JP7600743B2 - Control system, control method and control device - Google Patents

Description

This disclosure relates to a control system, a control method, and a control device.

Laser processing has traditionally been performed using processing programs that use control codes. For example, Japanese Patent Laid-Open Publication No. 2-63692 (Patent Document 1) discloses a technique in which processing conditions are defined as parameters to control the output of a laser oscillator, the movement speed, etc. Specifically, this publication discloses a case in which processing conditions are changed based on the distance from the start of movement.

Japanese Patent Application Publication No. 2-63692

On the other hand, conventionally, there is a method for determining whether a condition is satisfied by determining whether a specific position has been reached. However, there is an issue in that if a coordinate is specified and the coordinate is not passed through, it is not possible to determine whether the condition is satisfied. Furthermore, the above-mentioned prior art documents do not take such issues into consideration at all.

One objective of the present disclosure is to provide a control system, control method, and control device that can determine in a simple manner whether a specific position has been reached.

A control system according to an example of the present disclosure includes a movement control unit that controls the movement of a moving object according to a preset movement trajectory, a storage unit that holds a boundary line on a predefined area associated with a designated position, and a movement determination unit that determines whether the moving object has reached the designated position. The movement determination unit determines whether the moving object has crossed the boundary line, and if it is determined that the moving object has crossed the boundary line, it determines that the moving object has reached the designated position. With this configuration, if it is determined that the moving object has crossed the boundary line, it can be determined that the designated position has been reached, and it is possible to determine whether a specific position has been reached in a simple manner.

The control system further includes a setting reception unit that generates a boundary line according to a user setting. With this configuration, the boundary line can be set by the user.

The boundary line is defined based on the points on the region and the angle of the line passing through the points. With this configuration, the boundary line can be easily set because it is defined based on the points and the angle of the line passing through the points.

The setting reception unit has a setting screen for generating a boundary line for the movement trajectory. The setting screen can receive input of a specified position, and displays a virtual boundary line that divides the movement trajectory that passes through the specified position in an operable manner. The setting reception unit receives operational input for the virtual boundary line on the setting screen to generate the boundary line. With this configuration, it is possible to easily set the boundary line using the setting screen.

The setting reception unit generates a straight line that is perpendicular to the movement trajectory and passes through the specified position as a boundary line according to the input of the specified position. With this configuration, the boundary line is generated by inputting the specified position, so it is easy to set the boundary line.

The movement determination unit calculates a determination function for the position of the moving object according to the boundary line. The movement determination unit determines whether the boundary line has been crossed based on whether the sign of the value of the determination function according to the position of the moving object is inverted. With this configuration, it is possible to determine whether the boundary line has been crossed in a simple manner.

The control system further includes an execution unit that executes a predetermined operation based on the determination result of the movement determination unit. With this configuration, it is possible to execute a predetermined operation using the determination result.

The predetermined operation is one of an operation of changing from a first state to a second state, an operation of changing from a second state to the first state, or an operation of maintaining the first and second states. With this configuration, the predetermined operation can be defined as a change in multiple states, which improves the freedom of design.

A control method according to another example of the present disclosure includes a step of controlling the movement of a moving object according to a preset movement trajectory, and a step of judging whether the moving object has reached a designated position. The judging step judges whether the moving object has crossed a boundary line on a predefined area associated with the designated position, and judges that the moving object has reached the designated position if it is judged that the moving object has crossed the boundary line. With this configuration, it is possible to judge that the designated position has been reached if it is judged that the boundary line has been crossed, and it is possible to judge whether a specific position has been reached in a simple manner.

A control device according to yet another example of the present disclosure includes a movement control unit that controls the movement of a moving object according to a preset movement trajectory, a storage unit that holds a boundary line on a predefined area associated with a designated position, and a movement determination unit that determines whether the moving object has reached the designated position. The movement determination unit determines whether the moving object has crossed the boundary line, and if it is determined that the moving object has crossed the boundary line, it determines that the moving object has reached the designated position. With this configuration, if it is determined that the moving object has crossed the boundary line, it can be determined that the designated position has been reached, and it is possible to determine whether a specific position has been reached in a simple manner.

A control system, control method, and control device according to certain aspects of the present disclosure can determine that a specified position has been reached when it is determined that a boundary line has been crossed, and can determine in a simple manner whether a specific position has been reached.

FIG. 1 is a schematic diagram showing a configuration example of a control system according to an embodiment. FIG. 1 is a schematic diagram illustrating an example of a main hardware configuration of a control system 1 according to an embodiment. FIG. 2 is a block diagram showing an example of a hardware configuration of a support device 40 constituting the control system 1 according to the embodiment. FIG. 1 is a schematic diagram for explaining a problem that may arise in a related technique of the control system 1 according to the embodiment. FIG. 11 is another schematic diagram for explaining a problem that may arise in a related technique of the control system 1 according to the embodiment. FIG. 11 is yet another schematic diagram for explaining a problem that may arise in a related technique of the control system 1 according to the embodiment. FIG. 11 is another schematic diagram for explaining a problem that may arise in a related technique of the control system 1 according to the embodiment. 5A and 5B are schematic diagrams illustrating a method for determining whether a laser output is ON/OFF in the control system 1 according to the embodiment. FIG. 11 is a diagram showing an example of a specific example illustrating a method for determining whether a laser output is ON/OFF in the control system 1 according to the embodiment. 11A and 11B are diagrams illustrating setting of boundary lines L1 and L2 according to an embodiment. FIG. 2 is a diagram illustrating a control flow of the control system 1 according to the embodiment. FIG. 13 is a diagram illustrating a setting screen of a support device 40 according to a first modified example of an embodiment. FIG. 13 is a diagram illustrating another setting screen according to the first modified example of the embodiment. FIG. 11 is a diagram illustrating a setting screen according to a second modified example of the embodiment.

The embodiments of the present disclosure will be described in detail with reference to the drawings. Note that the same or equivalent parts in the drawings will be given the same reference numerals and their description will not be repeated.

<A. Application Examples>
First, an example of a situation to which the present disclosure is applied will be described.

Figure 1 is a schematic diagram showing an example configuration of a control system 1 according to an embodiment. Figure 1 shows an example of a laser processing system as a typical example, but applications to which the present disclosure can be applied are not limited in any way.

The control system 1 performs laser processing such as drilling, cutting, and marking on a workpiece 4 placed on an XY stage 20. More specifically, the control system 1 includes a control device 10, an XY stage 20, and a laser 30.

Laser processing of the workpiece 4 is performed by adjusting the position of the workpiece using the XY stage 20, thereby adjusting the irradiation position of the laser light generated by the laser 30. It is also possible to combine this with a galvanometer mirror (not shown).

The control device 10 includes a main control unit 100, an axis interface unit 200, and a laser control unit 300.

The main control unit 100 corresponds to a calculation unit that executes an application program 110 (see FIG. 2). The application program 110 is created arbitrarily according to the mechanism to be controlled and the workpiece 4, etc. The execution result obtained by the main control unit 100 executing the application program 110 is used to generate control signals in the axis interface unit 200 and the laser control unit 300.

The axis interface unit 200 is connected to the XY stage 20 via a control line 52, and outputs a stage control signal 520 for driving the XY stage 20. The XY stage 20 includes a plate 22 on which the workpiece 4 is placed, and a servo motor 24 and a servo motor 26 for driving the plate 22. In the example shown in FIG. 1, the servo motor 24 displaces the plate 22 in the X-axis direction, and the servo motor 26 displaces the plate 22 in the Y-axis direction. The stage control signal 520 from the axis interface unit 200 is given to a servo driver 23 and a servo driver 25 (see FIG. 2) that drive the servo motor 24 and the servo motor 26.

The laser control unit 300 is a type of communication device. The laser control unit 300 is connected to the laser 30 via a control line 53, and outputs a laser control signal 530 that instructs the laser 30 to turn on or off.

<B. Example of main hardware configuration of control system 1>
Next, an example of a hardware configuration of the control system 1 according to the embodiment will be described.

Figure 2 is a schematic diagram showing an example of the main hardware configuration of the control system 1 according to the embodiment. As described above, the control device 10 includes a main control unit 100, an axis interface unit 200, and a laser control unit 300.

The main control unit 100 includes, as its main components, a processor 102, a main memory 104, storage 106, and a bus controller 112.

The storage 106 is composed of an SSD (Solid State Disk) or a flash memory. The storage 106 stores, for example, a system program 108 for providing a basic program execution environment, and an application program 110 that is created arbitrarily according to the workpiece 4. The storage 106 stores setting conditions and the like, including the machining program shown in FIG. 4(B) described later.

The processor 102 is typically composed of a CPU (Central Processing Unit) or an MPU (Micro-Processing Unit). The processor 102 reads the system program 108 and application program 110 stored in the storage 106, expands them in the main memory 104, and executes them to realize overall control of the control system 1.

The main control unit 100 is electrically connected to the axis interface unit 200 and the laser control unit 300 via an internal bus 114. The bus controller 112 mediates data communication via the internal bus 114.

Note that, although a configuration example has been shown in which the necessary processing is provided by the processor 102 executing a program, some or all of the processing provided may be implemented using a dedicated hardware circuit (e.g., an ASIC (Application Specific Integrated Circuit) or an FPGA (Field-Programmable Gate Array)).

The axis interface unit 200 generates and outputs a stage control signal 520 that is provided to the servo driver 23 and the servo driver 25. More specifically, the axis interface unit 200 includes an axis control calculation unit 210 and an output interface circuit 220.

The axis control calculation unit 210 generates commands to be given to the servo drivers 23 and 25 according to calculation values (command values) calculated by the main control unit 100 executing the application program 110. The axis control calculation unit 210 is realized by a calculation circuit configured using, for example, a processor, an ASIC, an FPGA, etc.

The output interface circuit 220 corresponds to a signal output unit that outputs a stage control signal 520 according to the execution result of the application program 110. More specifically, the output interface circuit 220 generates a stage control signal 520 to be given to the servo driver 23 and the servo driver 25 according to the command generated by the axis control calculation unit 210. As the stage control signal 520, a signal obtained by modulating information such as the displacement amount, speed, and angular velocity in each control period using PWM (Pulse Width Modulation) may be used. That is, the output interface circuit 220 may generate the stage control signal 520 by modulating the information to be transmitted using PWM. Alternatively, a signal obtained by modulating information such as the displacement amount, speed, and angular velocity as the number of pulses may be used.

The axis control calculation unit 210 and the output interface circuit 220 may be implemented as a single ASIC.

The laser control unit 300 generates and outputs a laser control signal 530 that is provided to the laser 30. More specifically, the laser control unit 300 includes a laser control calculation section 310 and an output interface circuit 314.

The laser control calculation unit 310 generates commands to be given to the laser 30 according to calculation values (command values) calculated by the main control unit 100 executing the application program 110. The laser control calculation unit 310 is realized by a calculation circuit configured using, for example, a processor, an ASIC, an FPGA, etc.

The output interface circuit 314 generates a laser control signal 530 to be given to the laser 30 according to the command generated by the laser control calculation unit 310. A signal having two levels, on and off, may be used as the laser control signal 530.

The laser control calculation unit 310 and the output interface circuit 314 may be implemented in a single ASIC.

C. Hardware Configuration of Support Device 40
The support device 40 according to the embodiment is realized by executing a program using hardware (e.g., a general-purpose personal computer) that complies with a general-purpose architecture, for example. The support device 40 is connected to the control device 10. The support device 40 executes various settings of the laser processing system for the control device 10.

Fig. 3 is a block diagram showing an example of the hardware configuration of a support device 40 constituting a control system 1 according to an embodiment. Referring to Fig. 3, the support device 40 includes a processor 42 such as a CPU or an MPU, a main memory device 43, a secondary memory device 47, a local network controller 46, an input unit 44, and a display unit 45. These components are connected via a bus 41.

The processor 42 reads various programs stored in the secondary storage device 47, expands them in the main storage device 43, and executes them to realize various processes including the setting process described below.

The secondary storage device 47 is configured, for example, with a hard disk drive (HDD) or a flash solid state drive (SSD). The secondary storage device 47 typically stores a setting program 48 executed in the support device 40, a simulation program 48#, and an OS 49. The secondary storage device 47 may store necessary programs other than the programs shown in FIG. 3.

The various programs executed by the support device 40 may be installed via a computer-readable recording medium, or may be installed by downloading from any server on the network. In addition, the functions provided by the support device 40 according to the embodiment may be realized by using some of the modules provided by the OS.

The local network controller 46 controls the exchange of data with other devices over any network.

The input unit 44 is made up of a keyboard, mouse, etc., and accepts user operations. The display unit 45 is made up of a display, various indicators, a printer, etc., and outputs processing results from the processor 42, etc.

Although a configuration example has been shown in which the necessary functions are provided by the processor 42 executing a program, some or all of these provided functions may be implemented using dedicated hardware circuits (e.g., ASICs or FPGAs, etc.).

D. Issues
Next, problems that may arise in the technology related to the control system 1 according to the embodiment will be described.

Figure 4 is a schematic diagram for explaining problems that may arise in the technology related to the control system 1 according to the embodiment. Referring to Figure 4 (A), a case is shown in which the XY stage 20 moves the work position from coordinate (0,0) to coordinate (100,100) in a coordinate system defined by XY coordinates. An example is shown in which laser processing is performed by the laser 30 in the section in which the work position is from coordinate (50,50) to coordinate (100,100).

Figure 4 (B) is an example of a machining program (application program) written in so-called G-code. G-code commands allow detailed settings of the axial movement of the XY stage 20, coordinate settings, rotation, and machining method of the target workpiece. Figure 4 (C) is an example of a laser ON/OFF table used in the machining program. In this example, it is set to turn the laser 30 ON at coordinates (50,50) and OFF at coordinates (100,100).

Figure 5 is another schematic diagram for explaining problems that may arise in the related art of the control system 1 according to the embodiment. Referring to Figure 5, the continuous-time trajectory data given by the G-code is converted into discrete-time trajectory data in the control device 10. Therefore, the control device 10 compares the coordinates of the work position at a certain time t (= n) with the coordinates of the work position at the next time t (= n + 1) to determine whether the specified coordinates (50, 50) have been crossed. The control device 10 turns on the laser 30 when it determines that the specified coordinates (50, 50) have been crossed.

Figure 6 is yet another schematic diagram for explaining a problem that may arise in a technology related to the control system 1 according to the embodiment. As shown in Figure 6, consider the case where the work position moves. Specifically, a trajectory is shown in which the work position turns around at coordinates (50, 50). In this trajectory, the laser 30 is turned ON at coordinates (50, 50). Even if the continuous-time trajectory data given by the G code crosses the coordinates (50, 50), the discrete-time trajectory data may not cross the coordinates (50, 50). Therefore, there is a problem in that the laser 30 cannot be turned ON at the specified coordinates (50, 50).

Figure 7 is another schematic diagram for explaining a problem that may arise in a technology related to the control system 1 according to the embodiment. As shown in Figure 7, a trajectory is shown when the work position turns back at the coordinate (50, 50). Here, a case is shown in which the work position does not move in a straight line as in Figure 6, but is instead curved-interpolated. In this trajectory, it is specified that the laser 30 is turned ON at the coordinate (50, 50). Since the discrete-time trajectory data does not cross the coordinate (50, 50), there is a problem in that the laser 30 cannot be turned ON at the specified coordinate (50, 50).

E. Solution
Next, a typical example of a solution for solving the above-mentioned problems will be described.

In this embodiment, a simple method is used to determine whether a condition is met by checking whether a specific position has been reached.

Figure 8 is a schematic diagram illustrating a method for determining whether the laser output of the control system 1 according to the embodiment is ON/OFF. As shown in Figure 8, a case is shown in which the work position moves as shown by the dotted line. In this example, a boundary line L on the area is set in association with a specified position P. The boundary line L is a straight line that divides the trajectory data. The boundary line L is defined based on a point on the area (position P) and the angle of a straight line that passes through the point (position P).

The control system 1 determines whether the work position has moved and crossed the boundary line L. If the control system 1 determines that the work position has crossed the boundary line L, it determines that the work position has reached the specified position P. As a result, a preset operation corresponding to the position P (turning on the laser output) is executed.

Figure 9 is a diagram showing an example of a specific example illustrating a method for determining whether the laser output of the control system 1 according to the embodiment is ON/OFF. As shown in Figure 9, a case is shown in which a boundary line L (y = x) is set for the coordinates (50, 50) of the position P. The control system 1 determines whether the work position has moved and crossed the boundary line L (y = x). If the control system 1 determines that the work position has crossed the boundary line L (y = x), it determines that the work position has reached the specified position P. As a result, the control system 1 executes a preset operation (turning the laser output ON) corresponding to the position P.

Figure 10 is a diagram explaining the setting of boundary lines L1 and L2 according to an embodiment. As shown in Figure 10 (A), boundary line L1 is expressed by the following equation in the XY coordinate system.

y=a(x- _xL )+ _yL
Specifically, the boundary line L1 is set by the inclination a and the designated point coordinates (x _L , y _L ). The user inputs the inclination a and the designated point coordinates (x _L , y _L ). In this way, it is possible to set the boundary line L1.

In this example, whether or not the boundary line L1 has been crossed can be determined using the judgment function f(x, y) for the work position using the above formula.

f(x,y)=a(x- _xL )+ _yL -y
In the embodiment, as an example, it is possible to determine whether or not a boundary line has been crossed by determining whether or not the sign of the value of a judgment function f(x, y) is inverted. The judgment function f(x, y) is This utilizes the fact that the sign of the value is inverted with respect to the boundary line L1.

When a is ∞, the determination is made by f(x, y)=xx _L .
Fig. 10B is an example of the laser ON/OFF table. In Fig. 10B, ON and OFF of the laser output associated with the boundary line are set. The laser ON/OFF table is stored in the storage 106.

Specifically, the coordinates and inclination angle for setting the boundary line L are set in correspondence with the ON/OFF state of the laser output.

Specifically, the laser output is set to ON in association with boundary line L1 (coordinates (0,0), tilt angle 45°).

The laser output is set to OFF in association with boundary line L2 (coordinates (0, -100), tilt angle 0°).

The control system 1 determines whether the work position has moved and crossed the boundary line L1. If the control system 1 determines that the work position has crossed the boundary line L1, it determines that the work position has reached the specified coordinates (0,0). As a result, the control system 1 executes a preset operation (turning on the laser output) corresponding to the position (0,0).

Next, the control system 1 determines whether the work position has moved and crossed the boundary line L2. If the control system 1 determines that the work position has crossed the boundary line L2, it determines that the work position has reached the specified coordinates (0, -100). As a result, the control system 1 executes a preset operation (turning the laser output OFF) corresponding to the position (0, -100).

In this example, the tilt angle is set as a parameter for setting the boundary line L, but it is not limited to the tilt angle. The value of the tilt a may be set, or any other value may be used as long as it is possible to set the boundary line L.

FIG. 11 is a diagram illustrating a control flow of the control system 1 according to the embodiment.
11, as an example, the control flow is a process of controlling the laser 30 in the main control unit 100. Specifically, the process is a process of controlling the XY stage 20 by the axis interface unit 200 and the laser 30 by the laser control unit 300 based on the processor 102 executing the application program 110. The processor 102 outputs a calculated value (command value) to the axis interface unit 200 based on the machining program (application program) described in so-called G code as described above. The axis interface unit 200 controls the XY stage 20 according to the calculated value (command value) from the main control unit 100 to move the work position according to a preset movement trajectory.

The main control unit 100 outputs a calculated value (command value) to the laser control unit 300 for controlling the laser 30 based on the calculated work position and the laser ON/OFF table.

Specifically, the main control unit 100 sets a judgment function (step S2). The main control unit 100 sets the judgment function based on the laser ON/OFF table stored in the storage 106. As an initial state, the main control unit 100 sets the judgment function using the first top list of the laser ON/OFF table. For example, a judgment function f(x, y) according to the boundary line L1 (coordinates (0, 0), tilt angle 45°) described in FIG. 10(B) is set.

Next, the main control unit 100 detects the passage of time (t = n ← n + 1) (step S4). The passage of time corresponds to a control cycle, and the process is executed for each control cycle.

Next, the main control unit 100 calculates the command position (X[n], Y[n]), which is the work position (step S6). As described above, the work position is set based on the machining program (application program) written in G-code.

Next, the main control unit 100 calculates the judgment function value based on the command position (X[n], Y[n]) (step S7). Specifically, the judgment function value is calculated by inputting the command position (X[n], Y[n]) to the judgment function f(x, y).

Next, the main control unit 100 calculates the product of the calculated judgment function value and the sign prev of the previous judgment function value, and determines whether the calculation result is negative or not (step S8). In other words, it determines whether the sign of the judgment function value has been inverted.

In step S8, the main control unit 100 calculates the product of the calculated judgment function value and the sign prev of the previous judgment function value, and if it determines that the calculation result is negative (YES in step S8), it executes output of the target list. In other words, this is a case where the sign of the judgment function value is inverted, which corresponds to a case where the boundary line L is crossed.

Next, the main control unit 100 sets the next judgment function (step S10). Specifically, the main control unit 100 sets the judgment function based on the laser ON/OFF table. The main control unit 100 sets the judgment function using the next list in the laser ON/OFF table. For example, the main control unit 100 sets a judgment function f(x, y) that follows the boundary line L2 (coordinates (0, -100), tilt angle 0°) described in FIG. 10(B).

Next, the main control unit 100 holds the sign prev of the calculated judgment function value (step S12).

Next, the main control unit 100 determines whether the program is complete (step S14).

If the main control unit 100 determines that the program is complete (YES in step S14), it ends the processing (END).

On the other hand, if the main control unit 100 determines that the program is not complete (NO in step S14), it returns to step S4 and repeats the above process.

On the other hand, in step S8, the main control unit 100 calculates the product of the calculated judgment function value and the sign prev of the previous judgment function value, and if it determines that the calculation result is not negative (NO in step S8), it skips steps S9 and S10 and proceeds to step S12. That is, this corresponds to a case where the sign of the judgment function value is not inverted and does not cross the boundary line L. Then, in step S12, the main control unit 100 holds the sign prev of the calculated judgment function value (step S12). Note that in the initial state, the sign prev is not set. Therefore, the main control unit 100 proceeds to step S12 and sets the sign prev.

Therefore, when the control system 1 uses the laser ON/OFF table of FIG. 10(B), it sets a judgment function according to boundary line L1. Then, the control system 1 judges whether the work position has moved and crossed boundary line L1. If the control system 1 judges that the work position has crossed boundary line L1, it judges that the work position has reached the specified coordinates (0,0). As a result, the control system 1 executes a preset operation (turning on the laser output) corresponding to the position (0,0).

Next, when the control system 1 uses the laser ON/OFF table of FIG. 10(B), it sets a judgment function according to boundary line L2. The control system 1 judges whether the work position has moved and crossed boundary line L2. When the control system 1 judges that the work position has crossed boundary line L2, it judges that the work position has reached the specified coordinates (0, -100). As a result, the control system 1 executes a preset operation (turning the laser output OFF) corresponding to the position (0, -100).

This allows the control system 1 to set a boundary line on the area and use a simple method to determine whether a specific position has been reached as a method of determining whether a condition is met.

The control flow in FIG. 11 has been described as being mainly executed in the main control unit 100, but it may also be executed using the main control unit 100 and the support device 40. In addition, the support device 40 has a simulation program 48#, and it is possible to virtually execute the simulation program 48# in the support device 40.

<F. Other embodiments>
(Variation 1)
In the first modified example of the embodiment, an operation method for easily setting a boundary line will be described.

The laser ON/OFF table in the above embodiment is created by the user inputting coordinates, tilt angle, and ON/OFF of the laser output.

Specifically, the laser ON/OFF table may be created by using the support device 40 to input data into a setting screen displayed on the display unit 45 of the support device 40. The setting screen is realized by the processor 42 executing the setting program 48.

The created laser ON/OFF table can be stored in the storage 106 of the main control unit 100 via the local network controller 46 of the support device 40. In addition, the support device 40 can set or update the application program 110 stored in the storage 106 of the main control unit 100 by executing the setting program 48.

Figure 12 is a diagram illustrating a setting screen for the support device 40 according to the first modified example of the embodiment. Referring to Figure 12, a setting screen 400 for setting the boundary line of the support device 40 is shown. The setting screen 400 displays a trajectory Z of the work position that moves according to the execution result of the simulation program 48#. The trajectory Z is a trajectory obtained by calculating the movement of the work position by simulating it.

The setting screen 400 is configured to be able to accept input from the user, and in this example, is configured to allow settings to be made using the input unit 44, such as a mouse.

Specifically, when creating a laser ON/OFF table, the user sets a designated point at a position of their choice. The user specifies the point at which they want to turn the laser on or off. As an example, a case is shown in which the user specifies point R on the trajectory Z displayed on the screen by clicking on the setting screen 400 using the mouse or the like of the input unit 44.

The setting screen 400 calculates and displays a virtual boundary line based on the input of the specified points.
Fig. 13 is a diagram illustrating another setting screen according to the first modified example of the embodiment. Referring to Fig. 13, a setting screen 402 for setting a boundary line is shown.

When the support device 40 receives user input of a specified point on the setting screen 400, it calculates a virtual boundary line based on the input of the specified point and displays it on the display unit 45.

Specifically, the support device 40 generates a straight line that is perpendicular to the trajectory Z and passes through the specified position as the virtual boundary line in accordance with the input of the specified position on the setting screen 400. In this example, when the support device 40 receives the input of a specified point R on the trajectory Z, it generates a straight line that is perpendicular to the trajectory Z and passes through the specified point R as the virtual boundary line L3.

In addition, in this example, the virtual boundary line L3 is provided so that it can be operated. As an example, the setting screen 402 shows a virtual boundary line L3# in which the inclination of the virtual boundary line has been adjusted by a user using a mouse or the like of the input unit 44 to drag and drop the virtual boundary line L3 displayed on the screen.

Then, by performing a specified input operation on the set virtual boundary line, it is possible to set the laser output to ON or OFF.

This makes it possible to create a laser ON/OFF table according to the virtual boundary line and laser output settings that you have set.

The setting screen according to the first modified embodiment allows the user to easily set a boundary line via the setting screen. This makes it possible to easily create a laser ON/OFF table. Also, in this example, a virtual boundary line is generated based on the input of a specified point, and the user can adjust the virtual boundary line. However, it is also possible to set one boundary line based on the input of a specified point. In this case, there is no need to input the inclination, and the boundary line can be set with a single action.

(Variation 2)
In the second modification of the embodiment, another operation method for simply setting a boundary line using a laser will be described.

Figure 14 is a diagram illustrating a setting screen according to the second modified example of the embodiment. Referring to Figure 14 (A), a setting screen 404 for setting a boundary line is shown.

When the support device 40 receives user input of a specified point on the setting screen 404, it calculates a boundary line based on the input of the specified point and displays it on the display unit 45.

In this example, the trajectory of the work position is shown to move in a circular motion and then return to the original position. Then, for example, a case where the laser is turned on and off at a portion of the arc is explained. Specifically, the laser is turned on at position Q2, which is a portion of the arc, and turned off at position Q3.

In this case, as described above, the user can set a straight line that is perpendicular to the trajectory and passes through position Q2 as boundary line L4 by performing an input operation with position Q2 as the specified point. Then, the laser output at position Q2 is set to ON.

The user can also specify position Q3 as a specified point and perform an input operation to set a straight line that is perpendicular to the trajectory and passes through position Q3 as boundary line L5. Then, the laser output at position Q3 is set to OFF.

On the other hand, if a judgment function that follows boundary line L4 is set first, the work position will cross boundary line L4 when it reaches position Q1. Therefore, there is a risk that crossing boundary line L4 will cause the laser output to be turned ON.

Therefore, in the second variation of the embodiment, the laser output state can be set to a HOLD state in addition to ON or OFF.

As the laser output state, it is possible to set an operation to change from laser output OFF (first state) to laser output ON (second state), an operation to change from laser output ON (second state) to laser output OFF (first state), and an operation to maintain laser output OFF (first state) and ON (second state).

Figure 14 (B) is a diagram illustrating a laser ON/OFF table according to the second modified example of the embodiment. As shown in Figure 14 (B), the laser output associated with the boundary line is set to ON (on) or OFF as well as HOLD (maintain).

Specifically, the coordinates and inclination angle for setting the boundary line L are set in correspondence with the ON, OFF, and HOLD states of the laser output.

As an example, the laser output HOLD is set in association with boundary line L4 (position Q1, tilt angle 45°).

Next, the laser output is set to ON in association with boundary line L4 (position Q2, tilt angle 45°).

Next, the laser output is set to OFF in association with boundary line L5 (position Q3, tilt angle 90°).

The control system 1 determines whether the work position has moved and crossed boundary line L4 according to the first list in the laser ON/OFF table. If the control system 1 determines that the work position has crossed boundary line L4, it determines that the work position has reached position Q1, which is the specified coordinate. As a result, it executes an operation (HOLD laser output) that is preset in correspondence with position Q1.

The control system 1 determines whether the work position has moved to cross boundary line L4 according to the next list in the laser ON/OFF table. If the control system 1 determines that the work position has crossed boundary line L4, it determines that the work position has reached position Q2, which is the specified coordinate. As a result, the control system 1 executes a preset operation (turning on the laser output) corresponding to position Q2.

The control system 1 determines whether the work position has moved and crossed boundary line L5 according to the next list in the laser ON/OFF table. If the control system 1 determines that the work position has crossed boundary line L5, it determines that the work position has reached position Q3, which is the specified coordinate. This causes the system to execute a preset operation (turning the laser output OFF) corresponding to position Q3.

This allows the control system 1 to avoid malfunctions in inappropriate positions and allows for easy setting of the laser output.

In other words, by providing laser output HOLD in addition to laser output ON and laser output OFF as a setting for the laser output state, the degree of freedom in settings is improved and efficient settings are possible.

G. Advantages
The control system according to the embodiment makes it possible to determine in a simple manner whether a particular position has been reached.

<H. Notes>
The above-described embodiment includes the following technical ideas.

[Configuration 1]
A movement control unit (200) that controls the movement of a moving object according to a preset movement trajectory;
A storage unit (106) for storing a boundary line on a predefined area in association with a specified position;
a movement determination unit (102) for determining whether the moving object has reached the designated position;
The movement determination unit is
determining whether the moving object has crossed the boundary line;
When it is determined that the moving object has crossed the boundary line, the control system determines that the moving object has reached the specified position.

[Configuration 2]
The control system of claim 1 , further comprising a setting acceptance unit (40) for generating the boundary line according to a user setting.

[Configuration 3]
The control system according to claim 1 or 2, wherein the boundary line is defined based on a point on the region and an angle of a straight line passing through the point.

[Configuration 4]
the setting reception unit has a setting screen (400, 402, 404) for generating the boundary line for the movement trajectory,
the setting screen is capable of accepting input of the designated position, and a virtual boundary line dividing the movement trajectory passing through the designated position is displayed in an operable manner;
The control system according to claim 2 , wherein the setting reception unit receives an operation input for the virtual boundary line on the setting screen to generate the boundary line.

[Configuration 5]
The control system according to claim 2 , wherein the setting reception unit generates, in accordance with an input of the designated position, a straight line that is perpendicular to the movement trajectory and passes through the designated position as the boundary line.

[Configuration 6]
The movement determination unit is
calculating a judgment function for the position of the moving object according to the boundary line;
The control system according to claim 1 , further comprising: determining whether the boundary line has been crossed based on whether a sign of the value of the judgment function according to the position of the moving object is inverted.

[Configuration 7]
The control system according to claim 1 , further comprising an execution unit (300) that executes a predetermined operation based on a result of the determination by the movement determination unit.

[Configuration 8]
8. The control system of claim 7, wherein the predetermined action is one of an action of changing from a first state to a second state, an action of changing from the second state to the first state, or an action of maintaining the first and second states.

[Configuration 9]
Controlling the movement of a moving object according to a preset movement trajectory;
and determining (S8) whether the moving object has reached a designated position;
The determining step includes:
It is determined whether the moving object crosses a boundary line on a region defined in advance in association with the specified position (S8);
When it is determined that the moving object has crossed the boundary line, it is determined that the moving object has reached the designated position (S9).

[Configuration 10]
A movement control unit (200) that controls the movement of a moving object according to a preset movement trajectory;
A storage unit (106) for storing a boundary line on a predefined area in association with a specified position;
a movement determination unit (102) for determining whether the moving object has reached the designated position;
The movement determination unit is
determining whether the moving object has crossed the boundary line;
When it is determined that the moving object has crossed the boundary line, the control device determines that the moving object has reached the specified position.

The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present disclosure is indicated by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims.

1 Control system, 10 Control device, 20 XY stage, 22 Plate, 23, 25 Servo driver, 24, 26 Servo motor, 30 Laser, 40 Support device, 41 Bus, 42, 102 Processor, 43 Main memory, 44 Input section, 45 Display section, 46 Local network controller, 47 Secondary memory, 48 Setting program, 52, 53 Control line, 100 Main control unit, 104 Main memory, 106 Storage, 108 System program, 110 Application program, 112 Bus controller, 114 Internal bus, 200 Axis interface unit, 210 Axis control calculation section, 220, 314 Output interface circuit, 300 Laser control unit, 310 Laser control calculation section.

Claims (8)

A movement control unit that controls the movement of the moving object according to a preset movement trajectory;
a storage unit for storing a boundary line on a predefined region in association with a specified position;
a movement determination unit that determines whether the object to be moved has reached the designated position;
The movement determination unit is
determining whether the moving object has crossed the boundary line;
When it is determined that the moving object has crossed the boundary line, it is determined that the moving object has reached the designated position;
a setting receiving unit that generates the boundary line according to a user setting,
the setting reception unit has a setting screen for generating the boundary line for the movement trajectory,
the setting screen is capable of accepting input of the designated position, and a virtual boundary line dividing the movement trajectory passing through the designated position is displayed in an operable manner;
The setting reception unit receives an operation input for the virtual boundary line on the setting screen and generates the boundary line . The control system of claim 1, wherein the boundary line is defined based on a point on the region and an angle of a line passing through the point. The control system according to claim 1 , wherein the setting reception unit generates, in accordance with an input of the designated position, a straight line that is perpendicular to the movement trajectory and passes through the designated position as the boundary line . The movement determination unit is
calculating a judgment function for the position of the moving object according to the boundary line;
The control system according to claim 1 , further comprising: determining whether the boundary line has been crossed based on whether a sign of the value of the judgment function according to the position of the moving object is inverted. The control system according to claim 1 , further comprising an execution unit that executes a predetermined operation based on a result of the determination by said movement determination unit . 6. The control system of claim 5, wherein the predetermined action is one of an action of changing from a first state to a second state, an action of changing from the second state to the first state, or an action of maintaining the first and second states . Controlling the movement of a moving object according to a preset movement trajectory;
determining whether the moving object has reached a designated position;
The determining step includes:
determining whether the moving object crosses a boundary line on a predefined area associated with the specified position;
When it is determined that the moving object has crossed the boundary line, it is determined that the moving object has reached the designated position;
generating said boundary line according to user settings;
The step of generating a boundary line includes:
displaying a setting screen for generating the boundary line for the movement trajectory;
a step of allowing the setting screen to receive input of the designated position and operably displaying a virtual boundary line dividing the movement trajectory passing through the designated position;
and receiving an operation input for the virtual boundary line on the setting screen to generate the boundary line . A movement control unit that controls the movement of the moving object according to a preset movement trajectory;
a storage unit for storing a boundary line on a predefined region in association with a specified position;
a movement determination unit that determines whether the object to be moved has reached the designated position;
The movement determination unit is
determining whether the moving object has crossed the boundary line;
When it is determined that the moving object has crossed the boundary line, it is determined that the moving object has reached the designated position;
a setting receiving unit that generates the boundary line according to a user setting,
the setting reception unit has a setting screen for generating the boundary line for the movement trajectory,
the setting screen is capable of accepting input of the designated position, and a virtual boundary line dividing the movement trajectory passing through the designated position is displayed in an operable manner;
The setting reception unit receives an operation input for the virtual boundary line on the setting screen and generates the boundary line .

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