Patent Application
20240198531
The present invention relates to a system and a control device.
In some cases, a robot and a machine tool work in cooperation with each other. In these cases, an interlock signal is provided in order for the robot and the machine tool (hereinafter these components will also be referred to as “instruments” as necessary) not to interfere with each other. After the end of the work by one instrument, other instruments enter a work area based on the interlock signal. With this configuration, interference between the instruments can be prevented.
In recent years, in order to further improve a work efficiency, techniques of installing one system clock (reference clock) in the entire system to synchronize instruments with each other have been proposed. For example, see Patent Documents 1 to 3. In any of these techniques, each instrument has an internal clock and an operation program in which the position of the instrument and the internal clock correspond to each other. Each instrument adjusts the internal clock thereof according to the system clock (reference clock), or the reference clock is adjusted according to adjustment of the internal clock of each instrument. In this manner, the instruments are synchronized with each other in the system.
Conventionally, in a case where a synchronous position is specified by teaching according to operation statements of a program for synchronous operation of a robot, such a synchronous position needs to be a teaching point of a certain operation statement in the program. However, for example, in an operation program of
Note that positions with numbers “1” to “6” in
For this reason, instead of specifying the synchronous position in advance by teaching according to the operation statements of the program for the synchronous operation of the robot, there has been a demand for a technique of specifying a synchronous position based on an arbitrary position on a robot operation path or a clock time corresponding thereto.
(1) One aspect of the system of the present disclosure is a system including a robot and at least one of a machine tool or other robot, the robot and at least one of the machine tool or the other robot cooperating with each other. The system includes a reference clock that periodically updates a clock time. At least one of the robot, the machine tool, or the other robot includes an internal clock, a saving unit that saves, by executing a created operation program in advance based on the internal clock, data on a position and a clock time from a synchronization start command to a synchronization end command of the operation program, and an operation unit that operates at least one of the robot, the machine tool, or the other robot in synchronization with the reference clock based on the reference clock and the position and clock-time data of the operation program saved by the saving unit in synchronous operation according to the operation program.
(2) One aspect of the system of the present disclosure is a system including a robot and at least one of a machine tool or other robot, the robot and at least one of the machine tool or the other robot cooperating with each other. The system includes a reference clock that periodically updates a clock time. At least one of the robot, the machine tool, or the other robot includes an internal clock, a saving unit that saves, by causing a simulation device that simulates at least one of the robot, the machine tool, or the other robot to execute a created operation program in advance, data on a position and a clock time from a synchronization start command to a synchronization end command of the operation program, and an operation unit that operates at least one of the robot, the machine tool, or the other robot in synchronization with the reference clock based on the reference clock and the position and clock-time data of the operation program saved by the saving unit in synchronous operation according to the operation program.
(3) One aspect of the control device of the present disclosure is a control device for the robot used in the system according to (1) or (2).
(4) One aspect of the control device of the present disclosure is a control device for at least one of the machine tool or the other robot used in the system according to (1) or (2).
According to one aspect, instead of specifying the synchronous position in advance by teaching according to the operation statements of the program for the synchronous operation of the robot, the synchronous position can be specified based on the arbitrary position on the robot operation path or the clock time corresponding thereto.
First, the outline of the present embodiment will be described. In the present embodiment, a system includes a robot and at least one of a machine tool or other robot, the robot and at least one of the machine tool or the other robot cooperating with each other. At least one of the robot, the machine tool, or the other robot saves, by executing a created operation program in advance based on an internal clock, data on positions and clock times from a synchronization start command to a synchronization end command of the operation program. At least one of the robot, the machine tool, or the other robot in the system operates in synchronization with a reference clock based on the reference clock and the saved position and clock-time data of the operation program in synchronous operation according to the operation program.
With this configuration, according to the present embodiment, the object of “specifying the synchronous position based on the arbitrary position on the robot operation path or the clock time corresponding thereto instead of specifying the synchronous position in advance by teaching according to the operation statements of the program for the synchronous operation of the robot” as described in “Problems to be Solved by the Invention” can be achieved.
Described above is the outline of the present embodiment.
Next, the configuration of the present embodiment will be described in detail with reference to the drawings. Here, the case of using two press machines as machine tools will be described as an example. Note that the present invention is also applicable to cases where the machine tools are machines other than the press machines, other robots, etc.
For example, in the system 1 shown in
The control devices 100a to 100c and the PLC 20 may be directly connected to each other via a not-shown connection interface. Alternatively, the control devices 100a to 100c and the PLC 20 may be connected to each other via a not-shown network such as a local area network (LAN) or the Internet. In this case, the control devices 100a to 100c and the PLC 20 include not-shown communication units that communicate with each other via such connection.
The PLC 20 is a programmable logic controller well-known by those skilled in the art, and operates as a higher-level device for the control devices 100a, 100b that control the press machines 10a, 10b and the control device 100c that controls the robot Ra.
Moreover, the PLC 20 includes a reference clock 201 that periodically updates a clock time.
The press machines 10a, 10b are press machines well-known by those skilled in the art, and operate based on operation commands from the control devices 100a, 100b.
The robot Ra is, for example, a six-axis vertical articulated robot, and based on a drive command from the control device 100c, drives a not-shown servo motor arranged on each articulated shaft of the robot Ra to take out the workpiece (not shown) pressed by the press machine 10a and place the workpiece in the press machine 10b. Moreover, an end effector for taking out the workpiece (not shown), such as a gripping hand, is attached to a tip end portion of the robot Ra, for example.
The control devices 100a, 100b are, for example, numerical control devices well-known by those skilled in the art, and include later-described internal clocks 111a, 1l1b. The control devices 100a, 100b generate the operation commands based on control information and the internal clocks 111a, 111b to transmit the generated operation commands to the press machines 10a, 10b. In this manner, the control devices 100a, 100b control operation of the press machines 10a, 10b.
Note that in a case where the press machines 10a, 10b are robots, the control devices 100a, 100b may be robot control devices, for example.
Devices targeted for control by the control devices 100a, 100b are not limited to the press machines 10a, 10b or the robots, and the control devices 100a, 100b are broadly applicable to general industrial machines. The industrial machines include, for example, various machines driven by actuators, such as a machine tool, an industrial robot, a service robot, a forge rolling machine, and an injection molding machine.
In the present embodiment, numerical control devices will be described as an example of the control devices 100a, 100b.
The control device 100c is a robot control device (also called a “robot controller”) including a later-described internal clock 111c and outputting the drive command to the robot Ra based on an operation program and the internal clock 111c to control operation of the robot Ra.
Hereinafter, the control devices 100a to 100c will be collectively referred to as a “control device(s) 100” in a case where the control devices 100a to 100c do not need to be distinguished from each other. Moreover, the internal clocks 111a to 111c will be collectively referred to as an “internal clock(s) 111” in a case where the internal clocks 111a to 111c do not need to be distinguished from each other.
The control device 100 constantly monitors the clock time of the reference clock 201 such that the clock time of the internal clock 111 for the control target instrument of the control device 100 itself is adjusted to the clock time of the reference clock 201 of the PLC 20. In a case where there is a difference between the clock time of the reference clock 201 and the clock time of the internal clock 111, the control device 100 performs, using a well-known technique (e.g., Patent Document 3), correction calculation (hereinafter also referred to as “internal clock correction calculation”) for changing an extent (hereinafter also referred to as “increment time”) to which the internal clock 111 for the control target instrument is set forward in every interpolation period such that the clock time of the internal clock 111 is adjusted to the clock time of the reference clock 201. With this configuration, the clock time of the reference clock 201 and the clock time of the internal clock 111 are coincident with each other after a lapse of certain time.
Note that in some instruments in the system 1, even after the internal clock correction calculation has been performed, the time difference between the reference clock 201 and the internal clock 111 is not decreased and time advances with a certain time difference in some cases. In these cases, the control device 100 for such an instrument cannot adjust the clock time of the internal clock 111 to the clock time of the reference clock 201 by the internal clock correction calculation, and it is determined that the increment time of the reference clock 201 is greater than the increment time of the internal clock 111 for the instrument. In this case, the control device 100 for such an instrument recalculates (hereinafter also referred to as “reference clock correction calculation”), using a well-known technique (e.g., Patent Document 3), such an increment time of the reference clock 201 that the internal clock 111 for the instrument is synchronizable with the reference clock 201, and outputs the increment time to the reference clock 201.
With this configuration, the instrument for which the increment time of the reference clock 201 has been changed can be synchronized with the reference clock. Thereafter, the control devices 100 for other instruments perform the internal clock correction calculation such that the clock times of the internal clocks 111 for the other instruments are adjusted to the clock time of the reference clock 201 with the changed increment time. Accordingly, each instrument is synchronized with the reference clock 201, and as a result, the instruments in the system 1 can operate in synchronization with each other.
As shown in
The storage unit 130 is, for example, a read only memory (ROM) or a hard disk drive (HDD), and stores a system program, an application program, etc. to be executed by the later-described control unit 110. The storage unit 130 includes a program storage unit 131 and an interpolation data storage unit 132.
The program storage unit 131 stores, for example, an operation program (teaching program) for each type of operation for operating the instrument.
The operation program shown in
Note that in description below, for the operation program stored in the program storage unit 131, a synchronization start clock time etc. are adjusted in advance in order to prevent interference with other instruments, such as collision.
For example, the later-described saving unit 114 executes the operation program of
The input unit 150 is, for example, a keyboard or a touch panel arranged on the later-described display unit 170, and receives input from a user. The input unit 150 may function as, for example, a specifying unit that arbitrarily specifies the synchronization start clock time (or a synchronization start position), such as 100 ms, indicated by the second line of the operation program as shown in
The display unit 170 is, for example, a liquid crystal display, and displays the interpolation data stored in the interpolation data storage unit 132 and displays a user interface that receives the synchronization start clock time or the synchronization start position specified via the input unit 150 as the specifying unit.
Note that in a case where the control device 100 receives the input on the display screen of
In a case where the display screen of
The user interface on the display screen of
The display unit 170 may display the display screen of
The control unit 110 is one well-known by those skilled in the art, and has a CPU, a ROM, a RAM, a complementary metal-oxide-semiconductor (CMOS) memory, etc. These components are communicable with each other via a bus.
The CPU is a processor that controls the control device 100 in an integrated manner. The CPU reads a system program and an application program stored in the ROM via the bus, and controls the entirety of the control device 100 according to the system program and the application program. With this configuration, the control unit 110 implements the functions of the internal clock 111, the internal clock correction unit 112, the reference clock correction unit 113, the saving unit 114, the operation unit 115, the deceleration start timing calculation unit 116, and the restart processing unit 117, as shown in
The internal clock 111 updates the clock time by adding an arbitrary increment time in every interpolation period (e.g., 1 ms) in the control unit 110.
Specifically, the increment time Δtc of the internal clock 111 is calculated, in the control device 100, using an interpolation period ITP which is a fixed value and a currently-set override OVRD from (Expression 1).
Δtc=ITP×OVRD (Expression 1)
As shown in (Expression 1), in a case where the override OVRD is 100%, the increment time Δtc of the internal clock 111 and the interpolation period ITP are equal to each other, and the increment time Δtc of the internal clock 111 can be changed by changing the value of the override OVRD.
Here, the override OVRD is a percentage with respect to the operation speed of the robot Ra described in the operation program. For example, in a case where the override OVRD is set to 100% and an operation speed of 2000 mm/sec is set in the operation program as shown in
The internal clock correction unit 112 corrects, using a well-known technique (e.g., Patent Document 3), the clock time of the internal clock 111 such that the clock time of the internal clock 111 is adjusted to the clock time of the reference clock 201, for example.
In a case where it is determined that the internal clock 111 cannot operation in synchronization with the reference clock 201 even after the correction calculation for the internal clock 111, the reference clock correction unit 113 calculates, using a well-known technique (e.g., Patent Document 3), such an increment time of the reference clock 201 that the internal clock 111 is synchronizable with the reference clock 201, for example. The reference clock correction unit 113 transmits data on the calculated increment time to the reference clock 201 to change the increment time of the reference clock 201.
Accordingly, the internal clock 111 for the instrument delayed in work is synchronized with the reference clock 201. The internal clock correction units 112 for other instruments not delayed in work correct the increment times of the internal clocks 111 for these other instruments such that the internal clocks 111 are synchronized with the corrected reference clock 201. Finally, all the instruments in the system 1 are synchronized with the clock time of the internal clock 111 of the delayed instrument.
For the synchronous operation with other instruments, the saving unit 114 executes, for example, the created operation program of
Upon the synchronous operation according to the operation program, the operation unit 115 causes each instrument to operate in synchronization with the reference clock 201 based on the reference clock 201 and the data (interpolation data) on the position and the clock time in the interpolation data storage unit 132.
Specifically, for example, in a case where an instruction for execution in a mode in which synchronization with the reference clock 201 is made is received from the user via the input unit 150, the operation unit 115 moves, based on the interpolation data of
Note that the operation units 115 of the press machines 10a, 10b synchronously operate the press machines 10a, 10b as in the case of the robot Ra.
In a case where a position or clock time at which the instrument is temporarily stopped or synchronization ends is specified via the input unit 150 as the specifying unit, the deceleration start timing calculation unit 116 calculates a position or clock time at which deceleration needs to be started based on the interpolation data saved for the operation program by the saving unit 114.
Note that for example, when the end effector of the robot Ra reaches the temporary stop position indicated by the white circle mark in
For this reason, in order to safely stop the instrument, the deceleration start timing calculation unit 116 performs, using a well-known technique (e.g., Patent Document 3), filtering processing for the increment time Δtc of the internal clock 111, thereby calculating the position or clock time at which deceleration needs to be started based on the interpolation data.
As shown in
For example, in a case where the input of the increment time Δtc is changed from “50” to “0”, the deceleration start timing calculation unit 116 outputs, for example, an increment time Δtc of “44” in first interpolation by averaging at the first stage, and outputs an increment time Δtc of “49” by averaging at the second stage, as shown in
In other words, the deceleration start timing calculation unit 116 performs filtering as shown in
For example, in a case where for restart of operation after temporary stop, an instruction for restarting the synchronous operation of the instruments is received from the user via the input unit 150, the restart processing unit 117 performs restart processing based on the data (interpolation data), which is saved in the interpolation data storage unit 132 by the saving unit 114, on the position and clock time of the operation program.
Specifically, for example, in a case where operation is restarted from the temporary stop position shown in
Note that upon restart, the restart processing unit 117 may perform filtering processing for the increment time Δtc of the internal clock 111 as in the deceleration start timing calculation unit 116.
Next, operation related to saving processing of the control device 100 will be described.
In Step S1, the control unit 110 creates, based on input operation by the user via the input unit 150, the operation program including the operation commands based on the teaching positions P(1) to P(6).
In Step S2, the control unit 110 adds, based on the synchronization start clock time input by the user via the input unit 150, the synchronization start command and the synchronization end command to the operation program created in Step S1, as shown in
In Step S3, the saving unit 114 executes, for the synchronous operation with other instruments, the operation program created in Step S2 in advance based on the internal clock 111 in the mode in which no synchronization with the reference clock 201 is made, thereby saving, as the interpolation data, the data on the position and the clock time from the synchronization start command to the synchronization end command of the operation program in the interpolation data storage unit 132.
Next, operation related to synchronous operation processing of the control device 100 will be described.
In Step S11, in a case where the instruction for executing the operation program in the mode (synchronous operation) in which synchronization with the reference clock 201 is made is received from the user via the input unit 150, the operation unit 115 reads the interpolation data on the instructed operation program from the interpolation data storage unit 132.
In Step 512, the operation unit 115 receives the synchronization start clock time specified by the user via the input unit 150.
In Step 513, the operation unit 115 stands by at the position of the interpolation data corresponding to the synchronization start clock time specified in step S12, and in a case where the clock time of the reference clock 201 is coincident with the synchronization start clock time, operates the instrument in synchronization with the reference clock 201 based on the reference clock 201 and the interpolation data read in Step S11.
In Step S14, the operation unit 115 determines whether or not the user has specified the temporary stop position via the input unit 150. In a case where the temporary stop position has been specified, the processing proceeds to Step S15. On the other hand, in a case where the temporary stop position has not been specified, the processing proceeds to Step S19.
In Step S15, the deceleration start timing calculation unit 116 calculates the position or clock time at which deceleration needs to be started based on the temporary stop position or clock time specified in Step S14 and the interpolation data.
In Step S16, the operation unit 115 starts deceleration of the instrument at the position or clock time, which is calculated in Step S15, at which deceleration needs to be started, and temporarily stops the instrument at the position or clock time specified in Step S14.
In Step S17, the restart processing unit 117 determines whether or not an instruction for restarting the synchronous operation of the instrument has been received from the user via the input unit 150. In a case where the instruction for restarting the synchronous operation has been received, the processing proceeds to Step S18. On the other hand, in a case where the instruction for restarting the synchronous operation has not been received, the processing stands by in Step S17.
In Step S18, the restart processing unit 117 performs the restart processing based on the interpolation data.
In Step S19, the operation unit 115 determines whether or not an instructing for ending the synchronous operation of the instrument has been received from the user via the input unit 150. In a case where the instruction for ending the synchronous operation has been received, the processing proceeds to Step S20. On the other hand, in a case where the instruction for ending the synchronous operation has not been received, the processing returns to Step S14.
In Step S20, the deceleration start timing calculation unit 116 calculates the position or clock time at which deceleration needs to be started based on the synchronization end position or clock time specified in Step S19 and the interpolation data.
In Step S21, the operation unit 115 starts deceleration of the instrument at the position or clock time, which is calculated in Step S20, at which deceleration needs to be started, and stops the instrument at the position or clock time specified in Step S19.
As described above, the control device 100 according to one embodiment has the interpolation data on the entirety of the operation program so that the synchronous position can be specified based on the arbitrary position on the operation path of the robot Ra or the clock time corresponding thereto instead of specifying the synchronous position in advance by teaching according to the operation statements of the program for the synchronous operation of the robot Ra. Moreover, the position is uniquely determined from the clock time based on the interpolation data, and therefore, the control device 100 only sets the corresponding clock time and teaching of the synchronization start position is facilitated.
Further, since the control device 100 has the interpolation data on the entirety of the operation program, the position from which deceleration needs to be started can be easily determined without the need for reading ahead the operation statements and calculating the interpolation data in a case where the instrument is temporarily stopped or synchronization ends at an arbitrary specified position.
In addition, the control device 100 does not recalculate the interpolation data even upon restart after temporary stop, and therefore, the relationship between the position and the clock time of the reference clock is not ruined.
Moreover, the saved interpolation data is the command position when the operation program is actually executed, and therefore, a program that due to performance of a motor or the inertia of the robot Ra, the instrument cannot operate as instructed by a calculated command and the relationship between the position and the clock time cannot be held can be avoided.
One embodiment has been described above, but the system 1 and the control device 100 are not limited to those of the above-described embodiment and modifications, improvements, etc. are included in such a scope that the object can be achieved.
In one embodiment, the control device 100 displays the display screen shown in
For example, in the above-described embodiment, the control device 100 employs, as the specified synchronization start clock time, the set value of the clock command of the operation program of
For example, in the above-described embodiment, the control device 100 executes the created operation program in advance based on the clock time of the internal clock 111, thereby saving, in the interpolation data storage unit 132, the interpolation data on the instrument from the synchronization start command to the synchronization end command of the operation program. However, the present invention is not limited to above. For example, the control device 100 may cause a simulation device (not shown) to execute the created operation program in advance, thereby saving, as the interpolation data, the data on the position and the clock time from the synchronization start command to the synchronization end command of the operation program in the interpolation data storage unit 132.
Note that each function of the system 1 and the control device 100 according to one embodiment may be implemented by hardware, software, or a combination thereof. Here, implementation by the software means implementation by reading and execution of a program by a computer.
The program can be stored using various types of non-transitory computer readable media and be supplied to the computer. The non-transitory computer readable media include various types of tangible storage media. Examples of the non-transitory computer readable media include magnetic recording media (e.g., a flexible disk, a magnetic tape, and a hard disk drive), magnetic optical recording media (e.g., a magnetic optical disk), a CD-read only memory (CD-ROM), a CD-R, a CD-R/W, and semiconductor memories (e.g., a mask ROM, a programmable ROM (PROM), an erasable PROM (EPROM), a flash ROM, and a RAM). The program may be supplied to the computer by means of various types of transitory computer readable media. Examples of the transitory computer readable media include an electric signal, an optical signal, and an electromagnetic wave. The transitory computer readable medium can supply the program to the computer via a wired communication path such as an electric wire or an optical fiber or a wireless communication path.
Note that the steps of describing the program recorded in the recording medium include not only processing performed in chronological order, but also processing executed in parallel or separately.
In other words, the system and control device of the present disclosure may include various embodiments having the following configurations.
(1) The system 1 of the present disclosure is the system including the robot Ra and the press machines 10a, 10b which are the machine tools, the robot Ra and the press machines 10a, 10b cooperating with each other. The system 1 includes the reference clock 201 that periodically updates the clock time. At least one of the robot Ra or the press machines 10a, 10b includes the internal clock 111, the saving unit 114 that saves, by executing the created operation program in advance based on the internal clock 111, the data on the positions and the clock times from the synchronization start command to the synchronization end command of the operation program, and the operation unit 115 that operates at least one of the robot Ra or the press machines 10a, 10b in synchronization with the reference clock 201 based on the reference clock 201 and the position and clock-time data of the operation program saved by the saving unit 114 in the synchronous operation according to the operation program.
The system 1 has the interpolation data on the entirety of the operation program so that the synchronous position can be specified based on the arbitrary position on the operation path of the robot Ra or the clock time corresponding thereto instead of specifying the synchronous position in advance by teaching according to the operation statements of the program for the synchronous operation of the robot Ra. Moreover, the position is uniquely determined from the clock time based on the interpolation data, and therefore, the system 1 only sets the corresponding clock time and teaching of the synchronization start position is facilitated.
(2) The system 1 of the present disclosure is the system including the robot Ra and the press machines 10a, 10b which are the machine tools, the robot Ra and the press machines 10a, 10b cooperating with each other. The system 1 includes the reference clock 201 that periodically updates the clock time. At least one of the robot Ra or the press machines 10a, 10b includes the internal clock 111, the saving unit 114 that saves, by causing the simulation device (not shown) that simulates at least one of the robot Ra or the press machines 10a, 10b to execute the created operation program in advance, data on the positions and the clock times from the synchronization start command to the synchronization end command of the operation program, and the operation unit 115 that operates at least one of the robot Ra or the press machines 10a, 10b in synchronization with the reference clock 201 based on the reference clock 201 and the position and clock-time data of the operation program saved by the saving unit 114 in the synchronous operation according to the operation program.
According to the system 1, advantageous effects similar to those of (1) can be provided.
(3) In the system 1 according to (1) or (2), the position and clock-time data of the operation program may be the data on the position and the clock time in every interpolation period in execution of the operation program.
With this configuration, the saved interpolation data is the command position when the operation program is actually executed, and therefore, the program that due to the performance of the motor or the inertia of the robot Ra, the instrument cannot operate as instructed by the calculated command and the relationship between the position and the clock time cannot be held can be avoided.
(4) In the system 1 according to any one of (1) to (3), at least one of the robot Ra or the press machines 10a, 10b which are the machine tools may further include the input unit 150 that arbitrarily specifies the synchronization start position or the synchronization start clock time. The operation unit 115 may stand by, at the time of the start of the synchronous operation, at the position or clock time, which corresponds to the specified synchronization start position or synchronization start clock time, of the position and clock-time data of the operation program saved by the saving unit 114, and when the clock time of the reference clock 201 becomes coincident with the synchronization start clock time, synchronously operate at least one of the robot Ra or the press machines 10a, 10b based on the reference clock 201 and the position and clock-time data of the operation program saved by the saving unit 114.
With this configuration, the system 1 can start the synchronous operation at an arbitrary clock time.
(5) In the system 1 according to (4), at least one of the robot Ra or the press machines 10a, 10b which are the machine tools may include the deceleration start timing calculation unit 116 that calculates the position or clock time at which deceleration needs to be started based on the position and clock-time data of the operation program saved by the saving unit 114 in a case where the input unit 150 has specified the position or clock time at which at least one of the robot Ra or the press machines 10a, 10b is temporarily stopped or synchronization ends.
With this configuration, the system 1 has the interpolation data on the entirety of the operation program, and therefore, the position from which deceleration needs to be started can be easily determined without the need for reading ahead the operation statements and calculating the interpolation data in a case where the instrument is temporarily stopped or synchronization ends at the arbitrary specified position.
(6) In the system 1 according to (5), at least one of the robot Ra or the press machines 10a, 10b which are the machine tools may include the restart processing unit 117 that performs, for restart of the operation after temporary stop, the restart processing based on the position and clock-time data of the operation program saved by the saving unit 114.
With this configuration, the system 1 does not recalculate the interpolation data even upon restart after temporary stop, and therefore, the relationship between the position and the clock time of the reference clock is not ruined.
(7) In the system 1 according to any one of (4) to (6), at least one of the robot Ra or the press machines 10a, 10b which are the machine tools may further include the display unit 170 that displays the user interface that receives the specified synchronization start position or synchronization start clock time.
With this configuration, the user can easily specify the synchronization start position or the synchronization start clock time.
(8) In the system 1 according to any one of (4) to (6), at least one of the robot Ra or the press machines 10a, 10b which are the machine tools may further include the user interface that displays the position and clock-time data of the operation program saved by the saving unit 114 or receives the output of the list of the positions and clock times of the position and clock-time data of the operation program saved by the saving unit 114.
With this configuration, the user can easily grasp the relationship between the position and the clock time in the operation program.
(9) The control device 100c of the present disclosure is the control device for the robot Ra used in the system 1 according to any one of (1) to (8).
According to the control device 100c, advantageous effects similar to those of any one of (1) to (8) can be provided.
(10) The control devices 100a, 100b of the present disclosure are the control devices for the press machines 10a, 10b which are the machine tools used in the system 1 according to any one of (1) to (8).
According to the control devices 100a, 100b, advantageous effects similar to those of any one of (1) to (8) can be provided.
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2021/019346 | 5/21/2021 | WO |
