CN110315348A - Control device, control method - Google Patents
Control device, control method Download PDFInfo
- Publication number
- CN110315348A CN110315348A CN201910021021.4A CN201910021021A CN110315348A CN 110315348 A CN110315348 A CN 110315348A CN 201910021021 A CN201910021021 A CN 201910021021A CN 110315348 A CN110315348 A CN 110315348A
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- China
- Prior art keywords
- receiving unit
- operating rights
- receiving
- control device
- unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/0009—Energy-transferring means or control lines for movable machine parts; Control panels or boxes; Control parts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/0009—Energy-transferring means or control lines for movable machine parts; Control panels or boxes; Control parts
- B23Q1/0045—Control panels or boxes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
- B23Q11/08—Protective coverings for parts of machine tools; Splash guards
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/4155—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
Abstract
The present invention relates to the control devices of the driving for controlling mechanical body, control method.Control device has multiple for receiving the receiving unit of operation.Multiple receiving units have the first receiving unit and second receiving unit different from the first receiving unit.Control device, which has, assigns processing unit, and compared with the requirement of the operating rights from the second receiving unit, when first receiving the requirement of the operating rights from the first receiving unit, which assigns operating rights to the first receiving unit, does not assign operating rights to the second receiving unit.
Description
Technical field
The present invention relates to the control devices of the driving for controlling mechanical body, control method.
Background technique
Japanese Patent Publication 2013-202765 discloses a kind of lathe.Lathe include the main tapping with main shaft,
Work holding portion thereof, control device and receiving unit.The driving of control device control main tapping, work holding portion thereof.Receiving unit receives
The operation of operator.
Teaching apparatus or personal computer are receiving unit, and can be connected with lathe.Make teaching apparatus and personal meter
When calculation machine is connected with lathe, multiple instruction can be inputted to control device by multiple receiving units.It instructs and produces in multiple inputs
When raw conflict, lathe carries out undesirable movement sometimes.
Summary of the invention
The purpose of the present invention is to provide control devices as follows, control method, that is, inputs from multiple receiving units
When multiple instruction, multiple input instructions will not conflict.
The control device of technical solution 1 has multiple receiving units for being used to receive operation, and based on the behaviour to the receiving unit
Make to control the driving of mechanical body, in the control device, multiple receiving units have the first receiving unit and with this first
The second different receiving unit of receiving unit, the control device have assign processing unit, with the operating rights from the second receiving unit
It is required that comparing, when first receiving the requirement of the operating rights from the first receiving unit, which assigns the first receiving unit
Operating rights does not assign operating rights to the second receiving unit.
Control device only assigns operating rights to the first receiving unit for first having required operating rights.Control device will not be inputted and be come from
The multiple instruction of multiple receiving units, therefore, multiple input instructions will not conflict.
The first receiving unit and the second receiving unit of the control device of technical solution 2 include effective operation portion, at imparting
Reason portion receives operation when not assigning operating rights；And invalid operation portion, it is not received when assigning processing unit and not assigning operating rights
Operation.
Control device can receive the operation to the effective operation portion for not assigning operating rights.When not assigning operating rights, control
Device processed can receive to it is urgent when the operation of operation portion that uses, such as the operation to shutdown switch, so that it is guaranteed that convenience
And safety.
The first receiving unit and the second receiving unit of the control device of technical solution 3 have for showing effective operation portion and nothing
The image displaying part of operation portion is imitated, image displaying part shows the different color of effective operation portion and invalid operation portion.
The different color of effective operation portion and invalid operation portion is shown.Operator can intuitively identify effective operation
Portion.
The control device of technical solution 4 and technical solution 5, which also has, does not assign processing unit, not to the first receiving unit and
Two receiving units assign operation for the time being from the first receiving unit and the second receiving unit while when receiving the requirement of operating rights, this is not assigned
Processing unit does not assign operating rights to the first receiving unit and the second receiving unit.
Not to the first receiving unit and the second receiving unit assign operation for the time being from the first receiving unit and the second receiving unit simultaneously
When receiving the requirement of operating rights, processing unit is not assigned and does not assign operating rights to the first receiving unit and the second receiving unit.Control dress
Set the conflict for preventing multiple input instructions.
The receiving unit of the control device of technical solution 6 also has the third receiving unit that can not require operating rights, not to
When one receiving unit and the imparting of the second receiving unit operate the first receiving unit for the time being and the second receiving unit failed call operating rights, control device
The operation from third receiving unit can be received.
Not to the first receiving unit that can require operating rights and the second receiving unit assign operation for the time being the first receiving unit and
When the second receiving unit failed call operating rights, the operation from the third receiving unit that can not require operating rights is received.It is connect to first
When receipts portion and the second receiving unit impart operating rights, the operation of third receiving unit is conflict that is invalid, preventing multiple inputs from instructing.
The control method of technical solution 7 is to receive behaviour from the multiple receiving units for including the first receiving unit and the second receiving unit
Make, come control mechanical body driving control method, in the control method, with the operating rights from the second receiving unit
It is required that compare, when first receiving the requirement of the operating rights from the first receiving unit, operating rights is assigned to the first receiving unit, not to the
Two receiving units assign operating rights.
Control device only assigns operating rights to the first receiving unit for first having required operating rights.Control device is based on coming from first
The operation of receiving unit controls mechanical body, will not input the multiple instruction from multiple receiving units, therefore multiple inputs instruction is not
It can conflict.
Detailed description of the invention
Fig. 1 is the perspective view of lathe.
Fig. 2 is the perspective view of lathe cover.
Fig. 3 is the block diagram of control device.
Fig. 4 is the main view of teaching apparatus.
Fig. 5 is the main view of teaching apparatus.
Fig. 6 is the main view of teaching apparatus.
Fig. 7 is the main view of PC.
Fig. 8 is the main view of PC.
Fig. 9 is the main view of PC.
Figure 10 is the main view of switching device.
Figure 11 is the flow chart of the imparting processing for the operating rights for illustrating to be carried out by control device.
Specific embodiment
Lathe based on Detailed description of the invention embodiment.In the following description, left using front and back up and down shown in the figure
It is right.Lathe 100 has mechanical body.Mechanical body has base station 20, fixed station 21, Y-direction mobile device 22, X-direction mobile
Device 26, column 28, Z-direction mobile device 30, main tapping 32, tool changing device 10 and spindle motor 35.Base station 20 is fixed on
On floor.Work holding portion thereof 120 is set to the front of base station 21.Fixed station 21 extends along the longitudinal direction, is in rectangle shape when to overlook
The box-shaped of shape, fixed station 21 are set on base station 20.Fixed station 21 is fixed by Y-direction mobile device 22.Y-direction mobile device 22 has
The ball screw framework (illustration omitted) for having Y-direction drive motor (illustration omitted) and being driven by Y-direction drive motor.
X-direction mobile device 26 is set to the ball screw framework of Y-direction mobile device 22.X-direction mobile device 26 has X
Direction drive motor (illustration omitted) and the ball screw framework (illustration omitted) driven by X-direction drive motor.Column 28 is set
In the ball screw framework of X-direction mobile device 26.Column 28 is supported to that X-direction mobile device 26 and Y-direction can be utilized
(left and right directions) and Y-direction (front-rear direction) are mobile in X direction for mobile device 22.
Z-direction mobile device 30 is set to the front surface of column 28.There is Z-direction mobile device 30 Z-direction drive motor (to save
Sketch map shows) and the ball screw framework (illustration omitted) that is driven by Z-direction drive motor.Main tapping 32 is set to the mobile dress of Z-direction
Set 30.Column 28 can support this in a manner of Z-direction (up and down direction) movement by main tapping 32 by Z-direction mobile device 30
Main tapping 32.Spindle motor 35 is set to the top of main tapping 32.Main tapping 32 supports the main shaft (illustration omitted) extended up and down.It is main
Axis motor 35 rotates about the axis main shaft.Tool changing device 10 is used for the cutter of changing main-spindle.
As shown in Fig. 2, lathe 100 has lathe cover 1.Lathe is set to the upside of base station 20 with cover 1, surrounds mechanical main
Body.Lathe cover 1 vertically extends, and has antetheca 5, left wall 6, right wall 7, rear wall 8 and top 9.Control unit 80 is set to
Rear wall 8.Control unit 80 has control base board for controlling the movement of lathe 100 and for adjusting supplying electric power to motor
Amplifier.Control base board has CPU, ROM, RAM and nonvolatile memory.CPU goes out control program read (CP read) to RAM from ROM,
To control lathe 100.RAM or nonvolatile memory store imparting corresponding with teaching apparatus 15 and PC16 as needed
Label.Also logic circuit, such as FPGA can be used, to substitute CPU.
The opening 51 of lengthwise rectangle is set to the central portion of antetheca 5.Operation panel 54 is set to the right neighbour of opening 51.Operator is to behaviour
Make disk 54 and is operable to input instruction.Right door 52 and left-hand door 53 are set to opening 51, can move in left-right direction.
As shown in figure 3, line concentrator 81 is set to control unit 80.Teaching apparatus 15, personal computer (hereinafter referred to as PC) 16
And switching device 17 is connected with line concentrator 81.Teaching apparatus 15, PC16 and switching device 17 constitute receiving unit.Control
Portion 80, line concentrator 81, teaching apparatus 15, PC16 and switching device 17 constitute control device 90.
As shown in Fig. 4~Fig. 6, teaching apparatus 15 has image displaying part 15a, emergency stop button 15b and operating rights
Switch 15c.Image displaying part 15a has touch panel, and show stop button, reset button and Edit button etc..Promptly
Stop button 15b is mechanical button.Operating rights switch 15c is used to input the acquisition and releasing of operating rights.By operating rights
When switch 15c is set as " effective ", teaching apparatus 15 requires the imparting of operating rights to control unit 80.It is set by operating rights switch 15c
When for engineering noise, teaching apparatus 15 notifies the releasing of operating rights to control unit 80.RAM or nonvolatile memory storage assign mark
Note.It is corresponding with teaching apparatus 15 to assign label.When notifying the releasing of operating rights to control unit 80, control unit 80 is from RAM
Or nonvolatile memory is deleted label is assigned.
When control unit 80 assigns operating rights to teaching apparatus 15, as shown in figure 4, image displaying part 15a display stops pressing
The various operation buttons such as button, reset button and Edit button.Teaching apparatus 15 receives the operation carried out to various operation buttons.
Teaching apparatus 15 release operation temporary, as shown in figure 5, image displaying part 15a be for example shown as " operating rights switch invalid ",
" when to make the operation to teaching apparatus effective, operating rights switch is please set as effective ".Image displaying part 15a display stops pressing
Button and picture eliminate button, do not show other buttons.
When operating rights switch 15c being set as " effective " but control unit 80 does not assign operating rights to teaching apparatus 15, image
Display unit 15a is for example shown as, " can not be operated from multiple terminals " (referring to Fig. 6).Image displaying part 15a is same as Fig. 4
Ground shows various operation buttons, and main movable button and inching button is shown with the color different from other operation buttons.Example
Such as shown with grey.The operation button that hacures are marked in Fig. 6 is the button of gray display.Teaching apparatus 15 does not receive to ash
The operation that the operation button that color is shown carries out.The operation button of gray display constitutes invalid operation portion, the operation of non-gray display
Button constitutes effective operation portion.
Invalid operation portion is the operation portion for carrying out operation relevant to the rotation of main shaft or movement, the movement of workpiece.It is connecing
When receiving the operation of other receiving units and receiving the operation in invalid operation portion, it is higher that multiple input instructions generate a possibility that conflicting.
Effective operation portion is the operation for carrying out the operation other than operation relevant to the rotation of main shaft or movement, the movement of workpiece
Portion.The operation portion of position, variable e.g. for reference main shaft etc..It is receiving the operation of other receiving units and is receiving effectively behaviour
When making the operation in portion, multiple input instructions will not generate conflict.
As shown in Figure 7, Figure 8, PC16 has image displaying part 16a.When control unit 80 assigns operating rights to PC16, image
Display unit 16a shows the information such as the coordinate of various operation buttons, program code and main shaft (referring to Fig. 7).Various operation buttons
For stop button, reset button, rewrite setting button, single operating open button, Dan Yunzhuan close button, servo open button,
Servo close button, start button, next task button and procedure selection button etc..Rewrite setting button for main shaft into
To the setting of speed.It is every execution a line program code with regard to standby that single operating, which opens button and single operating close button for setting,
Still multiple codes are continuously performed.Servo opens button and servo close button is used to open or closes the servo function of motor.
Image displaying part 16a is shown " in operating rights acquisition ", and display operation weighs releasing button." in operating rights acquisition " indicates operating rights
It obtains and completes.In operator using keyboard of PC16 or mouse etc. to be operated to operating rights releasing button when, PC16 is to control
Portion 80 processed notifies the releasing of operating rights.When notifying the releasing of operating rights to control unit 80, control unit 80 is from RAM or non-volatile
Property memory corresponding with PC16 imparting label is deleted.
As shown in figure 8, PC16 release operation temporary, setting button will be rewritten, button is opened in single operating, single operating is closed
Close button, servo is opened button, start button and procedure selection button and shown with the color different from other operation buttons.Example
Such as use gray display.The operation button that hacures are marked in Fig. 8 is the button of gray display.PC16 is not received to gray display
The operation that operation button carries out.The operation button of gray display constitutes invalid operation portion, and the operation button of non-gray display is constituted
Effective operation portion.
Image displaying part 16a is deleted " in operating rights acquisition " and operating rights releasing button, display operation power obtain button.?
When operator is operated using the keyboard of PC16 or mouse etc. to obtain button to operating rights, PC16 requires to grasp to control unit 80
Make the imparting weighed.When control unit 80 assigns operating rights to PC16, image displaying part 16a shows the image of Fig. 7.
For example, as shown in figure 9, to operating rights obtain button carry out operation but control unit 80 do not assign operating rights to PC16
When, image displaying part 16a shows " failing to obtain operating rights ", and shows OK button.Keyboard or the mouse of PC16 are used in operator
When mark etc. operates OK button, image displaying part 16a deletes the display of " failing to obtain operating rights ", shows the image of Fig. 8.
As shown in Figure 10, switching device 17 has warning light 17a, mode switch button 17b, rewrites configuration switch 17c, LR
Start button 17d and LR feed hold button 17e.Mode switch button 17b, configuration switch 17c, LR start button are rewritten
17d and LR feeding hold button 17e is mechanical switch or button.Switching device 17 does not have image displaying part and is used for
It is required that the operation portion of operating rights, can not require operating rights.
Warning light 17a light can give a warning.Mode switch button 17b be used for manual operation and automatic operating it
Between switch over.Rewrite the feed speed that configuration switch 17c is used to set main shaft.LR feeding hold button 17e makes the shifting of main shaft
It is dynamic to temporarily cease.LR start button 17d re-moves the main shaft temporarily ceased.Switching device 17 is equivalent to third receiving unit.
As shown in figure 11, the CPU of control unit 80 judges whether there is the requirement of the operating rights from teaching apparatus 15 or PC16
(step S1).When being judged as the requirement of the operating rights not from teaching apparatus 15 or PC16 (step S1: no), CPU judgement
Whether the imparting (step S2) of operating rights is completed to teaching apparatus 15 or PC16.CPU reference RAM or nonvolatile memory,
To determine whether being set with imparting label corresponding with teaching apparatus 15 or PC16.
Be judged as the imparting of operating rights is completed to teaching apparatus 15 or PC16 when (step S2: yes), CPU make processing returns
Return step S1.When being judged as the imparting not to teaching apparatus 15 or PC16 completion operating rights (step S2: no), CPU is received
Operation (step S3) from switching device 17, makes to the processing returns to step S1.
When being judged as the requirement for having the operating rights from teaching apparatus 15 or PC16 (step S1: yes), CPU judges whether
The imparting (step S4) of operating rights is completed to teaching apparatus 15 or PC16.CPU is referring to RAM or nonvolatile memory, to sentence
It is disconnected whether to be set with imparting label corresponding with teaching apparatus 15 or PC16, that is, to judge whether there is and first required operating rights
Receiving unit, and the imparting of operating rights is completed to the receiving unit.It is being judged as in 15 He of teaching apparatus for requiring operating rights
Before one of PC16, when completing the imparting of operating rights to the other of teaching apparatus 15 and PC16 (step S4:
It is), CPU does not assign operating rights (step S8) to the teaching apparatus 15 or PC16 for having required operating rights, and in image displaying part
15a, image displaying part 16a are with gray display invalid operation portion (referring to Fig. 6 or Fig. 8) (step S9).CPU is by the acquisition of operating rights
Unsuccessfully it is shown in image displaying part 15a, image displaying part 16a (step S10).For example, as shown in fig. 6, by " can not be from multiple ends
End is operated " it is shown in image displaying part 15a, alternatively, being shown as shown in figure 9, " acquisition operating rights will be failed " and be shown in image
Show portion 16a, makes to the processing returns to step S1.
When being judged as the imparting not to one of teaching apparatus 15 and PC16 completion operating rights (step S4: no),
That is, whether CPU judges both teaching apparatus 15 and PC16 when not assigning operating rights to both teaching apparatus 15 and PC16
Require operating rights (step S5) simultaneously.When being judged as both teaching apparatus 15 and PC16 while requiring operating rights (step S5:
It is), CPU makes processing proceed to step S8.
It is being judged as both teaching apparatus 15 and PC16 not while when requiring operating rights (step S5: no), CPU is to requiring
The teaching apparatus 15 or PC16 of operating rights assign operating rights (step S6), will imparting corresponding with teaching apparatus 15 or PC16
Label is set in RAM or nonvolatile memory (step S7), and makes to the processing returns to step S1.
The lathe 100 of embodiment only assigns one of teaching apparatus 15 and PC16 for first having required operating rights and operating
Power.Control unit 80 controls lathe 100 based on the operation from one of teaching apparatus 15 and PC16.It will not be from multiple receptions
Portion inputs multiple instruction, and multiple input instructions will not conflict.
The operation of effective operation portion to the teaching apparatus 15 and the other of PC16 for not assigning operating rights can be received.
Can also be received when not assigning operating rights to it is urgent when the operation of operation portion that uses, such as the operation to shutdown switch, from
And ensure convenience and safety.The different color of effective operation portion and invalid operation portion is shown that operator can be intuitive
Ground identifies effective operation portion.
Not to the first receiving unit and the second receiving unit assign operation for the time being from the first receiving unit and the second receiving unit simultaneously
When receiving the requirement of operating rights, operating rights is not assigned to the first receiving unit and the second receiving unit.Prevent multiple input instructions
Conflict.
Not assigning operation to the teaching apparatus 15 and PC16 that can require operating rights, teaching apparatus 15 and PC16 be not for the time being
It is required that receiving the operation from the switching device 17 that can not require operating rights when operating rights.To teaching apparatus 15 and PC16 tax
When giving operating rights, the operation of switching device 17 is invalid, prevents the conflict of multiple input instructions.
Control unit 80 when executing S6 is equivalent to imparting processing unit.Control unit 80 when executing S8, which is equivalent to, does not assign processing
Portion.
Above-mentioned embodiment illustrates the control device of the driving for controlling lathe, but control device also can control
Mechanical body other than lathe.Such as it also can control transfer robot for conveying workpieces, cutter etc..
Claims (7)
1. a kind of control device, which has multiple for receiving the receiving unit (15,16,17) of operation, and base
The driving of mechanical body (100) is controlled in the operation to the receiving unit, which is characterized in that,
Multiple receiving units have the first receiving unit and second receiving unit different from first receiving unit,
There is the control device imparting processing unit first to receive compared with the requirement of the operating rights from second receiving unit
To the operating rights from first receiving unit requirement when, which assigns the operation to first receiving unit
Power does not assign the operating rights to second receiving unit.
2. control device according to claim 1, which is characterized in that
First receiving unit and the second receiving unit include
Effective operation portion receives operation when the imparting processing unit does not assign the operating rights；And
Invalid operation portion does not receive operation when the imparting processing unit does not assign the operating rights.
3. control device according to claim 2, which is characterized in that
First receiving unit and the second receiving unit have for showing that the image of effective operation portion and invalid operation portion is aobvious
Show portion (15a, 16a),
Described image display unit shows effective operation portion and the different color in invalid operation portion.
4. control device according to claim 2, which is characterized in that
The control device, which also has, does not assign processing unit, is not assigning the operation to first receiving unit and the second receiving unit
When receiving the requirement of the operating rights simultaneously from first receiving unit and the second receiving unit for the time being, this does not assign processing unit not
The operating rights is assigned to first receiving unit and the second receiving unit.
5. control device according to claim 3, which is characterized in that
The control device, which also has, does not assign processing unit, is not assigning the operation to first receiving unit and the second receiving unit
When receiving the requirement of the operating rights simultaneously from first receiving unit and the second receiving unit for the time being, this does not assign processing unit not
The operating rights is assigned to first receiving unit and the second receiving unit.
6. control device according to any one of claims 1 to 5, which is characterized in that
The receiving unit also has the third receiving unit that can not require the operating rights,
Not assigning the operation to first receiving unit and the second receiving unit, first receiving unit and second is received for the time being
When operating rights described in portion's failed call, the operation from the third receiving unit is received.
7. a kind of control method connects in the control method from the multiple receiving units for including the first receiving unit and the second receiving unit
It brings drill to an end work, to control the driving of mechanical body, which is characterized in that,
Compared with the requirement of the operating rights from second receiving unit, the operation from first receiving unit is first received
When the requirement of power, the operating rights is assigned to first receiving unit, does not assign the operating rights to second receiving unit.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2018070118A JP6891846B2 (en) | 2018-03-30 | 2018-03-30 | Control systems, control devices, control methods and computer programs |
| JP2018-070118 | 2018-03-30 |
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| Publication Number | Publication Date |
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| CN110315348A true CN110315348A (en) | 2019-10-11 |
| CN110315348B CN110315348B (en) | 2021-05-28 |
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| CN201910021021.4A Active CN110315348B (en) | 2018-03-30 | 2019-01-09 | Control device, control method, and program |
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| Country | Link |
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| JP (1) | JP6891846B2 (en) |
| CN (1) | CN110315348B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111216135A (en) * | 2020-02-28 | 2020-06-02 | 广州大学 | SCARA mechanical arm controller and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2022154330A (en) * | 2021-03-30 | 2022-10-13 | 株式会社アマダ | Machine tool |
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| CN111216135A (en) * | 2020-02-28 | 2020-06-02 | 广州大学 | SCARA mechanical arm controller and control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2019179513A (en) | 2019-10-17 |
| JP6891846B2 (en) | 2021-06-18 |
| CN110315348B (en) | 2021-05-28 |
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