Control device for industrial machinery

Abstract

Provided is a control device for an industrial machine that reduces a discrepancy between an actual forward path and an actual reverse path of a driven part. The control device controls movement of a moving part of the industrial machine on the basis of a program. The program includes an instruction relating to a movement path of the moving part in block units, and includes an instruction relating to the movement speed of the moving part. The control device is provided with an instructed path generation unit that generates an instructed path for the movement path of the moving part on the basis of an instruction of the program, an actual forward path prediction unit that predicts an actual forward path from the instructed path using a machine model relating to a transfer characteristic of the industrial machine, an instructed reverse path generation unit that generates an instructed reverse path by reversing the movement direction of the actual forward path, an actual reverse path prediction unit that predicts an actual reverse path from the instructed reverse path using the machine model, and an instructed speed adjustment unit that adjusts an instructed speed based on the movement speed indicated by the instruction of the program so as to reduce an error of the actual reverse path relative to the instructed reverse path, and generates an instructed reverse speed.

Description

Technical Field

[0001] The present invention relates to a control device for industrial machines.

Background Art

[0002] In a control device for an industrial machine such as a machine tool or a robot, when some problem occurs while moving a movable part along a command path, a technique of reversing the command path to return the movable part is known (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] For example, when the above-described problem is insufficient machining, it is conceivable to reverse the command path to return the movable part and then move the movable part along the command path again to perform machining. In this case, if the actual path that is actually passed, that is, the forward actual path along the command path and the reverse actual path that reverses the command path are the same, machining can also be performed when reversing the command path, and the machining efficiency can be improved.

[0005] However, when the command path includes a non-linear path and the command speed is relatively high, the actual path may deviate from the command path in the non-linear path. More specifically, the actual path may make a larger turn than the command path. In this case, in the non-linear path, the large-turn occurrence location in the forward actual path and the large-turn occurrence location in the reverse actual path may be different, so that the forward actual path and the reverse actual path may deviate from each other.

[0006] Therefore, a control device for an industrial machine that can reduce the deviation between the forward actual path and the reverse actual path of the movable part is desired.

Means for Solving the Problem

[0007] The control device for an industrial machine according to the present disclosure is a control device that controls the movement of a movable part of an industrial machine based on a program. The program includes commands regarding the movement path of the movable part in block units and commands regarding the movement speed of the movable part. Based on the commands of the program, a command path generation unit that generates a command path of the movement path of the movable part, and a drive control unit that controls a drive unit that drives the movable part. Based on the command path generated by the command path generation unit and the command speed based on the movement speed indicated by the commands of the program, a forward operation of moving the movable part along the command path, and a reverse operation of moving the movable part so as to reverse the command path based on a reverse command path and a reverse command speed. A forward actual path prediction unit that predicts a forward actual path from the command path using a mechanical model of the transmission characteristics of the industrial machine, a reverse command path generation unit that generates the reverse command path by inverting the movement direction of the forward actual path, a reverse actual path prediction unit that predicts a reverse actual path from the reverse command path using the mechanical model, and a command speed adjustment unit that adjusts the command speed based on the movement speed indicated by the commands of the program so as to reduce the error of the reverse actual path with respect to the reverse command path and generate the reverse command speed.

Advantages of the Invention

[0008] According to the present disclosure, it is possible to reduce the deviation between the forward actual path and the reverse actual path of the drive unit of the industrial machine.

Brief Description of the Drawings

[0009]

Figure 1

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DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, an example of an embodiment of the present invention will be described with reference to the accompanying drawings. In each drawing, the same or corresponding parts will be denoted by the same reference numerals.

[0011] FIG. 1 is a diagram showing the configuration of a numerical control device (control device) of a machine tool (industrial machine) according to the present embodiment. In FIG. 1, a machine tool 100 is also shown together with the numerical control device 10.

[0012] The machine tool 100 includes a movable part on which a tool or a workpiece is mounted, and a drive part such as a servo motor that drives the movable part. The machine tool 100 performs machining on the workpiece while relatively moving the tool with respect to the workpiece by driving the movable part by the drive part.

[0013] The numerical control device 10 controls the movement of the movable part of the machine tool 100 by controlling the drive part (for example, a servo motor) of the machine tool 100 based on a machining program (program). The numerical control device 10 includes a storage unit 11, a program analysis unit 12, a command path generation unit 14, and a drive control unit 16.

[0014] The numerical control device 10 (excluding the storage unit 11) is composed of an arithmetic processor such as a DSP (Digital Signal Processor) or an FPGA (Field-Programmable Gate Array), for example. Various functions of the numerical control device 10 are realized, for example, by executing a predetermined software (program) stored in the storage unit 11. Various functions of the numerical control device 10 may be realized by the cooperation of hardware and software, or may be realized by hardware (electronic circuit) only.

[0015] On the other hand, the storage unit 11 in the numerical control device 10 is a rewritable memory such as an EEPROM, for example. The storage unit 11 stores a predetermined software (program) for executing various functions of the numerical control device 10 described above. Further, the storage unit 11 stores, for example, a machining program input from the outside. The machining program includes commands regarding the movement path (for example, the movement amount from the current position to the end position) of the movable part of the machine tool 100 in block units, and commands regarding the movement speed (for example, the target maximum speed) of the movable part of the machine tool 100.

[0016] The program analysis unit 12 analyzes the processing program stored in the storage unit 11 and reads out commands regarding the movement path and movement speed one block at a time.

[0017] Based on the command regarding the movement path read out by the program analysis unit 12, the command path generation unit 14 generates a command path, which is a movement path obtained by interpolating points on the movement path at an interpolation period. Further, the command path generation unit 14 generates a command speed (movement speed pattern) based on the generated command path, the acceleration / deceleration speed based on the acceleration / deceleration time constant, and the command regarding the maximum speed of the movement speed. The command path generation unit 14 generates the command speed (movement speed pattern) for each drive unit (for example, the servo motor for the X-axis, the servo motor for the Y-axis, the servo motor for the Z-axis) of the machine tool 100.

[0018] Based on the command path and the command speed (movement speed pattern) generated by the command path generation unit 14, the drive control unit 16 performs a forward operation of moving the movable part of the machine tool 100 along the command path by controlling the drive unit of the machine tool 100. The drive control unit 16 may be provided in plurality for each drive unit (for example, the servo motor for the X-axis, the servo motor for the Y-axis, the servo motor for the Z-axis) of the machine tool 100. The drive control unit 16 is, for example, a servo control unit, and performs drive control of the servo motor based on the position command based on the command path and the command speed (movement speed pattern), and the position feedback detected by an encoder provided in the servo motor.

[0019] Here, when some problem occurs while moving the movable part of the machine tool 100 along the command path, the command path may be reversed to return the movable part. For example, when the above-described problem is insufficient machining, after reversing the command path to return the movable part, it is conceivable to move the movable part along the command path again to perform machining. In this case, if the actual path that is actually passed, the forward actual path along the command path and the reverse actual path that reverses the command path are the same, machining can also be performed when reversing the command path, and the machining efficiency can be improved.

[0020] However, as shown in FIG. 2B, when the command path P includes a non-linear path (in the example of FIG. 2B, the part where the moving direction changes by 90 degrees) and the command speed is relatively high, in the non-linear path, the actual path Pactf may deviate from the command path P. More specifically, the actual path Pactf may turn more than the command path P. In this case, in the non-linear path, since the location where the large turn occurs in the forward actual path Pactf is different from the location where the large turn occurs in the reverse actual path Pactb, the forward actual path Pactf and the reverse actual path Pactb may deviate from each other.

[0021] The fact that the actual path Pactf turns more than the command path P is due to the influence of the transmission characteristics of the machine tool 100. Therefore, as shown in FIG. 2A, it is devised to reduce the deviation between the forward actual path Pactf and the reverse actual path Pactb by generating a reverse command considering the transmission characteristics of the machine tool 100.

[0022] Therefore, in the present embodiment, the numerical control device 10 further includes a machine model generation unit 22, a forward actual path prediction unit 24, a reverse command path generation unit 26, a reverse actual path prediction unit 28, and a command speed adjustment unit 30.

[0023] The machine model generation unit 22 performs system identification based on the transmission characteristics of the machine tool 100, more specifically, the transmission characteristics of the drive unit and the movable unit of the machine tool 100, and generates a machine model. As methods for system identification, various known methods can be used. Hereinafter, an example of generating a state space model based on the frequency characteristics of the transmission characteristics (as methods for system identification, known prediction error methods, correlation methods, etc. may be used) will be described.

[0024] The machine model generation unit 22 acquires in advance the frequency characteristics of the transmission characteristics of the machine tool 100. The machine model generation unit 22 performs system identification based on the frequency characteristics of the transmission characteristics of the machine tool 100 and generates the following state space model. x[t+1]=Ax[t]+Bu[t] y[t]=Cx[t]+Du[t] Here, A, B, C, and D are the coefficients of the state space matrix, x[t] is the state vector, u[t] is the input vector, and y[t] is the output vector.

[0025] In this state space model, if the trajectory data l[t] obtained by sampling the command path P is given as the input vector u[t], the actual trajectory data lact[t] of the actual path Pactf can be obtained as the output vector y[t]. Thus, the machine model generation unit 22 generates the following machine model. x[t + 1] = Ax[t] + Bl[t] lact[t] = Cx[t] + Dl[t] Hereinafter, attention will be paid to the non-linear portion A in FIGS. 2A and 2B, and an explanation will be given for the range A where an error occurs between the forward actual path Pactf and the reverse actual path Pactb.

[0026] The forward actual path prediction unit 24 predicts the forward actual path from the command path using the above machine model. For example, as shown in FIGS. 2A and 3A, consider the command path P of a non-linear path where the moving direction changes by 90 degrees. Let the trajectory data obtained by sampling this command path P at time t be l[t]. As shown in FIG. 3B, the forward actual path prediction unit 24 predicts the actual trajectory data lact[t] of the forward actual path Pactf from the trajectory data l[t] of the command path P using the above machine model. Then, as shown in FIG. 3C, the forward actual path prediction unit 24 combines the actual trajectory data lact[t] for each block (N021 to N024) to predict the forward actual path Pactf.

[0027] The reverse command path generation unit 26 generates a reverse command path Pb by inverting the moving direction of the forward actual path Pactf as shown in FIG. 3D (blocks: N021 to N024).

[0028] Here, when the command speed is relatively fast, in a non-linear path, the reverse actual path Pactb may also deviate from the reverse command path Pb. More specifically, the reverse actual path Pactb may make a wider turn than the reverse command path Pb.

[0029] Therefore, the reverse actual path prediction unit 28 predicts the reverse actual path from the reverse command path using the above machine model. For example, as shown in FIG. 4A, let the trajectory data obtained by sampling the reverse command path Pb be l[t]. As shown in FIG. 4A, the reverse actual path prediction unit 28 predicts the actual trajectory data lact[t] of the reverse actual path Pactb from the trajectory data l[t] of the reverse command path Pb using the above machine model.

[0030] The command speed adjustment unit 30 adjusts the acceleration time constant in the command speed (moving speed pattern) to reduce the error between the reverse actual path Pactb and the reverse command path Pb, and generates a reverse command speed. The command speed adjustment unit 30 generates a reverse command speed (moving speed pattern) with the command speed (moving speed pattern) adjusted for each drive unit (for example, X-axis servo motor, Y-axis servo motor, Z-axis servo motor) of the machine tool 100.

[0031] For example, as shown in FIG. 4B, assume that the reverse command path Pb includes a plurality of trajectory data l[t] obtained by sampling the reverse command path Pb at time t. Also, assume that the reverse actual path Pactb includes a plurality of actual trajectory data lact[t] corresponding to the plurality of trajectory data l[t] of the reverse command path Pb.

[0032] The command speed adjustment unit 30 · Calculates the Euclidean distance d l [t] between the trajectory data l[t] of the reverse command path Pb and the Euclidean distance d lact [t] between the actual trajectory data lact[t] of the reverse actual path Pactb, · In the range A where the error between the actual trajectory data lact[t] of the reverse actual path Pactb and the trajectory data l[t] of the reverse command path Pb is equal to or greater than a predetermined value, the Euclidean distance d Among the trajectory data l[t] of the reverse command path Pb l [t] and the sum of the Euclidean distances d Among the actual trajectory data lact[t] of the reverse actual path Pactb lact [t] to calculate the difference in the amount of movement, · Based on the difference in the amount of movement, the maximum speed v in the commanded speed (movement speed pattern), and the acceleration / deceleration time constant τ, calculate the adjusted acceleration / deceleration time constant τa according to the following formula (1). · As shown in FIG. 4C, generate a reverse commanded speed (movement speed pattern) in which the acceleration / deceleration time constant τ of the commanded speed (movement speed pattern) in the block immediately before the block including the range A where the error between the actual trajectory data lact[t] of the reverse actual path Pactb and the trajectory data l[t] of the reverse commanded path Pb is equal to or greater than a predetermined value is adjusted to the adjusted acceleration / deceleration time constant τa.

Equation

[0033] For example, in FIG. 4C, when the horizontal direction is the X-axis and the vertical direction is the Y-axis, in the previous block, the movable part moves diagonally downward to the right at the combined speed of the speed of the X-axis servo motor and the speed of the Y-axis motor. Here, when the acceleration time constant of each axis increases, the time of moving at the combined speed becomes shorter, and the speed change until reaching the combined speed becomes gentler. That is, Σd l <Σd lact When the relationship is established, the acceleration / deceleration time constants of the two-axis servo motors are adjusted to increase, thereby making the acceleration / deceleration gentler and suppressing the large turn of the reverse actual trajectory (when the acceleration / deceleration becomes gentler, the followability of the servo motor increases).

[0034] The drive control unit 16 performs a reverse operation to move the movable part of the machine tool 100 along the commanded path in reverse by controlling the drive unit of the machine tool 100 based on, for example, the reverse commanded path generated by the reverse commanded path generation unit 26 and the reverse commanded speed (movement speed pattern) adjusted by the commanded speed adjustment unit 30 in response to a command to perform a reverse operation. The drive control unit 16 performs drive control of the servo motor based on, for example, a position command based on the reverse commanded path and the reverse commanded speed (movement speed pattern), and position feedback detected by an encoder provided in the servo motor.

[0035] As described above, according to the numerical control device 10 of the machine tool of the present embodiment, · Using a mechanical model related to the transmission characteristics of the machine tool 100, predict the forward actual path from the command path, · Generate a reverse command path from the predicted forward actual path, · Using the mechanical model, predict the reverse actual path from the reverse command path, · Generate a reverse command speed that adjusts the command speed (moving speed pattern) so as to reduce the error between the reverse command path and the predicted reverse actual path. In other words, generate a reverse command speed so that the reverse actual path approaches the reverse command path. The deviation between the forward actual path and the reverse actual path of the movable part of the machine tool 100 can be reduced. As a result, machining can be performed even when the command path is reversed, and the machining efficiency can be improved. In addition, the machining accuracy during such reciprocating machining can be improved.

[0036] (Modification 1) In the above-described embodiment, the command speed adjustment unit 30 generates a reverse command speed (moving speed pattern) in which the acceleration / deceleration time constant τ of the command speed (moving speed pattern) is adjusted to the adjusted acceleration / deceleration time constant τa so as to reduce the error between the reverse actual path Pactb and the reverse command path Pb. In contrast, in Modification 1, the command speed adjustment unit 30 may generate a reverse command speed (moving speed pattern) in which the maximum speed v of the command speed (moving speed pattern) is adjusted to the adjusted maximum speed va so as to reduce the error between the reverse actual path Pactb and the reverse command path Pb.

[0037] The command speed adjustment unit 30 · Similar to the above, calculate the Euclidean distance d l [t] between the trajectory data l[t] of the reverse command path Pb and the Euclidean distance d lact [t] between the actual trajectory data lact[t] of the reverse actual path Pactb, · In the range A where the error between the actual trajectory data lact[t] of the reverse actual path Pactb and the trajectory data l[t] of the reverse command path Pb is equal to or greater than a predetermined value, of the reverse command path Pb Among the trajectory data l[t] Euclidean distance d l The sum of [t] and the Among the actual trajectory data lact[t] Euclidean distance d lact Calculate the deceleration rate from the sum of [t], and · Calculate the adjusted maximum speed va by multiplying the deceleration rate by the maximum speed v in the commanded speed (moving speed pattern), according to the following formula (2): · As shown in FIG. 5A, generate a retrograde command speed (moving speed pattern) in which the maximum speed v of the command speed (moving speed pattern) in the block immediately before the block including the range A where the error between the actual trajectory data lact[t] of the retrograde actual path Pactb and the trajectory data l[t] of the retrograde command path Pb is equal to or greater than a predetermined value is adjusted to the adjusted maximum speed va. [Number] Here, i is an increment variable, n is the maximum value of the increment variable, and indicates the number of trajectory data in the range A.

[0038] For example, in FIG. 5A, when the horizontal direction is the X-axis and the vertical direction is the Y-axis, in the previous block, the movable part moves diagonally downward to the right at the combined speed of the speed of the X-axis servo motor and the speed of the Y-axis motor. Here, the greater the error between the retrograde command path and the retrograde actual path, the smaller the maximum speed. That is, Σd l <Σd lact In the relationship of and the greater the difference, the smaller the value of the adjusted maximum speed va. This suppresses the large rotation of the retrograde actual trajectory.

[0039] (Modification 2) In the above-described Modification 1, the command speed adjustment unit 30 calculates the deceleration rate of the maximum speed v in the command speed (moving speed pattern) from the Among the trajectory data l[t] Euclidean distance d l sum of [t] and the Among the actual trajectory data lact[t] Euclidean distance d lact sum of [t] and the Euclidean distance d of the error between the actual trajectory data lact[t] of the retrograde actual path Pactb and the trajectory data l[t] of the retrograde command path Pberr The Euclidean distance d of the maximum error at the point i = k where [t] is maximum err [t + k], and the Among the trajectory data l[t + k] Euclidean distance d l The deceleration rate may be calculated from [t + k].

[0040] The command speed adjustment unit 30 · As shown in FIG. 5B, the Euclidean distance d between the trajectory data l[t] of the reverse command path Pb l [t], and the Euclidean distance d of the error between the trajectory data l[t] of the reverse command path Pb and the actual trajectory data lact[t] of the reverse actual path Pactb err [t] is calculated, · In the range A where the error of the actual trajectory data lact[t] of the reverse actual path Pactb with respect to the trajectory data l[t] of the reverse command path Pb is equal to or greater than a predetermined value, the Euclidean distance d of the error occurring in the same direction err [t] is maximized to obtain the point i = k (in the example of FIG. 5B, i = k = 2), · The Euclidean distance d of the maximum error err [t + k] and the corresponding Among the trajectory data l[t + k] Euclidean distance d l [t + k] to calculate the deceleration rate, · The adjusted maximum speed va is calculated by multiplying the deceleration rate by the maximum speed v in the command speed (movement speed pattern) according to the following formula (3), · FIG. 5 B As shown, the maximum speed v of the command speed (movement speed pattern) in the block including the trajectory data immediately before the direction of the error between the trajectory data lact[t] of the reverse actual path Pactb and the trajectory data l[t] of the reverse command path Pb is reversed is adjusted to the adjusted maximum speed va to generate a reverse command speed (movement speed pattern).

Equation

[0041] Even in this second modification example, the same advantages as those of the above-described first modification example can be obtained.

[0042] Also, according to the numerical control device 10 of the above-described embodiments and modification examples, the following effects can be achieved. · In a machine tool that repeatedly processes the same path, the accuracy of forward and reverse operations matches. · It is possible to perform turning during the program. · When some problem occurs, it is possible to reverse the tool without retracting it and return the tool. For example, even in a situation where the tool cannot be moved freely, it is possible to reverse the path traveled forward without retracting the tool and return the tool.

[0043] Hereinafter, an example of a machine tool to which the numerical control device 10 of the above-described embodiments and modification examples can be preferably applied will be given.

[0044] (Cutting) FIG. 6 is a diagram showing an example of cutting by a plasma processing machine or a gas cutting machine. In FIG. 6, a cutting machine T mounted on a movable part of a plasma processing machine or a gas cutting machine that cuts a workpiece W is shown. In such cutting by a plasma processing machine or a gas cutting machine, it may not be possible to cut the workpiece W in a single forward pass. In such a case, reverse machining can also be performed when reversing and returning the cutting machine T, and the machining efficiency can be improved. Also, even in a machining path including a non-linear path (for example, a corner part), the machining accuracy during reciprocating machining can be improved.

[0045] (Welding) FIG. 7 is a diagram showing an example of welding by a laser processing machine. In FIG. 7, a laser T mounted on a movable part of a laser processing machine for welding a workpiece W is shown. In such welding by a laser processing machine, in order to increase the strength of the joint portion of the workpiece W, the welding portion of the workpiece W may be welded two or more times. In such a case, reverse machining can also be performed when the laser T is reversed and returned, and the processing efficiency can be improved. Also, even for a processing path including a non-linear path (for example, a corner portion), the processing accuracy during reciprocating machining can be improved.

[0046] (Laser forming processing) FIG. 8 is a diagram showing an example of laser forming processing by a laser processing machine. In FIG. 8, a laser T mounted on a movable part of a laser processing machine for laser forming (bending) a workpiece W is shown. In laser forming processing by a laser processing machine, the bending angle of the processed portion of the workpiece W increases as the number of laser beam irradiations at the same processed portion of the workpiece W increases. In such laser forming processing by a laser processing machine, in addition to the forward machining of the laser T, reverse machining can also be performed when the laser T is reversed and returned, and the processing efficiency can be improved.

[0047] Here, in laser forming processing by a laser processing machine, the laser beam irradiation path for processing the workpiece W into a three-dimensional shape may include not only a linear path but also a complex non-linear path. Even for such a processing path including a complex non-linear path, the processing accuracy during reciprocating machining can be improved.

[0048] As described above, embodiments of the present invention have been explained. However, the present invention is not limited to the above-described embodiments, and various modifications and variations are possible. For example, in the above-described embodiment, a numerical control device for a machine tool that controls the movement of the drive unit of the machine tool based on a machining program and relatively moves a tool with respect to a workpiece to machine the workpiece has been described. However, the features of the present invention are not limited thereto, and the present invention is applicable to various control devices for industrial machines such as robots that control the movement of the drive unit of the industrial machine based on a program.

Explanation of Signs

[0049] 10 Numerical control device (control device) 11 Storage unit (program) 12 Program analysis unit 14 Command path generation unit 16 Drive control unit 22 Machine model generation unit 24 Forward actual path prediction unit 26 Reverse command path generation unit 28 Reverse actual path prediction unit 30 Command speed adjustment unit 100 Machine tool (movable part, drive part) (industrial machine)

Claims

1. A control device that controls the movement of a movable part of an industrial machine based on a program, wherein the program includes commands regarding the movement path of the movable part in block units and commands regarding the movement speed of the movable part, a command path generation unit that generates a command path of the movement path of the movable part based on the commands of the program, a drive control unit that controls a drive unit that drives the movable part, a forward operation of moving the movable part along the command path based on the command path generated by the command path generation unit and a command speed based on the movement speed indicated by the commands of the program, and a reverse operation of moving the movable part so as to reverse the command path based on a reverse command path and a reverse command speed, a drive control unit that performs the above; a forward actual path prediction unit that predicts a forward actual path from the command path using a machine model regarding the transmission characteristics of the industrial machine; a reverse command path generation unit that generates the reverse command path by inverting the movement direction of the forward actual path; a reverse actual path prediction unit that predicts a reverse actual path from the reverse command path using the machine model; a command speed adjustment unit that adjusts the command speed based on the movement speed indicated by the commands of the program so as to reduce the error between the reverse actual path and the reverse command path, and generates the reverse command speed; A control device for an industrial machine, comprising the above.

2. The control device for an industrial machine according to claim 1, further comprising a machine model generation unit that performs system identification based on the transmission characteristics of the industrial machine and generates the machine model.

3. The control device for an industrial machine according to claim 1 or 2, wherein the command speed adjustment unit adjusts the acceleration / deceleration time constant in the command speed.

4. The reverse command path includes a plurality of trajectory data obtained by sampling the reverse command path at time t, the reverse actual path includes a plurality of actual trajectory data respectively corresponding to the plurality of trajectory data of the reverse command path, the command speed adjustment unit The Euclidean distance d between the trajectory data of the reverse instruction path ｌ [t], and the Euclidean distance d between the actual trajectory data of the reverse actual path ｌａｃｔ [t] is calculated, The Euclidean distance d between the trajectory data of the reverse command path in a range where the error between the actual trajectory data of the reverse actual path and the trajectory data of the reverse command path is equal to or greater than a predetermined value ｌ The sum of d[t] and the Euclidean distance d between the actual trajectory data of the reverse actual path ｌａｃｔ Calculate the difference in the amount of movement from the sum of d[t], calculates an adjusted acceleration / deceleration time constant τa according to the following formula (1) based on the difference in the amount of movement, the maximum speed v in the command speed, and the acceleration / deceleration time constant τ, and generates the reverse command speed by adjusting the acceleration / deceleration time constant τ in the command speed in the block one before the block including the range where the error between the actual trajectory data of the reverse actual path and the trajectory data of the reverse command path is equal to or greater than a predetermined value to the adjusted acceleration / deceleration time constant τa. 【Number 1】 Here, i is an increment variable, and n is the maximum value of the increment variable. The control device for an industrial machine according to claim 3.

5. The command speed adjustment unit adjusts the maximum speed at the command speed. The control device for an industrial machine according to claim 1 or 2.

6. The reverse command path includes a plurality of trajectory data obtained by sampling the reverse command path at time t. The reverse actual path includes a plurality of actual trajectory data respectively corresponding to the plurality of trajectory data of the reverse command path. The command speed adjustment unit The Euclidean distance d between the trajectory data of the reverse instruction path ｌ [t], and the Euclidean distance d between the actual trajectory data of the reverse actual path ｌａｃｔ [t] is calculated, The Euclidean distance d between the trajectory data of the reverse command path in a range where the error between the actual trajectory data of the reverse actual path with respect to the trajectory data of the reverse command path is equal to or greater than a predetermined value ｌ The sum of d[t] and the Euclidean distance d between the actual trajectory data of the reverse actual path ｌａｃｔ Calculate the deceleration rate from the sum of d[t], calculates an adjusted maximum speed va by multiplying the maximum speed v at the command speed by the deceleration rate according to the following formula (2), generates a reverse command speed in which the maximum speed v of the command speed in the block one before the block including the range where the error between the actual trajectory data of the reverse actual path and the trajectory data of the reverse command path is equal to or greater than a predetermined value is adjusted to the adjusted maximum speed va. 【Number 2】 Here, i is an increment variable, and n is the maximum value of the increment variable. The control device for an industrial machine according to claim 5.

7. The reverse command path includes a plurality of trajectory data obtained by sampling the reverse command path at time t. The reverse actual path includes a plurality of actual trajectory data respectively corresponding to the plurality of trajectory data of the reverse command path. The command speed adjustment unit The Euclidean distance d between the trajectory data of the reverse command path ｌ [t], and the Euclidean distance d of the error between the trajectory data of the reverse command path and the actual trajectory data of the reverse actual path ｅｒｒ [t] is calculated, In a range where the error between the actual trajectory data of the reverse actual path and the trajectory data of the reverse command path is equal to or greater than a predetermined value, the Euclidean distance d ｅｒｒ of the error occurring in the same direction is maximized, and the point i = k is obtained. Euclidean distance d of the maximum error ｅｒｒ Euclidean distance d between [t + k] and the trajectory data of the corresponding reverse command path ｌ Calculate the deceleration rate from [t + k], calculates an adjusted maximum speed va by multiplying the maximum speed v at the command speed by the deceleration rate according to the following formula (3), generates a reverse command speed in which the maximum speed v of the command speed in the block including the trajectory data immediately before the direction of the error between the trajectory data of the reverse actual path and the trajectory data of the reverse command path is reversed is adjusted to the adjusted maximum speed va. 【Number 3】 Here, i is an increment variable, n is the maximum value of the increment variable, and k satisfies 0 ≦ k ≦ n. The control device for an industrial machine according to claim 5.

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