Numerical control device and numerical control system
AssigneeFanuc Corporation
InventorKazutaka Imanishi
Life of this patent
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Abstract
A numerical control device is provided that enables switching of a robot payload setting directly from the numerical control device. The device analyzes robot numerical control instructions in a program, generates corresponding robot instruction signals, and selects a payload setting from multiple payload information based on the analyzed instructions. The selected payload setting is transmitted to a robot control device, where it is applied to update payload data used in inverse dynamics torque calculations. By allowing payload settings to be switched and reflected in torque computation, the device improves efficiency and accuracy of robot control under varying payload conditions.
Claims5
A numerical control device comprising:
- a first processor configured to analyze a robot numerical control instruction in a numerical control program;
- a robot instruction signal generation circuit configured to generates a robot instruction signal to be transmitted to a robot control device in accordance with the robot numerical control instruction analyzed by the first processor;
- the first processor configured to select a payload setting to be set for a robot from among a plurality of payload settings in accordance with the robot numerical control instruction analyzed, wherein a payload setting among the plurality of payload settings corresponds to a group among a plurality of group numbers, and
- the first processor is further configured to:
- select a group number corresponding to a G-code included in the robot numerical control instruction from among the plurality of group numbers;
- and
- select the payload setting to be set for the robot from among the plurality of payload settings based on the group number corresponding to the G-code included in the robot numerical control instruction;
- and
- a first communication interface configured to transmit the payload setting selected by the first processor to the robot control device via the robot instruction signal generation circuit and thereby provide the payload setting to facilitate an inverse dynamics calculation for torque to be inputted into the robot.
Dependencies are inferred from the claim text.