CN111650907A - Monitoring method and device for industrial robot, storage medium and processor - Google Patents
Monitoring method and device for industrial robot, storage medium and processor Download PDFInfo
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- CN111650907A CN111650907A CN202010490786.5A CN202010490786A CN111650907A CN 111650907 A CN111650907 A CN 111650907A CN 202010490786 A CN202010490786 A CN 202010490786A CN 111650907 A CN111650907 A CN 111650907A
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- industrial robot
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/4184—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by fault tolerance, reliability of production system
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/31—From computer integrated manufacturing till monitoring
- G05B2219/31088—Network communication between supervisor and cell, machine group
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a monitoring method and device of an industrial robot, a storage medium and a processor. Wherein, the method comprises the following steps: establishing a communication link between the controller and at least one industrial robot, wherein the communication link adopts a modbus protocol; and monitoring the operating state of at least one industrial robot based on the communication link. The invention solves the technical problems of inconvenient troubleshooting, transmission delay and transmission error easily caused by the fact that the communication of the stamping connection line is completed in an I/O signal connection mode in the related technology.
Description
Technical Field
The invention relates to the field of industrial robots, in particular to a monitoring method and device of an industrial robot, a storage medium and a processor.
Background
In the actual production of a sheet metal factory, from the earliest manual stamping to the stamping of machine equipment, along with the development of intelligent equipment, the stamping of a robot is carried out. The industrial application of the robot becomes wide, the technology is mature continuously, most communication in the current stamping connection is completed in an IO signal connection mode, a plurality of signal lines need to be connected, problems are troublesome to find, and problems of transmission delay, transmission format errors and the like exist.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a monitoring method, a monitoring device, a storage medium and a processor of an industrial robot, which are used for at least solving the technical problems that in the related technology, communication of a stamping connecting line is finished in an I/O signal wiring mode, so that the inspection problem is inconvenient, the transmission delay is delayed and the transmission error is easy to cause.
According to an aspect of an embodiment of the present invention, there is provided a monitoring method of an industrial robot, including: establishing a communication link between a controller and at least one industrial robot, wherein the communication link adopts a modbus protocol; and monitoring the operating state of at least one industrial robot based on the communication link.
Optionally, establishing a communication link between the controller and the at least one industrial robot comprises: determining field data of the industrial robot punching, wherein the field data comprises information of a controller and at least one industrial robot associated with the controller; and establishing a communication link between the controller and at least one industrial robot according to the field data.
Optionally, monitoring an operational status of at least one of the industrial robots based on the communication link comprises: determining a control instruction to transmit over the communication link; controlling at least one industrial robot to execute a preset action according to the control instruction to obtain the operating parameters of at least one industrial robot; and monitoring the operating state of at least one industrial robot according to the operating parameters.
Optionally, monitoring the operating state of at least one of the industrial robots based on the operating parameters comprises: judging whether the operation parameters are matched with preset operation parameters or not; under the condition that the operation parameters are matched with the preset operation parameters, the operation parameters meet the stamping requirements of the industrial robot; and in the case that the operation parameters are not matched with the preset operation parameters, continuously waiting until the operation parameters meet the stamping requirements of the industrial robot.
Optionally, the operating parameter comprises at least one of: running speed, coordinate value, acceleration value and motor torque.
Optionally, before determining the control instruction sent over the communication link, the method further comprises: determining a stamping action of the industrial robot; generating an initialized control instruction according to the stamping action; and optimizing the initialized control instruction to obtain a control instruction for controlling the operation of the industrial robot, wherein the optimizing at least comprises modifying a macro instruction and/or adding a new instruction code.
Optionally, the method further comprises: displaying and/or executing a predetermined signal, wherein the predetermined signal comprises at least one of: starting a reset signal, an alarm output signal, a program reset signal and a first-row cursor positioning signal.
According to another aspect of an embodiment of the present invention, there is also provided a monitoring device of an industrial robot, including: the system comprises an establishing module, a processing module and a control module, wherein the establishing module is used for establishing a communication link between a controller and at least one industrial robot, and the communication link adopts a modbus protocol; and the monitoring module is used for monitoring the running state of at least one industrial robot based on the communication link.
According to another aspect of the embodiments of the present invention, there is also provided a storage medium including a stored program, wherein when the program is executed, a device in which the storage medium is located is controlled to execute the monitoring method of the industrial robot.
According to another aspect of the embodiments of the present invention, there is also provided a processor for executing a program, wherein the program executes the monitoring method of the industrial robot described in any one of the above.
In the embodiment of the invention, a communication link between a controller and at least one industrial robot is established, wherein the communication link adopts a modbus protocol; based on the communication link, the operating state of at least one industrial robot is monitored by the communication link adopting the modbus protocol, so that the aim of timely and accurately monitoring the operating state of the industrial robot is fulfilled, the technical effects of facilitating troubleshooting and reducing communication delay and transmission errors are achieved, and the technical problems that in the related technology, communication of stamping connection lines is completed through an I/O signal wiring mode, troubleshooting is inconvenient, transmission delay and transmission errors are easily caused are solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a flow chart of a monitoring method of an industrial robot according to an embodiment of the invention;
fig. 2 is a schematic view of a monitoring device of an industrial robot according to an embodiment of the invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
According to an embodiment of the invention, a method embodiment of a monitoring method of an industrial robot is provided, it is remarked that the steps shown in the flowchart of the figure may be performed in a computer system, such as a set of computer executable instructions, and that although a logical order is shown in the flowchart, in some cases the steps shown or described may be performed in an order different from the order presented herein.
Fig. 1 is a flow chart of a monitoring method of an industrial robot according to an embodiment of the invention, which comprises the following steps, as shown in fig. 1:
step S102, establishing a communication link between a controller and at least one industrial robot, wherein the communication link adopts a modbus protocol;
the controller includes, but is not limited to, a programmable logic controller, and the industrial robot includes, but is not limited to, a stamping industrial robot; optionally, the industrial robot is a stamping industrial robot equipped with a stamping device.
Through the method, a communication link of the controller and one or more industrial robots adopting the modbus protocol can be established. It should be noted that, in the communication process, the communication link adopting the modbus protocol has a fast response speed, and can effectively avoid the problems that the transmission delay is too long, the transmission format is easy to make mistakes, and the like.
And step S104, monitoring the running state of at least one industrial robot based on the communication link.
The mode can be based on a communication link adopting a modbus protocol, and the running state of one or more industrial robots can be monitored.
Through the steps, the communication link between the controller and at least one industrial robot can be established, wherein the communication link adopts a modbus protocol; based on the communication link, the running state of at least one industrial robot is monitored by the communication link adopting the modbus protocol, so that the purpose of timely and accurately monitoring the running state of the industrial robot is achieved, the technical effects of facilitating troubleshooting and reducing communication time delay and transmission errors are achieved, and the technical problems that in the related technology, communication of stamping connection lines is completed through an I/O signal wiring mode, troubleshooting is easy to cause, inconvenience is caused, transmission delay is delayed, and transmission errors are easily solved.
Optionally, establishing a communication link between the controller and the at least one industrial robot comprises: determining field data of the industrial robot punching, wherein the field data comprises information of a controller and at least one industrial robot associated with the controller; and establishing a communication link between the controller and at least one industrial robot according to the field data.
As an alternative embodiment, the information of the industrial robot comprises an address parameter of the industrial robot, which address parameter is capable of uniquely identifying an industrial robot. In particular, a communication link between the controller and at least one industrial robot can be established with field data of the stamping of the industrial robot.
Because the communication link adopts the modbus protocol, namely the communication link adopting the modbus protocol is established between the controller and at least one industrial robot, the traditional communication of a plurality of signal lines can be reduced, and the problems of overlong communication time delay, wrong transmission data format and the like can be avoided.
Optionally, monitoring the operational status of the at least one industrial robot based on the communication link comprises: determining a control instruction to send over the communication link; controlling at least one industrial robot to execute a preset action according to the control instruction to obtain the operating parameters of at least one industrial robot; and monitoring the operating state of at least one industrial robot according to the operating parameters.
The predetermined actions include but are not limited to waiting for material taking, taking a front point, taking a material point, taking a rear point, taking the material, waiting for material placing, taking a front point, placing a material point, placing a rear point and placing the material. It should be noted that, when the predetermined action reaches the top dead center and/or the bottom dead center, the alarm may be performed to limit the top dead center and/or the bottom dead center.
As an alternative embodiment, at least one industrial robot can be started and/or controlled synchronously, wherein when the industrial robots are multiple, the synchronous conditions and synchronous speeds of the multiple industrial robots are the same, so that the overall motion process of the industrial robot is more stable in beat.
In the specific implementation process, firstly, a control instruction sent on a communication link needs to be determined; thirdly, controlling at least one industrial robot to execute a preset action according to the control instruction to obtain the operating parameters of at least one industrial robot; and then according to the operating parameter, the operating condition of at least one industrial robot is monitored. Through the mode, the at least one industrial robot can execute the preset action under the preset control instruction to obtain the corresponding operating parameters, so that the operating state of the at least one industrial robot can be better monitored, real-time monitoring is realized, and the operating state of the industrial robot can be adjusted at any time.
Optionally, monitoring the operational status of the at least one industrial robot according to the operational parameters comprises: judging whether the operation parameters are matched with preset operation parameters or not; under the condition that the operation parameters are matched with the preset operation parameters, the operation parameters meet the stamping requirements of the industrial robot; and in the case that the operation parameters are not matched with the preset operation parameters, continuously waiting until the operation parameters meet the stamping requirements of the industrial robot.
As an alternative embodiment, before monitoring the operating state of at least one industrial robot according to the operating parameters, the method further comprises: and displaying the operating parameters of the industrial robot. By the method, the operating state of the industrial robot can be intuitively known.
As an alternative embodiment, in order to know the operating state of the industrial robot more accurately, it may be determined whether the operating parameter matches a predetermined operating parameter; under the condition that the operation parameters are matched with the preset operation parameters, the operation parameters meet the stamping requirements of the industrial robot; and in the case that the operation parameters are not matched with the preset operation parameters, continuously waiting until the operation parameters meet the stamping requirements of the industrial robot. In the specific implementation process, under the condition that the operation parameters are matched with the preset operation parameters, the industrial robot can execute the next control instruction, otherwise, the industrial robot waits until the industrial robot finishes the instruction, and the operation parameters which accord with the preset operation parameters are fed back, so that the next control instruction can be executed.
Optionally, the operating parameter includes at least one of: running speed, coordinate value, acceleration value and motor torque.
In a specific implementation, the operation parameters of the industrial robot include, but are not limited to, an operation speed, coordinate values, an acceleration value, and a motor torque. Can be according to the needs of using the scene and nimble setting, through above-mentioned mode, can obtain required industrial robot's operational parameter, more accurate monitoring industrial robot's operational data.
Optionally, before determining the control instruction sent over the communication link, the method further comprises: determining a stamping action of the industrial robot; generating an initialized control instruction according to the stamping action; and optimizing the initialized control instruction to obtain the control instruction for controlling the operation of the industrial robot, wherein the optimizing at least comprises modifying the macro instruction and/or adding new instruction codes.
As an optional embodiment, the control instruction for generating initialization of the stamping action can be optimized by modifying the macro instruction, adding a new instruction code and the like, so that the control instruction which better conforms to the operation of the industrial robot is obtained, the takt time is shortened, and the efficiency is improved.
Optionally, the method further includes: displaying and/or executing a predetermined signal, wherein the predetermined signal comprises at least one of: starting a reset signal, an alarm output signal, a program reset signal and a first-row cursor positioning signal.
In the specific implementation process, signals such as a start reset signal, an alarm output signal, a program reset signal, a head line cursor positioning signal and the like can be displayed through the display device, and the industrial robot can be correspondingly controlled according to preset signals such as the start reset signal, the alarm output signal, the program reset signal, the head line cursor positioning signal and the like.
It should be noted that the preset signals such as the start reset signal, the alarm output signal, the program reset signal, the head line cursor positioning signal, and the like are all transmitted by communication using a communication link of the modbus protocol.
An alternative embodiment of the invention is described in detail below.
As an optional monitoring method for an industrial robot, the method is optimized for robot punching connection line modbus communication, and can be used for applying instructions to a robot punching environment through a program calling mode and macro instruction compiling, so that the fault rate is greatly reduced, the beat is shortened, and the productivity is improved. The operation data of each robot can be monitored in real time through monitoring the modbus, and the readable and writable function can also adjust the operation state of the robot at any time, so that the robot is convenient to use subsequently.
The specific implementation mode is as follows:
step 1: the method comprises the steps of developing a modbus instruction, a modbus page readable and writable function, and carrying out logic optimization (modbuswaait ()), modbuswaaitbit (), modbuschekbit (), modbusluewrite ()) of an internal macro instruction aiming at the connection of modbus communication; a pulse signal.
Step 2: the corresponding code is added to the modbus section in the project using the KeStudio software.
And step 3: and (4) arranging modbus configuration according to actual field requirements, and adding the newly added instruction into the program.
And 4, step 4: and the signal sent by the programmable logic controller is transmitted to the modbus by combining a clamp on the robot, and the robot makes a corresponding action through a result obtained by the modbus.
And 5: whether the robot runs is consistent when being checked to follow the setting through the running process, and if the requirement is met, the takt time can be greatly reduced, and the efficiency is improved.
Example 2
According to another aspect of an embodiment of the present invention, there is also provided a monitoring device for an industrial robot, fig. 2 is a schematic view of the monitoring device for an industrial robot according to an embodiment of the present invention, as shown in fig. 2, the monitoring device for an industrial robot includes: a setup module 22 and a monitoring module 24. The monitoring device of the industrial robot will be explained in detail below.
The building module 22 is used for building a communication link between the controller and at least one industrial robot, wherein the communication link adopts a modbus protocol; and a monitoring module 24 connected to the establishing module 22 for monitoring the operating state of at least one industrial robot based on the communication link.
It should be noted that the above modules may be implemented by software or hardware, for example, for the latter, the following may be implemented: the modules can be located in the same processor; alternatively, the modules may be located in different processors in any combination.
It should be noted that the establishing module 22 and the monitoring module 24 correspond to steps S102 to S104 in embodiment 1, and the modules are the same as the examples and application scenarios realized by the corresponding steps, but are not limited to the disclosure of embodiment 1. It should be noted that the modules described above as part of an apparatus may be implemented in a computer system such as a set of computer-executable instructions.
As can be seen from the above, in the above embodiments of the present application, the establishing module 22 is used to establish a communication link between the controller and at least one industrial robot, wherein the communication link uses modbus protocol; the monitoring module 24 monitors the running state of at least one industrial robot based on a communication link, and monitors the running state of at least one industrial robot through the communication link adopting a modbus protocol, so that the aim of timely and accurately monitoring the running state of the industrial robot is achieved, the technical effects of facilitating troubleshooting and reducing communication delay and transmission errors are achieved, and the technical problems that in the related technology, communication of stamping connection lines is completed through an I/O signal wiring mode, troubleshooting is inconvenient, transmission delay and transmission errors are easily caused are solved.
Optionally, the establishing module 22 includes: a first determination unit for determining field data of the industrial robot stamping, wherein the field data comprises information of a controller and at least one industrial robot associated with the controller; and the establishing unit is used for establishing a communication link between the controller and at least one industrial robot according to the field data.
Optionally, the monitoring module 24 includes: a second determination unit for determining a control instruction transmitted on the communication link; the obtaining unit is used for controlling at least one industrial robot to execute a preset action according to the control instruction to obtain the operating parameters of the at least one industrial robot; and the monitoring unit is used for monitoring the operating state of at least one industrial robot according to the operating parameters.
Optionally, the monitoring unit includes: the judging subunit is used for judging whether the operation parameters are matched with the preset operation parameters; the first processing subunit is used for enabling the operation parameters to meet the stamping requirements of the industrial robot under the condition that the operation parameters are matched with the preset operation parameters; and the second processing subunit is used for continuously waiting until the operation parameters meet the stamping requirements of the industrial robot under the condition that the operation parameters are not matched with the preset operation parameters.
Optionally, the operating parameter includes at least one of: running speed, coordinate value, acceleration value and motor torque.
Optionally, before determining the control instruction sent over the communication link, the apparatus further includes: the determining module is used for determining the stamping action of the industrial robot; the generating module is used for generating an initialized control instruction according to the stamping action; and the obtaining module is used for optimizing the initialized control instruction to obtain the control instruction for controlling the operation of the industrial robot, wherein the optimizing at least comprises modifying the macro instruction and/or adding a new instruction code.
Optionally, the apparatus further comprises: the display/execution module is used for displaying and/or executing a predetermined signal, wherein the predetermined signal comprises at least one of the following: starting a reset signal, an alarm output signal, a program reset signal and a first-row cursor positioning signal.
Example 3
According to another aspect of the embodiments of the present invention, there is also provided a storage medium including a stored program, wherein when the program is executed, a device in which the storage medium is located is controlled to execute the monitoring method of the industrial robot in any one of the above.
Optionally, in this embodiment, the storage medium may be located in any one of a group of computer terminals in a computer network, or in any one of a group of mobile terminals, and the storage medium includes a stored program.
Optionally, the program controls the device on which the storage medium is located to perform the following functions when running: establishing a communication link between the controller and at least one industrial robot, wherein the communication link adopts a modbus protocol; and monitoring the operating state of at least one industrial robot based on the communication link.
Example 4
According to another aspect of the embodiments of the present invention, there is also provided a processor for running a program, wherein the program when running executes the monitoring method of an industrial robot of any one of the above.
The embodiment of the application provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein the processor executes the program to realize the following steps: establishing a communication link between the controller and at least one industrial robot, wherein the communication link adopts a modbus protocol; and monitoring the operating state of at least one industrial robot based on the communication link.
The present application further provides a computer program product adapted to perform a program for initializing the following method steps when executed on a data processing device: establishing a communication link between the controller and at least one industrial robot, wherein the communication link adopts a modbus protocol; and monitoring the operating state of at least one industrial robot based on the communication link.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A method of monitoring an industrial robot, comprising:
establishing a communication link between a controller and at least one industrial robot, wherein the communication link adopts a modbus protocol;
and monitoring the operating state of at least one industrial robot based on the communication link.
2. The method of claim 1, wherein establishing a communication link between the controller and at least one industrial robot comprises:
determining field data of the industrial robot punching, wherein the field data comprises information of a controller and at least one industrial robot associated with the controller;
and establishing a communication link between the controller and at least one industrial robot according to the field data.
3. The method of claim 1, wherein monitoring the operational status of at least one of the industrial robots based on the communication link comprises:
determining a control instruction to transmit over the communication link;
controlling at least one industrial robot to execute a preset action according to the control instruction to obtain the operating parameters of at least one industrial robot;
and monitoring the operating state of at least one industrial robot according to the operating parameters.
4. A method according to claim 3, wherein monitoring the operational status of at least one of the industrial robots based on the operational parameters comprises:
judging whether the operation parameters are matched with preset operation parameters or not;
under the condition that the operation parameters are matched with the preset operation parameters, the operation parameters meet the stamping requirements of the industrial robot; and in the case that the operation parameters are not matched with the preset operation parameters, continuously waiting until the operation parameters meet the stamping requirements of the industrial robot.
5. The method of claim 3 or 4, wherein the operating parameter comprises at least one of: running speed, coordinate value, acceleration value and motor torque.
6. The method of claim 1, wherein prior to determining the control instructions to transmit over the communication link, the method further comprises:
determining a stamping action of the industrial robot;
generating an initialized control instruction according to the stamping action;
and optimizing the initialized control instruction to obtain a control instruction for controlling the operation of the industrial robot, wherein the optimizing at least comprises modifying a macro instruction and/or adding a new instruction code.
7. The method of claim 1, further comprising:
displaying and/or executing a predetermined signal, wherein the predetermined signal comprises at least one of: starting a reset signal, an alarm output signal, a program reset signal and a first-row cursor positioning signal.
8. A monitoring device of an industrial robot, comprising:
the system comprises an establishing module, a processing module and a control module, wherein the establishing module is used for establishing a communication link between a controller and at least one industrial robot, and the communication link adopts a modbus protocol;
and the monitoring module is used for monitoring the running state of at least one industrial robot based on the communication link.
9. A storage medium, characterized in that the storage medium comprises a stored program, wherein the device in which the storage medium is located is controlled to perform the monitoring method of an industrial robot according to any one of claims 1 to 7 when the program is run.
10. A processor, characterized in that the processor is adapted to run a program, wherein the program when run performs the method of monitoring an industrial robot according to any of claims 1-7.
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| CN202010490786.5A CN111650907A (en) | 2020-06-02 | 2020-06-02 | Monitoring method and device for industrial robot, storage medium and processor |
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| CN202010490786.5A CN111650907A (en) | 2020-06-02 | 2020-06-02 | Monitoring method and device for industrial robot, storage medium and processor |
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204430063U (en) * | 2015-02-02 | 2015-07-01 | 广东工业大学 | Full-automatic stamping line real-time monitoring system |
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN204430063U (en) * | 2015-02-02 | 2015-07-01 | 广东工业大学 | Full-automatic stamping line real-time monitoring system |
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| 周文贤: "机器人冲压生产线控制系统设计与实现", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
| 王燚: "基于Modbus的华数机器人控制", 《湖北农机化》 * |
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Application publication date: 20200911 |
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