JP2017013153A - Equipment system, control program for the same, equipment, electronic equipment, and control method for equipment system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To simplify a teaching device required for a plurality of pieces of equipment, in environments of a factory and the like comprising the plurality of pieces of equipment.SOLUTION: An equipment system includes a plurality of pieces of equipment (robots 24-1, 24-2... 24-N) which each make an operation program become independent and which are operated by the operation program, and a teaching device (a teaching pendant 6 or 26) which is connected to the equipment selected from among the plurality of pieces of equipment, which identifies the operation program required to operate the equipment and which is individualized depending on the equipment.SELECTED DRAWING: Figure 1

Description

The present invention relates to control technology for various devices such as industrial robots and machine tools.

  For controlling various devices such as industrial robots and machine tools, a control device for controlling the devices is provided, and a teaching device is connected to the control device. This teaching device is called a teaching pendant (Patent Document 2) and teaches a sequence control command to the control device of each device.

  For example, a robot system includes a robot, a robot controller, and a portable remote control device. The portable remote device acquires a delivery process and a customized screen created by a user, and displays a customized screen and a standard screen prepared in advance. It is known to switch at a predetermined timing during operation (for example, Patent Document 1).

In a debugging system for a teaching device connected to a control device that controls various devices such as a robot, the debugging device is connected to the teaching device instead of the control device, and the teaching device transmits data to be read from the control device to the teaching device. In addition, it is known that the teaching device that has received the data includes the steps of executing the data and determining data to be written to the control device (for example, Patent Document 2).

JP 2013-123762 A JP 2006-343818 A

  By the way, in various devices such as industrial robots and machine tools, a teaching pendant is generally provided for each device. In such a teaching pendant, for example, as disclosed in Patent Document 1, the operability of the user can be improved by allowing the user to freely customize the operability. As disclosed in FIG. 2, convenience such as a function of debugging a program to be executed is enhanced. Furthermore, it can contribute to improving the operability of the constructed system.

  However, in an environment such as a factory where multiple devices such as industrial robots and machine tools are installed, having a teaching pendant for each device requires the number of teaching pendants according to the number of devices installed, and costs Become high. In addition, there is a problem that it is necessary to manage each teaching pendant, and a problem that each teaching pendant requires a program to be changed for each device to be controlled.

In view of the above problems, an object of the present invention is to simplify teaching pendants necessary for a plurality of devices in an environment such as a factory having a plurality of devices.

  In order to achieve the above object, according to one aspect of the device system of the present invention, an operation program is made independent for each device, and a plurality of devices operating with the operation program are connected to a device selected from the plurality of devices. An operation program required to operate the device is specified, and a teaching device (teaching pendant) that is individualized corresponding to the device may be provided.

  In order to achieve the above object, according to one aspect of the control program of the present invention, a control program to be executed by a computer mounted on a teaching apparatus common to a plurality of devices is selected from the plurality of devices. Thus, an operation program corresponding to a device to be operated from a plurality of devices is identified, and the computer is caused to execute a process for personalizing the teaching device by the identified operation program.

  In order to achieve the above object, according to one aspect of the device of the present invention, the device operates with an operation program selected from a plurality of operation programs, receives instruction information from a teaching device that selects the operation program, What is necessary is just to provide the communication part which transmits identification information to the said teaching apparatus which issued this instruction information, and the control part controlled by the said teaching apparatus individualized by the said operation program specified by the said identification information.

  In order to achieve the above object, according to one aspect of the electronic apparatus of the present invention, there is provided an electronic apparatus that controls an apparatus system including a plurality of apparatuses that operate independently according to an operation program for each of the plurality of apparatuses. Selection means for selecting a device to be operated from a plurality of devices, communication means for communicating with the device selected by the selection means from a plurality of devices, and acquiring identification information of the devices, and operation for each of the plurality of devices Storage means for storing a program, and processing means for selecting an operation program necessary for operating the selected device from the storage means, and personalizing the teaching device corresponding to the device by the selected operation program; Should be provided.

In order to achieve the above object, according to one aspect of a device system control method of the present invention, a device system control method including a teaching device common to a plurality of devices, wherein a device to be operated is selected from the plurality of devices. Connecting, a step of identifying an operation program corresponding to a device to be operated from a plurality of devices, and an operation of the device for personalizing the teaching device by the identified operation program and operating with the teaching device. And a step of linking the programs as a medium.

  According to the present invention, the following effects can be obtained.

  (1) A teaching device provided in common for each device selected from a plurality of devices such as industrial robots and machine tools can be individualized for each device, and the devices can be individually operated with the teaching device.

  (2) It is sufficient to provide at least a single teaching device corresponding to a specific operation program, and the teaching devices required for a plurality of devices can be greatly reduced.

  (3) A teaching device or electronic device that can handle a plurality of devices can be easily and freely customized by a user only by selecting an operation program, and the device configuration can be simplified.

  (4) By providing an operation program corresponding to a plurality of devices in a single teaching device, it is not necessary to change the program of the teaching device itself when changing the target device.

  (5) The operation program corresponding to the plurality of devices provided in the teaching device is automatically selected by connecting to the target device, and does not require selection operation at the connection site.

(6) Just by starting the operation program set in the teaching device or electronic device, the device corresponding to the operation program can be automatically started and operated.

It is a figure which shows an example of the apparatus system which concerns on one embodiment. It is a flowchart which shows an example of the control process of an apparatus system. It is a flowchart which shows an example of the process sequence of an apparatus system. It is a figure which shows an example of a robot system. It is a perspective view which shows the external appearance which is an example of a teaching pendant. It is a figure which shows an example of the hardware of a teaching pendant. It is a figure which shows an example of a data structure. It is a figure which shows an example of the hardware of a robot and PC. It is a flowchart which shows the process sequence at the time of starting of a teaching pendant. It is a flowchart which shows an example of the process sequence of PC connection process mode. It is a flowchart which shows an example of the process sequence of a robot connection process mode. It is a flowchart which shows an example of the process sequence by the side of PC to which TP was connected. It is a flowchart which shows an example of the process procedure by the side of the robot to which TP was connected.

  [One embodiment]

  FIG. 1 shows a device system according to an embodiment of the present invention. The configuration shown in FIG. 1 is an example, and the present invention is not limited to such a configuration.

  In the device system 2 shown in FIG. 1, a plurality of devices 4-1, 4-2, 4-3... 4-N, a teaching pendant (hereinafter referred to as “TP”) 6 and a personal computer (hereinafter referred to as “PC”). 8).

  Each of the devices 4-1, 4-2, 4-3... 4-N is a device that operates with an independent operation program for each of the devices 4-1, 4-2, 4-3. Yes, any of an industrial robot, a machine tool, and the like linked to TP6 may be used.

  TP6 is an example of a teaching device and an electronic device. The TP 6 is configured by a computer, for example, and includes an operation input unit, a display unit, and a communication unit. The TP 6 can be connected to any one of the devices 4-1, 4-2, 4-3... 4-N via the communication line 10, and can be connected to the PC 8 via the communication line 10. Instead of the communication line 10, it may be wireless. For example, when connector connection is performed using the device 4-1 and the communication line 10 as a medium for the TP6 to operate, the connection relationship can be confirmed by one or both of the TP6 and the device 4-1 with this connector connection as a trigger.

  TP6 is a specific device selected from these devices 4-1, 4-2, 4-3,... 4-N with respect to the devices 4-1, 4-2, 4-3,. For example, it is connected to one device 4-1. An operation program necessary for operating the device 4-1 is specified for the connected device 4-1. As a result, the TP6 has a function that is individualized as the TP6 corresponding to the device 4-1. Here, the individualized functions include identification information such as individual IDs (IDentification) of the devices 4-1, 4-2, 4-3,..., 4-N, and the devices 4-1, 4-2. 4-3... 4-N is specified for each device 4-1 and device 4-1 for various functions of 4-N. Therefore, individualization with respect to the device 4-1 is an example, and any of the other devices 4-2, 4-3,.

  The PC 8 is an example of a host computer, and is a host device that provides an operation program and the like to the TP 6. At the initial setting, the TP 6 is connected to the PC 8, and one or a plurality of operation programs are provided from the PC 8 to the TP 6.

  FIG. 2 shows processing steps as an example of the control method of the device system 2. This processing step is an example of a control step of the device system 2 including the TP 6 common to the plurality of devices 4-1, 4-2, 4-3,. This processing step includes a device selection step (S101), a connection step (S102), an operation program selection step (S103), a linkage operation establishment step (S104), and a processing step (S105).

  In the device selection step (S101), a device to be operated from a plurality of devices 4-1, 4-2, 4-3,.

  In the connection step (S102), the device 4-1 selected in the selection step (S101) is connected to the TP6.

  In the operation program selection step (S103), an operation program corresponding to a plurality of devices 4-1, 4-2, 4-3,... Identify the program and select its operating program.

  In the link operation establishing step (S104), the teaching pendant is individualized by the specified operation program, and the teaching pendant and the device to be operated are linked through the operation program.

  FIG. 3 shows an example of the processing procedure of the device system 2. This processing procedure is executed by a control program to be executed by a computer mounted on the TP 6 used in common for the plurality of devices 4-1, 4-2, 4-3... 4-N.

  In this processing procedure, a device to be operated is selected from a plurality of devices 4-1, 4-2, 4-3... 4-N and connected to the TP 6 to be connected (S 201). For this connection, for example, instruction information is provided to the device 4-1 to be connected from the TP6, and permission information is transmitted to the TP6 from the device 4-1 that has received this provision. The exchange prerequisites are established by the exchange of these pieces of information.

  In TP6, an operation program corresponding to the connected device is selected from a plurality of operation programs provided in advance from the PC 8 (S202). The operation program stored in the TP6 may be all the operation programs of the devices 4-1, 4-2, 4-3,..., 4-N, or a plurality of operation programs may be provided from the PC 8 as necessary.

  In TP6, for example, the TP6 for the device 4-1 is personalized by executing the specified operation program corresponding to the device 4-1 (S203).

  As a result, the device 4-1 receives the command information from the TP 6 and operates only according to the command information (S 204). In this operation, for example, if the device 4-1 is a machine tool, the function as a machine tool is exhibited, and if it is an industrial robot, the instructed operation can be performed by the industrial robot.

<Effect of one embodiment>

  (1) A device 4-1, 4- is provided with a TP6 provided in common for each device selected from a plurality of devices 4-1, 4-2, 4-3,..., 4-N such as industrial robots and machine tools. 2, 4-3,..., 4-N, and each device 4-1, 4-2, 4-3,.

  (2) A teaching pendant that has been required for a plurality of devices 4-1, 4-2, 4-3,... It can be greatly reduced.

  (3) For electronic devices with TP6 and other teaching functions that are compatible with multiple devices 4-1, 4-2, 4-3. It can be customized freely, and the device configuration can be simplified.

  (4) Just activate the operation program set in the teaching pendant or electronic device, and automatically activate the devices 4-1, 4-2, 4-3 ... 4-N corresponding to the operation program. Can be operated.

  FIG. 4 shows an embodiment of the robot system. This embodiment is an example of the device system 2.

  The robot system 22 includes a plurality of robots 24-1, 24-2, 24-3,. Each of the robots 24-1, 24-2, 24-3,..., 24-N may be operated by different operation programs, or may be operated by a common operation program. Each robot 24-1, 24-2, 24-3,..., 24-N may be identified by being assigned a different ID, and the operation program may be common.

  These robots 24-1, 24-2, 24-3,..., 24-N are provided with a common single teaching pendant (TP), for example, TP26. The TP 26 is connected to any one of the robots 24-1, 24-2, 24-3,. If the TP 26 is connected to any one of the robots 24-1, 24-2, 24-3,..., 24-N by the communication cable 20, the connection processing between the two can be started with this connection. If the TP 26 is connected to the PC 28, which is an example of a host computer, via the communication cable 20, the connection process between the two can be started with this connection.

  <TP26>

  FIG. 5 shows the outer appearance of the TP26. The TP 26 includes a flat housing 30 as an example, and a display unit 32 is provided on the front surface of the housing 30. A touch panel 34 is installed on the display surface of the display unit 32. Various information such as information indicating an operation state and input information is displayed on the display unit 32. The touch panel 34 is used for inputting information such as operations.

  An emergency stop switch 36-1 and a pulse input switch 36-2 are provided above the display unit 32. The emergency stop switch 36-1 is used for emergency stop. The pulse input switch 36-2 is used for pulse input in the manual pulse input mode, and can input a number of pulses corresponding to the rotation.

  A dead man switch 36-3 is provided on the side of the housing 30. By maintaining the pressing of the deadman switch 36-3, input of various switches becomes effective. That is, the operator needs to operate other switches while pressing the deadman switch 36-3.

  A selection switch 36-4 is arranged on the right side in the figure below the display unit 32, and a plurality of screen shortcut keys 36-51 and 36-52 and a plurality of operation switching keys 36 are arranged on the left side of the selection switch 36-4. -61, 36-62, 36-63 are provided.

  The selection switch 36-4 is used to select the functional units of the robots 24-1, 24-2, 24-3,..., 24-N, for example, to change the override value of the feed axis.

  The screen shortcut keys 36-51 and 36-52 are used when performing screen shortcuts. The operation switching key 36-61 is used, for example, for switching such as a temporary stop for temporarily stopping an operating program. The operation switching key 36-62 is used to select a function that is being displayed on the screen. The operation switching key 36-63 corresponds to the selected function on the screen display and is used to validate the execution.

  The communication cable 20 is connected to the lower side surface portion of the selection switch 36-4 of the housing 30. The communication cable 20 is an example of the communication line 10 and, for example, an RS232C cable is used. This communication cable 20 connects the TP 26 to any one of the robots 24-1, 24-2, 24-3,.

<Control part of TP26>

  FIG. 6 shows the control unit of TP26. The control unit 40 of the TP 26 may be configured by a computer having a communication function linked to the robots 24-1, 24-2... 24-N or the PC.

  The control unit 40 includes a processor 42, a timer 44, a communication unit 46, a memory unit 48, and an input / output unit (I / O) 52. The processor 42 executes a program in the memory unit 48 and performs various calculations and controls. This control includes information processing with the PC 28 or any of the robots 24-1, 24-2,..., 24-N, and information processing with the connected robot.

  The timer 44 is used for time management during information processing. For example, when the next switch is not operated within a predetermined time from the operated switch input, the timer 44 is used for processing such as invalidating the switch input according to a program. .

  The communication unit 46 is connected to the robots 24-1, 24-2... 24-N or the PC 28 by the communication cable 20. The communication unit 46 automatically starts communication with the connection destination when the connection is switched, and exchanges information.

  The memory unit 48 includes a program storage unit 48-1. The program storage unit 48-1 stores a firmware program and a plurality of operation programs P1, P2,... Pn. The program storage unit 48-1 may be composed of a ROM (Read-Only Memory). A recording medium such as a hard disk device or a flash memory may be used for the ROM. The operation programs P1, P2,... Pn are programs provided from the PC 28. These operation program storage areas may be set and stored separately from the firmware program. The other information storage unit 48-2 stores recording data, history, and the like. The RAM 50 is used as a work area during information processing.

  The I / O 52 is an interface that connects the processor 42 and various functional units. In this example, the display unit 32, the touch panel 34, the emergency stop switch 36-1, the pulse input switch 36-2, the deadman switch 36-3, In addition to the selection switch 36-4, screen shortcut keys 36-51 and 36-52, and a plurality of operation switching keys 36-61, 36-62 and 36-63, a plurality of light emitting elements 54 are connected. The light emitting element 54 includes an emergency stop switch 36-1, a pulse input switch 36-2, a deadman switch 36-3, a selection switch 36-4, screen shortcut keys 36-51 and 36-52, a plurality of operation switching keys 36-61, 36-62, 36-63, etc., and emits light during operation under the control of the processor 42 to notify that it is in operation.

<Data Structure of Memory Unit 48>

  FIG. 7 shows an example of a data structure stored in the memory unit 48. In this example, a project folder 48-11 is stored in the memory unit 48, and operation program folders 48-21, 48-22, 48-23... 48-2n are stored in the project folder 48-11. The project folder 48-11 stores common image data common to the robots 24-1, 24-2,..., 24-N, and includes a project definition file 48-111, an image definition file 48-112, An image (for example, Bit Map: BMP) data folder 48-113 is stored. The image data folder 48-113 stores a plurality of image data files 48-1131, 48-1132,.

  In the operation program folders 48-21, 48-22, 48-23,... 48-2n, the operation programs P1, P2 corresponding to the robots 24-1, 24-2,.・ Definition data is stored. The operation program folder 48-21 stores an operation program P1, and includes a definition file 48-211, a program definition file 48-212, and the like. The operation program folder 48-22 stores the operation program P2, and includes a definition file 48-221, a program definition file 48-222, and the like. The operation program folder 48-23 stores an operation program P3, and includes a definition file 48-231, a program definition file 48-232, and the like. Similarly, the operation program folder 48-2n stores an operation program Pn, and includes a definition file 48-2n1, a program definition file 48-2n2, and the like.

  The identification information (software number) for identifying the operation programs P1, P2,... Pn corresponding to the robots 24-1, 24-2,.

<Hardware of Robot 24 (= 24-1, 24-2 ... 24-N)>

  FIG. 8A illustrates an example of hardware of the robot 24 (= 24-1, 24-2... 24-N). The robot 24 includes a robot control unit 54, a display unit 56, an operation unit 58, a motor control unit 60, a sensor unit 62, and other mechanism units.

  The robot control unit 54 is configured by a computer that can communicate with the TP 26 or the PC 28. The robot control unit 54 includes a processor 64, a timer 66, a communication unit 68, a memory unit 70, and an input / output unit (I / O) 72.

  The processor 64 executes a program in the memory unit 70 and performs various calculations and controls. This control includes information processing with the TP 26 or the PC 28.

  The timer 66 is used for time management during information processing. For example, when there is no next operation input within a predetermined time from the operation input, the timer 66 is used for processing such as invalidating the input according to the program.

  The communication unit 68 is connected to the TP 26 or the PC 28 by the communication cable 20. The communication unit 68 automatically starts communication with the connection destination in response to connection switching, and exchanges information.

  The memory unit 70 includes a ROM (Read-Only Memory) and a RAM (Random-Access Memory). The ROM stores a basic program for controlling the robot.

  The I / O 72 is an interface that connects the processor 64 and various functional units. In this example, the display unit 56, the operation unit 58 of the robot mechanism unit, the motor control unit 60, the sensor unit 62, and the like are connected. Necessary control output is provided to the mechanism unit, and detection information from the sensor unit 62 is taken into the I / O 72. The display unit 56 displays state information and input information of the robot 24 that is stopped or operating.

<Hardware of PC28>

  FIG. 8B is an example of hardware of the PC 28. The PC 28 includes a PC main body 74, a display unit 76, an input unit 78, and an external storage device 80.

  The PC main body 74 is configured by a computer that can communicate with the TP 26. The PC main body 74 includes a processor 82, a memory unit 84, a communication unit 86, and an input / output unit (I / O) 88.

  The processor 82 executes programs in the memory unit 84 and performs various calculations and controls. This control includes information processing with the TP 26.

  The memory unit 84 includes a ROM (Read-Only Memory) and a RAM (Random-Access Memory). The ROM stores a PC basic program such as Bios. Applications and data files are stored in a RAM or an external storage device, and are executed or referenced as necessary. Project data provided to the TP 26 is stored in a RAM or an external storage device.

  The communication unit 86 is connected to the TP 26 by the communication cable 20. The communication unit 86 automatically starts communication with the connection destination when the connection is switched, and exchanges information.

  The I / O 88 is an interface that connects the processor 82 and various functional units. In this example, the display unit 76, the input unit 78, or the external storage device 80 is connected. The display unit 76 is a display that displays information in a visually recognizable manner. For example, an LCD (Liquid Crystal Display) may be used. The input unit 78 may include a mouse and a touch panel in addition to the keyboard. The external storage device 80 may use a recording medium such as a flash memory in addition to a hard disk.

<Processing procedure of TP26>

  FIG. 9 shows a processing procedure for initial setting of the TP 26. In this processing procedure, the TP 26 is connected to the robot 24 or the PC 28 (S301). For this connection, the communication cable 20 may be mechanically connected to the robot 24 or the PC 28. By this connection, power supply to the TP 26 is also started, and the operation of the TP 26 is started.

  During this connection, key input is performed. This key input uses, for example, a hidden key operation when the TP 26 is powered on. Any key may be used, but if a key operation is performed, a connection process with the PC 28 is selected.

  It is determined whether or not this key input has been performed (S302). If the above-described key input has been performed (YES in S302), the process proceeds to the PC connection processing mode (S303).

  If the above-described key input is not performed (NO in S302), the process automatically shifts to the robot connection processing mode (S304).

  FIG. 10 shows a specific processing procedure in the PC connection processing mode (S303) of TP28. In this processing procedure, when the PC connection processing mode is entered, the program data (definition data) is requested from the TP 26 to the PC 28 (S401), and the received data received from the PC 28 is stored (S402).

  During data reception, the data reception status is monitored to determine whether the data to be received has been completed (S403). The reception of the reception data is executed by packet processing, and the reception processing is continuously executed until reception of all data is completed (NO in S403).

  When the received data is completed (YES in S403), the image data (common data) is requested from the TP 26 to the PC 28 (S404). The received data received from the PC 28 is stored (S405).

  During the reception of the image data, the data reception status is monitored to determine whether the data to be received has been completed (S406). The reception of the reception data is executed by packet processing, and the reception processing is continuously executed until reception of all data is completed (NO in S406).

  Then, upon completion of reception of all data, this process is terminated.

  FIG. 11 shows a specific processing procedure in the robot connection processing mode (S304) of TP28. In this processing procedure, when a transition is made to the robot connection processing mode, an inquiry about the robot identification number is made from the TP 26 to the connected robot 24 (S501). It is determined whether or not there is a response from the inquired robot 24 (S502). If there is no response (NO in S502), a standby state is entered for a predetermined time.

  If there is a response to the inquiry from the robot 24 (YES in S502), the program with the identified identification number is loaded into the execution program area (S503), and the execution of the operation program in the loaded execution program area is continued (S504).

<Processing procedure on PC 28>

  FIG. 12 shows a processing procedure on the PC 28 side to which the TP 26 is connected. In this processing procedure, it is determined whether there is communication of TP26 (S601). If it is not communication with TP26 (NO of S601), the process with respect to TP26 is skipped and it transfers to another process (S602).

  If communication with TP26 has been established (YES in S601), it is determined whether communication with TP26 is a request for program data (S603). If there is a request for program data (YES in S603), the request data is transmitted (S604), and the process proceeds to S602 upon completion thereof.

  If it is not a request for program data (NO in S603), it is determined whether it is a request for image data (S605). If it is a request for image data (YES in S605), the request data is transmitted (S606), and the process proceeds to S602 upon completion thereof.

  If it is not a request for image data (NO in S605), other processing corresponding to the requirements from the TP 26 is executed (S607), and the process proceeds to S602 upon completion thereof.

<Processing procedure on the robot 24 side>

  FIG. 13 shows a processing procedure on the side of the robot 24 to which the TP 26 is connected. In this processing procedure, when the power is turned on, the robot 24 performs initialization (initialization) (S701), and after the initialization, confirms information communication from the outside (S702).

  The robot 24 determines whether or not there is communication such as an inquiry from the TP 26 (S702). If there is no communication (NO in S702), the process proceeds to normal robot control (S703), and returns to S702.

  If there is communication (YES in S702), it is determined whether or not an inquiry for identification information is made (S704). If the inquiry is for identification information (YES in S704), the identification number corresponding to the identification information for which the inquiry has been received is read and transmitted to the TP 26 (S705). After this transmission, the process proceeds to robot control (S703).

  If it is not an inquiry for identification information (NO in S704), other corresponding processing (S706) is executed, and the robot control (S703) is returned upon completion.

<Effect of Example>

  (1) According to this example, the effects described in the embodiment can be obtained.

  (2) The robot 24 may be any device that can be operated by the TP 26, such as a machine tool robot or a molding machine robot, and a plurality of devices can be operated by at least one TP 26 by selecting an operation program.

  (3) By providing an operation program corresponding to a plurality of devices in one TP 26, it is not necessary to change the program of the TP 26 itself when changing the target device.

  (4) The corresponding operation program is automatically selected by connecting the TP 26 and does not require a selection operation at the connection site.

  (5) A common TP 26 can be made common to multiple robots or multiple types of robots by selecting an operation program, and the process required for initialization and the like can be omitted when using multiple TPs. In addition, rapid robot operation and control can be performed.

[Other Embodiments]

  a In the above embodiment, a robot is exemplified as the device, but a plurality of electronic devices may be operated using a single TP. The present invention is not limited to the TPs, robots, and the like of the above embodiments.

  b The robot may be, for example, a mobile body such as a car that can be wirelessly operated.

As described above, the most preferable embodiment of the technology of the present invention has been described. The present invention is not limited to the above description. Various modifications and changes can be made by those skilled in the art based on the gist of the invention described in the claims or disclosed in the specification. It goes without saying that such modifications and changes are included in the scope of the present invention.

The present invention uses a single teaching pendant for a plurality of devices in addition to a plurality of robots such as machine tools and resin molding devices, and can perform operations and processes for each device. Reduction can be realized.

2 Equipment system 4-1, 4-2, 4-3 ... 4-N4 equipment 6 TP (teaching pendant)
8 PC (personal computer)
DESCRIPTION OF SYMBOLS 10 Communication line 20 Communication cable 24-1, 24-2, 24-3 ... 24-N Robot 26 TP
28 PC
30 Housing 32 Display 34 Touch Panel 36-1 Emergency Stop Switch 36-2 Pulse Input Switch 36-3 Deadman Switch 36-4 Selection Switch 36-51, 36-52 Screen Shortcut Keys 36-61, 36-62, 36- 63 Operation switching key 40 Control unit 42 Processor 44 Timer 46 Communication unit 48 Memory unit 48-1 Program storage unit 48-2 Other information storage unit 50 RAM
52 I / O
54 Light emitting element 48-11 Project folder 48-21, 48-22, 48-23... 48-2n Operation program folder 48-111 Project definition file 48-112 Image definition file 48-113 Image file 48-1131, 48 −1132... Image data file 48-211 Definition file 48-212 Program definition file 48-221 Definition file 48-222 Program definition file 48-231 Definition file 48-232 Program definition file 48-2n1 Definition file 48-2n2 program Definition file 54 Robot control unit 56 Display unit 58 Operation unit 60 Motor control unit 62 Sensor unit 64 Processor 66 Timer 68 Communication unit 70 Memory unit 72 Input / output unit (I / O)
74 PC Main Body 80 External Storage Device 82 Processor 84 Memory Unit 86 Communication Unit 88 Input / Output Unit (I / O)

Claims (5)

An operation program is made independent for each device, and a plurality of devices that operate with the operation program;
A teaching device that is connected to a device selected from the plurality of devices, specifies an operation program necessary to operate the device, and is individualized corresponding to the device;
A device system comprising: A control program to be executed by a computer mounted on a teaching device common to a plurality of devices,
Select and connect devices to be operated from multiple devices,
Identify the operation program corresponding to the device to be operated from multiple devices,
A control program for a device system for causing the computer to execute a process for personalizing the teaching device according to the identified operation program. A device that operates with an operation program selected from a plurality of operation programs,
A communication unit that receives instruction information from a teaching device that selects the operation program and transmits identification information to the teaching device that has issued the instruction information;
A control unit controlled by the teaching device individualized by the operation program specified by the identification information;
A device characterized by comprising: An electronic device that controls a device system including a plurality of devices that operate independently according to an operation program for each of a plurality of devices,
A selection means for selecting a device to be operated from a plurality of devices;
A communication unit that communicates with a device selected by the selection unit from a plurality of devices, and acquires identification information of the device;
Storage means for storing operation programs for a plurality of devices;
Processing means for selecting an operation program necessary for operating the selected device from the storage means, and individualizing the teaching device corresponding to the device by the selected operation program;
An electronic device comprising: A control method of a device system including a teaching device common to a plurality of devices,
Selecting and connecting a device to be operated from a plurality of devices; and
Identifying an operation program corresponding to a device to be operated from a plurality of devices;
Individualizing the teaching device by the identified operation program, and linking the teaching device and a device to be operated with the operation program as a medium;
A method for controlling a device system, comprising:

Images