System and method for controlling multiple movement mechanisms - Patents.com

Abstract

To provide the productivity in a system and a method for controlling a plurality of moving mechanisms.SOLUTION: An integrated controller 100 generates a first operation profile for defining a time with change in a first specific operation in a first time zone of specific moving mechanisms 200_1, 200_2. A specific controller 250 for controlling the specific moving mechanism 200_1 generates a second operation profile for defining a time with change in the first specific operation in a second time zone. A specific controller 250_1 controls the specific moving mechanism 200_1 on the basis of the first operation profile and the second operation profile.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to systems and methods for controlling multiple movement mechanisms. [Background technology]

[0002] Conventionally, a control system for controlling a plurality of moving mechanisms (e.g., robots) is known. For example, Japanese Patent Application Laid-Open Publication No. 2001-290511 (Patent Document 1) discloses a control system in which a plurality of control devices for controlling objects to be controlled are connected to each other to transmit and receive information. In this control system, any one of the plurality of control devices includes a general command unit, which enables general and high-speed control of the plurality of control devices. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2001-290511 A Summary of the Invention [Problem to be solved by the invention]

[0004] In a system for controlling multiple mobile mechanisms, the mobile mechanisms may be controlled based on a motion profile that specifies the time change of the motion (e.g., position and speed) of the mobile mechanisms. The status of the mobile mechanisms may change during the time interval from when the mobile mechanisms start to when they complete their motion. For example, the time interval may include a time period during which the mobile mechanisms need to work in cooperation with other mobile mechanisms and a time period during which the mobile mechanisms can work independently. The motion profile for the former time period must be generated by an integrated control device that has the function of controlling multiple mobile mechanisms in an integrated manner. On the other hand, the motion profile for the latter time period may also be generated by a control device that has the function of controlling a single mobile mechanism. In order to appropriately distribute the computational load required for generating the motion profile between the integrated control device and the multiple control devices, it is necessary to switch the device that generates the motion profile according to the status of the mobile mechanisms.

[0005] However, the control system disclosed in Patent Document 1 does not take into consideration the fact that the device capable of generating the motion profile changes depending on the state of the moving mechanism. According to the control system disclosed in Patent Document 1, the calculation load required to generate the motion profile is biased to one of the multiple control devices, which may reduce the processing efficiency of the control device. As a result, the productivity of the system that controls multiple moving mechanisms may decrease.

[0006] The present disclosure has been made to solve the above-mentioned problems, and an object of the present disclosure is to improve productivity in a system and method for controlling multiple moving mechanisms. [Means for solving the problem]

[0007] A system according to an aspect of the present disclosure includes a plurality of control devices and an integrated control device. The plurality of control devices respectively control a plurality of moving mechanisms. The integrated control device is connected to the plurality of moving mechanisms. The integrated control device generates a first operation profile that specifies a time change in a first time period of a first specific operation of a specific moving mechanism, which is one of the plurality of moving mechanisms. The specific control device that controls the specific moving mechanism generates a second operation profile that specifies a time change in a second time period of the first specific operation. The specific control device controls the specific moving mechanism based on the first operation profile and the second operation profile.

[0008] According to this disclosure, the specific control device controls the specific moving mechanism based on the first operation profile during the first time period of the first specific operation, and the specific control device controls the specific moving mechanism based on the second operation profile during the second time period of the first specific operation, thereby making it possible to switch the configuration for generating the operation profile according to the state of the specific moving mechanism that may change as the operation profile progresses. As a result, the calculation load required for generating the operation profile can be appropriately distributed between the integrated control device 100 and the multiple control devices, thereby improving the productivity of the system that controls multiple moving mechanisms.

[0009] In the above disclosure, the specific control device starts controlling the specific moving mechanism based on the first operation profile. After the specific moving mechanism starts the first specific operation based on the first operation profile, the integrated control device outputs a switching command to the specific control device. After receiving the switching command, the specific control device generates a second operation profile and switches the operation profile for controlling the specific moving mechanism from the first operation profile to the second operation profile.

[0010] According to this disclosure, the timing of switching the motion profile is determined by an integrated control device having control information for multiple mobile mechanisms, so that the motion profile can be switched smoothly in response to changes in the status of the mobile mechanisms, thereby further improving the productivity of a system that controls multiple mobile mechanisms.

[0011] In the above disclosure, if an error occurs in communication with the integrated control device before the second operation profile is generated, the specific control device generates a stop profile and stops the specific moving mechanism based on the stop profile.

[0012] According to this disclosure, when a communication error makes it difficult to generate an operation profile in a specific control device, the operation of the moving mechanism is shifted to a stopped operation, thereby preventing unexpected operation of the moving mechanism due to indetermination, and as a result, the safety of a system that controls multiple moving mechanisms can be improved.

[0013] In the above disclosure, the integrated control device generates a third motion profile that specifies a time change in a second specific motion of each of the multiple moving mechanisms. Each of the multiple control devices controls the moving mechanism that performs the second specific motion based on the third motion profile. Each of the multiple control devices generates a fourth motion profile that specifies a time change in a motion other than the first specific motion and the second specific motion of each of the multiple moving mechanisms, and controls the moving mechanism that performs the motion based on the fourth motion profile.

[0014] According to this disclosure, a configuration for generating a motion profile of a motion specified in a command is appropriately selected according to the type of motion, thereby further improving the productivity of a system for controlling multiple moving mechanisms.

[0015] In the above disclosure, the first specific action in the first time period and the second specific action include actions in which a plurality of moving mechanisms cooperate with each other.

[0016] According to this disclosure, an integrated control device having control information for multiple mobile mechanisms generates a motion profile for a motion in which the multiple mobile mechanisms cooperate with each other, thereby enabling coordination among the multiple mobile mechanisms in the motion, and thus further improving the productivity of a system that controls multiple mobile mechanisms.

[0017] A method according to another aspect of the present disclosure includes generating a first operation profile that specifies a time change in a first specific operation of a specific moving mechanism, which is one of a plurality of moving mechanisms, during a first time period, generating a second operation profile that specifies a time change in the first specific operation during a second time period, and controlling the specific moving mechanism based on the first operation profile and the second operation profile.

[0018] According to this disclosure, the specific moving mechanism is controlled based on the first motion profile during the first time period of the first specific motion, and the specific moving mechanism is controlled based on the second motion profile during the second time period of the first specific motion, so that the configuration for generating the motion profile can be switched according to the state of the specific moving mechanism that may change as the motion profile progresses. As a result, the calculation load required for generating the motion profile can be appropriately distributed, thereby improving the productivity of the method for controlling multiple moving mechanisms. Effect of the Invention

[0019] According to the system or method of the present disclosure, productivity can be improved. [Brief description of the drawings]

[0020] [Figure 1] 1 is a block diagram showing a configuration of a control system according to an embodiment, and a flow of control information related to an independent operation of a moving mechanism. [Diagram 2] 1. FIG. 4 is a block diagram showing a flow of control information regarding a cooperative operation (second specific operation) of the moving mechanisms in the control system of FIG. [Diagram 3] 2 is a diagram showing the change over time in the velocity of the TCP of the robot when a command for a partial cooperative operation of the robot in FIG. 1 is output from the integrated control device. FIG. [Figure 4] FIG. 13 is a diagram showing the change over time in the speed of the TCP of the robot when a communication error occurs between the integrated control device and the robot control device after a command to switch the operation profile is output from the integrated control device. [Diagram 5] 3 is a flowchart showing an example of a flow of processing performed in the integrated control device of FIGS. 1 and 2 for each control period. [Figure 6] 3 is a state transition diagram regarding operation instructions of the command generating unit in FIG. 1 and FIG. 2. [Figure 7] 7 is a diagram showing a flow of processing performed by a command generating unit in the standby state of FIG. 6. [Figure 8] 7 is a diagram showing a flow of processing performed by a command generating unit in a state in which an independent action command is generated in FIG. 6. [Figure 9] 7 is a diagram showing a flow of processes performed by a command generating unit and a profile generating unit in a state in which a coordinated action command is generated in FIG. 6. [Figure 10] 7 is a diagram showing the flow of processing performed by a command generating unit and a profile generating unit in the switching state of FIG. 6. [Figure 11] 3 is a flowchart showing an example of a flow of processes performed in each of the control devices when the control device receives a command from the integrated control device shown in FIGS. 1 and 2. [Figure 12] FIG. 3 is a block diagram showing an example of a network configuration of the control system of FIGS. 1 and 2. [Figure 13] 3 is a block diagram showing an example of a hardware configuration of the integrated control device of FIGS. 1 and 2. FIG. [Figure 14] 3 is a block diagram showing an example of a hardware configuration of the robot control device shown in FIGS. 1 and 2. FIG. [Figure 15] 3 is a block diagram showing an example of a hardware configuration of the servo control device of FIGS. 1 and 2. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] Hereinafter, the embodiments will be described in detail with reference to the drawings. In the drawings, the same or corresponding parts are designated by the same reference characters and, in principle, the description thereof will not be repeated.

[0022] <Application Examples> 1 is a block diagram showing the configuration of a control system 1 according to an embodiment and the flow of control information related to an independent operation of a moving mechanism. An independent operation is an operation that does not depend on the operation of another moving mechanism and is independent from the operation. An independent operation includes, for example, a simple assembly work performed by itself and an operation in which the moving mechanism safely stops by itself when a network failure occurs. As shown in FIG. 1, the control system 1 includes an integrated control device 100, a robot control device 250_1, a robot control device 250_2, and a servo control device 350.

[0023] The integrated control device 100 is connected to a robot control device 250_1, a robot control device 250_2, and a servo control device 350 via a field network 20. The integrated control device 100 outputs commands to the robot control device 250_1, the robot control device 250_2, and the servo control device 350, respectively, for the moving mechanisms to which the control devices are connected.

[0024] It is preferable that the field network 20 employs a bus or network that performs periodic communication. Known examples of such buses or networks that perform periodic communication include EtherCAT (registered trademark), EtherNet / IP (registered trademark), DeviceNet (registered trademark), and CompoNet (registered trademark). EtherCAT (registered trademark) is preferable because it guarantees the arrival time of data.

[0025] The robot controller 250_1 is connected to the robot 200_1 (movement mechanism). The robot controller 250_1 controls the robot 200_1 based on a command from the integrated controller 100.

[0026] The robot controller 250_2 is connected to the robot 200_2 (movement mechanism). The robot controller 250_2 controls the robot 200_2 based on a command from the integrated controller 100.

[0027] As the robots 200_1 and 200_2, custom robots having one or more axes or joints that are created arbitrarily according to the application may be used. Furthermore, as the robots 200_1 and 200_2, any general-purpose robot such as a horizontal articulated (SCARA) robot, a vertical articulated robot, a parallel link robot, or an orthogonal robot may be used.

[0028] The servo control device 350 is connected to at least one servo 300 (movement mechanism). The servo control device 350 controls at least one servo 300 based on a command from the integrated control device 100.

[0029] The integrated control device 100 includes a logic control unit 110, a command generating unit 120, a communication unit 130, and a profile generating unit 140. The logic control unit 110 receives monitor information Mn (e.g., measured values ​​of sensors (not shown) installed on the multiple mobile mechanisms) from multiple mobile mechanisms via the communication unit 130 for each control period. The logic control unit 110 outputs an independent operation instruction Isi to at least one mobile mechanism based on the monitor information Mn to the command generating unit 120. The independent operation instruction Isi includes information identifying a control device that controls each of the at least one mobile mechanism (e.g., a network node identifier of the control device in the field network 20), and information regarding the operation of the mobile mechanism.

[0030] The command generating unit 120 interprets a control program corresponding to each of at least one moving mechanism specified in the individual operation command Isi, generates an individual operation command Ci for the moving mechanism, and outputs the command to the communication unit 130. In Fig. 1, the robot programs Prb1, Prb2 and the servo program Pcv are control programs corresponding to the robots 200_1, 200_2 and the servo 300, respectively. Each of the robot programs Prb1, Prb2 and the servo program Pcv may be written using, for example, a control programming language such as the V+ language, or a programming language related to NC (Numerical Control) control such as G-code.

[0031] The communication unit 130 refers to the network configuration information set Sn and transmits the independent operation command Ci to the control device that controls the mobile mechanism specified in the independent operation command Ci. The network configuration information set Sn includes information on a plurality of mobile mechanisms connected to the field network 20. For example, the network configuration information set Sn includes the type of a certain mobile mechanism, the network node identifier of the control device that controls the mobile mechanism, and information specific to the type.

[0032] In an example of the network configuration information set Sn shown in FIG. 1, a section is provided for each of a plurality of moving mechanisms. In the section of the robot 200_1, as the network configuration information of the robot 200_1, it is determined that the type of the robot 200_1 is a robot type, that the network node identifier of the robot control device 250_1 is 1, that the number of axes is 4, and other axis variables. In the section of the robot 200_2, as the network configuration information of the robot 200_2, it is determined that the type of the robot 200_2 is a robot type, that the network node identifier of the robot control device 250_2 is 2, that the number of axes is 6, and other axis variables. In the section of the servo 300, as the network configuration information of the servo 300, it is determined that the type of the servo 300 is a servo type, that the network node identifier of the servo control device 350 is 3, and servo variables.

[0033] The robot control device 250_1 controls the robot 200_1. The robot control device 250_1 includes a communication unit 251, a command generation unit 252, and a profile generation unit 253. The communication unit 251 receives a command from the integrated control device 100 and outputs the command to the command generation unit 252.

[0034] The command generating unit 252 refers to the network configuration information Tn1 related to the robot 200_1, and when the network node identifier specified in the command is 1, instructs the profile generating unit 253 to generate an operation profile (target trajectory) corresponding to the command. The network configuration information Tn1 is included in the section of the robot 200_1 in the network configuration information set Sn. In the operation profile, a change in a tool center point (TCP) of the robot 200_1 according to the time lapse from the start of an operation corresponding to the command to the end of the operation is specified. For example, the operation profile of the robot 200_1 typically includes the position of the tip part (TCP) of the robot 200_1 at each time (change in position with respect to time), the velocity of the tip part of the robot 200_1 at each time (change in velocity with respect to time), and / or the acceleration of the tip part of the robot 200_1 at each time (change in acceleration with respect to time), etc.

[0035] The profile generating unit 253 generates a motion profile (fourth motion profile) based on the kinematics of the robot 200_1. The profile generating unit 253 calculates a command value (for example, the position of each of a plurality of joints included in the robot 200_1) based on the motion profile, and outputs the command value to the robot 200_1. When the individual motion corresponding to the individual motion command is completed (when the output of all command values ​​based on the motion profile is completed), the command generating unit 252 outputs a notification of the completion of the individual motion to the integrated control device 100. Note that the axis of the robot may constitute a joint, and therefore, in the following description, it is also referred to as the "axis or joint" of the robot. That is, in this specification, the term "axis" of the robot is used to mean both the axis and the joint.

[0036] The robot control device 250_2 controls the robot 200_2. The configuration of the robot control device 250_2 is a configuration in which the network configuration information Tn1 of the robot control device 250_1 is replaced with Tn2. Other than this, the configuration of the robot control device 250_2 is similar to the configuration of the robot control device 250_1, and therefore description of the similar configuration will not be repeated.

[0037] The servo control device 350 controls the servo 300. The servo control device 350 includes a communication unit 351, a command generation unit 352, and a profile generation unit 353. The communication unit 351 receives a command from the integrated control device 100 and outputs the command to the command generation unit 352.

[0038] The command generating unit 352 refers to the network configuration information Tn3 related to the servo 300, and when the network node identifier specified in the command is 3, instructs the profile generating unit 353 to generate an operation profile corresponding to the command. The network configuration information Tn3 is included in the section of the servo 300 in the network configuration information set Sn. In the operation profile, a change in the operation of the servo 300 according to the lapse of time from the start of the operation corresponding to the command to the end of the operation is specified. For example, the operation profile of the servo 300 typically includes the angle of the servo 300 per time (change in the rotation angle with respect to time), the angular velocity of the servo 300 per time (change in the angular velocity with respect to time), and / or the angular acceleration of the servo 300 per time (change in the angular acceleration with respect to time).

[0039] The profile generating unit 353 calculates a command value (for example, a rotation angle of the servo 300) based on the generated operation profile, and outputs the command value to the servo 300. When the individual operation corresponding to the individual operation command is completed (when the output of all command values ​​based on the operation profile is completed), the command generating unit 352 outputs a notification of the completion of the individual operation to the integrated control device 100.

[0040] The network configuration information set Sn may be set, for example, in an initialization process of the control system 1. Furthermore, information included in the network configuration information referenced by each of the multiple mobile mechanisms may be transmitted to the mobile mechanism together with an independent operation command Ci based on the network configuration information set Sn.

[0041] Fig. 2 is a block diagram showing the flow of control information related to the cooperative operation (second specific operation) of the mobile mechanisms in the control system 1 of Fig. 1. The cooperative operation is an operation in which multiple mobile mechanisms cooperate with each other. The cooperative operation includes, for example, an operation in which multiple mobile mechanisms sharing a workspace stop while avoiding interference with each other, or a synchronous operation of multiple mobile mechanisms.

[0042] As shown in Fig. 2, the logic control unit 110 outputs a cooperative operation instruction Isc to the command generating unit 120. In the cooperative operation instruction Isc, moving mechanisms to be subjected to the cooperative operation are designated. In the cooperative operation instruction Isc in Fig. 2, it is assumed that cooperative operations are designated for the robots 200_1 and 200_2.

[0043] The command generating unit 120 interprets the control programs Prb1 and Prb2 corresponding to the robots 200_1 and 200_2 designated in the cooperative operation command Isc, and generates cooperative operation commands Cm1 and Cm2 for the robots 200_1 and 200_2, respectively. The command generating unit 120 outputs the cooperative operation commands Cm1 and Cm2 to the communication unit 130 and the profile generating unit 140.

[0044] The profile generating unit 140 generates motion profiles (third motion profiles) corresponding to the cooperative motion commands Cm1 and Cm2, respectively, based on the kinematics of the robots 200_1 and 200_2. The profile generating unit 140 calculates a command value Pc1 for the robot 200_1 based on the motion profile of the robot 200_1, and outputs the command value Pc1 to the communication unit 130. The profile generating unit 140 calculates a command value Pc2 for the robot 200_2 based on the motion profile of the robot 200_2, and outputs the command value Pc2 to the communication unit 130.

[0045] The communication unit 130 refers to the network configuration information set Sn and transmits the cooperative operation commands Cm1 and Cm2 and command values ​​corresponding to the cooperative operation commands to the control devices that control the moving mechanisms specified in the cooperative operation commands Cm1 and Cm2. That is, in Fig. 2, the communication unit 130 transmits the cooperative operation command Cm1 and command value Pc1 to the robot control device 250_1, and transmits the cooperative operation command Cm2 and command value Pc2 to the robot control device 250_2.

[0046] The command generating unit 252 of the robot control device 250_1 outputs a command value Pc1 to the robot 200_1. The command generating unit 252 of the robot control device 250_2 outputs a command value Pc2 to the robot 200_2. When the command generating unit 352 of the servo control device 350 receives a cooperative operation command, the command generating unit 352 also outputs the command value received together with the cooperative operation command to the servo 300.

[0047] In the control system 1, the moving mechanism is controlled based on an operation profile that specifies the time change of the operation of the moving mechanism. The status of the moving mechanism may change during the time interval from when the moving mechanism starts to operate until when the moving mechanism completes the operation. For example, the time interval may include a time period during which the moving mechanism needs to work in cooperation with other moving mechanisms and a time period during which the moving mechanism can work independently. The operation profile for the former time period needs to be generated by an integrated control device 100 having a function of integratedly controlling multiple moving mechanisms. On the other hand, the operation profile for the latter time period may also be generated by a control device having a function of controlling a single moving mechanism. In order to appropriately distribute the calculation load required for generating the operation profile between the integrated control device and multiple control devices, it is necessary to switch the device that generates the operation profile according to the status of the moving mechanism.

[0048] Therefore, in the control system 1, the configuration for generating the motion profile is switched between the integrated control device 100 and the control device that controls the motion mechanism according to the state of the motion profile, which may change as the motion profile progresses. According to the control system 1, the calculation load required for generating the motion profile can be appropriately distributed between the integrated control device 100 and the multiple control devices, thereby improving the productivity of the system and method for controlling multiple motion mechanisms.

[0049] 3 is a diagram showing a time change in the speed of the TCP of the robot 200_1 when a command for a partial cooperative operation (first specific operation) of the robots 200_1, 200_2 (specific moving mechanisms) in FIG. 1 is output from the integrated control device 100. The partial cooperative operation of a moving mechanism is an operation including an independent operation of the moving mechanism and a cooperative operation with another moving mechanism. The partial cooperative operation includes, for example, a complex assembly operation that requires a cooperative operation with another moving mechanism and a simple assembly operation that does not require a cooperative operation with another moving mechanism.

[0050] As shown in FIG. 3, the robot 200_1 performs a cooperative operation with the robot 200_2 from time t0 to t1 (>t0), and performs an independent operation from time t1 to t4 (>t1). The integrated control device 100 creates a motion profile (first motion profile) of each of the cooperative operations of the robots 200_1 and 200_2, and outputs a command value based on the motion profile to the robot. At time t1 when the cooperative operation ends, the integrated control device 100 outputs a switching command to each of the robot control devices 250_1 and 250_2 to instruct the robot control devices 250_1 and 250_2 to switch the configuration for creating the motion profile from the integrated control device 100 to the robot control devices 250_1 and 250_2 (specific control devices). From time t2 (>t1), the integrated control device 100 outputs information required for connecting the motion profile generated by the integrated control device 100 to the motion profile generated by the control device, and information required for generating the motion profile, to each of the control devices 250_1 and 250_2. This information includes, for example, the current time, the current position of the TCP, the target position, the velocity, the acceleration, the jerk, and the motion time.

[0051] The control device 250_1 outputs a switching completion notification to the integrated control device 100 at time t3 (>t2) after completing preparation for generating an operation profile. In response to receiving the switching completion notification, the integrated control device 100 stops generating and transmitting the operation profile. The integrated control device 100 generates an operation profile in a time slot Tf11 (first time slot) from time t0 to t3. The control device 250_1 generates an operation profile (second operation profile) in a time slot Tf12 (second time slot) from time t3 to t4. The control device 250_2 also outputs a switching completion notification to the integrated control device 100 in response to completing preparation for generating an operation profile, and starts generating an operation profile.

[0052] According to the control system 1, the timing of switching the motion profile is determined by the integrated control device 100 having control information for multiple mobile mechanisms, so that the motion profile can be switched smoothly in response to changes in the status of the mobile mechanisms. As a result, the productivity of the system that controls multiple mobile mechanisms can be further improved.

[0053] Fig. 4 is a diagram showing a change over time in the TCP speed of the robot 200_1 when a communication error occurs between the integrated control device 100 and the robot control device 250_1. In Fig. 4, it is assumed that the communication error occurs at time t11. As shown in Fig. 4, the robot 200_1 performs a cooperative operation with the robot 200_2 from time t10 to t11 (>t10). It is assumed that the robot control device 250_1 detects that an error has occurred in communication with the integrated control device 100 during the time period from time t11 to t12 (>t11).

[0054] The control device 250_1 generates an operation profile (stopping profile) corresponding to a stopping operation in response to detection of a communication error, and stops the robot 200_1 at time t13 (>t12) in accordance with the operation profile from time t12. Although Fig. 4 shows a time change in the speed of the TCP in the case where the speed of the TCP is decelerated and stopped by decreasing by a constant value per unit time, the stopping operation of the moving mechanism is not limited to a decelerated stop. The stopping operation may be, for example, an immediate stop in which the movement mechanism is stopped in as short a time as possible.

[0055] According to the control system 1, even if a communication error makes it difficult to generate an operation profile in the control device of a mobile mechanism that partially performs a cooperative operation, the operation of the mobile mechanism is shifted to a stop operation, so that unexpected operation of the mobile mechanism can be prevented. As a result, the safety of a system that controls multiple mobile mechanisms can be improved.

[0056] Fig. 5 is a flowchart showing an example of the flow of processing performed in the integrated control device 100 of Fig. 1 and Fig. 2 for each control period. The processing shown in Fig. 5 is called by a main routine (not shown) that integrally controls the integrated control device 100. In the following, a step will simply be abbreviated as S.

[0057] As shown in FIG. 5, in S101, the logic control unit 110 performs logic analysis on the monitor information Mn to interpret the monitor information Mn, and proceeds to processing in S102. In S102, the logic control unit 110 determines whether or not the interpretation result of the monitor information Mn includes an operation instruction. If the interpretation result does not include an operation instruction (NO in S102), the logic control unit 110 returns the processing to S101. If the interpretation result includes an operation instruction (YES in S102), the logic control unit 110 outputs the operation instruction to the command generation unit 120. In S103, the command generation unit 120 transitions to a state corresponding to the operation instruction, and proceeds to processing in S104. In S104, the command generation unit 120 and the profile generation unit 140 execute command generation processing corresponding to the current state, and proceed to processing in S105. In S105, the communication unit 130 outputs the result of the command generation process in S104 to the control device that controls the moving mechanism specified in the operation instruction, and returns the process to the main routine.

[0058] The command generation process (S104) in Fig. 5 will be described below with reference to Fig. 6 to Fig. 10. Fig. 6 is a state transition diagram related to operation instructions of the command generation unit 120 in Fig. 1 and Fig. 2. As shown in Fig. 6, the states related to operation instructions include a waiting state St1 for waiting for an operation instruction from the logic control unit 110, a creation state St2 for creating an independent operation command, a creation state St3 for creating a cooperative operation command, and a switching state St4 for switching the configuration for generating an operation profile.

[0059] The command generating unit 120 transitions to a preparation state St2 when it receives an independent operation instruction from the logic control unit 110 in the standby state St1. The command generating unit 120 transitions to a preparation state St2 when it receives an independent operation completion notification from a control device that controls the moving mechanism specified by the independent operation instruction in the preparation state St2.

[0060] The command generating unit 120 transitions to a creation state St3 when it receives a cooperative operation instruction from the logic control unit 110 in the waiting state St1. The command generating unit 120 transitions to a waiting state St1 when it receives a cooperative operation completion notification from a control device that controls a moving mechanism specified by the cooperative operation instruction in the creation state St3.

[0061] The command generating unit 120 transitions to a switching state St4 when it receives a partial cooperative operation instruction from the logic control unit 110 in the preparation state St3. When the switching of the operation profile is completed in the switching state St4, the command generating unit 120 transitions to the preparation state St2.

[0062] Fig. 7 is a diagram showing the flow of processing performed by the command generating unit 120 in the standby state St1 in Fig. 6. The processing shown in Fig. 7 is called by a main routine (not shown) that controls the integrated control device 100 in an integrated manner.

[0063] 7, the command generating unit 120 judges whether or not an operation instruction has been received from the logic control unit 110 in S111. If the operation instruction has not been received (NO in S111), the command generating unit 120 returns the process to the main routine. If the operation instruction has been received (YES in S111), the command generating unit 120 judges whether or not the operation designated by the operation instruction is an independent operation in S112. If the operation is an independent operation (YES in S112), the command generating unit 120 transitions to a creation state St2 of an independent operation instruction in S113 and returns the process to the main routine. If the operation is a cooperative operation (NO in S112), the command generating unit 120 transitions to a creation state St3 of a cooperative operation instruction in S114 and returns the process to the main routine.

[0064] Fig. 8 is a diagram showing the flow of processing performed by the command generating unit 120 in the independent operation command creation state St2 in Fig. 6. The processing shown in Fig. 8 is called by a main routine (not shown) that controls the integrated control device 100 in an integrated manner.

[0065] 8, in S121, the command generating unit 120 outputs an individual operation command to the communication unit 130, and the process proceeds to S122. In S122, the command generating unit 120 determines whether or not an individual operation completion notification has been received from the control device that controls the moving mechanism specified by the individual operation command. If the completion notification has not been received (NO in S122), the command generating unit 120 returns the process to the main routine. If the completion notification has been received (YES in S122), the command generating unit 120 transitions to a standby state St1 in S123 and returns the process to the main routine.

[0066] Fig. 9 is a diagram showing the flow of processing performed by the command generating unit 120 and the profile generating unit 140 in the collaborative operation command creation state St3 in Fig. 6. The processing shown in Fig. 9 is called by a main routine (not shown) that controls the integrated control device 100 in an integrated manner.

[0067] 9, in S131, the command generating unit 120 determines whether or not a partial cooperative operation instruction has been received from the logic control unit 110. If a partial cooperative operation instruction has been received (YES in S131), the command generating unit 120 transitions to the switching state St4 in S138 and returns the process to the main routine. If a partial cooperative operation instruction has not been received (NO in S131), the command generating unit 120 determines in S132 whether or not the profile generating unit 140 has been instructed to generate an operation profile of the cooperative operation.

[0068] If the command generating unit 120 has not instructed the profile generating unit 140 to generate the operation profile (NO in S132), the command generating unit 120 instructs the profile generating unit 140 to generate the operation profile in S133. The profile generating unit 140 generates the operation profile in S134, and the process proceeds to S135. If the command generating unit 120 has already instructed the profile generating unit 140 to generate the operation profile (YES in S132), the profile generating unit 140 outputs a command value based on the operation profile of S134 to the communication unit 130 in S135, and the process proceeds to S136.

[0069] In S136, the command generating unit 120 determines whether or not the output of all command values ​​based on the operation profile has been completed. If the output of all command values ​​has not been completed (NO in S136), the command generating unit 120 returns the process to the main routine. If the output of all command values ​​has been completed (YES in S136), the command generating unit 120 transitions to a standby state St1 in S137 and returns the process to the main routine.

[0070] Fig. 10 is a diagram showing a flow of processing performed by the command generating unit 120 and the profile generating unit 140 in the switching state St4 in Fig. 6. The processing shown in Fig. 10 is called by a main routine (not shown) that controls the integrated control device 100 in an integrated manner.

[0071] As shown in FIG. 10, the command generating unit 120 judges whether or not the switching command has been output to the control device that controls the moving mechanism designated by the partial cooperative operation instruction. If the switching command has been output to the control device (YES in S141), the process proceeds to S143. If the switching command has not been output to the control device (NO in S141), the command generating unit 120 outputs the switching command and information required for connecting and generating the motion profile to the communication unit 130 in S142, and the process proceeds to S143. In S143, the profile generating unit 140 outputs a command value based on the motion profile of the cooperative operation to the communication unit 130, and the process proceeds to S144. In S144, the command generating unit 120 judges whether or not a switching completion notification has been received from the control device that controls the moving mechanism designated by the partial cooperative operation instruction. If the switching completion notification has not been received (NO in S144), the command generating unit 120 returns the process to the main routine. When the switching completion notification is received (YES in S144), the command generating unit 120 transitions to an independent operation command creation state St2 and returns the process to the main routine.

[0072] Fig. 11 is a flowchart showing an example of a flow of processing performed in each of the control devices 250_1, 250_2, and 350 when a command from the integrated control device 100 in Fig. 1 and Fig. 2 is received by the control device. The processing shown in Fig. 11 is called by a main routine (not shown) that controls the control devices in an integrated manner.

[0073] 11, the command generating unit 252 (352) determines in S211 whether the action specified in the command is an independent action, a cooperative action, or a partially cooperative action. If the action specified in the command is an independent action, the command generating unit 252 (352) determines in S219 whether or not the profile generating unit 253 (353) has been instructed to generate an action profile corresponding to the command. If the profile generating unit 253 (353) has not been instructed to generate an action profile (NO in S219), the command generating unit 252 (352) instructs the profile generating unit 253 (353) to generate an action profile corresponding to the command in S220. The profile generating unit 253 (353) generates an action profile in S221, and the process proceeds to S222. If the profile generation unit 253 (353) has been instructed to generate an operation profile (YES in S219), the command generation unit 252 (352) advances the process to S222. In S222, the profile generation unit 253 (353) outputs a command value based on the operation profile to the communication unit 130, and the process advances to S224.

[0074] The command generating unit 252 (352) determines whether or not the output of all command values ​​based on the operation profile has been completed in S223. If the output of all command values ​​has not been completed (NO in S223), the command generating unit 252 (352) returns the process to the main routine. If the output of all command values ​​has been completed (YES in S223), the command generating unit 252 (352) outputs a notification of the completion of the independent operation to the integrated control device 100 in S224, and returns the process to the main routine.

[0075] If the action specified in the command is a cooperative action, the command generator 252 (352) outputs the command value from the integrated control device 100 to the movement mechanism in S212, and returns the process to the main routine.

[0076] If the operation specified in the command is a partial cooperative operation, the command generation unit 252 (352) determines in S213 whether or not switching of the configuration for generating an operation profile has been completed (whether or not a switching completion notice has been output to the integrated control device 100). If the switching has been completed (YES in S213), the command generation unit 252 (352) advances the process to S222. If the switching has not been completed (NO in S213), the command generation unit 252 (352) determines in S214 whether or not a switching command has been received from the integrated control device 100.

[0077] If a switching command has not been received from the integrated control device 100 (NO in S214), the command generating unit 252 (352) advances the process to S217. If a switching command has been received from the integrated control device 100 (YES in S214), the command generating unit 252 (352) determines in S215 whether preparation for generating an operation profile has been completed.

[0078] If the preparation for generating the operation profile is complete (YES in S215), the command generating unit 252 (352) outputs a switching completion notification to the integrated control device 100 in S216, and proceeds to S220. If the preparation for generating the operation profile is not complete (NO in S215), the command generating unit 252 (352) determines whether an error has occurred in communication with the integrated control device 100 in S217.

[0079] If no error has occurred in communication with the integrated control device 100 (NO in S217), the command generation unit 252 (352) proceeds to S212. If an error has occurred in communication with the integrated control device 100 (YES in S217), the command generation unit 252 (352) instructs the profile generation unit 253 (353) to generate a stop profile in S218, and proceeds to S221. Note that even if the operation specified in the command is a cooperative operation or an independent operation, the operation of the moving mechanism may be shifted to a stop operation in response to a communication error, as in the case of partial cooperative operation.

[0080] According to the control system 1, a configuration for generating a motion profile of a motion is appropriately selected according to the type of motion specified in a command. Also, according to the control system 1, the integrated control device 100 having control information of multiple mobile mechanisms generates a motion profile of a motion in which multiple mobile mechanisms cooperate with each other, so that cooperation of multiple mobile mechanisms in the motion can be realized. As a result, the productivity of the system that controls multiple mobile mechanisms can be further improved.

[0081] <Control system network configuration example> Fig. 12 is a block diagram showing an example of a network configuration of the control system 1 in Fig. 1 and Fig. 2. As shown in Fig. 12, the control system 1 is connected to a higher level network 12 and a support device 400 in addition to a field network 20.

[0082] The integrated control device 100 is also connected to other devices via a higher-level network 12. The higher-level network 12 is connected to the Internet, which is an external network, via a gateway 700. The higher-level network 12 may employ Ethernet (registered trademark) or EtherNet / IP (registered trademark), which are general network protocols. More specifically, at least one display device 500 and at least one server device 600 may be connected to the higher-level network 12.

[0083] The display device 500 receives operations from a user, outputs commands to the integrated control device 100 in response to the user operations, and also graphically displays the results of calculations performed by the integrated control device 100, etc.

[0084] The server device 600 may be a database system or a manufacturing execution system (MES). The manufacturing execution system acquires information from the manufacturing device or facility to be controlled, monitors and manages the entire production, and may handle order information, quality information, shipping information, and the like. In addition, a device that provides an information system service may be connected to the upper network 12. The information system service may be a process that acquires information from the manufacturing device or facility to be controlled and performs macro or micro analysis. For example, the information system service may be data mining that extracts some characteristic tendency contained in the information from the manufacturing device or facility to be controlled, or a machine learning tool that performs machine learning based on the information from the facility or machine to be controlled.

[0085] The integrated control device 100 is configured to be connectable to a support device 400. The support device 400 is a device that supports the preparations required for the integrated control device 100 to control the moving mechanism. Specifically, the support device 400 provides a development environment (program creation and editing tools, a parser, a compiler, etc.) for the program executed by the integrated control device 100, a setting environment for setting configuration information (configuration) for the integrated control device 100 and various devices connected to the integrated control device 100, a function for outputting the generated program to the integrated control device 100, and a function for correcting and changing the program executed on the integrated control device 100 online.

[0086] In the control system 1, the integrated control device 100, the support device 400, and the display device 500 are configured as separate entities, but a configuration in which all or part of these functions are integrated into a single device may be adopted.

[0087] The integrated control device 100 may be used not only at one production site but also at other production sites, and may also be used at a plurality of different lines at one production site.

[0088] <Example of hardware configuration for integrated control device> Fig. 13 is a block diagram showing an example of a hardware configuration of the integrated control device 100 of Fig. 1 and Fig. 2. As shown in Fig. 13, the integrated control device 100 includes a processor 102, a main memory 104, a storage 160, a memory card interface 162, a host network controller 106, a field network controller 108, a local bus controller 116, and a USB controller 170 that provides a USB (Universal Serial Bus) interface. These components are connected via a processor bus 118.

[0089] The processor 102 corresponds to a calculation processing unit that executes control calculations, and is composed of a CPU (Central Processing Unit) and / or a GPU (Graphics Processing Unit), etc. Specifically, the processor 102 reads out a program stored in the storage 160, expands it in the main memory 104, and executes it to realize control calculations for the moving mechanism.

[0090] The main memory 104 is configured with a volatile storage device such as a dynamic random access memory (DRAM) and / or a static random access memory (SRAM). The storage 160 is configured with a non-volatile storage device such as a solid state drive (SSD) and / or a hard disk drive (HDD).

[0091] The storage 160 stores a system program Psc, a mobile mechanism program Pm, and a network configuration information set Sn. The system program Psc includes a program for controlling the integrated control device 100 in an integrated manner to realize each function of the integrated control device 100. That is, the processor 102 that executes the system program Psc corresponds to the logic control unit 110, the command generation unit 120, the communication unit 130, and the profile generation unit 140 in Fig. 1 and Fig. 2. The mobile mechanism program Pm includes the robot programs Prb1, Prb2, and the servo program Pcv in Fig. 1.

[0092] The memory card interface 162 accepts the memory card 114, which is an example of a removable storage medium. The memory card interface 162 is capable of reading and writing any data from and to the memory card 114.

[0093] The host network controller 106 exchanges data with any information processing device connected to the host network 12 (eg, a local area network) via the host network 12.

[0094] The field network controller 108 transmits and receives data to and from any devices such as the robots 200_1, 200_2, and the servo 300 via the field network 20.

[0095] The local bus controller 116 transmits and receives data to and from any of the functional units 180 constituting the integrated control device 100 via the local bus 122. The functional units 180 include, for example, an analog I / O unit responsible for input and / or output of analog signals, a digital I / O unit responsible for input and / or output of digital signals, and a counter unit that receives pulses from an encoder or the like.

[0096] The USB controller 170 exchanges data with any information processing device via a USB connection. The USB controller 170 is connected to a support device 400, for example.

[0097] <Example of control device hardware configuration> Fig. 14 is a block diagram showing an example of a hardware configuration of the robot control device 250_1 of Fig. 1 and Fig. 2. As shown in Fig. 14, the robot control device 250_1 includes a field network controller 270 and a control processing circuit 260.

[0098] The field network controller 270 mainly exchanges data with the integrated control device 100 via the field network 20 .

[0099] The control processing circuit 260 executes calculation processing necessary for driving the robot 200_1. As an example, the control processing circuit 260 includes a processor 262, a main memory 264, a storage 266, and an interface circuit 268.

[0100] The processor 262 executes control calculations for driving the robot 200_1. The main memory 264 is composed of, for example, a volatile storage device such as a DRAM and / or an SRAM. The storage 266 is composed of, for example, a non-volatile storage device such as an SSD and / or an HDD. The processor 262 reads out a program stored in the storage 266, expands it in the main memory 264, and executes it to realize control calculations for the robot 200_1.

[0101] The storage 266 stores a robot control program Pcr and network configuration information Tn1. The robot control program Pcr includes a program for comprehensively controlling the robot control device 250_1 and realizing each function of the robot control device 250_1. That is, the processor 262 that executes the robot control program Pcr corresponds to the communication unit 251, the command generation unit 252, and the profile generation unit 253 in FIG. 1 and FIG. 2.

[0102] The interface circuit 268 outputs the command value output from the processor 262 to the robot 200_1.

[0103] 1 and 2 is a configuration in which the network configuration information Tn1 in Fig. 14 is replaced with network configuration information Tn2. Other than these, the hardware configuration example of the robot control device 250_2 is similar to the hardware configuration example of the robot control device 250_1, and therefore description thereof will not be repeated.

[0104] Fig. 15 is a block diagram showing an example of a hardware configuration of the servo control device 350 of Fig. 1 and Fig. 2. As shown in Fig. 15, the servo control device 350 includes a field network controller 370 and a control processing circuit 360.

[0105] The field network controller 370 mainly exchanges data with the integrated control device 100 via the field network 20 .

[0106] The control processing circuit 360 executes calculations necessary to drive the servo 300. As an example, the control processing circuit 360 includes a processor 362, a main memory 364, a storage 366, and an interface circuit 368.

[0107] The processor 362 executes control calculations for driving the servo 300. The main memory 364 is composed of a volatile storage device such as a DRAM and / or an SRAM. The storage 366 is composed of a non-volatile storage device such as an SSD and / or an HDD. The processor 362 realizes control calculations for the servo 300 by reading out a program stored in the storage 366, expanding it in the main memory 364, and executing it.

[0108] The storage 366 stores a servo control program Pcs and network configuration information Tn3. The servo control program Pcs includes a program for comprehensively controlling the servo control device 350 and realizing each function of the servo control device 350. That is, the processor 362 that executes the servo control program Pcs corresponds to the communication unit 351, the command generation unit 352, and the profile generation unit 353 in FIGS. 1 and 2.

[0109] The interface circuit 368 outputs the command value output from the processor 362 to the servo 300 .

[0110] As described above, the systems and methods according to the embodiments can improve productivity.

[0111] <Additional Notes> The present embodiment as described above includes the following technical idea.

[0112] [Configuration 1] a plurality of control devices (250_1, 250_2, 350) for controlling the plurality of moving mechanisms (200_1, 200_2, 300), respectively; an integrated control device (100) connected to the plurality of moving mechanisms (200_1, 200_2, 300); the integrated control device (100) generates a first operation profile that specifies a time change in a first time zone (Tf11, Tf21) of a first specific operation of a specific moving mechanism (200_1, 200_2) that is one of the plurality of moving mechanisms (200_1, 200_2, 300); a specific control device (250_1, 250_2) controlling the specific moving mechanism (200_1, 200_2) generates a second motion profile defining a time change of the first specific motion in a second time period (Tf12, Tf22); The specific control device (250_1, 250_2) controls the specific movement mechanism (200_1, 200_2) based on the first motion profile and the second motion profile, the system.

[0113] [Configuration 2] the specific control device (250_1, 250_2) starts controlling the specific moving mechanism (200_1, 200_2) based on the first motion profile, the integrated control device (100) outputs a switching command to the specific control device (250_1, 250_2) after the specific moving mechanism (200_1, 200_2) starts the first specific operation based on the first operation profile; The system described in configuration 1, wherein the specific control device (250_1, 250_2) generates the second operation profile after receiving the switching command, and switches the operation profile for controlling the specific moving mechanism (200_1, 200_2) from the first operation profile to the second operation profile.

[0114] [Configuration 3] The system described in configuration 2, wherein the specific control device (250_1, 250_2) generates a stop profile and stops the specific moving mechanism (200_1, 200_2) based on the stop profile if an error occurs in communication with the integrated control device (100) before generating the second operation profile.

[0115] [Configuration 4] the integrated control device (100) generates a third motion profile that defines a time change of a second specific motion of each of the plurality of moving mechanisms (200_1, 200_2, 300); each of the plurality of control devices (250_1, 250_2, 350) controls a moving mechanism that performs the second specific action based on the third action profile; The system described in any of configurations 1 to 3, wherein each of the plurality of control devices (250_1, 250_2, 350) generates a fourth operation profile that specifies the time change of an operation other than the first specific operation and the second specific operation of each of the plurality of moving mechanisms (200_1, 200_2, 300), and controls the moving mechanism that performs the operation based on the fourth operation profile.

[0116] [Configuration 5] The system according to configuration 4, wherein the first specific operation and the second specific operation in the first time slot (Tf11, Tf21) include operations in which the plurality of moving mechanisms (200_1, 200_2, 300) cooperate with each other.

[0117] [Configuration 6] generating a first motion profile (S133) that specifies a time change in a first time period (Tf11, Tf21) of a first specific motion of a specific moving mechanism (200_1, 200_2) that is one of the plurality of moving mechanisms (200_1, 200_2, 300); A step (S221) of generating a second motion profile that specifies a time change of the first specific motion in a second time period (Tf12, Tf22); and controlling (S212, S222) the specific movement mechanisms (200_1, 200_2) based on the first movement profile and the second movement profile.

[0118] The embodiments disclosed herein are intended to be combined appropriately within the scope of the present invention. The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is defined by the claims, not the above description, and is intended to include all modifications within the scope and meaning equivalent to the claims. [Explanation of symbols]

[0119] 1 Control system, 12 Upper network, 20 Field network, 100 Integrated control device, 102, 262, 362 Processor, 104, 264, 364 Main memory, 106 Upper network controller, 108, 270, 370 Field network controller, 110 Logic control unit, 114 Memory card, 116 Local bus controller, 118 Processor bus, 120, 252, 352 Command generation unit, 122 Local bus, 130, 251, 351 Communication unit, 140, 253, 353 Profile generation unit, 160, 266, 366 Storage, 162 Memory card interface, 170 USB controller, 180 Functional unit, 200_1, 200_2 Robot, 250_1, 250_2 Robot control device, 260, 360 Control processing circuit, 268, 368 Interface circuit, 300 servo, 350 servo control device, 400 support device, 500 display device, 600 server device, 700 gateway, Ci independent operation command, Cm1 cooperative operation command, Isc cooperative operation instruction, Isi independent operation instruction, Mn monitor information, Pc1, Pc2 command value, Pcs servo control program, Pcv servo program, Pm moving mechanism program, Prb1, Prb2 robot program, Psc system program, Pcr robot control program, Sn network configuration information set, St1 standby state, St2, St3 creation state, St4 switching state, Tf11, Tf12 time zone, Tn1 to Tn3 network configuration information.

Claims

1. A plurality of control devices each controlling a plurality of moving mechanisms; an integrated control device connected to the plurality of control devices, the integrated control device generates a first operation profile that specifies a time change in a first time period of a first specific operation of a specific moving mechanism that is any one of the plurality of moving mechanisms; a specific control device that controls the specific moving mechanism generates a second motion profile that specifies a time change of the first specific motion during a second time period; the specific control device controls the specific movement mechanism based on the first motion profile and the second motion profile; The first specific operation includes a first operation and a second operation, The system wherein operation of the specific moving mechanism is started as the first operation based on the first operation profile during the first time period, switched from the first operation to the second operation before the end of the first time period, and continued as the second operation based on the second operation profile during the second time period.

2. A plurality of control devices each controlling a plurality of moving mechanisms; an integrated control device connected to the plurality of control devices, the integrated control device generates a first operation profile that specifies a time change in a first time period of a first specific operation of a specific moving mechanism that is any one of the plurality of moving mechanisms; a specific control device that controls the specific moving mechanism generates a second motion profile that specifies a time change of the first specific motion during a second time period; the specific control device controls the specific movement mechanism based on the first motion profile and the second motion profile; the specific control device starts control of the specific moving mechanism based on the first motion profile; the integrated control device outputs a switching command to the specific control device after the specific movement mechanism starts the first specific movement based on the first movement profile; The specific control device, after receiving the switching command, generates the second motion profile and switches the motion profile for controlling the specific moving mechanism from the first motion profile to the second motion profile.

3. A plurality of control devices each controlling a plurality of moving mechanisms; an integrated control device connected to the plurality of control devices, the integrated control device generates a first operation profile that specifies a time change in a first time period of a first specific operation of a specific moving mechanism that is any one of the plurality of moving mechanisms; a specific control device that controls the specific moving mechanism generates a second motion profile that specifies a time change of the first specific motion during a second time period; the specific control device controls the specific movement mechanism based on the first motion profile and the second motion profile; The system further comprises: a stop profile for stopping the specific moving mechanism based on the stop profile when an error occurs in communication with the integrated control device before the second operation profile is generated;

4. A plurality of control devices each controlling a plurality of moving mechanisms; an integrated control device connected to the plurality of control devices, the integrated control device generates a first operation profile that specifies a time change in a first time period of a first specific operation of a specific moving mechanism that is any one of the plurality of moving mechanisms; a specific control device that controls the specific moving mechanism generates a second motion profile that specifies a time change of the first specific motion during a second time period; the specific control device controls the specific movement mechanism based on the first motion profile and the second motion profile; The system, wherein the number of the plurality of moving mechanisms is three or more.

5. the integrated control device generates a third motion profile that defines a time change of a second specific motion of each of the plurality of moving mechanisms; each of the plurality of control devices controls a moving mechanism that performs the second specific motion based on the third motion profile; The system described in any one of claims 1 to 4, wherein each of the plurality of control devices generates a fourth operation profile that specifies the time change of an operation other than the first specific operation and the second specific operation of each of the plurality of moving mechanisms, and controls the moving mechanism that performs the operation based on the fourth operation profile.

6. The system according to claim 5 , wherein the first specific operation during the first time period and the second specific operation include operations in which the plurality of moving mechanisms cooperate with each other.

7. 1. A method executed by at least one processor, comprising: generating a first motion profile that specifies a time change in a first time period of a first specific motion of a specific moving mechanism that is one of a plurality of moving mechanisms; generating a second motion profile that defines a time change of the first specific motion during a second time period; controlling the specific movement mechanism based on the first movement profile and the second movement profile; The first specific operation includes a first operation and a second operation, a first operation profile for determining whether or not a specific moving mechanism is in operation; a first operation profile for determining whether or not a specific moving mechanism is in operation; a second operation profile for determining whether or not a specific moving mechanism is in operation;

8. 1. A method executed by at least one processor, comprising: generating a first motion profile that specifies a time change in a first specific motion of a specific moving mechanism that is one of a plurality of moving mechanisms, during a first time period; generating a second motion profile that defines a time change of the first specific motion during a second time period; controlling the specific movement mechanism based on the first motion profile and the second motion profile; A control device starts controlling the specific moving mechanism based on the first motion profile; outputting a switching command to the control device after the specific movement mechanism starts the first specific movement based on the first movement profile; generating the second motion profile after receiving the switching command, and switching the motion profile for controlling the specific movement mechanism from the first motion profile to the second motion profile.

9. 1. A method executed by at least one processor, comprising: A step in which the integrated control device generates a first operation profile that specifies a time change in a first time period of a first specific operation of a specific moving mechanism that is one of the multiple moving mechanisms; generating a second motion profile that defines a time change of the first specific motion during a second time period; controlling the specific movement mechanism based on the first motion profile and the second motion profile; generating a stop profile and stopping the specific moving mechanism based on the stop profile if an error occurs in communication with the integrated control device before generating the second motion profile.

10. 1. A method executed by at least one processor, comprising: generating a first motion profile that specifies a time change in a first specific motion of a specific moving mechanism that is one of a plurality of moving mechanisms, during a first time period; generating a second motion profile that defines a time change of the first specific motion during a second time period; controlling the specific movement mechanism based on the first movement profile and the second movement profile; A method, wherein the number of the plurality of moving mechanisms is three or more.

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