CN105579202B - Robot controller - Google Patents

Abstract

Robot controller (RC) possesses switch hub (20) and host CPU (10).The wireless access node (50) that radio communication is carried out with wireless TP (100B) is connected via order wire (L1) with switch hub (20), and wired TP (100A) is connected via order wire (L2) with switch hub (20).Host CPU (10) is authorized for allowing the operating rights operated to robot (R) to either one in wired TP (100A) and wireless TP (100B).Like this, only by operation right giving to either one in wired TP (100A) and wireless TP (100B), and exclusive operation can be carried out to the TP that operating rights has been awarded, and then it is able to ensure that the security in the state of wired TP and wireless TP is shared.

Description

Robot controller

Technical field

The present invention relates to a kind of robot controller, and it is utilized between the network communications technology, with portable operation device Carry out sending and receiving for various data.

Background technology

In 1~patent document of patent document 4, disclose be configured to be referred to as the portable operation device of teaching machine with The system that radio communication is carried out between robot controller.

In the system disclosed in patent document 1 and patent document 2, channel radio is provided with the inside of portable operation device Letter portion and wire communication portion.According to the system disclosed in these documents, wireless TP (Portable wireless formula operation device) is via cable And it is connected with the controller of control machine human action.Thus, wireless TP makes as wired TP (wired portable operation device) With.

According to system disclosed in patent document 3, wired TP is via cable and the nothing for being wound in operator waist and being supported by Connection is put in line makeup.Thus, wired TP uses as wireless TP.

In system disclosed in patent document 4, wireless communication part and wire communication are provided with inside portable operation device Portion.The system according to disclosed in the document, when portable operation device is placed in the special storing for being located at robot controller During platform, the connection terminal of portable operation device electrically connects with the connection terminal of robot controller.Thus, portable operation Device uses as wired TP.

Generally, due to wireless TP has no the necessity of traction cable, so the pole in terms of workability or Portability To be superior.In addition, from the viewpoint of multiple robot controllers are used in from the wireless TP of Jiang Yitai, wireless TP is still more wired TP is more superior.On the other hand, from these viewpoints that is vulnerable to the influence of communication environment or can not be used by undercharge From the point of view of, wireless TP is then relatively to be inferior to wired TP.As described in patent document 1~4, these problems can be by chasing after in wired TP Add wireless communication part or prepare the mode of wireless penetration device in addition and be addressed.In other words, the institute in patent document 1~4 The portable operation device recorded, it is configured to wired TP can be used as to use, can act also as wireless TP to use.

However, in the existing equipment using wired TP, it is intended in the case of taking advantage possessed by wireless TP, then is contemplated that Following both approaches.That is, existing wired TP is replaced as wireless TP by method (1)；And method (2), such as patent Described in 1~patent document of document 4, the additional wireless function in wired TP.

However, in method (1), can not solve to make as easily influenceed by communication environment or because of undercharge The shortcomings of be able to not must using.In addition, in method (2), because wired TP wireless penetration needs a large amount of parts, therefore will cause can Take the weight increase of formula operation device.In addition, for operator, need always to carry wirelessly using the construction of wireless penetration device Makeup is put and causes to bear.Accordingly, in order to apply flexibly wired TP and wireless TP both sides the advantages of, not in wired TP plus wireless Function, but in addition to wired TP, wireless TP is added in addition, and it is optimal to be used in conjunction with wired TP and wireless TP.

However, when wired TP and wireless TP both sides can be operated simultaneously, it will produce some bad situations.Such as When wired TP and wireless TP both sides are connected into a robot controller, can be grasped from wired TP and wireless TP both sides When making robot, it will produce problem for security.Therefore, industrial robot needs to be configured to, in robot controller Man-to-man two-way communication is carried out between portable operation device.In addition, industrial robot also needs to be configured to when by holding When the operator for having portable operation device is operated, it can not be operated by other portable operation devices.

But it is above-mentioned in the prior art, do not consider completely but when using share wired TP and wireless TP side Security during formula.

Prior art literature

Patent document

Patent document 1：Japanese Unexamined Patent Publication 2008-93743 publications.

Patent document 2：Japanese Unexamined Patent Publication 2006-341356 publications.

Patent document 3：Japanese Unexamined Patent Publication 2011-194504 publications.

Patent document 4：Japanese Unexamined Patent Publication 2006-321014 publications.

The content of the invention

Invent problem to be solved

It is an object of the present invention to provide a kind of robot controller, it can be ensured that in shared wired TP and wireless TP Mode under security.

Means for solving the problems

In order to solve above-mentioned problem, according to the 1st aspect of the present invention, there is provided a kind of robot controller, according to can take The operation of formula operation device and control machine people.Robot controller possesses：Relay, via order wire respectively with channel radio Letter portion and wired portable operation device connection, the wireless communication part carry out channel radio with Portable wireless formula operation device Letter；And operation right giving portion, by the operating rights for allowing to operate robot, it is granted to wired portable operation dress Put and either one in Portable wireless formula operation device.

It is preferred that in above-mentioned robot controller, operation right giving portion fills operation right giving to wired portable operation Put and Portable wireless formula operation device among output the portable operation device of connection request earliest.

It is preferred that in above-mentioned robot controller, it is awarded to wired portable operation device in operating rights and wirelessly may be used In the state of taking either one in formula operation device, the portable operation device that the opposing party of operating rights is never awarded outputs company When connecing request, operation right giving portion confirms whether the current state of robot or robot controller meets specified requirements, In the case that current state meets specified requirements, by the portable operation device of operation right giving the opposing party.

It is preferred that in above-mentioned robot controller, when by the portable operation device of operation right giving the opposing party, behaviour Make the servo power supply of cut-out robot of the power portion of authorizing.

It is preferred that in above-mentioned robot controller, it is awarded to wired portable operation device in operating rights and wirelessly may be used In the state of taking either one in formula operation device, the portable operation device that the opposing party of operating rights is never awarded outputs company When connecing request, operation right giving portion notifies the existing portable operation that operating rights is awarded of the portable operation device of the opposing party Device.

It is preferred that in above-mentioned robot controller, operation right giving portion is to be awarded the portable operation device of operating rights It is condition that the time not operated, which has been subjected to specified time, releases operating rights.

Brief description of the drawings

Fig. 1 is the schematic diagram for representing to possess the structure of the robot control system of the robot controller of the present invention.

Fig. 2 (a) is the block diagram for the structure for representing robot control system.

Fig. 2 (b) is the block diagram for the structure for representing wired TP.

Fig. 2 (c) is the block diagram for the structure for representing wireless TP.

Fig. 3 is the block diagram of the structure for the receiving unit for representing robot controller.

Fig. 4 is the block diagram for the state for representing on the receiving unit while being connected with wired TP and wireless TP.

Fig. 5 is the flow chart for representing operation right giving processing.

Embodiment

Hereinafter, 1~Fig. 5 of reference picture, a kind of embodiment party for embodying the robot controller of the present invention is illustrated Formula.

As shown in figure 1, robot control system 1 possesses robot R, wired TP100A and wireless TP100B and control The robot controller RC of robot R actions.Robot R is a kind of operation machine for carrying out the operation such as arc welding or spot welding People.The power tools such as arc torch, spot-welding gun are installed in the front end of robot R wrist portion.In addition, wired TP100A is that have The portable operation device of line, wireless TP100B are Portable wireless formula operation devices.

Wired TP100A and wireless TP100B possesses the micro computer for being provided with the operating systems such as Windows (registration mark). Wired TP100A and wireless TP100B is also equipped with keyboard 130, display device 140 and emergency stop switch 180 etc..Operator Keyboard 130 is operated and performs robot R teaching operation.The display of display device 140 is inputted by teaching operation Training data.Operator operates emergency stop switch 180, makes robot R emergent stoppings.In wired TP100A and wireless TP100B The back side, enabling key (not shown) (enable switch) is installed.Operator operates enabling key under teaching pattern, So as to supply electric power or cut-out supply of electric power to robot R servo motor.

Teaching operation signal from wired TP100A is sent to robot controller RC by wire communication.Come Robot controller RC is sent to by radio communication from wireless TP100B teaching operation signal.Teaching operation signal Comprising：For manually operate make robot R move inching feed signal, the teaching signal for inputting training data, Washout and enabling signal for making robot R emergent stoppings when urgent etc..From wired TP100A or wireless If TP100B sends these teaching operation signals, robot controller RC then carries out robot R fine motion feed operation, system Make the various processing such as training data, emergent stopping.

As shown in Fig. 2 (a), robot controller RC possesses：Host CPU (central processing unit) as control axis 10th, the switch hub 20, receiving unit 30 and the order controlling unit for being connected to receiving unit 30 as relay 40.Switch hub 20 is relayed the communication data from wired TP100A and wireless TP100B, is transmitted separately to lead CPU10 and receiving unit 30.

Host CPU 10 performs various places corresponding with the teaching operation signal from wired TP100A or wireless TP100B Reason, specifically, input teaching data or setting control parameter etc..In addition, the computing of host CPU 10 is located at robot R each joint The current-order of drive motor, output is to servo amplifier (not shown).Thus, the drive motor in each joint is driven.Separately Outside, host CPU 10 is authorized for allowing what robot R was operated to either one in wired TP100A and wireless TP100B Operating rights.That is, host CPU 10 is operation right giving portion, control is made to any in wired TP100A and wireless TP100B The exclusive uses of Fang Jinhang.

Switch hub 20 has the port 21~24 for LAN connections.So-called LAN connections, such as can for example there are By Ethernet (registration mark) and the communication connection of progress, but it is not limited to this.Handling have accessing wirelessly section on port 21 The order wire L1 of point 50.Wired TP100A order wire L2 is loaded and unloaded on port 22.Port 23 is connected with host CPU 10, port 24 are connected with receiving unit 30.Communication protocol known to the use of wireless access node 50, radio communication is carried out with wireless TP100B. Wireless access node 50 is equivalent to wireless communication part.

As shown in figure 3, receiving unit 30 possesses：A pair of CPU31,32；By CPU31 and relay RY1, RY3 of start； By CPU32 and relay RY2, RY4 of start；Energize output circuit 33,34；Emergent stopping output circuit 35,36；And even Connecting terminal portion 37,38,39.Washout and enabling signal from wireless TP100B are from switch hub 20 via even Connecting terminal portion 37 and input to CPU31,32.

As shown in figure 4, connection terminal T21~T24 of the enabling signal from wired TP100A via connecting end sub-portion 38 And input to CPU31,32.No matter other CPUs input signal is whether there is, and CPU31,32 are all according to the input letter each received Number, individually make relay RY1~RY4 starts.

Output circuit 33,34 of energizing is the safety circuit of dual.Output circuit 33 of energizing is by a contacts (normally opened contact) The circuit that relay contact S1, S2 of composition are in series, the connection terminal T1 of energize output circuit 33 and connecting end sub-portion 39, T2 connections.Connection terminal T1, T2 electrically connect with connection terminal T11, T12 of order controlling unit 40 respectively.Energize output circuit 34 be the circuit that relay contact S3, the S4 being made up of a contacts (normally opened contact) are in series, and output circuit 34 of energizing is with being connected Connection terminal T3, T4 connection of portion of terminal 39.Connection terminal T3, T4 respectively the connection terminal T13 with order controlling unit 40, T14 is electrically connected.When relay RY1 starts (excitatory), relay contact S1, S3 closure.When relay RY2 starts (excitatory) When, relay contact S2, S4 closure.

Emergent stopping output circuit 35,36 is the safety circuit of dual.Emergent stopping output circuit 35 is by by connection end Short-circuit connection circuit and relay touch between the connection terminal T5 of sub-portion 39 and the connection terminal T25 of connecting end sub-portion 38 Point S5, S6 series circuit are formed.The connection with connecting end sub-portion 39 respectively of each end of relay contact S5, S6 series circuit Terminal T6 and connecting end sub-portion 38 connection terminal T26 connections.Connection terminal T5, T6 respectively with order controlling unit 40 Connection terminal T15, T16 are electrically connected.Emergent stopping output circuit 36 is by by the connection terminal T7 of connecting end sub-portion 39 and connection end The series circuit of connection circuit and relay contact S7, S8 that short circuit is carried out between the connection terminal T27 of sub-portion 38 is formed. Each end of relay contact S7, S8 series circuit connection terminal T8 and connecting end sub-portion with connecting end sub-portion 39 respectively 38 connection terminal T28 connections.Connection terminal T7, T8 electrically connect with connection terminal T17, T18 of order controlling unit 40 respectively. Relay contact S5, S7 are made up of b contacts (normally-closed contact), when relay RY3 starts (excitatory), relay contact S5, S7 Open.In addition, relay contact S6, S8 are made up of b contacts (normally-closed contact), and when relay RY4 starts (excitatory), relay Contact S6, S8 are opened.

In the state of all being closed in the relay contact S1~S4 for output circuit 33,34 of energizing, at least one relay When device contact is opened, the output circuit 33,34 of energizing opened from relay contact is energized to the input foundation of order controlling unit 40 The shutoff signal of signal.Thereby, order controlling unit 40 makes cutter start (not shown), by towards the electric power of servo amplifier Supply cut-out.That is, the power supply of the servo motor to the driving source as robot R is cut off.

In addition, when either one between connection terminal T25, T26 between connection terminal T27, T28 is by short-circuit condition Become non-shorting state or at least one relay in relay contact S5~S8 of emergent stopping output circuit 35,36 When contact is opened, order controlling unit 40 acts cutter (not shown), cuts off the electric power to servo amplifier (not shown) Supply.In addition, in contents described later, " opening (ON) servo power supply " will be referred to as to the power supply of servo motor, will Cut off to the power supply of servo motor and be referred to as " closing (OFF) servo power supply ".

Connection terminal T21~T24 of connecting end sub-portion 38 respectively with robot controller RC connecting end sub-portion 42 Connection terminal T31~T34 is electrically connected.Connection terminal T25~T28 of connecting end sub-portion 38 is respectively with robot controller RC's Connection terminal T35~T38 electrical connections of connecting end sub-portion 42.

First, reference picture 2 (b) illustrates wired TP100A.

As shown in Fig. 2 (b), wired TP100A possesses CPU (central processing unit) 110, ROM120, keyboard 130, display dress Put 140 and wired lan I/F (interface) 150.CPU (central processing unit) 110, ROM120, keyboard 130, display device The grade each several parts of 140 and wired lan I/F (interface) 150 are connected with each other via bus 190.Wired lan I/F150 is via logical Believe line L2 and can be loaded and unloaded relative to the port 22 of switch hub 20.Wired TP100A can be via order wire L2 and switch type Hub 20 is communicated by wired with robot controller RC host CPU 10.As the communication data of the situation, enumerate Have：The key information that is generated according to the operation from wired TP100A keyboard 130, image information of display device 140 etc. Various data.

Wired TP100A possesses enabling key 170 and emergency stop switch 180.As shown in figure 4, work as the quilt of enabling key 170 When being opened (ON) operation, a pair of circuits C1, C2 normally opened contact S11, S12 closure are respectively arranged on, when the quilt of enabling key 170 When being closed (OFF) operation, normally opened contact S11, S12 are opened.During using wired TP100A, circuit C1, C2 are via signal wire L3 and joint (not shown), it is connected to connection terminal T31~T34 of robot controller RC connecting end sub-portion 42.Believing In the state of number line L3 is connected with connecting end sub-portion 42, normally opened contact S11, S12 from closure state become to open when, respectively from electricity Road C1, C2 export enabling signal to robot controller RC.

When emergency stop switch 180 is closed (OFF) operation, it is respectively arranged on a pair of the normally closed of circuit C3, C4 and touches Point S13, S14 are opened.Circuit C3, C4 are connected to robot controller RC company via signal wire L3 and joint (not shown) Connection terminal T35~the T38 in connecting terminal portion 42.In the state of circuit C3, C4 are connected to robot controller RC, promptly stop When only switch 180 is closed (OFF) operation, two normally-closed contacts S13, S14 are opened, from circuit C3, C4 respectively to machine People's control device RC exports washout.

Referring next to Fig. 2 (c), illustrated for wireless TP100B.For in wireless TP100B with wired TP100A Identical part, then description is omitted.

As shown in Fig. 2 (c), wireless TP100B and wired TP100A difference are, substitute wired lan I/F150 And there is WLAN I/F160.As shown in Fig. 2 (a), wireless TP100B can via wireless access node 50, order wire L1, And switch hub 20, communicated by wireless and the host CPU 10 with robot controller RC.As in the situation Under communication data, there are：Key information, the display dress generated based on the operation from wireless TP100B keyboard 130 Put the various data such as 140 image information.

Although not shown, but wireless TP100B possesses and circuit C1~C4, normally opened contact S11, S12 and normally-closed contact S13, S14 suitable construction.In wireless TP100B, different from wired TP100A, when enabling key 170 is by operation and a pair normal When opening contact S11, S12 closure, enabling signal is wirelessly exported by WLAN I/F160.In addition, when wireless TP100B emergency stop switch 180 a pair of normally-closed contacts S13, S14 when opening by operation, by WLAN I/F160 with Wireless mode exports washout.

Effect about above-mentioned robot controller RC, the flow chart of reference picture 5 illustrate.Detailed content is to say The bright processing when host CPU 10 is only by either one in operation right giving wired TP100A and wireless TP100B., will in explanation Wired TP100A is referred to as wired TP and wireless TP100B is referred to as into wireless TP.

(1, wired TP and wireless TP are not established between robot controller RC to communicate, and is not awarded fair Perhaps the situation of operation robot R operating rights)

First, in the state of operating rights is not awarded in either one for illustrating in wired TP and wireless TP, by wired TP Output processing during connection request.

As shown in figure 5, in step St1, host CPU 10 confirms whether there is connection request.When host CPU 10 has been confirmed to have by oneself (step St1 after line TP connection request：It is), it is transferred to step St2.

In step St2, the confirmation operating rights of host CPU 10 authorizes state.As operation right giving to wired TP and wireless TP In in the case of either one, for example, the identification information such as MAC Address is stored in robot controller RC RAM (not shown) In.In this case, host CPU 10 reads identification information from RAM, and confirm operating rights authorizes state.Here, due to operating rights simultaneously Either one in wired TP or wireless TP is not awarded to, therefore identification information is NULL value.

In step St3, host CPU 10 by the identification information that is read from RAM, decision power be awarded to wired TP and Which side in wireless TP.Here, because identification information is shown as NULL value, therefore host CPU 10 is judging operating rights not (step St3 after being awarded to either one in wired TP and wireless TP：It is no), it is transferred to step St8.

In step St8, host CPU 10 gives operation right giving the wired TP for outputing connection request.In addition, host CPU 10 The identification information for the wired TP for being granted operating rights is stored in robot controller RC RAM (not shown).

In step St9, host CPU 10 carries out the processing for establishing the communication between wired TP.After the communication has been established, Host CPU 10 is notified by the wired TP of operation right giving message to wired TP.As a result, in wired TP display device 140 Display purport is to have authorized the message of operating rights.

(2, in the state of by either one in operation right giving to wired TP and wireless TP, by operating rights is not awarded The TP of the opposing party outputs the situation of connection request)

Then, illustrate in the state of by either one in operation right giving to wired TP and wireless TP, by behaviour is not awarded The TP for the opposing party for making to weigh outputs processing during connection request.Here, illustrate shape that ought by operation right giving to wired TP Under state, processing during connection request is outputed by wireless TP.

In step St1, host CPU 10 confirms whether there is connection request.Host CPU 10 confirm the connection from wireless TP please (step St1 after asking：It is), it is transferred to step St2.

In step St2, host CPU 10 authorizes state in order to confirm operating rights, and identification information is read by RAM.Here, from RAM reads wired TP identification information.

In step St3, host CPU 10 according to the identification information read by RAM, decision power be awarded to wired TP and Which side in wireless TP.Here, (step St3 after host CPU 10 judges that operating rights is awarded to wired TP：It is no), transfer To step St4.Now, host CPU 10 by purport by the wired TP of operation right giving message, to notify to having exported connection request Wireless TP.

In step St4, host CPU 10 confirms the transfer condition of operating rights.That is, host CPU 10 judges that current state is The no operating rights that can be transferred the possession of by wired TP is to wireless TP.In order to judge whether to transfer the possession of operating rights, host CPU 10 reads built-in variable Or the information such as mark (flag), confirmation robot R or robot controller RC current state.For example, as robot R or When robot controller RC current state meets following conditions, host CPU 10 is judged as carrying out the transfer of operating rights. But following condition is one, however it is not limited to these conditions.

Servo power supply in teaching pattern and robot R is unlatching (ON) state.

In teaching pattern and to servo amplifier supply electric power.

Access and (read and write) external memory in TP.

The lock function that operating rights is not transferred to other TP is set by operator.

In step St5, host CPU 10 determines whether the state in negotiable operating rights.In this, it is assumed that robot R or Robot controller RC current state is unsatisfactory for any one of above-mentioned condition.In this case, host CPU 10 judges For negotiable operating rights (step St5：It is), it is transferred to step St6.In addition, when robot R or robot controller RC mesh In the case that preceding state meets any of the above-described individual condition, host CPU 10 is judged as non-negotiable operating rights (step St5：It is no), knot Beam present treatment.

In step St6, host CPU 10 releases the operating rights for the wired TP being just connected at present with robot controller RC, Communication between cut-out and wired TP simultaneously.Refer to remove the RAM for being written to robot controller RC in addition, releasing operating rights In identification information.

In step St7, host CPU 10 closes robot R servo power supply.In such a situation it is preferred that pass through cut-out pair The power supply of servo amplifier and prevent servo power supply from opening immediately (ON).Thus, after operating rights just is awarded TP in by mistake enabling key 170 is opened (ON) operation, still be able to prevent that servo power supply from being opened.

In step St8, host CPU 10 has exported operation right giving the wireless TP of connection request.That is, host CPU 10 exists The identification information for the wireless TP that operating rights has been awarded is stored in robot controller RC RAM (not shown).

In step St9, host CPU 10 carries out the processing for establishing the communication between wireless TP.Establishing communication Afterwards, purport is that operation right giving to wireless TP message have been notified into wireless TP by host CPU 10.As a result, in the aobvious of wireless TP On showing device 140, display purport is that the message of operating rights has been awarded.

(3, about the processing after operation right giving)

Host CPU 10 performs various processing only in accordance with come the teaching operation signal for the TP that operating rights is awarded that controls oneself.That is, On the one hand come the teaching operation signal for the TP that operating rights is awarded that controls oneself, another aspect is then ignored to be come only analysis interpretation host CPU 10 From the teaching operation signal for the TP that operating rights is not awarded.In the present embodiment, wired TP is connected to robot control all the time Device RC.Therefore, as shown in Figure 3 and Figure 4, by the washout that wired TP emergency stop switch 180 is sent via Order wire L3 and receiving unit, it is transferred to order controlling unit 40.That is, the washout only from wired TP, Can be independent of operating rights, and order controlling unit 40 can be input to all the time.Although it means that by operation right giving without During line TP, although the operation signal from wired TP can not be inputted, but still it can only pass through wired TP emergency stop switch 180 are inputted.That is, wired TP can only be played a role as emergency stop switch.

According to the structure, skilled worker can be while hand-held wired TP as emergency stop switch, be unfamiliar with operation journey while allowing The green hand of sequence operates wireless TP.In this case, even if green hand's imprudence allows robot R to be fed towards the direction crawl of mistake, Wired TP that skilled worker can still be held by oneself makes robot R emergent stoppings.

In addition, in the present embodiment, the time that can not also be operated the TP that operating rights has been awarded, which exceedes, specifies Time, such as 10 minutes are condition, enforceable releasing operating rights.According to the structure, even in operator in order to not make operation Power transferred from TP and after setting lock function, have left scene in the case of, also behaviour can be being shifted after specified time Weigh.

In this way, according to present embodiment, in the state of shared wired TP and wireless TP, only by operation right giving to wired Either one in TP and wireless TP, can exclusively operate the TP that operating rights has been awarded.Thereby, it is possible to ensure to have shared Security in the state of line TP and wireless TP.

Claims (6)

1. a kind of robot controller, the control machine people according to the operation of portable operation device, it is characterised in that tool It is standby：

Relay, it is connected respectively with wireless communication part and wired portable operation device via order wire, the radio communication Portion carries out radio communication with Portable wireless formula operation device；And

Operation right giving portion, the operating rights for allowing to operate the robot is granted to described wired portable Either one in operation device and the Portable wireless formula operation device,

During by Portable wireless formula operation device described in the operation right giving, wired portable operation device is all the time It is connected to the robot controller and is only played a role as emergency stop switch, only washout can be defeated Enter the robot controller.

2. robot controller according to claim 1, it is characterised in that

The operation right giving portion gives the operation right giving to wired portable operation device and the Portable wireless The portable operation device of connection request is outputed among formula operation device earliest.

3. robot controller according to claim 1 or 2, it is characterised in that

It is awarded in the operating rights any into wired portable operation device and the Portable wireless formula operation device It is described when the portable operation device of the opposing party of the operating rights is never awarded outputing connection request in the state of side Operation right giving portion confirms whether the current state of the robot or the robot controller meets specified requirements, when In the case that the current state meets specified requirements, the portable operation of the opposing party described in the operation right giving is filled Put.

4. robot controller according to claim 3, it is characterised in that

When by the portable operation device of the opposing party described in the operation right giving, the operation right giving portion cuts off the machine The servo power supply of device people.

5. robot controller according to claim 1 or 2, it is characterised in that

Either one is awarded into wired portable operation device and the Portable wireless formula operation device in operating rights Under state, when the portable operation device of the opposing party of the operating rights be never awarded outputing connection request, the operation The power portion of authorizing notifies the existing portable operation device that operating rights is awarded of the portable operation device of described the opposing party.

6. robot controller according to claim 1 or 2, it is characterised in that

The operation right giving portion has been subjected to finger so that the time that the portable operation device of the operating rights is not operated is awarded Fix time as condition, release the operating rights.