JP2016016496A - Robot control device and method for establishing radio communication connection of robot control system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve the problem that, when multiple robot control devices exist in a robot control system, a robot control device to which radio communication connection is established can be mistaken, and that, in a conventional robot control system, there is no function for inhibiting establishment of radio communication connection to a non-intended robot control device.SOLUTION: A radio teaching pendant transmits a connection request signal to a robot control device. A radio access point of the robot control device outputs the received connection request signal to a communication control section, and the communication control section outputs the connection request signal to a robot control section. When an operation preparation switch of an operation box is operated, the operation box outputs a connection confirmation signal to the robot control section. When the connection request signal and the connection confirmation signal are inputted, the robot control section outputs a connection permission signal to the communication control section. Subsequently, the communication control section establishes radio communication connection to the radio teaching pendant.SELECTED DRAWING: Figure 6

Description

  The present invention relates to a robot control device and a wireless communication connection establishment method for a robot control system.

  Patent Document 1 proposes a technique for connecting a robot control device for controlling the operation of a robot and the like and a teach pendant for inputting an operation signal to the robot control device by wireless communication. When establishing a wireless communication connection between the robot control device and the teach pendant (so-called pairing) in the robot control system of Patent Document 1, first, the teach pendant can be connected to a display mounted on the teach pendant. The robot controller is displayed. When the connected robot controller is selected on the teach pendant display, a request signal and mutual identification information are transmitted and received between the connected robot controller and the teach pendant. A communication connection is established. Further, in the robot control system of Patent Document 1, when the connection check switch of the teach pendant is operated in a state where the wireless communication connection is established, the robot control device of the other party where the wireless communication connection is established The confirmation indicator lights up.

JP 2008-80474 A

  When there are a plurality of robot control devices in the robot control system of Patent Document 1, there is a possibility that a robot control device that establishes a wireless communication connection may be mistaken. Specifically, as shown in FIG. 21, it is assumed that a set of the robot control device Ca and the robot Ra and a set of the robot control device Cb and the robot Rb exist. Then, it is assumed that the wireless teach pendant TP possessed by the operator H is within the wireless communication range of the robot control device Ca and also within the wireless communication range of the robot control device Cb. In this case, both the robot controller Ca and the robot controller Cb are displayed as connectable robot controllers on the display of the wireless teach pendant TP.

  Here, as shown in FIG. 21, although the operator H intends to establish a wireless connection to the robot control device Cb, the robot control device Ca is selected as a connection destination by an erroneous operation of the wireless teach pendant TP. There is a possibility that. In this case, establishment of a wireless communication connection is requested from the wireless teach pendant TP to the robot control device Ca, and wireless communication is established between the two. However, a wireless communication connection to the robot controller Cb originally intended to establish a connection is not established.

  In the robot control system of Patent Document 1, it is possible to confirm that the robot control device with which the wireless communication connection is established is not intended by turning on the confirmation indicator lamp of the robot control device. it can. However, it is difficult to say that the robot control system of Patent Document 1 has a function that can suppress the establishment of a wireless communication connection to an unintended robot control device.

  The present invention has been made in view of such a conventional technique, and an object of the present invention is to establish a wireless communication connection between a wireless teach pendant and a robot control device. It is to establish a wireless communication connection more reliably.

  In order to achieve the above object, the present invention provides a robot control unit that controls the operation of a robot and the power supply to the robot, a wireless communication unit that performs wireless communication with a portable operating device, the robot control unit, and the portable unit. A communication control unit that establishes a wireless communication connection between the portable operation devices and enables control of the robot based on the operation of the portable operation device, and is provided separately from the wireless communication unit. A signal output unit that outputs a signal, wherein the robot control unit receives a first connection request signal input from the portable operating device via the wireless communication unit and a second connection input from the signal output unit. Based on the request signal, a connection permission signal is output to the communication control unit, and the communication control unit, based on the connection permission signal, transports the robot control unit and the transmission source of the first connection request signal. A robot control apparatus characterized by establishing a connection of the wireless communication between the controller device.

  In order to achieve the above object, the present invention provides a portable control device for operating a robot, and a robot control for controlling the robot based on a control signal transmitted and received by wireless communication with the portable control device. In the wireless communication connection establishment method of the robot control system including at least one device, the portable operation device sends a first connection request signal to the robot control device to be a wireless communication connection establishment target by wireless communication. A first connection requesting step for transmitting the signal, a signal output unit provided in the robot control device, a second connection requesting step for outputting a second connection request signal to the robot control unit of the robot control device, and the first Based on the connection request signal and the second connection request signal, the robot control unit is connected to the portable operating device that is the transmission source of the first connection request signal. And a connection establishment step of outputting a connection permission signal to establish a connection with that wireless communications.

  According to the present invention, it is possible to suppress the possibility of establishing a wireless communication connection between an unintended robot control device and a teach pendant.

Schematic of a robot control system. 1 is a block diagram of a robot control apparatus according to a first embodiment. The block diagram of the wired teach pendant of 1st Embodiment. The block diagram of the wireless teach pendant of 1st Embodiment. The flowchart which shows the state transition process of a robot control apparatus. 3 is a flowchart showing a wireless communication connection establishment process according to the first embodiment. 3 is a flowchart showing a wireless communication connection establishment process according to the first embodiment. Explanatory drawing explaining the connection establishment process of the radio | wireless communication of 1st Embodiment. Explanatory drawing explaining the connection establishment process of the radio | wireless communication of 1st Embodiment. The flowchart which shows the connection establishment process of the radio | wireless communication of 2nd Embodiment. The block diagram of the robot control apparatus of 3rd Embodiment. The block diagram of the wireless teach pendant of 3rd Embodiment. 9 is a flowchart showing a wireless communication connection establishment process according to the third embodiment. The block diagram of the robot control apparatus of 4th Embodiment. The block diagram of the wireless teach pendant and ID card of 4th Embodiment. 9 is a flowchart showing wireless communication connection establishment processing according to the fourth embodiment. 10 is a flowchart illustrating wireless communication connection establishment processing according to the fifth embodiment. The block diagram of the robot control apparatus of 6th Embodiment. The block diagram of the wireless teach pendant of 6th Embodiment. 10 is a flowchart showing a wireless communication connection establishment process according to the sixth embodiment. Explanatory drawing explaining the establishment process of the connection of the conventional radio | wireless communication.

(Configuration of the first embodiment)
1st Embodiment of the robot control system of this invention is described. First, an outline of the robot control system will be described.

  As shown in FIG. 1, the robot control device C of the robot control system has a control device main body CM in which a computer, various modules, and the like are built. A wireless access point AP as a wireless communication unit is fixed on the outer surface of the casing of the control device main body CM. The wireless access point AP is connected to the control device main body CM by wire, and transmits and receives signals to and from the control device main body CM by wired communication. An operation box OP as an operation unit is wired to the control device main body CM. These control device main body CM, wireless access point AP, and operation box OP constitute a robot control device C.

  As shown in FIG. 1, the robot R is connected to the control device main body CM of the robot control device C by wire. The robot R is, for example, an articulated welding robot having a plurality of arms driven by a servo motor and having a welding torch mounted on the arm at the tip. In the robot R, the operation of the arm or the like is controlled by a signal from the control device main body CM. A wired teach pendant TP1 for inputting information necessary for operating the robot R is connected to the control device main body CM of the robot control device C by wire. The robot control system also includes a wireless teach pendant TP2 for inputting information necessary for operating the robot R. The wireless teach pendant TP2 transmits and receives signals to and from the wireless access point AP of the robot controller C by wireless communication. Both the wired teach pendant TP1 and the wireless teach pendant TP2 correspond to portable operation devices.

Next, the electrical configuration of each device constituting the robot control system will be described.
As shown in FIG. 2, the control device main body CM of the robot control device C is provided with a power switch 11 for switching on / off of the power. By operating the power switch 11, the entire power supply of the robot control device C including the control device main body CM, the operation box OP, and the wireless access point AP is turned on / off. The control device main body CM is provided with a robot control unit 12 that performs control processing, communication processing, and the like of the robot R. The robot control unit 12 stores a central processing unit 12a (CPU) that executes various programs, a volatile RAM 12b that temporarily stores data when each program is executed, a program necessary for processing, various data, and the like. It is comprised as a computer which has the non-volatile storage part 12c etc. which are performed.

  As shown in FIG. 2, the control device main body CM is provided with a timer 13 for measuring time. The timer 13 counts up the count value based on a command from the robot control unit 12. In addition, the timer 13 clears the counted up count value and returns it to the initial value based on a command from the robot control unit 12.

  As shown in FIG. 2, the control device main body CM is provided with a servo amplifier 14 for supplying electric power to the servo motor of the robot R. The servo amplifier 14 supplies electric power corresponding to the posture of the arm of the robot R instructed by the robot control unit 12 to the servo motor of the robot R. That is, the robot control unit 12 controls the operation of the robot R by controlling the servo amplifier 14.

  As shown in FIG. 2, the communication control unit 15 of the control device main body CM is connected to the robot control unit 12. Based on the connection permission signal from the robot control unit 12, the communication control unit 15 establishes a communication connection to either the wired teach pendant TP1 or the wireless teach pendant TP2. The communication control unit 15 outputs a control signal from the wired teach pendant TP1 or the wireless teach pendant TP2 that has established a communication connection to the robot control unit 12, thereby enabling control of the robot R based on the operation of the teach pendant. . A wireless access point AP is connected to the communication control unit 15 by wire.

  The wireless access point AP includes an antenna for transmitting / receiving radio waves, a communication module for controlling transmission / reception of radio waves by the antenna, and performs wireless communication based on, for example, the IEEE 802.11 standard. The communication range of the wireless communication by the wireless access point AP is, for example, several tens of meters to hundreds of tens of meters. The wireless access point AP transmits a control signal output from the communication control unit 15 of the robot controller C to the wireless teach pendant TP2 by wireless communication. The wireless access point AP outputs a control signal received by wireless communication from the wireless teach pendant TP2 to the communication control unit 15, and the communication control unit 15 outputs the control signal to the robot control unit 12. Further, the wireless access point AP transmits its own network information (for example, SSID (Service Set Identifier)) every predetermined time regardless of whether the wireless communication connection to the wireless teach pendant TP2 is established. The network information is not transmitted to a specific wireless teach pendant TP2, but is transmitted without specifying a destination.

  As shown in FIG. 2, the operation box OP connected by wire to the control device main body CM is provided with an operation preparation switch 21 for causing the robot control device C to transition from the operation preparation waiting state to the operation preparation state. Yes. In a state where communication connection is established between the robot controller 12 of the robot controller C and any teach pendant, when the operation preparation switch 21 of the operation box OP is operated, the operation box OP An operation preparation signal is output to the control unit 12. In addition, when any teaching pendant is not connected to the robot control unit 12 of the robot controller C and the operation preparation switch 21 of the operation box OP is operated, the operation box OP A connection confirmation signal is output as a second connection request signal to the control unit 12. The operation box OP is provided with an emergency stop switch 22 for emergency stop of the robot R. When the emergency stop switch 22 of the operation box OP is operated, the operation box OP outputs an emergency stop signal to the robot controller 12 of the control device main body CM.

  As shown in FIG. 3, the wired teach pendant TP1 is provided with a teach pendant control unit 31 that performs input processing, communication processing, and the like. The teach pendant control unit 31 includes a central processing unit 31a (CPU) that executes various programs, a volatile RAM 31b in which data is temporarily stored during execution of the programs, and a nonvolatile storage in which programs necessary for processing are stored. It is comprised as a computer which has the memory | storage part 31c of sex.

  As shown in FIG. 3, the wired teach pendant TP1 is provided with a display 32 for displaying various kinds of information. The display 32 displays, for example, the current status of the robot R, the teaching contents for the robot R, and the like based on the image signal from the teach pendant control unit 31. The wired teach pendant TP1 is provided with a keyboard 33 for inputting information. The keyboard 33 is, for example, an arrow key for moving a selection position (cursor position) displayed on the display 32 or a character key for inputting character information. The wired teach pendant TP1 is provided with an enable switch 34 for permitting power supply to the robot R. When the enable switch 34 of the wired teach pendant TP1 is operated, the wired teach pendant TP1 outputs an enable signal to the robot controller C. The wired teach pendant TP1 is provided with an emergency stop switch 35 for emergency stop of the robot R. When the emergency stop switch 35 of the wired teach pendant TP1 is operated, the wired teach pendant TP1 outputs an emergency stop signal to the robot controller C.

  As shown in FIG. 3, the wired teach pendant TP1 is provided with a wired LAN interface 36 that is connected to the communication control unit of the robot controller C by a LAN cable. The wired LAN interface 36 incorporates a connector for attaching a cable such as a LAN cable and a communication module for controlling wired communication via the cable.

  As shown in FIG. 4, the wireless teach pendant TP2 is provided with a teach pendant control unit 41 that performs input processing, communication processing, and the like. The teach pendant control unit 41 includes a central processing unit 41a (CPU) that executes various programs, a volatile RAM 41b in which data is temporarily stored during execution of the programs, and a nonvolatile storage in which programs necessary for processing are stored. It is comprised as a computer which has the property memory | storage part 41c.

  As shown in FIG. 4, the wireless teach pendant TP2 is provided with a display 42 for displaying various kinds of information. The display 42 displays, for example, the current status of the robot R, the teaching contents for the robot R, and the like based on the image signal from the teach pendant control unit 41. The wireless teach pendant TP2 is provided with a keyboard 43 for inputting information. The keyboard 43 is, for example, an arrow key for moving a selection position (cursor position) displayed on the display 42 or a character key for inputting character information. The wireless teach pendant TP2 is provided with an enable switch 44 for permitting power supply to the robot R. When the enable switch 44 of the wireless teach pendant TP2 is operated, the wireless teach pendant TP2 transmits an enable signal to the robot controller C. The wireless teach pendant TP2 is provided with an emergency stop switch 45 for emergency stop of the robot R. When the emergency stop switch 45 of the wireless teach pendant TP2 is operated, the wireless teach pendant TP2 transmits an emergency stop signal to the robot controller C.

  As shown in FIG. 4, the wireless teach pendant TP2 is provided with a wireless LAN interface 46 for wireless communication with the wireless access point AP of the robot controller C. The wireless LAN interface 46 includes an antenna for transmitting and receiving radio waves and a communication module for controlling wireless communication using the antenna, and performs wireless communication based on, for example, the IEEE 802.11 standard.

(State transition process of the robot controller in the first embodiment)
Next, the state transition process of the robot controller C will be described with reference to FIG.
When the operator operates the power switch 11 of the robot control device C and the power supply of the robot control device C is turned on from off, the processing of the robot control device C proceeds to step ST1.

  In step ST1, the robot controller 12 of the robot controller C performs initial diagnosis by determining whether a predetermined voltage is supplied to the controller main unit CM, the operation box OP, and the wireless access point AP. If it is determined that there is an abnormality in this initial diagnosis (NO in step ST1), the series of processes is terminated. If it is determined that the initial diagnosis is normal (YES in step ST1), the process of the robot controller C proceeds to step ST2.

  In step ST2, the robot control unit 12 of the robot control apparatus C outputs to the communication control unit 15 a notification indicating that the establishment of communication connection is permitted and the destination is the wired teach pendant TP1. The communication control unit 15 outputs the input permission notification to the wired teach pendant TP1. In the robot control apparatus C, the robot control unit 12 outputs a connection permission signal to the communication control unit 15 with the wired teach pendant TP1 as a target for establishing a communication connection. Thereafter, necessary information is transmitted and received between the robot controller 12 of the robot controller C and the wired teach pendant TP1, and communication connection between the robot controller 12 of the robot controller C and the wired teach pendant TP1 is established. . When the communication connection is established, the process of the robot control apparatus C proceeds to step ST3.

  In step ST3, the robot control unit 12 of the robot control device C changes the state of the control device main body CM to the “operation preparation waiting state”. The “operation preparation waiting state” is a state in which power supply from the servo amplifier 14 of the control device main body CM to the robot R is prohibited. Therefore, in this “operation ready state”, even if the enable signal from the wired teach pendant TP1 is input to the robot controller 12 of the robot controller C, the enable signal is invalidated. When the state of the control device main body CM transitions to the “operation preparation waiting state”, the processing of the robot control device C proceeds to step ST4.

  In step ST4, the robot controller 12 of the robot controller C determines whether or not an operation preparation signal is input from the operation box OP. If the operation preparation signal is not input (NO in step ST4), the robot controller 12 continues to wait for the operation preparation signal to be input. When the operator operates the operation preparation switch 21 of the operation box OP, an operation preparation signal is output from the operation box OP to the robot controller 12 of the control device main body CM. When this operation preparation signal is input to robot control unit 12 (YES in step ST4), the process of robot control apparatus C proceeds to step ST5.

  In step ST5, the robot controller 12 of the robot controller C shifts the state of the controller main unit CM to the “operation preparation state”. The “operation preparation state” is a state in which power supply from the servo amplifier 14 of the control device main body CM to the robot R is permitted. When the state of the control device main body CM transitions to the “operation preparation state”, the processing of the robot control device C proceeds to step ST6.

  In step ST6, the robot controller 12 of the robot controller C determines whether or not there is an enable signal input from the wired teach pendant TP1 that established the communication connection in step ST2. If no enable signal is input (NO in step ST6), the robot controller 12 continues to wait for an enable signal. When the operator operates the enable switch 34 of the wired teach pendant TP1, an enable signal is output from the wired teach pendant TP1 to the robot controller C. When this enable signal is input to robot controller 12 of robot controller C (YES in step ST6), the process of robot controller C proceeds to step ST7.

  In step ST7, the robot controller 12 of the robot controller C shifts the state of the controller main unit CM to the “servo amplifier ON state”. The “servo amplifier ON state” is a state in which the servo amplifier 14 of the control device main body CM is turned on and power corresponding to the posture of the arm of the robot R indicated by the robot control unit 12 is supplied to the servo motor of the robot R. is there. For example, the state in which the robot R is instructed to operate, the state in which the instructed operation is replayed by the robot R, and the like correspond to the “servo amplifier ON state”. When the state of the control device main body CM transitions to the “servo amplifier ON state”, the processing of the robot control device C proceeds to step ST8.

  In step ST8, the robot controller 12 of the robot controller C receives an emergency stop signal from the wired teach pendant TP1 that has established a communication connection in step ST2 or an emergency stop signal from the operation box OP. Determine whether or not. When no emergency stop signal is input (NO in step ST8), the control device main body CM is maintained in the “servo amplifier ON state”. When the operator operates the emergency stop switch 45 of the wired teach pendant TP1, an emergency stop signal is output from the wired teach pendant TP1 to the robot controller C. When the operator operates the emergency stop switch 22 of the operation box OP, an emergency stop signal is output to the robot control unit 12 of the control device main body CM. When any one of these emergency stop signals is input to robot controller 12 (YES in step ST6), the process of robot controller C proceeds to step ST9.

  In step ST9, the robot controller 12 of the robot controller C stops the power supply from the servo amplifier 14 to the robot R by turning off the servo amplifier 14. As a result, the robot R comes to an emergency stop. Thereafter, the process of the robot controller C returns to step ST3, and the controller main unit CM shifts to the “operation preparation waiting state”. The subsequent processing of step ST4 to step ST9 is the same as described above.

(Wireless communication establishment process in the first embodiment)
Next, a process for establishing a wireless communication connection between the wireless teach pendant TP2 and the robot controller C will be described with reference to FIGS. In the following description, it is assumed that the robot control apparatus C has completed the processes of step ST1 to step ST7 in the series of state transition processes described above. That is, it is assumed that the communication connection is established between the wired teach pendant TP1 and the robot control device C, and the control device main body CM of the robot control device C is in the “servo amplifier ON state”.

  As shown in FIG. 6, the robot controller C performs the process of step ST21 when the power is on. In step ST21, the robot control apparatus C transmits the network information of the wireless access point AP every predetermined time. Thereafter, the processing of the robot control apparatus C proceeds to step ST22.

  On the other hand, when the power supply of the wireless teach pendant TP2 is turned on, the wireless teach pendant TP2 performs the process of step ST11. In step ST11, the teach pendant control unit 41 searches for a wireless access point AP of the robot control apparatus C that can communicate based on whether network information of the wireless access point AP of the robot control apparatus C has been received. When the wireless access point AP of the communicable robot controller C is searched, the processing of the wireless teach pendant TP2 moves to step ST12.

  In step ST12, the teach pendant control unit 41 displays the received network information of the wireless access point AP on the display 42 so as to be selectable as information that can identify the searched wireless access point AP that can be communicated. Thereafter, the processing of the wireless teach pendant TP2 proceeds to step ST13.

  In step ST <b> 13, the teach pendant control unit 41 determines which one of the searched wireless access points AP that can be communicated has been selected. If the wireless access point AP has not been selected (NO in step ST13), the process of the teach pendant control unit 41 returns to step ST11 and searches for a wireless access point AP that can communicate again. When the wireless access point AP on the display 42 is selected by operating the keyboard 43 of the wireless teach pendant TP2 (YES in step ST13), the processing of the wireless teach pendant TP2 proceeds to step ST14.

  In step ST14, the wireless teach pendant TP2 transmits a connection request signal (first connection request signal) to the robot controller C in which the selected wireless access point AP is provided. Thereafter, the processing of the wireless teach pendant TP2 proceeds to step ST15.

  In step ST15, the teach pendant control unit 41 of the wireless teach pendant TP2 causes the display 42 to display a display prompting the operator to operate the operation preparation switch 21 of the operation box OP. Thereafter, the processing of the wireless teach pendant TP2 stands by until there is a response from the robot controller C.

  On the other hand, the process of the robot control apparatus C has shifted to step ST22 after transmitting network information (step ST21). In step ST22, the robot control unit 12 of the robot control apparatus C receives the connection request signal transmitted from the wireless teach pendant TP2 at the wireless access point AP, and whether the received connection request signal is input to the robot control unit 12. Judge whether or not. If the wireless teach pendant TP2 has not completed the processes of steps ST11 to ST14 and has not received a connection request signal, the process of the robot controller C returns to step ST21. When a connection request signal is input from wireless teach pendant TP2 (YES in step ST22), the process of robot controller C proceeds to steps ST23 to ST25.

  In step ST23, the robot control unit 12 of the robot control apparatus C turns off the servo amplifier 14. Thereby, the power supply to the robot R is cut off, and the operation of the robot R stops. In step ST <b> 24, the robot control unit 12 outputs a connection release signal for releasing establishment of communication connection to the communication control unit 15. In response to the connection release signal, the communication control unit 15 releases the establishment of communication connection with the wired teach pendant TP1. After the establishment of the communication connection is canceled, the control signal from the wired teach pendant TP1 is invalidated and is not input to the robot controller 12 of the robot controller C. In step ST25, the robot control unit 12 instructs the timer 13 to clear the count value. Then, the robot control unit 12 instructs the timer 13 to count up the count value. Steps ST23 to ST25 are processed in parallel. When Steps ST23 to ST25 are completed, the process of the robot control apparatus C proceeds to Step ST26.

  In step ST26, the robot control unit 12 refers to the count value of the timer 13 and determines whether or not a connection confirmation signal (second connection request signal) is input from the operation box OP within a predetermined time. Specifically, the robot control unit 12 determines that the connection confirmation signal has not been input within a predetermined time when the count value of the timer 13 becomes a predetermined value or more without receiving the connection confirmation signal (in step ST26). NO). In this case, the robot control unit 12 invalidates the connection request signal input in step ST22. Then, the process of the robot control apparatus C moves to step ST27.

  As shown in FIG. 7, in step ST27, the robot controller C transmits a rejection notification indicating that the establishment of the wireless communication connection is rejected to the wireless teach pendant TP2 that is the transmission source of the connection request signal. Then, the robot control unit 12 of the robot control apparatus C proceeds to step ST2 (see FIG. 5) in the state transition process. Subsequent steps ST3 to ST9 are the same as described above.

  On the other hand, in step ST16, the wireless teach pendant TP2 receives the rejection notification transmitted by the robot controller C. When the rejection notification is received, the processing of the wireless teach pendant TP2 proceeds to step ST17. In step ST17, the teach pendant control unit 41 of the wireless teach pendant TP2 causes the display 42 to display a warning that the wireless communication connection could not be established. After displaying the warning on the display 42 for a predetermined time, the processing of the wireless teach pendant TP2 returns to step ST11. The processing after step ST11 is the same as described above.

  As shown in FIG. 6, in the process of step ST26 of the robot controller C, the establishment of communication connection with the wired teach pendant TP1 has already been canceled in step ST24. Therefore, no communication connection has been established for any teach pendant to the robot controller 12. At this time, when the operator operates the operation preparation switch 21 of the operation box OP, the operation box OP outputs a connection confirmation signal to the robot control unit 12. If the connection confirmation signal is input when the count value of timer 13 is less than the predetermined value, robot control unit 12 determines that the connection confirmation signal has been input within a predetermined time (YES in step ST26). Thereafter, the processing of the robot controller C proceeds to step ST28.

  As shown in FIG. 7, in step ST28, the robot control unit 12 of the robot control apparatus C is a permission notification for permitting establishment of wireless communication, and is a notification addressed to the wireless teach pendant TP2 that is the transmission source of the connection request signal. Is output to the communication control unit 15. The communication control unit 15 outputs the input permission notification to the wireless access point AP, and the wireless access point AP transmits the permission notification to the wireless teach pendant TP2 that is the transmission source of the connection request signal. Thereafter, the processing of the robot controller C proceeds to step ST29.

  In step ST29, the robot control unit 12 of the robot control apparatus C outputs a connection permission signal to the communication control unit 15 that uses the wireless teach pendant TP2 that is the transmission source of the connection request signal as a communication connection establishment target. The communication control unit 15 establishes a wireless communication connection between the wireless teach pendant TP2 and the robot control unit 12 of the robot control device C based on the connection permission signal.

  On the other hand, in step ST18, the wireless teach pendant TP2 receives the permission notification transmitted by the robot controller C. The wireless teach pendant TP2 that has received the permission notification transmits / receives necessary information to / from the robot control unit 12 of the robot control device C, and then between the wireless teach pendant TP2 and the robot control unit 12 of the robot control device C. A wireless communication connection is established.

  After the wireless communication connection is established between the robot controller 12 of the robot controller C and the wireless teach pendant TP2, the process of the wireless teach pendant TP2 proceeds to step ST19. In step ST19, the teach pendant control unit 41 of the wireless teach pendant TP2 causes the display 42 to display an indication that the wireless communication connection has been successfully established. Thereafter, the wireless teach pendant TP2 is in a state where the robot R can be operated based on the operation of the keyboard 43, the enable switch 44, the emergency stop switch 45, and the like.

  After the wireless communication connection is established between the robot controller 12 of the robot controller C and the wireless teach pendant TP2, the process of the robot controller C proceeds to step ST3 (see FIG. 5) in the state transition process. . However, the establishment of the communication connection to the wired teach pendant TP1 is cancelled, and the connection of the wireless communication to the wireless teach pendant TP2 is established. Therefore, control signals such as an enable signal and an emergency stop signal from the wireless teach pendant TP2 are valid. Further, when the operation preparation switch 21 of the operation box OP is operated in a state where the wireless communication connection is established between the robot controller 12 and the wireless teach pendant TP2, the operation box OP is prepared for operation. Output a signal.

  When a wireless communication connection to the wireless teach pendant TP2 is established, the portion described as “wired TP” in the flowchart shown in FIG. 5 is read as “wireless TP”. Other processing contents are the same as described above.

  By the way, after the connection request signal from the wireless teach pendant TP2 is input to the robot controller 12 of the robot controller C (step ST22 in FIG. 6), a new wireless communication connection establishment process is completed. Disables the interrupt of the connection request signal. Specifically, after a connection request signal from the wireless teach pendant TP2 is input to the robot control unit 12, a new connection request signal is input before a series of wireless communication connection establishment processing ends. However, the robot control unit 12 discards the new connection request signal without processing it. Then, the robot controller C transmits a rejection notice to the wireless teach pendant TP2 that is the transmission source of the new connection request signal, in the same manner as the process of step ST27 shown in FIG. In the wireless teach pendant TP2 that has received the rejection notification, the processing of step ST16 and step ST17 is performed, and a warning that the wireless communication connection could not be established is displayed on the display 42.

  Further, after the servo amplifier 14 is turned off in step ST23, the servo amplifier 14 is connected until the wireless communication connection is established between the robot controller 12 of the robot controller C and the wireless teach pendant TP2 and the process proceeds to step ST3. Remains off and power supply to the robot R is prohibited. In this embodiment, even if a wireless communication connection is established, power is supplied to the robot R until the control device main body CM of the robot control device C transitions to the “operation preparation state” through steps ST3 to ST5. It remains prohibited.

(Operation of the first embodiment)
The operation of the robot control system configured as described above will be described with reference to FIGS.

  As shown in FIG. 8, it is assumed that a set of the robot control device Ca and the robot Ra and a set of the robot control device Cb and the robot Rb exist. Then, it is assumed that the wireless teach pendant TP2 possessed by the operator H is within the wireless communication range of the robot control device Ca and also within the wireless communication range of the robot control device Cb. In this case, both the robot controller Ca and the robot controller Cb are displayed as connectable robot controllers on the display 42 of the wireless teach pendant TP2.

  Here, as shown in FIG. 8, although the operator H intends to establish a wireless communication connection to the robot control device Cb, the robot control device Ca is not operated by the erroneous operation of the keyboard 43 of the wireless teach pendant TP2. May be selected. In this case, a connection request signal is transmitted from the wireless teach pendant TP2 to the robot controller 12 of the robot controller Ca. On the other hand, the connection request signal is not transmitted to the robot controller Cb for which the operator H intends to establish a wireless connection.

  As shown in FIG. 9, the operator H selects an unintended robot control device Ca on the wireless teach pendant TP2, and then is prompted by the display content of the display 42 of the wireless teach pendant TP2 to originally intend the robot. The operation box OP of the control device Cb is operated. Therefore, in the robot control device Cb, a connection confirmation signal is input from the operation box OP to the robot control unit 12 of the control device main body CM. However, the robot control device Cb is in a state where no connection request signal is input. Accordingly, in the robot control device Cb, no connection permission signal is output from the robot control unit 12 to the communication control unit 15, and no wireless communication connection is established between the wireless teach pendant TP2 and the robot control device Cb. . On the other hand, the robot control device Ca is in a state where a connection request signal from the wireless teach pendant TP2 is input. However, since the robot controller Ca is not intended for the wireless communication connection by the operator H, the operation box OP is not operated. Then, the robot control device Ca invalidates the connection request signal when a predetermined time elapses after the connection request signal from the wireless teach pendant TP2 is input. Therefore, a wireless communication connection is not established between the wireless teach pendant TP2 and the robot controller Ca. Thus, when the robot control device Ca that is not intended by the operator H is selected as a wireless communication connection target, no wireless communication connection is established for any robot control device.

  After the operator H selects an unintended robot controller Ca on the wireless teach pendant TP2, when a predetermined time has elapsed, the display 42 of the wireless teach pendant TP2 indicates that establishment of a wireless communication connection is not permitted. A warning is displayed. By this display, the operator H notices that the robot control device Ca that was not intended was selected, and redoes the series of wireless communication connection establishment processes.

(Characteristics of the first embodiment)
The robot control system according to the first embodiment has the following characteristics.
(1) In the first embodiment, when both the connection request signal from the wireless teach pendant TP2 and the connection confirmation signal from the operation box OP are not input to the robot controller 12 of the robot controller C, the wireless teach pendant TP2 And the wireless communication connection between the robot controller C of the robot controller C are not established. Therefore, the possibility of establishing a wireless communication connection with the unintended robot controller C is reduced. As a result, a wireless communication connection can be more reliably established with respect to the intended robot controller 12 of the robot controller C.

  (2) In the first embodiment, the connection confirmation signal is output from the operation box OP when the operation preparation switch 21 of the operation box OP is operated. Since the operation box OP is connected to the control device main body CM by wire, the operator can clearly grasp the correspondence between the two. Further, when operating the operation box OP, the operator needs to appropriately approach the robot controller C and the robot R intended to establish a wireless communication connection. Therefore, there is a low possibility that the operation box OP of the robot control apparatus C that the operator does not intend to establish a wireless communication connection is erroneously operated. That is, by causing the operator to operate the operation preparation switch 21 of the operation box OP, it is possible to more reliably reflect the operator's intention regarding the establishment of the wireless communication connection.

  (3) In the first embodiment, after the connection request signal is input from the wireless teach pendant TP2 to the robot control device C, the wireless communication connection is established and the control device main body CM of the robot control device C The power supply from the servo amplifier 14 to the robot R is prohibited until the “operation preparation state” is entered. Therefore, during the process of establishing the wireless communication connection between the wireless teach pendant TP2 and the robot controller C, the robot R does not operate based on the operation of another teach pendant.

  (4) In the first embodiment, after the connection request signal is input from the wireless teach pendant TP2 to the robot controller C, if the connection confirmation signal from the operation box OP is not input within a predetermined time, The input connection request signal is invalidated. Thus, by limiting the valid time of the connection request signal, a person other than the operator who owns the wireless teach pendant TP2 that has transmitted the connection request signal operates the operation box OP to input the connection confirmation signal. Can be suppressed.

  (5) In the first embodiment, the operation preparation switch 21 of the operation box OP in the robot controller C also functions as a switch for outputting a connection confirmation signal. Therefore, when applying the wireless communication connection establishment process of the first embodiment, it is not necessary to add a new switch or the like to the robot control device or the like, and the establishment process can be applied at a lower cost.

(Configuration of Second Embodiment and Wireless Communication Connection Establishment Process)
A second embodiment of the robot control system of the present invention will be described. Note that the electrical configuration of each device in the robot control system of the second embodiment and the state transition processing of the robot control device C are the same as those in the first embodiment, and thus description thereof is omitted. Moreover, regarding the wireless communication connection establishment process in the second embodiment below, the same processes as those in the first embodiment (steps) are denoted by the same reference numerals, and the description will be simplified.

  First, as shown in FIG. 2, when the operation preparation switch 21 is operated, the operation box OP in the robot control apparatus C sends an operation preparation signal or a connection standby signal as a second connection request signal to the robot controller 12. Output. Specifically, in the second embodiment, the operation preparation switch 21 of the operation box OP is a push button switch. When the operation preparation switch 21 is pressed for less than a predetermined time (for example, several seconds), the operation box OP outputs an operation preparation signal to the robot controller 12. When the operation preparation switch 21 is pressed for a predetermined time (for example, several seconds) or longer, the operation box OP outputs a connection standby signal as a second connection request signal to the robot controller 12.

  As shown in FIG. 10, the robot controller C performs the process of step ST21 in a state where the power is turned on. In step ST21, the robot control apparatus C transmits the network information of the wireless access point AP every predetermined time. Thereafter, the processing of the robot controller C proceeds to step ST31.

  On the other hand, when the power supply of the wireless teach pendant TP2 is turned on, the wireless teach pendant TP2 performs the process of step ST10. In step ST10, the teach pendant control unit 41 of the wireless teach pendant TP2 displays a message prompting the operator to press and hold the operation preparation switch 21 of the operation box OP in the robot controller C that requests establishment of a wireless communication connection. It is displayed on the display 42. Thereafter, the processing of the wireless teach pendant TP2 proceeds to step ST11.

  In step ST11, the teach pendant control unit 41 searches for a wireless access point AP of the robot controller C that can communicate. In subsequent step ST12, the teach pendant control unit 41 displays the network information of the searched wireless access point AP that can be searched on the display 42 so as to be selectable. Thereafter, the processing of the wireless teach pendant TP2 proceeds to step ST13.

  On the other hand, the process of the robot controller C has shifted to step ST31 after transmitting the network information (step ST21). In step ST31, the robot control unit 12 of the robot control apparatus C determines whether or not a connection standby signal (second connection request signal) is input from the operation box OP. If the operation preparation switch 21 of the operation box OP is not operated and the connection standby signal is not input (NO in step ST31), the process of the robot controller C returns to step ST21. If the operator presses and holds the operation preparation switch 21 of the operation box OP and a connection standby signal is input from the operation box OP (YES in step ST31), the processing of the robot control unit 12 is performed in step ST23. Move on to ST25.

  In step ST23, the robot controller 12 of the robot controller C turns off the servo amplifier 14. In step ST24, the robot control unit 12 outputs to the communication control unit 15 a connection release signal for releasing the establishment of communication connection with the wired teach pendant TP1. In response to the connection release signal, the communication control unit 15 releases the establishment of communication connection with the wired teach pendant TP1. In step ST25, the robot controller 12 instructs the timer 13 to clear the count value, and then instructs the timer 13 to count up the count value. Thereafter, the process of the robot controller C proceeds to step ST32.

  The processing of the wireless teach pendant TP2 is shifted to step ST13 after the network information of the wireless access point AP capable of communication is displayed on the display 42 of the wireless teach pendant TP2 (step ST12). In step ST <b> 13, the teach pendant control unit 41 determines which one of the searched wireless access points AP that can be communicated has been selected. If the wireless access point AP has not been selected (NO in step ST13), the process of the teach pendant control unit 41 returns to step ST10. When the wireless access point AP on the display 42 is selected by operating the keyboard 43 of the wireless teach pendant TP2 (YES in step ST13), the processing of the wireless teach pendant TP2 proceeds to step ST14.

  In step ST14, the wireless teach pendant TP2 transmits a connection request signal (first connection request signal) to the robot controller C in which the selected wireless access point AP is provided. Thereafter, the processing of the wireless teach pendant TP2 stands by until there is a response from the robot controller C.

  The process of the robot controller C has shifted to step ST32 after the count value of the timer 13 is started to be counted up (step ST25). In step ST32, the robot control unit 12 of the robot control apparatus C refers to the count value of the timer 13 and determines whether or not a connection request signal from the wireless teach pendant TP2 is input within a predetermined time. Specifically, the robot control unit 12 determines that the connection request signal has not been input within a predetermined time when the count value of the timer 13 exceeds a predetermined value without the connection request signal being input (step ST32). NO). In this case, the robot control unit 12 of the robot control apparatus C invalidates the connection standby signal whose input has been confirmed in step ST31. Thereafter, the process proceeds to step ST2 (see FIG. 5) in the state transition process. Subsequent steps ST3 to ST9 are the same as described above.

  In the process of step ST32 of the robot controller C, if the process of step ST14 in the wireless teach pendant TP2 is performed, a connection request signal is transmitted from the wireless teach pendant TP2 to the robot controller C, and the robot controller C receives the connection request signal. Received. Then, the connection request signal received by the robot controller C is input to the robot controller 12. If the connection request signal is input to the robot control unit 12 when the count value of the timer 13 is less than the predetermined value, the robot control unit 12 determines that the connection request signal has been input within a predetermined time (in step ST32). YES). Thereafter, the processing of the robot control apparatus C proceeds to step ST28 shown in FIG. Thereafter, the processes of Step ST28 and Step ST29 of the robot controller C and Steps ST18 and ST19 in the wireless teach pendant TP2 are performed in the same manner as in the first embodiment, and the robot controller 12 of the robot controller C and the wireless teach pendant TP2 A wireless communication connection is established.

  After the connection standby signal is input to the robot controller 12 of the robot controller C (step ST31 in FIG. 10), a new connection standby signal interrupt prohibition process is completed until a series of wireless communication connection establishment processes are completed. I do. Specifically, even if a new connection standby signal is input after the connection standby signal is input to the robot control unit 12 and before the connection establishment process of a series of wireless communication is completed, the robot control unit 12 Discards the new connection waiting signal without processing it.

  By the way, the connection standby signal is effective in the period from when the connection standby signal is input to the robot controller 12 of the robot controller C until the count value of the timer 13 becomes equal to or greater than the predetermined value. The connection waiting signal is not valid (invalid). In this way, the connection request signal may be output from the wireless teach pendant TP2 to the robot controller C in a state where the connection standby signal is not valid. In this case, the process of the robot control unit 12 of the robot control apparatus C proceeds to step ST27 shown in FIG. Thereafter, the process of step ST27 in the robot controller C, the process of step ST16 and step ST17 in the wireless teach pendant TP2 is performed in the same manner as in the first embodiment, and the wireless communication connection is established on the display 42 of the wireless teach pendant TP2. A warning will be displayed to the effect.

(Characteristics of the second embodiment)
The robot control system according to the second embodiment has the following characteristics.
(6) In the second embodiment, when both the connection standby signal from the operation box OP and the connection request signal from the wireless teach pendant TP2 are not input to the robot controller 12 of the robot controller C, the wireless teach pendant TP2 And the wireless communication connection between the robot controller C of the robot controller C are not established. Therefore, the possibility of establishing a wireless communication connection with the unintended robot controller C is reduced. As a result, a wireless communication connection can be more reliably established with respect to the intended robot controller 12 of the robot controller C.

(Configuration of Third Embodiment)
The configuration of the third embodiment of the robot control system of the present invention will be described with reference to FIGS. In addition, about the structure of each apparatus in the robot control system of 3rd Embodiment, the same code | symbol is attached | subjected about the same structure as 1st Embodiment, and description is abbreviate | omitted.

  As shown in FIG. 11, the control device main body CM of the robot control device C includes an infrared light receiving unit 18 that can receive a signal wirelessly by receiving infrared light (for example, a wavelength of 940 to 950 nm). Yes. The infrared light receiving unit 18 receives infrared light through an infrared transmission window (not shown) formed on one side surface of the casing of the control device main body CM. Therefore, the infrared light receiving unit 18 cannot receive infrared light from the side where the infrared transmission window is not formed in the housing of the control device main body CM. The infrared light receiving unit 18 is connected to the robot control unit 12 by wire and outputs a signal received by infrared communication to the robot control unit 12.

  As shown in FIG. 12, authentication information that can identify the wireless teach pendant TP2 is stored in the storage unit 41c of the teach pendant control unit 41 of the wireless teach pendant TP2. The authentication information is, for example, a unique MAC address assigned to the wireless teach pendant TP2, a password generated by a predetermined algorithm, or the like.

  As shown in FIG. 12, the wireless teach pendant TP2 incorporates an infrared light emitting unit 48 capable of transmitting a signal wirelessly by emitting infrared light. The infrared light emitting unit 48 is connected to the teach pendant control unit 41 by wire. The wireless teach pendant TP2 is provided with an infrared transmission key as a part of the keyboard 43. By operating the infrared transmission key, the infrared light emitting unit 48 transmits an infrared signal including authentication information of the wireless teach pendant TP2 stored in the storage unit 41c.

  When the infrared signal transmitted from the infrared light emitting unit 48 of the wireless teach pendant TP2 is received by the infrared light receiving unit 18 of the robot controller C, the infrared light receiving unit 18 uses the authentication information of the wireless teach pendant TP2 included in the infrared signal. Extract. The infrared light receiving unit 18 then outputs a signal including a signal indicating that the wireless communication connection has been confirmed and authentication information to the robot control unit 12 as a connection confirmation signal (second connection request signal).

  The reach distance of infrared rays emitted from the infrared light emitting unit 48 of the wireless teach pendant TP2 is, for example, several meters to several tens of meters. Therefore, the communication range of the infrared communication between the infrared light emitting unit 48 of the wireless teach pendant TP2 and the infrared light receiving unit 18 of the robot controller C is similarly several meters to a few dozen meters. The infrared communication range is narrower than several tens of meters to hundreds of tens of meters, which is the communication range of the wireless access point AP of the robot controller C.

(Wireless communication establishment process in the third embodiment)
Next, a process for establishing a wireless communication connection between the wireless teach pendant TP2 and the robot controller C in the third embodiment will be described with reference to FIG. In addition, regarding the wireless communication connection establishment process in the following third embodiment, the same processes as those in the first embodiment (steps) are denoted by the same reference numerals, and description thereof is simplified or omitted.

  As shown in FIG. 13, the robot controller C transmits network information of the wireless access point AP every predetermined time in step ST21 in a state where the power is turned on. Thereafter, the processing of the robot control apparatus C proceeds to step ST22.

  On the other hand, when the power supply of the wireless teach pendant TP2 is turned on, the wireless teach pendant TP2 performs the processes of steps ST11 to ST13. These processes are the same as those in the first embodiment. Thereafter, the processing of the wireless teach pendant TP2 proceeds to step ST14.

  In step ST14, the wireless teach pendant TP2 sends a signal requesting establishment of a wireless communication connection to the robot control device C provided with the selected wireless access point AP and a storage unit of the teach pendant control unit 41. A connection request signal (first connection request signal) including authentication information stored in 41c is transmitted. Note that the authentication information included in the connection request signal is processed as verification information in the third embodiment. Thereafter, the processing of the wireless teach pendant TP2 proceeds to step ST41.

  In step ST41, the teach pendant control unit 41 of the wireless teach pendant TP2 causes the display 42 to display a display requesting that an infrared signal be transmitted by operating the keyboard 43 of the wireless teach pendant TP2. Thereafter, the processing of the wireless teach pendant TP2 proceeds to step ST42.

  In step ST42, the teach pendant control unit 41 determines whether or not an operation for transmitting an infrared signal is performed on the keyboard 43. If it is determined that the operation has not been performed (NO in step ST42), the process of the teach pendant control unit 41 returns to step ST41. If it is determined that an operation for transmitting an infrared signal is performed on keyboard 43 (YES in step ST42), the process of teach pendant control unit 41 proceeds to step ST43.

  In step ST43, the teach pendant control unit 41 causes the infrared light emitting unit 48 to transmit an infrared signal. The infrared signal includes authentication information stored in the storage unit 41c of the teach pendant control unit 41. Thereafter, the processing of the teach pendant control unit 41 stands by until there is a response from the robot control device C.

  On the other hand, the process of the robot control apparatus C has shifted to step ST22 after transmitting network information (step ST21). In step ST22, the robot control unit 12 of the robot control apparatus C receives the connection request signal transmitted from the wireless teach pendant TP2 at the wireless access point AP, and whether the received connection request signal is input to the robot control unit 12. Judge whether or not. If the connection request signal is not input, the process of the robot controller C returns to step ST21. When the connection request signal is input from the wireless teach pendant TP2 (YES in step ST22), the robot controller C performs the processes of steps ST23 to ST25. These processes are the same as those in the first embodiment. Thereafter, the process of the robot controller C proceeds to step ST26.

  In step ST26, the robot control unit 12 refers to the count value of the timer 13 and determines whether or not a connection confirmation signal (second connection request signal) is input from the infrared light receiving unit 18 within a predetermined time. Specifically, when the infrared signal transmitted from the wireless teach pendant TP2 in step ST43 is received by the infrared light receiving unit 18 of the robot controller C, the infrared light receiving unit 18 confirms the establishment of a wireless communication connection. The connection confirmation signal including the signal to be displayed and the authentication information in the infrared signal is output, and the connection confirmation signal is input to the robot controller 12.

  The robot controller 12 determines that the connection confirmation signal has not been input within a predetermined time when the count value of the timer 13 is equal to or greater than a predetermined value without the connection confirmation signal being input (NO in step ST26). . In this case, the robot control unit 12 invalidates the connection request signal input in step ST22. Thereafter, the process of the robot control apparatus C proceeds to step ST2 in the state transition process through the process of step ST27. The processing of the wireless teach pendant TP2 proceeds to step ST11 through the processing of steps ST16 and ST17. The processes in steps ST27, ST16, and ST17 are the same as in the first embodiment (see FIG. 7).

  If the connection confirmation signal is input when the count value of the timer 13 is less than the predetermined value, the robot control unit 12 determines that the connection confirmation signal has been input within a predetermined time (YES in step ST26). Thereafter, the process of the robot controller C proceeds to step ST35.

  In step ST35, the robot controller 12 compares the authentication information (verification information) included in the connection request signal input in step ST22 with the authentication information included in the connection confirmation signal input in step ST26. It is determined whether or not the authentication information matches (matches). If they do not match (NO in step ST35), the process of the robot controller C proceeds to step ST2 in the state transition process through the process of step ST27 (see FIG. 7). If they do not match, the processing of the wireless teach pendant TP2 proceeds to step ST11 through steps ST16 and ST17 (see FIG. 7). The processes in steps ST27, ST16, and ST17 are the same as in the first embodiment.

  If it is determined in step ST35 that the authentication information matches (YES in step ST35), the process of the robot control apparatus C proceeds to step ST28 shown in FIG. Thereafter, the processes of steps ST28 and ST29 of the robot controller C and steps ST18 and ST19 in the wireless teach pendant TP2 are performed in the same manner as in the first embodiment, and the robot controller 12 of the robot controller C and the wireless teach pendant TP2 are processed. A wireless communication connection is established.

  In addition, after the connection request signal from the wireless teach pendant TP2 is input to the robot control unit 12 of the robot control apparatus C (step ST22 in FIG. 13), a new wireless communication connection establishment process is completed. Disables the interrupt of the connection request signal. This interrupt prohibition process is the same as in the first embodiment.

(Characteristics of the third embodiment)
The robot control system according to the third embodiment has the following characteristics.
(7) In the third embodiment, the robot controller 12 of the robot controller C receives both the connection request signal from the wireless teach pendant TP2 and the connection confirmation signal from the infrared light receiver 18 based on the reception of the infrared signal. If not input, the wireless communication connection between the wireless teach pendant TP2 and the robot controller 12 of the robot controller C is not established. Therefore, the possibility of establishing a wireless communication connection with the unintended robot controller C is reduced. As a result, a wireless communication connection can be more reliably established with respect to the intended robot controller 12 of the robot controller C.

  (8) In the third embodiment, wireless communication connection can be established even if the position of the wireless teach pendant TP2 is away from the robot control device C as long as it is within the infrared communication range, which is highly convenient. On the other hand, the communication range (infrared reach) of infrared communication is relatively narrow, and infrared rays are easily blocked by the presence of obstacles and the like. Therefore, the operator who has the wireless teach pendant TP2 is not excessively separated from the robot controller C and should be in a position where the robot controller C can be seen. As a result, the operator is unlikely to transmit an infrared signal to the infrared light receiving unit 18 of the robot controller C that does not intend to establish a wireless communication connection. That is, by causing the operator to perform an operation of transmitting an infrared signal from the infrared light emitting unit of the wireless teach pendant TP2, it is possible to more reliably reflect the operator's intention regarding the establishment of a wireless communication connection.

  (9) In the third embodiment, the authentication information (verification information) included in the connection request signal by wireless communication from the wireless teach pendant TP2 and the authentication information included in the connection confirmation signal by infrared communication from the wireless teach pendant TP2 If the two do not match, the wireless communication connection is not established. That is, the wireless communication connection is established when the wireless teach pendant TP2 that transmitted the connection request signal and the wireless teach pendant TP2 that transmitted the connection confirmation signal are the same wireless teach pendant TP2. Therefore, by receiving the infrared signal transmitted by the other wireless teach pendant TP2, the wireless communication connection with the other wireless teach pendant TP2 is not unintentionally established.

(Configuration of Fourth Embodiment)
The configuration of the fourth embodiment of the robot control system of the present invention will be described with reference to FIGS. In addition, about the structure of each apparatus in the robot control system of 4th Embodiment, the same code | symbol is attached | subjected about the same structure as 1st Embodiment, and description is abbreviate | omitted.

  As shown in FIG. 14, in the robot control device C, the control device main body CM is equipped with a short-range wireless communication unit 19 that performs wireless communication at a short distance. The short-range wireless communication unit 19 is partially exposed to the outside of the control device main body CM, and performs wireless communication in the portion exposed to the outside. The short-range wireless communication unit 19 performs wireless communication according to a standard called NFC (Near Field Communication), for example, and the communication range is several centimeters to several tens of centimeters. The short-range wireless communication unit 19 is connected to the robot control unit 12 by wire, outputs a received signal to the robot control unit 12, and transmits a signal input from the robot control unit 12.

  As shown in FIG. 15, the wireless teach pendant TP2 is equipped with a short-range wireless communication unit 49 that performs wireless communication at a short distance. A part of the short-range wireless communication unit 49 is exposed to the outside of the wireless teach pendant TP2, and wireless communication is performed in the portion exposed to the outside. The short-range wireless communication unit 49 of the wireless teach pendant TP2 performs wireless communication according to the same standard as the short-range wireless communication unit 19 of the robot control device C, for example, the NFC standard. The short-range wireless communication unit 49 is connected to the teach pendant control unit 41 by wire, outputs the received signal to the teach pendant control unit 41, and transmits the signal input from the teach pendant control unit 41.

  As shown in FIG. 15, the robot control system according to the fourth embodiment is constructed including an ID card 50 that is also used as an employee ID card, entrance certificate, or the like. The ID card 50 includes an NFC chip 51 that performs wireless communication at a short distance as an authentication device. The NFC chip 51 has an antenna for transmitting and receiving signals and a memory for storing information. In the memory of the NFC chip 51, authentication information for specifying the NFC chip 51 is stored. This authentication information is, for example, a MAC address assigned to the NFC chip 51 or a unique symbol number.

  When the NFC chip 51 is positioned within the communication range of the short-range wireless communication unit 19 due to a presentation act such as holding the ID card 50 over the short-range wireless communication unit 19 of the robot controller C, the NFC chip 51 is placed in the short-range wireless communication unit 19. Send authentication information to. The short-range wireless communication unit 19 reads the authentication information of the NFC chip 51 by receiving the transmitted authentication information. Similarly, the short-range wireless communication unit 49 of the wireless teach pendant TP2 reads the authentication information of the NFC chip 51 by receiving the authentication information transmitted from the NFC chip 51.

(Wireless communication connection establishment process in the fourth embodiment)
Next, a process for establishing a wireless communication connection between the wireless teach pendant TP2 and the robot controller C in the fourth embodiment will be described with reference to FIG. In addition, regarding the wireless communication connection establishment process in the following fourth embodiment, the same processes as the processes (steps) in the first to third embodiments are denoted by the same reference numerals, and the description will be simplified.

  As shown in FIG. 16, in a state where the power is turned on, the robot controller C transmits network information of the wireless access point AP every predetermined time in step ST21. Thereafter, the processing of the robot control apparatus C proceeds to step ST22.

  On the other hand, when the power supply of the wireless teach pendant TP2 is turned on, the wireless teach pendant TP2 performs the processes of steps ST11 to ST13. These processes are the same as those in the first embodiment. Thereafter, the processing of the wireless teach pendant TP2 proceeds to step ST45.

  In step ST45, the teach pendant control unit 41 of the wireless teach pendant TP2 causes the display 42 to display a display requesting the presentation of the ID card 50 to the short-range wireless communication unit 49 of the wireless teach pendant TP2. Thereafter, the processing of the wireless teach pendant TP2 proceeds to step ST46.

  In step ST46, the teach pendant control unit 41 determines whether or not the authentication information has been read. Specifically, the teach pendant control unit 41 has received the authentication information transmitted by the NFC chip 51 of the ID card 50 by the short-range wireless communication unit 49 and has input the received authentication information to the teach pendant control unit 41. Judge whether or not. If it is determined that the authentication information has not been read (NO in step ST46), the process of the wireless teach pendant TP2 returns to step ST45. If it is determined that the authentication information has been read (YES in step ST46), the process of the wireless teach pendant TP2 proceeds to step ST14.

  In step ST14, the teach pendant control unit 41 reads in step ST46 a signal requesting establishment of a wireless communication connection to the robot controller C provided with the wireless access point AP selected in step ST13. A connection request signal (first connection request signal) including the authentication information is transmitted. Note that the authentication information included in the connection request signal is processed as verification information in the fourth embodiment. Thereafter, the processing of the wireless teach pendant TP2 proceeds to step ST47.

  In step ST47, the teach pendant control unit 41 of the wireless teach pendant TP2 causes the display 42 to display a display requesting the presentation of the ID card 50 to the short-range wireless communication unit 19 of the robot control device C. Thereafter, the processing of the teach pendant control unit 41 stands by until there is a response from the robot control device C.

  On the other hand, the process of the robot control apparatus C has shifted to step ST22 after transmitting network information (step ST21). In step ST22, the robot control unit 12 of the robot control apparatus C receives the connection request signal transmitted from the wireless teach pendant TP2 at the wireless access point AP, and whether the received connection request signal is input to the robot control unit 12. Judge whether or not. If no connection request signal is input (NO in step ST22), the process of robot controller C returns to step ST21. When the connection request signal is input from the wireless teach pendant TP2 (YES in step ST22), the robot controller C performs the processes of steps ST23 to ST25. These processes are the same as those in the first embodiment. Thereafter, the process of the robot controller C proceeds to step ST26.

  In step ST26, the robot controller 12 refers to the count value of the timer 13 to determine whether or not a connection confirmation signal (second connection request signal) is input from the short-range wireless communication unit 19 within a predetermined time. To do. Specifically, when the NFC chip 51 of the ID card 50 is located within the communication range of the short-range wireless communication unit 19 in the robot control device C according to the display on the display 42 in step ST47 of the wireless teach pendant TP2, the NFC chip 51 transmits the authentication information to the short-range wireless communication unit 19. When the short-range wireless communication unit 19 receives the authentication information, the short-range wireless communication unit 19 outputs a connection confirmation signal including the authentication information and a signal indicating confirmation of connection establishment of the wireless communication. The output connection confirmation signal is input to the robot controller 12.

  The robot control unit 12 determines that the connection confirmation signal has not been input within the predetermined time when the count value of the timer 13 is equal to or greater than the predetermined value without receiving the connection confirmation signal (NO in step ST26). In this case, the robot control unit 12 invalidates the connection request signal input in step ST22. Thereafter, the process of the robot controller C proceeds to step ST2 in the state transition process through the process of step ST27 (see FIG. 7). Further, the processing of the wireless teach pendant TP2 proceeds to step ST11 through the processing of steps ST16 and ST17 (see FIG. 7). The processes in steps ST27, ST16, and ST17 are the same as in the first embodiment.

  When the connection confirmation signal is input to the robot control unit 12 when the count value of the timer 13 is less than the predetermined value, the robot control unit 12 determines that the connection confirmation signal has been input within a predetermined time (step) YES in ST26). Thereafter, the process of the robot controller C proceeds to step ST35.

  In step ST35, the robot controller 12 compares the authentication information (verification information) included in the connection request signal input in step ST22 with the authentication information included in the connection confirmation signal input in step ST26. It is determined whether or not the authentication information matches (conforms). If they do not match (NO in step ST35), the process of the robot controller C proceeds to step ST2 in the state transition process through the process of step ST27 (see FIG. 7). Further, the processing of the wireless teach pendant TP2 proceeds to step ST11 through the processing of steps ST16 and ST17 (see FIG. 7). The processes in steps ST27, ST16, and ST17 are the same as in the first embodiment.

  If it is determined in step ST35 that the authentication information matches (YES in step ST35), the process of the robot control apparatus C proceeds to step ST28 shown in FIG. Thereafter, the processes of Step ST28 and Step ST29 of the robot controller C and Steps ST18 and ST19 in the wireless teach pendant TP2 are performed in the same manner as in the first embodiment, and the robot controller 12 of the robot controller C and the wireless teach pendant TP2 A wireless communication connection is established.

  Note that after the connection request signal from the wireless teach pendant TP2 is input to the robot controller 12 of the robot controller C (step ST22 in FIG. 16), a new wireless communication connection establishment process ends. Disables the interrupt of the connection request signal. This interrupt prohibition process is the same as in the first embodiment.

(Features of the fourth embodiment)
The robot control system according to the fourth embodiment has the following characteristics.
(10) In the fourth embodiment, both the connection request signal from the wireless teach pendant TP2 and the connection confirmation signal from the short-range wireless communication unit 19 are not input to the robot control unit 12 of the robot control device C. A wireless communication connection between the wireless teach pendant TP2 and the robot controller 12 of the robot controller C is not established. Therefore, the possibility of establishing a wireless communication connection with the unintended robot controller C is reduced. As a result, a wireless communication connection can be more reliably established with respect to the intended robot controller 12 of the robot controller C.

  (11) In the fourth embodiment, the authentication information (verification information) included in the connection request signal by wireless communication from the wireless teach pendant TP2 and the connection confirmation signal from the short-range wireless communication unit 19 of the robot controller C are used. The wireless communication connection is not established when the authentication information included is collated and the two do not match (conform). That is, wireless communication is performed on the condition that the short-range wireless communication unit 49 of the wireless teach pendant TP2 and the short-range wireless communication unit 19 of the robot controller C read the authentication information from the NFC chip 51 of the same ID card 50. Connection is established. Therefore, after the authentication information of the NFC chip 51 of the ID card 50 is read into the wireless teach pendant TP2, a wireless communication connection is not unintentionally established by an operation of another person having a different ID card 50.

(Configuration of Fifth Embodiment and Wireless Communication Connection Establishment Process)
5th Embodiment of the robot control system of this invention is described. In addition, since the electrical configuration of each device in the robot control system of the fifth embodiment is the same as that of the fourth embodiment, description thereof is omitted. In addition, regarding the wireless communication connection establishment process in the fifth embodiment below, the same processes as those in the first to fourth embodiments (steps) are denoted by the same reference numerals, and the description will be simplified.

  As shown in FIG. 17, the robot controller C performs the process of step ST21 when the power is on. In step ST21, the robot control apparatus C transmits the network information of the wireless access point AP every predetermined time. Thereafter, the processing of the robot controller C proceeds to step ST31.

  On the other hand, when the power supply of the wireless teach pendant TP2 is turned on, the wireless teach pendant TP2 performs the process of step ST47. In step ST47, the teach pendant control unit 41 of the wireless teach pendant TP2 causes the display 42 to display a display requesting the presentation of the ID card 50 to the short-range wireless communication unit 19 of the robot control device C. Thereafter, the wireless teach pendant TP2 performs the processes of step ST11 and step ST12. These processes are the same as those in the first embodiment.

  The process of the robot controller C has shifted to step ST31 after transmitting the network information (step ST21). In step ST31, the robot controller 12 of the robot controller C determines whether or not a connection standby signal (second connection request signal) has been input. Specifically, when the NFC chip 51 of the ID card 50 is located within the communication range of the near field communication unit 19 of the robot controller C, the near field communication unit 19 receives the authentication information of the NFC chip 51. When the short-range wireless communication unit 19 receives the authentication information, the short-range wireless communication unit 19 outputs to the robot control unit 12 a connection standby signal including the authentication information and a signal indicating standby for establishing the wireless communication connection. If there is no connection standby signal input (NO in step ST31), the process of robot controller C returns to step ST21. When the connection standby signal is input (YES in step ST31), the robot control unit 12 performs the processes of steps ST23 to ST25. These processes are the same as those in the first embodiment.

  On the other hand, the processing of the wireless teach pendant TP2 shifts to step ST13 after the network information of the wireless access point AP capable of communication is displayed on the display 42 of the wireless teach pendant TP2 (step ST12). In step ST <b> 13, the teach pendant control unit 41 determines which one of the searched wireless access points AP that can be communicated has been selected. When the wireless access point AP is not selected (NO in step ST13), the process of the teach pendant control unit 41 returns to step ST47. When the wireless access point AP on the display 42 is selected by operating the keyboard 43 of the wireless teach pendant TP2 (YES in step ST13), the processing of the wireless teach pendant TP2 proceeds to step ST45.

  In step ST45, the teach pendant control unit 41 of the wireless teach pendant TP2 causes the display 42 to display a display requesting the presentation of the ID card 50 to the short-range wireless communication unit 49 of the wireless teach pendant TP2. Thereafter, the processing of the wireless teach pendant TP2 proceeds to step ST46.

  In step ST46, the teach pendant control unit 41 determines whether or not the authentication information has been read. Specifically, the teach pendant control unit 41 has received the authentication information transmitted by the NFC chip 51 of the ID card 50 by the short-range wireless communication unit 49 and has input the received authentication information to the teach pendant control unit 41. Judge whether or not. If it is determined that the authentication information has not been read (NO in step ST46), the process of the wireless teach pendant TP2 returns to step ST45. If it is determined that the authentication information has been read (YES in step ST46), the process of the wireless teach pendant TP2 proceeds to step ST14.

  In step ST14, the teach pendant control unit 41 reads in step ST46 a signal requesting establishment of a wireless communication connection to the robot controller C provided with the wireless access point AP selected in step ST13. A connection request signal (first connection request signal) including the authentication information is transmitted. Note that the authentication information included in the connection request signal is processed as verification information in the fifth embodiment. Thereafter, the processing of the teach pendant control unit 41 stands by until there is a response from the robot control device C.

  The process of the robot controller C has shifted to step ST32 after the count value of the timer 13 is started to be counted up (step ST25). In step ST32, the robot control unit 12 of the robot control apparatus C refers to the count value of the timer 13 and determines whether or not a connection request signal from the wireless teach pendant TP2 is input within a predetermined time. Specifically, when the process of step ST14 in the wireless teach pendant TP2 is performed, a connection request signal is transmitted from the wireless teach pendant TP2 to the robot controller C and received by the robot controller C. The connection request signal received by the robot controller C is input to the robot controller 12.

  The robot controller 12 determines that the connection request signal has not been input within the predetermined time when the count value of the timer 13 has reached a predetermined value or more without receiving the connection request signal (NO in step ST32). In this case, the robot control unit 12 of the robot control apparatus C invalidates the connection standby signal whose input has been confirmed in step ST31. Then, the process proceeds to step ST2 (see FIG. 5) in the state transition process. Subsequent steps ST3 to ST9 are the same as those in the first embodiment.

  When the above-mentioned connection request signal is input to the robot control unit 12 when the count value of the timer 13 is less than the predetermined value, the robot control unit 12 determines that the connection request signal has been input within a predetermined time ( YES in step ST32). Thereafter, the processing of the robot control unit 12 proceeds to step ST35.

  In step ST35, the robot control unit 12 compares the authentication information (verification information) included in the connection request signal input in step ST32 with the authentication information included in the connection standby signal input in step ST31 to authenticate. Determine whether the information matches (conforms). If they do not match (NO in step ST35), the process of the robot controller C proceeds to step ST2 in the state transition process through the process of step ST27 (see FIG. 7). Further, the processing of the wireless teach pendant TP2 proceeds to step ST11 through the processing of steps ST16 and ST17 (see FIG. 7). The processes in steps ST27, ST16, and ST17 are the same as in the first embodiment.

  If it is determined in step ST35 that the authentication information matches (YES in step ST35), the process of the robot control apparatus C proceeds to step ST28 shown in FIG. Thereafter, the processes of Step ST28 and Step ST29 of the robot controller C and Steps ST18 and ST19 in the wireless teach pendant TP2 are performed in the same manner as in the first embodiment, and the robot controller 12 of the robot controller C and the wireless teach pendant TP2 A wireless communication connection is established.

  After the connection standby signal is input to the robot controller 12 of the robot controller C (step ST31 in FIG. 17), a new connection standby signal is interrupted until a series of wireless communication connection establishment processing ends. Prohibit processing. This interrupt prohibition process is the same as in the second embodiment.

  Further, after the count value of the timer 13 becomes equal to or larger than the predetermined value in step ST32, the connection standby signal is invalidated. At this time, when a connection request signal is output from the wireless teach pendant TP2 to the robot controller C, the processing of the robot controller 12 of the robot controller C proceeds to step ST27 shown in FIG. Thereafter, the process of step ST27 in the robot controller C, the process of step ST16 and step ST17 in the wireless teach pendant TP2 is performed in the same manner as in the first embodiment, and the wireless communication connection is established on the display 42 of the wireless teach pendant TP2. A warning will be displayed to the effect.

(Features of Fifth Embodiment)
The robot control system according to the fifth embodiment has the following characteristics.
(12) In the fifth embodiment, both the connection standby signal from the short-range wireless communication unit 19 and the connection request signal from the wireless teach pendant TP2 are not input to the robot control unit 12 of the robot control device C. A wireless communication connection between the wireless teach pendant TP2 and the robot controller 12 of the robot controller C is not established. Therefore, the possibility of establishing a wireless communication connection with the unintended robot controller C is reduced. As a result, a wireless communication connection can be more reliably established with respect to the intended robot controller 12 of the robot controller C.

  (13) In the fifth embodiment, the authentication information (collation information) included in the connection request signal by wireless communication from the wireless teach pendant TP2 and the connection standby signal from the short-range wireless communication unit 19 of the robot controller C are included. The wireless communication connection is not established if the authentication information is collated and the two do not match (conform). That is, wireless communication is performed on the condition that the short-range wireless communication unit 49 of the wireless teach pendant TP2 and the short-range wireless communication unit 19 of the robot controller C read the authentication information from the NFC chip 51 of the same ID card 50. Connection is established. Therefore, after the robot controller C reads the authentication information of the NFC chip of the ID card 50, a wireless communication connection is not unintentionally established by an operation of another person with a different ID card 50.

(Configuration of the sixth embodiment)
The configuration of the sixth embodiment of the robot control system of the present invention will be described with reference to FIGS. In addition, about the structure of each apparatus in the robot control system of 6th Embodiment, about the same structure as 1st Embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted.

  As shown in FIG. 18, the robot control apparatus C has a mounting table 60 on which the wireless teach pendant TP2 can be mounted. The mounting table 60 is formed separately from the housing of the control device main body CM. For example, a recess is formed in the mounting table 60 according to the outer shape of the wireless teach pendant TP2, and the wireless teach pendant TP2 can be placed by fitting the wireless teach pendant TP2 into the recess.

  As shown in FIG. 18, a short-range wireless communication unit 61 that performs wireless communication at a short distance is mounted inside the mounting table 60. The short-range wireless communication unit 61 performs wireless communication according to the NFC standard, for example. The short-range wireless communication unit 61 is connected to the robot control unit 12 of the control device main body CM by wire, outputs the received signal to the robot control unit 12, and transmits the signal input from the robot control unit 12. To do. The mounting position of the short-range wireless communication unit 61 is set so that wireless communication can be performed with respect to the wireless teach pendant TP2 mounted on the mounting table 60.

  As shown in FIG. 18, in the robot controller C, the storage unit 12c of the robot controller 12 stores authentication information of the wireless teach pendant TP2 that is permitted to establish a wireless communication connection with the robot controller C. Has been. Authentication information stored in the storage unit 12c of the robot control unit 12 is processed as collation information in the sixth embodiment.

  As shown in FIG. 19, the wireless teach pendant TP2 includes an NFC chip 71 that performs wireless communication at a short distance. The NFC chip 71 has an antenna for transmitting and receiving signals and a memory for storing information. The memory of the NFC chip 71 stores authentication information for specifying the wireless teach pendant TP2 on which the NFC chip 71 is mounted. This authentication information is, for example, a MAC address assigned to the wireless teach pendant TP2 or a unique symbol number.

(Wireless communication connection establishment process in the sixth embodiment)
Next, a process for establishing a wireless communication connection between the wireless teach pendant TP2 and the robot controller C in the sixth embodiment will be described with reference to FIG. In addition, regarding the wireless communication connection establishment process in the following sixth embodiment, the same processes as the processes (steps) in the first to fifth embodiments are denoted by the same reference numerals, and description thereof will be simplified or omitted.

  As shown in FIG. 20, the robot controller C transmits network information of the wireless access point AP every predetermined time in step ST21 in a state where the power is turned on. Thereafter, the processing of the robot control apparatus C proceeds to step ST22.

  On the other hand, when the power supply of the wireless teach pendant TP2 is turned on, the wireless teach pendant TP2 performs the processes of steps ST11 to ST13. These processes are the same as those in the first embodiment. Thereafter, the processing of the wireless teach pendant TP2 proceeds to step ST14.

  In step ST14, the wireless teach pendant TP2 transmits a connection request signal (first connection request signal) to the robot controller C in which the selected wireless access point AP is provided. Thereafter, the processing of the wireless teach pendant TP2 proceeds to step ST51.

  In step ST51, the teach pendant control unit 41 of the wireless teach pendant TP2 causes the display 42 to display a display requesting that the wireless teach pendant TP2 be placed on the mounting table 60 of the robot controller C. Thereafter, the processing of the teach pendant control unit 41 stands by until there is a response from the robot control device C.

  On the other hand, the process of the robot control apparatus C has shifted to step ST22 after transmitting network information (step ST21). In step ST22, the robot control unit 12 of the robot control apparatus C receives the connection request signal transmitted from the wireless teach pendant TP2 at the wireless access point AP, and whether the received connection request signal is input to the robot control unit 12. Judge whether or not. If the connection request signal is not input, the process of the robot controller C returns to step ST21. When the connection request signal is input from the wireless teach pendant TP2 (YES in step ST22), the robot controller C performs the processes of steps ST23 to ST25. These processes are the same as those in the first embodiment. Thereafter, the process of the robot controller C proceeds to step ST26.

  In step ST26, the robot controller 12 refers to the count value of the timer 13, and has a connection confirmation signal (second connection request signal) input from the short-range wireless communication unit 61 of the mounting table 60 within a predetermined time? Judge whether or not. Specifically, when the wireless teach pendant TP2 is placed on the mounting table 60 in the robot controller C according to the display on the display 42 in step ST51 of the wireless teach pendant TP, the communication range of the short-range wireless communication unit 61 The NFC chip 71 of the wireless teach pendant TP2 is located inside. At this time, the NFC chip 71 of the wireless teach pendant TP <b> 2 transmits authentication information to the short-range wireless communication unit 61 of the mounting table 60. When the short-range wireless communication unit 61 receives the authentication information, the short-range wireless communication unit 61 outputs a connection confirmation signal including the authentication information and a signal indicating confirmation of establishment of the wireless communication connection. The output connection confirmation signal is input to the robot controller 12.

  The robot control unit 12 determines that the connection confirmation signal has not been input within the predetermined time when the count value of the timer 13 is equal to or greater than the predetermined value without receiving the connection confirmation signal (NO in step ST26). In this case, the robot control unit 12 invalidates the connection request signal input in step ST22. Thereafter, the process of the robot controller C proceeds to step ST2 in the state transition process through the process of step ST27 (see FIG. 7). Further, the processing of the wireless teach pendant TP2 proceeds to step ST11 through the processing of steps ST16 and ST17 (see FIG. 7). The processes in steps ST27, ST16, and ST17 are the same as in the first embodiment.

  When the connection confirmation signal is input to robot control unit 12 when the count value of timer 13 is less than the predetermined value, robot control unit 12 determines that the connection confirmation signal has been input within a predetermined time (in step ST26). YES). Thereafter, the process of the robot controller C proceeds to step ST35.

  In step ST35, the robot control unit 12 collates the authentication information (collation information) stored in the storage unit 12c of the robot control unit 12 with the authentication information included in the connection confirmation signal input in step ST26. It is determined whether or not these authentication information matches (conforms). If they do not match (NO in step ST35), the process of the robot controller C proceeds to step ST2 in the state transition process through the process of step ST27 (see FIG. 7). Further, the processing of the wireless teach pendant TP2 proceeds to step ST11 through the processing of steps ST16 and ST17 (see FIG. 7). The processes in steps ST27, ST16, and ST17 are the same as in the first embodiment.

  If it is determined in step ST35 that the authentication information matches (YES in step ST35), the process of the robot control apparatus C proceeds to step ST28 shown in FIG. Thereafter, the processes of Step ST28 and Step ST29 of the robot controller C and Steps ST18 and ST19 in the wireless teach pendant TP2 are performed in the same manner as in the first embodiment, and the robot controller 12 of the robot controller C and the wireless teach pendant TP2 A wireless communication connection is established.

  In addition, after the connection request signal from the wireless teach pendant TP2 is input to the robot controller 12 of the robot controller C (step ST22 in FIG. 20), a new wireless communication connection establishment process is completed. Disables the interrupt of the connection request signal. This interrupt prohibition process is the same as in the first embodiment.

(Features of the sixth embodiment)
The robot control system according to the sixth embodiment has the following characteristics.
(14) In the sixth embodiment, both the connection request signal from the wireless teach pendant TP2 and the connection confirmation signal from the short-range wireless communication unit 61 of the mounting table 60 are sent to the robot control unit 12 of the robot control apparatus C. If not input, the wireless communication connection between the wireless teach pendant TP2 and the robot controller 12 of the robot controller C is not established. Therefore, the possibility of establishing a wireless communication connection with the unintended robot controller C is reduced. As a result, a wireless communication connection can be more reliably established with respect to the intended robot controller 12 of the robot controller C.

  (15) In the sixth embodiment, the authentication information included in the connection request signal from the wireless teach pendant TP2 and the authentication information (verification information) stored in the storage unit 12c of the robot control unit 12 are collated. If they do not match (conform), the wireless communication connection is not established. That is, only the wireless teach pendant TP2 stored (registered) in the robot controller C in advance can establish a wireless communication connection with the robot controller C. Therefore, it is possible to further suppress the establishment of a wireless communication connection to the unintended robot control device C.

(Example of change)
Each of the above embodiments may be modified as follows. Moreover, you may apply combining each modification example suitably.

  The state transition process of the robot control device C can be changed as appropriate according to, for example, the configuration of the robot R and the work content. For example, when it is determined that the initial diagnosis is normal, the operation preparation state may be entered without going through the operation preparation waiting state. That is, step ST3 may be omitted in the flowchart of FIG. In addition to the operation preparation waiting state, the operation preparation state, and the servo amplifier ON state, there may be other states.

  In each embodiment, the operation preparation switch 21 and the emergency stop switch 22 may be provided in other places instead of the operation box OP or in addition to the operation box OP. For example, the robot controller C may be provided with an operation preparation switch 21 and an emergency stop switch 22. Further, for example, a mat switch or a foot switch that senses that the operator has got on the floor surface in the vicinity of the robot control apparatus C may be provided, and these may be provided with functions of an operation preparation switch or an emergency stop switch. Note that these mat switches and foot switches are preferably connected to the robot control unit 12 of the robot control apparatus C by wire.

  In the first embodiment, the operation box OP outputs the connection confirmation signal (second connection request signal) by operating the operation preparation switch 21 of the operation box OP. However, this may be changed. . For example, the operation box OP may output a connection confirmation signal by operating the emergency stop switch 22 of the operation box OP. Further, a switch may be provided separately from the operation preparation switch 21 and the emergency stop switch 22 in the operation box OP, and the operation box OP may output a connection confirmation signal by operating this switch. These modifications are the same for the configuration for outputting the connection standby signal (second connection request signal) in the second embodiment.

  -In 1st Embodiment, you may switch whether an operation preparation signal is output or a connection confirmation signal is output by the difference in the operation mode of the operation preparation switch 21 of the operation box OP. For example, as in the second embodiment, the operation box OP may output a connection confirmation signal when the operation preparation switch 21 is pressed for a predetermined time (for example, several seconds) or longer.

  In the second embodiment, the robot control apparatus C may transmit network information when a connection standby signal is input. In this case, only the wireless access point AP of the robot controller C to which the connection standby signal has been input is displayed on the display 42 of the wireless teach pendant TP2 as a wireless access point AP that can communicate.

  In the third embodiment, the wireless teach pendant TP2 may be provided with an openable / closable lid that covers the infrared light emitting unit 48. According to this configuration, even if the keyboard 43 of the wireless teach pendant TP2 is erroneously operated, if the lid is not opened, the infrared light emitted from the infrared light emitting unit 48 of the wireless teach pendant TP2 is the infrared light of the robot controller C. It does not reach the light receiving unit 18.

  In the third embodiment, in the infrared light emitting unit 48 of the wireless teach pendant TP2, the infrared light emitting element may be covered with a shielding plate on which an infrared transmission window is formed. In this case, since the infrared rays emitted from the infrared light emitting element are emitted to the outside only through the infrared transmission window, the infrared rays emitted from the infrared light emitting section 48 can be given directivity.

  In the third embodiment, another wireless communication standard may be adopted instead of infrared communication. Examples of other wireless communication standards include IEEE 802.15.1 standard. The communication range of the wireless communication in place of the infrared communication is not limited, but is preferably narrower than the communication range of the wireless access point AP of the robot controller C.

  Regarding the third embodiment, when there are a plurality of robot control devices C, the arrangement and orientation of the control device main body CM are adjusted so that the communication areas of the infrared light receiving unit 18 of the robot control device C do not overlap. It is preferable. In this case, it is possible to reduce the possibility that the infrared signal transmitted to the infrared light receiving unit 18 of a certain robot control device C is transmitted to the infrared light receiving unit 18 of another robot control device C.

  In the wireless communication connection establishment process of the first embodiment, the process of turning off the servo amplifier 14 may be omitted. Specifically, for example, step ST23 may be omitted in the flowchart of FIG. In this case, after the wireless communication connection to the wireless teach pendant TP2 is established (after step ST29 in the flowchart of FIG. 7), the processing of the robot control device C may move to step ST5 in FIG. In this way, power is supplied to the robot R after the connection request signal is input to the robot controller 12 of the robot controller C until the wireless communication connection to the wireless teach pendant TP2 is established. Permissible. This also applies to other embodiments.

  In the first embodiment, when a connection request signal is input to the robot controller 12 of the robot controller C and the count value of the timer 13 exceeds a predetermined value without inputting a connection confirmation signal, the connection is made. Although the request signal is invalidated, this process may be omitted. In this case, for example, the connection request signal input to the robot control unit 12 may be manually invalidated by a switch or the like provided in the control device main body CM. Further, when a new connection request signal is input to the robot controller 12, the old connection request signal may be invalidated. This also applies to the invalidation of the connection request signal in the third, fourth, and sixth embodiments. The same applies to the invalidation of the connection standby signal in the second and fifth embodiments.

  In each embodiment, the display for indicating the next operation to the operator may not be displayed on the display 42 of the wireless teach pendant TP2. Specifically, for example, step ST15 in the flowchart of FIG. 6 in the first embodiment may be omitted.

  In the fourth to sixth embodiments, the communication standard of each short-range wireless communication unit is not limited to the NFC standard. As long as it is a standard capable of transmitting and receiving information to and from a communication chip and has a communication range of several centimeters to several tens of centimeters, it can be replaced with another standard.

  In the third embodiment, the infrared light receiving unit 18 may be provided separately from the control device main body CM, instead of mounting the infrared light receiving unit 18 on the control device main body CM. Similarly, in the fourth and fifth embodiments, the short-range wireless communication unit 19 may be provided separately from the control device main body CM, instead of mounting the short-range wireless communication unit 19 in the control device main body CM.

  -The content of authentication information is not restricted to what was illustrated by the said embodiment, What kind of information can be employ | adopted if it is information which can identify | isolate wireless teach pendant TP2. For example, when a password is generated with a predetermined random number table or mathematical expression, the random number table or mathematical expression can be adopted as authentication information.

  In the fourth embodiment, the information of the NFC chip 51 of the ID card 50 is read after the wireless access point AP is selected. However, the order may be reversed. Specifically, the order of steps ST11 to ST13 and steps ST45 and ST46 in FIG. 16 may be interchanged.

  In the sixth embodiment, the authentication information is not included in the connection request signal, but the authentication information is included in the connection request signal and collated with the authentication information stored in the storage unit 12c of the robot control unit 12. You may make it do.

  The operation box OP in the first and second embodiments and the mounting table 60 in the sixth embodiment may be installed in any place, but are installed in a place where the operator can easily reach. Preferably it is. For example, in a robot control system, a guard fence is generally installed so as to surround the operation area of the robot R. If the operation box OP or the mounting table 60 is installed outside the protective fence, the operation box OP can be operated or the wireless teach pendant TP2 can be mounted on the mounting table 60 without entering the operation area of the robot R. can do. Similarly, when the infrared light receiving unit 18 and the short-range wireless communication unit 19 are provided separately from the control device main body CM, these can be installed outside the protective fence.

The following technical ideas can be derived from the above-described embodiments and modification examples.
In a robot control system comprising a robot, a robot control device for controlling the operation of the robot, and a portable operation device for inputting a signal for operating the robot to the robot control device by wireless communication,
The robot controller is
A robot controller that controls the operation of the robot and the power supply to the robot;
A wireless communication unit for performing wireless communication with the portable operating device;
A communication control unit that establishes a wireless communication connection between the robot control unit and the portable operation device and enables control of the robot based on the operation of the portable operation device;
Provided separately from the wireless communication unit, comprising a signal output unit for outputting a signal to the robot control unit,
The robot control unit is connected to the communication control unit based on a first connection request signal input from the portable operation device via the wireless communication unit and a second connection request signal input from the signal output unit. Output connection permission signal,
The communication control unit establishes a wireless communication connection between the robot control unit and a portable operation device that is a transmission source of the first connection request signal based on the connection permission signal. .

  C ... Robot control device, CM ... Control device body, AP ... Wireless access point, OP ... Operation box, R ... Robot, TP1 ... Wired teach pendant, TP2 ... Wireless teach pendant, 12 ... Robot control unit, 15 ... Communication control unit 18 ... Infrared light receiving unit, 19 ... Short range wireless communication unit, 21 ... Operation preparation switch, 22 ... Emergency stop switch, 41 ... Teach pendant control unit, 48 ... Infrared light emitting unit, 60 ... Mounting table, 61 ... Short range wireless Communication unit, 65 ... wired communication unit.

Claims (16)

A robot controller that controls the operation of the robot and the power supply to the robot;
A wireless communication unit for performing wireless communication with the portable operation device;
A communication control unit that establishes a wireless communication connection between the robot control unit and the portable operation device and enables control of the robot based on the operation of the portable operation device;
Provided separately from the wireless communication unit, comprising a signal output unit for outputting a signal to the robot control unit,
The robot control unit is connected to the communication control unit based on a first connection request signal input from the portable operation device via the wireless communication unit and a second connection request signal input from the signal output unit. Output connection permission signal,
The communication control unit establishes a wireless communication connection between the robot control unit and a portable operation device that is a transmission source of the first connection request signal based on the connection permission signal. . The robot control apparatus according to claim 1, wherein the signal output unit outputs the second connection request signal based on an operation of an operation unit wired to the robot control unit. The signal output unit performs wireless communication having a narrower communication range than the wireless communication by the wireless communication unit, and based on a signal transmitted / received by the wireless communication having a narrow communication range, the second connection request signal is transmitted. The robot control apparatus according to claim 1, wherein the robot control apparatus outputs the data. The signal output unit reads the authentication information from an authentication device in which authentication information is stored, and outputs a second connection request signal to the robot control unit based on the authentication information.
The first connection request signal includes verification information for performing verification with the authentication information,
The robot control unit collates the verification information with authentication information included in the second connection request signal, and does not output the connection permission signal when the authentication information does not match the verification information. The robot control device according to claim 1 or 3. The signal output unit reads the authentication information from an authentication device in which authentication information is stored, and outputs a second connection request signal to the robot control unit based on the authentication information.
The robot control unit stores verification information for verification with the authentication information,
The robot control unit collates the verification information with authentication information included in the second connection request signal, and does not output the connection permission signal when the authentication information does not match the verification information. The robot control device according to claim 1 or 3. The signal output unit includes a mounting table on which the portable operating device can be mounted, and outputs the second connection request signal when the portable operating device is mounted on the mounting table. The robot control apparatus according to claim 1. After the first connection request signal or the second connection request signal is input, the robot control unit supplies power to the robot until a wireless communication connection is established between the robot control unit and the portable operation device. The robot control device according to claim 1, wherein the robot control device is prohibited. The robot control unit receives either one of the first connection request signal and the second connection request signal, and then either one of the first connection request signal and the second connection request signal within a predetermined time after the input. The robot control apparatus according to any one of claims 1 to 7, wherein when the input is not input, the input first connection request signal or the second connection request signal is invalidated. Wireless communication of a robot control system including one portable operation device for operating a robot and at least one robot control device for controlling the robot based on a control signal transmitted / received to / from the portable operation device by wireless communication. In the communication connection establishment method,
A first connection request step in which the portable operating device transmits a first connection request signal by wireless communication to the robot control device that is a target of wireless communication connection establishment;
A second connection request step in which a signal output unit provided in the robot control device outputs a second connection request signal to the robot control unit of the robot control device;
Based on the first connection request signal and the second connection request signal, the robot control unit establishes a wireless communication connection to the portable operating device that is the transmission source of the first connection request signal. A connection establishment step for outputting a wireless communication connection for a robot control system. In the connection establishment step, the connection permission signal is output when the second connection request signal is input to the robot control unit within a predetermined time after the first connection request signal is input to the robot control unit. The wireless communication connection establishment method for a robot control system according to claim 9, wherein: In the connection establishing step, the connection permission signal is output when the first connection request signal is input to the robot control unit within a predetermined time after the second connection request signal is input to the robot control unit. The wireless communication connection establishment method for a robot control system according to claim 9, wherein: A first reading step in which the portable operating device reads authentication information stored in an authentication device;
A signal output unit of the robot controller includes a second reading step of reading the authentication information stored in the authentication device;
In the first connection request step, the first connection request signal including the authentication information read in the first reading step is transmitted,
In the second connection request step, a second connection request signal including the authentication information read in the second reading step is output,
In the connection establishment step, the authentication information included in the first connection request signal and the authentication information included in the second connection request signal are collated, and if they do not match, the connection permission signal is not output. The wireless communication connection establishment method for a robot control system according to any one of claims 9 to 11. The portable operating device includes an authentication device in which authentication information is stored,
The signal output unit of the robot control device has a reading step of reading the authentication information stored in the authentication device of the portable operation device,
In the second connection request step, a second connection request signal including the authentication information read in the reading step is output,
The wireless communication connection establishment method for the robot control system according to claim 9, wherein, in the connection establishment step, the connection permission signal is output based on the authentication information included in the second connection request signal. In the connection establishment step, collation information stored in the robot control device is collated with the authentication information included in the second connection request signal, and when the authentication information does not match the collation information, The wireless communication connection establishment method for the robot control system according to claim 13, wherein a connection permission signal is not output. The signal output unit includes a mounting table on which the portable operating device is mounted.
The wireless communication connection establishment method for the robot control system according to claim 13 or 14, wherein, in the reading step, the authentication information of the authentication device of the portable operating device placed on the mounting table is read. The wireless communication connection establishment method for a robot control system according to any one of claims 13 to 15, wherein the signal output unit is provided outside a protective fence surrounding an operation area of the robot.