DE69111331D1 - Verfahren zur steuerung eines roboters nach einer arbeitsunterbrechung. - Google Patents

Verfahren zur steuerung eines roboters nach einer arbeitsunterbrechung.

Info

Publication number
DE69111331D1
DE69111331D1 DE69111331T DE69111331T DE69111331D1 DE 69111331 D1 DE69111331 D1 DE 69111331D1 DE 69111331 T DE69111331 T DE 69111331T DE 69111331 T DE69111331 T DE 69111331T DE 69111331 D1 DE69111331 D1 DE 69111331D1
Authority
DE
Germany
Prior art keywords
job
robot
controlling
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
DE69111331T
Other languages
English (en)
Other versions
DE69111331T2 (de
Inventor
Akihiro Yanagita
Yoshiki Hashimoto
Hiroji Nishi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Application granted granted Critical
Publication of DE69111331D1 publication Critical patent/DE69111331D1/de
Publication of DE69111331T2 publication Critical patent/DE69111331T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • 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
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
    • G05B19/4067—Restoring data or position after power failure or other interruption
    • 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
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34072—Non volatile memory, core memory
    • 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
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34365—After interrupt of operation, do other task and go on - resume operation
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45083—Manipulators, robot

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
  • Safety Devices In Control Systems (AREA)
DE1991611331 1990-03-08 1991-03-01 Verfahren zur steuerung eines roboters nach einer arbeitsunterbrechung. Expired - Fee Related DE69111331T2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2057369A JPH03256693A (ja) 1990-03-08 1990-03-08 ロボットの停電制御方式
PCT/JP1991/000303 WO1991013732A1 (en) 1990-03-08 1991-03-01 Robot control method after interruption of service

Publications (2)

Publication Number Publication Date
DE69111331D1 true DE69111331D1 (de) 1995-08-24
DE69111331T2 DE69111331T2 (de) 1996-01-04

Family

ID=13053677

Family Applications (1)

Application Number Title Priority Date Filing Date
DE1991611331 Expired - Fee Related DE69111331T2 (de) 1990-03-08 1991-03-01 Verfahren zur steuerung eines roboters nach einer arbeitsunterbrechung.

Country Status (6)

Country Link
US (1) US5170109A (de)
EP (1) EP0471860B1 (de)
JP (1) JPH03256693A (de)
KR (1) KR940003950B1 (de)
DE (1) DE69111331T2 (de)
WO (1) WO1991013732A1 (de)

Families Citing this family (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5422808A (en) * 1993-04-20 1995-06-06 Anthony T. Catanese, Jr. Method and apparatus for fail-safe control of at least one electro-mechanical or electro-hydraulic component
US5392420A (en) * 1993-09-30 1995-02-21 Intel Corporation In circuit emulator(ICE) that flags events occuring in system management mode(SMM)
FR2715222B1 (fr) * 1994-01-14 1996-04-05 Giat Ind Sa Compteur auto-alimenté.
US5603038A (en) * 1994-09-07 1997-02-11 International Business Machines Corporation Automatic restoration of user options after power loss
DE19857436A1 (de) 1998-12-12 2000-06-21 Kuka Roboter Gmbh Verfahren zum Behandeln des Spannungsabfalls in der Steuerung eines Roboters und zum Wiederanfahren eines Roboters nach Spannungsabfall
EP1202139B1 (de) * 2000-10-27 2005-09-21 Invensys Systems, Inc. Busspannungsdetektor in einem Feldgerät
US6494666B2 (en) * 2001-01-26 2002-12-17 Fortrend Engineering Corporation Simplified and enhanced SCARA arm
EP1359485B1 (de) * 2002-05-03 2015-04-29 Infineon Technologies AG Steuer- und Überwachungssystem
US6901298B1 (en) * 2002-09-30 2005-05-31 Rockwell Automation Technologies, Inc. Saving and restoring controller state and context in an open operating system
EP1978428B1 (de) * 2006-01-17 2013-03-13 Musashi Engineering, Inc. Vorrichtung zur Wiederaufnahme der Arbeit eines Roboters nach einer Unterbrechung
EP2479630A1 (de) * 2011-01-25 2012-07-25 Siemens Aktiengesellschaft Verfahren zur kollisionsfreien Überführung einer Anlage aus einem Scheinausmodus in einen Betriebsmodus
JP2015085390A (ja) * 2013-10-28 2015-05-07 株式会社アイエイアイ アクチュエータ装置
JP2016078211A (ja) * 2014-10-22 2016-05-16 セイコーエプソン株式会社 ロボット
JP6790686B2 (ja) 2016-09-30 2020-11-25 オムロン株式会社 制御装置、制御方法およびプログラム
US20190070728A1 (en) * 2017-09-05 2019-03-07 Abb Schwelz Ag Robotic systems and methods for operating a robot

Family Cites Families (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5417399B2 (de) * 1973-02-28 1979-06-29
JPS57111661A (en) * 1980-09-03 1982-07-12 Tokyo Electric Co Ltd Electronic cash register
JPS5783389A (en) * 1980-11-07 1982-05-25 Hitachi Ltd Device for initializing positional detector in industrial robot
JPS58168121A (ja) * 1982-03-29 1983-10-04 Fujitsu Ltd 停電復電処理方式
JPS59142613A (ja) * 1983-02-03 1984-08-15 Fanuc Ltd 数値制御加工再開制御装置
US4453117A (en) * 1983-04-14 1984-06-05 Elms Robert T Motor control apparatus with short term undervoltage motor mode saver
US4638227A (en) * 1984-01-18 1987-01-20 Hitachi, Ltd. Method and apparatus for recovering normality in moving sequence of machinery
JP2566550B2 (ja) * 1984-01-31 1996-12-25 ファナック 株式会社 ロボツト動作に対するオペレ−タ保護方法
JPS6111806A (ja) * 1984-06-26 1986-01-20 Fanuc Ltd スタ−トアツプ方法
JPS6123210A (ja) * 1984-07-11 1986-01-31 Hitachi Ltd ロボツトにおける非常停止状態の自動解除装置
JPH0750405B2 (ja) * 1984-09-27 1995-05-31 三菱電機株式会社 産業用ロボツト装置
US4888531A (en) * 1987-02-12 1989-12-19 Hormann Kg Antriebs- Und Steuerungstechnik Variable drive mechanism for the panel of a gate or similar structure
JPH0276697A (ja) * 1988-09-14 1990-03-16 Fuji Electric Co Ltd ロボット制御装置
IT1223863B (it) * 1988-10-24 1990-09-29 Comau Spa Dispositivo per determinare e rilevare la posizione raggiunta da un organo mobile particolarmente per il controllo di automi industriali
JP2672861B2 (ja) * 1989-07-10 1997-11-05 アルプス電気株式会社 駆動制御回路
US5075870A (en) * 1990-06-27 1991-12-24 Kabushiki Kaisha Kobe Seiko Sho Method and device for determining whether or not origin return operation for industrial robot is required
JPH06123210A (ja) * 1992-10-09 1994-05-06 Nissan Motor Co Ltd エンジンの弁作動装置

Also Published As

Publication number Publication date
KR920700855A (ko) 1992-08-10
EP0471860B1 (de) 1995-07-19
KR940003950B1 (ko) 1994-05-09
US5170109A (en) 1992-12-08
DE69111331T2 (de) 1996-01-04
WO1991013732A1 (en) 1991-09-19
JPH03256693A (ja) 1991-11-15
EP0471860A4 (en) 1992-10-28
EP0471860A1 (de) 1992-02-26

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8320 Willingness to grant licences declared (paragraph 23)
8339 Ceased/non-payment of the annual fee
8370 Indication of lapse of patent is to be deleted
8339 Ceased/non-payment of the annual fee