JP2004025428A - Communication method of robot control device, and robot control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a communication method of a robot control device and a robot control device for freely operating the robot by the command from an external apparatus, and for making the robot perform advanced work by communicating with other robot control devices and a measurement control device or the like through a network. <P>SOLUTION: The control device is equipped with: a communication means 3 to communicate with the external apparatus 2a, 2b; a command value generating means 104 generating the command value inside the robot control device 100 according to the command from the program execution means 102 to execute the program describing the operation of the robot memorized in the program memory means 103; and a switching means 105 transmitting the selected value to the control means 106, 107 by switching the command value from the command value generating means 104 to the command value received from the external apparatuses 2a, 2b with the communication means 3. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a communication method of a robot control device in which a robot control device that controls a robot communicates with an external device via a network, and to the robot control device.
[0002]
[Prior art]
FIG. 6 shows, for example, the Journal of the Robotics Society of Japan, Vol. 12, no. FIG. 8 is a configuration diagram showing a conventional robot control device shown in pp1137-1142. In the figure, reference numeral 20 denotes a robot control device, reference numeral 21 denotes a central processing unit (hereinafter referred to as CPU) in the robot control device 20 for calculating command values for controlling the robot, and reference numeral 22 denotes a network to be described later. , A network interface for sending the command value to a servo driver, which will be described later, a data bus 23 for transferring data between the CPU 21 and the network interface 22, and a link 24 connecting the robot controller 20 and the servo driver. A network 25 is a servo driver for driving a servo motor of the robot. Reference numeral 26 denotes a robot main body controlled by the robot controller configured as described above.
[0003]
Next, the operation will be described.
The CPU 21 in the robot control device 20 performs reverse kinematics and trajectory interpolation calculation of the robot, and generates a command value to the servo driver 25. The command value generated by the CPU 21 is sent to the network interface 22 through the data bus 23. The command value sent to the network interface 22 is sent to the servo driver 25 via the network 24, and the servo driver 25 rotates the servo motor in the robot main body 26 according to the command value to operate the robot.
[0004]
FIG. 7 is a block diagram showing a communication method of a conventional robot control device disclosed in, for example, JP-A-6-262558. In the figure, reference numeral 27 denotes a robot, 28 denotes a robot controller for controlling the robot 27, and 29 denotes an external computer connected to the robot controller 28. 30 and 32 are parallel interfaces for communicating command values between the external computer 29 and the robot controller 28, and 31 and 33 are serial interfaces for communicating commands between the robot controller 28 and the external computer 29. .
[0005]
Next, the operation will be described.
The external computer 29 is connected to the robot controller 28, and obtains speed data (command value) up to the next moving point of each joint of the robot 27. The velocity data is calculated based on the joint angles of the robot 27 sent from the robot controller 28 through the parallel interfaces 30 and 32, for example. After receiving the speed data output from the external computer 29 through the parallel interfaces 30 and 32, the robot control device 28 outputs the speed data to the robot 27 and operates each joint of the robot 27 according to the speed data.
[0006]
[Problems to be solved by the invention]
The conventional robot controller is configured as described above, so when connecting a device other than the robot controller to the network and giving a command value to the robot, the device that generates the command value directly sends the command value to the servo driver via the network. In order to give a command value, the robot must be checked for over speed or out of the movable range in a device that issues the command value, and there is a problem that it is not easy to generate the command value.
[0007]
When a command value is received from an external device, communication is performed using a parallel interface or the like, so that communication can be performed only on a one-to-one basis.
[0008]
Further, there is a problem that it is not easy to switch between a command value generated inside the robot control device and a command value sent from another device connected to the network.
[0009]
Further, since a device-specific number must be assigned to a device connected to the network in advance, there is a problem that it becomes difficult to manage the number as the number of devices increases.
[0010]
The present invention has been made in order to solve the above-described problems, and it is possible to operate a robot freely by a command from an external device, and to control other robot control devices and measurement control via a network. An object of the present invention is to provide a communication method of a robot control device and a robot control device that enable a robot to perform advanced work by communicating with a device or the like.
[0011]
[Means for Solving the Problems]
According to the robot control device of the present invention, a command is issued within the robot control device in accordance with an instruction from a communication unit for communicating with an external device and a program execution unit for executing a program describing the operation of the robot stored in the program storage unit. Command value generating means for generating a value, and switching means for switching between the command value from the command value generating means and the command value received from an external device by the communication means, and transmitting the selected command value to the control means. Things.
[0012]
The robot control device according to the present invention corrects the command value generated by the command value generation means directly, or corrects the command value with the correction amount of the command value received from the external device by the communication means, and supplies the correction value to the control means. It has been replaced by means.
[0013]
The communication method of the robot control device according to the present invention automatically assigns a unique number to each device connected to the network, and automatically assigns a unique name to each device as a name freely assigned to each device. The unique number assigned to the device is notified to each device connected to the network.
[0014]
The robot control device according to the present invention includes a storage unit that stores a command value received from an external device by the communication unit, and a reading unit that reads the command value from the storage unit at regular time intervals. is there.
[0015]
The robot control device according to the present invention is such that the reading means has a function of interpolating the command value read from the storage means.
[0016]
BEST MODE FOR CARRYING OUT THE INVENTION
Embodiment 1 FIG.
FIG. 1 is a configuration diagram showing a robot control device according to Embodiment 1 of the present invention. In the figure, reference numeral 100 denotes the robot control device, and reference numeral 1 denotes a robot controlled by the robot control device 100. 2a and 2b calculate a command value of the robot 1 and give it to the robot controller 100. A personal computer as an external device, 3 connects the robot controller 100 and the personal computers 2a and 2b to enable communication. Network. Reference numeral 4 denotes a personal computer that holds a program for controlling the robot and is separately connected to the robot control device 100.
[0017]
In the robot controller 100, a network communication unit 101 is connected to the network 3 and serves as communication means for the robot controller 100 to communicate with the personal computers 2a and 2b via the network 3. A program execution unit as a program execution unit that executes a program describing the operation of the robot 1, and a program storage unit 103 is a program storage unit that stores the program. Reference numeral 104 denotes an internal command value generation unit as command value generation means for generating a command value inside the robot control device 100 according to an instruction from the program execution unit 102, and 105 denotes an internal command according to an instruction from the program execution unit 102. A command value selection unit as a switching unit that switches between the command value from the value generation unit 104 and the command value received by the network communication unit 101 and selects one of them. Reference numeral 106 denotes a robot status check unit that manages the current position and orientation of the robot, and gives a command value output from the command value selection unit 105 to a servo driver described below, and 107 denotes a servo driver that operates the robot 1. The robot state check unit 106 and the servo driver 107 form a control unit that operates based on the command value selected by the command value selection unit 105.
[0018]
Next, the operation will be described.
First, the program execution unit 102 reads a program from the program storage unit 103 or the personal computer 4 and executes it. Here, it is assumed that a program for operating the robot 1 described below is executed, for example.
[0019]
move A
com 2a
net_on
com 2b
net_on
move B
[0020]
Here, move A and move B are commands for moving the position and orientation of the robot 1 to the position and orientation A or B, com is a command for selecting a communication partner, and net_on is a command value from the communication partner selected by the command com. This is a command to get via. When executing such a program, the program execution unit 102 first executes a command called move A to move the robot 1 to the position and orientation A. At this time, the program execution unit 102 instructs the internal command value generation unit 104 to generate a command value, and the internal command value generation unit 104 generates a command value for an operation until the robot 1 moves to the position and orientation A. The program execution unit 102 also instructs the command value selection unit 105 to use the command value generated by the internal command value generation unit 104 as a command value for the robot 1.
[0021]
As described above, while the command “move A” is being executed, the command value generated by the internal command value generation unit 104 is passed to the robot status check unit 106 via the command value selection unit 105. . In the robot state check unit 106, based on the current position / posture of the robot 1 and the command value passed from the command value selection unit 105, whether the operation speed of the robot 1 is within an appropriate range or the position / posture Check whether it is within the range. If the check result is normal, the command value is given to the servo driver 107, and the servo driver 107 drives a servo motor in the robot 1 to operate the robot 1.
[0022]
After the robot 1 has moved to the position and orientation A, the program execution unit 102 executes the command of com2a and selects the personal computer 2a as the communication partner. Next, the command net_on is executed, and the program execution unit 102 instructs the command value selection unit 105 to validate the command value sent via the network 3. Upon receiving the instruction, the command value selection unit 105 stops using the command value generated by the internal command value generation unit 104 and sends the command value obtained via the network communication unit 101 to the robot status check unit 106. Send out. The network communication unit 101 is connected to the network 3 outside the robot control device 100, communicates with the personal computer 2a connected to the network 3, and receives a command value for controlling the robot 1.
[0023]
When a communication end command is sent from the personal computer 2a to the network communication unit 101 via the network 3, the command value selection unit 105 ends reception of the command value via the network 3 and notifies that the communication has ended. The program execution unit 102 is notified.
[0024]
When the communication is completed, the program execution unit 102 executes the next command com 2b read from the program storage unit 103 or the personal computer 4, and selects the personal computer 2b as the next communication partner. Next, the program execution unit 102 executes the command net_on, starts communication with the personal computer 2b, receives a command value via the network 3, and operates the robot 1 based on the command value.
[0025]
When a communication end command is sent from the personal computer 2b to the network communication unit 101 via the network 3, the command value selection unit 105 ends reception of the command value via the network 3 and notifies that the communication has ended. The program execution unit 102 is notified.
[0026]
When the communication is completed, the program execution unit 102 reads the next command move B from the program storage unit 103 or the personal computer 4, and moves the robot 1 to the position and orientation B.
[0027]
By switching the command value generated inside the robot control device 100 and the command value sent via the network 3 as described above to operate the robot 1, the rough operation is performed by the robot control device 100. The operation is performed by an internal command value generation method, and the detailed operation can be performed by giving a command value from the outside.
[0028]
Further, since the switching is performed by the command, the switching between the internal command value and the external command value can be freely performed.
[0029]
In the first embodiment, the command is read from the personal computer 4 or the program storage unit 103. However, the operator may input the commands one by one from the personal computer 4 or the like. Needless to say.
[0030]
In the first embodiment, the case where the command value is switched by a command given from the program storage unit 103 or the personal computer 4 has been described. However, the switching may be performed by a command from another external device such as a teaching box. good.
[0031]
In the first embodiment, the external command values are received from the personal computers 2a and 2b connected to the network 3. However, the external command values may be received from devices other than the personal computers, for example, other robot controllers and workstations. You may do it.
[0032]
Embodiment 2 FIG.
FIG. 2 is a configuration diagram showing a robot control device according to Embodiment 2 of the present invention. In the figure, parts corresponding to those in FIG. In accordance with an instruction from the program execution unit 102, the personal computer 2a or 2b receives the command value generated by the internal command value generation unit 104 as it is or the command value generated by the internal command value generation unit 104 via the network communication unit 101. A command value synthesizing unit as a correction unit that sends a result obtained by synthesizing the correction amount of the command value from the robot to the robot state checking unit 106. The second embodiment is different from the first embodiment in that the command value selecting unit 105 is replaced by the command value combining unit 108.
[0033]
Next, the operation will be described.
First, the program execution unit 102 reads a program from the program storage unit 103 or the personal computer 4 and executes it. Here, it is assumed that a program for operating the robot 1 described below is executed, for example.
[0034]
move A
com 2a
move C with net
com 2b
move D with net
move B
[0035]
Here, move C with net and move D with net are commands for requesting the correction amount of the command value via the network 3, and the other commands are the same as those of the first embodiment. When executing such a program, the program execution unit 102 first executes a command called move A to move the robot 1 to the position and orientation A. At this time, the program execution unit 102 issues a command to the internal command value generation unit 104, and the internal command value generation unit 104 generates a command value for an operation until the hand of the robot moves to the position and orientation A. Further, the program execution unit 102 instructs the command value synthesis unit 108 to use only the command value generated by the internal command value generation unit 104 as a command value to the robot 1. As described above, while the command “move A” is being executed, the command value generated by the internal command value generation unit 104 is directly provided to the robot status check unit 106 via the command value synthesis unit 108. .
[0036]
After the robot has moved to the position and orientation A, the program execution unit 102 selects a communication partner using the command of com2a, and executes the next command move C withnet. When this command is executed, the internal command value generation unit 104 generates a command value so that the robot 1 moves to the position and orientation C. Further, the program execution unit 102 instructs the command value synthesizing unit 108 to make the correction amount of the command value sent via the network 3 effective. Upon receiving this instruction, the command value synthesizing unit 108 synthesizes and corrects the command value generated by the internal command value generating unit 104 with the correction amount of the command value obtained via the network communication unit 101, and corrects the correction. The command value is sent to the robot status check unit 106. The network communication unit 101 is connected to the network 3 outside the robot control device 100, communicates with the personal computer 2a connected to the network 3, and receives a correction value of a command value for controlling the robot 1.
[0037]
When a communication end command is sent from the personal computer 2a to the network communication unit 101 via the network 3 or the internal command value generation unit 104 generates a command value of the position and orientation C, the command value synthesis unit 108 The reception of the correction value of the command value in is terminated.
[0038]
When the internal command value generation unit 104 finishes issuing the command value of the position and orientation C, the program execution unit 102 reads the next command com 2b from the program storage unit 103 or the personal computer 4, and selects the personal computer 2b as the next communication partner. . The following operation moves the robot 1 to the position / posture D while receiving the correction amount of the command value sent from the personal computer 2b via the network 3, as in the case of executing the above-mentioned command move C with net.
[0039]
By providing a mode in which only the command value generated inside the robot control device 100 operates as described above and a mode in which the correction amount of the command value sent via the network 3 is combined to operate, a rough operation is performed. Is performed by a command value generation method inside the robot, and a detailed operation can be performed by correcting the command value from the outside with a correction amount of the command value.
[0040]
In addition, since an approximate trajectory of the operation is generated by the robot control device 100 and only a fine movement needs to be given from an external device, generation of a command value becomes easy.
[0041]
In addition, since switching can be performed by a command, switching between a mode in which only an internal command value is used and a mode in which a correction amount is externally provided can be freely and easily performed.
[0042]
In the second embodiment, the command is read from the personal computer 4 or the program storage unit 103. However, the operator may input commands one by one from the personal computer 4 or the like. Needless to say.
[0043]
In the second embodiment, the case where the operation mode is switched by a command given from the program storage unit 103 or the personal computer 4 has been described. However, the operation mode is switched by a command from another external device such as a teaching box. Is also good.
[0044]
In the second embodiment, the correction value of the command value is received from the personal computers 2a and 2b connected to the network 3. However, the correction value is received from devices other than the personal computer, for example, other robot control devices, workstations, and the like. You may receive it.
[0045]
Embodiment 3 FIG.
FIG. 3 is a flowchart showing a communication procedure of a newly started device in the communication method of the robot control device according to the third embodiment of the present invention, and FIG. 4 is a flowchart showing a communication procedure of an already operating device. A method of automatically assigning a unique number to each device such as a plurality of robot control devices and image measurement devices connected to one network, and a method of automatically assigning a unique name to each device and the name assigned to each device It shows how to respond.
[0046]
When a newly connected device is powered on, it determines its own unique number in the network as follows, and then names the other devices connected to the network along with their names. Create a database that associates unique numbers.
[0047]
When the power is turned on, it is first assumed that its own ID (a unique number in the network) is 1, as shown in step ST21 of FIG. Next, in step ST22, it is checked whether or not there is another device having the same ID as its own ID. If there is a device having the same ID, the process proceeds to step ST23, increments its own ID to 2, returns to step ST22, and checks again whether a device having the same ID exists.
[0048]
If it is detected in step ST22 that a device having the same ID does not exist, the ID is assigned to its own ID in step ST24. Next, the process proceeds to step ST25, in which all the devices connected to the network are notified of their own device name, for example, the name “robot_1” and their own ID assigned in step ST24. .
[0049]
When each device connected to the network receives the ID and the device name, it returns its own ID and device name according to the procedure shown in FIG. That is, first, in step ST31, the device name and its ID from the newly connected device are received, and are added to the database describing the correspondence between the device name and the ID. Next, the process proceeds to step ST32, and sends back its own device name and ID to the transmission source device.
[0050]
The device newly connected to the network receives the device names and IDs of the other devices sent back from the other devices on the network in step ST26 of FIG. 3, and the names and IDs of the devices connected to this network. Create a database describing the correspondence of
[0051]
According to the above procedure, devices on the network can be managed using names that are easily understood by humans, such as “robot — 1”, rather than numbers, so that devices on the network can be easily identified. In addition, since IDs are automatically assigned, the problem of duplicate assignment of the same ID when the number of devices connected to the network increases is eliminated.
[0052]
Embodiment 4 FIG.
FIG. 5 is a configuration diagram showing a robot control apparatus according to Embodiment 4 of the present invention, and the same reference numerals are given to portions corresponding to those in FIG. 1 and description thereof is omitted. In the figure, reference numeral 109 denotes a command value buffer as storage means for storing a command value received from the personal computer 2 as an external device by the network communication unit 101 via the network 3, and 110 is stored in the command value buffer 109. The command value is read out at regular time intervals, and the command value is interpolated and calculated based on the command value and the current posture of the robot 1, and the calculated command value is output to the command value selection unit 105 as an external command value. This is a command value interpolating unit as a reading means.
[0053]
Next, the operation will be described.
First, the program execution unit 102 reads a program from the program storage unit 103 or the personal computer 4 and executes it. Here, it is assumed that a program for operating the robot 1 described below is executed, for example.
[0054]
move A
com 2
net_on
move B
[0055]
Here, move A and move B are commands for moving the position and orientation of the robot 1 to the position and orientation A or B, com is a command for selecting a communication partner, and net_on is a command value from the communication partner selected by the command com. This is a command to get via. When executing such a program, the program execution unit 102 first executes a command called move A to move the robot 1 to the position and orientation A. At this time, the program execution unit 102 issues a command to the internal command value generation unit 104, and the internal command value generation unit 104 generates a command value for an operation until the robot 1 moves to the position and orientation A. The program execution unit 102 also instructs the command value selection unit 105 to use the command value generated by the internal command value generation unit 104 as a command value for the robot 1.
[0056]
In this way, while the command “move A” is being executed, the command value is generated by the internal command value generation unit 104 and passed to the robot status check unit 106 via the command value selection unit 105. In the robot state check unit 106, based on the current position and orientation of the robot 1 and the command value passed from the command value selection unit 105, the operation speed of the robot 1 is within an appropriate range, or the position and orientation is within the operation range. Check if there is any. If the check result is proper, the command value is given to the servo driver 107, and the servo driver 107 drives a servo motor in the robot 1 to operate the robot 1.
[0057]
After the robot has moved to position / posture A, the program execution unit 102 executes the command of com2 and selects the personal computer 2 as the communication partner to receive the command value. Next, a command “net_on” is executed, and the program execution unit 102 instructs the command value selection unit 105 to validate the command value sent via the network 3. Upon receiving the instruction, the command value selection unit 105 stops using the command value generated by the internal command value generation unit 104 and outputs the external command value based on the command value obtained via the network communication unit 101 to the robot. The state is sent to the state check unit 106.
[0058]
That is, the network communication unit 101 is connected to the network 3 outside the robot control device 100, communicates with an external device such as a personal computer 2 connected to the network 3, and receives a command value for controlling the robot 1. . The command value from the personal computer 2 received by the network communication unit 101 is sent to the command value buffer 109 and temporarily stored. The command value interpolating unit 110 reads the command values stored in the command value buffer 109 at regular time intervals, calculates a finer command value from the command value and the current position and orientation of the robot 1 by interpolation, and calculates the command value. The value is sent to the command value selection unit 105 as an external command value.
[0059]
When a communication end command is sent from the personal computer 2 to the network communication unit 101 via the network 3, the command value selection unit 105 ends the reception of the command value via the network 3 and notifies that the communication has ended. The program execution unit 102 is notified.
[0060]
When the communication ends, the program execution unit 102 executes the next command move B read from the program storage unit 103 or the personal computer 4 to move the robot 1 to the position and orientation B.
[0061]
Here, the command value to the servo driver 107 usually needs to be given at a very short fixed period, but by providing the command value buffer 109 and the command value interpolating unit 110 as described above, the network Even if the command value is not sent via the command line 3, the command value can be dealt with by reading the command value from the command value buffer 109 at a necessary period in the command value interpolating unit 110. Interpolates the command value, so that the robot 1 can operate more smoothly.
[0062]
In the fourth embodiment, the external command value via the network 3 and the internal command value generated by the internal command value generating means 104 are switched by the command value selecting unit 105 and provided to the robot state checking unit 106. As shown, the command value synthesizing unit 108 according to the second embodiment is used instead of the command value selecting unit 105, and the correction amount of the command value received via the network 3 is stored in the command value buffer 109 as an external command value. The stored command value may be read out by the command value interpolating unit 110 at regular time intervals and combined with the internal command value, and the corrected command value may be provided to the robot state checking unit 106.
[0063]
【The invention's effect】
As described above, according to the present invention, the switching unit switches and selects between the command value generated by the command value generation unit inside the robot control device and the command value received from the external device by the communication unit. The robot is controlled and driven with the specified command values, so the rough operation of the robot should be controlled according to the internally generated command values, and the detailed operation should be controlled according to the externally provided command values. Thus, there is an effect that various operations can be performed.
[0064]
According to the present invention, a mode in which the correction means is provided to operate only with the command value generated by the command value generation means in the robot control device, and the correction value of the command value received by the communication means from the external device by the command value Since the robot is configured to operate in one of the modes that operate with the command value corrected in step 2, the robot generates the command value generated internally from the outside for the rough motion according to the command value generated internally. According to the command value corrected by the given correction amount, each can be controlled, and there is an effect that various operations can be performed.
[0065]
According to the present invention, a unique number is automatically assigned to each device connected to the network, and the number and the name of the own device freely assigned separately from the number are notified to other devices connected to the network. With such a configuration, it is possible to freely assign a name that is easily understood by humans to each device, and there is an effect that management of the device can be facilitated.
[0066]
According to this invention, the command value received from the external device via the communication means is stored in the storage means, and the command value stored in the storage means is read out at regular time intervals by the reading means, and the robot reads the command value. , It is not necessary to transmit a command value from an external device to the robot control device at regular time intervals, so that the degree of freedom in communication is increased.
[0067]
According to the present invention, since the reading means is configured to interpolate the command value read from the storage means, there is an effect that the robot can be operated more smoothly.
[Brief description of the drawings]
FIG. 1 is a configuration diagram showing a robot control device according to a first embodiment of the present invention.
FIG. 2 is a configuration diagram illustrating a robot control device according to a second embodiment of the present invention.
FIG. 3 is a flowchart showing an operation of a newly started device in a communication method of a robot control device according to a third embodiment of the present invention.
FIG. 4 is a flowchart illustrating an operation of a device that is already operating in a communication method of a robot control device according to a third embodiment of the present invention.
FIG. 5 is a configuration diagram illustrating a robot control device according to a fourth embodiment of the present invention.
FIG. 6 is a configuration diagram showing a conventional robot control device.
FIG. 7 is a configuration diagram illustrating a communication method of a conventional robot control device.
[Explanation of symbols]
Reference Signs List 1 robot, 2, 2a, 2b personal computer (external device), 3 network, 100 robot controller, 101 network communication unit (communication unit), 102 program execution unit (program execution unit), 103 program storage unit (program storage unit) ), 104 internal command value generator (command value generator), 105 command value selector (switcher), 106 robot status checker (controller), 107 servo driver (controller), 108 command value synthesizer (correction) Means, 109 command value buffer (storage means), 110 command value interpolator (reading means).

Claims (5)

An external device for giving a command value for controlling the robot,
A communication means for communicating via a network;
Program storage means for storing a program describing the operation of the robot,
Program execution means for executing a program stored in the program storage means;
Command value generation means for generating a command value inside the robot control device according to an instruction from the program execution means,
Switching means for selecting / switching a command value generated by the command value generating means and a command value received from an external device by the communication means,
A control unit that operates based on the command value selected by the switching unit. An external device for giving a command value for controlling the robot,
A communication means for communicating via a network;
Program storage means for storing a program describing the operation of the robot,
Program execution means for executing a program stored in the program storage means;
Command value generation means for generating a command value inside the robot control device according to an instruction from the program execution means,
Correction means for correcting the command value generated by the command value generation means with a correction amount of the command value received from an external device by the communication means,
A robot control device comprising: a control unit that operates based on one of a command value generated by the command value generation unit and a command value corrected by the correction unit. A robot control device that controls a robot, and an external device that supplies a command value to the robot control device are connected via a network, and a communication method of the robot control device that communicates a current position and posture of the robot and the command value. At
Select a number that is uniquely assigned to each device connected to the network and that is not assigned to another device, assign it as a unique number to its own device, and freely assign it to each device. A communication method for a robot control device, comprising: notifying another device connected to the network of a name given to the device itself as a name to be transmitted and the assigned unique number. In a robot control device having a communication function, which is connected to an external device that gives a command value for controlling the robot via a network,
Communication means for notifying the external device of the current state of the robot,
Storage means for storing a command value sent from the external device,
A robot control device comprising: a reading unit that reads a command value stored in the storage unit at regular time intervals in order to give a command to the robot. 5. The robot control device according to claim 4, wherein the reading means has a function of interpolating a command value read from the storage means.

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