Numerical control device and numerical control system

A numerical control system that controls a robot via a robot control device using a numerical control program of a numerical control device,

• the numerical control device comprising:
• an analysis unit that analyzes a robot control command in the numerical control program;
• a payload-switching distance setting unit that generates a signal for setting a payload-switching distance required for switching a payload setting of the robot, based on the robot control command analyzed by the analysis unit;
• a payload-setting selection unit that generates a signal for selecting the payload setting of the robot, based on the robot control command analyzed by the analysis unit;
• and
• a robot command signal generation unit that generates a robot command signal, including a signal for setting the payload-switching distance and a signal for selecting the payload setting of the robot, based on the robot control command analyzed by the analysis unit, and transmits the robot command signal to the robot control device,
• the robot control device comprising:
• a robot-side payload-setting selection unit that switches the payload setting, based on the robot command signal;
• a dynamics control unit that executes inverse dynamics calculation for the robot in accordance with the payload setting, based on the robot command signal;
• a robot-side payload-switching distance setting unit that sets the payload-switching distance, based on the robot command signal;
• and
• a contact control unit that prohibits the robot from executing a contact stop operation to stop operating in response to an external contact force while the robot is moving within the payload-switching distance, after switching the payload setting in response to a notification of the payload setting.

A numerical control device that controls a robot via a robot control device using a numerical control program, the numerical control device comprising:

• an analysis unit that analyzes a robot control command in the numerical control program;
• a prohibition signal output unit that generates a contact stop operation prohibition signal to prohibit the robot from executing a contact stop operation, based on the robot control command analyzed by the analysis unit;
• a payload-setting selection unit that generates a signal for selecting a payload setting of the robot, based on the robot control command analyzed by the analysis unit;
• and
• a robot command signal generation unit that generates a robot command signal, including the contact stop operation prohibition signal and a signal for selecting the payload setting of the robot, based on the robot control command analyzed by the analysis unit, and transmits the robot command signal to the robot control device, wherein
• after switching the payload setting, the robot control device prohibits the robot from executing a contact stop operation to stop operating in response to an external contact force, based on the contact stop operation prohibition signal.

A numerical control system that controls a robot via a robot control device using a numerical control program of a numerical control device,

• the numerical control device comprising:
• an analysis unit that analyzes a robot control command in the numerical control program;
• a prohibition signal output unit that generates a contact stop operation prohibition signal to prohibit the robot from executing a contact stop operation, based on the robot control command analyzed by the analysis unit;
• a payload-setting selection unit that generates a signal for selecting a payload setting of the robot, based on the robot control command analyzed by the analysis unit;
• and
• a robot command signal generation unit that generates a robot command signal, including the contact stop operation prohibition signal and a signal for selecting the payload setting of the robot, based on the robot control command analyzed by the analysis unit, and transmits the robot command signal to the robot control device,
• the robot control device comprising:
• a robot-side payload-setting selection unit that switches the payload setting, based on the robot command signal;
• a dynamics control unit that executes inverse dynamics calculation for the robot in accordance with the payload setting, based on the robot command signal;
• and
• a contact control unit that prohibits the robot from executing a contact stop operation to stop operating in response to an external contact force, based on the contact stop operation prohibition signal, after switching the payload setting in response to a notification of the payload setting.