disclosure. [Diagram 2] 11 is a graph showing the relationship between a threshold value and a detected temperature. [Diagram 3] 11 is a graph showing the relationship between a threshold value and a detected temperature. [Figure 4] 4 is a flowchart illustrating the operation of the control device of the first disclosure. [Diagram 5] FIG. 13 is a block diagram of a control device according to a second disclosure. [Figure 6] 11 is a graph showing the relationship between a thrust limit value and a detected temperature. [Figure 7] 11 is a graph showing the relationship between a thrust limit value and a detected temperature. [Figure 8] 10 is a flowchart illustrating the operation of the control device of the second disclosure. [Figure 9] 1A and 1B are diagrams illustrating an example in which the bump detection according to the present disclosure is applied to an injection molding machine. [Figure 10] 1A and 1B are diagrams illustrating an example in which the abutment detection according to the present disclosure is applied to a grinding machine. [Figure 11] FIG. 2 is a diagram illustrating a hardware configuration of a control device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] [First Disclosure] The control device 100 of the first disclosure will be described with reference to the drawings. The control device 100 is connected to or integrated with a machine, and includes a servo motor, which is a type of actuator that controls the machine. Machines to be controlled include, but are not limited to, lathes, drilling machines, boring machines, milling machines, grinding machines, machining centers, electric discharge machines, and injection molding machines. The control device 100 of the present disclosure controls an actuator. The control target of the control device is a machine equipped with an actuator. The actuator may be, but is not limited to, a servo motor, a stepping motor, or a linear motor that uses electricity as a power source, a hydraulic cylinder or a hydraulic motor that uses hydraulic power as a power source, or a pneumatic cylinder or a pneumatic motor that operates with high-pressure air.

[0012] 1 is a block diagram of a control device 100 that detects abutment of a table 20. The control device 100 includes a speed command generating unit 10, a speed detecting unit 11, a speed control unit 12, a thrust control unit 13, an actuator 14, a thrust (current) detecting unit 15, abutment detecting unit 16, a temperature acquiring unit 17, a temperature monitoring unit 18, and a threshold calculating unit 19.

[0013] The speed command generating unit 10 outputs a speed command signal for the table 20. The speed detecting unit 11 detects the speed of the table 20. The speed control unit 12 outputs a thrust command to the thrust control unit 13 so that the speed of the table 20 follows the speed command. The thrust control unit 13 makes the thrust of the actuator follow the thrust command. For example, if the actuator 14 is a servo motor, the thrust control unit 13 supplies a current to the actuator 14. The actuator 14 drives a screw feed mechanism. The table 20 moves at a predetermined speed due to the thrust of the screw feed mechanism.

[0014] In detecting the butt, the control device 100 moves the table 20 in the direction of the stopper 21. When the table 20 hits the stopper 21, the table 20 stops. When the table 20 stops, the thrust (current) of the actuator 14 increases. The thrust (current) detection unit 15 detects the increase in thrust. The butt detection unit 16 compares the increased thrust with a threshold, and when the thrust of the actuator 14 exceeds the threshold, it outputs a signal to the speed command generation unit 10 to stop the table 20. This ends the butt.

[0015] The temperature acquisition unit 17 acquires the detected temperature T from a temperature sensor in the machine itself or outside the machine. In the present disclosure, the detected temperature T is acquired using a temperature sensor that is already installed in the machine, so there is no need to provide a new temperature sensor. A new temperature sensor may be provided for bump detection.

[0016] Existing temperature sensors include the following: (1) Factory thermometer. Thermometers are installed in factories that handle precision machinery or food. Thermometers may also be installed to maintain the safety and health of workers. The temperature acquisition unit 17 acquires the detected temperature T from an existing thermometer installed outside the machine. (2) Heating barrel of injection molding machine. The heating barrel of injection molding machine is equipped with a temperature sensor. The heating barrel of injection molding machine is hot during processing because it applies heat to the plastic material to melt it, but since it is not heated when the injection molding machine is started, it is expected that the detected temperature T will be the same as the environmental temperature. This is also true for plastic processing machines other than injection molding machines. (3) Hydraulic system oil temperature gauge. It is common to have a temperature sensor to monitor the overheating of hydraulic oil. (4) Temperature sensor on the control panel. Many devices are contained inside the control panel. To prevent malfunctions and deterioration of the devices due to high temperatures, a temperature sensor is sometimes installed on the control panel. The detected temperature T becomes high as the machine is operating, but it can be expected to be equivalent to the ambient temperature when the machine is started. (5) Temperature sensor for servo motors. Servomotors are generally equipped with a temperature sensor to monitor the temperature so that it does not exceed the maximum allowable temperature determined by the insulation class. The detected temperature T becomes high as the machine operates, but it can be expected to be equivalent to the ambient temperature when the machine is started. Note that even electric motors other than servo motors may be equipped with a temperature sensor.

[0017] The temperature acquisition unit 17 may obtain calendar information from the control device itself or from outside the control device, and acquire a temperature previously associated with the calendar information as the detection temperature T. Here, calendar information refers to date or time. For example, the detection temperature T is a temperature associated with a relatively high temperature in summer, and the detection temperature T is a temperature associated with a relatively low temperature in winter. For example, the detection temperature T is a temperature associated with a relatively high temperature in daytime, and the detection temperature T is a temperature associated with a relatively low temperature in nighttime.

[0018] In associating the calendar information with the temperature, a binary value of summer or winter may be determined from the date, and the temperature associated with each may be acquired as the detected temperature T, or multiple classes may be set for the date change from summer to winter, and the temperature associated with each class may be acquired as the detected temperature T. Similarly, a binary value of daytime or nighttime may be determined from the time, and the temperature associated with each may be acquired as the detected temperature T, or multiple classes may be set for the time change from daytime to night, and the temperature associated with each class may be acquired as the detected temperature T. In the present disclosure, the detected temperature T is a value for calculating the thrust threshold or limit value. Therefore, in the correspondence between the calendar information and the temperature, the temperature is merely a parameter. Therefore, the present disclosure also includes a mode in which the temperature is estimated from the calendar information and the thrust threshold value or the thrust limit value described later is calculated.

[0019] The temperature monitoring unit 18 monitors the temperature acquired by the temperature acquisition unit 17 .

[0020] The threshold calculation unit 19 calculates the threshold for collision detection based on the detected temperature T acquired by the temperature acquisition unit 17. The graphs in Figures 2 and 3 show the relationship between the threshold and temperature. The formula for calculating the threshold is not limited to the examples in Figures 2 and 3 as long as the threshold monotonically decreases with respect to the temperature. In this graph, the detected temperature T is an absolute temperature. The reason why the detected temperature T is an absolute temperature is because it is not necessary to consider a change in sign. The detected temperature T does not necessarily have to be an absolute temperature.

[0021] Figure 2 shows an example of a linear equation with a negative slope. The equation of the dotted line is a(T0-T)+I TH (Here, T0 is the reference temperature [K] (approximately 293K), a is a parameter that adjusts the sensitivity to temperature changes, I TH : threshold value at the reference temperature).

[0022] Figure 3 shows an example of an inverse proportional equation. The equation of the dotted line in the graph is [(T0-a) / (Ta)]×I TH (Here, T0 is the reference temperature [K] (approximately 293K), a is a parameter that adjusts the sensitivity to temperature changes, I TH : threshold value at the reference temperature).

[0023] In the examples of Figs. 2 and 3, the threshold is set to an upper limit I HL and the lower limit I LL The solid line graphs in Figures 2 and 3 show the upper limit I HL and the lower limit I LL This is the output when limited by the upper limit I HL is the threshold value assuming a cold day, and the lower limit I LL is the threshold assuming a hot day.

[0024] Hereinafter, the operation of the control device 100 of the first disclosure will be described with reference to FIG. When an operator starts the machine (step S1), the temperature acquisition unit 17 acquires the detected temperature T at the time of startup (step S2). The threshold calculation unit 19 calculates the thrust threshold for detecting abutment based on the detected temperature T (step S3). The thrust threshold monotonically decreases with respect to the detected temperature T.

[0025] When the operator issues an instruction to start bump detection (step S4), the table 20 moves toward the stopper 21 (step S5). When the table 20 reaches the stopper 21 (step S6), the table 20 stops (step S7), and the thrust of the actuator 14 increases (step S8).

[0026] The collision detection unit 16 compares the threshold calculated by the threshold calculation unit 19 with the thrust detected by the thrust (current) detection unit 15, and when the thrust exceeds the threshold (step S9), detects that the table 20 has reached the stopper 21 (collision) (step S10).

[0027] In the control device 100 of the first disclosure, the threshold value is increased at low temperatures. At low temperatures, the viscosity of the lubricant increases, and a relatively high thrust is required to move the table 20. In the first disclosure, the threshold value is increased at low temperatures to prevent the thrust required for table movement at low temperatures from being erroneously detected as a "butt". The control device 100 of the first disclosure lowers the threshold value at high temperatures. If the threshold value is high, a thrust is applied to the stopper 21 until the thrust reaches the threshold value. In the first disclosure, by lowering the threshold value at high temperatures, a contact force more than necessary is not applied to the stopper 21.

[0028] The control device 100 of the present disclosure not only adjusts the threshold value but also controls the speed. If the "butting" is performed without controlling or limiting the speed, the speed at which the table 20 contacts the stopper 21 may be excessive. The control device of the present disclosure controls the speed of the table 20 to prevent the table 20 from colliding with the stopper 21. In the above flow chart, the detected temperature T is obtained when the machine is started, but the order of processing is not limited to this. If the detected temperature T that matches the environmental temperature can be obtained even after the machine is in operation, the detected temperature may be obtained or the threshold value may be calculated after an instruction to start detection of the bump is given.

[0029] [Second Disclosure] Next, the control device 100 according to the second disclosure will be described. 5 is a block diagram of the control device 100 of the second disclosure. The control device 100 of the second disclosure includes a speed command generating unit 10, a speed detecting unit 11, a speed control unit 12, a thrust control unit 13, an actuator 14, a thrust (current) detecting unit 15, a temperature acquiring unit 17, a temperature monitoring unit 18, a butting detection unit 22, a thrust limit value calculating unit 23, and a thrust limiting unit 24.

[0030] The speed command generating unit 10 outputs a speed command signal for the table 20. The speed detecting unit 11 detects the speed of the table 20. The speed control unit 12 outputs a thrust command to the thrust control unit 13 so that the speed of the table 20 follows the speed command. The thrust control unit 13 makes the thrust of the actuator follow the thrust command. For example, if the actuator 14 is a servo motor, the thrust control unit 13 supplies a current to the actuator 14. The actuator 14 drives a screw feed mechanism. The thrust of the actuator 14 moves the table 20 at a predetermined speed.

[0031] The temperature acquisition unit 17 acquires a detected temperature T from a temperature sensor provided inside or outside the machine. The temperature monitoring unit 18 monitors the temperature acquired by the temperature acquisition unit 17 and performs temperature control so that the machine does not overheat. The method of temperature control differs depending on the type of machine. The functions of the speed command generating unit 10, speed detection unit 11, speed control unit 12, thrust control unit 13, actuator 14, thrust (current) detection unit 15, temperature acquisition unit 17, and temperature monitoring unit 18 of the control device 100 of the second disclosure are the same as those of the first disclosure, and therefore are denoted by the same symbols.

[0032] The thrust (current) detection unit 15 calculates a thrust limit value. The thrust limit value is a limit value of the thrust that moves a member of the machine. The thrust limit unit 24 controls the thrust of the table 20 so as to be equal to or less than the thrust limit value.

[0033] The graphs in Figures 6 and 7 show the relationship between the thrust limit value and temperature. The formula for calculating the thrust limit value is not limited to the examples in Figures 6 and 7, as long as the thrust limit value monotonically decreases with respect to the temperature. Figure 6 shows an example of a linear equation with a negative slope. The equation of the dotted line is a(T0-T)+J TH (Here, T0 is the reference temperature [K] (approximately 293K), a is a parameter that adjusts the sensitivity to temperature changes, J TH : Thrust limit value at reference temperature).

[0034] Figure 7 shows an example of an inverse proportional equation. The equation of the dotted line in the graph is [(T0-a) / (Ta)]×J TH (Here, T0 is the reference temperature [K] (approximately 293K), a is a parameter that adjusts the sensitivity to temperature changes, J TH : Thrust limit value at reference temperature).

[0035] In the examples of Figs. 6 and 7, the thrust limit value is set to the upper limit J HL and the lower limit J LL The solid line graphs in Figures 6 and 7 show the calculated value as the upper limit J HL and the lower limit J LL This is the output when limited by the upper limit J HL is the thrust limit value assuming a cold day, and the lower limit J LL is the thrust limit value assuming a hot day.

[0036] The bump detection unit 22 acquires the speed of the table 20 from the speed detection unit 11. The bump detection unit 22 monitors the speed, and detects the bump of the table 20 when the table 20 stops. For example, the bump detection unit 22 determines that the table 20 has stopped when the speed acquired from the speed detection unit 11 is zero for a certain period of time.

[0037] Hereinafter, the operation of the control device 100 according to the second disclosure will be described with reference to FIG. When the operator starts the machine (step S11), the temperature acquisition unit 17 acquires the detected temperature T at the time of startup (step S12). The thrust limit value calculation unit 23 calculates the thrust limit value for moving the table 20 based on the detected temperature T (step S13). The thrust limit value monotonically decreases with respect to the detected temperature T.

[0038] When the operator instructs the start of bump detection (step S14), the table 20 moves toward the stopper 21 (step S15). At this time, the higher the detected temperature T, the lower the thrust limit value, and the lower the detected temperature T, the higher the thrust limit value. In other words, the lower the detected temperature T, the higher the thrust that can be output.

[0039] When the table 20 reaches the stopper 21 (step S16), the table 20 stops (step S17). When the speed of the table 20 becomes zero (step S18), the collision detection unit 22 detects the collision (step S19).

[0040] The control device 100 of the second disclosure changes the thrust limit value according to the temperature. At low temperatures, the thrust limit value is increased so that a high thrust can be output. If a sufficiently high thrust can be output, the table 20 will not stop even if the viscosity of the lubricant is high at low temperatures. The table 20 stops when it reaches the stopper 21. In the control device 100 of the second disclosure, the thrust of the table 20 is made sufficiently high to prevent the table 20 from stopping due to insufficient thrust, and abutment is detected based on the speed of the table 20. The control device 100 of the second disclosure lowers the thrust limit value at high temperatures to limit the thrust at high temperatures. By limiting the thrust of the table 20, collision between the table 20 and the stopper 21 at high temperatures can be avoided. In the above flow chart, the detected temperature T is obtained when the machine is started, but the order of processing is not limited to this. If the detected temperature T that matches the environmental temperature can be obtained even after the machine is in operation, the detected temperature may be obtained after an instruction to start bump detection is issued, and if the detected temperature has been obtained, the thrust limit value may be calculated.

[0041] [Example of hitting] 9 and 10, an example in which the present disclosure is applied to a machine different from the first and second disclosures will be shown. 9 shows a mold clamping mechanism 30 of an injection molding machine. The mold clamping mechanism 30 includes a movable platen 34 and a fixed platen 35. A movable mold 31 and a fixed mold 32 are attached to the movable platen 34 and the fixed platen 35, respectively. The mold clamping mechanism 30 includes a mold thickness adjustment motor 33 as an actuator. The mold thickness adjustment motor 33 advances the movable mold 31, and the operation of the movable mold 31 being butted against the fixed mold 32 is called mold touch. When the first disclosure is applied to the mold touch of an injection molding machine, the threshold calculation unit 19 calculates the threshold of the bump detection unit 16 based on the detected temperature T. The movable mold 31 moves toward the fixed mold 32, and when the movable mold 31 and the fixed mold 32 come into contact with each other, the forward movement of the movable mold 31 stops. When the movable mold 31 stops, the thrust (current) of the mold thickness adjustment motor 33 increases. The bump detection unit 16 compares the value of the increased thrust with the threshold, and detects a bump when the thrust of the mold thickness adjustment motor 33 exceeds a predetermined threshold. When the second disclosure is applied to the die touch of an injection molding machine, the thrust limit value calculation unit 23 calculates the thrust limit value based on the detected temperature T. The control device 100 moves the movable die 31 toward the fixed die 32 while limiting the thrust to the thrust limit value or less. When the movable die 31 comes into contact with the fixed die 32, the movable die 31 stops and the speed of the movable die 31 becomes zero. The collision detection unit 22 detects the collision from the time when the movable die 31 stops.

[0042] FIG. 10 shows a grinding machine. The grinding machine grinds a workpiece 45 with a grinding wheel 44. A dresser 46 is attached to a table 47 on which the workpiece 45 is placed. The table 47 moves left and right in the drawing. When dressing, the table 47 is moved rightward in the drawing, and the dresser 46 is moved under the grinding wheel 44. The grinding wheel 44 is rotated and ground by the dresser 46. A butt is used to position the dresser 46. The table 47 is moved in the direction of a stopper 48, and the table 47 is moved to the position of the stopper 48. When the first disclosure is applied to the butting of a grinding machine, threshold calculation unit 19 calculates the threshold of butt detection unit 16 based on the detected temperature T. Table 47 moves toward stopper 48, and when table 47 comes into contact with stopper 48, table 47 stops. When table 47 stops, the thrust (current) of actuator 14 increases. Butt detection unit 16 compares the value of the increased thrust with the threshold, and stops table 47 when the thrust of actuator 14 exceeds the threshold. When the second disclosure is applied to the butting of a grinding machine, thrust limit value calculation unit 23 calculates the thrust limit value based on detected temperature T. Control device 100 moves table 47 in the direction of stopper 48 while limiting the thrust. When table 47 comes into contact with stopper 48 and stops, table 47 stops and the speed of table 47 becomes zero. Butt detection unit 22 detects the butt from the stop of table 47.

[0043] An example of a hardware configuration of a control device 100 that controls a machine will be described with reference to Fig. 11. The control device 100 includes a CPU 111, which is a processor that controls the entire control device 100. The CPU 111 reads out a system program processed in a ROM 112 via a bus, and controls the entire control device 100 in accordance with the system program. The RAM 113 temporarily stores temporary calculation data, display data, various data input by the user via the input unit 71, and the like.

[0044] The display unit 70 is a monitor or the like attached to the control device 100. The display unit 70 displays an operation screen, a setting screen, and the like of the control device 100.

[0045] The input unit 71 is a keyboard, a touch panel, or the like that is integrated with the display unit 70 or is separate from the display unit 70. A user operates the input unit 71 to input data to a screen displayed on the display unit 70. The display unit 70 and the input unit 71 may be a mobile terminal.

[0046] The non-volatile memory 114 is a memory that retains its stored state even when the power supply of the control device 100 is turned off, for example, by being backed up by a battery (not shown). The non-volatile memory 114 stores programs read from an external device via an interface (not shown), programs input via the input unit 71, and various data acquired from each unit of the control device 100, a machine tool, etc. (for example, setting parameters acquired from a machine). The programs and various data stored in the non-volatile memory 114 may be expanded in the RAM 113 when executed / used. In addition, various system programs are written in advance in the ROM 112.

[0047] A controller 40 that controls the machine outputs commands from a CPU 111 to a driver 41. The driver 41 drives actuators of the machine. The actuators drive members of the machine under the control of the control device 100. The control device 100 is connected to an external device such as a temperature sensor via the PLC 42 and acquires a detected temperature T. [Explanation of symbols]

[0048] 100 Control device 10 Speed ​​command generator 11 Speed ​​detection section 12 Speed ​​control section 13 Thrust control section 14 Actuator 15 Thrust (current) detection section 16. Collision detection section 17 Temperature acquisition section 18 Temperature monitoring section 19 Threshold calculation unit 20 Tables 21 Stopper 22. Collision detection section 23 Thrust limit value calculation section 24 Thrust limiting section 111 CPU 112 ROM 113 RAM 114 Non-volatile memory

Claims

1. A control device for positioning a member to be positioned by butting it against a reference member of a machine, An actuator that generates a thrust force; a thrust detection unit that detects a thrust of the actuator; A temperature acquisition unit that acquires a temperature; a threshold calculation unit that calculates a threshold value that monotonically decreases with respect to the temperature; a collision detection unit that compares the thrust of the actuator with the threshold value and detects a collision of the member to be positioned that is driven by the thrust of the actuator when the thrust exceeds the threshold value.

2. a speed command generating unit that generates a speed command for the actuator or the member to be positioned; a speed detection unit for detecting an actual speed of the actuator or the member to be positioned; a speed control unit that outputs a thrust command so that the actual speed follows the speed command; a thrust control unit that causes the thrust control unit to follow the thrust command output by the speed control unit, The control device according to claim 1 , further comprising a speed control for the actuator or the member to be positioned.

3. The control device according to claim 2 , wherein the temperature acquisition unit acquires the temperature from a temperature sensor provided in the machine or the control device.

4. A control device for positioning a member to be positioned by butting it against a reference member of a machine, An actuator that generates a thrust force; A temperature acquisition unit that acquires a temperature; a thrust limit value calculation unit that calculates a thrust limit value that monotonically decreases with respect to the temperature; a thrust limiting unit that limits the thrust of the actuator to an upper limit of the thrust limit value; a speed detection unit that detects a speed of the member to be positioned that is driven by the thrust of the actuator; a collision detection unit that detects a collision when the member to be positioned stops.

5. The control device according to claim 4 , wherein the temperature acquisition unit acquires the temperature from a temperature sensor provided in the machine or the control device.

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