TW202408749A - Numeric value control system, numeric value control device, industrial device, and computer program - Google Patents

Numeric value control system, numeric value control device, industrial device, and computer program Download PDF

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TW202408749A
TW202408749A TW112129347A TW112129347A TW202408749A TW 202408749 A TW202408749 A TW 202408749A TW 112129347 A TW112129347 A TW 112129347A TW 112129347 A TW112129347 A TW 112129347A TW 202408749 A TW202408749 A TW 202408749A
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robot
list information
variable
variables
control device
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室伏拓實
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日商發那科股份有限公司
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • 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
    • G05B19/406—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 monitoring or safety
    • G05B19/4063—Monitoring general control system

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  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
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  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)

Abstract

Provided is a system in which a robot and a work machine operate together, wherein faults that can occur when a custom macro variable is used in a processing program are prevented. The present invention relates to a numeric value control system that controls a robot via a robot control device according to a processing program in a numeric value control device, the numeric value control system comprising: a variable list information generation unit that acquires variables from within all the processing programs in the numeric value control device and generates variable list information in which the variables and the processing programs are associated with one another; and a program-editing unit that does not use the variables included in the processing programs in the numeric value control device or included in a robot program in the robot control device if said variables are used in a correlation different from that in the variable list information, and moreover does not use the variables included in the variable list information if said variables are used in processing programs that are not present in the variable list information.

Description

數值控制系統、數值控制裝置、產業用裝置及電腦程式Numerical control systems, numerical control devices, industrial devices and computer programs

本發明是有關一種數值控制系統、數值控制裝置、產業用裝置及電腦程式。The present invention relates to a numerical control system, a numerical control device, an industrial device and a computer program.

為了促進加工現場的自動化，期望有一種聯動對工件進行加工的工具機、與進行工件的裝卸的機器人之自動化系統。已知有一種例如可按照來自工具機的數值控制裝置之使用者的指示，來進行機器人的動作程式之選擇或動作程式之設定的技術(參考例如專利文獻1)。In order to promote automation in the processing field, it is desired to have an automation system that links a machine tool that processes a workpiece with a robot that loads and unloads the workpiece. A known technology is one that can select or set an action program for a robot according to instructions from a user of a numerical control device of a machine tool (see, for example, Patent Document 1).

於這種機器人與工具機聯動之系統中，是藉由控制機器人之機器人控制裝置讀寫工具機的自訂巨集變數(custom macro variable)，來聯動機器人與工具機。例如機器人控制裝置藉由以經由工具機的自訂巨集變數方式來將動作要求設為啟用(ON)，並讀寫工具機的自訂巨集變數，而取得動作狀態。並且，機器人控制裝置會在動作狀態成為動作完成的情況下，將動作要求設為關閉(OFF)並進行前進至下一個序列之處理(例如參照專利文獻2)。 先前技術文獻 專利文獻 In this system in which a robot and a machine tool are linked, the robot control device that controls the robot reads and writes the custom macro variable of the machine tool to link the robot and the machine tool. For example, the robot control device sets the action request to enable (ON) through the custom macro variable of the machine tool and reads and writes the custom macro variable of the machine tool to obtain the action status. In addition, when the action status becomes action completion, the robot control device sets the action request to off (OFF) and proceeds to the next sequence processing (for example, refer to patent document 2). Prior art document Patent document

專利文獻1：日本特開2018-195055號公報 專利文獻2：國際公開第2022/097719號 Patent document 1: Japanese Patent Publication No. 2018-195055 Patent document 2: International Publication No. 2022/097719

發明欲解決之課題Invention Problems to be Solved

自訂巨集變數可使用於加工程式的加工條件等的運算。自訂巨集變數若在條件式使用，可以按照變數之值來變更加工程式之處理，並變更工具機的動作。在機器人與工具機聯動之系統中，在要藉由機器人讀/寫自訂巨集變數來聯動機器人與工具機時，使用者要準備用於和機器人聯動之自訂巨集變數。Custom macro variables can be used for calculations such as machining conditions in machining formulas. If custom macro variables are used in conditional expressions, the processing of more engineering expressions can be changed according to the value of the variables, and the action of the machine tool can be changed. In a system where a robot and a machine tool are linked, when the robot and the machine tool are to be linked by reading/writing custom macro variables, the user must prepare custom macro variables for linking with the robot.

在使用工具機的自訂巨集變數來聯動機器人與工具機的情況下，若在加工程式中使用此變數，機器人會讀寫在加工程式使用中之變數。在機器人要在加工程式對使用中的變數寫入的情況下，若變數已在加工程式中的條件式中被使用中時，機器人會變更變數之值。因此，有以下可能性：成為和使用者原本所預期之條件式為不同之值。其結果，會有以下可能性：非所預期之加工程式的處理被執行，而產生加工不良、工具、機械的破損等。When the machine tool's custom macro variable is used to link the robot and the machine tool, if this variable is used in the machining program, the robot will read and write the variables used in the machining program. When the robot writes to a variable in use in a machining program, if the variable is already used in a conditional expression in the machining program, the robot will change the value of the variable. Therefore, there is a possibility that the conditional expression may have a different value than what the user originally expected. As a result, there is a possibility that an unexpected processing method is executed, resulting in processing defects, damage to tools, machinery, etc.

另一方面，在機器人要在加工程式讀入使用中的變數的情況下，若變數在加工程式中的運算中未被使用，機器人會讀取在該運算中改變之值。有以下可能性：機器人從讀取到的變數之值，進行工具機的加工完成、或工具機的門已打開等之類的非使用者所預期之判斷。其結果，會有例如以下的可能性：機器人於加工中判斷為已完成加工，且為了取出工件而嘗試進入工具機內，導致工具機與機器人碰撞。On the other hand, in the case where the robot wants to read the variable used in the machining formula, if the variable is not used in the operation in the machining formula, the robot will read the value changed in the operation. There is a possibility that the robot may make a judgment that is not expected by the user based on the value of the read variable, such as the completion of processing of the machine tool or the fact that the door of the machine tool has been opened. As a result, there is a possibility that, for example, the robot determines that the processing has been completed during processing, and attempts to enter the machine tool in order to remove the workpiece, resulting in a collision between the machine tool and the robot.

像這樣，若將在加工程式使用中的變數以不同的用途來重複使用，會有引起各種不良狀況之可能性。據此，在機器人與工具機聯動之系統中，防止在已將自訂巨集變數使用於加工程式的情況下可能產生的不良情況之數值控制系統、數值控制裝置、產業用裝置及電腦程式仍備受期望。 用以解決課題之手段 In this way, if the variables used in the machining process are reused for different purposes, various adverse conditions may occur. Therefore, in a system where a robot and a machine tool are linked, a numerical control system, a numerical control device, an industrial device, and a computer program that can prevent adverse conditions that may occur when custom macro variables are used in machining processes are still highly anticipated. Means for solving the problem

本揭示的一個態樣是一種數值控制系統，是從數值控制裝置的加工程式透過機器人控制裝置來控制機器人，前述數值控制系統具備： 變數清單資訊生成部，從前述數值控制裝置中的全部的前述加工程式之中取得變數，並生成已將前述變數與前述加工程式建立對應之變數清單資訊；及 程式編輯部，在包含於前述數值控制裝置中的前述加工程式或前述機器人控制裝置中的機器人程式之前述變數，是以和前述變數清單資訊不同的對應關係被使用的情況下；即不使用前述變數，在包含於前述變數清單資訊之前述變數，是在不存在於前述變數清單資訊之前述加工程式中被使用的情況下，即不使用前述變數。 One aspect of the present disclosure is a numerical control system that controls a robot from a processing formula of a numerical control device through a robot control device. The numerical control system comprises: a variable list information generating unit that obtains variables from all the processing formulas in the numerical control device and generates variable list information that has established correspondence between the variables and the processing formulas; and a program editing unit that, when the variables in the processing formula in the numerical control device or the robot program in the robot control device are used in a different correspondence relationship from the variable list information; that is, when the variables in the processing formula in the numerical control device or the robot program in the robot control device are used in a different correspondence relationship from the variable list information; that is, when the variables in the processing formula in the variable list information are used in a processing formula that does not exist in the variable list information, the variables are not used.

本揭示的一個態樣是一種數值控制系統，是從數值控制裝置的加工程式透過機器人控制裝置來控制機器人，前述數值控制系統具備： 變數清單資訊生成部，從前述數值控制裝置中的全部的前述加工程式之中取得變數，並生成已將前述變數與前述加工程式建立對應之變數清單資訊；及 變數清單資訊輸出部，將前述變數清單資訊輸出到輸出裝置。 One aspect of the present disclosure is a numerical control system that controls a robot from a processing formula of a numerical control device through a robot control device. The numerical control system comprises: a variable list information generating unit that obtains variables from all the processing formulas in the numerical control device and generates variable list information that has established a correspondence between the variables and the processing formulas; and a variable list information output unit that outputs the variable list information to an output device.

本揭示的一個態樣是一種數值控制裝置，使用加工程式透過機器人控制裝置來控制機器人，前述數值控制裝置具備： 變數清單資訊生成部，從前述數值控制裝置中的前述加工程式或前述機器人控制裝置中的機器人程式之中取得變數，並生成已將前述變數與前述加工程式或前述機器人程式建立對應之變數清單資訊；及 程式編輯部，在包含於前述加工程式或前述機器人程式之前述變數，是以和前述變數清單資訊不同的對應關係被使用的情況下，即不使用前述變數；在包含於前述變數清單資訊之前述變數，是在不存在於前述變數清單資訊的前述加工程式中被使用的情況下，即不使用前述變數。 One aspect of the present disclosure is a numerical control device that uses a processing formula to control a robot through a robot control device, the numerical control device comprising: a variable list information generating unit that obtains variables from the processing formula in the numerical control device or the robot program in the robot control device, and generates variable list information that has established a correspondence between the variables and the processing formula or the robot program; and a program editing unit that does not use the variables when the variables included in the processing formula or the robot program are used in a different correspondence relationship from the variable list information; and does not use the variables included in the variable list information when the variables are used in the processing formula that does not exist in the variable list information.

本揭示的一個態樣是一種產業用裝置，具備： 接收部，從數值控制裝置或機器人控制裝置接收加工程式或機器人程式； 變數清單資訊生成部，從前述數值控制裝置中的前述加工程式或前述機器人控制裝置中的機器人程式之中取得變數，並生成已將前述變數與前述加工程式或前述機器人程式建立對應之變數清單資訊；及 變數清單資訊輸出部，將前述變數清單資訊輸出到輸出裝置。 One aspect of this disclosure is an industrial device having: The receiving part receives the processing program or robot program from the numerical control device or robot control device; The variable list information generating unit obtains variables from the aforementioned machining program in the aforementioned numerical control device or the aforementioned robot program in the aforementioned robot control device, and generates variable list information that associates the aforementioned variables with the aforementioned machining program or the aforementioned robot program. ;and The variable list information output unit outputs the aforementioned variable list information to the output device.

本揭示的一個態樣是一種電腦程式，用於使從數值控制裝置的加工程式透過機器人控制裝置來控制機器人之電腦執行以下步驟： 從前述數值控制裝置中的全部的加工程式之中取得變數，並生成已將前述變數與前述加工程式建立對應之變數清單資訊； 在包含於前述數值控制裝置中的前述加工程式或前述機器人控制裝置中的機器人程式之前述變數，是以和前述變數清單資訊不同的對應關係被使用的情況下，即不使用前述變數；及 在包含於前述變數清單資訊之前述變數，是在不存在於前述變數清單資訊之前述加工程式中被使用的情況下，即不使用前述變數。 One aspect of the present disclosure is a computer program used to control the computer of the robot from the processing program of the numerical control device through the robot control device to perform the following steps: Obtain variables from all machining formulas in the aforementioned numerical control device, and generate variable list information that corresponds to the aforementioned variables and the aforementioned machining formulas; When the aforementioned variables included in the aforementioned machining program in the aforementioned numerical control device or the aforementioned robot program in the aforementioned robot control device are used in a different correspondence relationship from the aforementioned variable list information, the aforementioned variables are not used; and If the variable included in the variable list information is used in the processing formula that does not exist in the variable list information, that is, the variable is not used.

用以實施發明之形態The form used to implement the invention

以下，針對本揭示的實施形態之一例進行說明。圖1是本實施形態之數值控制系統1的功能方塊圖。Hereinafter, an example of an embodiment of the present disclosure will be described. FIG. 1 is a functional block diagram of the numerical control system 1 of this embodiment.

數值控制系統1具備：工具機2，對未圖示之工件進行加工；機器人3，設置於工具機2以及工具機2的附近；產業用裝置4，以可和工具機2以及機器人3通訊的方式連接；數值控制裝置(CNC)5，控制工具機2的動作；及機器人控制裝置6，控制機器人3的動作。數值控制系統1藉由使用可相互通訊地連接之產業用裝置4、數值控制裝置5以及機器人控制裝置6，而對工具機2及機器人3的動作進行聯動控制。The numerical control system 1 includes: a machine tool 2 that processes a workpiece not shown in the figure; a robot 3 that is installed near the machine tool 2 and the machine tool 2; and an industrial device 4 that can communicate with the machine tool 2 and the robot 3. The numerical control device (CNC) 5 controls the movement of the machine tool 2; and the robot control device 6 controls the movement of the robot 3. The numerical control system 1 performs interlocking control of the movements of the machine tool 2 and the robot 3 by using the industrial device 4, the numerical control device 5, and the robot control device 6 that are communicably connected to each other.

工具機2因應於從數值控制裝置5所發送來之工具機控制訊號，來對未圖示之工件進行加工。在此，工具機2可為例如車床、鑽床、銑床、磨床、雷射加工機及射出成型機等，但不限於這些。The machine tool 2 processes a workpiece (not shown) in response to a machine tool control signal sent from the numerical control device 5. Here, the machine tool 2 may be, for example, a lathe, a drilling machine, a milling machine, a grinding machine, a laser processing machine, and an injection molding machine, but is not limited thereto.

機器人3是在機器人控制裝置6所進行之控制下動作，並對例如由工具機2加工之工件進行預定的作業。機器人3是例如多關節機器人，於其臂前端部安裝有用以把持、加工或檢查工件之工具。以下說明機器人3採用6軸多關節機器人的情況，但不受限於此。又，以下雖然說明機器人3採用6軸多關節機器人的情況，但軸數不受限於此。The robot 3 operates under the control of the robot control device 6 and performs a predetermined operation on the workpiece processed by the machine tool 2 , for example. The robot 3 is, for example, a multi-jointed robot, and a tool for holding, processing or inspecting a workpiece is mounted on the front end of its arm. The following describes a case where the robot 3 is a 6-axis multi-joint robot, but it is not limited to this. In addition, although the case where the robot 3 is a 6-axis multi-joint robot is demonstrated below, the number of axes is not limited to this.

產業用裝置4亦可設置於數值控制裝置5內，或亦可設置於數值控制裝置5的外部的電腦裝置等。以下是針對將產業用裝置4設置於數值控制裝置的外部之例來說明。The industrial device 4 may be installed in the numerical control device 5 , or may be installed in a computer device or the like external to the numerical control device 5 . The following is a description of an example in which the industrial device 4 is installed outside the numerical control device.

產業用裝置4、數值控制裝置5以及機器人控制裝置6是分別由以下硬體所構成之電腦：CPU(中央處理單元，Central Processing Unit)等運算處理機構；記憶有各種電腦程式之HDD(硬碟驅動機，Hard Disk Drive)或SSD(固態硬碟，Solid State Drive)等輔助記憶機構；用於記憶運算處理機構執行電腦程式上暫時所需的資料之RAM(隨機存取記憶體，Random Access Memory)等主記憶機構；供操作者進行各種操作的鍵盤等的操作機構；及向操作者顯示各種資訊的顯示器等的顯示機構等。這些產業用裝置4、數值控制裝置5以及機器人控制裝置6可藉由例如乙太網路(註冊商標)來相互發送接收各種訊號。The industrial device 4, the numerical control device 5, and the robot control device 6 are computers respectively composed of the following hardware: a computing and processing mechanism such as a CPU (Central Processing Unit); an auxiliary memory mechanism such as a HDD (Hard Disk Drive) or an SSD (Solid State Drive) that stores various computer programs; a main memory mechanism such as a RAM (Random Access Memory) that stores data temporarily required by the computing and processing mechanism to execute the computer program; an operating mechanism such as a keyboard for an operator to perform various operations; and a display mechanism such as a display that displays various information to the operator. These industrial devices 4, numerical control devices 5, and robot control devices 6 can send and receive various signals to each other via, for example, Ethernet (registered trademark).

如圖1所示，數值控制裝置5是藉由上述硬體構成，來實現如控制工具機2的動作之功能、生成機器人3的控制軸的動作路徑之功能等的各種功能。As shown in FIG. 1 , the numerical control device 5 is configured by the above-mentioned hardware to realize various functions such as controlling the operation of the machine tool 2 and generating the operation path of the control axis of the robot 3 .

數值控制裝置5具備記憶部51、程式輸入部52、分析部53、控制部54、資料收發部55、輸入部56、程式編輯部57與顯示部58。The numerical control device 5 includes a storage unit 51 , a program input unit 52 , an analysis unit 53 , a control unit 54 , a data transmitting and receiving unit 55 , an input unit 56 , a program editing unit 57 and a display unit 58 .

記憶部51記憶例如基於操作人員的操作而製作出之複數個加工程式511。更具體而言，記憶部51記憶藉由用於控制工具機2的動作之對於工具機2的複數個指令區塊、或用於控制機器人3的動作之對於機器人3的複數個指令區塊等所構成之加工程式511。記憶於記憶部51之加工程式511，是以G代碼或M代碼等用於控制工具機2的動作之已知的程式語言來描述。The memory unit 51 stores a plurality of machining formulas 511 created based on, for example, an operator's operation. More specifically, the memory unit 51 stores a plurality of instruction blocks for the machine tool 2 for controlling the operation of the machine tool 2 , a plurality of instruction blocks for the robot 3 for controlling the operation of the robot 3 , etc. The formed processing formula 511. The machining formula 511 stored in the memory unit 51 is described in a known programming language such as G code or M code for controlling the operation of the machine tool 2 .

又，記憶部51可記憶例如機械座標值，前述機械座標值是表示在上述數值控制程式下作動之工具機2的各種軸的位置(亦即工具機2的刀具台或工作台等之位置)。再者，這些機械座標值是在以已規定在工具機2上或工具機2附近的任意位置之基準點作為原點之工具機座標系統之下定義。在記憶部51，會藉由未圖示之處理來逐次進行更新，以記憶在數值控制程式下逐次改變之機械座標值的最新值。The memory unit 51 can store, for example, mechanical coordinate values, which represent the positions of various axes of the machine tool 2 (i.e., the positions of the tool table or work table of the machine tool 2) operated under the numerical control program. Furthermore, these mechanical coordinate values are defined under a machine tool coordinate system with a reference point defined at an arbitrary position on or near the machine tool 2 as the origin. The memory unit 51 is updated successively by a process not shown in the figure to store the latest values of the mechanical coordinate values that are successively changed under the numerical control program.

又，記憶部51記憶有例如機器人座標值，前述機器人座標值表示在機器人控制裝置6的控制下作動之機器人3的控制點的位置以及姿勢，換言之即表示機器人3的各控制軸的位置。再者，如上述，這些機器人座標值是在和工具機座標系統不同的機器人座標系統下被定義。在記憶部51，會藉由利用未圖示之處理而從機器人控制裝置6取得之機器人座標值來逐次進行更新，以記憶在數值控制程式下逐次改變之機器人座標值的最新值。In addition, the storage unit 51 stores, for example, robot coordinate values that represent the positions and postures of control points of the robot 3 operating under the control of the robot control device 6 , in other words, the positions of each control axis of the robot 3 . Furthermore, as mentioned above, these robot coordinate values are defined in a robot coordinate system different from the machine tool coordinate system. The memory unit 51 is sequentially updated with the robot coordinate values obtained from the robot control device 6 through processing not shown in the figure, so as to store the latest values of the robot coordinate values that are sequentially changed under the numerical control program.

又，記憶部51可記憶例如由操作人員所輸入之機器人3的起點以及終點等的教示位置。具體而言，記憶部51會記憶從教導器(teach pendant)等輸入之機器人3的教示位置、從鍵盤等輸入之教示位置等。在機器人3的教示位置，包含表示機器人3的各控制軸的位置之機器人座標值，這些機器人座標值是在和工具機座標系統不同的機器人座標系統下被定義。In addition, the memory unit 51 can store, for example, teaching positions such as the starting point and the end point of the robot 3 input by the operator. Specifically, the memory unit 51 stores the teaching position of the robot 3 input from a teach pendant or the like, the teaching position input from a keyboard or the like, and the like. The teaching position of the robot 3 includes robot coordinate values indicating the positions of each control axis of the robot 3. These robot coordinate values are defined in a robot coordinate system different from the machine tool coordinate system.

記憶部51會進一步記憶自訂巨集變數(以下亦稱為變數)512、以及變數清單資訊513。The memory unit 51 further stores custom macro variables (hereinafter also referred to as variables) 512 and variable list information 513.

自訂巨集變數512可使用於加工程式511的加工條件等的運算。自訂巨集變數512若在條件式使用，可以按照變數之值來變更加工程式之處理，並變更工具機2的動作。在工具機2與機器人3聯動之數值控制系統1中，藉由機器人3讀寫自訂巨集變數512，工具機2與機器人3會聯動。The custom macro variable 512 can be used for calculation of machining conditions of the machining equation 511 and the like. If the custom macro variable 512 is used in a conditional expression, the processing of the more engineering expression can be changed according to the value of the variable, and the action of the machine tool 2 can be changed. In the numerical control system 1 where the machine tool 2 and the robot 3 are linked, the machine tool 2 and the robot 3 are linked by the robot 3 reading and writing the custom macro variable 512.

變數清單資訊513是將變數512、與使用變數512之加工程式511的程式名稱建立對應來記憶。The variable list information 513 stores the variable 512 and the program name of the processing formula 511 that uses the variable 512 in a corresponding manner.

程式輸入部52從記憶部51讀出由複數個機器人指令區塊所構成之機器人用的數值控制程式，並將此逐次輸入到分析部53。The program input unit 52 reads out a numerical control program for the robot composed of a plurality of robot instruction blocks from the memory unit 51 and sequentially inputs the program to the analysis unit 53 .

分析部53就每個指令區塊分析基於從程式輸入部52輸入之數值控制程式之指令類別，並將其分析結果輸出到控制部54。更具體而言，分析部53在指令區塊的指令類別為對於工具機2之工具機用數值控制指令的情況下，是將此工具機用數值控制指令發送到控制部54。分析部53在指令區塊的指令類別為對於機器人3之機器人用數值控制指令的情況下，是將此機器人用數值控制指令輸出到控制部54。The analysis unit 53 analyzes the instruction type based on the numerical control program input from the program input unit 52 for each instruction block, and outputs the analysis result to the control unit 54 . More specifically, when the command type of the command block is a machine tool numerical control command for the machine tool 2 , the analysis unit 53 sends the machine tool numerical control command to the control unit 54 . When the instruction type of the instruction block is a robot numerical control instruction for the robot 3, the analysis unit 53 outputs the robot numerical control instruction to the control unit 54.

控制部54會因應從分析部53所發送來之分析結果，生成用於控制工具機2的動作之工具機控制訊號，並將其輸入到驅動工具機2的各種軸之致動器。工具機2會因應從控制部54輸入之工具機控制訊號而動作，而對未圖示之工件進行加工。The control unit 54 generates a machine tool control signal for controlling the operation of the machine tool 2 in response to the analysis result sent from the analysis unit 53, and inputs the signal to the actuators driving the various axes of the machine tool 2. The machine tool 2 operates in response to the machine tool control signal input from the control unit 54 to process a workpiece (not shown).

又，控制部54依據從分析部53輸入之每個機器人指令區塊的分析結果，而就每個機器人指令區塊生成機器人指令訊號，並將生成之機器人指令訊號寫入資料收發部55。具體而言，控制部54依據從分析部53輸入之作為分析結果的機器人用數值控制指令，而就每個機器人指令區塊生成機器人指令訊號，並將生成之機器人指令訊號寫入資料收發部55。Furthermore, the control unit 54 generates a robot command signal for each robot command block based on the analysis result of each robot command block input from the analysis unit 53, and writes the generated robot command signal into the data transceiver unit 55. Specifically, the control unit 54 generates a robot command signal for each robot command block based on the robot numerical control command input as the analysis result from the analysis unit 53, and writes the generated robot command signal into the data transceiver unit 55.

資料收發部55會在和機器人控制裝置6的資料收發部65之間，發送接收指令、自訂巨集變數512以及機器人座標值等資料。具體而言，資料收發部55將由控制部54生成之機器人指令訊號，發送到機器人控制裝置6的資料收發部65。The data transceiver unit 55 sends and receives commands, custom macro variables 512, and robot coordinate values to and from the data transceiver unit 65 of the robot control device 6. Specifically, the data transceiver unit 55 sends the robot command signal generated by the control unit 54 to the data transceiver unit 65 of the robot control device 6.

輸入部56可為例如鍵盤或滑鼠等的輸入裝置、或和顯示部58一體地構成之觸控感測器等。輸入部56會受理由操作數值控制裝置5之操作人員所進行之輸入，並輸出到程式編輯部57。The input unit 56 may be an input device such as a keyboard or a mouse, or a touch sensor formed integrally with the display unit 58 . The input unit 56 accepts input from the operator who operates the numerical control device 5 and outputs it to the program editing unit 57 .

程式編輯部57會因應於來自輸入部56之輸入而編輯或製作加工程式511，並保存於記憶部51。The program editing unit 57 edits or creates the processing program 511 in response to the input from the input unit 56 and saves it in the memory unit 51 .

顯示部58是液晶顯示器等，且依照控制部54所進行之控制來顯示各種資訊。例如，顯示部58可顯示變數清單資訊513。The display unit 58 is a liquid crystal display or the like, and displays various information in accordance with the control performed by the control unit 54. For example, the display unit 58 can display the variable list information 513.

其次，詳細說明機器人控制裝置6的構成。如圖1所示，在機器人控制裝置6，可藉由上述硬體構成來實現記憶部61、程式輸入部62、分析部63、控制部64、資料收發部65、輸入部66、程式編輯部67以及顯示部68等的各種功能。機器人控制裝置6藉由利用這些程式輸入部62、分析部63、控制部64以及資料收發部65，並依據機器人程式611或從數值控制裝置5所發送來之指令，來控制機器人3的動作。Next, the structure of the robot control device 6 is described in detail. As shown in FIG1 , the robot control device 6 can realize various functions such as a memory unit 61, a program input unit 62, an analysis unit 63, a control unit 64, a data transceiver unit 65, an input unit 66, a program editing unit 67, and a display unit 68 by using the hardware structure described above. The robot control device 6 controls the actions of the robot 3 by using the program input unit 62, the analysis unit 63, the control unit 64, and the data transceiver unit 65 and according to the robot program 611 or the instructions sent from the numerical control device 5.

資料收發部65會接收從數值控制裝置5的資料收發部55所發送來之機器人指令訊號。又，資料收發部65會將接收到之機器人指令訊號逐次輸出到分析部63。又，資料收發部65依據機器人程式611來發送接收數值控制裝置5的自訂巨集變數512。The data transmitting and receiving unit 65 receives the robot command signal sent from the data transmitting and receiving unit 55 of the numerical control device 5 . In addition, the data sending and receiving unit 65 will sequentially output the received robot command signals to the analysis unit 63. Furthermore, the data transmitting and receiving unit 65 transmits and receives the customized macro variable 512 of the numerical control device 5 according to the robot program 611 .

記憶部61會記憶機器人程式611與變數清單資訊612。變數清單資訊612是將變數512、與使用變數512之加工程式511及/或機器人程式611的程式名稱建立對應來記憶。The memory unit 61 stores the robot program 611 and variable list information 612. The variable list information 612 stores the variables 512, the processing formula 511 using the variables 512, and/or the program name of the robot program 611 by establishing a correspondence between the variables 512 and/or the processing formula 511 using the variables 512.

程式輸入部62從記憶部61讀出機器人程式611，並將此機器人程式611逐次輸入到分析部63。The program input unit 62 reads the robot program 611 from the memory unit 61 and sequentially inputs the robot program 611 into the analysis unit 63 .

分析部63就每個指令區塊分析基於從程式輸入部62輸入之機器人程式611之指令類別，並將其分析結果輸出到控制部64。又，分析部63會分析從資料收發部65輸入之機器人指令訊號。分析部63是將其分析結果輸出到控制部64。The analysis unit 63 analyzes the instruction type based on the robot program 611 input from the program input unit 62 for each instruction block, and outputs the analysis result to the control unit 64 . In addition, the analyzing unit 63 analyzes the robot command signal input from the data transmitting and receiving unit 65 . The analysis unit 63 outputs the analysis results to the control unit 64 .

控制部64會執行如以下所示之機器人命令生成部、程式管理部、軌跡控制部、運動學控制部、伺服控制部等之功能。The control unit 64 executes the functions of a robot command generation unit, a program management unit, a trajectory control unit, a kinematics control unit, a servo control unit, etc. as shown below.

機器人命令生成部依據從分析部63輸入之機器人指令訊號的分析結果，來生成和機器人指令訊號相應之機器人命令。機器人命令生成部將已生成之機器人命令輸出到程式管理部。The robot command generation unit generates a robot command corresponding to the robot command signal based on the analysis result of the robot command signal input from the analysis unit 63 . The robot command generation unit outputs the generated robot commands to the program management unit.

當從機器人命令生成部輸入機器人命令後，程式管理部即藉由逐次執行機器人命令，而生成和上述機器人指令訊號相應之機器人3的動作計畫，並輸出到軌跡控制部。When the robot command is input from the robot command generation unit, the program management unit generates an action plan of the robot 3 corresponding to the above-mentioned robot instruction signal by successively executing the robot command, and outputs it to the trajectory control unit.

又，在從機器人命令生成部輸入之機器人命令為區塊機器人命令的情況下，程式管理部會對已記憶於記憶部61之機器人程式，追加所輸入之區塊機器人命令。藉此，可於記憶部61生成並記憶和從數值控制裝置5所發送來之機器人指令訊號相應之機器人程式。藉由程式管理部接受機器人程式啟動指令來作為機器人命令，已記憶之機器人程式會被啟動以及再生。Furthermore, when the robot command input from the robot command generation unit is a block robot command, the program management unit adds the input block robot command to the robot program already stored in the memory unit 61 . Thereby, a robot program corresponding to the robot command signal sent from the numerical control device 5 can be generated and stored in the memory unit 61 . By the program management department accepting the robot program activation command as the robot command, the memorized robot program will be activated and reproduced.

當從程式管理部輸入動作計畫時，軌跡控制部會計算機器人3的控制點的時間序列資料，並輸出到運動學控制部。When the action plan is input from the program management unit, the trajectory control unit calculates the time series data of the control points of the robot 3 and outputs it to the kinematics control unit.

運動學控制部從所輸入之時間序列資料，計算機器人3的各關節的目標角度，並輸出到伺服控制部。The kinematics control unit calculates the target angle of each joint of the robot 3 from the input time series data and outputs it to the servo control unit.

伺服控制部為了實現從運動學控制部輸入之目標角度，而對機器人3的各伺服馬達進行反饋控制，藉此生成對於機器人3之機器人控制訊號，並輸入到機器人3的伺服馬達。The servo control unit performs feedback control on each servo motor of the robot 3 in order to achieve the target angle input from the kinematic control unit, thereby generating a robot control signal for the robot 3 and inputting it to the servo motor of the robot 3 .

輸入部66可為例如鍵盤或滑鼠等的輸入裝置、或和顯示部68一體地構成之觸控感測器等。輸入部66會受理由操作機器人控制裝置6之操作人員所進行之輸入，並輸出到程式編輯部67。The input unit 66 may be an input device such as a keyboard or a mouse, or a touch sensor integrally formed with the display unit 68. The input unit 66 receives input from an operator operating the robot control device 6 and outputs the input to the program editing unit 67.

程式編輯部67會因應於來自輸入部66之輸入而編輯或製作機器人程式611，並保存於記憶部61。The program editing unit 67 edits or creates the robot program 611 in response to the input from the input unit 66 and saves it in the memory unit 61.

顯示部68是液晶顯示器等，且依照控制部64所進行之控制來顯示各種資訊。例如，顯示部68可顯示變數清單資訊612。The display unit 68 is a liquid crystal display or the like, and displays various information in accordance with the control performed by the control unit 64. For example, the display unit 68 can display the variable list information 612.

其次，於本實施形態之數值控制系統1中，說明用於防止在將自訂巨集變數512使用於加工程式511的情況下可能產生之不良情況的處理。Next, in the numerical control system 1 of the present embodiment, a process for preventing adverse conditions that may occur when the custom macro variable 512 is used in the processing formula 511 is described.

產業用裝置4的變數清單資訊生成部41會向產業用裝置4的資料收發部43通知：已記憶於數值控制裝置5的記憶部51之全部的加工程式511的取得要求。在此，全部的加工程式511包含變數512。The variable list information generating unit 41 of the industrial device 4 notifies the data transmitting and receiving unit 43 of the industrial device 4 of a request to obtain all the processing formulas 511 stored in the memory unit 51 of the numerical control device 5 . Here, all processing equations 511 include variables 512 .

產業用裝置4的資料收發部43透過數值控制裝置5的資料收發部，取得從數值控制裝置5的記憶部51讀出之全部的加工程式511，並輸入到變數清單資訊生成部41。The data transceiver section 43 of the industrial device 4 acquires all the processing formulas 511 read from the memory section 51 of the numerical control device 5 via the data transceiver section of the numerical control device 5 , and inputs the obtained processing formulas to the variable list information generating section 41 .

變數清單資訊生成部41會製作變數清單資訊513，並檢索包含在已輸入之加工程式511中的變數512。檢索到之變數512會和包含該變數512之加工程式511建立對應，且追加於變數清單資訊513。變數清單資訊生成部41在將已輸入之加工程式511全部檢索後，會將變數清單資訊513輸入至變數清單資訊輸出部42。The variable list information generation unit 41 creates variable list information 513 and searches for variables 512 included in the input machining equation 511. The retrieved variable 512 is associated with the processing formula 511 including the variable 512, and is added to the variable list information 513. After searching all the input processing formulas 511 , the variable list information generating unit 41 inputs the variable list information 513 to the variable list information output unit 42 .

變數清單資訊輸出部42是對產業用裝置4的顯示部44進行輸出，且顯示部44會顯示變數清單資訊513。變數清單資訊輸出部42會將變數清單資訊513輸出到產業用裝置4的資料收發部43，產業用裝置4的資料收發部會將變數清單資訊513發送到數值控制裝置5的資料收發部55。The variable list information output unit 42 outputs the variable list information 513 to the display unit 44 of the industrial device 4. The display unit 44 displays the variable list information 513. The variable list information output unit 42 outputs the variable list information 513 to the data transceiver unit 43 of the industrial device 4, and the data transceiver unit of the industrial device 4 sends the variable list information 513 to the data transceiver unit 55 of the numerical control device 5.

數值控制裝置5將在資料收發部55所接收到之變數清單資訊513保存於記憶部51。藉此，數值控制裝置5可以利用變數清單資訊513，來避免進行重複了變數512之加工程式511的編輯、製作以及執行。The numerical control device 5 stores the variable list information 513 received in the data transmitting and receiving unit 55 in the memory unit 51 . Thereby, the numerical control device 5 can use the variable list information 513 to avoid editing, creating, and executing the machining formula 511 with the variables 512 repeated.

其次，在製作或編輯加工程式511的情況下，數值控制裝置5的輸入部56會對程式編輯部57通知加工程式511的製作或編輯之要求。Next, when creating or editing the machining formula 511, the input unit 56 of the numerical control device 5 notifies the program editing unit 57 of a request to create or edit the machining formula 511.

在製作加工程式511的情況下，程式編輯部57會生成加工程式511，並記憶於記憶部51。在編輯加工程式511的情況下，程式編輯部57會從記憶部51讀出加工程式511。When creating the processing formula 511, the program editing unit 57 generates the processing formula 511 and stores it in the memory unit 51. When editing the processing formula 511, the program editing unit 57 reads the processing formula 511 from the memory unit 51.

在編輯加工程式511時，變數512是從輸入部56輸入程式編輯部57。並且，程式編輯部57會從記憶部51讀出變數清單資訊513，且判定所輸入之變數512是否存在於變數清單資訊513。When editing the processing formula 511, the variable 512 is input from the input unit 56 to the program editing unit 57. In addition, the program editing unit 57 reads the variable list information 513 from the memory unit 51 and determines whether the input variable 512 exists in the variable list information 513.

程式編輯部57在變數512存在於變數清單資訊513的情況下，是依據變數清單資訊513來判定編輯中的加工程式511與變數512之對應關係。當在變數清單資訊513中，編輯中的加工程式511與變數512為尚未建立對應的情況下，程式編輯部57會使顯示部58顯示警告訊息，並將所輸入之變數512刪除。When the variable 512 exists in the variable list information 513, the program editing unit 57 determines the correspondence between the processing formula 511 being edited and the variable 512 according to the variable list information 513. When the processing formula 511 being edited and the variable 512 are not yet corresponding to each other in the variable list information 513, the program editing unit 57 causes the display unit 58 to display a warning message and deletes the input variable 512.

在保存加工程式511時，程式編輯部57會從記憶部51讀出變數清單資訊513。程式編輯部57在加工程式511中使用有變數512的情況下，會判定所使用之變數512是否存在於變數清單資訊513。When saving the processing formula 511, the program editing unit 57 reads the variable list information 513 from the memory unit 51. When the processing formula 511 uses a variable 512, the program editing unit 57 determines whether the variable 512 used exists in the variable list information 513.

在變數清單資訊513存在變數512的情況下，程式編輯部57會依據變數清單資訊513來判定要保存之加工程式511與變數512之對應關係。When the variable 512 exists in the variable list information 513 , the program editing unit 57 determines the correspondence between the processing formula 511 to be saved and the variable 512 based on the variable list information 513 .

程式編輯部57在加工程式511與變數512在變數清單資訊513中並未建立對應的情況下，會在顯示部58顯示警告訊息，並禁止加工程式511的保存。在為不存在於變數清單資訊之變數的情況下、或加工程式511與變數512之對應關係為在變數清單資訊513建立有對應之變數512的情況下，程式編輯部57會保存加工程式511。When the processing formula 511 and the variables 512 are not corresponding in the variable list information 513 , the program editing unit 57 displays a warning message on the display unit 58 and prohibits the saving of the processing formula 511 . If the variable does not exist in the variable list information, or if the corresponding relationship between the processing formula 511 and the variable 512 is such that the corresponding variable 512 is created in the variable list information 513, the program editing unit 57 will save the processing formula 511.

執行加工程式511時，程式輸入部52從記憶部51將加工程式511讀出並輸入分析部53。 分析部53就每個指令區塊，分析基於加工程式511之指令類別。分析部53在分析變數512時，會從記憶部51讀出變數清單資訊513，並判定變數512是否存在於變數清單資訊513。 When executing the processing formula 511, the program input unit 52 reads the processing formula 511 from the memory unit 51 and inputs it to the analysis unit 53. The analysis unit 53 analyzes the instruction type based on the processing formula 511 for each instruction block. When analyzing the variable 512, the analysis unit 53 reads the variable list information 513 from the memory unit 51 and determines whether the variable 512 exists in the variable list information 513.

在變數512存在於變數清單資訊513的情況下，分析部53會依據變數清單資訊513來判定執行中的加工程式511與變數512之對應關係。 在變數清單資訊513中，變數512並未和執行中的加工程式511建立對應的情況下，分析部53會中止加工程式的執行。 When the variable 512 exists in the variable list information 513, the analysis unit 53 determines the correspondence between the processing formula 511 being executed and the variable 512 according to the variable list information 513. When the variable 512 in the variable list information 513 is not associated with the processing formula 511 being executed, the analysis unit 53 terminates the execution of the processing formula.

在變數512不存在於變數清單資訊的情況下、或變數512為已在變數清單資訊513中將加工程式511與變數512建立對應的情況下，分析部53會依照分析結果來讀寫記憶部51的變數512之值。例如，在分析部53分析了移動指令時，控制部54會受理移動指令，並依據移動指令來驅動工具機2的控制軸。If the variable 512 does not exist in the variable list information, or if the variable 512 has been associated with the machining formula 511 in the variable list information 513, the analysis unit 53 reads and writes the value of the variable 512 in the memory unit 51 according to the analysis result. For example, when the analysis unit 53 analyzes the movement command, the control unit 54 receives the movement command and drives the control axis of the machine tool 2 according to the movement command.

其次，說明從加工程式511以及機器人程式611製作變數清單資訊612之情況。變數清單資訊生成部41會向產業用裝置4的資料收發部43通知：數值控制裝置5的記憶部51中的包含變數512之全部的加工程式511之取得要求、與機器人控制裝置6的記憶部61中的包含變數512之全部的機器人程式611之取得要求。Next, the variable list information 612 is generated from the processing formula 511 and the robot program 611. The variable list information generation unit 41 notifies the data transceiver unit 43 of the industrial device 4 of the acquisition request of the processing formula 511 including the variables 512 in the memory unit 51 of the numerical control device 5 and the acquisition request of the robot program 611 including the variables 512 in the memory unit 61 of the robot control device 6.

產業用裝置4的資料收發部43會透過數值控制裝置5的資料收發部55，取得從記憶部51讀出之包含變數512的全部的加工程式511。又，資料收發部43會透過機器人控制裝置6的資料收發部65，取得從機器人控制裝置6的記憶部61讀出之包含變數512的全部的機器人程式611。資料收發部43會將取得之全部的加工程式511以及全部的機器人程式611輸入到變數清單資訊生成部41。The data transceiver 43 of the industrial device 4 acquires all processing formulas 511 including variables 512 read from the memory 51 through the data transceiver 55 of the numerical control device 5. Furthermore, the data transceiver 43 acquires all robot programs 611 including variables 512 read from the memory 61 of the robot control device 6 through the data transceiver 65 of the robot control device 6. The data transceiver 43 inputs all the processing formulas 511 and all the robot programs 611 acquired into the variable list information generating unit 41.

變數清單資訊生成部41會製作變數清單資訊612，並檢索包含在已輸入之加工程式511以及機器人程式611中之變數512。變數清單資訊生成部41會將檢索出之變數512，和包含該變數512之加工程式511或機器人程式611建立對應並追加至變數清單資訊612。變數清單資訊生成部41在對已輸入之加工程式511以及機器人程式611全部檢索之後，會將變數清單資訊612輸入至變數清單資訊輸出部42。The variable list information generating unit 41 generates the variable list information 612 and searches for the variables 512 included in the input processing formula 511 and the robot program 611. The variable list information generating unit 41 creates a correspondence between the searched variable 512 and the processing formula 511 or the robot program 611 including the variable 512 and adds the result to the variable list information 612. After searching all the input processing formula 511 and the robot program 611, the variable list information generating unit 41 inputs the variable list information 612 to the variable list information output unit 42.

變數清單資訊輸出部42會將變數清單資訊612顯示於顯示部44。變數清單資訊輸出部42會將變數清單資訊612輸出到資料收發部55，且資料收發部43會將變數清單資訊612發送到機器人控制裝置6的資料收發部65。The variable list information output unit 42 displays the variable list information 612 on the display unit 44. The variable list information output unit 42 outputs the variable list information 612 to the data transceiver unit 55, and the data transceiver unit 43 sends the variable list information 612 to the data transceiver unit 65 of the robot control device 6.

機器人控制裝置6會將在資料收發部65接收到之變數清單資訊612保存在機器人控制裝置6的記憶部61。The robot control device 6 will save the variable list information 612 received in the data transceiver unit 65 in the memory unit 61 of the robot control device 6.

其次，說明製作或編輯機器人程式611的情況。機器人控制裝置6的輸入部66會對程式編輯部67通知機器人程式611的製作或編輯之要求。Next, the process of making or editing the robot program 611 will be described. The input unit 66 of the robot control device 6 notifies the program editing unit 67 of the request to make or edit the robot program 611.

在製作機器人程式611的情況下，程式編輯部67會生成機器人程式611，並記憶於記憶部61。在編輯機器人程式611的情況下，程式編輯部67會從記憶部61讀出機器人程式611。When making the robot program 611, the program editing unit 67 generates the robot program 611 and stores it in the memory unit 61. When editing the robot program 611, the program editing unit 67 reads the robot program 611 from the memory unit 61.

在編輯機器人程式時，輸入部66會對程式編輯部67輸入變數512。程式編輯部67會從記憶部61讀出變數清單資訊612，並判定所輸入之變數512是否為存在於變數清單資訊612之變數。在變數512存在於變數清單資訊612的情況下，程式編輯部67會依據變數清單資訊612，判定編輯中的機器人程式611與變數512之對應關係。When editing a robot program, the input unit 66 inputs a variable 512 to the program editing unit 67. The program editing unit 67 reads the variable list information 612 from the memory unit 61 and determines whether the input variable 512 exists in the variable list information 612. If the variable 512 exists in the variable list information 612, the program editing unit 67 determines the correspondence between the robot program 611 being edited and the variable 512 based on the variable list information 612.

在加工程式511或機器人程式611、與變數512在變數清單資訊612並未建立有對應的情況下，程式編輯部67會使警告訊息顯示於機器人控制裝置6的顯示部68，並將所輸入之變數512刪除。When the processing program 511 or robot program 611 and the variable 512 are not corresponding in the variable list information 612, the program editing unit 67 causes a warning message to be displayed on the display unit 68 of the robot control device 6, and the input value is Variable 512 is deleted.

在保存機器人程式611時，程式編輯部67會從記憶部61讀出變數清單資訊612。在機器人程式611中使用有變數512的情況下，會判定所使用之變數512是否存在於變數清單資訊。When saving the robot program 611, the program editing unit 67 reads the variable list information 612 from the memory unit 61. When the robot program 611 uses the variable 512, it is determined whether the variable 512 used exists in the variable list information.

在變數512存在於變數清單資訊612的情況下，程式編輯部67會依據變數清單資訊612來判定機器人程式611與變數512之對應關係。在機器人程式611與變數512在變數清單資訊612中並未建立有對應的情況下，程式編輯部67會在顯示部68顯示警告訊息，並禁止機器人程式611的保存。When the variable 512 exists in the variable list information 612, the program editing unit 67 determines the correspondence between the robot program 611 and the variable 512 according to the variable list information 612. When the robot program 611 and the variable 512 are not corresponded in the variable list information 612, the program editing unit 67 displays a warning message on the display unit 68 and prohibits the saving of the robot program 611.

在變數512不存在於變數清單資訊612的情況下、或在機器人程式611與變數512之對應關係為在變數清單資訊612建立有對應的情況下，程式編輯部67會將機器人程式611保存於記憶部61。When the variable 512 does not exist in the variable list information 612, or when the correspondence between the robot program 611 and the variable 512 is established in the variable list information 612, the program editing unit 67 saves the robot program 611 in the memory. Department 61.

在已執行機器人程式611的情況下，程式輸入部62會從記憶部61讀出機器人程式611並輸入分析部63。When the robot program 611 has been executed, the program input unit 62 reads the robot program 611 from the memory unit 61 and inputs it to the analysis unit 63 .

分析部63就每個指令區塊，分析基於機器人程式611之指令類別。在分析變數512時，分析部63會從記憶部61讀出變數清單資訊612，並判定變數512是否存在於變數清單資訊612。The analysis unit 63 analyzes the instruction type based on the robot program 611 for each instruction block. When analyzing the variable 512, the analysis unit 63 reads the variable list information 612 from the memory unit 61 and determines whether the variable 512 exists in the variable list information 612.

在變數512存在於變數清單資訊612的情況下，分析部63會依據變數清單資訊612，判定執行中的機器人程式611與變數512之對應關係。When the variable 512 exists in the variable list information 612, the analysis unit 63 determines the corresponding relationship between the executing robot program 611 and the variable 512 based on the variable list information 612.

在變數清單資訊612中，變數512並未和執行中的機器人程式611建立有對應的情況下，分析部63會中止機器人程式611的執行。在變數512不存在於變數清單資訊的情況下、或機器人程式611與變數512在變數清單資訊612建立有對應的情況下，分析部63會依照分析結果，透過資料收發部55以及資料收發部65來讀寫數值控制裝置5的記憶部51的變數512。例如，在分析部63分析了移動指令時，控制部64會依據移動指令來驅動機器人3的各關節。In the variable list information 612 , if the variable 512 does not correspond to the executing robot program 611 , the analysis unit 63 will terminate the execution of the robot program 611 . When the variable 512 does not exist in the variable list information, or when the robot program 611 and the variable 512 are corresponding in the variable list information 612, the analysis unit 63 will use the data sending and receiving unit 55 and the data sending and receiving unit 65 according to the analysis results. To read and write the variables 512 of the memory unit 51 of the numerical control device 5 . For example, when the analysis unit 63 analyzes the movement command, the control unit 64 drives each joint of the robot 3 according to the movement command.

[第1實施形態] 一邊參考圖2~圖10，一邊說明第1實施形態之數值控制系統1的處理。圖2~圖7是顯示第1實施形態之數值控制系統1的處理之例的圖，圖8~圖10是顯示第1實施形態之數值控制系統1的處理之流程的流程圖。 [First Implementation] The processing of the numerical control system 1 of the first implementation is described with reference to FIGS. 2 to 10. FIGS. 2 to 7 are diagrams showing examples of the processing of the numerical control system 1 of the first implementation, and FIGS. 8 to 10 are flow charts showing the flow of the processing of the numerical control system 1 of the first implementation.

第1實施形態之數值控制系統1是在既有的加工程式511a中，使用以及執行加工程式511中使用中的變數512。The numerical control system 1 of the first embodiment uses and executes the variables 512 used in the machining formula 511 in the existing machining formula 511a.

圖8是顯示第1實施形態之產業用裝置4的處理的流程圖。在步驟S1中，變數清單資訊生成部41會向產業用裝置4的資料收發部43通知：已記憶於數值控制裝置5的記憶部51之全部的加工程式511的取得要求。在此，全部的加工程式511包含變數512。資料收發部43會透過數值控制裝置5的資料收發部55，取得從數值控制裝置5的記憶部51讀出之全部的加工程式511，並輸入到變數清單資訊生成部41(參考圖2)。FIG8 is a flowchart showing the processing of the industrial device 4 of the first embodiment. In step S1, the variable list information generating unit 41 notifies the data transceiver unit 43 of the industrial device 4 of a request to obtain all the processing formulas 511 stored in the memory unit 51 of the numerical control device 5. Here, all the processing formulas 511 include variables 512. The data transceiver unit 43 obtains all the processing formulas 511 read from the memory unit 51 of the numerical control device 5 through the data transceiver unit 55 of the numerical control device 5, and inputs them to the variable list information generating unit 41 (refer to FIG2).

在步驟S2中，變數清單資訊生成部41會製作變數清單資訊513，並檢索包含在已輸入之加工程式511中的變數512(參照圖3)。檢索到之變數512會和包含該變數512之加工程式511建立對應，且追加到變數清單資訊513(參照圖4)。在此，如圖4所示，變數清單資訊513是將使用中的變數512、與使用變數512之加工程式511的程式名稱建立對應來記憶。變數清單資訊生成部41在將已輸入之加工程式511全部檢索後，會將變數清單資訊513輸入至變數清單資訊輸出部42。In step S2, the variable list information generation unit 41 creates the variable list information 513 and searches for the variables 512 included in the input processing equation 511 (see FIG. 3). The retrieved variable 512 is associated with the processing formula 511 including the variable 512, and is added to the variable list information 513 (see FIG. 4). Here, as shown in FIG. 4 , the variable list information 513 is stored in association with the variable 512 in use and the program name of the processing formula 511 using the variable 512 . After searching all the input processing formulas 511 , the variable list information generating unit 41 inputs the variable list information 513 to the variable list information output unit 42 .

在步驟S3中，變數清單資訊輸出部42會將變數清單資訊513輸出到產業用裝置4的資料收發部43，且產業用裝置4的資料收發部會將變數清單資訊513發送到數值控制裝置5的資料收發部55(參照圖5)。In step S3 , the variable list information output unit 42 outputs the variable list information 513 to the data transmitting and receiving unit 43 of the industrial device 4 , and the data transmitting and receiving unit 4 of the industrial device 4 sends the variable list information 513 to the numerical control device 5 The data sending and receiving part 55 (refer to Figure 5).

圖9是顯示在第1實施形態之數值控制裝置5中進行加工程式511的編輯時的處理的流程圖。在步驟S11中，數值控制裝置5的輸入部56會對程式編輯部57通知加工程式511a的編輯之要求。程式編輯部57會從記憶部51讀出加工程式511a，輸入部56會將變數512輸入程式編輯部57。又，程式編輯部57會從記憶部51讀出變數清單資訊513。FIG9 is a flowchart showing the processing when editing the processing formula 511 in the numerical control device 5 of the first embodiment. In step S11, the input unit 56 of the numerical control device 5 notifies the program editing unit 57 of the request to edit the processing formula 511a. The program editing unit 57 reads the processing formula 511a from the memory unit 51, and the input unit 56 inputs the variable 512 to the program editing unit 57. In addition, the program editing unit 57 reads the variable list information 513 from the memory unit 51.

在步驟S12中，程式編輯部57會判定所輸入之變數512是否存在於變數清單資訊513。在所輸入之變數512存在於變數清單資訊513的情況下(是)，處理會轉移到步驟S13。另一方面，在變數512不存在於變數清單資訊513的情況下(否)，處理會轉移到步驟S16。In step S12, the program editing unit 57 determines whether the input variable 512 exists in the variable list information 513. If the input variable 512 exists in the variable list information 513 (yes), the process moves to step S13. On the other hand, if the variable 512 does not exist in the variable list information 513 (no), the process moves to step S16.

在步驟S13中，在變數512存在於變數清單資訊513的情況下，程式編輯部57會依據變數清單資訊513來判定編輯中的加工程式511a與變數512之對應關係。在加工程式511a與變數512之對應關係為不同的情況下，亦即在加工程式511a與變數512並未建立有對應的情況下(是)，處理會轉移到步驟S14。另一方面，在加工程式511a與變數512建立有對應的情況下(否)，處理會轉移到步驟S16。In step S13, when the variable 512 exists in the variable list information 513, the program editing unit 57 determines the correspondence between the processing formula 511a being edited and the variable 512 according to the variable list information 513. When the correspondence between the processing formula 511a and the variable 512 is different, that is, when the processing formula 511a and the variable 512 are not corresponding (yes), the processing will transfer to step S14. On the other hand, when the processing formula 511a and the variable 512 are corresponding (no), the processing will transfer to step S16.

在步驟S14中，程式編輯部57會在既有的加工程式511a中，將所輸入之變數512不使用而刪除。In step S14, the program editing unit 57 deletes the input variable 512 in the existing processing formula 511a as it is not used.

在步驟S15中，程式編輯部57會使警告訊息顯示於顯示部58(參照圖6)。於圖6之例中，顯示部58是顯示表示「變數＃121是在加工程式名稱O0456中使用、以及無法保存加工程式名稱O0123」之警告訊息。在此，加工程式名稱O0123是表示加工程式511a。In step S15, the program editing unit 57 causes the warning message to be displayed on the display unit 58 (see FIG. 6). In the example of FIG. 6 , the display unit 58 displays a warning message indicating that “Variable #121 is used in the machining program name O0456, and the machining program name O0123 cannot be saved.” Here, the machining formula name O0123 indicates the machining formula 511a.

在步驟S16中，程式編輯部57會使用變數512來進行既有的加工程式511a的編輯。In step S16, the program editing unit 57 uses the variable 512 to edit the existing processing formula 511a.

圖10是顯示第1實施形態之數值控制裝置5的處理的流程圖。在步驟S21中，數值控制裝置5的輸入部56會對程式編輯部57通知加工程式511a的執行之要求。程式編輯部57會從記憶部51讀出加工程式511a，輸入部56會將變數512輸入程式編輯部57。又，程式編輯部57會從記憶部51讀出變數清單資訊513。FIG10 is a flowchart showing the processing of the numerical control device 5 of the first embodiment. In step S21, the input unit 56 of the numerical control device 5 notifies the program editing unit 57 of the request to execute the processing formula 511a. The program editing unit 57 reads the processing formula 511a from the memory unit 51, and the input unit 56 inputs the variable 512 to the program editing unit 57. In addition, the program editing unit 57 reads the variable list information 513 from the memory unit 51.

在步驟S22中，程式編輯部57會判定所輸入之變數512是否存在於變數清單資訊513。在所輸入之變數512存在於變數清單資訊513的情況下(是)，處理會轉移到步驟S23。另一方面，在變數512不存在於變數清單資訊513的情況下(否)，處理會轉移到步驟S26。In step S22, the program editing unit 57 determines whether the input variable 512 exists in the variable list information 513. If the input variable 512 exists in the variable list information 513 (yes), the process moves to step S23. On the other hand, if the variable 512 does not exist in the variable list information 513 (no), the process moves to step S26.

在步驟S23中，程式編輯部57在變數512存在於變數清單資訊513的情況下，會依據變數清單資訊513來判定加工程式511a與變數512之對應關係。在加工程式511a與變數512之對應關係為不同的情況下，亦即在加工程式511a與變數512並未建立有對應的情況下(是)，處理會轉移到步驟S24。另一方面，在加工程式511a與變數512建立有對應的情況下(否)，處理會轉移到步驟S26。In step S23 , when the variable 512 exists in the variable list information 513 , the program editor 57 determines the corresponding relationship between the processing formula 511 a and the variable 512 based on the variable list information 513 . When the corresponding relationship between the processing formula 511a and the variable 512 is different, that is, when the processing formula 511a and the variable 512 are not corresponding (Yes), the process will transfer to step S24. On the other hand, when the processing equation 511a is associated with the variable 512 (NO), the process proceeds to step S26.

在步驟S24中，程式編輯部57會在既有的加工程式511a中，不使用所輸入之變數512，而中止或禁止加工程式511a的執行。In step S24, the program editing part 57 does not use the input variable 512 in the existing processing program 511a, and stops or prohibits the execution of the processing program 511a.

在步驟S25中，程式編輯部57會將表示無法執行既有的加工程式511a之警告訊息顯示於顯示部58(參照圖7)。In step S25, the program editing unit 57 displays a warning message indicating that the existing processing program 511a cannot be executed on the display unit 58 (see FIG. 7).

在步驟S26中，程式編輯部57會使用變數512來執行既有的加工程式511a。In step S26, the program editing part 57 uses the variable 512 to execute the existing processing program 511a.

藉由這樣的構成，第1實施形態之數值控制系統1，從全部的加工程式511中，將已和加工程式511建立對應之變數512的變數清單資訊513通知到數值控制裝置5。藉此，數值控制系統1可以避免進行重複了已和加工程式建立對應之變數之加工程式的編輯。With this configuration, the numerical control system 1 of the first embodiment notifies the numerical control device 5 of the variable list information 513 of the variables 512 associated with the machining formula 511 from all the machining formulas 511 . Thereby, the numerical control system 1 can avoid duplicating the editing of the machining formula in which variables already correspond to the machining formula are created.

又，數值控制系統1在執行重複了已和加工程式建立對應之變數之加工程式的情況下，會依據變數清單資訊來中止或禁止加工程式的執行。藉此，數值控制系統1可以避免因為已和加工程式建立對應之變數的重複而可能產生之如下的不良狀況：加工不良、工具機2的破損、工具機2與機器人3的衝撞等。Furthermore, when executing a machining formula that duplicates a variable that has been established to correspond to the machining formula, the numerical control system 1 will terminate or prohibit the execution of the machining formula according to the variable list information. In this way, the numerical control system 1 can avoid the following adverse conditions that may be caused by duplication of variables that have been established to correspond to the machining formula: poor machining, damage to the machine tool 2, collision between the machine tool 2 and the robot 3, etc.

此外，數值控制系統1從數值控制裝置5的全部的加工程式511中，製作已和加工程式511建立對應之變數512的變數清單資訊513，並輸出以及顯示變數清單資訊513。藉此，數值控制系統1可以在決定要在新的用途上使用之變數時，省去確認加工程式之勞務。In addition, the numerical control system 1 creates variable list information 513 of the variables 512 associated with the processing formula 511 from all the machining formulas 511 of the numerical control device 5, and outputs and displays the variable list information 513. Thereby, the numerical control system 1 can eliminate the labor of confirming the machining formula when deciding the variables to be used in a new application.

又，在數值控制系統1中，不使用變數包含以下作法當中的至少1種：禁止變數的保存、禁止變數的參照、以及禁止包含變數之加工程式的執行。藉由這樣的構成，數值控制系統1可以適當地避免因為已和加工程式建立對應之變數的重複而可能產生之如加工不良、工具機2的破損、工具機2與機器人3的碰撞等的不良狀況。Furthermore, in the numerical control system 1, not using a variable includes at least one of the following practices: prohibiting the saving of the variable, prohibiting the reference of the variable, and prohibiting the execution of a machining formula including the variable. With such a configuration, the numerical control system 1 can appropriately avoid the undesirable conditions that may be caused by duplication of variables that have been established to correspond to the machining formula, such as poor machining, damage to the machine tool 2, collision between the machine tool 2 and the robot 3, etc.

又，數值控制裝置5更具備顯示部58，前述顯示部58在不使用變數的情況下，是顯示表示不使用變數之警告訊息。藉由這樣的構成，數值控制系統1可將不使用變數之情形適當地對使用者通報。Furthermore, the numerical control device 5 further includes a display unit 58. When the variables are not used, the display unit 58 displays a warning message indicating that the variables are not used. With such a configuration, the numerical control system 1 can appropriately notify the user of situations where variables are not used.

[第2實施形態] 一邊參照圖2~圖5以及圖11~圖15，一邊說明第2實施形態之數值控制系統1的處理。圖2~圖5、圖11及圖12是表示第2實施形態之數值控制系統1的處理之例的圖，圖13~圖15是表示第2實施形態之數值控制系統1的處理之流程的流程圖。 [Second Implementation] The processing of the numerical control system 1 of the second implementation is described with reference to Fig. 2 to Fig. 5 and Fig. 11 to Fig. 15. Fig. 2 to Fig. 5, Fig. 11 and Fig. 12 are diagrams showing examples of the processing of the numerical control system 1 of the second implementation, and Fig. 13 to Fig. 15 are flow charts showing the flow of the processing of the numerical control system 1 of the second implementation.

第2實施形態之數值控制系統1是在新的加工程式511b使用以及執行在加工程式511中使用中的變數512。The numerical control system 1 of the second embodiment uses the variable 512 used in the new machining formula 511b and executes the machining formula 511.

圖13是顯示第2實施形態之產業用裝置4的處理的流程圖。在步驟S31中，變數清單資訊生成部41會向產業用裝置4的資料收發部43通知：已記憶於數值控制裝置5的記憶部51之全部的加工程式511的取得要求。在此，全部的加工程式511包含變數512。資料收發部43會透過數值控制裝置5的資料收發部55，取得從數值控制裝置5的記憶部51讀出之全部的加工程式511，並輸入到變數清單資訊生成部41(參考圖2)。FIG. 13 is a flowchart showing the processing of the industrial device 4 of the second embodiment. In step S31, the variable list information generating unit 41 notifies the data transceiver unit 43 of the industrial device 4 of the acquisition request of all processing formulas 511 stored in the memory unit 51 of the numerical control device 5. Here, all processing formulas 511 include variables 512. The data transceiver unit 43 acquires all processing formulas 511 read from the memory unit 51 of the numerical control device 5 through the data transceiver unit 55 of the numerical control device 5, and inputs them to the variable list information generating unit 41 (refer to FIG. 2).

在步驟S32中，變數清單資訊生成部41會製作變數清單資訊513，並檢索包含在已輸入之加工程式511中的變數512(參照圖3)。檢索到之變數512會和包含該變數512之加工程式511建立對應，且追加到變數清單資訊513(參照圖4)。在此，如圖4所示，變數清單資訊513是將使用中的變數512、與使用變數512之加工程式511的程式名稱建立對應來記憶。變數清單資訊生成部41在將已輸入之加工程式511全部檢索後，會將變數清單資訊513輸入至變數清單資訊輸出部42。In step S32, the variable list information generating unit 41 creates the variable list information 513 and searches for the variables 512 included in the input machining equation 511 (see FIG. 3). The retrieved variable 512 is associated with the processing formula 511 including the variable 512, and is added to the variable list information 513 (see FIG. 4). Here, as shown in FIG. 4 , the variable list information 513 is stored in association with the variable 512 in use and the program name of the processing formula 511 using the variable 512 . After searching all the input processing formulas 511 , the variable list information generating unit 41 inputs the variable list information 513 to the variable list information output unit 42 .

在步驟S33中，變數清單資訊輸出部42會將變數清單資訊513輸出到產業用裝置4的資料收發部43，且產業用裝置4的資料收發部會將變數清單資訊513發送到數值控制裝置5的資料收發部55(參照圖5)。In step S33, the variable list information output unit 42 outputs the variable list information 513 to the data transceiver unit 43 of the industrial device 4, and the data transceiver unit of the industrial device 4 sends the variable list information 513 to the data transceiver unit 55 of the numerical control device 5 (refer to Figure 5).

圖14是顯示在第2實施形態之數值控制裝置5中進行加工程式511b的編輯或製作時的處理的流程圖。在步驟S41中，數值控制裝置5的輸入部56會對程式編輯部57通知加工程式511b的編輯或製作之要求。程式編輯部57會從記憶部51讀出加工程式511b，輸入部56將變數512輸入程式編輯部57。又，程式編輯部57會從記憶部51讀出變數清單資訊513。FIG14 is a flow chart showing the processing when editing or creating the processing formula 511b in the numerical control device 5 of the second embodiment. In step S41, the input unit 56 of the numerical control device 5 notifies the program editing unit 57 of the request to edit or create the processing formula 511b. The program editing unit 57 reads the processing formula 511b from the memory unit 51, and the input unit 56 inputs the variable 512 to the program editing unit 57. In addition, the program editing unit 57 reads the variable list information 513 from the memory unit 51.

在步驟S42中，程式編輯部57會判定所輸入之變數512是否存在於變數清單資訊513。在所輸入之變數512存在於變數清單資訊513的情況下(是)，處理會轉移到步驟S43。另一方面，在變數512不存在於變數清單資訊513的情況下(否)，處理會轉移到步驟S46。In step S42, the program editor 57 determines whether the input variable 512 exists in the variable list information 513. If the input variable 512 exists in the variable list information 513 (Yes), the process proceeds to step S43. On the other hand, if the variable 512 does not exist in the variable list information 513 (NO), the process proceeds to step S46.

在步驟S43中，程式編輯部57在變數512存在於變數清單資訊513的情況下，會依據變數清單資訊513來判定加工程式511b與變數512之對應關係。在加工程式511b與變數512之對應關係為不同的情況下，亦即加工程式511b與變數512並未建立有對應的情況下(是)，處理會轉移到步驟S44。另一方面，在加工程式511與變數512建立有對應的情況下(否)，處理會轉移到步驟S46。In step S43, when the variable 512 exists in the variable list information 513, the program editing unit 57 determines the correspondence between the processing formula 511b and the variable 512 according to the variable list information 513. When the correspondence between the processing formula 511b and the variable 512 is different, that is, when the processing formula 511b and the variable 512 are not corresponding (yes), the processing will transfer to step S44. On the other hand, when the processing formula 511b and the variable 512 are corresponding (no), the processing will transfer to step S46.

在步驟S44中，程式編輯部57會在新的加工程式511b中，將所輸入之變數512不使用而刪除。又，程式編輯部57亦可不使用所輸入之變數512，而禁止新的加工程式511b的保存。In step S44, the program editor 57 deletes the input variable 512 in the new processing formula 511b because it is not used. Alternatively, the program editor 57 may not use the input variable 512 and prohibit the new processing formula 511b from being saved.

在步驟S45中，程式編輯部57會使警告訊息顯示於顯示部58(參照圖11)。在圖11之例中，顯示部58是顯示表示「變數＃101是在加工程式名稱O0123中使用、以及無法保存加工程式名稱O0789」之警告訊息。在此，加工程式名稱O0789是表示加工程式511b。In step S45, the program editing part 57 causes the warning message to be displayed on the display part 58 (see FIG. 11). In the example of FIG. 11 , the display unit 58 displays a warning message indicating that “Variable #101 is used in the machining program name O0123, and the machining program name O0789 cannot be saved.” Here, the processing formula name O0789 indicates the processing formula 511b.

在步驟S46中，程式編輯部57會使用變數512來進行新的加工程式511b的編輯或製作。In step S46, the program editing unit 57 uses the variable 512 to edit or create a new processing formula 511b.

圖15是表示第2實施形態之數值控制裝置5的處理的流程圖。在步驟S51中，數值控制裝置5的輸入部56會對程式編輯部57通知加工程式511b的執行之要求。程式編輯部57會從記憶部51讀出加工程式511b，輸入部56將變數512輸入程式編輯部57。又，程式編輯部57會從記憶部51讀出變數清單資訊513。FIG15 is a flowchart showing the processing of the numerical control device 5 of the second embodiment. In step S51, the input unit 56 of the numerical control device 5 notifies the program editing unit 57 of the request to execute the processing formula 511b. The program editing unit 57 reads the processing formula 511b from the memory unit 51, and the input unit 56 inputs the variable 512 to the program editing unit 57. In addition, the program editing unit 57 reads the variable list information 513 from the memory unit 51.

在步驟S52中，程式編輯部57會判定所輸入之變數512是否存在於變數清單資訊513。在所輸入之變數512存在於變數清單資訊513的情況下(是)，處理會轉移到步驟S53。另一方面，在變數512不存在於變數清單資訊513的情況下(否)，處理會轉移到步驟S56。In step S52, the program editing unit 57 determines whether the input variable 512 exists in the variable list information 513. If the input variable 512 exists in the variable list information 513 (yes), the process moves to step S53. On the other hand, if the variable 512 does not exist in the variable list information 513 (no), the process moves to step S56.

在步驟S53中，程式編輯部57在變數512存在於變數清單資訊513的情況下，會依據變數清單資訊513來判定加工程式511b與變數512之對應關係。在加工程式511b與變數512之對應關係為不同的情況下，亦即加工程式511b與變數512未建立有對應的情況下(是)，處理會轉移到步驟S54。另一方面，在加工程式511b與變數512建立有對應的情況下(否)，處理會轉移到步驟S56。In step S53 , when the variable 512 exists in the variable list information 513 , the program editing unit 57 determines the corresponding relationship between the processing formula 511 b and the variable 512 based on the variable list information 513 . When the corresponding relationship between the processing formula 511b and the variable 512 is different, that is, when the processing formula 511b and the variable 512 are not corresponding (Yes), the process will transfer to step S54. On the other hand, when the processing equation 511b is associated with the variable 512 (No), the process proceeds to step S56.

在步驟S54中，程式編輯部57會在在加工程式511b中，不使用所輸入之變數512，而中止或禁止加工程式511b的執行。In step S54, the program editing unit 57 does not use the input variable 512 in the processing formula 511b, and terminates or prohibits the execution of the processing formula 511b.

在步驟S55中，程式編輯部57會將表示無法執行加工程式511b之警告訊息顯示於顯示部58(參照圖12)。In step S55, the program editing unit 57 displays a warning message indicating that the processing program 511b cannot be executed on the display unit 58 (see FIG. 12).

在步驟S56中，程式編輯部57會使用變數512來執行新的加工程式511b。In step S56, the program editing part 57 uses the variable 512 to execute the new processing program 511b.

藉由這樣的構成，第2實施形態之數值控制系統1，從全部的加工程式511中，將已和加工程式511建立對應之變數512的變數清單資訊513通知到數值控制裝置5。藉此，數值控制系統1可以避免進行重複了已和加工程式建立對應之變數之加工程式的編輯或製作。With such a configuration, the numerical control system 1 of the second embodiment notifies the numerical control device 5 of the variable list information 513 of the variables 512 that have been associated with the processing formulas 511 from among all the processing formulas 511. In this way, the numerical control system 1 can avoid duplication of editing or creating processing formulas that duplicate variables that have been associated with the processing formulas.

又，數值控制系統1在執行重複了已和加工程式建立對應之變數之加工程式的情況下，會依據變數清單資訊來中止或禁止加工程式的執行。藉此，數值控制系統1可以避免因為已和加工程式建立對應之變數的重複而可能產生之如下的不良狀況：加工不良、工具機2的破損、工具機2與機器人3的衝撞等。Furthermore, when executing a machining formula that duplicates a variable that has been established to correspond to the machining formula, the numerical control system 1 will terminate or prohibit the execution of the machining formula according to the variable list information. In this way, the numerical control system 1 can avoid the following adverse conditions that may be caused by duplication of variables that have been established to correspond to the machining formula: poor machining, damage to the machine tool 2, collision between the machine tool 2 and the robot 3, etc.

[第3實施形態] 一邊參考圖16~圖24，一邊說明第3實施形態之數值控制系統1的處理。圖16~圖21是顯示第3實施形態之數值控制系統1的處理之例的圖，圖22~圖24是顯示第3實施形態之數值控制系統1的處理之流程的流程圖。第3實施形態之數值控制系統1是在機器人程式611a中，使用以及執行在加工程式511中使用中的變數512。 [Third Implementation] The processing of the numerical control system 1 of the third implementation is described with reference to Fig. 16 to Fig. 24. Fig. 16 to Fig. 21 are diagrams showing examples of the processing of the numerical control system 1 of the third implementation, and Fig. 22 to Fig. 24 are flow charts showing the flow of the processing of the numerical control system 1 of the third implementation. The numerical control system 1 of the third implementation is in the robot program 611a, and uses and executes the variable 512 used in the processing formula 511.

圖22是顯示第3實施形態之產業用裝置4的處理的流程圖。在步驟S61中，變數清單資訊生成部41會向產業用裝置4的資料收發部43通知：數值控制裝置5的記憶部51中的包含變數512之全部的加工程式511之取得要求、與機器人控制裝置6的記憶部61中的包含變數512之全部的機器人程式611之取得要求。FIG. 22 is a flowchart showing the processing of the industrial device 4 according to the third embodiment. In step S61, the variable list information generating unit 41 notifies the data transmitting and receiving unit 43 of the industrial device 4 of the acquisition request for all the processing equations 511 including the variables 512 in the memory unit 51 of the numerical control device 5, and the robot control A request to obtain the robot program 611 including all the variables 512 in the memory unit 61 of the device 6 .

資料收發部43會透過數值控制裝置5的資料收發部55，取得從記憶部51讀出之包含變數512的全部的加工程式511。又，資料收發部43會透過機器人控制裝置6的資料收發部65，取得從機器人控制裝置6的記憶部61讀出之包含變數512的全部的機器人程式611。資料收發部43會將取得之全部的加工程式511以及全部的機器人程式611輸入到變數清單資訊生成部41。(參照圖16)。The data transceiver unit 43 acquires all processing formulas 511 including variables 512 read from the memory unit 51 through the data transceiver unit 55 of the numerical control device 5. Furthermore, the data transceiver unit 43 acquires all robot programs 611 including variables 512 read from the memory unit 61 of the robot control device 6 through the data transceiver unit 65 of the robot control device 6. The data transceiver unit 43 inputs all the processing formulas 511 and all the robot programs 611 acquired into the variable list information generating unit 41. (See FIG. 16 ).

在步驟S62中，變數清單資訊生成部41會製作變數清單資訊612，並檢索包含在輸入之加工程式511以及機器人程式611中之變數512(參照圖17)。變數清單資訊生成部41會將檢索出之變數512，和包含該變數512之加工程式511或機器人程式611建立對應並追加至變數清單資訊612(參照圖18)。在此，如圖18所示，變數清單資訊612是將使用中的變數，與加工程式511及/或機器人程式611的程式名稱建立對應來記憶。變數清單資訊生成部41在對已輸入之加工程式511以及機器人程式611全部檢索之後，會將變數清單資訊612輸入至變數清單資訊輸出部42。In step S62, the variable list information generating unit 41 creates variable list information 612 and retrieves the variables 512 included in the input processing formula 511 and the robot program 611 (see FIG. 17). The variable list information generating unit 41 establishes a correspondence between the retrieved variables 512 and the processing formula 511 or the robot program 611 containing the variables 512 and adds them to the variable list information 612 (see FIG. 18). Here, as shown in FIG. 18, the variable list information 612 stores the variables in use by establishing a correspondence with the program names of the processing formula 511 and/or the robot program 611. After searching all the input processing formula 511 and robot program 611 , the variable list information generating unit 41 inputs the variable list information 612 to the variable list information output unit 42 .

在步驟S63中，變數清單資訊輸出部42會將變數清單資訊612輸出到資料收發部55，且資料收發部43會將變數清單資訊612輸出到機器人控制裝置6的資料收發部65。In step S63 , the variable list information output unit 42 outputs the variable list information 612 to the data sending and receiving unit 55 , and the data sending and receiving unit 43 outputs the variable list information 612 to the data sending and receiving unit 65 of the robot control device 6 .

圖23是顯示在第3實施形態之機器人控制裝置6中進行機器人程式611a的編輯或製作時的處理的流程圖。 在步驟S71中，機器人控制裝置6的輸入部66會對程式編輯部67通知機器人程式611的製作或編輯之要求。在製作機器人程式611的情況下，程式編輯部67會生成機器人程式611，並記憶於記憶部61。在編輯機器人程式611的情況下，程式編輯部67會從記憶部61讀出機器人程式611。在編輯機器人程式時，輸入部66會對程式編輯部67輸入變數512。 FIG. 23 is a flowchart showing the processing when editing or creating a robot program 611a in the robot control device 6 of the third embodiment. In step S71, the input unit 66 of the robot control device 6 notifies the program editing unit 67 of the request to create or edit the robot program 611. When creating the robot program 611, the program editing unit 67 generates the robot program 611 and stores it in the memory unit 61. When editing the robot program 611, the program editing unit 67 reads the robot program 611 from the memory unit 61. When editing the robot program, the input unit 66 inputs the variable 512 to the program editing unit 67.

在步驟S72中，程式編輯部67會從記憶部61讀出變數清單資訊612，且判定所輸入之變數512是否存在於變數清單資訊612。在所輸入之變數512存在於變數清單資訊612的情況下(是)，處理會轉移到步驟S73。另一方面，在變數512不存在於變數清單資訊612的情況下(否)，處理會轉移到步驟S76。In step S72, the program editing unit 67 reads the variable list information 612 from the memory unit 61 and determines whether the input variable 512 exists in the variable list information 612. If the input variable 512 exists in the variable list information 612 (yes), the process moves to step S73. On the other hand, if the variable 512 does not exist in the variable list information 612 (no), the process moves to step S76.

在步驟S73中，程式編輯部67在變數512存在於變數清單資訊612的情況下，會依據變數清單資訊612來判定機器人程式611a與變數512之對應關係。在機器人程式611a與變數512之對應關係為不同的情況下，亦即機器人程式611a與變數512並未建立有對應的情況下(是)，處理會轉移到步驟S74。另一方面，在機器人程式611a與變數512建立有對應的情況下(否)，處理會轉移到步驟S76。In step S73, when the variable 512 exists in the variable list information 612, the program editing unit 67 determines the correspondence between the robot program 611a and the variable 512 according to the variable list information 612. When the correspondence between the robot program 611a and the variable 512 is different, that is, when the robot program 611a and the variable 512 are not corresponding (yes), the process will transfer to step S74. On the other hand, when the robot program 611a and the variable 512 are corresponding (no), the process will transfer to step S76.

在步驟S74中，程式編輯部67會在機器人程式611a中，將所輸入之變數512不使用而刪除。又，程式編輯部67亦可不使用所輸入之變數512，而禁止機器人程式611a的保存。In step S74, the program editing unit 67 deletes the input variable 512 from the robot program 611a without using it. In addition, the program editor 67 may not use the input variable 512 and may prohibit the saving of the robot program 611a.

在步驟S75中，程式編輯部57會使警告訊息顯示於顯示部68(參照圖20)。在圖20之例中，顯示部68會顯示表示「變數#101是在加工程式名稱O0123與機器人程式名稱TEST1中使用、以及無法保存機器人程式名稱TEST2」之警告訊息。在此，機器人程式名稱TEST2是表示機器人程式611a。In step S75, the program editing part 57 causes the warning message to be displayed on the display part 68 (see FIG. 20). In the example of FIG. 20 , the display unit 68 displays a warning message indicating that "Variable #101 is used in the machining program name O0123 and the robot program name TEST1, and the robot program name TEST2 cannot be saved." Here, the robot program name TEST2 represents the robot program 611a.

在步驟S76中，程式編輯部67會使用變數512來進行機器人程式611a的編輯或製作。In step S76, the program editing unit 67 uses the variables 512 to edit or create the robot program 611a.

圖24是顯示在第3實施形態之機器人控制裝置6中執行機器人程式611a時的處理的流程圖。在步驟S81中，在已執行機器人程式611的情況下，程式輸入部62會從記憶部61讀出機器人程式611並輸入分析部63。FIG. 24 is a flowchart showing processing when the robot program 611a is executed in the robot control device 6 of the third embodiment. In step S81 , when the robot program 611 has been executed, the program input unit 62 reads the robot program 611 from the storage unit 61 and inputs it into the analysis unit 63 .

在步驟S82中，分析部63就每個指令區塊，分析基於機器人程式611a之指令類別。在分析變數512時，分析部63會從記憶部61讀出變數清單資訊612，並判定變數512是否存在於變數清單資訊612。在變數512存在於變數清單資訊612的情況下(是)，處理會轉移到步驟S83。另一方面，在變數512不存在於變數清單資訊612的情況下(否)，處理會轉移到步驟S86。In step S82, the analysis unit 63 analyzes the instruction type based on the robot program 611a for each instruction block. When analyzing the variable 512 , the analysis unit 63 reads the variable list information 612 from the storage unit 61 and determines whether the variable 512 exists in the variable list information 612 . If the variable 512 exists in the variable list information 612 (Yes), the process proceeds to step S83. On the other hand, if the variable 512 does not exist in the variable list information 612 (NO), the process proceeds to step S86.

在步驟S83中，分析部63會依據變數清單資訊612，來判定執行中的機器人程式611a與變數512之對應關係。在機器人程式611a與變數512之對應關係為不同的情況下，亦即變數512並未和執行中的機器人程式611a建立有對應的情況下(是)，處理會轉移到步驟S84。另一方面，在變數512不存在於變數清單資訊的情況下、或機器人程式611與變數512在變數清單資訊612建立有對應的情況下(否)，處理會轉移到步驟S86。In step S83, the analysis unit 63 determines the correspondence between the robot program 611a being executed and the variable 512 according to the variable list information 612. When the correspondence between the robot program 611a and the variable 512 is different, that is, when the variable 512 is not corresponding to the robot program 611a being executed (yes), the process will transfer to step S84. On the other hand, when the variable 512 does not exist in the variable list information, or when the robot program 611 and the variable 512 are corresponding in the variable list information 612 (no), the process will transfer to step S86.

在步驟S84中，分析部63是在機器人程式611a，不使用變數512，而中止或禁止機器人程式611a的執行。In step S84, the analyzing unit 63 does not use the variable 512 in the robot program 611a, and terminates or prohibits the execution of the robot program 611a.

在步驟S85中，分析部63會將表示無法執行機器人程式611a之警告訊息顯示於顯示部68(參照圖21)。In step S85, the analysis unit 63 will display a warning message indicating that the robot program 611a cannot be executed on the display unit 68 (refer to Figure 21).

在步驟S86中，分析部63會使用變數512來執行機器人程式611a。具體而言，控制部64會依照分析結果，透過資料收發部55以及資料收發部65來讀寫數值控制裝置5的記憶部51的變數512。例如，在分析部63分析了移動指令時，控制部64會依據移動指令來驅動機器人3的各關節。In step S86, the analysis unit 63 uses the variable 512 to execute the robot program 611a. Specifically, the control unit 64 reads and writes the variable 512 of the memory unit 51 of the numerical control device 5 through the data transceiver unit 55 and the data transceiver unit 65 according to the analysis result. For example, when the analysis unit 63 analyzes the movement command, the control unit 64 drives the joints of the robot 3 according to the movement command.

藉由這樣的構成，第3實施形態之數值控制系統1會將變數清單資訊612通知到機器人控制裝置6。藉此，數值控制系統1可在例如機器人程式編輯時，依據變數清單資訊，而禁止使用了和加工程式建立有對應之變數之機器人程式的保存，並通知警告訊息。藉此，數值控制系統1可以避免進行重複使用了已和加工程式建立對應之變數之機器人程式的製作。With such a configuration, the numerical control system 1 of the third embodiment notifies the robot control device 6 of the variable list information 612 . Thereby, for example, when editing a robot program, the numerical control system 1 can prohibit the saving of a robot program that uses variables corresponding to the machining program based on the variable list information, and notify a warning message. Thereby, the numerical control system 1 can avoid creating a robot program that repeatedly uses variables already associated with the machining program.

又，數值控制系統1在執行重複使用了已和加工程式建立對應之變數之機器人程式的情況下，會在依據變數清單資訊來讀寫已和加工程式建立對應之變數之前，禁止機器人程式的執行。藉此，數值控制系統1可以避免如下的不良狀況：因機器人3將加工程式中的變數之值寫入而引起之加工不良、工具機2的破損、因機器人3將加工程式中的變數之值讀入而可能產生之工具機2與機器人3的衝撞等。In addition, when the numerical control system 1 executes a robot program that repeatedly uses variables that have been associated with the machining program, it will prohibit the execution of the robot program until the variables that have been associated with the machining program are read and written based on the variable list information. . In this way, the numerical control system 1 can avoid the following undesirable situations: machining defects caused by the robot 3 writing the values of variables in the machining formula, damage to the machine tool 2, and the robot 3 writing the values of variables in the machining formula. Collisions between the machine tool 2 and the robot 3 that may occur due to reading.

又，變數清單資訊生成部41會從機器人控制裝置6中的全部的機器人程式611之中取得變數512，並將變數512與機器人程式611之對應追加到變數清單資訊612。程式編輯部67在包含於變數清單資訊612之變數512為在不存在於變數清單資訊612之機器人程式611中使用的情況下，即不使用變數512。In addition, the variable list information generating unit 41 obtains the variables 512 from all the robot programs 611 in the robot control device 6, and adds the correspondence between the variables 512 and the robot programs 611 to the variable list information 612. When the variable 512 included in the variable list information 612 is used in the robot program 611 that does not exist in the variable list information 612, the program editing unit 67 does not use the variable 512.

藉此，數值控制系統1可以避免如下的不良狀況：因機器人3將加工程式511中的變數512之值寫入而引起之加工不良、工具機2的破損、因機器人3將加工程式511中的變數512之值讀入而可能產生之工具機2與機器人3的衝撞等。Thereby, the numerical control system 1 can avoid the following undesirable conditions: poor processing caused by the robot 3 writing the value of the variable 512 in the processing formula 511, damage to the machine tool 2, and possible collision between the machine tool 2 and the robot 3 caused by the robot 3 reading the value of the variable 512 in the processing formula 511.

又，在數值控制系統1中，不使用變數包含以下作法當中的至少1種：禁止變數的保存、禁止變數的參照、以及禁止包含變數之機器人程式的執行。藉由這樣的構成，數值控制系統1可以適當地避免因為已和加工程式或機器人程式建立對應之變數的重複而可能產生之如加工不良、工具機2的破損、工具機2與機器人3的衝撞等的不良狀況。In addition, in the numerical control system 1, not using variables includes at least one of the following methods: prohibiting storage of variables, prohibiting reference of variables, and prohibiting execution of a robot program including variables. With such a configuration, the numerical control system 1 can appropriately avoid machining defects, damage to the machine tool 2, and collisions between the machine tool 2 and the robot 3 that may occur due to duplication of variables that have been mapped to the machining program or robot program. etc. adverse conditions.

又，機器人控制裝置6更具備顯示部68，前述顯示部68在不使用變數的情況下，是顯示表示不使用變數之警告訊息。藉由這樣的構成，數值控制系統1可將不使用變數之情形適當地對使用者通報。In addition, the robot control device 6 further includes a display unit 68. When the variables are not used, the display unit 68 displays a warning message indicating that the variables are not used. With such a configuration, the numerical control system 1 can appropriately notify the user of situations where variables are not used.

[第4實施形態] 一邊參照圖16~圖19以及圖25~圖27，一邊說明第4實施形態之數值控制系統1的處理。圖16~圖19、圖25以及圖26是表示第4實施形態之數值控制系統1的處理之例的圖，圖27是表示第4實施形態之數值控制系統1的處理之流程的流程圖。 [Fourth Embodiment] The processing of the numerical control system 1 of the fourth embodiment will be described with reference to FIGS. 16 to 19 and 25 to 27 . 16 to 19 , 25 and 26 are diagrams showing examples of processing in the numerical control system 1 of the fourth embodiment, and FIG. 27 is a flowchart showing the flow of processing in the numerical control system 1 of the fourth embodiment.

第4實施形態之數值控制系統1是在產業用裝置4顯示變數清單資訊。The numerical control system 1 of the fourth embodiment displays variable list information on the industrial device 4 .

圖27是顯示第3實施形態之產業用裝置4的處理的流程圖。在步驟S91中，變數清單資訊生成部41會向產業用裝置4的資料收發部43通知：數值控制裝置5的記憶部51中的包含變數512之全部的加工程式511之取得要求、與機器人控制裝置6的記憶部61中的包含變數512之全部的機器人程式611之取得要求。FIG27 is a flowchart showing the processing of the industrial device 4 of the third embodiment. In step S91, the variable list information generating unit 41 notifies the data transceiving unit 43 of the industrial device 4 of the acquisition request of all processing formulas 511 including variables 512 in the memory unit 51 of the numerical control device 5 and the acquisition request of all robot programs 611 including variables 512 in the memory unit 61 of the robot control device 6.

資料收發部43會透過數值控制裝置5的資料收發部55，取得從記憶部51讀出之包含變數512的全部的加工程式511。又，資料收發部43會透過機器人控制裝置6的資料收發部65，取得從機器人控制裝置6的記憶部61讀出之包含變數512的全部的機器人程式611。資料收發部43會將取得之全部的加工程式511以及全部的機器人程式611輸入到變數清單資訊生成部41。(參照圖16)。The data transceiver unit 43 acquires all processing formulas 511 including variables 512 read from the memory unit 51 through the data transceiver unit 55 of the numerical control device 5. Furthermore, the data transceiver unit 43 acquires all robot programs 611 including variables 512 read from the memory unit 61 of the robot control device 6 through the data transceiver unit 65 of the robot control device 6. The data transceiver unit 43 inputs all the processing formulas 511 and all the robot programs 611 acquired into the variable list information generating unit 41. (See FIG. 16 ).

在步驟S92中，變數清單資訊生成部41會製作變數清單資訊612，並檢索包含在輸入之加工程式511以及機器人程式611中之變數512(參照圖17)。變數清單資訊生成部41會將檢索出之變數512，和包含該變數512之加工程式511或機器人程式611建立對應並追加至變數清單資訊612(參照圖18)。在此，如圖18所示，變數清單資訊612是將使用中的變數，與加工程式511及/或機器人程式611的程式名稱建立對應來記憶。變數清單資訊生成部41在對已輸入之加工程式511以及機器人程式611全部檢索之後，會將變數清單資訊612輸入至變數清單資訊輸出部42。In step S92, the variable list information generation unit 41 creates the variable list information 612 and searches for the variables 512 included in the input machining formula 511 and the robot program 611 (see FIG. 17). The variable list information generating unit 41 associates the retrieved variable 512 with the machining formula 511 or robot program 611 including the variable 512, and adds it to the variable list information 612 (see FIG. 18 ). Here, as shown in FIG. 18 , the variable list information 612 associates and memorizes the variables in use with the program names of the machining program 511 and/or the robot program 611 . The variable list information generation unit 41 inputs the variable list information 612 to the variable list information output unit 42 after searching all the input machining formulas 511 and robot programs 611 .

在步驟S93中，變數清單資訊輸出部42會將變數清單資訊612顯示於顯示部44(參照圖25)。又，變數清單資訊輸出部42會將變數清單資訊612輸出到資料收發部55，且資料收發部43會將變數清單資訊612發送到機器人控制裝置6的資料收發部65。又，資料收發部43會將變數清單資訊612發送到數值控制裝置5的資料收發部55。In step S93, the variable list information output unit 42 displays the variable list information 612 on the display unit 44 (see FIG. 25). Furthermore, the variable list information output unit 42 outputs the variable list information 612 to the data transmitting and receiving unit 55 , and the data transmitting and receiving unit 43 transmits the variable list information 612 to the data transmitting and receiving unit 65 of the robot control device 6 . Furthermore, the data transmitting and receiving unit 43 transmits the variable list information 612 to the data transmitting and receiving unit 55 of the numerical control device 5 .

在步驟S94中，數值控制裝置5會將變數清單資訊612保存於記憶部51，機器人控制裝置6會將變數清單資訊612保存於記憶部61。於製作加工程式511時，數值控制裝置5會使用未包含於變數清單資訊612的加工程式511或機器人程式611中的變數，來製作新的加工程式511c，並製作新的機器人程式611c(參照圖26)。In step S94, the numerical control device 5 saves the variable list information 612 in the storage unit 51, and the robot control device 6 saves the variable list information 612 in the storage unit 61. When creating the machining formula 511, the numerical control device 5 will use variables in the machining formula 511 or the robot program 611 that are not included in the variable list information 612 to create a new machining formula 511c, and create a new robot program 611c (refer to the figure). 26).

藉由這樣的構成，第4實施形態之數值控制系統1可以避免進行重複使用了已和加工程式511建立對應之變數512之加工程式的製作。又，數值控制系統1從數值控制裝置的全部的加工程式511中，製作已和加工程式511建立對應之變數512的變數清單資訊612，並輸出變數清單資訊612。藉此，數值控制系統1可以在決定要在新的用途上使用之變數時，省去確認加工程式511之勞務。With such a configuration, the numerical control system 1 of the fourth embodiment can avoid creating a machining formula that repeatedly uses the variables 512 already associated with the machining formula 511 . Furthermore, the numerical control system 1 creates variable list information 612 of the variables 512 associated with the processing formula 511 from all the machining formulas 511 of the numerical control device, and outputs the variable list information 612 . Thereby, the numerical control system 1 can save the labor of confirming the processing formula 511 when deciding the variables to be used in a new application.

又，變數清單資訊生成部41會從機器人控制裝置6中的全部的機器人程式611之中取得變數512，並將變數512與機器人程式611之對應追加到變數清單資訊612。藉此，數值控制系統1可以避免如下的不良狀況：因機器人3將加工程式511中的變數512之值寫入而引起之加工不良、工具機2的破損、因機器人3將加工程式511中的變數512之值讀入而可能產生之工具機2與機器人3的衝撞等。In addition, the variable list information generating unit 41 obtains the variables 512 from all the robot programs 611 in the robot control device 6, and adds the correspondence between the variables 512 and the robot programs 611 to the variable list information 612. In this way, the numerical control system 1 can avoid the following undesirable situations: machining defects caused by the robot 3 writing the value of the variable 512 in the processing formula 511, damage to the machine tool 2, or damage caused by the robot 3 writing the value of the variable 512 in the processing formula 511. The collision between machine tool 2 and robot 3 may occur when the value of variable 512 is read.

又，產業用裝置4更具備顯示部44，前述顯示部44依據變數清單資訊612來顯示變數512與加工程式511或機器人程式611之對應。藉由這樣的構成，數值控制系統可將不使用變數512之情形適當地對使用者通報。Furthermore, the industrial device 4 is further provided with a display unit 44, and the display unit 44 displays the correspondence between the variable 512 and the processing formula 511 or the robot program 611 according to the variable list information 612. With such a configuration, the numerical control system can appropriately notify the user of the situation where the variable 512 is not used.

以上，說明了本發明的實施形態，但上述之數值控制系統1可以藉由硬體、軟體或其等的組合來實現。又，可藉由上述之數值控制系統1進行之控制方法亦可藉由硬體、軟體或其等的組合來實現。在此，所謂的藉由軟體來實現意指藉由電腦讀入程式來執行而實現。The above describes the implementation form of the present invention, but the numerical control system 1 can be implemented by hardware, software or a combination thereof. In addition, the control method that can be performed by the numerical control system 1 can also be implemented by hardware, software or a combination thereof. Here, the so-called implementation by software means that the computer reads the program to execute and implement it.

程式可以使用各種類型的非暫時的電腦可讀取媒體(non-transitory computer readable medium)來記憶，並供給至電腦。非暫時的電腦可讀取媒體包含各種類型之有實體的記錄媒體(tangible storage medium)。非暫時的電腦可讀取媒體的例子包含：磁性記錄媒體(例如硬磁碟驅動機)、光磁記錄媒體(例如光碟)、CD-ROM(唯讀記憶體，Read Only Memory)、CD-R、CD-R/W、半導體記憶體(例如遮罩ROM、PROM(可程式唯讀記憶體，Programmable ROM)、EPROM(可抹除可程式唯讀記憶體，Erasable PROM)、 快閃ROM、RAM(隨機存取記憶體，random access memory))。Programs can be stored and provided 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 (such as hard disk drives), optical magnetic recording media (such as optical disks), CD-ROM (Read Only Memory), CD-R, CD-R/W, semiconductor memory (such as mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (random access memory)).

雖然已針對本揭示詳細敘述，但本揭示並不限定於上述之一個個的實施形態。這些實施形態可在不脫離本揭示的主旨之範圍內、或在不脫離申請專利範圍所記載之內容與從其均等物所導出之本揭示的宗旨的範圍內，進行各種的追加、置換、變更、局部刪除等。又，也可以組合這些實施形態來實施。例如，在上述之實施形態中，各動作的順序或各處理的順序只是作為一例而顯示之順序，實施形態並不限定於這些。又，在上述之實施形態的說明中使用有數值或數式的情況下也是同樣的。Although the present disclosure has been described in detail, the present disclosure is not limited to the above-mentioned individual implementation forms. These implementation forms may be variously added, replaced, changed, partially deleted, etc. without departing from the scope of the main purpose of the present disclosure, or without departing from the content described in the scope of the patent application and the purpose of the present disclosure derived from its equivalents. Moreover, these implementation forms may also be implemented in combination. For example, in the above-mentioned implementation forms, the order of each action or the order of each processing is only shown as an example, and the implementation forms are not limited to these. Moreover, the same is true when numerical values or formulas are used in the description of the above-mentioned implementation forms.

關於上述實施形態以及變形例，進一步揭示以下之附記。 (附記1) 一種數值控制系統，是從數值控制裝置的加工程式透過機器人控制裝置來控制機器人，前述數值控制系統具備： 變數清單資訊生成部，從前述數值控制裝置中的全部的前述加工程式之中取得變數，並生成已將前述變數與前述加工程式建立對應之變數清單資訊；及 程式編輯部，在包含於前述數值控制裝置中的前述加工程式或前述機器人控制裝置中的機器人程式之前述變數，是以和前述變數清單資訊不同的對應關係被使用的情況下，即不使用前述變數；在包含於前述變數清單資訊之前述變數，是在不存在於前述變數清單資訊的前述加工程式中被使用的情況下，即不使用前述變數。 (附記2) 如附記1記載之數值控制系統，其中變數清單資訊生成部是從前述機器人控制裝置中的全部的前述機器人程式之中取得前述變數，並將前述變數與前述機器人程式之對應追加到前述變數清單資訊， 前述程式編輯部在包含於前述變數清單資訊之前述變數，是在不存在於前述變數清單資訊之前述機器人程式中被使用的情況下，即不使用前述變數。 (附記3) 如附記1或2記載之數值控制系統，其中不使用前述變數包含以下作法當中的至少1種：禁止前述變數的保存、禁止前述變數的參照、以及禁止包含前述變數之前述加工程式或前述機器人程式的執行。 (附記4) 如附記1或2記載之數值控制系統，其更具備顯示部，前述顯示部在不使用前述變數的情況下，是顯示表示不使用前述變數之警告訊息。 (附記5) 一種數值控制系統，是從數值控制裝置的加工程式透過機器人控制裝置來控制機器人，前述數值控制系統具備： 變數清單資訊生成部，從前述數值控制裝置中的全部的前述加工程式之中取得變數，並生成已將前述變數與前述加工程式建立對應之變數清單資訊；及 變數清單資訊輸出部，將前述變數清單資訊輸出到輸出裝置。 (附記6) 如附記5記載之數值控制系統，其中前述變數清單資訊生成部是從前述機器人控制裝置中的全部的機器人程式之中取得前述變數，並將前述變數與前述機器人程式之對應追加到前述變數清單資訊。 (附記7) 如附記6記載之數值控制系統，其更具備顯示部，前述顯示部依據前述變數清單資訊來顯示前述變數與前述加工程式或前述機器人程式之對應。 (附記8) 一種數值控制裝置，使用加工程式透過機器人控制裝置來控制機器人，前述數值控制裝置具備： 變數清單資訊生成部，從前述數值控制裝置中的前述加工程式或前述機器人控制裝置中的機器人程式之中取得變數，並生成已將前述變數與前述加工程式或前述機器人程式建立對應之變數清單資訊；及 程式編輯部，在包含於前述加工程式或前述機器人程式之前述變數，是以和前述變數清單資訊不同的對應關係被使用的情況下，即不使用前述變數；在包含於前述變數清單資訊之前述變數，是在不存在於前述變數清單資訊的前述加工程式中被使用的情況下，即不使用前述變數。 (附記9) 如附記8記載之數值控制裝置，其中不使用前述變數包含以下作法當中的至少1種：禁止前述變數的保存、禁止前述變數的參照、以及禁止包含前述變數之前述加工程式或前述機器人程式的執行。 (附記10) 如附記9記載之數值控制系統，其更具備顯示部，前述顯示部在不使用前述變數的情況下，是顯示表示不使用前述變數之警告訊息。 (附記11) 一種產業用裝置，具備： 接收部，從數值控制裝置或機器人控制裝置接收加工程式或機器人程式； 變數清單資訊生成部，從前述數值控制裝置中的前述加工程式或前述機器人控制裝置中的機器人程式之中取得變數，並生成已將前述變數與前述加工程式或前述機器人程式建立對應之變數清單資訊；及 變數清單資訊輸出部，將前述變數清單資訊輸出到輸出裝置。 (附記12) 如附記11記載之產業用裝置，其更具備顯示部，前述顯示部依據前述變數清單資訊來顯示前述變數與前述加工程式或前述機器人程式之對應。 (附記13) 一種電腦程式，用於使從數值控制裝置的加工程式透過機器人控制裝置來控制機器人之電腦執行以下步驟： 從前述數值控制裝置中的全部的加工程式之中取得變數，並生成已將前述變數與前述加工程式建立對應之變數清單資訊； 在包含於前述數值控制裝置中的前述加工程式或前述機器人控制裝置中的機器人程式之前述變數，是以和前述變數清單資訊不同的對應關係被使用的情況下，即不使用前述變數；及 在包含於前述變數清單資訊之前述變數，是在不存在於前述變數清單資訊之前述加工程式中被使用的情況下，即不使用前述變數。 The following notes are further disclosed with respect to the above-mentioned embodiments and variations. (Note 1) A numerical control system controls a robot from a processing formula of a numerical control device through a robot control device, the numerical control system comprising: a variable list information generating unit, which obtains variables from all the processing formulas in the numerical control device and generates variable list information in which the variables are associated with the processing formulas; and a program editing unit, which does not use the variables when the processing formula in the numerical control device or the robot program in the robot control device is used in a different relationship from the variable list information; and does not use the variables when the processing formula in the variable list information is used in a processing formula that does not exist in the variable list information. (Appendix 2) The numerical control system as described in Appendix 1, wherein the variable list information generating unit obtains the variables from all the robot programs in the robot control device, and adds the correspondence between the variables and the robot programs to the variable list information, The program editing unit does not use the variables before the variables included in the variable list information if the variables are not used in the robot programs before the variable list information. (Appendix 3) The numerical control system as described in Appendix 1 or 2, wherein not using the variables includes at least one of the following methods: prohibiting the saving of the variables, prohibiting the reference of the variables, and prohibiting the execution of the processing formula or the robot program before the variables are included. (Appendix 4) The numerical control system described in Appendix 1 or 2 is further provided with a display unit, and the display unit displays a warning message indicating that the variable is not used when the variable is not used. (Appendix 5) A numerical control system controls a robot from a processing formula of a numerical control device through a robot control device, and the numerical control system comprises: a variable list information generating unit, which obtains variables from all the processing formulas in the numerical control device and generates variable list information in which the variables are associated with the processing formulas; and a variable list information output unit, which outputs the variable list information to an output device. (Appendix 6) The numerical control system as described in Appendix 5, wherein the variable list information generating unit obtains the variables from all robot programs in the robot control device, and adds the correspondence between the variables and the robot programs to the variable list information. (Appendix 7) The numerical control system as described in Appendix 6 is further provided with a display unit, and the display unit displays the correspondence between the variables and the processing formula or the robot program according to the variable list information. (Note 8) A numerical control device that uses a processing formula to control a robot through a robot control device, the numerical control device comprising: a variable list information generating unit that obtains variables from the processing formula in the numerical control device or the robot program in the robot control device, and generates variable list information that has established a correspondence between the variables and the processing formula or the robot program; and a program editing unit that does not use the variables when the variables included in the processing formula or the robot program are used in a different correspondence relationship from the variable list information; and does not use the variables included in the variable list information when the variables are used in the processing formula that does not exist in the variable list information. (Appendix 9) The numerical control device as described in Appendix 8, wherein not using the aforementioned variable includes at least one of the following practices: prohibiting the saving of the aforementioned variable, prohibiting the reference of the aforementioned variable, and prohibiting the execution of the aforementioned processing formula or the aforementioned robot program before including the aforementioned variable. (Appendix 10) The numerical control system as described in Appendix 9 is further provided with a display unit, and the aforementioned display unit displays a warning message indicating that the aforementioned variable is not used when the aforementioned variable is not used. (Supplementary Note 11) An industrial device comprises: A receiving unit for receiving a processing formula or a robot program from a numerical control device or a robot control device; A variable list information generating unit for obtaining variables from the processing formula in the numerical control device or the robot program in the robot control device, and generating variable list information in which the variables are associated with the processing formula or the robot program; and A variable list information output unit for outputting the variable list information to an output device. (Supplementary Note 12) The industrial device as described in Supplementary Note 11 is further provided with a display unit, which displays the association between the variables and the processing formula or the robot program according to the variable list information. (Note 13) A computer program for causing a computer that controls a robot from a processing formula of a numerical control device through a robot control device to execute the following steps: Obtaining variables from all processing formulas in the numerical control device and generating variable list information that establishes correspondence between the variables and the processing formulas; When the variables before the processing formula in the numerical control device or the robot program in the robot control device are used in a different correspondence relationship from the variable list information, the variables are not used; and When the variables before the processing formula in the variable list information are not used in the processing formula before the variable list information, the variables are not used.

1:數值控制系統 2:工具機 3:機器人 4:產業用裝置 5:數值控制裝置 6:機器人控制裝置 41:變數清單資訊生成部 42:變數清單資訊輸出部 43,55,65:資料收發部 44,58,68:顯示部 51,61:記憶部 52,62:程式輸入部 53,63:分析部 54,64:控制部 56,66:輸入部 57,67:程式編輯部 511,511a,511b,511c:加工程式 512:變數(自訂巨集變數) 513,612:變數清單資訊 611,611a,611c:機器人程式 S1~S3,S11~S16,S21~S26,S31~S33,S41~S46,S51~S56,S61~S63,S71~S76,S81~S86,S91~S94:步驟 1: Numerical control system 2: Machine tool 3: Robot 4: Industrial device 5: Numerical control device 6: Robot control device 41: Variable list information generation unit 42: Variable list information output unit 43,55,65: Data receiving and sending unit 44,58,68: Display unit 51,61: Memory unit 52,62: Program input unit 53,63: Analysis unit 54,64: Control unit 56,66: Input unit 57,67: Program editing unit 511,511a,511b,511c: Processing program 512: Variable (custom macro variable) 513,612: Variable list information 611,611a,611c:Robot program S1~S3,S11~S16,S21~S26,S31~S33,S41~S46,S51~S56,S61~S63,S71~S76,S81~S86,S91~S94:Steps

圖1是顯示本實施形態之數值控制系統的構成的方塊圖。 圖2是顯示第1實施形態的加工程式之例的圖。 圖3是顯示第1實施形態之檢索變數的處理之例的圖。 圖4是顯示第1實施形態之變數清單資訊之例的圖。 圖5是顯示第1實施形態之輸出變數清單資訊之例的圖。 圖6是顯示第1實施形態之顯示警告訊息之例的圖。 圖7是顯示第1實施形態之中止或禁止加工程式的執行之例的圖。 圖8是顯示第1實施形態之產業用裝置的處理的流程圖。 圖9是顯示在第1實施形態之數值控制裝置中進行加工程式的編輯時的處理的流程圖。 圖10是顯示第1實施形態之數值控制裝置的處理的流程圖。 圖11是顯示第2實施形態之顯示警告訊息之例的圖。 圖12是顯示第2實施形態之中止或禁止加工程式的執行之例的圖。 圖13是顯示第2實施形態之產業用裝置的處理的流程圖。 圖14是顯示在第2實施形態之數值控制裝置中進行加工程式的編輯或製作時的處理的流程圖。 圖15是顯示第2實施形態之數值控制裝置的處理的流程圖。 圖16是顯示第3實施形態之加工程式以及機器人程式之例的圖。 圖17是顯示第3實施形態之檢索變數的處理之例的圖。 圖18是顯示第3實施形態之變數清單資訊之例的圖。 圖19是顯示第3實施形態之輸出變數清單資訊之例的圖。 圖20是顯示第3實施形態之顯示警告訊息之例的圖。 圖21是顯示第3實施形態之中止或禁止機器人程式的執行之例的圖。 圖22是顯示第3實施形態之產業用裝置的處理的流程圖。 圖23是顯示在第3實施形態之機器人控制裝置中進行機器人程式的編輯或製作時的處理的流程圖。 圖24是顯示在第3實施形態之機器人控制裝置中執行機器人程式時的處理的流程圖。 圖25是顯示第4實施形態之輸出變數清單資訊之例的圖。 圖26是顯示第4實施形態之加工程式以及機器人程式之例的圖。 圖27是顯示第4實施形態之產業用裝置的處理的流程圖。 FIG. 1 is a block diagram showing the structure of the numerical control system of this embodiment. FIG. 2 is a diagram showing an example of a processing formula according to the first embodiment. FIG. 3 is a diagram showing an example of the process of retrieving variables in the first embodiment. FIG. 4 is a diagram showing an example of variable list information in the first embodiment. FIG. 5 is a diagram showing an example of output variable list information in the first embodiment. FIG. 6 is a diagram showing an example of displaying a warning message according to the first embodiment. FIG. 7 is a diagram showing an example of suspending or prohibiting the execution of a machining program in the first embodiment. FIG. 8 is a flowchart showing the processing of the industrial device according to the first embodiment. FIG. 9 is a flowchart showing processing when editing a machining formula in the numerical control device according to the first embodiment. FIG. 10 is a flowchart showing the processing of the numerical control device according to the first embodiment. FIG. 11 is a diagram showing an example of displaying a warning message according to the second embodiment. FIG. 12 is a diagram showing an example of suspending or prohibiting the execution of a machining program in the second embodiment. FIG. 13 is a flowchart showing the processing of the industrial device according to the second embodiment. FIG. 14 is a flowchart showing processing when editing or creating a machining program in the numerical control device according to the second embodiment. FIG. 15 is a flowchart showing the processing of the numerical control device according to the second embodiment. FIG. 16 is a diagram showing an example of a machining program and a robot program according to the third embodiment. FIG. 17 is a diagram showing an example of variable search processing in the third embodiment. FIG. 18 is a diagram showing an example of variable list information in the third embodiment. FIG. 19 is a diagram showing an example of output variable list information in the third embodiment. FIG. 20 is a diagram showing an example of displaying a warning message according to the third embodiment. FIG. 21 is a diagram showing an example of stopping or prohibiting the execution of the robot program in the third embodiment. FIG. 22 is a flowchart showing the processing of the industrial device according to the third embodiment. FIG. 23 is a flowchart showing processing when editing or creating a robot program in the robot control device according to the third embodiment. FIG. 24 is a flowchart showing processing when the robot program is executed in the robot control device according to the third embodiment. FIG. 25 is a diagram showing an example of output variable list information according to the fourth embodiment. FIG. 26 is a diagram showing an example of a machining program and a robot program according to the fourth embodiment. FIG. 27 is a flowchart showing the processing of the industrial device according to the fourth embodiment.

1:數值控制系統 1: Numerical control system

2:工具機 2: Machine tool

3:機器人 3:Robots

4:產業用裝置 4:Industrial equipment

5:數值控制裝置 5: Numerical control device

6:機器人控制裝置 6:Robot control device

41:變數清單資訊生成部 41: Variable list information generation department

42:變數清單資訊輸出部 42: Variable list information output department

43,55,65:資料收發部 43,55,65: Data sending and receiving department

44,58,68:顯示部 44,58,68:Display part

51,61:記憶部 51,61:Memory Department

52,62:程式輸入部 52,62:Program input department

53,63:分析部 53,63:Analysis Department

54,64:控制部 54,64:Control Department

56,66:輸入部 56,66:Input part

57,67:程式編輯部 57,67: Programming Editing Department

511:加工程式 511: Processing formula

512:變數(自訂巨集變數) 512: Variables (customized macro variables)

513,612:變數清單資訊 513,612: variable list information

611:機器人程式 611:robot program

Claims (13)

一種數值控制系統，是從數值控制裝置的加工程式透過機器人控制裝置來控制機器人，前述數值控制系統具備： 變數清單資訊生成部，從前述數值控制裝置中的全部的前述加工程式之中取得變數，並生成已將前述變數與前述加工程式建立對應之變數清單資訊；及 程式編輯部，在包含於前述數值控制裝置中的前述加工程式或前述機器人控制裝置中的機器人程式之前述變數，是以和前述變數清單資訊不同的對應關係被使用的情況下，即不使用前述變數；在包含於前述變數清單資訊之前述變數，是在不存在於前述變數清單資訊的前述加工程式中被使用的情況下，即不使用前述變數。 A numerical control system that controls a robot through a robot control device from the processing program of the numerical control device. The aforementioned numerical control system has: The variable list information generation unit obtains variables from all the aforementioned machining formulas in the aforementioned numerical control device, and generates variable list information that associates the aforementioned variables with the aforementioned machining formulas; and The program editing department does not use the above-mentioned machining program in the above-mentioned numerical control device or the above-mentioned robot program in the above-mentioned robot control device when the above-mentioned variables are used in a different correspondence relationship with the above-mentioned variable list information. Variables; if the aforementioned variables included in the aforementioned variable list information are used in the aforementioned processing formula that does not exist in the aforementioned variable list information, the aforementioned variables are not used. 如請求項1之數值控制系統，其中變數清單資訊生成部是從前述機器人控制裝置中的全部的前述機器人程式之中取得前述變數，並將前述變數與前述機器人程式之對應追加到前述變數清單資訊， 前述程式編輯部在包含於前述變數清單資訊之前述變數，是在不存在於前述變數清單資訊之前述機器人程式中被使用的情況下，即不使用前述變數。 The numerical control system of claim 1, wherein the variable list information generating unit obtains the aforementioned variables from all the aforementioned robot programs in the aforementioned robot control device, and adds the correspondence between the aforementioned variables and the aforementioned robot programs to the aforementioned variable list information. , The program editor does not use the variables included in the variable list information if they are used in the robot program that does not exist in the variable list information. 如請求項1或2之數值控制系統，其中不使用前述變數包含以下作法當中的至少1種：禁止前述變數的保存、禁止前述變數的參照、以及禁止包含前述變數之前述加工程式或前述機器人程式的執行。Such as the numerical control system of claim 1 or 2, wherein not using the aforementioned variables includes at least one of the following practices: prohibiting the saving of the aforementioned variables, prohibiting the reference of the aforementioned variables, and prohibiting the inclusion of the aforementioned variables in the aforementioned machining program or the aforementioned robot program. execution. 如請求項1或2之數值控制系統，其更具備顯示部，前述顯示部在不使用前述變數的情況下，是顯示表示不使用前述變數之警告訊息。The numerical control system of claim 1 or 2 is further provided with a display unit, and when the aforementioned variable is not used, the aforementioned display unit displays a warning message indicating that the aforementioned variable is not used. 一種數值控制系統，是從數值控制裝置的加工程式透過機器人控制裝置來控制機器人，前述數值控制系統具備： 變數清單資訊生成部，從前述數值控制裝置中的全部的前述加工程式之中取得變數，並生成已將前述變數與前述加工程式建立對應之變數清單資訊；及 變數清單資訊輸出部，將前述變數清單資訊輸出到輸出裝置。 A numerical control system controls a robot from a processing formula of a numerical control device through a robot control device, the numerical control system comprising: a variable list information generating unit, which obtains variables from all the processing formulas in the numerical control device and generates variable list information that has established a correspondence between the variables and the processing formulas; and a variable list information output unit, which outputs the variable list information to an output device. 如請求項5之數值控制系統，其中前述變數清單資訊生成部是從前述機器人控制裝置中的全部的機器人程式之中取得前述變數，並將前述變數與前述機器人程式之對應追加到前述變數清單資訊。A numerical control system as claimed in claim 5, wherein the variable list information generating unit obtains the variables from all robot programs in the robot control device, and adds the correspondence between the variables and the robot programs to the variable list information. 如請求項6之數值控制系統，其更具備顯示部，前述顯示部依據前述變數清單資訊來顯示前述變數與前述加工程式或前述機器人程式之對應。The numerical control system of claim 6 is further provided with a display unit, which displays the correspondence between the variables and the processing formula or the robot program according to the variable list information. 一種數值控制裝置，使用加工程式透過機器人控制裝置來控制機器人，前述數值控制裝置具備： 變數清單資訊生成部，從前述數值控制裝置中的前述加工程式或前述機器人控制裝置中的機器人程式之中取得變數，並生成已將前述變數與前述加工程式或前述機器人程式建立對應之變數清單資訊；及 程式編輯部，在包含於前述加工程式或前述機器人程式之前述變數，是以和前述變數清單資訊不同的對應關係被使用的情況下，即不使用前述變數；在包含於前述變數清單資訊之前述變數，是在不存在於前述變數清單資訊之前述加工程式中被使用的情況下，即不使用前述變數。 A numerical control device uses a processing formula to control a robot through a robot control device, the numerical control device comprising: a variable list information generating unit, which obtains variables from the processing formula in the numerical control device or the robot program in the robot control device, and generates variable list information that has established a correspondence between the variables and the processing formula or the robot program; and a program editing unit, which does not use the variables when the variables included in the processing formula or the robot program are used in a different correspondence relationship from the variable list information; and does not use the variables included in the variable list information when the variables are used in the processing formula that does not exist in the variable list information. 如請求項8之數值控制裝置，其中不使用前述變數包含以下作法當中的至少1種：禁止前述變數的保存、禁止前述變數的參照、以及禁止包含前述變數之前述加工程式或前述機器人程式的執行。A numerical control device as claimed in claim 8, wherein not using the aforementioned variable includes at least one of the following practices: prohibiting the saving of the aforementioned variable, prohibiting the reference of the aforementioned variable, and prohibiting the execution of the aforementioned processing formula or the aforementioned robot program that includes the aforementioned variable. 如請求項9之數值控制裝置，其更具備顯示部，前述顯示部在不使用前述變數的情況下，是顯示表示不使用前述變數之警告訊息。The numerical control device of claim 9 is further provided with a display unit, and when the aforementioned variable is not used, the aforementioned display unit displays a warning message indicating that the aforementioned variable is not used. 一種產業用裝置，具備： 接收部，從數值控制裝置或機器人控制裝置接收加工程式或機器人程式； 變數清單資訊生成部，從前述數值控制裝置中的前述加工程式或前述機器人控制裝置中的機器人程式之中取得變數，並生成已將前述變數與前述加工程式或前述機器人程式建立對應之變數清單資訊；及 變數清單資訊輸出部，將前述變數清單資訊輸出到輸出裝置。 An industrial device comprises: a receiving unit for receiving a processing formula or a robot program from a numerical control device or a robot control device; a variable list information generating unit for obtaining variables from the processing formula in the numerical control device or the robot program in the robot control device, and generating variable list information in which the variables are associated with the processing formula or the robot program; and a variable list information output unit for outputting the variable list information to an output device. 如請求項11之產業用裝置，其更具備顯示部，前述顯示部依據前述變數清單資訊來顯示前述變數與前述加工程式或前述機器人程式之對應。The industrial device of claim 11 is further provided with a display unit, which displays the correspondence between the variables and the processing formula or the robot program according to the variable list information. 一種電腦程式，用於使從數值控制裝置的加工程式透過機器人控制裝置來控制機器人之電腦執行以下步驟： 從前述數值控制裝置中的全部的加工程式之中取得變數，並生成已將前述變數與前述加工程式建立對應之變數清單資訊； 在包含於前述數值控制裝置中的前述加工程式或前述機器人控制裝置中的機器人程式之前述變數，是以和前述變數清單資訊不同的對應關係被使用的情況下，即不使用前述變數；及 在包含於前述變數清單資訊之前述變數，是在不存在於前述變數清單資訊之前述加工程式中被使用的情況下，即不使用前述變數。 A computer program for causing a computer that controls a robot from a processing formula of a numerical control device through a robot control device to execute the following steps: Obtaining variables from all processing formulas in the numerical control device and generating variable list information that establishes correspondence between the variables and the processing formulas; When the variables before the processing formula in the numerical control device or the robot program in the robot control device are used in a different correspondence relationship from the variable list information, the variables are not used; and When the variables before the variable list information are used in the processing formula that does not exist before the variable list information, the variables are not used.
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