JP2008009872A - Machine controller - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a machine controller performing highly reliable emergency stop communication by a communication protocol with ensured reliability while providing a hardware circuit multiplexed so as to prevent a safety function of an emergency stop operation of a machine from being damaged due to a single failure and the minimum communication circuits when performing communication between a portable operating part and a control part for controlling the machine without cables. <P>SOLUTION: In a robot controller 30, a third CPU 22 and a fourth CPU 23 in the control part 20 respectively analyze a monitored result and communication error detection data prepared according to predetermined communication protocol, included in communication data. The third CPU 22 and the fourth CPU 23 output an OFF control signal to a first electromagnetic contactor control circuit 26 and a second electromagnetic contactor control circuit 27 in accordance with the monitored result and analytical data of the communication error detection data to thereby interrupt the power to a motor M 41 of the robot in accordance with contents of the monitored result and the communication error. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a machine control device that controls a machine, and more particularly to a machine control device that is connected to a portable operation panel provided with an emergency stop operation means for making an emergency stop of a machine by wireless communication or the like. .

  Conventionally, the robot control device is connected to a portable operation panel (for example, a teach pendant) having an emergency stop switch for cutting off the power of the robot with a cable. On the other hand, Patent Document 1 discloses a communication system that performs communication of data between a robot control device and a teach pendant using a transmission medium such as radio waves or infrared rays. In the communication system, the robot control device and the teach pendant are each provided with a transmission unit and a reception unit, and the reception unit and the transmission unit of the teach pendant are normally required for receiving data from the robot control device and corresponding responses. The data is returned, and the response is stopped when an abnormality occurs.

  With this technology, the robot controller can detect the occurrence of an abnormality due to the absence of a response from the teach pendant, so that the robot can be stopped urgently. The function is secured.

Further, in the robot control device of Patent Document 2, when the emergency stop operation means is operated on the teach pendant, a plurality of generation circuits that generate an emergency stop command and wirelessly transmitted to the robot control device corresponding to each generation circuit And a plurality of receiving means for receiving the emergency stop command. With this configuration, it has been proposed to improve reliability by eliminating a situation where a robot does not stop due to a failure of a circuit that stops the robot.
JP-A-11-073201 JP 2004-148488 A

  However, in the technique of Patent Document 1, only one circuit (for example, an emergency stop switch) for stopping the robot is provided, and safety when the radio is interrupted is considered, but the robot is stopped. Safety measures in case of failure of the circuit to cause the failure are not considered. In Patent Document 2, safety is taken into consideration by multiplexing various circuit parts. However, for example, there are many multiplexing parts such as providing a transmission circuit and a reception circuit in a multiplexed manner. Problems, increased power consumption, and heavy operation panel.

  The purpose of the present invention is to multiplex so that the safety function of the emergency stop operation of the machine is not impaired by a single failure when the communication between the portable operation unit and the control unit that controls the machine is performed in a non-wired manner. It is an object of the present invention to provide a machine control device capable of performing highly reliable emergency stop communication using a communication protocol that ensures reliability while having a hardware circuit and a minimum communication circuit.

  In order to solve the above problem, the invention according to claim 1 is the machine control device in which the portable operation unit and the control unit for controlling the machine perform non-wired communication, the portable operation unit. Is provided with an emergency stop operation means having multiplexed contacts, and the operation of the emergency stop operation means provided for each contact is monitored, and communication data including the monitoring result and communication error detection data is predetermined. Multiplexed monitor means created in accordance with a communication protocol and a single first communication means for communicating the communication data in a non-wired manner, the control unit communicating with the first communication means in a non-wired manner. A second communication means, a multiplexed shut-off means for shutting off the power to the drive source of the machine, and a multiplexing provided for each shut-off means and controlling the shut-off means based on the input of an emergency stop signal Shut-off control hand And a multiplexing unit that is provided for each cutoff control unit and outputs the emergency stop signal to the cutoff control unit according to the monitoring result of the communication data received by the second communication unit and the analysis result of the communication error detection data. The gist of the machine control device is provided with the communication data analyzing means.

  Note that the non-wired communication refers to a transmission method that includes wireless communication (communication medium: radio wave), infrared communication, optical communication, or magnetic communication, all of which are performed wirelessly. Multiplexing is intended to include duplexing or more.

  According to a second aspect of the present invention, in the first aspect, the communication data includes a communication packet including destination data and transmission source data as communication error detection data, and each of the communication data analyzing means is included in the communication data. The communication data is identified based on the destination data and the transmission source data. If the communication data cannot be identified, the next reception is awaited as a communication error due to the inability to identify the communication data.

  The invention of claim 3 is the communication data according to claim 1 or 2, wherein the communication data includes a communication packet including communication number data updated every time the communication data is created as communication error detection data. Each of the communication data analyzing means controls the blocking control means to block the blocking means in the case of a communication error based on the communication number data.

  According to a fourth aspect of the present invention, in any one of the first to third aspects, the communication data includes a communication packet including error detection data as communication error detection data. Based on the error detection data, it is determined whether or not the communication data is abnormal. If the data is abnormal, the blocking control unit is controlled to block the blocking unit. .

  According to a fifth aspect of the present invention, in any one of the first to fourth aspects, the monitoring means is configured to input and output data including communication data, and the input of the data is performed. A first time-out detecting means for detecting a time-out when the input is not made within a predetermined time. When the first time-out detecting means detects a time-out, the monitoring means does not create communication data, and the first communication means communicates. It is characterized by not transmitting data.

  According to a sixth aspect of the present invention, in any one of the first to fifth aspects, the communication data analyzing means is configured to input / output data including communication data, and the communication data Including a second time-out detecting means for detecting a time-out when the time is not input within a predetermined time, and when the second time-out detecting means detects a time-out, an emergency stop signal is output to the shut-off control means. To do.

  A seventh aspect of the present invention provides the power supply voltage monitoring means according to the sixth aspect, wherein a first power supply voltage monitoring means for detecting an abnormality in the power supply voltage of the monitoring means and resetting the monitoring means when the abnormality is detected; When the reset is applied, the communication data is not created, and the first communication means does not transmit the communication data.

  The invention according to claim 8 is the second power supply voltage according to claim 6 or 7, wherein an abnormality of the power supply voltage of the communication data analyzing means is detected, and when the abnormality is detected, the communication data analyzing means is reset. The monitoring means and the communication data analysis means output an emergency stop signal to the shut-off control means when reset is applied.

  The invention of claim 9 is the monitor according to any one of claims 6 to 8, wherein the monitor is periodically accessed, and the periodic access from the monitor is canceled. A first watchdog means for resetting the means, wherein the monitoring means does not create communication data when the reset is applied, and the first communication means does not transmit the communication data. .

  The invention of claim 10 is the case where access is periodically made from the communication data analysis means and periodic access from the communication data analysis means is canceled in any one of claims 6 to 9 A second watchdog means for resetting the communication data analyzing means, and the communication data analyzing means outputs an emergency stop signal to the shutoff control means when the reset is applied. And

  The invention according to claim 11 is the communication data generation means for reply according to any one of claims 1 to 10, wherein the control unit generates communication data for reply based on the received communication data. The portable operation unit collates whether or not the reply communication data received via the second communication means and the first communication means matches the already transmitted communication data. It is characterized by having a collation means.

  A twelfth aspect of the present invention is the communication device according to the eleventh aspect, wherein the communication data generating means generates bit-inverted communication data by inverting a part of the received communication data, and the collating means is the reply data. A part of the communication data is bit-inverted, and it is checked whether or not the reply communication data and the already transmitted communication data match.

  A thirteenth aspect of the present invention is the monitoring device according to any one of the first to twelfth aspects, wherein the control unit monitors the operation of the blocking unit, and the blocking control unit monitors the monitoring unit. If there is an abnormality in the shut-off means based on the result, it is characterized in that power supply to the drive source of the machine is prohibited until the abnormal state is resolved.

  As described above in detail, according to the invention of claim 1, when wirelessly communicating between the portable operation unit and the control unit that controls the machine, the safety function of the emergency stop operation of the machine with a single failure Highly reliable emergency stop communication can be performed by a hardware circuit that is multiplexed so as not to be damaged, and a communication protocol that ensures reliability while being a minimum communication circuit.

  According to the second aspect of the present invention, the communication data can be identified by using the communication packet to which the destination data and the transmission source data are added, thereby ensuring the reliability of the communication data. (Safety communication).

  According to the invention of claim 3, when communication using communication number data is used, if the communication number data is not updated, an abnormality in the communication data can be detected. This ensures the reliability of the communication data. Can (safety communication).

  According to the invention of claim 4, since the communication data abnormality can be detected by using the communication packet to which the error detection data is added, the reliability of the communication data can be ensured by this (safety communication) ).

  According to the invention of claim 5, since the first timeout detection means detects a timeout when the input of data including communication data is not input within a predetermined time, this can improve the reliability of communication ( Safety communication).

  According to the invention of claim 6, when the communication data is not input within a predetermined time, the second timeout detection means detects the timeout and outputs an emergency stop signal to the interruption control means, thereby improving communication reliability. Can be increased (safety communication).

  According to claim 7, in the portable operation unit, if there is an abnormality in the power supply voltage of the monitoring means, the communication data is not transmitted from the first communication means, so the second time-out detection means of the control unit is removed from the portable operation part. The communication data input timeout is detected, and an emergency stop signal is output to the cutoff control means. In this way, communication reliability can be improved (safety communication).

  According to claim 8, in the control unit, if the power supply voltage of the communication data analyzing means is abnormal, the second power supply voltage monitoring means resets, so that the communication data analyzing means sends an emergency stop signal to the shutoff control means. Output. As a result, the reliability of communication within the control unit can be improved.

  According to the ninth aspect, in the portable operation unit, if there is an abnormality in the monitoring unit, the communication data is not transmitted from the first communication unit, so the second timeout detection unit of the control unit receives the communication data from the portable operation unit. An input time-out is detected, and an emergency stop signal is output to the cutoff control means. As a result, communication reliability can be improved.

  According to claim 10, in the control unit, if there is an abnormality in the communication data analysis means, the second watchdog means resets the communication data analysis means, so that the communication data analysis means makes an emergency stop on the shutoff control means Output a signal. As a result, the reliability of communication within the control unit can be improved.

According to the eleventh aspect of the present invention, it is possible to confirm whether or not the already transmitted communication data is correctly received from the collation result of the collation means, and use the result.
According to the invention of claim 12, it is possible to confirm whether or not the bit inversion is correctly performed. You can check whether it is functioning correctly.

  According to the thirteenth aspect, by monitoring the operation of the shut-off means, if a fault occurs in the contact of the shut-off means, the fault is detected and the power of the machine drive source is removed until the abnormal state is resolved. Since charging is prohibited, accumulation of failures can be prevented.

(First embodiment)
Hereinafter, a first embodiment in which the present invention is embodied in a robot control device 30 in which a teach pendant 10 as a teaching device and a control unit 20 perform wireless communication will be described with reference to FIGS. 1 and 2. The robot controlled by the robot control device 30 is, for example, a welding robot or a transfer robot.

(1. Teach pendant 10)
As shown in FIG. 1, a teach pendant 10 as a portable operation unit includes an emergency stop switch 11 having two contacts 11a and 11b, and a first CPU 12 that monitors the open / closed states of the contacts 11a and 11b and transmits the monitoring results. The second CPU 13 is provided. In the present embodiment, as shown in FIG. 1, the contact 11a is connected to GND and the contact 11b is connected to the power source Vcc. However, the connection of the contacts 11a and 11b is not limited. For example, both the contacts may be connected to the power supply, may be connected to GND, or the contact 11a may be connected to the power supply Vcc and the contact 11b may be connected to GND.

The first CPU 12 and the second CPU 13 can communicate various necessary data with each other by serial communication.
The teach pendant 10 also monitors the power supply voltage supplied to the transmission circuit 14, the first CPU 12 and the second CPU 13 that wirelessly transmits the communication packet created by the first CPU 12, and determines that it is abnormal when the power supply voltage is out of the normal range. A power supply voltage monitoring circuit 15 for resetting both CPUs, and a battery 16 serving as a power source for each of the circuits. The CPU is a central processing unit and includes a ROM and a RAM (not shown). The normal range is a voltage value having a range in which the first CPU 12 and the second CPU 13 can function normally.

  The emergency stop switch 11 corresponds to emergency stop operation means, the first CPU 12 and the second CPU 13 correspond to monitor means, and the transmission circuit 14 corresponds to first communication means. When the emergency stop switch 11 is pressed and the contacts 11a and 11b are opened, the emergency stop state is opened. Hereinafter, the emergency stop switch is opened. On the contrary, the emergency stop state is released and the contacts 11a and 11b are closed. If this happens, close the emergency stop switch.

(2. Control unit 20)
As shown in FIG. 1, the control unit 20 of the robot control device 30 includes a wireless transmission / reception circuit 21 that receives wirelessly transmitted communication packets (communication data), a third CPU 22 that analyzes the received communication packets (communication data), And a fourth CPU 23. Each CPU includes a ROM and a RAM (not shown). The wireless transmission / reception circuit 21 inputs the received communication packet (communication data) to the third CPU 22, and the third CPU 22 inputs the communication packet (communication data) to the fourth CPU 23 by serial communication and transmits the communication packet (communication data). To analyze. On the other hand, the fourth CPU 23 analyzes the input communication packet (communication data).

  In addition, the control unit 20 has a first electromagnetic contactor 24, a second electromagnetic contactor 25, and both of which are connected to a series circuit in order to cut off power from the three-phase power supply 40 as a main power supply to the servo amplifier 28. A first electromagnetic contactor control circuit 26 and a second electromagnetic contactor control circuit 27 that control opening and closing of the electromagnetic contactors are provided. Then, when the contacts 24a, 25a of the first electromagnetic contactor 24 and the second electromagnetic contactor 25 are closed, a motor as a robot drive source (not shown) is supplied from a servo amplifier 28 that controls a joint axis (not shown) of the robot. When the current is supplied to M41, the motor M41 is driven.

  The servo amplifier 28 can output ON / OFF control signals to the first electromagnetic contactor control circuit 26 and the second electromagnetic contactor control circuit 27. Specifically, when the servo amplifier 28 has not detected an abnormality during the control of the motor M41, an ON control signal is output. When an abnormality is detected, the OFF control signal is sent to the first electromagnetic contactor control circuit. 26 and the second electromagnetic contactor control circuit 27. Then, the first electromagnetic contactor control circuit 26 and the second electromagnetic contactor control circuit 27 close the first electromagnetic contactor 24 and the second electromagnetic contactor 25 by the ON control signal from the servo amplifier 28. Further, the first electromagnetic contactor control circuit 26 and the second electromagnetic contactor control circuit 27 open the first electromagnetic contactor 24 and the second electromagnetic contactor 25 by the OFF control signal from the servo amplifier 28, respectively.

  The third CPU 22 and the fourth CPU 23 can output ON / OFF control signals to the first electromagnetic contactor control circuit 26 and the second electromagnetic contactor control circuit 27 in accordance with the analysis result of the received communication data. Has been. When the ON control signal is output from the third CPU 22 and the fourth CPU 23, the first electromagnetic contactor control circuit 26 and the second electromagnetic contactor control circuit 27 are connected to the first electromagnetic contactor 24 and the second electromagnetic contactor 25. Each closes. Further, when the OFF control signal is output from the third CPU 22 and the fourth CPU 23, the first electromagnetic contactor control circuit 26 and the second electromagnetic contactor control circuit 27 are converted into the first electromagnetic contactor 24 and the second electromagnetic contactor. 25 is opened. The OFF control signal output from the third CPU 22 and the fourth CPU 23 corresponds to an emergency stop signal.

  The control unit 20 includes a power supply voltage monitoring circuit 29 that monitors the power supply voltages of the third CPU 22 and the fourth CPU 23. The power supply voltage monitoring circuit 29 monitors the power supply voltages supplied to the third CPU 22 and the fourth CPU 23, respectively. If the power supply voltage is out of the normal range, it is determined as abnormal, and both CPUs are reset. This normal range is a voltage value at which the third CPU 22 and the fourth CPU 23 can function normally. The third CPU 22 and the fourth CPU 23 are configured to output an OFF control signal to the first electromagnetic contactor control circuit 26 and the second electromagnetic contactor control circuit 27 when reset is applied. The initial value of the control signal for the first electromagnetic contactor control circuit 26 and the second electromagnetic contactor control circuit 27 by the third CPU 22 and the fourth CPU 23 is an OFF control signal.

  Here, the wireless transmission / reception circuit 21 corresponds to the second communication means, the first electromagnetic contactor 24 and the second electromagnetic contactor 25 correspond to the blocking means, and the first electromagnetic contactor control circuit 26 and the second electromagnetic contactor. The control circuit 27 corresponds to an interruption control unit, and the third CPU 22 and the fourth CPU 23 correspond to a communication data analysis unit.

(Operation of the first embodiment)
Now, the operation of the robot control device 30 configured as described above will be described.
(1. Treatment of teach pendant 10)
(1-1. Processing of Second CPU 13)
The second CPU 13 of the teach pendant 10 monitors the state of the emergency stop switch 11 at a predetermined control cycle. Then, in the following procedure, it is composed of destination data (ie, destination address), source data (ie, source address), transmission number data as communication number data, first CPU data, second CPU data, and error detection data. An “emergency stop data packet” is generated as a communication packet (see FIG. 2).

  Note that destination data, transmission source data, transmission number data, first CPU data, second CPU data, and error detection data are data constituting communication data. This communication data is created in the form of a packet according to a predetermined communication protocol. The destination data, transmission source data, transmission number data, and error detection data correspond to communication error detection data.

  That is, the second CPU 13 sets the data of the fourth CPU 23 of the transmission destination that is stored in the ROM (not shown) as the destination data and is previously determined by the parameter, and teaches the transmission source that is predetermined by the parameter in the transmission source data. Data of the second CPU 13 of the pendant 10 is set.

The transmission number data is updated by adding 1 to the previously transmitted transmission number data.
The second CPU 13 sets data indicating that the contact 11a of the emergency stop switch 11 is open as an initial value for the first CPU data, and immediately before the second CPU 13 creates an “emergency stop data packet” for the second CPU data. The detected opening / closing state of the contact 11b of the emergency stop switch 11 is set.

  In addition to the initial values, the first CPU data and the second CPU data are set to “emergency stop switch open” when the contacts 11a and 11b are open, and when the contacts 11a and 11b are closed. There is “Emergency stop switch closed”. “Emergency stop switch open” and “Emergency stop switch closed” correspond to the monitoring results.

  After setting all the data as described above, the second CPU 13 calculates and updates error detection data of the synthesized data. Examples of calculation of error detection data include a CRC (Cyclic Redundancy Check) method, a vertical parity check method, and a horizontal parity check method, but are not limited thereto. In this embodiment, a CRC method is adopted. The second CPU 13 transmits the “emergency stop data packet” thus generated to the first CPU 12 by serial communication.

(1-2. Processing of the first CPU 12)
The first CPU 12 monitors the state of the emergency stop switch 11 in a predetermined control cycle in synchronization with the second CPU 13. Then, the first CPU 12 receives an “emergency stop data packet” (communication packet) from the second CPU 13 by serial communication, and confirms that the data of the “emergency stop data packet” is correct by using error detection data included in this data. . Then, the first CPU 12 sets the opening / closing state of the contact 11a of the emergency stop switch 11 detected immediately before the input of this packet in the first CPU data. After updating the above data, the error detection data of the synthesized data is calculated and updated. The first CPU 12 transmits the “emergency stop data packet” (communication packet) thus generated to the transmission circuit 14.

  Thus, the destination data is data (unique data) uniquely determined for the fourth CPU 23 on the receiving side. The transmission source data is data (unique data) uniquely determined for the second CPU 13 on the transmission side. The transmission number data is data set for each transmission data, and is data that can specify the transmission order by updating each transmission. The first CPU data is data obtained by monitoring the open / closed state of the contact 11a of the emergency stop switch 11 by the first CPU 12. The second CPU data is data obtained by the second CPU 13 monitoring the open / closed state of the contact 11b of the emergency stop switch 11. The error detection data is data generated by error detection calculation from data obtained by combining destination data, transmission source data, transmission number data, first CPU data, and second CPU data.

  The transmission circuit 14 of the teach pendant 10 transmits the “emergency stop data packet” set from the first CPU 12 to the wireless transmission / reception circuit 210 of the control unit 20 as a wireless signal (see FIG. 2).

(2. Processing of control unit 20)
(2-1. Processing of the third CPU 22)
Next, the radio transmission / reception circuit 210 receives the “emergency stop data packet” as a radio signal and transmits it to the third CPU 22. The third CPU 22 writes the transmitted “emergency stop data packet” in a RAM (not shown) and then transmits the “packet” to the fourth CPU 23 by serial communication.

  Thereafter, the third CPU 22 uses the error detection data to check whether there is an error in the data of the “emergency stop data packet”. If there is an error in the confirmation, the third CPU 22 performs error processing A described later.

  If there is no error in the data of the “emergency stop data packet”, the third CPU 22 first stores the destination data and the transmission source data from the data of the “emergency stop data packet” in advance in the ROM and set as parameters in advance. If either of the data and the source data does not match, error processing B described later is performed.

  When the destination data and the transmission source data are correct, the third CPU 22 confirms whether the transmission number data is obtained by adding 1 to the transmission number data of the “emergency stop data packet” received in the previous control cycle. . If there is an abnormality in the transmission number data in the confirmation, that is, if the transmission number data of the “emergency stop data packet” received in the previous control cycle is not one, the third CPU 22 will be described later. Error processing A is performed. If there is no abnormality in the transmission number data, the third CPU 22 confirms the first CPU data and the second CPU data here.

  If both the first CPU data and the second CPU data are “emergency stop switch closed”, the third CPU 22 outputs an ON control signal to the first electromagnetic contactor control circuit 26, and either one of them “emergency stop switch open”. If so, an OFF control signal is output to the first electromagnetic contactor control circuit 26.

  When an OFF control signal is input from the third CPU 22 to the first electromagnetic contactor control circuit 26, the first electromagnetic contactor 24 is independent of the input state of other control signals to the first electromagnetic contactor control circuit 26. An OFF control signal is output. As a result, the contact 24a of the first electromagnetic contactor 24 is opened, the main power supply to the servo amplifier 28 is stopped, and a robot (not shown) is stopped.

Thus, when the first CPU data and the second CPU data are “emergency stop switch open”, these data function as an emergency stop command.
Here, error processing A and B when there is an abnormality will be described.

(2-1-1. Error processing A)
If there is an abnormality in the confirmation based on the error detection data, or if the transmission number data has not been updated correctly (that is, if the transmission number data is abnormal), the third CPU 22 immediately turns off the first electromagnetic contactor control circuit 26. The control signal is output.

  If there is an abnormality in the confirmation using the error detection data, and if the transmission number data is not correctly updated, it is determined as a communication error. As described above, the error detection data and the transmission number data are communication error detection data for detecting a communication error.

  Thus, the first electromagnetic contactor control circuit 26 outputs an OFF control signal to the first electromagnetic contactor 24 regardless of the input state of other control signals to the first electromagnetic contactor control circuit 26. 1 The contact of the electromagnetic contactor 24 is opened, the main power supply to the servo amplifier 28 is stopped, and the robot (not shown) is stopped.

  Hereinafter, when it is described that an OFF control signal is output to the first electromagnetic contactor control circuit 26, as a result, the contact of the first electromagnetic contactor 24 is opened, and the main power supply to the servo amplifier 28 is stopped. The robot will stop, but the description will be omitted, so the description will be omitted and only “OFF control signal will be output to the first electromagnetic contactor control circuit 26” will be described.

(2-1-2. Error processing B)
When at least one of the abnormality of the destination data and the abnormality of the transmission source data is detected, the third CPU 22 discards the received data and waits for the next data reception. Thus, it is determined that the destination data is abnormal and the transmission source data is abnormal, that a communication error is detected, and these data are communication error detection data for detecting a communication error. .

(2.2 Processing of the fourth CPU 23)
Next, the process of the fourth CPU 23 will be described.
The fourth CPU 23 uses the received error detection data of the “emergency stop data packet” to check whether the data of the “emergency stop data packet” has an error. If there is an error in the confirmation, the fourth CPU 23 performs error processing C described later.

  If there is no error in the “emergency stop data packet” data, the fourth CPU 23 first stores the destination data and the transmission source data from the “emergency stop data packet” data in the ROM and set as parameters in advance. Compared with the transmission source data, if either does not match, error processing D described later is performed.

  When the destination data and the transmission source data are correct, the fourth CPU 23 confirms whether the transmission number data is obtained by adding 1 to the transmission number data of the “emergency stop data packet” received in the previous control cycle. . If there is an abnormality in the transmission number data in the confirmation, that is, if the transmission number data of the “emergency stop data packet” received in the previous control cycle is not one, the fourth CPU 23 will be described later. Error processing C is performed. If there is no abnormality in the transmission number data, the fourth CPU 23 confirms the first CPU data and the second CPU data here.

  If both the first CPU data and the second CPU data are “emergency stop switch closed”, the fourth CPU 23 outputs an ON control signal to the second electromagnetic contactor control circuit 27, and either one of them “emergency stop switch open”. If so, an OFF control signal is output to the second electromagnetic contactor control circuit 27.

  When an OFF control signal is input from the fourth CPU 23 to the second electromagnetic contactor control circuit 27, the second electromagnetic contactor 25 regardless of the input state of other control signals to the second electromagnetic contactor control circuit 27. An OFF control signal is output. As a result, the contact 25a of the second electromagnetic contactor 25 is opened, the main power supply to the servo amplifier 28 is stopped, and a robot (not shown) is stopped.

Here, error processing C and D when there is an abnormality will be described.
(2-2-1. Error handling C)
If there is an abnormality in the confirmation based on the error detection data, or if the transmission number data has not been updated correctly (that is, if the transmission number data is abnormal), the fourth CPU 23 immediately turns off the second electromagnetic contactor control circuit 27. The control signal is output.

  If there is an abnormality in the confirmation using the error detection data, and if the transmission number data is not correctly updated, it is determined as a communication error. Thus, the second electromagnetic contactor control circuit 27 outputs an OFF control signal to the second electromagnetic contactor 25 regardless of the input state of other control signals to the second electromagnetic contactor control circuit 27. For this reason, the contact 25a of the second electromagnetic contactor 25 is opened, the main power supply to the servo amplifier 28 is stopped, and the robot is stopped.

  Hereinafter, when it is described that an OFF control signal is output to the second electromagnetic contactor control circuit 27, as a result, the contact 25a of the second electromagnetic contactor 25 is opened, and the main power supply to the servo amplifier 28 is stopped. However, although the robot (not shown) stops, the description is duplicated, so that the description is omitted, and only “output an OFF control signal to the second electromagnetic contactor control circuit 27” is described.

(2-2-2. Error processing D)
If at least one of the destination data abnormality and the transmission source data abnormality is detected, the fourth CPU 23 discards the received data as a communication error due to the inability to identify the received data, and waits for the next data reception.

(2-3. Power supply voltage monitoring)
Next, power supply voltage monitoring will be described.
The power supply voltage monitoring circuit 15 of the teach pendant 10 monitors the power supply voltage supplied to the first CPU 12 and the second CPU 13, and if the power supply voltage is out of the normal range, it is determined that there is an abnormality and both CPUs are forcibly reset. Multiply. As a result, on the first CPU 12 and the second CPU 13 side, transmission is interrupted, and a display device or alarm (both not shown) provided on the teach pendant 10 warns that fact and informs the operator.

  On the other hand, the power supply voltage monitoring circuit 29 of the control unit 20 monitors the power supply voltage supplied to the third CPU 22 and the fourth CPU 23. If the power supply voltage drops or exceeds the normal range, both are forcibly Reset the CPU.

As a result, an OFF control signal can be output to the first electromagnetic contactor control circuit 26 and the second electromagnetic contactor control circuit 27, respectively.
Now, according to this embodiment, there are the following features.

  (1) In the robot control device 30 of the present embodiment, each of the third CPU 22 and the fourth CPU 23 in the control unit 20 analyzes the monitoring result included in the communication data and the communication error detection data created according to a predetermined communication protocol. To do. Then, the third CPU 22 and the fourth CPU 23 output an OFF control signal to the first electromagnetic contactor control circuit 26 and the second electromagnetic contactor control circuit 27 according to the monitoring result and the analysis result of the communication error detection data. The power to the motor M41 of the robot is cut off according to the result and the content of the communication error.

  As a result, in the present embodiment, when the communication between the teach pendant 10 and the control unit 20 is made wireless, the duplexed 2 so that the safety function of the emergency stop operation of the machine is not impaired by a single failure. Highly reliable emergency stop communication can be performed by using a redundant hardware circuit and a communication protocol that ensures reliability while being a minimal communication circuit.

  (2) In the present embodiment, the communication data is composed of communication packets including destination data and transmission source data as communication error detection data. Then, the third CPU 22 and the fourth CPU 23 identify the communication data based on the destination data and the transmission source data included in the communication data. If the identification cannot be performed, a communication error due to the inability to identify the communication data is detected. Wait for the next reception.

  As a result, the communication data can be identified by using the communication packet to which the destination data and the transmission source data are added, and thereby the reliability of the communication data can be ensured (safety communication).

  (3) In the present embodiment, the communication data is composed of communication packets including communication number data (transmission number data) that is updated each time communication data is created as communication error detection data. Then, the third CPU 22 and the fourth CPU 23 control the first electromagnetic contactor control circuit 26 and the second electromagnetic contactor control circuit 27 in the case of a communication error based on the communication number data (transmission number data) to control the first electromagnetic contact. The device 24 and the second electromagnetic contactor 25 are cut off.

  As a result, according to the present embodiment, when communication using communication number data (transmission number data) is used, an abnormality in communication data can be detected when the communication number data is not updated. Reliability of data (transmission data) can be secured (safety communication).

  (4) In the present embodiment, the communication data is configured by a communication packet including error detection data as communication error detection data. Then, the third CPU 22 and the fourth CPU 23 determine whether or not the communication data is abnormal based on the error detection data. If the data is abnormal, the first and second electromagnetic contactor control circuits 26 and 26 are controlled. The circuit 27 is controlled so that the first electromagnetic contactor 24 and the second electromagnetic contactor 25 are cut off.

  As a result, according to this embodiment, by using a communication packet to which error detection data is added, it is possible to detect an abnormality in the communication data (transmission data), thereby ensuring the reliability of the communication data. (Safety communication)

  (5) In this embodiment, the power supply voltage monitoring circuit 29 (second power supply voltage monitoring means) detects an abnormality in the power supply voltages of the third CPU 22 and the fourth CPU 23 and resets the third CPU 22 and the fourth CPU 23 when the abnormality is detected. ). When the third CPU 22 and the fourth CPU 23 are reset, the third CPU 22 and the fourth CPU 23 output an OFF control pointer (emergency stop signal) to the first electromagnetic contactor control circuit 26 and the second electromagnetic contactor control circuit 27. I made it. As a result, the reliability of communication within the control unit 20 can be improved.

  (6) Here, in this embodiment, Table 1 shows communication abnormalities that can be detected by using transmission number data, error detection data, destination data, and transmission source data. As shown in Table 1, in the present embodiment, the communication abnormality in the left column can be detected by the description in the right detection method column.

（第２実施形態）
次にティーチペンダント１００と制御部２００とが無線通信を行うロボット制御装置３００に具体化した第２実施形態を、図３〜１１を参照して説明する。このロボット制御装置３００が制御するロボットは、例えば溶接ロボットや、搬送ロボット等であるが、これらのロボットに限定されるものではない。

(Second Embodiment)
Next, a second embodiment embodied in a robot control device 300 in which the teach pendant 100 and the control unit 200 perform wireless communication will be described with reference to FIGS. The robot controlled by the robot control apparatus 300 is, for example, a welding robot or a transfer robot, but is not limited to these robots.

(1. Teach pendant 100)
As shown in FIG. 3, a teach pendant 100 as a portable operation unit includes an emergency stop switch 110 having two contacts 110a and 110b, and a first CPU 120 that monitors the open / closed states of the contacts 110a and 110b and transmits the monitoring results. The second CPU 130 is provided. In the present embodiment, as shown in FIG. 3, the contact 110a is connected to GND and the contact 110b is connected to the power source Vcc, but it is not limited to the same as in the first embodiment. Each CPU has ROMs 121 and 131, RAMs 122 and 132, and calendar ICs 123 and 133 connected by buses 124 and 134, respectively.

  The first CPU 120 and the second CPU 130 can communicate various necessary data with each other by serial communication. The transmission / reception control circuit 140 is connected to the first CPU 120 via the bus 124, creates a wireless transmission data packet based on the emergency stop data packet created by the first CPU 120, and transmits it to the wireless transmission / reception circuit 150.

  Further, the wireless transmission / reception circuit 150 wirelessly transmits the wireless transmission data packet to the control unit 200 of the robot control apparatus 300, receives a wireless response data packet from the control unit 200, and transmits it to the transmission / reception control circuit 140. The power supply voltage monitoring / watchdog circuit 160 includes a power supply voltage monitoring circuit and a watchdog circuit, and the power supply voltage monitoring circuit monitors the power supply voltage supplied to the first CPU 120 and the second CPU 130 so that the power supply voltage is in a normal range. If it is out of the range, it is determined that there is an abnormality, and both CPUs are reset. The normal range is a voltage value having a range in which the first CPU 120 and the second CPU 130 can function normally.

  Further, the watchdog circuit of the power supply voltage monitoring / watchdog circuit 160 is configured to perform periodic access (that is, a watchdog clear signal of the watchdog clear signal) from the first CPU 120 and the second CPU 130 when the first CPU 120 and the second CPU 130 are operating normally. Output). Then, the power supply voltage monitoring / watchdog circuit 160 detects that an abnormality has occurred in the first CPU 120 and the second CPU 130 and the periodic access is lost, forcibly resets both the CPUs. Can be multiplied. The power supply voltage monitoring / watchdog circuit 160 corresponds to first power supply voltage monitoring means and first watchdog means. Further, the teach pendant 100 includes a battery 170 serving as a power source for each circuit.

  The emergency stop switch 110 corresponds to emergency stop operation means, the first CPU 120 and the second CPU 130 correspond to monitor means, and the wireless transmission / reception circuit 150 corresponds to first communication means. The emergency stop switch 110 is an emergency stop state when the circuit is opened by pressing the emergency stop switch. In the following, the emergency stop switch is opened, and conversely, the emergency stop state is canceled and the circuit is closed. The emergency stop switch is closed.

(2. Control unit 200)
As shown in FIG. 4, the control unit 200 of the robot control apparatus 300 receives a wireless transmission data packet transmitted wirelessly and transmits a wireless response data packet, and is connected to the wireless transmission / reception circuit 210. In addition, a transmission / reception control circuit 215 capable of writing and reading data is provided.

  The control unit 200 also includes a first emergency stop control CPU 220 and a second emergency stop control CPU 230 that analyze the received wireless transmission data packet and create a response data packet. Each CPU has ROMs 222 and 232, RAMs 223 and 233, and calendar ICs 224 and 234 connected via buses 221 and 231, respectively.

  The control unit 200 also includes a first electromagnetic contactor 240 and a second electromagnetic contactor 250 in which contacts 240a and 250a are connected to a series circuit in order to cut off power from the three-phase power supply 400 serving as a main power supply to the servo amplifier 280. , And a first emergency stop control circuit 260 and a second emergency stop control circuit 270 that control the opening and closing of both electromagnetic contactors. Then, when the contacts 240a and 250a of the first electromagnetic contactor 240 and the second electromagnetic contactor 250 are closed, a motor as a robot drive source (not shown) from a servo amplifier 280 that controls a joint axis (not shown) of the robot. When a current is supplied to M410, the motor M410 is driven.

  The servo control circuit 285 controls the servo amplifier 280 and outputs an ON / OFF control signal to the first emergency stop control circuit 260 and the second emergency stop control circuit 270.

  Further, the first emergency stop control circuit 260 outputs an ON control signal to the first electromagnetic contactor 240 when receiving an ON control signal from both the first emergency stop control CPU 220 and the servo control circuit 285. The contact 240a of the first electromagnetic contactor 240 is closed. Further, when the first emergency stop control circuit 260 receives an OFF control signal from the first emergency stop control CPU 220, the first electromagnetic contactor 240 regardless of the input state of the control signal from the servo control circuit 285. The control signal to is turned OFF, and the contact 240a of the first electromagnetic contactor 240 is opened. On the other hand, the second emergency stop control circuit 270 outputs an ON control signal to the second electromagnetic contactor 250 when receiving an ON control signal from both the second emergency stop control CPU 230 and the servo control circuit 285, The contact 250a of the second electromagnetic contactor 250 is closed. When the second emergency stop control circuit 270 receives an OFF control signal from the second emergency stop control CPU 230, the second electromagnetic contactor 250 regardless of the control signal input state from the servo control circuit 285. The control signal is turned OFF, and the contact 250a of the second electromagnetic contactor 250 is opened.

Here, the OFF control signal output from the first emergency stop control CPU 220 and the second emergency stop control CPU 230 corresponds to an emergency stop signal.
The control unit 200 monitors the power supply voltage of a circuit (including the first emergency stop control CPU 220 and the second emergency stop control CPU 230) included in the control unit 200, and the first emergency stop control CPU 220 and the second emergency stop control CPU 230 are normal. A power supply voltage monitoring / watchdog circuit 290 is provided to monitor the operation. When the power supply voltage is out of the normal range, the power supply voltage circuit of the power supply voltage monitoring / watchdog circuit 290 determines that there is an abnormality and resets both CPUs. The normal range is a voltage value at which each circuit can function normally.

  The first emergency stop control CPU 220 and the second emergency stop control CPU 230 are configured to output an OFF control signal to the first emergency stop control circuit 260 and the second emergency stop control circuit 270 when reset is applied. ing. The initial value of the control signal for the first emergency stop control circuit 260 and the second emergency stop control circuit 270 by the first emergency stop control CPU 220 and the second emergency stop control CPU 230 is an OFF control signal.

  In addition, the watchdog circuit of the power supply voltage monitoring / watchdog circuit 290 includes the first emergency stop control CPU 220 and the second emergency stop control CPU 220 when the first emergency stop control CPU 220 and the second emergency stop control CPU 230 are operating normally. Periodic access (that is, output of a watchdog clear signal) is received from the stop control CPU 230. Then, the power supply voltage monitoring / watchdog circuit 290 detects the occurrence of any abnormality in the first emergency stop control CPU 220 and the second emergency stop control CPU 230 and the periodic access is lost. The CPU can be forcibly reset.

  When this reset is applied, the first emergency stop control CPU 220 and the second emergency stop control CPU 230 output an OFF control signal to the first emergency stop control circuit 260 and the second emergency stop control circuit 270. Has been.

  Here, the wireless transmission / reception circuit 210 corresponds to the second communication means, the first electromagnetic contactor 240 and the second electromagnetic contactor 250 correspond to the interruption means, and the first emergency stop control circuit 260 and the second emergency stop control circuit. Reference numeral 270 corresponds to a cutoff control unit, and the first emergency stop control CPU 220 and the second emergency stop control CPU 230 correspond to a communication data analysis unit. The power supply voltage monitoring / watchdog circuit 290 corresponds to second power supply voltage monitoring means and second watchdog means.

(Operation of Second Embodiment)
Now, the operation of the robot control apparatus 300 configured as described above will be described with reference to the flowcharts of FIGS. Note that the processing shown in this flowchart is executed in each CPU every predetermined control cycle (for example, every 0.05 seconds), that is, periodically.

(1. Generation and transmission of emergency stop data packet)
The second CPU 130 of the teach pendant 100 executes an emergency stop signal processing program and monitors the state of the emergency stop switch 110. Then, the second CPU 130 performs the processing of S10 to S14 in FIG. 10 to generate an “emergency stop data packet” (see FIG. 5).

  As shown in FIG. 5, the “emergency stop data packet” includes destination data, transmission source data, first CPU error flag, second CPU error flag, transmission number data as communication number data, first CPU data, second CPU data, and error detection. Consists of data.

  The first CPU data and the second CPU data are set in the same manner as in the first embodiment. In addition to the initial value, “emergency stop switch open” when the contact is open, and the contact is closed. Sometimes there is an “emergency stop switch closed”. “Emergency stop switch open” and “Emergency stop switch closed” correspond to the monitoring results.

  Here, the transmission number data is data set for each communication data (that is, transmission data), and is data that can specify the order of transmission by updating by adding 1 for each transmission. (See S10 in FIG. 10).

  The second CPU 130 sets data indicating that the emergency stop switch 110 is open as an initial value in the first CPU data, and sets the state of the emergency stop switch 110 detected immediately before by the second CPU 130 in the second CPU data. (Refer to S12 in FIG. 10). Also, the second CPU 130 creates the remaining data and generates an “emergency stop data packet” (see S14 in FIG. 10).

  Here, the error detection data is generated by error detection calculation from data obtained by combining destination data, transmission source data, first CPU error flag data, second CPU error flag data, transmission number data, first CPU data, and second CPU data. It is data. Note that destination data, transmission source data, transmission number data, first CPU data, second CPU data, and error detection data are data constituting communication data. This communication data is created in the form of a packet according to a predetermined communication protocol. The destination data, transmission source data, transmission number data, and error detection data correspond to communication error detection data.

  That is, the second CPU 130 sets the data of the second emergency stop control CPU 230 that is stored in the ROM 131 and is determined in advance by parameters as destination data, and the transmission source that is determined in advance by parameters in the transmission source data. The data of the second CPU 130 of the teach pendant 100 is set.

  The destination data (that is, the destination address) is data determined uniquely (unique data) for the second emergency stop control CPU 230 of the transmission destination control unit 200. The transmission source data (that is, the transmission source address) is data determined uniquely (unique data) with respect to the second CPU 130 of the teach pendant 100 of the transmission source.

(First CPU error flag data and second CPU error flag data)
Here, the first CPU error flag data and the second CPU error flag data will be described.

The first CPU error flag data is data indicating the error state when the first CPU 120 detects any abnormality.
FIG. 9 shows an example of the first CPU error flag data and the second CPU error flag data. As shown in the figure, the first CPU error flag data includes, in order from right to left, an emergency stop data CRC error, an emergency stop data timeout error, a response data CRC error, a response data mismatch error, and a response data timeout error. The various flags can be set. In the first CPU error flag, as an example of an initial value, “1” representing “abnormal” is set in all bits (that is, flags) (“11111”).

  The second CPU error flag data is data indicating the error state when the second CPU detects any abnormality. The second CPU error flag is configured in the same manner as the first CPU error flag data. In the second CPU error flag, the state of the abnormal parameter detected by the second CPU 130 detected and updated immediately before is set.

  As an example of the initial value of the second CPU error flag data, “0” is set for the emergency stop data CRC abnormality and the emergency stop data timeout abnormality, respectively, and “1” representing “abnormal” is set in the other bits. It is set (“11100”). These bits (that is, flags) are reset to “0” as normal when the first CPU 120 and the second CPU 130 do not determine that the bit (flag) is abnormal.

  Returning to the flowchart, after setting all the above data, the error detection data of the synthesized data is calculated and updated. The second CPU 130 transmits the “emergency stop data packet” thus generated to the first CPU 120 by serial communication (see S16 in FIG. 10). Thereafter, in S18, the second CPU 130 reads the time-out detection calendar of the calendar IC 133.

  As shown in FIG. 10, the first CPU 120 executes the emergency stop signal processing program in a predetermined control period in synchronization with the emergency stop signal processing performed by the second CPU 130, and immediately after the emergency stop signal processing starts. In S30, the calendar for time-out detection of the calendar IC 123 is read.

  In S32, the first CPU 120 determines whether or not the “emergency stop data packet” received from the second CPU 130 has been received within the specified time based on the value of the time-out detection calendar read and received within the specified time. If not, it is determined as “NG” and an abnormality process of S54 described later is performed. In the present specification, the specified time is a predetermined time, for example, a magnitude of several msec to several hundred msec. In S34, the first CPU 120 uses the error detection data included in the received “emergency stop data packet” to confirm that the data is correct, and then detects and updates the abnormal parameter immediately before the first CPU error flag is detected. Update to state.

  In S36, the first CPU 120 sets the state of the emergency stop switch 110 detected immediately before the packet is input to the first CPU data. After updating the above data, in S38, the error detection data of the synthesized data is calculated and updated. In subsequent S <b> 40, the first CPU 120 writes the “emergency stop data packet” thus generated in the transmission / reception control circuit 140 via the bus 124.

Next, in S42, the first CPU 120 reads the timeout detection calendar of the calendar IC 123 in S42.
In S34, when the error detection data included in the received “emergency stop data packet” is used and the data is not correct, the first CPU 120 determines “NG” and performs an abnormality process of S54 described later. .

  Next, the transmission / reception control circuit 140 adds header data for performing wireless transmission to the “emergency stop data packet” set by the first CPU 120 as shown in FIG. 6 and performs wireless transmission / reception as a “wireless transmission data packet”. Transmit to circuit 150. Here, the header data includes a source port number, a destination port number, a data size, error detection data, and the like determined by the communication protocol to be used.

Next, the wireless transmission / reception circuit 150 of the teach pendant 100 transmits the “wireless transmission data packet” received from the transmission / reception control circuit 140 as a wireless signal.
The wireless transmission / reception circuit 210 of the control unit 200 receives the “wireless transmission data packet” as a wireless signal and transmits it to the transmission / reception control circuit 215. The transmission / reception control circuit 215 of the control unit 200 confirms that the content of the wireless transmission data packet received using the error detection data in the header data of the “wireless transmission data packet” received from the wireless transmission / reception circuit 210 is correct. The destination port number in the header data is used to determine whether the data is for itself.

  Then, if the transmission / reception control circuit 215 is addressed to itself, the transmission / reception control circuit 215 extracts the “emergency stop data packet” from the “wireless transmission data packet”, reads it from the first emergency stop control CPU 220, and sends it to the first emergency stop control CPU 220. Interrupt the system. The transmission / reception control circuit 215 discards the data when it is not addressed to itself.

  Next, an emergency stop signal processing program in the first emergency stop control CPU 220 will be described. In the first emergency stop control CPU 220, the second emergency stop control CPU 230 performs an emergency stop signal processing program as shown in FIG. It is executed in a predetermined control cycle in synchronization with the emergency stop signal processing. The first emergency stop control CPU 220 reads the time-out detection calendar of the calendar IC 224 in S60 immediately after the emergency stop signal processing is started.

  The first emergency stop control CPU 220 receives an interrupt from the transmission / reception control circuit 215, and reads the “emergency stop data packet” from the RAM 223 via the bus 221 from the transmission / reception control circuit 215.

  In S62, the first emergency stop control CPU 220 determines whether or not the read “emergency stop data packet” is received within the specified time based on the read time-out detection calendar value, and is received within the specified time. If not, the abnormality process of S84 is performed.

  If it is received within the specified time, in S64, the first emergency stop control CPU 220 transmits the read “emergency stop data packet” to the second emergency stop control CPU 230 through serial communication. The processing in the second emergency stop control CPU 230 will be described later.

  Next, in S66, the first emergency stop control CPU 220 uses the error detection data to check whether there is an error in the data of the “emergency stop data packet”. If there is an error in the confirmation, the process proceeds to the abnormality processing phase of S84.

  If there is no error in the data of “emergency stop data packet” in S66, the first emergency stop control CPU 220 first sets destination data and transmission source data as parameters from the data of “emergency stop data packet” in S68. Compared to the destination data and the transmission source data, if either does not match, the process proceeds to the abnormal processing phase of S84.

  In S68, when the destination data and the transmission source data are correct, in S70, the first emergency stop control CPU 220 confirms the first CPU error flag data and the second CPU error flag data to confirm that there is no abnormality. Further, the first emergency stop control CPU 220 confirms whether or not the transmission number data is obtained by adding 1 to the previous data. If there is an abnormality in S70, the first emergency stop control CPU 220 proceeds to the abnormality processing phase in S84.

Next, in S70, if there is no problem in the confirmation, the first emergency stop control CPU 220 reads the timeout detection calendar of the calendar IC 224 in S72.
Next, in S74, the first emergency stop control CPU 220 confirms the first CPU data and the second CPU data. Here, if both data are the emergency stop switch closed, the first emergency stop control CPU 220 outputs an ON control signal to the first emergency stop control circuit 260, and either one of the emergency stop switches is open. For example, an OFF control signal is output to the first emergency stop control circuit 260. When the control signal from the emergency stop control CPU is turned OFF, the first emergency stop control circuit 260 outputs an OFF control signal to the first electromagnetic contactor 240 regardless of other input states. As a result, the contact 240a of the first electromagnetic contactor 240 is opened, the main power supply to the servo amplifier 280 is stopped, and the robot is stopped.

As described above, when the first CPU data and the second CPU data are the emergency stop switch opened, these data function as an emergency stop command.
The first emergency stop control CPU 220 outputs an OFF control signal to the first emergency stop control circuit 260 and then waits for a predetermined operation waiting time of the first electromagnetic contactor 240 before the first electromagnetic contactor 240. The contact status of is monitored by monitor input. If the contact state remains ON despite the output of the OFF control signal, the first emergency stop control CPU 220 determines that this is a contact abnormality of the first electromagnetic contactor 240. The first emergency stop control CPU 220 holds the abnormal state until an error is output and the error is canceled, and the emergency stop control circuit 220 sends the emergency stop control circuit to the emergency stop control circuit regardless of the state of the input “emergency stop data packet”. The OFF control signal is output and held. The first emergency stop control CPU 220 corresponds to monitoring means.

By performing the same operation also in the second emergency stop control CPU 230, it is possible to almost certainly prevent a disconnection failure due to a failure of the magnetic contactor.
(Abnormal processing (S84))
Here, the abnormality process of S84 will be described.

  If the “emergency stop data packet” cannot be received within the specified time (“NG” in S 62, “NG” in S 76 described later), the first emergency stop control CPU 220 is immediately turned off to the first emergency stop control circuit 260. The control signal is output. If the first emergency stop control CPU 220 detects an abnormality in the destination data or the transmission source data (“NG” in S68), it discards the received data and waits for the next data reception.

  If there is an abnormality in the confirmation using the error detection data (“NG” in S66), an abnormality is detected in the first CPU error flag data and the second CPU error flag data, or the transmission number data is not correctly updated ( In S70, “NG”), the first emergency stop control CPU 220 immediately outputs an OFF control signal to the first emergency stop control circuit 260.

  As described above, in S66 and S70, each is “NG”, and when an abnormality is detected, the first emergency stop control CPU 220 outputs an OFF control signal to the first emergency stop control circuit 260, respectively. Is a pawl when the above-described series of processing flow is stopped.

If “NG” is determined in S82 described later, an OFF control signal is immediately output to the first emergency stop control circuit 260.
If there is an abnormality in the confirmation using the error detection data, and if the transmission number data is not correctly updated, it is determined as a communication error.

  As a result, the first emergency stop control circuit 260 outputs an OFF control signal to the first electromagnetic contactor 240 regardless of other input states, so that the contact of the first electromagnetic contactor 240 is opened, and the servo amplifier The main power supply to 280 stops and the robot stops. Hereinafter, when an OFF control signal is described as output to the first emergency stop control circuit 260, as a result, the contact of the first electromagnetic contactor 240 is opened, the main power supply to the servo amplifier 280 is stopped, and the robot Although the operation will be stopped, the description will be omitted, so the description will be omitted, and only “output an OFF control signal to the first emergency stop control circuit 260” will be described.

  Next, the emergency stop signal processing program in the second emergency stop control CPU 230 will be described. As shown in FIG. 11, the second emergency stop control CPU 230 executes the emergency stop signal processing program by the first emergency stop control CPU 220. It is executed in a predetermined control cycle in synchronization with the emergency stop signal processing to be performed. Further, the first emergency stop control CPU 220 reads the time-out detection calendar of the calendar IC 234 in S90 immediately after the emergency stop signal processing is started.

  Then, in S92, the second emergency stop control CPU 230 determines whether or not the received “emergency stop data packet” is received within the specified time based on the value of the time-out detection calendar read, and within the specified time. If not received, the abnormal process of S106 is performed.

  Next, in S94, the second emergency stop control CPU 230 uses the received error detection data of the “emergency stop data packet” to check whether there is any error in the data. If there is an error in the confirmation, the second emergency stop control CPU 230 proceeds to the abnormality processing phase of S106.

  If there is no problem in the confirmation in S94, in S96, the second emergency stop control CPU 230 starts from the data of the “emergency stop data packet” with destination data and destination data set in advance using the transmission source data as parameters. If any of them does not match with the transmission source data, the process proceeds to the abnormality processing phase of S106.

  If the destination data and the transmission source data are correct in S96, the second emergency stop control CPU 230 checks the first CPU error flag data and the second CPU error flag data in S98 to confirm that there is no abnormality. Further, the second emergency stop control CPU 230 confirms whether the transmission number data is obtained by adding 1 to the previous data. In S98, if there is an abnormality in the confirmation, the second emergency stop control CPU 230 proceeds to the abnormality processing phase in S106.

  If there is no problem in the confirmation in S98, the second emergency stop control CPU 230 next confirms the first CPU data and the second CPU data in S100. If both of the data are the emergency stop switch closed, an ON control signal is output to the second emergency stop control circuit 270. If either of the data is the emergency stop switch open, the control signal to the second emergency stop control circuit 270 is output. An OFF control signal is output. When an OFF control signal is output from the second emergency stop control CPU 230, the second emergency stop control circuit 270 outputs an OFF control signal to the second electromagnetic contactor 250 regardless of other input states. As a result, the contact 250a of the second electromagnetic contactor 250 is opened, the main power supply to the servo amplifier 280 is stopped, and the robot is stopped.

  Further, the second emergency stop control CPU 230 outputs the OFF control signal to the second emergency stop control circuit 270, and then after the predetermined operation waiting time of the second electromagnetic contactor 250, the second electromagnetic contactor 250 contact point. The status is monitored by the monitor input. If the contact state remains ON despite the output of the OFF control signal, the second emergency stop control CPU 230 determines that this is a contact abnormality of the second electromagnetic contactor 250, and The abnormal state is maintained until the error is output and the error is cleared. Then, the second emergency stop control CPU 230 keeps outputting the OFF control signal to the second emergency stop control circuit 270 regardless of the state of the input “emergency stop data packet”. The second emergency stop control CPU 230 corresponds to monitoring means.

By performing the same operation also in the first emergency stop control CPU 220, it is possible to almost certainly prevent the disconnection failure due to the failure of the magnetic contactor.
(Abnormal processing (S106))
Here, the abnormality process of S106 will be described.

  When the “emergency stop data packet” cannot be received within the specified time (“NG” in S92), the second emergency stop control CPU 230 immediately outputs an OFF control signal to the second emergency stop control circuit 270.

  When the second emergency stop control CPU 230 detects at least one of the destination data abnormality or the transmission source data abnormality (“NG” in S96), the data received as the communication error due to the inability to identify the transmission data is detected. Discard and wait for next data reception.

  If there is an abnormality in the confirmation by the error detection data (“NG” in S94), an abnormality is detected in the first CPU error flag data and the second CPU error flag data, or the transmission number data is not correctly updated ( In S98, “NG”), the second emergency stop control CPU 230 immediately outputs an OFF control signal to the second emergency stop control circuit 270.

  Also, in S94 and S98, when “NG” is detected and an abnormality is detected, an OFF control signal is output to the second emergency stop control circuit 270, respectively. It is used as a pawl when it stops.

  As a result, the second emergency stop control CPU 230 outputs an ON / OFF control signal to the second electromagnetic contactor 250 regardless of other input states, so that the contact 250a of the second electromagnetic contactor 250 is opened. The main power supply to the servo amplifier 280 is stopped, and the robot is stopped. Hereinafter, when an OFF control signal is described as an output to the second emergency stop control circuit 270, as a result, the contact 250a of the second electromagnetic contactor 250 is opened, the main power supply to the servo amplifier 280 is stopped, and the robot However, the description will be omitted, and description will be omitted, and only “output an OFF control signal to the second emergency stop control circuit 270” will be described.

(2. Generation and transmission of response data packet on control unit 200 side)
The response data packet will be described.
In S102, the second emergency stop control CPU 230 sets the first CPU error flag data, the second CPU error flag data, the transmission number data, the first CPU data, and the second CPU data for the data in the received “emergency stop data packet”. Inverted and set, destination data and source data are set interchangeably. Subsequently, the second emergency stop control CPU 230 generates a “response data packet” by calculating and adding error detection data to the data synthesized as described above (see FIG. 7).

  As shown in FIG. 7, the “response data packet” includes destination data, transmission source data, first CPU error flag data, second CPU error flag data, transmission number data, first CPU data, second CPU data, and error detection data. It is. The destination data is data (unique data) uniquely determined for the second CPU 130 of the teach pendant 100, which is a transmission destination when viewed from the control unit 200 side. The transmission source data is data uniquely determined for the second emergency stop control CPU 230 of the control unit 200 (unique data). The first CPU error flag data, the second CPU error flag data, the transmission number data, the first CPU data, and the second CPU data are data obtained by bit-inverting the data received as the “emergency stop data packet”. The error detection data is data generated by error detection calculation from data obtained by combining destination data, transmission source data, first CPU error flag data, second CPU error flag data, transmission number data, first CPU data, and second CPU data. It is. Then, this “response data packet” is generated by the second emergency stop control CPU 230 of the control unit 200 and transmitted via the first emergency stop control CPU 220 of the control unit 200 side, and the first CPU 120 of the teach pendant 100 and The data packet is received by the second CPU 130 via the first CPU 120.

  In S104, the second emergency stop control CPU 230 transmits the generated “response data packet” to the first emergency stop control CPU 220 by serial communication, and temporarily ends the processing of the emergency stop signal processing program.

  As shown in FIG. 11, in S76, the first emergency stop control CPU 220 determines whether or not the received “response data packet” has been received within the specified time based on the value of the timeout detection calendar read in S72. If it has not been received within the specified time, the abnormality process of S84 is performed. If it has been received within the specified time, in S78, the first emergency stop control CPU 220 writes the received “response data packet” directly into the transmission / reception control circuit 215 via the bus.

  In S80, the first emergency stop control CPU 220 performs the abnormality process in S84 if there is an abnormality in the confirmation by the error detection data of the received “response data packet” (in the case of “NG” in S80). .

  If there is no abnormality in S80, in S82, the first emergency stop control CPU 220 performs bit reversal processing or the like on the “emergency stop data packet” received by itself in the same manner as the second emergency stop control CPU 230, into a response data packet. After conversion into corresponding data, this data is compared with the received response data packet.

  If there is an abnormality in S82, the first emergency stop control CPU 220 performs an abnormality process in S84. If the first emergency stop control CPU 220 determines that there is no abnormality in S82, the emergency stop signal processing is temporarily terminated.

  Next, the transmission / reception control circuit 215 adds header data for performing wireless transmission to the “response data packet” written from the first emergency stop control CPU 220 as shown in FIG. As shown in FIG. Here, the header data includes a source port number, a destination port number, a data size, error detection data, and the like determined by the communication protocol to be used. Next, the wireless transmission / reception circuit 210 of the control unit 200 transmits the “wireless response data packet” received from the transmission / reception control circuit 215 as a wireless signal.

(3. Processing of wireless response data packet on teach pendant side)
(3.1. Processing of first CPU 120)
The wireless transmission / reception circuit 150 of the teach pendant 100 receives the “wireless response data packet” as a wireless signal and transmits it to the transmission / reception control circuit 140.

  The transmission / reception control circuit 140 confirms that the content of the wireless response data packet received using the error detection data in the header data of the “wireless response data packet” received from the wireless transmission / reception circuit 150 is correct, Determine whether the data is addressed to you by the destination port number.

  Then, when the destination port number in the header data is addressed to itself, the transmission / reception control circuit 140 extracts the “response data packet” from the “wireless response data packet” and sets it in a readable state from the first CPU 120 to the first CPU 120. Interrupt. The transmission / reception control circuit 140 discards the data if it is not addressed to itself. The first CPU 120 receives an interrupt from the transmission / reception control circuit 140 and reads the “response data packet” from the transmission / reception control circuit 140.

  Then, as shown in FIG. 10, in S44, the first CPU 120 determines whether or not the received “response data packet” has been received within the specified time based on the value of the timeout detection calendar read in S42. If it has not been received within the specified time, an abnormality process of S54 described later is performed. If it is received within the specified time, in S46, the first CPU 120 transmits the received “response data packet” to the second CPU as it is by serial communication. The processing in the second CPU 130 will be described later.

  Thereafter, in S48, the first CPU 120 uses the error detection data of the “response data packet” to check whether there is an error in the data. If there is no problem in the check in S48, the first CPU 120 first compares the destination data and the transmission source data with the destination data and the transmission source data set in advance as parameters from the data of the “response data packet” in S50. If either does not match, an abnormality process of S54 described later is performed.

  In S50, when the destination data and the transmission source data are correct, the first CPU 120 obtains the first CPU error flag data, the second CPU error flag data, the transmission number data, the first CPU data, and the second CPU data from the data of the “response data packet”. The bit is inverted and compared with the contents of the transmitted “emergency stop data packet” to confirm that they match. If they match, the first CPU 120 ends the process normally.

If they do not match in S52, the abnormality process in S54 is performed.
(3.3 Abnormality processing (S54))
Here, the abnormality process of S54 will be described. For convenience of explanation, the case where it is determined as “NG” in S32 and S34 will also be described.

  First, when it is determined as “NG” in S32, the first CPU 120 sets the emergency stop data timeout abnormality in the first CPU error flag data as an error (abnormality) at the time of transmission of the next control cycle, This processing is terminated as transmission.

  When it is determined as “NG” in S34, the first CPU 120 sets the emergency stop data CRC abnormality in the first CPU error flag data as an error (abnormality) at the time of transmission of the next control cycle, and transmits it. This processing is terminated.

  As described above, when the first CPU 120 determines “NG” in S32 and S34, the first CPU 120 does not create communication data and does not output communication data in the current control cycle by performing the process of S54. .

  When it is determined as “NG” in S44, the first CPU 120 sets the response data timeout error in the first CPU error flag data as an error (abnormal) at the time of transmission of the next control cycle, and transmits it. This process is terminated. When it is determined as “NG” in S48, the first CPU 120 sets the response data CRC error in the first CPU error flag data as an error (abnormal) at the time of transmission in the next control cycle, and transmits it. This process is terminated. When it is determined as “NG” in S52, the first CPU 120 sets the response data mismatch data in the first CPU error flag data as an error (abnormal) at the time of transmission of the next control cycle, and transmits it. This process is terminated. Further, when it is determined as “NG” in S50, the first CPU 120 discards the data and ends the processing of this time.

(3.4 Processing of Second CPU 130)
Next, when the second CPU 130 receives the “response data packet” by serial communication from the first CPU 120, in S20, the received “response data packet” is within the specified time based on the value of the timeout detection calendar read in S18. It is determined whether or not it has been received. If not received within the specified time, the second CPU 130 performs the abnormality process of S28.

  If it is received within the specified time, in S22, the second CPU 130 uses the error detection data in the “response data packet” data to check whether there is any error in the data. If there is an error in the data in S22, the second CPU 130 performs the abnormality process in S28.

  If there is no problem in the check in S22, in S24, the second CPU 130 first compares the destination data and the transmission source data with the destination data and the transmission source data from the “response data packet” data. If either does not match, the abnormality process of S28 is performed.

  In S24, if the destination data and the transmission source data are correct, the second CPU error flag data, the transmission number data, and the second CPU data are bit-inverted from the data of the “response data packet”, and the transmitted “emergency stop data” Compared with the contents of “packet”, it is confirmed that they match, and if they match, the processing of this control cycle is normally terminated. If they do not match in S26, the second CPU 130 performs the abnormality process in S28.

(3.5 Abnormality processing (S28))
When it is determined as “NG” in S20, the second CPU 130 sets the response data timeout error in the second CPU error flag data as an error (abnormal) at the time of transmission in the next control cycle, and transmits it. This process is terminated. When it is determined as “NG” in S22, the second CPU 130 sets the response data CRC abnormality in the second CPU error flag data as an error (abnormality) at the time of transmission in the next control cycle, and transmits it. This process is terminated.

  When it is determined as “NG” in S26, the second CPU 130 sets the transmission / reception data mismatch data in the second CPU error flag data as an error at the time of transmission in the next control cycle, and transmits it as this time. The process ends. If it is determined as “NG” in S24, the second CPU 130 discards the data, and ends this process.

(About power supply voltage monitoring / watchdog circuits 160 and 290)
In this embodiment, the power supply voltage monitoring circuit of the power supply voltage monitoring / watchdog circuits 160 and 290 is a power supply voltage that allows the first CPU 120, the second CPU 130, the first emergency stop control CPU 220, and the second emergency stop control CPU 230 to operate normally. Monitor the condition. The power supply voltage monitoring / watchdog circuits 160 and 290 forcibly reset these CPUs when the power supply voltage drops or exceeds the normal range. When the reset is forcibly performed in this way, the first CPU 120 and the second CPU 130 do not create communication data and do not output the reset data. Therefore, when transmission of emergency stop data is interrupted, S62 and S92 in FIG. Thus, the determination is “NG”, and the abnormality processing is performed as “timeout abnormality”. As a result, the first emergency stop control CPU 220 and the second emergency stop control CPU 230 can output OFF control signals to the first emergency stop control circuit 260 and the second emergency stop control circuit 270, respectively.

  Further, when the first emergency stop control CPU 220 and the second emergency stop control CPU 230 are reset, the first emergency stop control CPU 220 and the second emergency stop control CPU 230 transfer to the first electromagnetic contactor 240 and the second electromagnetic contactor 250. Assume that the setting is made so that an OFF control signal is output in the same manner as the initial value. Thus, an OFF control signal can be output from the first emergency stop control CPU 220 and the second emergency stop control CPU 230 to the first emergency stop control circuit 260 and the second emergency stop control circuit 270, respectively.

  The watchdog circuit of the power supply voltage monitoring / watchdog circuits 160 and 290 periodically accesses when the first CPU 120, the second CPU 130, the first emergency stop control CPU 220, and the second emergency stop control CPU 230 are operating normally. be able to. However, when some abnormality occurs and periodic access is lost, the power supply voltage monitoring / watchdog circuits 160 and 290 detect this and forcibly reset these CPUs.

  As a result, the first electromagnetic contactor 240 and the second electromagnetic contactor 250 are opened as in the case where the power supply voltage is lowered or exceeded from the normal range and is forcibly reset. The main power supply to the servo amplifier 28 is stopped, and the robot can be stopped.

Now, according to this embodiment, there are the following features.
(1) In the present embodiment, each of the first emergency stop control CPU 220 and the second emergency stop control CPU 230 has communication error detection data (that is, communication error detection data created according to a monitoring result included in the communication data and a predetermined communication protocol (that is, Destination data, transmission source data, transmission number data, first CPU data, second CPU data, error detection data). Then, the first emergency stop control CPU 220 and the second emergency stop control CPU 230 send OFF control signals to the first emergency stop control circuit 260 and the second emergency stop control circuit 270 according to the monitoring result and the analysis result of the communication error detection data. By outputting, the power to the motor M410 of the robot is cut off according to the monitoring result and the content of the communication error. As a result, the same effect as (1) of the first embodiment is obtained.

  (2) In the present embodiment, the communication data is composed of communication packets including destination data and transmission source data as communication error detection data. Then, the first emergency stop control CPU 220 and the second emergency stop control CPU 230 identify the communication data based on the destination data and the transmission source data included in the communication data, and when the identification cannot be performed (that is, S68). In the case of “NG” in S96), the next reception is awaited as a communication error due to the inability to identify communication data. As a result, the same effect as (2) of the first embodiment is obtained.

  (3) In the present embodiment, the communication data is composed of communication packets including communication number data (that is, transmission number data) that is updated each time communication data is created as communication error detection data. Then, the first emergency stop control CPU 220 and the second emergency stop control CPU 230 control the first emergency stop control circuit 260 and the second emergency stop control circuit 270 in the case of a communication error based on the communication number data (transmission number data). Then, the first electromagnetic contactor 240 and the second electromagnetic contactor 250 are cut off. As a result, the same effect as (3) of the first embodiment is obtained.

  (4) In the present embodiment, the communication data is configured by a communication packet including error detection data as communication error detection data. Then, the first emergency stop control CPU 220 and the second emergency stop control CPU 230 determine whether or not the communication data is a data abnormality based on the error detection data, and in the case of the data abnormality, the first emergency stop control circuit 260. And the 2nd emergency stop control circuit 270 is controlled, and the 1st electromagnetic contactor 240 and the 2nd electromagnetic contactor 250 are cut off. As a result, the same effect as (4) of the first embodiment is obtained.

  (5) In the present embodiment, power supply voltage monitoring / watchdog that detects an abnormality in the power supply voltage of the first emergency stop control CPU 220 and the second emergency stop control CPU 230 and resets both CPUs when the abnormality is detected. A circuit 290 (that is, second power supply voltage monitoring means) is provided. When the first emergency stop control CPU 220 and the second emergency stop control CPU 230 are reset, the first emergency stop control circuit 260 and the second emergency stop control circuit 270 are turned OFF control signals (that is, emergency Stop signal) is output. There exists an effect similar to (5) of 1st Embodiment.

  (6) In the present embodiment, the first CPU 120 and the second CPU 130 are configured to input and output data including communication data as monitoring means, and the first CPU 120 inputs the data for a predetermined time (that is, a specified time). ) Is a first time-out detecting means for detecting a time-out when it is not input.

  When the first CPU 120 detects a timeout, the first CPU 120 does not create communication data, and the wireless transmission / reception circuit 150 (first communication means) does not transmit communication data. As a result, when the first CPU 120 does not input data including communication data within a predetermined time, the first emergency stop control CPU 220 and the second emergency stop control CPU 230 detect the communication data timeout. Can be increased.

  (7) In the present embodiment, the first emergency stop control CPU 220 and the second emergency stop control CPU 230 are configured to input and output data including communication data, and both the CPUs receive the communication data for a predetermined time. The second timeout detection means detects a timeout when it is not input within (that is, the specified time).

  When the first emergency stop control CPU 220 and the second emergency stop control CPU 230 detect a time-out, the first emergency stop control circuit 260 and the second emergency stop control circuit 270 are turned OFF control signals (that is, emergency stop signals). Was output. As a result, in this embodiment, the reliability of communication can be improved by detecting a timeout.

  (8) In this embodiment, the power supply voltage monitoring / watchdog circuit 160 of the teach pendant 100 detects abnormalities in the power supply voltages of the first CPU 120 and the second CPU 130 serving as monitoring means as the first power supply voltage monitoring means, and detects the abnormality. When this happens, the monitoring means is reset. The first CPU 120 and the second CPU 130 do not create communication data when the reset is applied, and the first communication means does not transmit the communication data. As a result, the first emergency stop control CPU 220 and the second emergency stop control CPU 230 of the control unit 200 detect the timeout of the communication data input from the teach pendant 100, and the first emergency stop control circuit 260 and the second emergency stop control circuit. Since an OFF control signal is output to 270, communication reliability can be improved.

  (9) In the present embodiment, if there is an abnormality in the first CPU 120 and the second CPU 130 in the teach pendant 100, communication data is not transmitted from the wireless transmission / reception circuit 150 (first communication means). Therefore, the first emergency stop control CPU 220 and the second emergency stop control CPU 230 (second timeout detection means) of the control unit 200 detect the timeout of the communication data input from the teach pendant 100, and the first emergency stop control circuit 260. Then, an OFF control signal (that is, an emergency stop signal) is output to the second emergency stop control circuit 270 (shut-off control means). As a result, communication reliability can be improved.

  (10) In this embodiment, if there is an abnormality in the first emergency stop control CPU 220 and the second emergency stop control CPU 230 (communication data analysis means) in the control unit 200, the power supply voltage monitoring / watchdog circuit 290 (second watchdog) Means) resets the first emergency stop control CPU 220 and the second emergency stop control CPU 230. Therefore, the first emergency stop control CPU 220 and the second emergency stop control CPU 230 can output an OFF control signal (that is, an emergency stop signal) to the first emergency stop control circuit 260 and the second emergency stop control circuit 270. As a result, the reliability of communication within the control unit can be improved.

  (11) In the present embodiment, the control unit 200 generates a response data packet (that is, return communication data) based on the received communication data. The second emergency stop control CPU 230 (that is, generates return communication data). Means). In addition, the teach pendant 100 includes the response data packet received via the wireless transmission / reception circuit 210 (second communication means) and the wireless transmission / reception circuit 150 (first communication means) and the already transmitted “emergency stop data packet” (communication). Data) and a first CPU 120 and a second CPU 130 (collation means) for collating. As a result, according to the present embodiment, it is possible to confirm whether or not the “emergency stop data packet” (communication data) that has already been transmitted has been received correctly and correctly, based on the comparison results of the first CPU 120 and the second CPU 130. The result can be used.

  (12) In the present embodiment, the second emergency stop control CPU 230 (that is, the communication data generation unit for reply) inverts a part of the received communication data and performs response data packet (communication data for reply). Was generated. Then, the first CPU 120 and the second CPU 130 (collation means) bit-invert part of the response data packet (reply communication data) so that the response data packet and the already transmitted “emergency stop data packet” match. It was made to check whether or not it was done.

  As a result, in this embodiment, it can be confirmed whether or not the bit inversion is correctly performed. As a result, the second emergency stop control CPU 230, the first CPU 120, and the second CPU 130 of the control unit 200 that performs the bit inversion are configured. It can be confirmed whether or not a certain CPU or RAM is functioning correctly.

  (13) In the present embodiment, the control unit 200 monitors the operation of the first electromagnetic contactor 240 and the second electromagnetic contactor 250 (breaking means), and the first emergency stop control circuit 260 and the second emergency stop control circuit 270. (Monitoring means). The first and second emergency stop control circuits (shut-off control means) are connected to the first and second electromagnetic contactors (shut-off means) based on the monitoring results of the first and second emergency stop control CPUs (monitoring means). If there is an abnormality, the application of power to the motor M410 (that is, the drive source) of the robot is prohibited until the abnormal state is resolved. As a result, in this embodiment, when the operation of the first electromagnetic contactor 240 and the second electromagnetic contactor 250 is monitored, a failure occurs in the contact of the first electromagnetic contactor 240 and the second electromagnetic contactor 250. Until the failure is detected and the abnormal state is resolved, the application of power to the motor M410 of the robot is prohibited, so that accumulation of failures can be prevented.

  (14) Also in this embodiment, by using the transmission number data, the error detection data, the destination data, and the transmission source data, the communication abnormality shown in Table 1 described in the first embodiment can be detected. In addition, in the second embodiment, since a timeout is detected, the communication abnormality shown in Table 2 can be detected.

なお、本発明の実施形態は以下のように変更してもよい。

In addition, you may change embodiment of this invention as follows.

  In each of the above embodiments, the robot control device provided with the teach pendant is embodied as the machine control device. However, a machine tool control device including a portable operation unit having an emergency stop switch or an emergency stop switch may be provided. The present invention may be embodied in various industrial machines provided with a portable operation unit.

The various data arrangement order of the “emergency stop data packet” and the “response data packet” is not limited to the order shown in the above embodiment, and there is no problem even if the order is changed.
The first CPU error flag and the second CPU error flag of the emergency stop data bucket and the response data packet may be included in the first CPU data and the second CPU data, respectively.

  The MAC address (Media Access Control) fixed to the elements of the second CPU 130 and the second emergency stop control CPU 230 with respect to the uniquely determined addresses of the “emergency stop data packet”, the destination data of the response data packet, and the transmission source data By using (address), it is possible to reliably identify.

  In the configuration on the control unit 200 side of the second embodiment, the reset output of the power supply voltage monitoring / watchdog circuit 290 is not passed through the first emergency stop control CPU 220 and the second emergency stop control CPU 230 at the time of resetting. The emergency stop control circuit 260 and the second emergency stop control circuit 270 may be directly input. In this case, by setting the OFF output condition to the first electromagnetic contactor 240 and the second electromagnetic contactor 250, the main power supply can be shut off more reliably.

  In each of the above embodiments, only the input of the emergency stop switches 11 and 110 has been described. However, the present invention is not limited to this configuration. For example, with a circuit configuration similar to this emergency stop switch, for example, a 3-position enable switch, a teach pendant enable switch that enables the operation of the teach pendant, and an operation mode switch that switches between the playback mode and the teaching mode of the robot controller It is also possible to transmit an operation mode switch signal to be switched.

  In FIG. 12, a three-position enable switch 510 is provided in the configuration of the second embodiment. In this modification, the enable switch 510 is open at positions I and III, and closed at position II. The position II is positioned during the transition from the position I to the position III. However, once shifting to position III, the switch is kept open until returning to position I. The enable switch 510 includes two contacts 510a and 510b. One contact 510a is connected in parallel with a circuit including the contact 110a, and the other contact 510b is connected in parallel with a circuit including the contact 110b. Yes. The opening / closing states of the contacts 510a and 510b are detected by the first CPU 120 and the second CPU 130, respectively. Even with this configuration, it is possible to detect whether or not an operation for the enable switch has been performed by handling the open / close state of the enable switch 510 in the same manner as the emergency stop switch 110.

  In the second embodiment, each CPU and ROM and RAM are described separately, but it is natural to use a CPU incorporating a ROM, a CPU incorporating a RAM, and a CPU incorporating both a ROM and a RAM. While possible.

  In the second embodiment, the teach pendant 100 side and the control unit 200 side separately describe each CPU and the transmission / reception control circuits 140 and 215, but it is natural to use a CPU with a built-in transmission / reception control circuit. While possible.

  In the above embodiment, when each CPU detects an abnormality, an OFF control signal is immediately output and each electromagnetic contactor is shut off. However, the present invention is not limited to this configuration. . For example, if the transmission interval of the “emergency stop data packet” is sufficiently short compared to the time from when an abnormality is detected until it stops, error detection data abnormality, transmission number data update abnormality, feedback The checked data (response data) may not be interrupted by detecting an abnormality once, but may be determined as abnormal only when an abnormality occurs several times in succession. As a result, it is possible to configure a system capable of stably continuing communication even when wireless data communication is affected by noise or other wireless devices.

In the second embodiment, the CPU and the calendar IC are described separately, but a CPU incorporating a calendar function can also be used.
In the second embodiment, the calendar function is used for the time-out count, but it is also possible to measure the time using the timer function built in the CPU and detect the time-out.

  ○ In the second embodiment, a part of communication data is bit-inverted. However, the present invention is not limited to bit inversion. When the constant is multiplied and returned to the original data, it is divided by the same constant. It is also possible to use other methods such as calculating with a predetermined algorithm and returning to the original with the reverse algorithm.

Of course, in each of the above embodiments, the duplexed configuration may be further configured to be tripled or more.
In each of the above embodiments, communication is performed between the portable operation unit and the control unit by wireless communication. However, the communication is not limited to the wireless method, and may be performed by infrared communication, optical communication, or magnetic communication.

  ○ The wireless communication data packet is obtained by adding header data for wireless communication to the emergency stop data packet. This data is subjected to WEP encryption processing used in wireless LAN standards IEEE802.11b and IEEE802.11a. By adding, it is possible to further improve the reliability of communication.

FIG. 3 is a block circuit diagram of a control unit and a teach pendant of the robot control device according to the first embodiment of the present invention. Explanatory drawing of an emergency stop data packet. The block circuit diagram of the teach pendant of the robot control apparatus of 2nd Embodiment. Similarly, a block circuit diagram of the controller of the robot controller Explanatory drawing of an emergency stop data packet. Explanatory drawing of a radio | wireless transmission data packet similarly. Explanatory drawing of a response data packet. Explanatory drawing of a radio response data packet. Explanatory drawing of 1st CPU error flag data and 2nd CPU error flag data. The flowchart (1st CPU and 2nd CPU) of data processing. Flow chart of data processing (first emergency stop control CPU and second emergency stop control CPU). The block circuit diagram of the teach pendant of the robot control apparatus of the modification of 2nd Embodiment.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10 ... Teach pendant (portable operation part), 11 ... Emergency stop switch (emergency stop operation means), 12 ... 1st CPU (monitor means), 13 ... 2nd CPU (monitor means), 14 ... Transmission circuit (1st communication means) ), 15... Power supply voltage monitoring circuit (first power supply voltage monitoring means), 20... Control section, 21... Receiving circuit (second communication means), 24. Contactor (breaking means) 26 ... first electromagnetic contactor control circuit (breaking control means), 27 ... second electromagnetic contactor control circuit (breaking control means), 22 ... third CPU (communication data analysis means), 23 ... first 4 CPU (communication data analyzing means) 29... Power supply voltage monitoring circuit (second power supply voltage monitoring means) 30... Robot controller 100. Teach pendant (portable operation unit) 110 110 emergency stop switch (emergency stop operation) Stage), 120 ... first CPU (monitoring means, first timeout detecting means, collating means), 130 ... second CPU (monitoring means, collating means), 150 ... radio transmission / reception circuit (first communication means), 160 ... power supply voltage monitoring Watchdog circuit (first power supply voltage monitoring means, first watchdog means), 200 ... control unit, 210 ... wireless transmission / reception circuit (second communication means), 220 ... first emergency stop control CPU (communication data analysis means, Second timeout detection means, monitoring means), 230 ... second emergency stop control CPU (communication data analysis means, second timeout detection means, return communication data generation means, monitoring means), 240 ... first electromagnetic contactor ( Blocking means), 250 ... second electromagnetic contactor (cutting means), 260 ... first emergency stop control circuit (cutting control means), 270 ... second emergency stop control circuit (blocking means) Control means), 290 ... power supply voltage monitoring and watchdog circuit (second power supply voltage monitoring means, a second watchdog unit), 300 ... robot controller.

Claims (13)

In the machine control device in which the portable operation unit and the control unit that controls the machine perform non-wired communication,
The portable operation unit includes emergency stop operation means having multiplexed contacts, communication data provided for each contact, monitoring the operation of the emergency stop operation means, and including monitoring results and communication error detection data. A multiplexed monitor means for generating the communication data according to a predetermined communication protocol, and a single first communication means for communicating the communication data in a non-wired manner,
The control unit is provided for each of the cutoff means, a single second communication means that communicates with the first communication means in a non-wired manner, a multiplexed cutoff means that cuts off power to the drive source of the machine. A multiplexed shutoff control means for controlling the shutoff means based on the input of the emergency stop signal; a monitoring result of communication data received by the second communication means provided for each shutoff control means; and a communication error A machine control device comprising: multiplexed communication data analysis means for outputting the emergency stop signal to the interruption control means in accordance with an analysis result of detected data. The communication data is composed of communication packets including destination data and transmission source data as communication error detection data,
Each of the communication data analyzing means identifies the communication data based on the destination data and the transmission source data included in the communication data. If the communication data cannot be identified, the communication data analysis means that the communication data cannot be identified next time. The machine control device according to claim 1, wherein the machine control device waits for reception of the machine control. The communication data is composed of communication packets including communication number data updated every time the communication data is created as communication error detection data.
3. The communication data analyzing unit according to claim 1 or 2, wherein, in the case of a communication error based on the communication number data, the communication control unit controls the block control unit to block the block unit. Machine control device. The communication data is composed of communication packets including error detection data as communication error detection data,
Each of the communication data analysis means determines whether the communication data is a data abnormality based on the error detection data, and in the case of a data abnormality, controls the cutoff control means to shut off the cutoff means. The machine control device according to any one of claims 1 to 3, wherein   Each of the monitoring means is configured to input and output data including communication data, and includes first timeout detection means for detecting a timeout when the input of the data is not input within a predetermined time, 5. The method according to claim 1, wherein when the time-out detection unit detects a time-out, the monitoring unit does not create communication data, and the first communication unit does not transmit communication data. The machine control device according to Item. Each communication data analysis means is configured to input / output data including communication data, and includes second timeout detection means for detecting a timeout when the communication data is not input within a predetermined time,
6. The machine control device according to claim 1, wherein an emergency stop signal is output to the shut-off control unit when the second timeout detection unit detects a timeout. 7. A first power supply voltage monitoring means for detecting an abnormality in the power supply voltage of the monitoring means and resetting the monitoring means when the abnormality is detected;
7. The machine control device according to claim 6, wherein the monitor means does not create communication data when the reset is applied, and the first communication means does not transmit the communication data. A second power supply voltage monitoring means for detecting an abnormality in the power supply voltage of the communication data analyzing means and resetting the communication data analyzing means when the abnormality is detected;
The machine control device according to claim 6 or 7, wherein the communication data analysis means outputs an emergency stop signal to the shut-off control means when reset is applied. The first watchdog means that is periodically accessed from the monitoring means and resets the monitoring means when the periodic access from the monitoring means is canceled,
9. The device according to claim 6, wherein the monitoring unit does not create communication data when the reset is applied, and the first communication unit does not transmit the communication data. 10. Machine control device. A second watchdog unit that is periodically accessed from the communication data analyzing unit and that resets the communication data analyzing unit when the periodic access from the communication data analyzing unit is canceled;
The machine control device according to any one of claims 6 to 9, wherein the communication data analysis unit outputs an emergency stop signal to the shut-off control unit when reset is applied. The control unit includes a communication data generation unit for reply that generates communication data for reply based on the received communication data,
The portable operation unit includes a collating unit configured to collate whether or not the reply communication data received via the second communication unit and the first communication unit matches the already transmitted communication data. The machine control device according to claim 1, further comprising: a machine control device according to claim 1. The communication data generating means generates a communication data for reply by inverting a part of the received communication data,
The collation means performs bit inversion on a part of the reply communication data, and collates whether or not the reply communication data matches the already transmitted communication data. Item 12. The machine control device according to Item 11. The control unit is monitoring means for monitoring the operation of the blocking means;
The shut-off control means prohibits the application of power to the drive source of the machine until the abnormal state is resolved when the shut-off means is abnormal based on the monitoring result of the monitoring means. The machine control device according to any one of claims 1 to 12.

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