Control device, interference check device, and control system

An interference check device that checks interference between a motion part moving along an axis of an industrial machine and an obstacle, the interference check device comprising:

• a model data storage unit that stores models of the motion part and the obstacle;
• and
• a prohibited motion amount calculation unit that, based on a position of the motion part notified from a control device that controls the industrial machine and on the models of the motion part and the obstacle stored in the model data storage unit, calculates a prohibited motion amount that is likely to cause interference when the motion part moves by the prohibited motion amount from the position of the motion part,
• wherein the calculated prohibited motion amount is transmitted to the control device.

A control system in which a control device and an interference check device cooperate to perform interference check, wherein the control device controls motion of a motion part of an industrial machine along an axis based on a machining program, and the interference check device checks interference between the motion part and an obstacle,

• wherein the interference check device comprises
• a model data storage unit that stores models of the motion part and the obstacle, and
• a prohibited motion amount calculation unit that, based on a position of the motion part notified from the control device and on the models of the motion part and the obstacle stored in the model data storage unit, calculates a prohibited motion amount that is likely to cause interference when the motion part moves by the prohibited motion amount from the position of the motion part, and
• wherein the control device comprises
• a command analysis unit that analyzes a block of the machining program,
• a distribution processing unit that creates a distributed motion amount for each distribution cycle based on an analysis result from the command analysis unit, calculates a position of the motion part updated by the distributed motion amount, and notifies the interference check device of the calculated position, and
• an interference determination unit that determines whether or not interference between the motion part and the obstacle is expected based on a prohibited motion amount calculated by the prohibited motion amount calculation unit, and
• wherein when it is determined by the interference determination unit that interference between the motion part and the obstacle is expected to occur, motion of the motion part is stopped.