JP6441061B2 - Machine control system and user interface setting method of machine control system - Google Patents

Description

  The present invention relates to a machine control system and a user interface setting method for the machine control system.

  In Patent Document 1, as a control device for controlling a machine tool, a control device body such as a CPU for processing data, a keyboard for inputting data, and a liquid crystal display plate for displaying information are provided. What has been proposed. In the control device of Patent Document 1, a keyboard is provided with a plurality of function keys. Then, by pressing each function key, data corresponding to the function key is displayed on the liquid crystal display panel.

  In addition, the control device disclosed in Patent Document 1 allows a user to set the assignment relationship between each function key and the type of data displayed on the liquid crystal display panel when the function key is pressed. The setting information is stored in the memory of the main body. Therefore, the user can change the user interface relating to each function key according to his / her preference, and can save the changed user interface settings.

Japanese Patent Laid-Open No. 2002-13212 JP 2008-80474 A

  By the way, Patent Document 2 proposes a robot control system in which a robot control device for controlling the operation of a robot and a portable operation device for inputting data to the robot control device are connected by wireless communication. In the robot control system of Patent Document 2, the portable operation device can not only connect wireless communication to a specific one robot control device, but can also switch the wireless communication connection partner to another robot control device.

  Here, in Patent Document 1, there is no description about a situation in which the keyboard connection partner is switched to the control device body of another control device, and the control device in Patent Document 1 is subject to be operated by an input operation of the keyboard. It is premised on being fixed to a specific control device main body. Therefore, the technique related to the setting of the user interface disclosed in Patent Document 1 is effective only when the keyboard connection partner is fixed to a specific control device body.

  On the other hand, in the portable operation device capable of switching the wireless communication connection partner as in the robot control system of Patent Document 2, sufficient consideration has been made in the prior art on how to set the user interface. It ’s hard to say. Therefore, further improvements are desired in this regard.

  The present invention has been made in view of such a conventional technique, and an object thereof is to improve the operability of a user interface in a portable operation device.

  To achieve the above object, the present invention provides a plurality of machine control devices for controlling the operation of a work machine, and a portable operation for inputting data to a machine control device to be connected among the plurality of machine control devices. In the machine control system comprising the apparatus, the portable operating device includes an input unit for inputting data, a first storage unit for storing user interface customization information in the input unit, and the machine to be connected A first communication unit that outputs the customization information to a control device, and the machine control device uses the user interface in the input unit of the portable operation device based on the customization information output by the portable operation device. An information generation unit that generates setting reflection information for reflecting the setting information, and a second communication that outputs the setting reflection information to the portable operation device that is a connection partner. And a part.

  In order to achieve the above object, the present invention provides a plurality of machine control devices that control the operation of a work machine, and a method for inputting data to a connection partner machine control device among the plurality of machine control devices. In a user interface setting method for a machine control system including a portable operation device, the portable operation device outputs user interface customization information in an input unit for inputting data to the machine control device of a connection partner. A first communication step, and the machine control device generates setting reflection information for reflecting the user interface on the input unit of the portable operation device based on the customization information output by the portable operation device Generating information to be output, and the machine control device outputs the setting reflection information to the portable operation device to be connected. And a second communication step.

  ADVANTAGE OF THE INVENTION According to this invention, the operativity of the user interface in a portable operating device improves.

Schematic of a robot control system. The block diagram which shows the electrical structure of a wireless teach pendant and a robot control apparatus. The flowchart explaining the customization process of the user interface in a robot control system. The flowchart explaining the user interface setting process in a robot control system. (A)-(c) is explanatory drawing explaining the process which produces | generates setting reflection information based on customization information and authority information.

(Robot control system configuration)
An embodiment of the robot control system of the present invention will be described. First, an outline of the robot control system will be described.

  As shown in FIG. 1, the robot control device RC1 of the robot control system controls the operation of the robot R1, and includes a computer and various modules. The robot controller RC1 has a wireless communication function. As shown in FIG. 1, a robot R1 is connected to the robot controller RC1 by wire. The robot R1 is, for example, an articulated welding robot having a plurality of arms driven by a servomotor and having a welding torch mounted on the arm at the tip. The operation of the arm and the like of the robot R1 is controlled by a signal from the robot control device RC1.

  As shown in FIG. 1, the robot control system includes a robot control device RC2 and a robot R2 having the same configuration as the robot control device RC1 and the robot R1. The robot control system includes a wireless teach pendant TP that transmits data necessary to control the operations of the robots R1 and R2 to the robot control devices RC1 and RC2. The wireless teach pendant TP transmits and receives signals to and from the robot control devices RC1 and RC2. In the present embodiment, the wireless teach pendant TP constitutes a portable operation device, and the robot control devices RC1 and RC2 constitute a machine control device.

  Next, the electrical configuration of each device constituting the robot control system will be described. Since the robot control devices RC1 and RC2 have the same configuration, the following description will be made on behalf of the robot control device RC1.

  As shown in FIG. 2, the wireless teach pendant TP incorporates a teach pendant control unit 11 (hereinafter abbreviated as TP control unit 11) that executes arithmetic processing, communication processing, and the like. The TP control unit 11 functions as a central processing unit (CPU) and executes various programs. The wireless teach pendant TP includes a volatile RAM 12 in which data is temporarily stored when the TP control unit 11 executes a program or the like.

  As shown in FIG. 2, the wireless teach pendant TP includes a nonvolatile storage unit 13 in which a program executed by the TP control unit 11 is stored. Further, the storage unit 13 stores information related to the registered robot control device as candidates for a wireless communication connection partner. In the present embodiment, as information regarding the registered robot control device, for example, names given to the robot control devices RC1 and RC2 and network information (SSID (Service Set Identifier)) specific to the robot control devices RC1 and RC2 are included. The associated information is stored in the storage unit 13.

  As shown in FIG. 2, the wireless teach pendant TP is provided with a timer 14 for measuring time. The timer 14 counts up the count value based on an instruction from the TP control unit 11. Further, the timer 14 clears the counted up count value and returns it to the initial value based on the instruction from the TP control unit 11.

  As shown in FIG. 2, the wireless teach pendant TP is provided with a display 15 for displaying a graphical user interface screen (hereinafter abbreviated as a GUI screen). The display 15 is a touch panel (touch display), and also functions as an input unit for inputting data to the robot control devices RC1 and RC2. For example, as shown in FIG. 5A, the GUI screen displayed on the display 15 shows the state of a plurality (three in FIG. 5A) of icons 15a to 15c and the wireless teach pendant TP. A status display area 15d, a control information display area 15e indicating the states of the robots R1 and R2, and the like are included. The icons 15a to 15c function as software keys, and specific “function A” to “function C” applications are assigned to the icons 15a to 15c, respectively. By touching the icons 15a to 15c on the GUI screen, a corresponding application is executed in the wireless teach pendant TP. That is, each icon 15a-15c functions as a shortcut key for executing a specific application. In the status display area 15d, for example, an icon indicating the radio wave intensity when the wireless teach pendant TP communicates wirelessly with the robot controllers RC1 and RC2, an icon indicating the remaining battery level of the wireless teach pendant TP, and the like are displayed. . In the control information display area 15e, various numerical values set for the robots R1 and R2 to be operated and software keys for changing these numerical values (the illustration thereof is omitted in FIG. 5A). Is displayed.

  As shown in FIG. 2, the wireless teach pendant TP is provided with a keyboard 16 for inputting data. For example, the keyboard 16 performs an arrow key for moving a selection position (cursor position) displayed on the display 15, a character key for inputting character information, and a specific function in the wireless teach pendant TP. Function keys. The wireless teach pendant TP includes a buzzer 17 that generates sound. The buzzer 17 generates a warning sound based on an instruction from the TP control unit 11.

  As shown in FIG. 2, the wireless teach pendant TP incorporates a wireless transceiver 18 for performing wireless communication with the robot controllers RC1 and RC2. The wireless transceiver 18 includes an antenna for transmitting and receiving radio waves and a communication module for controlling wireless communication using the antenna, and performs wireless communication according to the wireless LAN standard (IEEE 802.11 standard).

  As shown in FIG. 2, the TP control unit 11, RAM 12, storage unit 13, timer 14, display 15, keyboard 16, buzzer 17, wireless transceiver 18, etc. are electrically connected by a bus 19 inside the wireless teach pendant TP. Information is exchanged via the bus 19.

  As shown in FIG. 2, the wireless teach pendant TP is equipped with an enable switch 21 for permitting power supply to the robots R1 and R2. The enable switch 21 is, for example, a three-position switch, and the operation position is monitored by the TP control unit 11. When the enable switch 21 is operated and positioned at a specific position, the wireless teach pendant TP transmits an enable signal to the robot control devices RC1 and RC2. The robot control devices RC1 and RC2 that have received the enable signal are allowed to supply driving power to the corresponding robots R1 and R2. The wireless teach pendant TP is equipped with an emergency stop switch 22 for emergency stopping the robots R1 and R2. The emergency stop switch 22 is, for example, a push button switch, and it is monitored whether the TP control unit 11 has been pressed. When the emergency stop switch 22 is operated, the wireless teach pendant TP transmits an emergency stop signal to the robot controllers RC1 and RC2. The robot controllers RC1 and RC2 that have received the emergency stop signal stop the supply of drive power to the corresponding robots R1 and R2.

  As shown in FIG. 2, customization information is stored in the storage unit of the wireless teach pendant TP. For example, as illustrated in FIG. 5A, the customization information includes setting information of the icons 15 a to 15 c on the GUI screen displayed on the display 15, the status display area 15 d, the control information display area 15 e, and the like. . The setting information of each icon 15a to 15c is, for example, an icon image, a position, a size, and an assigned application name. The setting information in the status display area 15d is, for example, the type of icon displayed in the status display area 15d and its display color. The setting information in the control information display area 15e is, for example, a background color, a character font or color such as a displayed numerical value, and the like. Further, the customization information includes setting information for causing the icons 15a to 15c on the GUI screen displayed on the display 15 to function as software keys.

  As shown in FIG. 2, password inquiry information is stored in the storage unit of the wireless teach pendant TP. The password inquiry information associates an authority level when operating the wireless teach pendant TP with a password necessary for accessing the authority level. In this embodiment, as the authority level, “guest level” in which only execution of functions related to the state confirmation of the robots R1 and R2 is permitted, “user level” in which user interface customization processing is permitted in addition to the guest level, In addition to the user level, an “operator level” that allows execution of functions related to the operations of the robots R1 and R2 and an “administrator level” that allows execution of all functions are set. “Guest level” is an authority level that does not require the input of a password, and the other three authority levels are authority levels that each require the input of a corresponding password.

  As shown in FIG. 2, the robot controller RC1 incorporates a robot controller 31 that executes robot control processing, communication processing, and the like. The robot control unit 31 functions as a central processing unit (CPU) and executes various programs. The robot control device RC1 includes a volatile RAM 32 in which data is temporarily stored when the robot control unit 31 executes a program and the like, and a nonvolatile storage unit 33 in which a program executed by the robot control unit 31 is stored. Is built-in.

  As shown in FIG. 2, the robot controller RC1 is provided with a timer 34 for measuring time. The timer 34 counts up the count value based on a command from the robot control unit 31. Further, the timer 34 clears the counted up count value and returns it to the initial value based on the command from the robot control unit 31.

  As shown in FIG. 2, the robot controller RC1 incorporates a wireless transceiver 38 for performing wireless communication with the wireless teach pendant TP. The wireless transceiver 38 includes an antenna for transmitting and receiving radio waves and a communication module for controlling wireless communication by the antenna, and performs wireless communication according to the wireless LAN standard (IEEE802.11 standard).

  As shown in FIG. 2, the robot control unit 31, the RAM 32, the storage unit 33, the timer 34, the wireless transceiver 38, and the like are electrically connected by a bus 39 inside the robot control device RC <b> 1. Exchange information.

  As shown in FIG. 2, an operation box OP is connected to the robot controller RC1 as an external input device by wire. In the operation box OP, for example, an emergency stop switch is mounted as a push button switch, and it is monitored whether or not the operation control is pressed by the robot control unit 31 of the robot control device RC1. When the emergency stop switch of the operation box OP is operated, the robot controller RC1 stops the supply of drive power to the robot R1.

  As shown in FIG. 2, the storage unit 33 of the robot controller RC1 stores initial setting reflection information for reflecting the initial setting user interface to the wireless teach pendant TP. In this embodiment, the initial setting reflection information includes image information of the initial setting GUI screen and setting information for causing each icon on the GUI screen to function as a software key.

(User interface customization processing)
Next, user interface customization processing in the robot control system will be described with reference to FIG. In the following description, processing between the wireless teach pendant TP and the robot controller RC1 will be described, but the same applies to the robot controller RC2.

  When the power supply of the wireless teach pendant TP is turned on, the process of step ST11 in the wireless teach pendant TP is started. As shown in FIG. 3, in step ST <b> 11, the TP control unit 11 of the wireless teach pendant TP reads information on the registered robot control device stored in the storage unit 13 and displays the information on the display 15 so as to be selectable. In the present embodiment, the names of the robot control devices RC1 and RC2 and the network information are displayed on the display 15 so as to be selectable. Thereafter, the processing of the wireless teach pendant TP proceeds to step ST12.

  In step ST12, the TP control unit 11 determines whether one of the robot control devices RC1 and RC2 displayed on the display 15 is selected. If the operator does not operate the display 15 or the keyboard 16 of the wireless teach pendant TP and neither of the robot control devices RC1 and RC2 is selected (NO in step ST12), the robot control devices RC1 and RC2 continue to select. Wait to be done. When the operator confirms the display on the display 15 of the wireless teach pendant TP and operates the display 15 or the keyboard 16 to select one of the robot control devices RC1 and RC2 (YES in step ST12), the wireless teach is performed. The processing of the pendant TP moves to step ST13. In the following description, it is assumed that the robot control device RC1 is selected.

  In step ST13, the wireless teach pendant TP transmits a connection establishment request signal indicating that the establishment of wireless communication connection is requested to the robot controller RC1 selected in step ST12. In subsequent step ST14, the TP control unit 11 of the wireless teach pendant TP instructs the timer 14 to clear (initialize) the count value. In addition, the TP control unit 11 instructs the timer 14 to count up the count value. When the process of step ST14 ends, the process of the wireless teach pendant TP moves to step ST15.

  On the other hand, as shown in FIG. 3, the robot control devices RC1 and RC2 receive a connection establishment request signal from the wireless teach pendant TP when the wireless communication connection with the wireless teach pendant TP is not established. Waiting. In step ST31, the robot controller RC1 receives a connection establishment request signal from the wireless teach pendant TP. Thereafter, the process of the robot controller RC1 proceeds to step ST32.

  In step ST32, the robot control unit 31 of the robot control device RC1 determines whether or not the robot control device RC1 is in a state where wireless communication connection is possible. For example, when a part of the configuration of the robot control device RC1 does not function normally, the robot control unit 31 determines that wireless communication cannot be connected (NO in step ST32), and ends the process. For example, when the robot controller RC1 and the robot R1 are functioning normally, the robot controller 31 determines that wireless communication connection is possible (YES in step ST32). When it is determined that wireless communication connection is possible, the process of the robot controller RC1 proceeds to step ST33.

  In step ST33, the robot controller RC1 transmits a connection permission signal to the wireless teach pendant TP that is the transmission source of the connection establishment request signal. Thereafter, the process of the robot controller RC1 proceeds to step ST34. In step ST34, the robot controller RC1 transmits / receives various information necessary for establishing a wireless communication connection to / from the wireless teach pendant TP that is the transmission destination of the connection permission signal, and then wirelessly transmits the wireless teach pendant TP. A communication connection is established.

  The processing of the wireless teach pendant TP moves to step ST15 after instructing the timer 14 to count up (step ST14). In step ST15, the TP control unit 11 of the wireless teach pendant TP determines whether or not the connection permission signal from the robot control device RC1 that has transmitted the connection establishment request signal has been received within a predetermined time. Specifically, when the count value of the timer 14 reaches a predetermined value without receiving the connection permission signal, the TP control unit 11 did not receive the connection permission signal within a predetermined time (NO in step ST15). Judge. At this time, the processing of the wireless teach pendant TP proceeds to step ST16.

  In step ST16, the TP control unit 11 causes the display 15 to display a warning display indicating that the wireless communication connection with the selected robot control device RC1 has not been established. At the same time, the TP controller 11 warns by operating the buzzer 17. Thereafter, a series of processing of the wireless teach pendant TP ends.

  In step ST15, when the connection permission signal is received before the count value of the timer 14 reaches the predetermined value, the TP control unit 11 determines that the connection permission signal has been received within a predetermined time (YES in step ST15). In subsequent step ST17, the wireless teach pendant TP exchanges various information necessary for establishing a wireless communication connection with the robot controller RC1. Then, a wireless communication connection is established between the wireless teach pendant TP and the robot controller RC1.

  As shown in FIG. 3, when a wireless communication connection is established between the wireless teach pendant TP and the robot controller RC1, the processes of the wireless teach pendant TP and the robot controller RC1 shift to the user interface setting process. A series of processing contents in this user interface setting processing will be described later.

  When the user interface setting process ends, the process of the wireless teach pendant TP moves to step ST18. In step ST18, the TP control unit 11 of the wireless teach pendant TP determines whether or not the customization mode is set. Specifically, the TP control unit 11 determines whether the authority level is one of “user level”, “operator level”, and “administrator level”. Then, the TP control unit 11 determines whether or not the mode has been shifted to the customization mode by operating an icon on the GUI screen displayed on the display 15 or operating the keyboard 16. If the mode has not been shifted to the customization mode (NO in step ST18), the series of processes in the wireless teach pendant TP ends. When the mode is shifted to the customization mode (YES in step ST18), the processing of the wireless teach pendant TP moves to step ST19. Note that when accessing at the “guest level”, execution of user interface customization processing is not permitted, and therefore it is not determined that the mode has been shifted to the customization mode.

  In step ST19, the wireless teach pendant TP transmits user interface customization information to the robot controller RC1 that is a wireless communication connection partner. For example, assume that the position and size of the icon are changed on the GUI screen. At this time, the wireless teach pendant TP transmits, as customization information, setting information indicating the position and size of the icon after the change to the robot control device RC1 as a connection partner of wireless communication. Further, for example, it is assumed that the application assigned to the icon on the GUI screen is changed. At this time, the wireless teach pendant TP transmits information associating the icon and the newly assigned application name as customization information to the robot controller RC1 that is a wireless communication connection partner. After transmitting the customization information, the wireless teach pendant TP moves to step ST20.

  On the other hand, after the user interface setting process is completed, the robot controller RC1 is in a state of waiting for reception of customization information. In step ST35, the robot controller RC1 receives the customization information from the wireless teach pendant TP of the wireless communication connection partner. Thereafter, the process of the robot controller RC1 proceeds to step ST36.

  In step ST36, the robot control unit 31 of the robot control device RC1 generates and transmits setting reflection information for reflecting the user interface on the display 15 of the wireless teach pendant TP based on the customization information. Specifically, for example, it is assumed that the customization information includes setting information indicating the position and size of the icon. In this case, the robot control unit 31 generates image information of a new GUI screen in which the icon position and size are changed according to the setting information. In addition, for example, it is assumed that the customization information includes setting information in which an icon and an assigned application name are associated with each other. In this case, the robot control unit 31 generates image information of a new GUI screen in which the icon image is changed to an icon image corresponding to the assigned new application in accordance with the setting information. In addition, the robot control unit 31 generates setting information for causing the icon to function as a software key for executing the assigned application. Then, the robot controller RC1 transmits the generated GUI screen image information and software key setting information as setting reflection information to the wireless teach pendant TP of the connection partner. Thereafter, the process of the robot controller RC1 proceeds to step ST37.

  On the other hand, after transmitting the customization information (step ST19), the wireless teach pendant TP proceeds to the processing of step ST20. In step ST20, the wireless teach pendant TP receives the GUI screen image information and the software key setting information as setting reflection information from the robot controller RC1 of the connection partner. Thereafter, the processing of the wireless teach pendant TP proceeds to step ST21.

  In step ST21, the TP control unit 11 of the wireless teach pendant TP causes the display 15 to display a customized GUI screen based on the GUI screen image information received as the setting reflection information. In this way, the GUI screen after customization is displayed on the display 15, so that the operator can confirm the state in which the customization performed by himself / herself is applied as the user interface of the wireless teach pendant TP. At this time, the software key setting information received as the setting reflection information is not reflected on the wireless teach pendant TP. Thereafter, the processing of the wireless teach pendant TP proceeds to step ST22.

  In step ST22, the TP control unit 11 of the wireless teach pendant TP determines whether or not the customization mode has ended. Specifically, the TP control unit 11 determines whether or not the customization mode is ended by operating an icon on the GUI screen displayed on the display 15 or operating the keyboard 16. If the customization mode has not been completed (NO in step ST22), the process of the wireless teach pendant TP returns to step ST19, and the customization mode continues. When the customization mode is ended (YES in step ST22), the process of the wireless teach pendant TP moves to step ST23.

  In step ST23, the wireless teach pendant TP transmits a customization mode end signal indicating that the customization mode has ended to the robot controller RC1 of the connection partner. In subsequent step ST24, the change of the user interface in this customization mode is confirmed, and each icon on the GUI screen after customization is made to function as a software key based on the setting information of the software key received as the setting reflection information. . In step ST21, the customized GUI screen is already displayed on the display 15. Therefore, at the time of step ST23, both the GUI screen and the software key customization setting are applied to the wireless teach pendant TP as a user interface. Then, the applied user interface customization information is stored in the storage unit 13 of the wireless teach pendant TP. After the customization information is stored in the storage unit 13 of the wireless teach pendant TP, the series of processes of the wireless teach pendant TP ends.

  On the other hand, in step ST37, the robot controller RC1 receives the customization mode end signal transmitted from the wireless partner pendant TP of the connection partner. Thereafter, a series of processes in the robot control device RC1 ends.

(User interface setting process)
Next, user interface setting processing in the robot control system will be described with reference to FIG. Prior to this user interface setting process, a wireless communication connection has been established between the wireless teach pendant TP and the robot controller RC1, and the processes of steps ST19 to ST24 shown in FIG. It is assumed that the customization information is stored in the storage unit 13 of the wireless teach pendant TP.

  When the wireless communication connection is established (after step ST34 in FIG. 3), the robot controller RC1 performs the process of step ST61 of the user interface setting process. In step ST61, the robot controller 31 of the robot controller RC1 instructs the timer 34 to clear (initialize) the count value. Then, the robot control unit 31 instructs the timer 34 to count up. When the process of step ST61 ends, the process of the robot controller RC1 proceeds to step ST62.

  In step ST62, the robot control unit 31 of the robot control device RC1 sets “guest level” as the authority level for accessing the wireless teach pendant TP. Then, the robot control unit 31 transmits the initial setting reflection information stored in the storage unit 33 to the wireless teach pendant TP of the connection partner as setting reflection information. Thereafter, the process of the robot controller RC1 proceeds to step ST63.

  On the other hand, when a wireless communication connection is established (after step ST17 in FIG. 3), the wireless teach pendant TP performs the process of step ST41 of the user interface setting process. In step ST41, the TP control unit 11 of the wireless teach pendant TP instructs the timer 14 to clear (initialize) the count value. After that, the TP control unit 11 instructs the timer 14 to count up. When the process of step ST41 ends, the process of the wireless teach pendant TP proceeds to step ST42.

  In step ST42, the wireless teach pendant TP receives the initial setting reflection information as the setting reflection information transmitted by the robot controller RC1 as the connection partner. In subsequent step ST43, the TP control unit 11 of the wireless teach pendant TP applies an initial setting user interface based on the initial setting reflection information. That is, in this embodiment, when a wireless communication connection between the wireless teach pendant TP and the robot controller RC1 is established, an initial user interface is temporarily applied to the wireless teach pendant TP. In the subsequent process of step ST44, the TP control unit 11 of the wireless teach pendant TP causes the display 15 to display an option as to whether or not the customization setting is reflected.

  In step ST45, the TP control unit 11 of the wireless teach pendant TP determines whether or not the customization setting is reflected. Specifically, the operator who has seen the option displayed on the display 15 in the process of step ST44 operates the display 15 or the keyboard 16 to determine which option has been selected. When the option that does not reflect the customization setting is selected (NO in step ST45), the user interface setting process in the wireless teach pendant TP ends. That is, the initial setting user interface remains applied to the wireless teach pendant TP, and the customized user interface is not reflected on the wireless teach pendant TP. When the option reflecting the customization setting is selected (YES in step ST45), the processing of the wireless teach pendant TP proceeds to step ST46.

  In step ST46, the TP control unit 11 of the wireless teach pendant TP displays a display requesting input of a password on the display 15. In subsequent step ST47, the TP control unit 11 of the wireless teach pendant TP determines whether or not a password has been input by operating the display 15 or the keyboard 16. If the password has not been input (NO in step ST47), the processing of the wireless teach pendant TP proceeds to step ST51.

  In step ST51, the TP control unit 11 of the wireless teach pendant TP establishes a wireless communication connection with the robot controller RC1 and the timer 14 counts up (step ST41), and then for a certain time (for example, several tens of times). Second) is determined. Specifically, the TP control unit 11 of the wireless teach pendant TP determines whether or not the count value of the timer 14 has reached a predetermined value. If the count value has not reached the predetermined value (NO in step ST51), the process of the wireless teach pendant TP returns to step ST47 and continues to wait for the password input. When the count value reaches the predetermined value (YES in step ST51), the user interface setting process in the wireless teach pendant TP ends. Therefore, in this case, the initial setting user interface remains applied to the wireless teach pendant TP, and the customized user interface is not reflected on the wireless teach pendant TP.

  If it is determined in step ST47 that a password has been input (YES in step ST47), the wireless teach pendant TP moves to step ST48. In step ST48, the TP control unit 11 of the wireless teach pendant TP determines the authority level corresponding to the input password. In this embodiment, it is determined which authority level is “user level”, “operator level”, or “administrator level”. Then, the wireless teach pendant TP transmits the customization information stored in the storage unit 13 and the authority information indicating the authority level to the robot controller RC1 of the connection partner. Thereafter, the processing of the wireless teach pendant TP proceeds to step ST49.

  On the other hand, the process of the robot control device RC1 moves to step ST63 after transmitting the initial setting reflection information as setting reflection information (step ST62). In step ST63, the robot controller 31 of the robot controller RC1 determines whether or not the connection partner wireless teach pendant TP has received the customization information and authority information transmitted in step ST48. If the customization information and authority information have not been received (NO in step ST63), the process of the robot control device RC1 proceeds to step ST65.

  In step ST65, the robot controller 31 of the robot controller RC1 establishes a wireless communication connection with the wireless teach pendant TP and the timer 34 counts up (step ST61), and then for a certain time (for example, several tens of times). Second) is determined. Specifically, the robot control unit 31 of the robot control device RC1 determines whether or not the count value of the timer 34 has reached a predetermined value. If the count value has not reached the predetermined value (NO in step ST65), the process of robot controller RC1 returns to step ST63, and continues to wait for reception of customization information and authority information. When the count value reaches the predetermined value (YES in step ST65), the robot control device RC1 determines not to generate / transmit the setting reflection information based on the customization information and the authority information, and ends the series of processes.

  It should be noted that the “fixed time” in which it is determined whether or not it has passed in step ST65 and the “fixed time” in which it is determined whether or not it has passed in step ST51 of the wireless teach pendant TP are set to the same time. Yes. Therefore, the timing when the robot controller RC1 ends the user interface setting process via step ST65 and the timing when the wireless teach pendant TP ends the user interface setting process via step ST51 are substantially simultaneous.

  When customization information and authority information are received in step ST63 (YES in step ST63), the process of the robot control device RC1 proceeds to step ST64. In step ST64, the robot control unit 31 of the robot controller RC1 sets the authority levels for accessing the wireless teach pendant TP based on the received authority information as “user level”, “operator level”, and “administrator level”. Set to one of the following. In addition, the robot control unit 31 sets the setting reflection information including image information on the GUI screen and setting information for causing each icon on the GUI screen to function as a software key based on the received customization information and authority information. Is generated. Then, the robot controller RC1 transmits the generated setting reflection information to the wireless teach pendant TP of the connection partner. In addition, the production | generation aspect of the setting reflection information based on customization information and authority information is mentioned later. When the setting reflection information is transmitted, a series of processes of the robot control device RC1 ends.

  On the other hand, the process of the wireless teach pendant TP moves to step ST49 after transmitting customization information and authority information (step ST48). In step ST49, the wireless teach pendant TP receives the setting reflection information based on the customization information and authority information transmitted by the robot control device RC1 in step ST64. In subsequent step ST50, the TP control unit 11 of the wireless teach pendant TP applies a user interface for customized settings based on the received setting reflection information. After the customization setting user interface is applied, a series of processes in the wireless teach pendant TP ends.

(Robot control system operation / action)
Next, an example of operation / action of the robot control system will be described.
First, the operator who operates the wireless teach pendant TP is the same person, establishes a wireless communication connection between the wireless teach pendant TP and the robot controller RC1, and then wirelessly communicates between the wireless teach pendant TP and the robot controller RC2. A case of establishing a communication connection will be described.

  When the operator establishes a wireless communication connection between the wireless teach pendant TP and the robot controller RC1, a series of user interface setting processes shown in FIG. 4 are executed. In this user interface setting process, if the operator performs an operation that does not reflect the customization setting, the initial user interface remains applied to the wireless teach pendant TP. At this time, an initial setting GUI screen shown in FIG. 5A is displayed on the display 15 of the wireless teach pendant TP. Icons 15a to 15c are displayed on the initial setting GUI screen, and these icons 15a to 15c function as shortcut keys for executing the applications of “function A” to “function C”. Yes. Each application of “function A” to “function C” is an application that is permitted to be executed at all authority levels.

  Next, the operator of the wireless teach pendant TP inputs the password to the wireless teach pendant TP and accesses it at the “administrator level”. Then, execution of customization processing is allowed in the wireless teach pendant TP. Then, the operator of the wireless teach pendant TP customizes the setting of each icon on the GUI screen. Specifically, as shown in FIGS. 5A and 5B, the position of the icon 15a and the position of the icon 15b are switched. Further, the size of the icon 15c is increased. In addition, icons 15y and 15x are newly added, and “function Y” and “function X” applications are assigned to these icons 15y and 15x, respectively. When these customization processes are completed, information regarding the change of each icon is stored in the wireless teach pendant TP as customization information.

  Thereafter, the operator cancels the wireless communication connection between the wireless teach pendant TP and the robot controller RC1, and newly establishes a wireless communication connection between the wireless teach pendant TP and the robot controller RC2. At this time, a series of user interface setting processes shown in FIG. 4 are executed. In this user interface setting process, when the operator of the wireless teach pendant TP performs an operation for reflecting the customized setting, the user is required to input a password. Then, when the operator inputs the password corresponding to the “administrator level”, the customization information stored in the wireless teach pendant TP and the authority information indicating the “administrator level” are transferred from the wireless teach pendant TP to the robot controller. Sent to RC2.

  The robot controller RC2 that has received the customization information and the authority information generates setting reflection information such as image information on the GUI screen based on the customization information and the authority information, and transmits the setting reflection information to the wireless teach pendant TP. In the wireless teach pendant TP, a GUI screen based on the setting reflection information is displayed on the display 15. Here, the setting reflection information transmitted by the robot controller RC2 is based on the customization information. Therefore, the GUI screen displayed on the display 15 of the wireless teach pendant TP is the GUI screen customized when the wireless communication partner of the wireless teach pendant TP is the robot controller RC1 (the customization shown in FIG. 5B). GUI screen). In other words, even when the wireless communication partner of the wireless teach pendant TP is changed from the robot controller RC1 to the robot controller RC2, the operator can display the customized GUI screen without repeating the customization process from the beginning. The display 15 can be applied.

  Next, an “administrator” who has an authority level of “administrator level” performs a customization process on the GUI screen of the wireless teach pendant TP, and then the “operator” who has an authority level of “operator level” is the same. A case where a wireless communication connection is established to the robot controller RC1 using the wireless teach pendant TP will be described.

  Similar to the above-described example, the “administrator” who operates the wireless teach pendant TP is in the state where the initial setting GUI screen shown in FIG. 5A is displayed on the display 15 of the wireless teach pendant TP. Enter the password on the pendant TP and access it at the “administrator level”. Then, execution of customization processing is allowed in the wireless teach pendant TP. Then, the “manager” who operates the wireless teach pendant TP customizes the setting of each icon on the GUI screen. Specifically, as shown in FIGS. 5A and 5B, the position of the icon 15a and the position of the icon 15b are switched. Further, the size of the icon 15c is increased. Further, an icon 15y and an icon 15x are newly added, and applications of “function Y” and “function X” are assigned to these icons 15y and 15x. When these customizations are completed, information regarding the change of each icon is stored in the wireless teach pendant TP as customization information.

  Here, the application of “function Y” is an application that is permitted to be executed with respect to authority levels of “user level”, “operator level”, and “administrator level” except “guest level”. It is assumed that the application of “function X” is an application permitted to be executed only for the authority level of “administrator level”.

  Thereafter, the “manager” releases the wireless communication connection between the wireless teach pendant TP and the robot controller RC1, and lends the wireless teach pendant TP to the “operator”. Then, the “operator” establishes a wireless communication connection between the wireless teach pendant TP and the robot controller RC1. Then, a series of user interface setting processes shown in FIG. 4 are executed. In this user interface setting process, when an “operator” who operates the wireless teach pendant TP performs an operation to reflect the customization setting, a password input is required. At this time, since the “operator” has an authority level of “operator level”, a password corresponding to “operator level” is input. Then, the customization information stored in the wireless teach pendant TP and the authority information indicating the “operator level” are transmitted from the wireless teach pendant TP to the robot controller RC1.

  The robot controller RC1 that has received the customization information and the authority information generates setting reflection information such as image information on the GUI screen based on the customization information and the authority information. Here, the customization information includes information indicating that the application of “function Y” is assigned to the newly added icon 15y. In addition, information indicating that an application of “function X” is assigned to the newly added icon 15x is included. A correspondence relationship between the applications of these “function Y” and “function X” and the authority information received by the robot controller RC1 is determined. Specifically, the authority level of “operator level” is permitted to execute the application of “function Y”, but is not permitted to execute the application of “function X”. Therefore, the robot controller RC1 generates software key setting information so that the icon 15x on the GUI screen does not function as a shortcut key. Further, when generating the image information of the GUI screen, as shown in FIG. 5C, the icon image of the icon 15x is reconstructed into an image indicating that the function as the software key is not set. For example, only the icon image of the icon 15x is changed to a black and white image, or a specific image indicating invalidation is superimposed and displayed (FIG. 5C shows an example in which a shaded image is superimposed and displayed). . Then, the robot controller RC1 transmits the setting reflection information including the software key setting information and the GUI screen image information generated as described above to the wireless teach pendant TP.

  In the wireless teach pendant TP, a GUI screen based on the setting reflection information transmitted by the robot controller RC1 is displayed on the display 15. On the GUI screen, customization such as replacement of the position of the icon 15a and the position of the icon 15b, size change of the icon 15c, addition of the icon 15y is reflected. On the other hand, although the addition of the icon 15x is reflected, in this icon 15x, the function as a shortcut key of the application of “function X” is invalidated. Therefore, an “operator” having an authority level of “operator level” cannot execute an application of “function X” that is not permitted to be executed even if the user interface customized by the “administrator” is reflected. Can not.

(Features of the embodiment)
The characteristics of the robot control system of the above embodiment will be described together with its effects.
(1) In the above embodiment, a user interface customized in the past can be reflected as a user interface of the wireless teach pendant TP even when the robot control devices RC1 and RC2 that are wireless communication connection partners are switched. Therefore, even when the robot control devices RC1 and RC2 that are wireless communication destinations are switched, the same user interface can be held in the wireless teach pendant TP, and the operability of the user interface in the wireless teach pendant TP is improved. .

  (2) In the above embodiment, when a wireless communication connection is established between the wireless teach pendant TP and the robot controllers RC1 and RC2, first, an initial user interface is applied to the wireless teach pendant TP. Therefore, no user interface is set in the wireless teach pendant TP, and the period during which data cannot be input can be minimized.

  (3) In the above embodiment, when a predetermined time has elapsed since the wireless communication connection was established between the wireless teach pendant TP and the robot controllers RC1 and RC2, the robot controller 31 of the robot controllers RC1 and RC2 It is determined that the setting reflection information based on the customization information and the authority information is not generated / transmitted. That is, when a predetermined time has elapsed since the wireless communication connection was established, the user interface setting process is ended, and the initial user interface is applied to the wireless teach pendant TP. Accordingly, it is possible to suppress the occurrence of a situation in which the user interface setting process remains unfinished due to the fact that the customization information is not received by the robot control devices RC1 and RC2, and the robots R1 and R2 cannot be operated.

  (4) In the above embodiment, when the authority information is input together with the customization information, the setting reflection information is generated based on the authority information as well as the customization information. Therefore, when reflecting the customized user interface on the wireless teach pendant TP, appropriate setting reflection information is generated according to the authority level indicated by the authority information.

  (5) In particular, in the above embodiment, customization is performed by assigning an application that is allowed to be executed only by a person with a higher authority level to the icon on the GUI screen, and then a person with a lower authority level performs the user interface reflection process. If it is performed, the function of the icon as a software key is invalidated. Therefore, by reflecting the user interface settings customized by a person with a higher authority level to the wireless teach pendant TP, an application that should not be executed by a person with a lower authority level can be executed. There will be no such situation.

  (6) In the above embodiment, the icon image, position, size, assigned function name, and the like are stored in the storage unit 13 of the wireless teach pendant TP as the customization information. The customization information is information having a smaller capacity than the image information on the GUI screen included in the setting reflection information. Therefore, it is not necessary to employ an excessively large capacity as the storage unit 13 of the wireless teach pendant TP. In addition, the wireless teach pendant TP does not generate setting reflection information such as image information on the GUI screen. Therefore, it is not necessary to employ a CPU (CPU) having an excessively high processing speed as the TP control unit 11 of the wireless teach pendant TP.

(Example of change)
The above embodiment may be modified as follows. Moreover, you may apply combining each modification example suitably.

  -The application range of the technique regarding a series of user interface setting processes in the above embodiment is not limited to the robot control system exemplified in the above embodiment. For example, instead of a welding robot, robots R1 and R2 may be transfer robots or inspection robots. Furthermore, the robot may not be a robot as long as it is controlled by the control device, and may be a semi-automatic welding machine or various machines such as cutting, drilling, grinding, polishing, rolling, forging, and bending. Further, the number of robot control systems and robots is not limited to two as long as it is plural. Depending on the type of machine in the machine control system, the machine control device for controlling the machine and the electrical configuration (module) built in the wireless teach pendant TP are partly omitted or added, as appropriate. Also good.

  The series of user interfaces of the above embodiment is not a robot control system in which the wireless teach pendant TP and the robot control devices RC1 and RC2 perform wireless communication, but a robot control system in which the teach pendant and the robot control devices RC1 and RC2 perform wired communication. You may apply the technique regarding a setting process. In this case, it is necessary that the cable connecting the teach pendant and the robot control devices RC1 and RC2 can be detached and the connection partner of the teach pendant can be switched.

  The customization information is not limited to the customization information related to the GUI screen displayed on the display 15 of the wireless teach pendant TP. For example, the key binding information indicating the correspondence between the function keys on the keyboard 16 and the functions assigned to the function keys may be customized information. Information specifying the type of sound (melody) emitted by the buzzer 17 of the wireless teach pendant TP may be customized information. In other words, any information can be adopted as customization information as long as the setting information is related to an input unit that receives some input from the operator and an output unit that appeals to the operator's perception.

  Instead of storing the initial setting reflection information in the storage unit 33 of the robot controllers RC1 and RC2, the setting reflection information generated based on the customization information input last may be stored. Further, a plurality of setting reflection information may be stored such as storing both the setting reflection information generated based on the initial setting reflection information and the customization information. In this case, for example, after step ST41 shown in FIG. 4, a process for selecting which setting reflection information is applied in the wireless teach pendant TP is added, and the selected setting reflection information is transmitted instead of step ST62. It is possible to change to Further, if necessary, it may be requested to input a password for setting the authority level after selecting whether to apply the setting reflection information.

  Instead of storing the initial setting reflection information in the storage unit 33 of the robot controllers RC1 and RC2, the initial setting reflection information may be stored in the storage unit of the wireless teach pendant TP. In this case, the processing of step ST42 and step ST62 shown in FIG. 4 is omitted.

  -When customizing settings are reflected (YES in step ST45 in FIG. 4), processing relating to password input may be omitted. Specifically, the processing of step ST46 and step ST47 in FIG. 4 is omitted. In this case, transmission of authority information in step ST48 is omitted. In the case of this modification, the authority level is not taken into account when the setting reflection information is generated in the robot control devices RC1 and RC2.

  In the above embodiment, in the user interface setting process, when a password with a lower authority level is input, the icon image is reconstructed into an image indicating that the function as the software key is not set. Alternatively, the icon image itself may not be displayed.

  In the above embodiment, in the user interface setting process, the setting reflection information based on the customization information is generated even when a password with a lower authority level is input, but this may be changed. For example, if the setting reflection information based on the customization information includes an application that cannot be executed with the authority level corresponding to the entered password, the setting reflection information is not generated and transmitted, and the user interface setting process is terminated. Good. In this case, the wireless teach pendant TP remains applied with the default user interface.

  The timing of the process for displaying the password input request (step ST46 in FIG. 4) and the process for determining whether or not the password has been input (step ST47 in FIG. 4) may be changed. For example, it may be immediately after determining whether or not the robot control device shown in FIG. 3 has been selected (step ST12), or immediately after establishing a wireless communication connection (step ST17, step ST34).

  In the user interface setting process in the robot control devices RC1 and RC2, the time from when the wireless communication connection to the wireless teach pendant TP is established may not be counted. In this case, the processing of step ST61 and step ST65 in FIG. 4 is omitted. If it is determined in step ST63 that the customization information and the authority information have not been received, the process continues to wait for the customization information and the authority information to be received.

  The timing at which the user interface setting process is executed is not limited to immediately after a wireless communication connection is established (step ST17, step ST34). For example, an icon for executing the user interface setting process is displayed on the GUI screen displayed on the display 15 of the wireless teach pendant TP, and the user interface setting process can be performed at an arbitrary timing by operating this icon. It may be executed.

  -One or more customization information may be stored in the storage unit 13 of the wireless teach pendant TP. When a plurality of pieces of customization information are stored, the customization information is stored in association with, for example, the date and time information on which the customization information is stored, so that the customization information can be specified. Then, when transmitting to the robot controllers RC1 and RC2, it is conceivable to display each customization information on the display 15 of the wireless teach pendant TP so as to be selectable. Further, for example, customization information and a password input when performing customization processing are stored in association with each other. Then, when a password is input in the user interface setting process, customization information corresponding to the password may be automatically transmitted.

  In the above embodiment, information indicating the authority level is transmitted as the authority information. However, for example, an input password may be transmitted as the authority information. In this case, the robot control devices RC1 and RC2 collate which authority level the password corresponds to.

  TP ... Wireless teach pendant, 11 ... Teach pendant control unit, 13 ... Storage unit (first storage unit), 14 ... Timer, 15 ... Display (input unit), 16 ... Keyboard (input unit), 18 ... Wireless transceiver ( (First communication unit), RC1 ... robot control device, RC2 ... robot control device, 31 ... robot control unit (control unit, information generation unit), 33 ... storage unit (second storage unit), 34 ... timer, 38 ... wireless Transmitter / receiver (second communication unit), R1 ... robot, R2 ... robot.

Claims (6)

In a machine control system comprising a plurality of machine control devices for controlling the operation of a work machine, and a portable operation device for inputting data to a machine control device of a connection partner among the plurality of machine control devices,
The portable operating device is:
An input unit for inputting data;
A first storage for storing user interface customization information in the input unit;
A first communication unit that outputs the customization information to the machine control device of the connection partner;
The machine control device includes:
An information generation unit that generates setting reflection information for reflecting the user interface on the input unit of the portable operation device based on the customization information output by the portable operation device;
A machine control system comprising: a second communication unit that outputs the setting reflection information to the portable operation device of a connection partner. The machine control device includes:
A second storage unit for storing setting reflection information;
A control unit for determining whether to transmit the setting reflection information generated by the information generation unit to the portable operating device of the connection partner;
The second communication unit of the machine control device outputs the setting reflection information stored in the second storage unit to the portable operation device of the connection partner when connected to the portable operation device. ,
The control unit of the machine control device transmits the setting reflected information generated by the information generation unit according to the time after the machine control device and the portable operation device are connected to each other. The machine control system according to claim 1, wherein it is determined that the data is not transmitted to the apparatus. The first communication unit of the portable operating device outputs authority information relating to the authority level of the user to the machine control device of the connection partner,
The information generation unit of the machine control device generates the setting reflection information based on the customization information and the authority information when the authority information is input. The machine control system described. A user interface of a machine control system comprising a plurality of machine control devices for controlling the operation of a work machine and a portable operation device for inputting data to a machine control device of a connection partner of the plurality of machine control devices In the setting method,
A storage step in which the portable operating device stores user interface customization information in an input unit for inputting data in a storage unit provided in the portable operating device ;
A first communication step of outputting the customization information to the machine control device of the connection partner;
An information generating step for generating setting reflection information for reflecting the user interface on the input unit of the portable operating device based on the customization information output by the portable operating device;
A machine control system user interface setting method comprising: a second communication step in which the machine control device outputs the setting reflection information to the portable operating device of a connection partner. A user interface of a machine control system comprising a plurality of machine control devices for controlling the operation of a work machine and a portable operation device for inputting data to a machine control device of a connection partner of the plurality of machine control devices In the setting method,
A first communication step in which the portable operation device outputs user interface customization information in an input unit for inputting data to the machine control device of a connection partner;
An information generating step for generating setting reflection information for reflecting the user interface on the input unit of the portable operating device based on the customization information output by the portable operating device;
A second communication step in which the machine control device outputs the setting reflection information to the portable operation device of a connection partner;
Prior to the first communication step, the machine control device outputs the setting reflection information stored in the machine control device to the portable operation device of the connection partner,
A determination step of determining that the machine control device does not transmit the setting reflection information based on the customization information to the portable operation device of the connection partner according to the time since the machine control device was connected to the portable operation device. the user interface method of setting to that machine械制control system characterized by.

The portable operation device has an authority information output step for outputting authority information related to the authority level of the user to the machine control device of the connection partner,
The said information generation step produces | generates setting reflection information based on the said customization information and the said authority information, when the said authority information is input into the said machine control apparatus. User interface setting method for machine control system.