Control device and control method for industrial machine

Abstract

The present invention prevents an operation unintended by a user from being performed on a moving body when performing a pressing control during a test run.　A control device for executing, via a program command, a pressing control for pressing a moving body in an industrial machine against an object to be pressed comprises: a first determination unit for determining whether a program including the program command is being test run; a second determination unit for determining, on the basis of the program command, whether the pressing control is to be performed; and a control method selection unit for selecting a control method in which a drive control of the shaft is not performed and the moving body is kept still when it is determined that the program is being test run and that the pressing control is to be performed.

Description

Industrial machine control device and control method

[0001] The present disclosure relates to a control device and a control method for an industrial machine that presses a moving body in the industrial machine against a pressed object and executes pressing control according to program commands.

[0002] 2. Description of the Related Art Control devices that perform pressing control to press a moving body such as a tailstock in an industrial machine against a pressed object are described in, for example, Patent Documents 1, 2, and 3.

[0003] Patent Document 1 describes a tailstock pressing force control device that automatically controls the pressing force of the tailstock. Specifically, the tailstock pressing force control device described in Patent Document 1 has a first electromagnetic proportional pressure reducing valve installed in a first line that supplies pressure oil from a pressure oil source to a pressing chamber of a tailstock cylinder. A digital controller then performs feedback control so that the pressure in the first line detected by a pressure sensor becomes the pressing pressure received from an NC control unit. In this way, the tailstock pressing force is automatically set and controlled.

[0004] Patent Document 2 describes a machine tool control device for a combined lathe in which both sides of a long workpiece are gripped by two opposing headstocks and the workpiece is machined while these two headstocks are driven in synchronization. Specifically, the machine tool control device described in Patent Document 2 is composed of two pressing completion determination means for pressing the two headstocks against the workpiece, two command values ​​for moving the two headstocks, two parameters for setting data necessary for CNC calculations such as axis movement data, and two torque limit amounts for determining the torque amounts of two Z-axis servo motors.

[0005] Patent Document 3 describes a numerical control device capable of automatically calculating an optimal tailstock pressing force. Specifically, the numerical control device described in Patent Document 3 has a tailstock pressing force calculation unit that uses machine learning to calculate a tailstock pressing force for stabilizing the behavior of a workpiece during lathe machining. The numerical control device then acquires prerequisites including the current shape of the workpiece, acquires the current tailstock pressing force as status information, acquires at least one of the current vibration or displacement of the workpiece and the power consumption of the tailstock shaft as judgment data, updates a value function based on the judgment data, and outputs an adjustment value for the status information based on the value function.

[0006] JP 10-80802, JP 7-186007, JP 2018-130798

[0007] There are industrial machines that perform push-pull control based on program commands such as a CNC (Computer Numerical Control) program or a PLC (Programmable Logic Controller) program. A known technique involves actually operating the industrial machine and conducting a test run to verify the validity of the program for the overall operation of the industrial machine. When test running an industrial machine, if the program includes push-pull control, a moving object such as a tailstock may move in an unintended manner by the user. For example, if push-pull control is performed without a workpiece or other object to be pushed, the moving object may enter an area that cannot be reached if a push-pull object is present. When test running an industrial machine, it is desirable not to stop the test run midway through program execution.

[0008] Therefore, when a program includes pressing control, there is a need for a control device and control method for industrial machinery that can control the test run so that the moving body does not move in a way that is not intended by the user, without stopping the test run midway through the program execution.

[0009] A first representative aspect of the present disclosure is a control device for industrial machinery that executes push control by program commands to push a moving body within the industrial machinery against a pushed object, the control device comprising: a first determination unit that determines whether a program including the program commands is being test run or not; a second determination unit that determines whether the push control will be performed based on the program commands; a control method selection unit that selects a control method for an axis that moves the moving body based on a determination result by the first determination unit and a determination result by the second determination unit; and an axis control unit that controls the axis in accordance with the selected control method, wherein when it is determined by the first determination unit that a test run is being performed and the second determination unit determines that the push control will be performed, the control method selection unit selects a control method that does not perform drive control of the axis and keeps the moving body stopped.

[0010] A second representative aspect of the present disclosure is a control method for industrial machinery, which performs push control by program commands to push a moving body inside the industrial machinery against a pushed object, wherein the control method comprises: a process by which a computer determines whether or not a program including the program commands is being test run; a process by which a computer determines whether or not to perform the push control based on the program commands; and a process by which, when it is determined that a test run is being performed and that the push control is to be performed, the computer does not perform drive control of an axis that moves the moving body, but keeps the moving body stopped.

[0011] FIG. 1 is an explanatory diagram for explaining pressing control for pressing a tailstock against a workpiece. FIG. 1 is a block diagram showing an example configuration of a control device of a first embodiment of the present disclosure. FIG. 1 is a block diagram showing an example configuration of a control device with a receiving unit inserted. FIG. 1 is an explanatory diagram showing normal operation of a control system including an industrial machine and a control device. FIG. 1 is an explanatory diagram showing a first example of operation of a test run of a control system including an industrial machine and a control device. FIG. 1 is an explanatory diagram showing a second example of operation of a test run of a control system including an industrial machine and a control device. FIG. 1 is an explanatory diagram showing a form of a third example of operation of a test run of a control system including an industrial machine and a control device. FIG. 1 is an explanatory diagram showing another form of the third example of operation of a test run of a control system including an industrial machine and a control device. FIG. 1 is an explanatory diagram showing another form of the third example of operation of a test run of a control system including an industrial machine and a control device. FIG. 1 is an explanatory diagram showing a fourth example of operation of a test run of a control system including an industrial machine and a control device. FIG. 1 is an explanatory diagram showing a fifth example of operation of a test run of a control system including an industrial machine and a control device. A flowchart showing an example of operation of the control device of the first embodiment. A block diagram showing an example configuration of a control device of a second embodiment of the present disclosure.

[0012] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. First, prior to describing a control device according to an embodiment of the present disclosure, a description will be given of push control executed by the control device according to an embodiment of the present disclosure. Push control is control in which a moving body in an industrial machine is pushed against a pushed object. The industrial machine is a machine tool, a robot, or the like. An example of push control is control in which a tailstock is pushed against a workpiece to prevent the workpiece from shaking during turning. In this case, the tailstock corresponds to the moving body and the workpiece corresponds to the pushed object. When push control is performed, the tailstock may be the pushed object and the workpiece may be the moving body, and the workpiece may be pushed against a fixed tailstock.

[0013] 1 is an explanatory diagram illustrating pressing control for pressing a tailstock against a workpiece. The tailstock 31 is controlled to approach a long workpiece 32 in the W-axis direction shown in FIG. 1 and is pressed against an end face of the long workpiece 32 fixed by a chuck 33. The workpiece 32 is machined by a tool 34. The tailstock 31 is connected to a ball screw or linear motor that is connected to a motor that rotates a rotary shaft, and the movement of the tailstock is controlled by an axis control unit 104 (described later) that is connected to the motor or linear motor that rotates the rotary shaft.

[0014] Next, a control device according to an embodiment of the present disclosure that performs press-contact control will be described. In the following description, an example will be described in which the control device performs press-contact control in which the tailstock is pressed against the workpiece.

[0015] 2 is a block diagram showing an example of the configuration of a control device according to a first embodiment of the present disclosure. The control device 10 executes pressing control, based on program commands, for pressing a tailstock 31, which is a moving body, against a workpiece 32, which is a pressed object, in an industrial machine. The control device 10 includes a first determination unit 101, a second determination unit 102, a control method selection unit 103, and an axis control unit 104.

[0016] The first determination unit 101 determines whether or not the program is being test run based on the input information and outputs the determination result to the control method selection unit 103. The program is a program that controls the entire industrial machine, and test run of the program is not limited to push control but also includes, for example, relative feed control between the workpiece 32, which is the object to be pushed, and the tool 34. The program is, for example, a CNC program or a PLC program, but may also be a program that combines a CNC program and a PLC program. Test run may be performed with the workpiece 32, which is the object to be pushed, placed, or without the workpiece 32 placed to reduce the number of trial machining runs, etc. The method by which the first determination unit 101 determines whether or not the program is being test run will be described later.

[0017] The second determination unit 102 determines whether or not to perform the pressing control based on the program command, and outputs the determination result to the control method selection unit 103. For example, if the program contains a program command "TRQON" indicating torque control ON, the second determination unit 102 determines to perform the pressing control, and if the program command "TRQON" does not exist, the second determination unit 102 determines not to perform the pressing control.

[0018] If the determination result of first determination unit 101 indicates that test operation is being performed and the determination result of second determination unit 102 indicates that pressing control should be performed, control method selection unit 103 does not perform drive control of the axes and keeps tailstock 31, which is the moving body, stopped. On the other hand, if the determination result of first determination unit 101 indicates that test operation is not being performed and the determination result of second determination unit 102 indicates that pressing control should be performed, control method selection unit 103 drives and controls the axes that move tailstock 31 so that tailstock 31 is pressed against workpiece 32.

[0019] The axis control unit 104 controls the axis that moves the tailstock 31 based on the drive control signal output from the control method selection unit 103. Specifically, the axis control unit 104 controls a motor or a linear motor that moves the tailstock 31.

[0020] (Method for determining whether or not the first determination unit is performing a test run) The first determination unit 101 may determine whether or not the program is performing a test run in the following manner.

[0021] (1) Determination method based on input information from an input device The control device 10 receives input information from an external input device, and the first determination unit 101 can determine whether or not a test run is being performed based on the input information. When receiving input information from an external input device, it is desirable to insert a receiving unit 105 into the control device 10. FIG. 3 is a block diagram of a control device 10A in which the receiving unit 105 is inserted into the control device 10. As shown in FIG. 3, the receiving unit 105 of the control device 10A receives input information from the external input device 20 and outputs the input information to the first determination unit 101.

[0022] The input information from the external input device 20 is at least one of the following: a test operation instruction input by a user using the input device 20, such as a keyboard or touch panel; a first operation mode in which the industrial machine operates at a speed different from the program's command speed; a second operation mode in which the program is executed for each predetermined unit consisting of one or more commands and then not executed until a predetermined trigger is detected after completion; and a third operation mode in which the program is operated in synchronization with the input result from the external input device 20. The first determination unit 101 determines that the test operation is being performed if the input information includes information indicating a test operation and at least one of the information indicating the above three operation modes. (2) Determination Method Based on Input Information from the Axis Control Unit As already described, there are cases where test operation is desired without placing a workpiece 32 in order to reduce the number of trial machining operations, etc. In such cases, the first determination unit 101 can make its determination using either or both of the input information from the axis control unit, such as the drag force received by the tailstock 31 when the push control command is issued and the distance traveled by the tailstock 31 when the push control command is issued. This is because if the workpiece 32 is not placed, the tailstock 31 will not receive a resistance force of a predetermined value or more, and will not be stopped by the workpiece 32, increasing the travel distance of the tailstock 31. Whether or not the pressing control has been commanded can be determined by a notification from the second determination unit 102.

[0023] The drag force acting on the tailstock 31 is detected by a pressure sensor provided at the tip of the tailstock 31. If the first determination unit 101 determines, based on the detected drag value output from the pressure sensor, that the tailstock 31 is not subjected to a drag force equal to or greater than a predetermined value, it determines that test operation is in progress. Because the drag force acting on the tailstock is proportional to the torque of the motor, it may be calculated based on a torque value. The torque value can be calculated, for example, by multiplying the drive current by a torque constant. When the tailstock 31 is moved by a motor, the distance traveled by the tailstock 31 can be detected by a distance detector, such as a rotary encoder attached to the motor or a linear scale attached to the tailstock 31. If the first determination unit 101 determines, based on the travel distance output from the distance detector, that the distance traveled by the tailstock 31 exceeds a predetermined distance, it determines that test operation is in progress.

[0024] A specific example of the operation of the control device 10 will be described below. (Operation when the control device performs normal operation) As shown in Fig. 4, the control device 10 controls the industrial machine 30 based on a program. Fig. 4 is an explanatory diagram showing a first example of a control system including the industrial machine and the control device. The industrial machine 30 includes the tailstock 31, the chuck 33 to which the long workpiece 32 is attached, and the tool 34 shown in Fig. 1.

[0025] As shown in Figure 4, the control device 10 controls the tailstock 31 by a program to move in the negative direction of the W axis and press it against the workpiece 32. "F6000" in the program indicates a feed rate of 6000 mm / min for the tailstock 31. The workpiece 32 is at positions "X0" and "Z0," and the tailstock 31 moves from position "W0" to position "W-20." Position "W-20" is the position where the tailstock 31 presses against the workpiece 32.

[0026] The second judgment unit 102 judges that pressing control should be performed because the program contains "TRQON," while the first judgment unit 101 judges that it is not a test run but a normal run because it has not received input information indicating a test run from the receiving unit, etc. (input information from the input device or input information from the axis control unit, etc.) "TRQON" in the program indicates a command to turn torque control ON, and this command controls the torque of the tailstock 31 to a constant value, and pressing control is performed in the negative direction of the W axis with a torque of 0.1 Nmm.

[0027] The control method selection unit 103 determines from the judgment result of the first judgment unit 101 that it is normal operation and not test operation, and from the judgment result of the second judgment unit 102 that pressing control should be performed, and controls the axis that moves the tailstock 31 so that the tailstock 31 is pressed against the workpiece 32 via the axis control unit 104.

[0028] Next, four examples of the operation when the control device performs a test operation will be described below. (Operation when the control device performs a test operation based on a test operation switching instruction) Fig. 5 is an explanatory diagram showing a first example of the operation of a test operation of a control system including an industrial machine and a control device. The control device 10A receives, via the receiving unit 105, a switching signal (which serves as input information) input by a user using a switch for switching to test operation on the switchboard 21, which serves as the input device 20. When the first determining unit 101 receives the switching signal from the receiving unit 105, it determines that the test operation is in progress.

[0029] 5, in the same manner as the operation described with reference to FIG. 4, the control device 10A controls the tailstock 31 to move in the negative direction of the W axis by a program, and moves it to the pressing position of the workpiece 32. Since the second determination unit 102 has "TRQON" in the program, it determines that pressing control should be performed.

[0030] Based on the judgment results of the first judgment unit 101 and the second judgment unit 102, the control method selection unit 103 does not perform axis drive control to press the tailstock 31 against the workpiece 32, and does not move the tailstock 31 in the W-axis direction.

[0031] (Operation of the Control Device When Operating at a Speed ​​Different from the Program Command) FIG. 6 is an explanatory diagram showing a second example of the operation of a test run of a control system including an industrial machine and a control device. The control device 10A receives, via the receiving unit 105, a first operation mode switching signal (which serves as input information) input by a user using a first operation mode switching switch on the switchboard 21, which serves as the input device 20. The first operation mode is an operation mode in which at least one of the tool 34, workpiece 32, and tailstock 31 in the industrial machine 30 operates at a speed different from the speed commanded by the program command. The speed in the first operation mode is a speed previously stored in the control device 10A for idle operation (operation in which actual machining of the workpiece 32 is not performed). FIG. 6 shows a case in which the feed rate of the tool 34 in the Z-axis direction is set to an idle operation speed V1, which is different from the program command. The idle operation speed V1 may be higher or lower than the program command speed. However, in the case of idle operation, it is desirable to set the idle operation speed V1 higher than the program command speed in order to reduce the time required for idle operation.

[0032] When the first determination unit 101 receives the first operation mode switching signal from the receiving unit 105, it determines that the test operation is in progress. As shown in Fig. 6, the control device 10A controls the tailstock 31 to move in the negative direction of the W axis by a program, similar to the operation described with reference to Fig. 5, until it moves to the pressing position of the workpiece 32. The second determination unit 102 determines that pressing control should be performed because the program contains "TRQON".

[0033] Based on the judgment results of the first judgment unit 101 and the second judgment unit 102, the control method selection unit 103 does not perform axis drive control to press the tailstock 31 against the workpiece 32, and does not move the tailstock 31 in the W-axis direction.

[0034] (Operation of the Control Device When Program Commands are Executed Based on Switch Press) FIGS. 7 to 9 are explanatory diagrams showing various forms of a third example of the test operation of a control system including an industrial machine and a control device. The control device 10A receives, via the receiving unit 105, a second operation mode switching signal (which serves as input information) input by the user using a second operation mode switching switch on the switchboard 21, which serves as the input device 20. The second operation mode is an operation mode in which, when a program is executed, the program is executed line by line (one block), multiple lines (multiple blocks), or specific cycles of multiple movement commands (cycles) within one block. Each time the user presses the cycle start switch on the switchboard 21, a switch press signal (a predetermined trigger) is sent to the control device 10A, and the control device 10A executes the program for one line (one block), multiple lines (multiple blocks), or specific cycles of multiple movement commands (cycles) within one block. The control device 10A does not execute the program until it detects the switch press signal. The configuration of the control device 10A is the same as that of FIG. 6, except that the program is executed for one line (one block), multiple lines (multiple blocks), or a specific cycle of multiple movement commands (cycles) within one block.

[0035] FIG. 7 is an explanatory diagram showing an example of a program being executed line by line. For example, as shown in FIG. 7, lines N1 to N6 of the program are executed sequentially, one line at a time, each time the cycle start switch is pressed. FIG. 8 is an explanatory diagram showing an example of a program in which both a single line and multiple lines are executed. For example, as shown in FIG. 8, lines N1, N2, N3, N4, N5, and N6 of the program are executed sequentially each time the cycle start switch is pressed. FIG. 9 is an explanatory diagram showing an example of a program in which multiple movement commands (cycles) are executed in one line. For example, as shown in FIG. 9, when the cycle start switch is pressed, cycle a of the program is executed and stopped at the end point of cycle a. Next, when the cycle start switch is pressed, cycles b and c of the program are executed and stopped at the end point of cycle c. Furthermore, when the cycle start switch is pressed, cycle d of the program is executed and stopped at the end point of cycle d. In this way, the control device 10A stops operation after executing a specific cycle and prevents the machine from proceeding to subsequent cycles unless the user presses the cycle start switch.

[0036] When the first determination unit 101 receives the second operation mode switching signal from the receiving unit 105, it determines that the test operation is in progress. As shown in Fig. 6, the control device 10A controls the tailstock 31 to move in the negative direction of the W axis by a program, similar to the operation described with reference to Fig. 5, until it moves to the pressing position of the workpiece 32. The second determination unit 102 determines that pressing control should be performed because the program contains "TRQON".

[0037] Based on the judgment results of the first judgment unit 101 and the second judgment unit 102, the control method selection unit 103 does not perform axis drive control to press the tailstock 31 against the workpiece 32, and does not move the tailstock 31 in the W-axis direction.

[0038] (Operation of the control device when a program is executed in synchronization with input to an external operating device) Figure 10 is an explanatory diagram showing a fourth example of the operation of a test run of a control system including an industrial machine and a control device. The control device 10A receives, via the receiving unit 105, a third operation mode switching signal (which serves as input information) input by a user using a third operation mode switching switch on a switch panel 21 which serves as the input device 20. The third operation mode is an operation mode in which a program is executed in synchronization with the rotation of an external operating device, for example, a manual handle. The configuration of the control device 10A is the same as the configuration of Figure 6 except that the program is executed in synchronization with the rotation of an external operating device, for example, a manual handle.

[0039] FIG. 10 shows an example of a program being executed in synchronization with the rotation of the manual handle. The operating speed of at least one of the tool 34, workpiece 32, and tailstock 31 in the industrial machine 30 changes depending on the speed at which the manual handle is turned. When the manual handle is turned in the reverse direction, the program is executed in the reverse direction. For example, as shown in FIG. 10 , when the manual handle is turned clockwise (forward) at a constant speed, lines N1, N2, and N3 of the program are executed. When the manual handle is stopped and then turned counterclockwise (backward) at a constant speed, lines N3 and N2 of the program are executed in the reverse direction. When the manual handle is stopped and then turned clockwise (forward) at a constant speed, lines N2 to N6 of the program are executed.

[0040] When the first determination unit 101 receives the third operation mode switching signal from the receiving unit 105, it determines that the test operation is in progress. As shown in Fig. 6, the control device 10A controls the tailstock 31 to move in the negative direction of the W axis by a program, similar to the operation described with reference to Fig. 5, until it moves to the pressing position of the workpiece 32. The second determination unit 102 determines that pressing control should be performed because the program contains "TRQON".

[0041] Based on the judgment results of the first judgment unit 101 and the second judgment unit 102, the control method selection unit 103 does not perform axis drive control to press the tailstock 31 against the workpiece 32, and does not move the tailstock 31 in the W-axis direction.

[0042] The four examples described above are examples in which the control device performs test operation based on a switching signal input by the user using the input device, but next we will explain an example in which the control device performs test operation based on input information from the axis control unit. This example is for the case in which test operation is desired without placing a workpiece in order to reduce the number of trial machining runs, etc.

[0043] (Operation when the control device performs a test run based on input information from the axis control unit) As shown in FIG. 11 , no workpiece 32 is attached to the chuck 33 of the industrial machine 30. As shown in FIG. 11 , the control device 10 controls the tailstock 31 to move in the negative direction of the W axis using a program. "F6000" in the program indicates a feed rate of 6000 mm / min for the tailstock 31. The tailstock 31 moves from "W0" to "W-20." "X0" and "Z0" are positions where the tailstock 31 would be if the workpiece 32 were attached. Position "W-20" is the position where the tailstock 31 would be pressed against the workpiece 32. The control device 10 controls the torque of the tailstock 31 to be constant using "TRQON" (torque control ON command) in the program, and performs pressing control with a torque of 0.1 Nmm in the negative direction of the W axis.

[0044] The control device 10 acquires one or both of two pieces of information, namely, the resistance force received by the tailstock when the pressing control command is issued and the distance the tailstock has moved when the pressing control command is issued, from the axis control unit 104. As shown in Fig. 11, when the first determination unit 101 detects that the tailstock 31 has moved a distance d or more in the W-axis direction or that the resistance force received by the tailstock 31 is smaller than a predetermined value, it determines that a test run is in progress.

[0045] The second determination unit 102 determines that pressing control should be performed because the program contains "TRQON." The control method selection unit 103 determines, based on the determination results of the first determination unit 101 and the second determination unit 102, that the control method selection unit 103 does not perform drive control of the axes to press the tailstock 31 against the workpiece 32, and prevents the tailstock 31 from moving in the W-axis direction.

[0046] Next, the operation of the control device 10 or the control device 10A will be described using a flowchart. Fig. 12 is a flowchart showing an example of the operation of the control device 10 or the control device 10A.

[0047] In step S11, the first determination unit 101 determines whether or not the program is being test run, and the second determination unit 102 determines whether or not to perform pressing control based on a program command.

[0048] In step S12, the control method selection unit 103 determines whether or not to perform pressing control based on the judgment result of the second judgment unit 102, and if pressing control is to be performed, proceeds to step S13, and if pressing control is not to be performed, terminates the processing.

[0049] In step S13, the control method selection unit 103 determines whether or not to perform a test run based on the determination result of the first determination unit 101, and if a test run is to be performed, the process proceeds to step S14, and if a test run is not to be performed, the process proceeds to step S15.

[0050] In step S14, the control method selection unit 103 does not perform drive control of the axes, and keeps the tailstock 31, which is the moving body, stopped.

[0051] In step S15, the control method selection unit 103 controls the drive of the axis that moves the tailstock 31 so that the tailstock 31, which is the moving body, is pressed against the workpiece 32. The process ends after step S14 or step S15.

[0052] The control device 10 or 10A of the first embodiment described above provides the following advantages. (1) When performing a test run and performing push-contact control, it is possible to keep a moving body such as a tailstock stationary without performing drive control of the axis. This allows control so that the moving body does not move in a way that is not intended by the user during the test run. For example, even if a program including push-contact control is run without a pushed object, it is possible to prevent the moving body from entering an area that would be unacceptable if a pushed object were present. (2) During the test run of a program including a push-contact control command, it is possible to perform the test run without stopping the operation of anything other than the moving body. (3) There is no need for a mechanism to mechanically prevent the tailstock from moving during the test run.

[0053] Second Embodiment In this embodiment, a mode will be described in which at least one of the determination result by the first determination unit 101, the determination result by the second determination unit, and the selection result by the control method selection unit 103 is notified by the notification unit.

[0054] Fig. 13 is a block diagram showing a configuration example of a control device according to a second embodiment of the present disclosure. A control device 11 according to the second embodiment of the present disclosure is obtained by adding a notification unit 106 to the control device 10 shown in Fig. 2. In Fig. 12, the same components as those of the control device 10A are denoted by the same reference numerals, and description thereof will be omitted.

[0055] The notification unit 106 notifies the user of at least one of the determination result by the first determination unit 101, the determination result by the second determination unit, and the selection result by the control method selection unit 103. The notification unit 106 is, for example, a display device such as a liquid crystal display device that displays at least one of the two determination results and the selection result, or a communication unit that transmits at least one of the two determination results and the selection result to the user's communication terminal.

[0056] For example, the notification unit 106 displays on the display device either "Test operation" or "Normal operation" as the determination result by the first determination unit 101. The notification unit 106 also displays on the display device either "Push control is being performed" or "Push control is not being performed" as the determination result by the second determination unit 102. The notification unit 106 also displays on the display device either "Push control of the tailstock is being performed" or "The tailstock has been stopped" as the selection result by the control method selection unit 103.

[0057] In addition to the effects of the first embodiment, the control device 11 of the second embodiment described above allows the user to know at least one of whether a test run is in progress, whether push control is in progress, and the operating status of a moving body such as a tailstock. This allows the user to determine that a specific operation (such as an operation to manually move the moving body) should not be performed on the moving body.

[0058] In each of the above embodiments, the control device can be realized by hardware, software, or a combination thereof to realize the functional blocks included in the control device. Here, "realized by software" means that the components included in the control device are realized by a computer reading and executing a program. To realize the components included in the control device by software or a combination thereof, the control device includes a central processing unit (CPU) or other such device. The central processing unit functions as an execution unit. The control device also includes an auxiliary storage device such as a hard disk drive (HDD) that stores various control programs such as application software or an operating system (OS), and a main storage device such as a random access memory (RAM) that stores data temporarily required for the processing device to execute the programs.

[0059] The control device then reads application software or an OS from the auxiliary storage device, and executes calculations based on the application software or OS while the arithmetic processing unit loads the loaded application software or OS into the main storage device. Furthermore, the control device controls various hardware components provided in the control device based on the results of the calculations. This realizes the functional blocks of this embodiment.

[0060] The components included in the control device can be realized by hardware including electronic circuits, etc. When the control device is configured by hardware, some or all of the functions of the components included in the control device can be configured by an integrated circuit (IC) such as an ASIC (Application Specific Integrated Circuit), a gate array, an FPGA (Field Programmable Gate Array), or a CPLD (Complex Programmable Logic Device).

[0061] The program can be stored and supplied to a computer using various types of non-transitory computer-readable media. Non-transitory computer-readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (e.g., hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, and semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, and RAMs (Random Access Memory)). The program may also be supplied to the computer by various types of transient computer readable media.

[0062] According to the control device of the present disclosure, including the embodiments, when performing test operation and pressing control, it is possible to keep a moving body such as a tailstock stopped without performing drive control of the axis. Therefore, it is possible to control the test operation so that the moving body does not move in an unintended manner by the user during the test operation without stopping the test operation midway through program execution.

[0063] Although the above-described embodiments are preferred embodiments of the present invention, the scope of the present invention is not limited to only the above-described embodiments, and various modifications can be made without departing from the spirit of the present invention. For example, another example of press-fit control is control in which a rotary tool attached to the hand of an industrial robot is pressed against a workpiece to perform friction stir welding. In this case, the rotary tool corresponds to the moving body and the workpiece corresponds to the object to be pressed. Another example of press-fit control is press working.

[0064] The following supplementary note is further disclosed regarding the above embodiment: (Supplementary note 1) A control device (10, 10A, 11) for industrial machinery (30) that executes push control by program commands to push a moving body within the industrial machinery (30) against a pushed object, the control device comprising: a first determination unit (101) that determines whether a program including the program commands is being test run or not, a second determination unit (102) that determines whether the push control will be performed based on the program commands, a control method selection unit (103) that selects a control method for an axis that moves the moving body based on a determination result by the first determination unit and a determination result by the second determination unit, and an axis control unit (104) that controls the axis in accordance with the selected control method, wherein the control method selection unit selects a control method that does not perform drive control of the axis and keeps the moving body stopped when it is determined by the first determination unit that the test run is being performed and the second determination unit determines that the push control will be performed.

[0065] (Supplementary Note 2) The control device according to Supplementary Note 1, wherein, when the first determination unit (101) determines that the test operation is not being performed and the second determination unit (102) determines that the pressing control is to be performed, the control method selection unit (103) selects a control method for driving and controlling the axis so as to press the moving body against the pressing object.

[0066] (Supplementary Note 3) The control device according to Supplementary Note 1, further comprising a receiving unit (105) that receives input information from an external input device (20, 21), and the first determination unit (101) determines whether or not a test operation is being performed according to the input information.

[0067] (Supplementary Note 4) The control device according to Supplementary Note 3, wherein the input information is at least one of an instruction for test operation, an operation mode in which the industrial machine is operated at a speed different from the command speed of the program, an operation mode in which the program is executed for each predetermined structural unit consisting of one or more instructions and, upon completion, the program is not executed until a predetermined trigger is detected, and an operation mode in which the program is operated in synchronization with the input result from the external input device (20, 21).

[0068] (Supplementary Note 5) The control device according to Supplementary Note 1, wherein the first determination unit (101) determines that a test operation is being performed when the program issues a command for the pressing control, when the moving body does not receive a resistance of a predetermined value or more from the object being pressed, and / or when the moving body has moved a predetermined distance.

[0069] (Supplementary Note 6) The control device according to any one of Supplementary Note 1 to Supplementary Note 5, further comprising a notification unit (106) that notifies at least one of a determination result of the first determination unit (101), a determination result of the second determination unit (102), and a selection result of the control method selection unit (103).

[0070] (Supplementary Note 7) A control method for industrial machinery (30) in which a moving body in the industrial machinery is pressed against an object to be pressed, and pressing control is performed by a program command, the control method comprising the steps of: a process by which a computer determines whether or not a program including the program command is being test run; a process by which a computer determines whether or not to perform the pressing control based on the program command; and a process by which, when it is determined that a test run is being performed and that the pressing control is to be performed, the computer does not perform drive control of an axis that moves the moving body, and keeps the moving body stopped.

[0071] REFERENCE SIGNS LIST 10, 10A, 11 Control device 20 Input device 21 Switch panel 30 Industrial machine 31 Tailstock 32 Workpiece 33 Chuck 34 Tool 101 First determination unit 102 Second determination unit 103 Control method selection unit 104 Axis control unit 105 Receiving unit 106 Notification unit

Claims

1. A control device for industrial machinery that executes push-pull control by program commands to push a moving body inside the industrial machinery against a object to be pushed, comprising: a first judgment unit that judges whether a program including the program commands is being test run or not; a second judgment unit that judges whether the push-pull control will be performed based on the program commands; a control method selection unit that selects a control method for an axis that moves the moving body based on the judgment results by the first judgment unit and the judgment results by the second judgment unit; and an axis control unit that controls the axis in accordance with the selected control method, wherein when the first judgment unit judges that a test run is being performed and the second judgment unit judges that the push-pull control will be performed, the control method selection unit selects a control method that does not perform drive control of the axis and keeps the moving body stopped.

2. The control device according to claim 1, wherein the control method selection unit, when the first judgment unit judges that the test operation is not being performed and the second judgment unit judges that the pressing control is to be performed, selects a control method for driving and controlling the axis so as to press the moving body against the pressing object.

3. A control device as described in claim 1, further comprising a receiving unit that receives input information from an external input device, and the first determination unit determines whether or not a test operation is being performed based on the input information.

4. The control device as described in claim 3, wherein the input information is at least one of the following: an instruction for test operation; an operation mode for operating the industrial machine at a speed different from the command speed of the program; an operation mode for executing the program for each predetermined structural unit consisting of one or more instructions and not executing the program until a predetermined trigger is detected upon completion; and an operation mode for running the program in synchronization with the input result from the external input device.

5. The control device described in claim 1, wherein the first judgment unit judges that a test operation is being performed when the program commands the pressing control, when the moving body does not receive a resistance force from the pressed object of a predetermined value or more, and / or when the moving body has moved a predetermined distance.

6. A control device as claimed in any one of claims 1 to 5, further comprising a notification unit which notifies at least one of the judgment result of the first judgment unit, the judgment result of the second judgment unit, and the selection result of the control method selection unit.

7. A control method for industrial machinery, which executes pressing control by program commands to press a moving body inside the industrial machinery against an object to be pressed, the control method comprising the steps of: determining whether or not a program including the program commands is being test run; determining whether or not to perform the pressing control based on the program commands; and, when it is determined that a test run is being performed and that the pressing control will be performed, not performing drive control of the axis that moves the moving body, and keeping the moving body stopped.

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