JP5891662B2 - Robot system, control device, and method - Google Patents

Description

  The present invention relates to a robot system, a control apparatus, and a method.

  Data for operating a robot to be controlled (hereinafter also referred to as “robot operation data”) is stored in a control device that controls an industrial robot. Examples of the robot operation data include teaching data and calibration data. Patent Document 1 discloses a technique for storing information necessary for initial setting of a servo controller and a position control controller, for example, in a storage device provided in a servo motor.

  Conventionally, robot operation data is often stored in a memory directly mounted on a main board of a control device. Therefore, if the control device fails, the robot operation data is temporarily copied from the memory of the failed control device to a computer or a predetermined storage medium, and the copied robot operation data is transferred to the repaired controller memory. doing.

Japanese Unexamined Patent Publication No. 63-190584

  However, if the CPU of the control device or the main board has failed, it is difficult to copy the robot operation data from the failed control device. In recent years, there are cases where it is restricted to bring a computer or a storage medium into a manufacturing site for security management. Under such restrictions, it is not possible to perform operations using the computer or the storage medium. There is a case. For these reasons, if the robot operation data used so far cannot be transferred to the repaired controller, robot recalibration and teaching work will be required, resulting in a huge amount of man-hours. End up.

  Further, when repairing a plurality of control devices at the same time, it is necessary to reliably transfer the robot operation data of each control device to the corresponding control device after the repair. This is because if the robot operation data is transferred to the wrong control device, the robot may perform unexpected operations, which may affect the defect rate of products produced by the robot. These problems are not limited to transferring robot operation data of a failed control device to a repaired control device, but also transferring robot operation data of a previously used control device to a new control device. Is a problem that can occur as well.

  Considering the above-mentioned various problems, the problem to be solved by the present invention is data for robot operation from a control device used so far to a new control device (including a control device after repair; the same applies hereinafter). It is to provide a technique capable of appropriately and easily performing the transition.

  SUMMARY An advantage of some aspects of the invention is to solve at least a part of the problems described above, and the invention can be implemented as the following forms or application examples.

Application Example 1 A robot system having a robot and a control device for controlling the robot, wherein the control device is detachable in which data for operating the robot and first unique information are stored A first storage unit; and a control unit that controls the operation of the robot based on the data, wherein the robot stores second unique information corresponding to the first unique information. And a drive unit driven by control by the control unit, the control unit acquires the second specific information from the robot, the acquired second specific information, A robot system that determines whether or not the robot is a robot corresponding to the control device based on the first unique information stored in the first storage unit.

  With such a configuration, data for operating the robot is stored in the first storage unit detachable from the control device. Therefore, the data for operating the robot can be easily transferred by removing the first storage unit from the control device used so far and mounting it on a new control device. Further, in this configuration, corresponding unique information (first unique information and second unique information) is stored in the first storage unit of the control device and the second storage unit of the robot. Therefore, the control device can easily determine whether or not the control device corresponds to the robot based on the unique information. As a result, when a plurality of control devices are updated at the same time, even if the first storage unit is attached to the wrong control device, control or the like that does not operate the robot can be performed. Therefore, it is possible to transfer data for operating the robot to an appropriate control device corresponding to the robot.

Application Example 2 In the robot system according to Application Example 1, the control device operates based on an operating system having a function of creating a unique security identifier at the time of installation. At least one of the unique information and the second unique information is the security identifier.

  With such a configuration, it is not necessary to add a new circuit or program for generating the unique information, so that it is possible to suppress an increase in manufacturing costs of the control device and the robot.

Application Example 3 In the robot system according to Application Example 1 or Application Example 2, the driving unit includes a rotary encoder and the second storage unit, and the second storage unit includes the second storage unit. A robot system in which information related to the rotary encoder is stored together with two pieces of unique information.

  With such a configuration, in order to store the angle information and the like of the rotary encoder, a storage device that is standardly attached to the rotary encoder can be used as the second storage unit. Therefore, a dedicated storage device for storing the second unique information is not necessary, and an increase in the robot manufacturing cost can be suppressed.

Application Example 4 In the robot system according to Application Example 3, the robot system includes a plurality of the drive units, and each of the drive units includes the rotary encoder and the second storage unit. The unique information is divided according to the number of the drive units, and the divided second unique information is stored in each of the second storage units.

  With such a configuration, since the second unique information is divided and stored in the plurality of second storage units, the storage capacity of each second storage unit can be reduced.

Application Example 5 In the robot system according to Application Example 4, in addition to the divided second unique information, each of the second storage units includes a unique axis identifier for each drive unit. The control unit acquires the divided second unique information and the axis identifier from each second storage unit, and the acquired divided division is performed according to the acquired axis identifier. A robot system for combining the second unique information.

  With such a configuration, the second unique information can be appropriately combined by using the axis identifier. In addition, since the control device obtains the divided second unique information with a small amount of data from the plurality of second storage units, the control device transmits the second unique information transmitted from the robot due to the influence of noise generated from the robot and the surrounding environment. It is possible to suppress the occurrence of an error in the unique information of 2.

[Application Example 6] The robot system according to any one of Application Example 1 to Application Example 5, wherein the control unit determines that the robot is not a robot corresponding to the control device, and A robot system for forcibly storing second unique information corresponding to the first unique information in the second storage unit when an input of a predetermined command is received.

  With such a configuration, even when a robot that does not correspond to the control device is connected, the robot can be forced to correspond to the control device. Therefore, the robot system can be constructed flexibly.

Application Example 7 In the robot system according to Application Example 1, at least one of the first unique information and the second unique information includes a manufacturing number of the control device, a manufacturing number of the robot, and the first A robot system including at least one of a volume serial number of one storage unit, position information of the driving unit, calibration data, and teaching data.

  Even with such a configuration, it is not necessary to add a new circuit or program for generating the unique information, and thus it is possible to suppress an increase in the manufacturing costs of the control device and the robot.

  In addition to the configuration as the robot system described above, the present invention can also be configured as a control device for controlling the robot, a method for determining the correspondence between the control device and the robot, and a computer program for controlling the robot. . The computer program may be recorded on a computer-readable recording medium.

It is explanatory drawing which shows schematic structure of a robot system. It is a block diagram which shows the internal structure of a robot and a control apparatus. It is explanatory drawing which shows the memory content of a non-volatile memory. It is a flowchart which shows a part of manufacturing process of a robot and a control apparatus. It is a flowchart of the work performed by the user at the robot installation location. It is a flowchart of the work performed by the user at the robot installation location. It is a flowchart of the repair work of a control apparatus. It is a specific flowchart of a security ID registration process. It is a specific flowchart of the power-on initial process.

A. System configuration:
FIG. 1 is an explanatory diagram showing a schematic configuration of a robot system 10 as an embodiment of the present invention. The robot system 10 includes an articulated industrial robot 100, a control device 200 for controlling the operation of the robot 100, and a teaching pendant 300 for teaching the operation of the robot 100. The robot 100 and the control device 200, and the control device 200 and the teaching pendant 300 are connected to each other via a predetermined connection cable.

  The robot 100 has a lower end supported by the shoulder portion 102 by a base portion 101, a shoulder portion 102 supported by the base portion 101 by a first shaft that can turn in a horizontal direction, and a second shaft that can turn in a vertical direction. The lower arm 103, the upper arm 104 supported at the tip of the lower arm 103 by a third axis that can pivot in the vertical direction, and the wrist 105 supported at the tip of the upper arm 104 by the fourth axis that can pivot in the vertical direction. And. At the tip of the wrist 105, a flange portion 106 having a fifth shaft that is rotatable in the circumferential direction of the wrist 105 is provided. An end effector 107 that handles a workpiece is attached to the flange portion 106. Although FIG. 1 shows the robot 100 having five axes, the number of axes is not limited to this, and other numbers may be used. Each axis corresponds to a “drive unit” in the present application.

  In the present embodiment, a common identifier called “security ID” is stored in the control device 200 and the robot 100 when the control device 200 and the robot 100 are manufactured. The control device 200 collates the security IDs stored in the control device 200 and the robot 100 to determine whether the robot 100 is a robot corresponding to the control device 200, that is, whether the robot 100 is connected in the correct combination. It can be determined whether or not.

  On the robot 100 side, the security ID is divided and stored in a nonvolatile memory provided for each axis together with an axis ID unique to each axis. On the other hand, on the control device 200 side, the security ID is stored in the removable replacement memory 270 together with data for operating the robot 100 (hereinafter also referred to as “robot operation data”). Examples of the robot operation data include teaching data and calibration data (CAL data). The teaching data is data taught by the teaching pendant 300 and is data for reproducing the operation of the robot 100. The calibration data is data for correcting instrument differences of each axis of the robot 100. When the control device 200 fails, the replacement memory 270 is removed from the failed control device 200, and the replacement memory 270 is mounted again on the repaired control device 200, so that the security ID, the robot operation data, Can be transferred to the control device 200 after repair.

B. Internal configuration:
FIG. 2 is a block diagram showing the internal configuration of the robot 100 and the control device 200. The control device 200 includes a CPU 210, a fixed ROM 220, a RAM 230, a pendant interface 240 to which the teaching pendant 300 is connected, an encoder interface 250 for communicating with the rotary encoder 120 provided in the robot 100, A plurality of drive circuits 260 for driving the servo motor 110 provided on each axis of the robot 100 and a memory slot 280 into which the replacement memory 270 is inserted are provided. These components are connected to each other via a predetermined internal bus 290.

  The fixed ROM 220 is a storage device fixed in the control device 200, and stores an operating system (OS) and various programs for realizing a security ID registration process and a power-on initial process described later. The RAM 230 is used as a work area when the CPU 210 executes an operating system or a program. In the present embodiment, Windows (registered trademark; the same applies hereinafter) is installed in the fixed ROM 220 as an operating system. As the fixed ROM 220, for example, a flash ROM can be used. The CPU 210 corresponds to the “control unit” of the present application.

  The replacement memory 270 is a storage device that can be attached to and detached from the control device 200 via the memory slot 280. Security ID (SID), teaching data, and calibration data are recorded in replacement memory 270 by CPU 210 through memory slot 280. The security ID is an identifier unique to the control device 200 that is generated when Windows is installed in the control device 200. As the replacement memory 270, for example, a flash ROM, a battery-backed SRAM, or the like can be used. The replacement memory 270 corresponds to the “first storage unit” of the present application.

  The robot 100 includes, for each axis, a servo motor 110, a rotary encoder 120 that detects the rotation angle of the servo motor 110, a signal processing unit 130 connected to the rotary encoder 120, and a non-volatile connected to the signal processing unit 130. And a memory 150.

  The non-volatile memory 150 provided for each axis is a general-purpose memory attached to the rotary encoder 120, and stores, for example, angle information (for example, multi-rotation information) of the rotary encoder 120. The nonvolatile memory 150 stores an axis ID uniquely assigned for each axis from the control device 200 and a divided security ID (divided SID) transmitted from the control device 200. As the non-volatile memory 150, for example, an EEPROM can be used. The nonvolatile memory 150 corresponds to the “second storage unit” of the present application.

  The signal processing unit 130 provided for each axis is connected in a daisy chain by a serial transmission line 160. The serial transmission path 160 is connected to the encoder interface 250 of the control device 200. Each signal processing unit 130 transmits the angle signal output from the rotary encoder 120 to the control device 200 through the serial transmission path 160. Based on this angle signal, the CPU 210 of the control device 200 feedback-controls the power output from each drive circuit 260 and drives each axis of the robot 100.

  Each signal processing unit 130 attaches an axis ID to the angle signal when transmitting the angle signal to the control device 200. The control device 200 identifies the source of the angle signal by identifying this axis ID. Each signal processing unit 130 can determine the control signal addressed to itself by receiving the control signal with the axis ID from the control device 200 through the serial transmission path 160. The signal processing unit 130 is configured by, for example, an ASIC (Application Specific Integrated Circuit).

  FIG. 3 is an explanatory diagram showing the storage contents of the nonvolatile memory 150. The nonvolatile memory 150 stores version information, mechanical type, calibration data, allowable angle range information, and encoder angle information. In addition, a reserve area for future expansion is secured in the nonvolatile memory 150. In the present embodiment, the axis ID and the divided serial ID described above are stored in the reserved area. The “version information” is information used for compatibility check of stored data. The “mechanical model” is information used to specify the type of robot (4-axis type, 6-axis type, etc.). The calibration data is the same data as the calibration data stored in the replacement memory 270. The allowable angle range information is information indicating an effective angle range from the reference angle of the shaft to the mechanical end. The encoder angle information is information indicating position information (multi-rotation position information) of the rotary encoder 120 and the like.

C. Various Work Processes FIG. 4 is a flowchart showing a part of the manufacturing process of the robot 100 and the control device 200 in the robot manufacturer. In the manufacturer, first, the robot 100 and the control device 200 are manufactured (step S10). When the robot 100 and the control device 200 are manufactured, a security ID registration process, which will be described later, is executed in the control device 200 (step S12). In this security ID registration process, an operating system is installed in the control device 200 and the security ID is stored in the replacement memory 270.

  When the security ID registration process is completed, the robot 100 and the control device 200 are connected with a predetermined cable, and a power-on initial process described later is executed in the control device 200 (step S14). In the power-on initial processing, the security ID stored in the replacement memory 270 is divided according to the number of axes of the robot 100 and transferred to the nonvolatile memory 150 provided for each axis. In this initial process at power-on, a unique axis ID is assigned to each axis.

  When the power-on initialization process is completed, the robot manufacturer ships the robot 100 and the control device 200 connected in step S14 to the user as a set of robot systems (step S16).

  FIG. 5 and FIG. 6 are flowcharts of work performed by the user at the robot installation location where the robot 100 and the control device 200 are shipped. First, the user performs calibration and teaching using the teaching pendant 300 (step S20). Then, teaching data and calibration data are stored in the replacement memory 270 of the control device 200 in addition to the security ID.

  When calibration and teaching are completed, the operation of the robot 100 and the control device 200 is started (step S22). If a failure occurs in the control device 200 during operation (step S24), the operation is stopped and the replacement memory 270 is removed from the control device 200 (step S26). Then, the control device 200 from which the replacement memory 270 is removed is repaired, for example, by a robot manufacturer (step S28).

  FIG. 7 is a flowchart of repair work of the control device 200. When the robot manufacturer that performs the repair receives the failed control device 200, the robot manufacturer reconstructs the control device 200 (step S50). In the present embodiment, rebuilding refers to repair or replacement of a failed part, replacement with a new control device 200, or the like. In this reconstruction operation, a new replacement memory is mounted on the control device 200. When the reconfiguration of the control device 200 is completed, a security ID registration process described later is executed in the same manner as when the control device 200 is manufactured (step S52). As described above, in this security ID registration process, an operating system is installed in the control device 200 and the security ID is stored in the replacement memory 270.

  When the security ID registration process is completed, the robot manufacturer removes the replacement memory 270 from the control device 200 and ships the control device 200 from which the replacement memory 270 has been removed to the user who requested the repair of the control device 200 ( Step S56). With the above procedure, the repair work of the control device 200 is completed. Even though the replacement memory 270 is finally removed in step S54, the replacement memory 270 is not mounted in the controller 200 when the replacement memory 270 is mounted in the reconfiguration in step S50. This is because the security ID registration process is not completed as long as possible. The replacement memory 270 removed in step S54 may be used as the replacement memory 270 of the newly manufactured control device 200 after deleting the stored security ID, or for the next repair work. You may use it again. In the present embodiment, the series of repair operations described above are performed by a robot manufacturer, but may be performed by another repair company or performed at a robot installation location (user's site). It is good as well.

  When the repaired control device 200 is received, the user again attaches the replacement memory 270 removed in step S26 of FIG. 5 to the control device 200 as shown in FIG. 6 (step S30). When the replacement memory 270 is mounted again and the control device 200 is turned on, the control device 200 executes a power-on initial process described later (step S32). In the power-on initial processing, the divided security ID and the axis ID stored in the robot 100 are read into the control device 200, and the divided security IDs are combined according to the order of the axis IDs. Then, the combined security ID is collated with the security ID stored in the replacement memory 270. As a result of the collation, if the two security IDs match, the robot 100 appropriately corresponds to the control device 200, and the operation of the robot 100 and the control device 200 is resumed (step S34). Details of the case where the two security IDs do not match will be described later.

D. Security ID registration process:
FIG. 8 is a specific flowchart of a security ID registration process executed by the CPU 210 of the control device 200 when the control device 200 is manufactured (FIG. 4) and repaired (FIG. 7). In starting the security ID registration process, an operating system is first installed in the control device 200 (step S100). During installation, a security ID unique to the control device 200 is generated by the function of the operating system and stored in the fixed ROM 220.

  When the operating system is installed, the control device 200 determines whether or not the “immediately after installation flag” is ON (step S102). The flag immediately after installation is a flag that is turned ON by the function of the operating system immediately after the installation of the operating system is completed. The flag immediately after installation is recorded in the fixed ROM 220 in which the operating system is stored. When the immediately after installation flag is OFF, that is, at the time of restart after a short time after installation, or at normal power-on, the control device 200 skips the processing of steps S104 to S110 described below.

  If the flag immediately after installation is ON, the control device 200 waits until various configurations (settings) of the operating system are completed (step S104). When the configuration is completed, the control device 200 acquires a security ID from the fixed ROM 220 (step S106), transfers the security ID to the replacement memory 270 and stores it (step S108), and turns off the flag immediately after installation. (Step S110). According to the security ID registration process described above, the security ID generated when the operating system is installed can be stored in the replacement memory 270.

E. Initial processing at power-on:
FIG. 9 is a specific flowchart of power-on initial processing executed by the CPU 210 of the control device 200 during manufacture of the control device 200 (FIG. 4) and after repair of the robot (FIG. 6). When the power-on initial processing is executed, first, the control device 200 transmits a predetermined control signal to the signal processing unit 130 of the robot 100, so that the nonvolatile memory 150 provided in each axis of the robot 100. Thus, the axis ID and the divided security ID are acquired for each axis (step S200). Then, the obtained divided security IDs are combined in the order of corresponding axis ID numbers (step S202).

  When the divided security IDs are combined, the control device 200 collates the combined security ID with the security ID stored in the replacement memory 270 (step S204). As a result, if the combined security ID matches the security ID stored in the replacement memory 270, the corresponding appropriate robot 100 is connected to the control device 200. Therefore, the control device 200 assigns an axis ID to each axis (step S206) and ends the initial process at power-on.

  The assignment of the axis ID in step S206 is performed so that the same axis ID is assigned to each axis of the robot 100 each time. Specifically, for example, “1” is assigned to the first axis as the axis ID every time, and “2” is assigned to the second axis as the axis ID every time. This is because if the axis ID fluctuates every time the power is turned on, the teaching data for driving each axis also needs to be changed each time, which is inefficient. For example, the control device 200 transmits the axis IDs in order from the signal processing unit 130 closest to the encoder interface 250 among the signal processing units 130 connected in a daisy chain, for each axis. The same axis ID can be assigned each time. As described above, if the two security IDs match and the axis ID is assigned every time the power is turned on, the axis ID is rewritten or deleted for some reason when the power is turned off. However, it is possible to write a normal axis ID.

  When it is determined in step S204 that the combined security ID does not match the security ID stored in the replacement memory 270, the control device 200 is provided in the teaching pendant 300 or the control device 200. An error indicating that the control device 200 and the robot 100 are not compatible is displayed on the display unit (step S208).

  When the error is displayed, the control device 200 receives a forced ID setting command through the teaching pendant 300 or the operation unit of the control device 200 (step S210). The forced ID setting command is a command for forcibly associating these when the control device 200 and the robot 100 are not associated with each other. For example, this instruction may be input only by a user having administrator authority, or may be accepted only when a preset password is input to the teaching pendant 300.

  If the forced ID setting command is not received within the predetermined period (step S212: No), the control device 200 cuts off the supply of power to the robot 100 through the drive circuit 260 (step S214). By doing so, it is possible to prevent the robot 100 from operating for some reason when the control device 200 and the robot 100 are not in the correct combination. At this time, since the control device 200 remains operating, error analysis and the like can be performed as they are.

  When the compulsory ID setting command is received within a predetermined period (step S212: Yes), the control device 200 reads the security ID in the replacement memory 270 and divides it by the number of axes of the robot 100. Thus, a divided security ID is generated. Then, the axis ID and the divided security ID are transmitted to each axis and stored in the nonvolatile memory 150 (step S218). With the series of processes described above, the power-on initial process is completed.

F. effect:
In the present embodiment described above, teaching data and calibration data for operating the robot 100 are stored in the replacement memory 270 that can be attached to and detached from the control device 200. Therefore, it is possible to easily transfer calibration data and teaching data to the repaired control device 200 by attaching the replacement memory 270 used so far to the repaired control device 200 again. Can do. Therefore, recalibration and reworking of teaching work are not required, and the work burden when the control device 200 is out of order can be greatly reduced.

  In the present embodiment, the unique security ID is stored in common in the replacement memory 270 of the control device 200 and the robot 100, and the security ID of each other is verified when the control device 200 is powered on. Therefore, for example, even when a plurality of control devices 200 are repaired at the same time, it is possible to accurately confirm that the repaired control device 200 and the robot 100 are connected in the correct combination. As a result, it is possible to prevent the teaching data and calibration data stored in the replacement memory 270 from being used for unintended robot control, and to suppress an increase in the defective rate of the product. be able to.

  In the present embodiment, a security ID generated by a function of the operating system at the time of installing the operating system (Windows) is used as an identifier stored in common in the control device 200 and the robot 100. Therefore, it is not necessary to prepare a new circuit or program for generating a unique identifier. As a result, it is possible to suppress an increase in manufacturing costs of the control device 200 and the robot 100.

  In the present embodiment, when the security ID is stored in the robot, the security ID is divided, and the divided security ID (divided security ID) is stored in the nonvolatile memory 150 provided in each axis. Therefore, the storage capacity of each nonvolatile memory 150 can be reduced. Further, if the security ID is divided, the amount of data transferred from the robot 100 to the control device 200 at the time of collating the security ID is reduced. Therefore, it is possible to suppress the occurrence of errors in the data due to the noise of the robot 100 itself or noise from the surrounding environment, and the security ID can be accurately verified.

  In the present embodiment, a security ID (more specifically, a divided security ID) is stored in a general-purpose nonvolatile memory 150 attached to the rotary encoder 120. Therefore, a dedicated memory for storing the security ID is not necessary, and an increase in the manufacturing cost of the robot 100 can be suppressed.

  In this embodiment, even if the security ID on the robot 100 side does not correspond to the security ID on the control device 200 side, a new ID is given to the robot 100 when a forced ID setting command is received from the user. A unique security ID is stored. Therefore, even if the control device 200 and the robot 100 do not correspond normally, the robot system can be reconstructed flexibly.

G. Variations:
As mentioned above, although one Embodiment of this invention was described, this invention is not limited to such Embodiment, A various structure can be taken in the range which does not deviate from the meaning. For example, a function realized by software may be realized by hardware, and vice versa. In addition, the following modifications are possible.

・ Modification 1:
In the above embodiment, when the security ID is stored in the robot 100, the security ID is divided, and the divided security IDs are stored in the nonvolatile memory 150 of each axis. However, the same security ID may be stored in each nonvolatile memory 150 of the robot 100 without dividing the security ID. In this case, for example, the control device 200 obtains the security ID in order from the nonvolatile memory 150 of each axis, and determines that the correct robot 100 is connected when at least one verification is successful. Also good. Alternatively, the security ID may be stored in only one nonvolatile memory 150 without being divided.

Modification 2
In the above embodiment, the security ID is divided and stored in the nonvolatile memory 150 of each axis of the robot 100. On the other hand, for example, the bit configuration of the security ID may be reversed, or a predetermined value may be added to the security ID and stored in the robot 100. When the bit information of the security ID is inverted, for example, by re-inverting the bit information, it is possible to correctly collate with the security ID stored in the replacement memory 270. Further, when a predetermined value is added to the security ID, the value can be subtracted from the security ID at the time of verification, so that the security ID stored in the replacement memory 270 can be correctly verified. That is, if the correspondence between the security ID stored in the replacement memory 270 and the security ID stored in the robot 100 can be correctly verified, the security ID stored in the replacement memory 270 and the robot 100 are stored. The security ID may not be the same value.

・ Modification 3:
In the above embodiment, the security ID is stored in the general-purpose nonvolatile memory 150 attached to the rotary encoder 120. However, the security ID may be stored in another memory included in the robot 100 or a dedicated memory for storing the security ID.

-Modification 4:
In the above embodiment, a security ID generated at the time of installing the operating system is used as an identifier stored in common by the control device 200 and the robot 100. However, the identifier stored in common by the control device 200 and the robot 100 is not limited to the security ID, and may be another identifier. For example, the manufacturing number (serial number) of the control device 200, which is information unique to the control device 200, or the volume serial number of the replacement memory 270 or the fixed ROM 220 may be used as the identifier. Further, the manufacturing number (serial number) of the robot 100, which is information unique to the robot 100, calibration data, and angle information of the encoder may be used as an identifier. In addition, for example, teaching data may be used as an identifier, or a unique identifier arbitrarily determined by a user may be used. That is, as long as the correspondence between the control device 200 and the robot 100 can be confirmed, the form of the identifier is not limited to the security ID.

Modification 5:
In the above embodiment, although the security ID is divided, the security ID value itself is recorded in the non-volatile memory 150 of the robot 100 without being changed. On the other hand, for example, the security ID may be compressed and recorded in the nonvolatile memory 150. Further, an error detection code or an error correction code may be added and recorded in the nonvolatile memory 150. When the security ID is divided, compression may be performed for each divided security ID, or an error detection code or an error correction code may be added.

Modification 6:
In the above embodiment, teaching data and calibration data are stored in the replacement memory 270 as data for operating the robot 100. However, only one of the teaching data and the calibration data may be stored in the replacement memory 270.

Modification 7:
In the above embodiment, an example is shown in which the replacement memory 270 is attached to the repaired control device 200 when the control device 200 fails. On the other hand, the replacement memory 270 used in the previous control device 200 (for example, the discarded control device 200 or the updated control device 200) is newly purchased by the new control device 200 (for example, newly purchased). It is good also as mounting | wearing with the control apparatus 200) used with respect to the control apparatus 200 or another robot. Even if it is such an aspect, there exists an effect similar to the effect of embodiment mentioned above.

DESCRIPTION OF SYMBOLS 10 ... Robot system 100 ... Robot 101 ... Base part 102 ... Shoulder part 103 ... Lower arm 104 ... Upper arm 105 ... Wrist 106 ... Flange part 107 ... End effector 110 ... Servo motor 120 ... Rotary encoder 130 ... Signal processing part 150 ... Non-volatile Memory 160 ... Serial transmission path 200 ... Control device 210 ... CPU
220 ... Fixed ROM
230 ... RAM
240 ... pendant interface 250 ... encoder interface 260 ... drive circuit 270 ... replacement memory 280 ... memory slot 290 ... internal bus 300 ... teaching pendant

Claims (9)

A robot system having a robot and a control device for controlling the robot,
The controller is
A removable first storage unit for storing data for operating the robot and first unique information;
A controller that controls the operation of the robot based on the data,
The robot is
A second storage unit for storing second unique information corresponding to the first unique information;
A drive unit driven by control by the control unit,
The control unit acquires the second specific information from the robot, and based on the acquired second specific information and the first specific information stored in the first storage unit Determining whether the robot is a robot corresponding to the control device;
Robot system. The robot system according to claim 1,
The control device operates based on an operating system having a function of creating a unique security identifier at the time of installation,
The robot system, wherein at least one of the first unique information and the second unique information is the security identifier. The robot system according to claim 1 or 2, wherein
The drive unit includes a rotary encoder and the second storage unit,
The robot system in which information about the rotary encoder is stored in the second storage unit together with the second specific information. The robot system according to claim 3, wherein
A plurality of the drive units are provided, each of the drive units is provided with the rotary encoder and the second storage unit,
The second unique information is divided according to the number of the drive units, and the divided second unique information is stored in each of the second storage units. The robot system according to claim 4,
In each of the second storage units, in addition to the divided second unique information, a unique axis identifier is stored for each drive unit,
The control unit obtains the divided second unique information and the axis identifier from each second storage unit, and obtains the divided second obtained information according to the obtained axis identifier. A robot system that combines unique information. A robot system according to any one of claims 1 to 5,
When the control unit determines that the robot is not a robot corresponding to the control device and receives an input of a predetermined command, the second specific information corresponding to the first specific information Is forcibly stored in the second storage unit. The robot system according to claim 1,
At least one of the first unique information and the second unique information includes a manufacturing number of the control device, a manufacturing number of the robot, a volume serial number of the first storage unit, position information of the driving unit, calibration A robot system that includes at least one of the following data: A control device for controlling a robot,
A removable first storage unit for storing data for operating the robot and first unique information;
A controller that controls the operation of the robot based on the data,
The robot is
A second storage unit for storing second unique information corresponding to the first unique information;
A drive unit driven by control by the control unit,
The control unit acquires the second specific information from the robot, and based on the acquired second specific information and the first specific information stored in the first storage unit Determining whether the robot is a robot corresponding to the control device;
Control device. A method for determining the correspondence between a control device and a robot,
The controller is
A removable first storage unit for storing data for operating the robot and first unique information;
A controller that controls the operation of the robot based on the data,
The robot is
A second storage unit for storing second unique information corresponding to the first unique information;
A drive unit driven by control by the control unit,
The control device acquiring the second specific information from the robot;
Whether the robot is a robot corresponding to the control device based on the acquired second unique information and the first unique information stored in the first storage unit. Determining whether or not,
A method comprising:

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