Numerical control device and numerical control system

Abstract

The present invention provides technology that makes it possible to easily operate actions of an external device such as a robot via a signal from a numerical control device. Provided is a numerical control device that is connected to an external device via a control device and that uses a numerical control program to control the external device, said numerical control device comprising: a signal unit that controls actions of the numerical control device in accordance with a signal from a machine tool which is controlled by the numerical control device; a plurality of control systems that include a control system of the external device and a control system of the machine tool; a signal selection unit that selects one control system with which the control system of the external device will refer to a specific signal, from among the plurality of control systems other than the control system of the external device; a signal determination unit that determines whether or not there has been notification of the specific signal from the one control system selected by the signal selection unit; and a signal transmission unit that, when there has been notification of the specific signal, notifies the control device of the specific signal, wherein the control device controls the control system of the external device in accordance with the notified specific signal.

Description

Numerical control device and numerical control system

[0001] The present disclosure relates to a numerical control device and a numerical control system.

[0002] Generally, the programming languages ​​used for the numerical control programs used to control machine tools and the robot programs used to control robots are different, so in order to link the operation of the machine tool with the operation of the robot, the operator needs to be proficient in both the numerical control programs and the robot programs.

[0003] In recent years, in order to promote automation in machining sites, there has been a demand for a numerical control system that controls the operation of a machine tool that processes a workpiece in conjunction with the operation of a robot installed near the machine tool (see, for example, Patent Document 1). In this numerical control system, the robot is controlled using a numerical control program for the machine tool that is familiar to the machine tool user.

[0004] Patent No. 5752179

[0005] However, in conventional technology, when adding new operation switches, buttons, etc. to operate a robot in a numerical control system such as the one described above, it is necessary to add an operation panel, I / O devices, ladder circuits, etc., which poses the problem that the operation of external devices such as robots cannot be easily controlled using signals from the numerical control device.

[0006] The present disclosure has been made in consideration of the above-mentioned problems, and aims to provide a technique that allows the operation of an external device such as a robot to be easily controlled by a signal from a numerical control device.

[0007] The present disclosure provides a numerical control device that is connected to an external device via a control device and controls the external device using a numerical control program, comprising: a signal unit that controls the operation of the numerical control device in response to a signal from a machine tool controlled by the numerical control device; a plurality of control systems including a control system of the external device and a control system of the machine tool; a signal selection unit that selects one control system from the plurality of control systems other than the control system of the external device to which the control system of the external device will refer for a specific signal; a signal determination unit that determines whether the specific signal has been notified from the one control system selected by the signal selection unit; and a signal transmission unit that notifies the control device of the specific signal if the specific signal has been notified, and the control device controls the control system of the external device in response to the notified specific signal.

[0008] The present disclosure also provides a numerical control system including the numerical control device and a control device connected to the numerical control device and controlling the external device.

[0009] FIG. 1 is a schematic diagram of a numerical control system according to an embodiment of the present disclosure; FIG. 2 is a functional block diagram of a portion of a numerical control system according to an embodiment of the present disclosure; FIG. 3 is a functional block diagram of a numerical control system according to an embodiment of the present disclosure; FIG. 4 is a diagram for explaining processing when a specific signal is an emergency stop signal; FIG. 5 is a diagram for explaining processing when a specific signal is an emergency stop signal; FIG. 6 is a diagram for explaining processing when a specific signal is an emergency stop signal; FIG. 7 is a diagram for explaining processing when a specific signal is an operation stop signal; FIG. 8 is a diagram for explaining processing when a specific signal is an operation stop signal; FIG. 9 is a diagram for explaining processing when a specific signal is an operation stop signal; FIG. 10 is a diagram for explaining processing when a specific signal is a reset signal; FIG. 11 is a diagram for explaining processing when a specific signal is a reset signal; FIG. 12 is a functional block diagram of a portion of a conventional numerical control system;

[0010] An embodiment of the present disclosure will be described in detail below with reference to the drawings. Fig. 1 is a schematic diagram of a numerical control system 1 according to an embodiment of the present disclosure. As shown in Fig. 1, the numerical control system 1 according to this embodiment includes a machine tool 20 that processes a workpiece, a numerical control device 2 that controls the operation of the machine tool 20, a robot 30 as an external device provided near the machine tool 20, and a robot control device 3 that controls the operation of the robot 30. The numerical control system 1 controls the operation of the machine tool 20 and the robot 30 in a coordinated manner by using the numerical control device 2 and the robot control device 3 that are communicatively connected to each other.

[0011] Machine tool 20 is, for example, but not limited to, a lathe, drill press, milling machine, grinding machine, laser processing machine, injection molding machine, etc. In response to various command signals transmitted from numerical control device 2, machine tool 20 performs various operations such as machining operations on a workpiece, opening and closing operations of a chuck that grips the workpiece, and opening and closing operations of a door provided in the workpiece machining area.

[0012] The robot 30 operates under the control of the robot control device 3, and performs a predetermined task on a workpiece being machined by, for example, the machine tool 20. The robot 30 is, for example, a six-axis articulated robot, and a tool 30b for gripping the workpiece and for machining and inspecting the workpiece is attached to the arm tip 30a.

[0013] The numerical control device 2 and the robot control device 3 are computers each composed of hardware such as a central processing unit (CPU), auxiliary storage such as a hard disk drive (HDD) or solid state drive (SSD) storing various programs, a main storage such as a random access memory (RAM) for storing data temporarily required for the processing device to execute the programs, an operating unit such as a keyboard for an operator to perform various operations, and a display unit such as a display displaying various information to the operator. The functions and operations of each functional unit described below are achieved by cooperation between the CPU, memory, and control programs stored in the memory installed in the computer. The numerical control device 2 and the robot control device 3 can transmit and receive various signals to each other via, for example, Ethernet (registered trademark). Furthermore, the numerical control device 2 according to this embodiment may be composed of a computer numerical controller (CNC) incorporating a programmable logic controller (PLC).

[0014] The numerical control system 1 according to this embodiment may be, for example, but is not limited to, a system in which a robot 30 is retrofitted to an existing machine tool 20. For example, the numerical control system 1 according to this embodiment is configured such that the robot control device 3 issues an operation request to the numerical control device 2, and the robot control device 3 can read and write variables of the numerical control device 2, in order to control the operation of the machine tool 20 and the operation of the robot 30 in a linked manner.

[0015] Fig. 10 is a functional block diagram of a portion of a conventional numerical control system. For ease of explanation, the example shown in Fig. 10 omits external devices such as a robot and a robot control device that controls the robot. As shown in Fig. 10 , in a conventional numerical control device 400, when a new control system is added to existing control systems (system 1 to system n), a hardware key for selecting the control system is added to the operation panel and I / O device 303. Pressing the hardware key is input to the numerical control device 400 via a ladder circuit 304, thereby selecting the new control system.

[0016] For example, an emergency stop switch 301 or an operation device 302 including an operation button or the like is connected to an operation panel and an I / O device 303 as a hardware key for selecting a control system. In this case, a signal output from the emergency stop switch 301 or the operation device 302 is input to signal units 401-1 to 401-n of each control system (system 1 to system n) of the numerical control device 400 via the operation panel, the I / O device 303, and the ladder circuit 304. As a result, the numerical control device 400 operates each control system (system 1 to system n) in accordance with the signal output from the emergency stop switch 301 or the operation device 302.

[0017] 10 , in order to add emergency stop switch 301 or operation device 302, it is necessary to newly add an operation panel, I / O device 303, and ladder circuit 304. Therefore, in the conventional numerical control system, it is not possible to easily control the operation of external devices such as robots from numerical control device 400 using signals from machine tool 300.

[0018] Therefore, the numerical control system 1 according to this embodiment is configured so that the operation of external equipment such as a robot 30 can be easily controlled from the numerical control device 2 using signals from the machine tool 20, as will be described below.

[0019] 2 is a functional block diagram of a portion of a numerical control system 1 according to an embodiment of the present disclosure. The machine tool 20 includes an operation device 201. The numerical control device 2 includes a robot system 210 as a control system and a machining system 202 as another control system. That is, the numerical control system 1 has a plurality of control systems including the machining system 202 and the robot system 210. The machining system 202 includes a signal unit 203 that controls the operation of the machine tool 20 in response to a signal from the operation device 201.

[0020] The robot system 210 includes a data transmission / reception unit 12, a driving unit 15, a signal unit 24, a signal selection unit 26, and a signal determination unit 27. The driving unit 15 is a component that corresponds to a signal control unit 25 and a robot command signal generation unit 28, which will be described later. The data transmission / reception unit 12, the signal unit 24, the signal selection unit 26, and the signal determination unit 27 will be described in detail later.

[0021] The numerical control system 1 according to this embodiment selects, from among a plurality of control systems, a machining system 202 for the robot system 210 to refer to a specific signal, and controls the robot system 210 in accordance with the specific signal. As a result, the numerical control system 1 realizes that the operation of the robot system 210 can be easily controlled by signals from the machine tool 20, without adding an operation panel, I / O device 303, and ladder circuit 304 as shown in the conventional example in FIG.

[0022] 3 is a functional block diagram of the numerical control system 1 according to this embodiment. First, the detailed configuration of the numerical control device 2 will be described. As shown in FIG. 3, the numerical control device 2 is provided with various functional units due to the above-described hardware configuration. Specifically, the numerical control device 2 includes a data transmission / reception unit 12, a display / operation unit 14, a storage unit 21, a program input unit 22, an analysis unit 23, a signal unit 24, a signal control unit 25, a signal selection unit 26, a signal determination unit 27, a robot command signal generation unit 28, and an operation control unit 29.

[0023] The storage unit 21 stores numerical control programs for controlling the operation of the machine tool 20, such as the movement of a control axis, the rotation of a spindle, the opening and closing of a chuck, and the opening and closing of a door. The numerical control programs stored in the storage unit 21 are created in advance by an operator to control the operation of the machine tool 20 in conjunction with the operation of the robot 30 under the control of the robot controller 3, and are written in a programming language using G-code, M-code, or the like. The storage unit 21 also stores numerical control programs for controlling the operation of the robot 30.

[0024] The program input unit 22 reads out the numerical control program from the storage unit 21. The program input unit 22 also inputs the read out numerical control program to the analysis unit 23 one by one.

[0025] The analysis unit 23 sequentially analyzes, for each block, the types of commands based on the numerical control program input from the program input unit 22. The analysis unit 23 also outputs the analysis results to a robot command signal generation unit 28 or an operation control unit 29, which will be described later.

[0026] When the type of command acquired based on the numerical control program is, for example, a command to open / close the chuck of machine tool 20 or a command to open / close the door of machine tool 20, analysis unit 23 outputs the acquired command to operation control unit 29. When these commands are input from analysis unit 23, operation control unit 29 inputs an I / O signal corresponding to the input command to machine tool 20. As a result, the chuck or door of machine tool 20 is opened / closed in accordance with the procedure determined by the numerical control program.

[0027] When the type of command acquired based on the numerical control program is, for example, a command to move a control axis of machine tool 20, analysis unit 23 outputs the acquired command to operation control unit 29. When this command is input from analysis unit 23, operation control unit 29 performs interpolation processing to calculate a movement path of the control axis according to the command, and feedback controls the servo motor of machine tool 20 so that the control axis moves along the calculated movement path. In this way, the operation of machine tool 20 is controlled according to the procedure defined by the numerical control program.

[0028] Furthermore, the analysis unit 23 analyzes the numerical control program during operation of the robot control system (also simply referred to as the robot system), and analyzes the robot control commands included in the numerical control program. If the type of the command obtained as a result of the analysis is a robot control command, the analysis unit 23 outputs the obtained command to the robot command signal generation unit 28.

[0029] The display and operation unit 14 displays the status of the numerical control device 2 and operates the numerical control device 2. The display and operation unit 14 is composed of a touch panel display in addition to soft keys and a display. The display and operation unit 14 accepts and displays various operations by the user, such as various operations on the robot control system and / or the processing control system.

[0030] Here, the machine tool 20 has a plurality of control systems, such as a machining system 1 (first system), a machining system 2 (second system), ..., and a robot system (final system). In particular, when an external device such as a robot 30 is to be retrofitted to the machine tool 20, the external device control system such as the robot control system is arranged in the final system so that the control system can be easily added later.

[0031] The operating device 201 is a device for operating the machine tool 20 and / or the robot 30, such as an emergency stop switch, an operation stop button, a reset button, etc., and in this embodiment, the operating device 201 is not an existing device, but a device that is newly added to the machine tool 20.

[0032] The signal unit 24 controls the operation of the numerical control device 2 in response to signals from the machine tool 20 controlled by the numerical control device 2. Specifically, the signal unit 24 controls the operation of the numerical control device 2 in response to signals input from the operation device 201 of the machine tool 20. More specifically, the signal unit 24 outputs signals in response to various notifications from the operation device 201 to the analysis unit 23, the signal determination unit 27, and the robot command signal generation unit 28, and controls the operation of the numerical control device 2 according to the output signals.

[0033] The signal selection unit 26 selects one control system from among a plurality of control systems other than the control system of the robot 30, for the control system of the robot 30 to refer to a specific signal. Specifically, when a new operating device 201 is added to the machine tool 20, the display / operation unit 14 displays a selection screen for selecting one control system from the plurality of control systems.

[0034] Next, when the user performs a selection operation on the selection screen, the signal selection unit 26 selects one control system in accordance with the selection operation and associates the selected control system with the control system of the robot 30. Then, the signal selection unit 26 notifies the signal determination unit 27 of the selected control system.

[0035] The signal determination unit 27 determines whether or not a specific signal has been notified from one control system selected by the signal selection unit 26. If a specific signal has been notified, the signal determination unit 27 notifies the signal control unit 25 of the specific signal.

[0036] Here, the specific signal includes, for example, a signal for executing an operation different from the normal operation of the machine tool 20 and the robot 30, such as an emergency stop signal, an operation stop signal, a reset signal, etc.

[0037] The signal control unit 25 controls the control system of the robot 30, which serves as an external device, in response to the specific signal notified by the signal determination unit 27. Specifically, when the signal control unit 25 is notified of the specific signal from the signal determination unit 27, it notifies the data transmission / reception unit 12 of the specific signal. The data transmission / reception unit 12 notifies the data transmission / reception unit 13 of the robot control device 3 of the specific signal notified by the signal control unit 25. Thereafter, the robot control device 3 controls the control system of the robot 30 in response to the specific signal received by the data transmission / reception unit 13, as will be described later.

[0038] The robot command signal generation unit 28 generates a robot command signal for executing an operation of the robot 30 in accordance with the robot control command analyzed by the analysis unit 23. The generated robot command signal may include a robot program start command that serves as a trigger for starting a robot program stored in the storage unit 31 on the robot control device 3 side. The robot command signal generation unit 28 outputs the generated robot command signal to the data transmission / reception unit 12.

[0039] If the command type of the numerical control program analyzed by the analysis unit 23 is a machining control system command for the machine tool 20, the operation control unit 29 generates a machining command signal corresponding to the machining control system command and controls the machine tool 20.

[0040] The data transmitter / receiver 12 transmits and receives various commands and data to and from the data transmitter / receiver 13 of the robot control device 3. When a robot command signal generated by the robot command signal generator 28 is written to the data transmitter / receiver 12, the data transmitter / receiver 12 transmits the robot command signal to the robot control device 3. As a result, the robot control device 3 receives the robot command signal, enabling it to control the robot 30.

[0041] Next, a detailed configuration of the robot control device 3 will be described. As shown in Fig. 3, the robot control device 3 is provided with various functional units due to the above hardware configuration. Specifically, the robot control device 3 includes a data transmission / reception unit 13, a storage unit 31, an analysis unit 32, a motion command generation unit 33, a program management unit 34, a trajectory control unit 35, a kinematics control unit 36, a servo control unit 37, and a signal control unit 38.

[0042] The data transmitter / receiver 13 receives the robot command signals transmitted from the data transmitter / receiver 12 of the numerical control device 2. The data transmitter / receiver 13 outputs the received robot command signals to the analyzer 32 one by one.

[0043] The analysis unit 32 analyzes the robot command signal input from the data transmission / reception unit 13. The analysis unit 32 outputs the analysis result to the operation command generation unit 33, which will be described later.

[0044] The operation command generation unit 33 generates a robot command corresponding to the robot command signal based on the analysis result of the robot command signal input from the analysis unit 32. The operation command generation unit 33 outputs the generated robot command to the program management unit 34.

[0045] When the program management unit 34 receives a robot command from the operation command generation unit 33, it executes the robot command sequentially to generate an operation plan for the robot 30 in accordance with the robot command signal, and outputs the plan to the trajectory control unit 35 described later.

[0046] Furthermore, when the robot command input from the operation command generation unit 33 is a block robot command, the program management unit 34 adds the input block robot command to the robot program stored in the storage unit 31. As a result, a robot program corresponding to the robot command signal transmitted from the numerical control device 2 is generated and stored in the storage unit 31. The stored robot program is started and played back when the program management unit 34 receives a robot program start command as a robot command.

[0047] When the motion plan is input from the program management unit 34 , the trajectory control unit 35 calculates time-series data of the control points of the robot 30 and outputs it to the kinematics control unit 36 ​​.

[0048] The kinematics control unit 36 ​​calculates the target angle of each joint of the robot 30 by inverse kinematics calculation based on the input time series data, and outputs the calculated angle to the servo control unit 37. Here, the inverse kinematics calculation of the robot 30 is a method of calculating the angle of each joint from the hand position and posture of the robot 30.

[0049] The servo control unit 37 generates robot control signals for the robot 30 by feedback controlling each servo motor of the robot 30 so that the target angle input from the kinematics control unit 36 ​​is realized, and inputs the signals to the servo motors of the robot 30 .

[0050] The signal control unit 38 controls the control system of the robot control device 3 in response to a specific signal notified (transmitted) from the data transmission / reception unit 12 of the numerical control device 2. Specifically, the signal control unit 38 controls the operation of the robot 30 in response to a specific signal notified (transmitted) from the data transmission / reception unit 12 of the numerical control device 2.

[0051] Specifically, when the specific signal is an emergency stop signal, the signal determination unit 27 determines whether or not the emergency stop signal has been notified from one of the control systems selected by the signal selection unit 26. When the signal determination unit 27 determines that the emergency stop signal has been notified, the signal control unit 25 receives the emergency stop signal from the signal determination unit 27 and notifies the data transmission / reception unit 12 of the emergency stop signal. The data transmission / reception unit 12 notifies the robot control device 3 of the emergency stop signal notified from the signal control unit 25. The signal control unit 38 of the robot control device 3 brings the control system of the robot 30 to an emergency stop in response to the emergency stop signal notified from the numerical control device 2.

[0052] Furthermore, if the specific signal is an operation stop signal, the signal determination unit 27 determines whether or not an operation stop signal has been notified from one control system selected by the signal selection unit 26. If the signal determination unit 27 determines that an operation stop signal has been notified, the signal control unit 25 receives the operation stop signal from the signal determination unit 27 and notifies the data transmission / reception unit 12 of the operation stop signal. The data transmission / reception unit 12 notifies the robot control device 3 of the operation stop signal notified from the signal control unit 25. The signal control unit 38 of the robot control device 3 stops the operation of the control system of the robot 30 in response to the operation stop signal notified from the numerical control device 2.

[0053] Furthermore, if the specific signal is a reset signal, the signal determination unit 27 determines whether or not a reset signal has been notified from one of the control systems selected by the signal selection unit 26. If the signal determination unit 27 determines that a reset signal has been notified, the signal control unit 25 receives the reset signal from the signal determination unit 27 and notifies the data transmission / reception unit 12 of the reset signal. The data transmission / reception unit 12 notifies the robot control device 3 of the reset signal notified from the signal control unit 25. The signal control unit 38 of the robot control device 3 resets the control system of the robot 30 in response to the reset signal notified from the numerical control device 2.

[0054] 4A to 9B are selection screens for selecting one control system from among a plurality of control systems, and the selection screens are displayed on the touch panel display of the display / operation unit 14. Figures 4A, 4B, 5A, and 5B are diagrams for explaining the processing when a specific signal is an emergency stop signal.

[0055] The selection screens shown in Figures 4A, 4B, 5A, and 5B display software keys that can select each of the machining system 1 (first system), machining system 2 (second system), ..., and robot system (final system).

[0056] As shown in Fig. 4A, the user selects the machining system 1 as the reference destination for the emergency stop signal of the robot system. Next, as shown in Fig. 4B, when the machining system 1 enters an emergency stop state in accordance with the signal output from the operation device 201, the numerical control system 1 executes the above-described processing and also brings the robot system to an emergency stop.

[0057] Similarly, as shown in Fig. 5A, the user selects the machining system 2 as the reference destination for the emergency stop signal of the robot system. Next, as shown in Fig. 5B, when the machining system 2 enters an emergency stop state in accordance with the signal output from the operation device 201, the numerical control system 1 executes the above-described processing and also brings the robot system to an emergency stop.

[0058] 6A, 6B, 7A, and 7B are diagrams for explaining the processing when a specific signal is an operation stop signal. In the selection screens shown in Fig. 6A, 6B, 7A, and 7B, software keys are displayed that allow selection of each of the machining system 1 (first system), machining system 2 (second system), ..., and robot system (final system).

[0059] As shown in Fig. 6A, the user selects the machining system 1 as the reference for the operation stop signal of the robot system. Next, as shown in Fig. 6B, when the operation stop signal of the machining system 1 is turned ON in accordance with the signal output from the operation device 201, the numerical control system 1 executes the above-described process to decelerate and stop the robot system. Alternatively, the numerical control system 1 may activate the brakes of the robot system instead of decelerating and stopping it.

[0060] Similarly, as shown in Fig. 7A, the user selects the machining system 2 as the reference destination for the operation stop signal of the robot system. Next, as shown in Fig. 7B, when the operation stop signal of the machining system 2 is turned ON in accordance with the signal output from the operation device 201, the numerical control system 1 executes the above-mentioned process to decelerate and stop the robot system. Alternatively, the numerical control system 1 may activate the brakes of the robot system instead of decelerating and stopping it.

[0061] 8A, 8B, 9A, and 9B are diagrams for explaining processing when a specific signal is a reset signal. In the selection screens shown in Fig. 8A, 8B, 9A, and 9B, software keys are displayed that allow selection of each of machining system 1 (first system), machining system 2 (second system), ..., and robot system (final system).

[0062] As shown in Fig. 8A, the user selects machining system 1 as the reference destination for the reset signal of the robot system. Next, as shown in Fig. 8B, when the reset signal of machining system 1 is turned ON in accordance with the signal output from the operation device 201, the numerical control system 1 executes the above-described processing and resets the robot system.

[0063] 9A, the user selects the machining system 2 as the reference destination for the reset signal of the robot system. Next, as shown in FIG. 9B, when the reset signal of the machining system 2 is turned ON in accordance with the signal output from the operation device 201, the numerical control system 1 executes the above-described process to reset the robot system.

[0064] According to this embodiment, the following effects are achieved: The numerical control system 1 includes a signal unit 24 that controls the operation of the numerical control device 2 in response to a signal from the machine tool 20 controlled by the numerical control device 2, a plurality of control systems including a robot control system and a machining system, a signal selection unit 26 that selects one control system from the plurality of control systems other than the robot control system to which the robot control system will refer for a specific signal, a signal determination unit 27 that determines whether or not a specific signal has been notified from the one control system selected by the signal selection unit 26, and a data transmission / reception unit 12 that notifies the robot control device 3 of the specific signal when the specific signal has been notified, and a signal control unit 38 of the robot control device 3 controls the robot control system in response to the notified specific signal.

[0065] With this configuration, the numerical control system 1 can refer to signals from the existing control system in the robot system, eliminating the need to add operation devices for the robot system, ladder circuits, etc. Therefore, the numerical control system 1 can easily control the operation of external devices such as the robot 30 using signals from the numerical control device 2.

[0066] Furthermore, if the specific signal is an emergency stop signal, the signal determination unit 27 determines whether or not the emergency stop signal has been notified from one of the control systems selected by the signal selection unit 26. If the signal determination unit 27 determines that the emergency stop signal has been notified, the signal control unit 25 receives the emergency stop signal from the signal determination unit 27 and notifies the data transmission / reception unit 12 of the emergency stop signal. The data transmission / reception unit 12 notifies the robot control device 3 of the emergency stop signal notified from the signal control unit 25. The signal control unit 38 of the robot control device 3 emergency-stops the control system of the robot 30 in response to the emergency stop signal notified from the numerical control device 2. This allows the numerical control system 1 to easily operate the emergency stop operation of external equipment such as the robot 30 using a signal from the numerical control device 2.

[0067] Furthermore, if the specific signal is an operation stop signal, the signal determination unit 27 determines whether or not an operation stop signal has been notified from one control system selected by the signal selection unit 26. When the signal determination unit 27 determines that an operation stop signal has been notified, the signal control unit 25 receives the operation stop signal from the signal determination unit 27 and notifies the data transmission / reception unit 12 of the operation stop signal. The data transmission / reception unit 12 notifies the robot control device 3 of the operation stop signal notified from the signal control unit 25. The signal control unit 38 of the robot control device 3 stops the operation of the control system of the robot 30 in response to the operation stop signal notified from the numerical control device 2. This allows the numerical control system 1 to easily operate the operation stop operation of external devices such as the robot 30 using a signal from the numerical control device 2.

[0068] Furthermore, if the specific signal is a reset signal, the signal determination unit 27 determines whether or not a reset signal has been notified from one of the control systems selected by the signal selection unit 26. If the signal determination unit 27 determines that a reset signal has been notified, the signal control unit 25 receives the reset signal from the signal determination unit 27 and notifies the data transmission / reception unit 12 of the reset signal. The data transmission / reception unit 12 notifies the robot control device 3 of the reset signal notified from the signal control unit 25. The signal control unit 38 of the robot control device 3 resets the control system of the robot 30 in response to the reset signal notified from the numerical control device 2. This allows the numerical control system 1 to easily operate the reset of external devices such as the robot 30 using a signal from the numerical control device 2.

[0069] The numerical control system 1 further includes an analysis unit 23 that analyzes robot control commands in a numerical control program while the robot control system is in operation, and a robot command signal generation unit 28 that generates a robot command signal for executing the operation of the robot in accordance with the robot control command analyzed by the analysis unit 23. The data transmission / reception unit 12 transmits the robot command signal to the robot control device 3, and the robot control device 3 executes the operation of the robot 30 based on the robot command signal. This allows the numerical control system 1 to execute the operation of the robot 30 as an external device based on the external device control command obtained by analyzing the numerical control program.

[0070] The numerical control system 1 also includes a robot 30 as an external device and a robot control device 3 as a control device that controls the robot 30. This allows the numerical control system 1 to execute the operation of the external device based on an external device control command obtained by analyzing the numerical control program.

[0071] Although the present disclosure has been described in detail, the present disclosure is not limited to the individual embodiments described above. Various additions, substitutions, modifications, partial deletions, etc. are possible in these embodiments without departing from the gist of the present disclosure or the spirit of the present disclosure derived from the content of the claims and their equivalents. These embodiments can also be implemented in combination. For example, in the above-described embodiments, the order of each operation and the order of each process are shown as examples and are not limited to these. The same applies when numerical values ​​or mathematical expressions are used in the description of the above-described embodiments.

[0072] Furthermore, in the above embodiment, the robot 3 is used as the external device, but this is not limiting. For example, a two-axis or three-axis loader or parts feeder can also be used as the external device.

[0073] The following supplementary notes are further disclosed regarding the above-described embodiment and modified examples: (Supplementary Note 1) A numerical control device (2) connected to an external device (30) via a control device (3) and controlling the external device using a numerical control program, comprising: a signal unit (24) that controls operation of the numerical control device in response to a signal from a machine tool (20) controlled by the numerical control device; a plurality of control systems (202, 210) including a control system (210) for the external device and a control system (202) for the machine tool; a signal selection unit (26) that selects one control system from the plurality of control systems other than the control system for the external device to reference a specific signal; a signal determination unit (27) that determines whether the specific signal has been notified from the one control system selected by the signal selection unit; and a signal transmission unit (12) that notifies the control device of the specific signal when the specific signal has been notified, wherein the control device controls the control system of the external device in response to the notified specific signal. (Supplementary Note 2) The numerical control device according to Supplementary Note 1, wherein the specific signal is an emergency stop signal, the signal determination unit determines whether or not the emergency stop signal has been notified from the one control system selected by the signal selection unit, the signal transmission unit notifies the control device of the emergency stop signal when the emergency stop signal has been notified, and the control device brings the control system of the external device to an emergency stop in response to the emergency stop signal. (Supplementary Note 3) The numerical control device according to Supplementary Note 1, wherein the specific signal is an operation stop signal, the signal determination unit determines whether or not the operation stop signal has been notified from the one control system selected by the signal selection unit, the signal transmission unit notifies the control device of the operation stop signal when the operation stop signal has been notified, and the control device stops operation of the control system of the external device in response to the operation stop signal.(Supplementary Note 4) The numerical control device according to Supplementary Note 1, wherein the specific signal is a reset signal, the signal determination unit determines whether the reset signal has been notified from the one control system selected by the signal selection unit, the signal transmission unit notifies the control device of the reset signal if the reset signal has been notified, and the control device resets the control system of the external device in response to the reset signal. (Supplementary Note 5) The numerical control device according to Supplementary Note 1, further comprising: an analysis unit (23) that analyzes an external device control command in the numerical control program while the control system of the external device is operating; and a command signal generation unit (28) that generates an external device command signal for executing an operation of the external device in response to the external device control command analyzed by the analysis unit, wherein the signal transmission unit transmits the external device command signal to the control device, and the control device executes the operation of the external device based on the external device command signal. (Supplementary Note 6) The numerical control device according to any of Supplements 1 to 5, wherein the external device is a robot, and the control device is a robot control device that controls the robot. (Supplementary Note 7) A numerical control system comprising: the numerical control device according to any one of Supplementary Notes 1 to 6; and a control device connected to the numerical control device and controlling the external device.

[0074] REFERENCE SIGNS LIST 1 Numerical control system 2 Numerical control device 3 Robot control device (control device) 12, 13 Data transmission / reception unit (signal transmission unit) 14 Display / operation unit 20 Machine tool 21, 31 Memory unit 22 Program input unit 23, 32 Analysis unit 24 Signal unit 25, 38 Signal control unit 26 Signal selection unit 27 Signal determination unit 28 Robot command signal generation unit (external device command generation unit) 29 Operation control unit 30 Robot (external device) 30a Arm tip 30b Tool 33 Operation command generation unit 34 Program management unit 35 Trajectory control unit 36 ​​Kinematics control unit 37 Servo control unit

Claims

1. A numerical control device that is connected to an external device via a control device and controls the external device using a numerical control program, comprising: a signal unit that controls the operation of the numerical control device in response to a signal from a machine tool controlled by the numerical control device; a plurality of control systems including a control system of the external device and a control system of the machine tool; a signal selection unit that selects one control system from the plurality of control systems other than the control system of the external device for the control system of the external device to refer to a specific signal; a signal judgment unit that judges whether the specific signal has been notified from the one control system selected by the signal selection unit; and a signal transmission unit that notifies the control device of the specific signal if the specific signal has been notified, and the control device controls the control system of the external device in response to the notified specific signal.

2. The numerical control device according to claim 1, wherein the specific signal is an emergency stop signal, the signal determination unit determines whether or not the emergency stop signal has been notified from the one control system selected by the signal selection unit, the signal transmission unit notifies the control device of the emergency stop signal if the emergency stop signal has been notified, and the control device emergency stops the control system of the external device in response to the emergency stop signal.

3. The numerical control device according to claim 1, wherein the specific signal is an operation stop signal, the signal determination unit determines whether or not the operation stop signal has been notified from the one control system selected by the signal selection unit, the signal transmission unit notifies the control device of the operation stop signal if the operation stop signal has been notified, and the control device stops operation of the control system of the external equipment in response to the operation stop signal.

4. The numerical control device according to claim 1, wherein the specific signal is a reset signal, the signal determination unit determines whether or not the reset signal has been notified from the one control system selected by the signal selection unit, the signal transmission unit notifies the control device of the reset signal if the reset signal has been notified, and the control device resets the control system of the external device in response to the reset signal.

5. A numerical control device as described in claim 1, further comprising: an analysis unit that analyzes an external device control command in the numerical control program while a control system of the external device is in operation; and a command signal generation unit that generates an external device command signal for executing an operation of the external device in accordance with the external device control command analyzed by the analysis unit, wherein the signal transmission unit transmits the external device command signal to the control device, and the control device executes the operation of the external device based on the external device command signal.

6. A numerical control device according to any one of claims 1 to 5, wherein the external device is a robot, and the control device is a robot control device that controls the robot.

7. A numerical control system comprising: a numerical control device according to any one of claims 1 to 6; and a control device connected to said numerical control device and controlling said external device.

Images