公开(公告)号：US12030174B2

公开(公告)日：2024-07-09

申请号：US17520719

申请日：2021-11-08

申请人： KABUSHIKI KAISHA YASKAWA DENKI

发明人： Kazuo Fujino ,  Tadasuke Yuba ,  Ryo Shimodome ,  Ryota Moriwaka ,  Kazutoshi Kobayashi

IPC分类号： B25J13/00 ,  B25J9/16 ,  G05B19/418 ,  G08C17/02 ,  H04Q9/04

CPC分类号： B25J13/006 ,  G05B19/418 ,  G05B2219/33097 ,  G05B2219/33192

摘要： The machine control system includes: a machine configured to execute a motion according to a machine command; a controller server configured to control the machine; and a communication server. The controller server includes control circuitry configured to repeat operations according to a control cycle, the operations including: executing a motion program to generate the machine command for the machine; adding first cycle information designating a first use timing to the machine command; and transmitting the machine command including the first cycle information to the communication server. The machine includes a machine circuitry configured to repeat local operations for controlling the machine according to a local control cycle. The machine circuitry is further configured to: store the machine command received from the communication server; and call the stored machine command, based on the first cycle information added to the stored machine command, to use the machine command in the local control cycle corresponding to the first use timing.