Control device and control method

A control method for controlling each of a plurality of control axes in an industrial machine based on a machining program, the method being realized a computer and comprising the steps of:

• at least performing program analysis;
• performing program execution;
• and performing servo control,
• wherein the performing program analysis includes:
• a machining/non-machining state determination step of determining whether a target block as an analysis target of the machining program is in a machining state which causes the industrial machine to perform a machining operation, or in a non-machining state which causes the industrial machine to perform a non-machining operation other than machining, based on a state determination condition that is set in advance;
• a state storage step of storing a determination result determined in the machining/non-machining state determination step;
• a switching necessity determination step of, in a case in which a state of the target block determined in the machining/non-machining state determination step is identical to a state of a block one before the target block stored in the state storage step, determining that it is unnecessary to perform switching of a control target axis which is the control axis of a control target and/or switching of an electrical current control cycle with respect to the control target axis, and in a case in which the state of the target block is different from the state of the block one before the target block, determining that it is necessary to perform the switching of the control target axis and/or the electrical current control cycle;
• an information adding step of, in a case in which the switching necessity determination step determines that it is necessary to perform the switching, adding a switching request and information after switching indicating a state after switching to an analysis result of the target block;
• and
• an analysis result storage step of storing the analysis result,
• wherein the program execution step includes a switching execution step of executing the switching of the control target axis and/or the switching of the electrical current control cycle upon execution of the target block based on data of the control target axis and the electrical current control cycle in the machining state and the non-machining state, and the analysis result of the target block, and
• wherein the servo control step controls the control target axis at the electrical current control cycle switched in the program execution step.