JP4292404B2 - Drive shaft operation system - Google Patents

Description

The present invention relates to a drive shaft operating system that allows a human to operate and teach a drive shaft of an industrial robot, a numerical controller, or the like wirelessly.

In industrial robots, numerical control devices, and the like, usually, the installation location of a drive shaft control device such as a controller that controls the drive shaft is often separated from the actual work position. The operator wants to operate the drive shaft while visually observing a position close to the actual work position, but it is difficult to operate the panel mounted on the drive shaft control device while confirming the work status. For this reason, it is common to provide a portable operating device that is separate from the drive shaft control device, and the operator operates the operating device near the work position to operate the drive shaft.
The connection between the operation device and the drive shaft control device has been conventionally performed by a wired cable, but in recent years, a connection by wireless communication that is more excellent in operability and portability has been demanded.
However, when wireless communication is used, it is necessary to make an emergency stop signal that has been realized with a hard wire wirelessly, and thus securing safety and reliability has been a problem.

Several methods for making the emergency stop signal wireless have been proposed, and examples thereof will be described with reference to the drawings.
FIG. 9 is a configuration diagram of a drive shaft operating system in the first conventional example shown in Patent Document 1. In FIG. In the figure, 101 is a drive shaft, 102 is a drive shaft controller connected to the drive shaft 101 to control the drive shaft 101, 103 is wirelessly connected to the drive shaft controller 102, and the drive shaft 101 is operated by an operator's operation. An operating device that operates. The drive shaft control device 102 includes a drive unit 104 that drives the drive shaft 101 and a control unit 107 that performs overall control. In addition, an emergency stop switch 108 is provided, and in the event of an emergency, the operation power can be shut off by stopping the operation of the drive shaft 101 by pressing it down. The operation device 103 includes a display unit 109 that presents information to the operator, an operation unit 110 that is operated by the operator, a control unit 112 that performs overall control, and an emergency stop switch 113. In the operation device 103, an operator confirms the display on the display unit 109 and transmits the operation content to the drive shaft control device 102, so that program registration and editing of work performed on the drive shaft 101 or setting of various conditions can be performed. Is possible.

Subsequently, a portion related to wireless communication between the drive shaft control device 102 and the operation device 103 will be described.
The drive shaft control device 102 includes a stop receiving unit 121 and a transmission / reception unit 122. The operation device 103 is provided with a regular transmission unit 123 and a transmission / reception unit 124. The transmission / reception unit 122 and the transmission / reception unit 124 are connected to each other by wireless communication, and exchange control signals. Accordingly, the operator can change the operation condition of the drive shaft 101 by operating the operation unit 110 while confirming the operation result of the drive shaft 101 displayed on the screen of the display unit 109. Separately from this, the regular transmission unit 123 always transmits a safety confirmation signal at a constant period, and the stop reception unit 121 receives the signal. When an abnormality occurs in the operation device 103, the signal from the regular transmission unit 123 is interrupted, and the stop receiving unit 121 that detects this stops the operation of the drive shaft 101 via the control unit 107.

With the above configuration, even if the operating device 103 itself fails, the operation of the drive shaft 101 is automatically stopped, so that the drive shaft 101 does not run away and work safety is achieved. In addition, it is supposed that the drive shaft 101 can be stopped by stopping the transmission from the regular transmission unit 123 by operating the emergency stop switch 113 provided in the operation device 103.

In another conventional example, the stop receiving unit 121 and the regular transmission unit 123 are reduced from FIG. 9, and the same reference numerals are equivalent and will not be described. A method for realizing emergency stop control by bidirectional wireless communication using the transmission / reception unit 102 and the transmission / reception unit 104 is described. (See Patent Document 2)
FIG. 10 is a time chart for explaining a communication state in the second conventional example shown in Patent Document 2. In the conventional example, intermittent communication is performed between the transmission / reception unit 122 and the transmission / reception unit 124 as shown in the figure (transmission / reception is described in terms of the transmission / reception unit 122). In other words, the transmission / reception unit 124 immediately returns a response 132 to the data 131 sent from the transmission / reception unit 122 to the transmission / reception unit 124 at normal times, and the transmission / reception unit 122 receives the response 132, so that the controller device 103 is normal. Judging that there is. Here, when the operator presses the emergency stop switch 113, the transmission / reception unit 124 stops the response 132, and when the transmission / reception unit 122 detects that no response is received from the transmission / reception unit 124, the drive shaft 101 is connected via the control unit 107. Stop the operation. Reference numeral 133 indicates that the response 132 could not be received because the emergency stop switch was pressed. With the above configuration, the emergency stop signal of the controller device 103 can be transmitted wirelessly and the operation of the drive shaft 101 can be stopped.
The control signal 131 includes display information on the display unit 110, and the control signal 132 is a response to the control signal 131 and includes operation input information to the operation unit 110.
JP-A-7-195285 Japanese Patent Laid-Open No. 11-73201

In the conventional drive shaft operation system of Patent Document 1, since the control signal and the safety confirmation signal are transmitted by wireless communication of different systems, reception of the safety confirmation signal does not guarantee the reliability of the control signal. That is, when the stop receiving unit 121 has normally received the safety confirmation signal and the transmission / reception unit 122 has an abnormality in receiving the control signal, the drive shaft control device 102 determines that it is normal. Since the drive shaft 101 is operated based on the control signal, the drive shaft 101 may run away in the worst case, which may cause a dangerous state for the operator. The reception abnormality of the transmission / reception unit 122 may be caused by a component failure of the transmission / reception unit 122 or the transmission / reception unit 124 or a communication error due to a radio communication failure. Furthermore, when contact welding of the emergency stop switch of the operating device 103 or a wiring short circuit occurs, since the transmission from the normal transmission unit 123 cannot be stopped by the switch operation, the operation of the robot cannot be stopped. there were.

In the conventional drive shaft operation system of Patent Document 2, since the exchange of control signals between the drive shaft control device 102 and the operation device 103 also serves as a safety check as it is, the problem as in the above Patent Document 1 is Can be avoided. However, when the emergency stop switch 113 is pressed, the transmission / reception unit 124 stops the response 132, and the operation input information to the operation unit 110 cannot be transmitted to the drive axis control device 102 while the emergency stop switch 113 is pressed. There was a problem. Furthermore, when contact welding of the emergency stop switch of the operating device 103 or wiring short-circuit occurs, since the transmission from the transmission / reception unit 124 cannot be stopped by operating the switch, there is a problem that the operation of the robot cannot be stopped. It was.
In any of the conventional examples, since the operating device is configured by a single control unit 112, it is difficult to ensure safety when the CPU configuring the control unit 112 runs away. In addition, since the operator operates closer to the drive shaft, it is recommended that the operation device be provided with an enable switch as a safety measure against unintended drive shaft behavior, but there is also a problem that it is not possible to cope with it.

The present invention has been made in view of such problems, and reliably transmits both an emergency stop switch signal and an enable switch signal provided to the operating device to the drive shaft control device via wireless communication. The power supply can be shut off, and even if the CPU constituting the control unit of the operating device runs out of control, contact welding of an emergency stop button or enable switch, or a wiring short-circuit occurs, the power supply of the drive shaft is securely shut off. It is an object of the present invention to provide a drive shaft operating system that can ensure sufficient safety by stopping operation.

In order to solve the above problem, the present invention is configured as follows.
The invention according to claim 1 is the emergency stop which performs transmission / reception with the drive shaft (1), the drive shaft control device (2) which controls the drive shaft (1), and the drive shaft control device (2) by radio. In a drive shaft operating system comprising an operating device (3) including a switch (13), an enable switch (14), and an operating unit (10),
Transmission / reception between the drive shaft control device (2) and the operation device (3)
Said drive shaft control device first transceiver provided in (2) (15) and a second transceiver (16), the operating device (3) Third transceiver provided in (17) and the fourth transceiver (18) in the first transceiver unit (15) and the third transceiver (17) but, and a second transceiver (16) fourth transceiver (18), but respectively connected by radio,
A first control signal for controlling a power source for the drive shaft (1), which has a safety confirmation signal including a signal of the emergency stop switch (13), a signal of the enable switch (14), and a signal of the operation device abnormality. And a second control signal for controlling the operation of the drive shaft (1) based on the input information of the operation unit (10) including the first control signal,
The drive shaft control device (2) includes a first comparison unit (19) that compares the safety confirmation signals received from the first transmission / reception unit (15) and the second transmission / reception unit (16), and the first comparison unit. And a drive power supply control unit (6) that stops the drive shaft (1) when the safety confirmation signals do not match in the comparison in (19).
Further, the invention of claim 2 is directed to a first control unit (22) connected to the third transmission / reception unit (17), a second control unit (23) connected to the fourth transmission / reception unit (18), and The signal of the emergency stop switch (13) and the signal of the enable switch (14) are output to the first control unit (22) and the second control unit (23), and the first control unit (22) and the first control unit (23). A second comparison unit (20) for comparing the signal of the emergency stop switch (13) input to the control unit (23) and the signal of the enable switch (14), and the second comparison unit (20 When the comparison result in (2) does not match, the operation device abnormality signal is validated and transmission or transmission is stopped.

According to a third aspect of the present invention, the first comparison unit (19) includes a safety confirmation signal included in the first control signal and a safety confirmation signal included in the second control signal within a predetermined time. The comparison result is not disagreement.
According to a fourth aspect of the present invention, the second comparison unit (20) receives the emergency input to the first control unit (22) and the second control unit (23) within a predetermined time. The comparison result between the signal of the stop switch (13) and the enable switch (14) is not inconsistent.

The invention of claim 5 is characterized in that the safety confirmation signal included in the first control signal and the safety confirmation signal included in the second control signal are transmitted in different arrangements or logics. It is.

According to the first aspect of the present invention, since the drive shaft control device and the operation device transmit and receive the two control signals of the first control signal and the second control signal, the reliability of the control signal transmission and reception can be improved. The safety signal including an emergency stop switch signal and the enable switch signal and the operating device abnormality signal provided in the operating device is viewed contains the two control signals of the first and second control signals, a first control signal a The safety confirmation signals included in the two control signals of the two control signals are compared, and if they do not match, the drive shaft is stopped so that the safety confirmation signal can be transmitted to the drive axis control device more reliably, and the safety is high. An operating system can be provided.

According to the invention described in claim 2, performs signal stop switch provided in the operating device and the comparison of the signal of the enable switch, if a mismatch is intended to stop the transmission, contact welding and wiring shorting switch circuit Even if this occurs, the drive shaft can be reliably stopped.

According to the third and fourth aspects of the present invention, the safety confirmation signal does not cause a mismatch within a predetermined time as a mismatch error, and is driven by a difference in operation time between the switches, a switch signal input time difference, or a transmission timing of wireless communication. The axis is not stopped.
According to the invention of claim 5 , communication error detection can be ensured by changing the arrangement and logic of the safety confirmation signal included in the first control signal and the safety confirmation signal included in the second control signal. A highly functional system can be provided.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. Although various functions and means are built in an actual radio station, only the functions and means related to the present invention will be described and explained.

FIG. 1 is a configuration diagram of a drive shaft operating system according to the first embodiment of the present invention. In the figure, 1 is a drive shaft, 2 is a drive shaft control device, and is connected to the drive shaft 1 to control the drive shaft 1. Reference numeral 3 denotes an operating device, which is wirelessly connected to the drive shaft control device 2 and operates the drive shaft 1 by an operator's operation. For example, in the case of a robot system, the drive shaft 1 corresponds to a robot body having a plurality of motor shafts, the drive shaft control device 2 corresponds to a robot controller, and the operation device 3 corresponds to a programming pendant.
The drive shaft control device 2 includes a drive unit 4 that drives the drive shaft 1, a drive power source control unit 6 that supplies power to the drive unit 4 from a power source 5, and a control unit 7 that performs overall control of the drive shaft control device 2. Is provided. In addition, an emergency stop switch 8 provided in the drive shaft control device 2 is connected to the drive power supply control unit 6, and the power supply to the drive unit 4 is cut off by pressing this switch in an emergency.

The operation device 3 includes a display unit 9 that presents information to the operator, an operation unit 10 for the operator to operate, a battery 11 that supplies power, and a control unit 12 that performs overall control of the operation device 3. ing. Each signal of the emergency stop switch 13 and the enable switch 14 is connected to the control unit 12. The operation device 3 transmits the details of the operation of the operator to the drive shaft control device 2 and receives display information that prompts the operator to perform an operation from the drive shaft control device 2, thereby registering a program for work performed on the drive shaft 1. Edit or set various conditions.
Subsequently, a portion related to wireless communication between the drive shaft control device 2 and the operation device 3 will be described.
The drive shaft control device 2 includes a first transmission / reception unit 15, a second transmission / reception unit 16, and a first comparison unit 19, and the operation device 3 includes a third transmission / reception unit 17, a fourth transmission / reception unit 18, and a second comparison unit 20. Is provided.

The first transmission / reception unit 15 and the third transmission / reception unit 17 are connected to each other by wireless communication, and exchange of the first control signal is performed. The first control signal is a signal of the emergency stop switch 13, a signal of the enable switch 14, a signal of an operation device abnormality such as an abnormality of the control unit 12 detected by a watchdog timer of the CPU constituting the control unit 12. A safety confirmation signal including a transmission command from the operation device 3 and a request command or a response command for the safety confirmation signal received by the operation device 3.

The second transmission / reception unit 16 and the fourth transmission / reception unit 18 are connected to each other by wireless communication, and exchange the second control signal. The second control signal is composed of display information received by the controller device 3 and displayed on the display unit 9 and transmission from the controller device 3 including the above-described safety confirmation signal in the operation input information to the operation unit 10. Has been.
The safety confirmation signals received by the first transmission / reception unit 15 and the second transmission / reception unit 16 are each output to the control unit 7 and also to the drive power supply control unit 6.
The safety confirmation signal output here is a signal output continuously for a predetermined time and continuous multiple times in consideration of communication errors due to the surrounding electromagnetic environment and communication failures due to electromagnetic interference with other stations. When a communication failure occurs, an output is made to de-energize the corresponding relay.

The 1st comparison part 19 is connected to the 1st transmission / reception part 15 and the 2nd transmission / reception part 16, and compares whether the safety confirmation signal received by both corresponds. The comparison result is output to the drive power supply control unit 6. When the comparison results in the first comparison unit 19 do not match, the drive power supply control unit 6 shuts off the supply of the power supply 5 to the drive unit 4 and stops the operation of the drive shaft 1.
The 2nd comparison part 20 is connected to the 3rd transmission / reception part 17 and the 4th transmission / reception part 18, and compares whether the safety confirmation signal transmitted by both corresponds. The comparison result is output to the control unit 12. When the comparison result in the second comparison unit 20 does not match, the control unit 12 inputs this result, and validates the operation device abnormality signal included in the safety confirmation signal.

FIG. 2 is a diagram illustrating an internal configuration of the drive power supply control unit 6 in the first embodiment. In the figure, 31 is an emergency stop relay, and its contact is closed when the emergency stop switch 8 is not depressed.
32 is a regeneration mode relay, 33 is a teaching mode relay, and drive signals for both relays are output from the control unit 7. In the teaching mode, the drive shaft 1 is operated by operating the operation device 3, and the position and work procedure are registered and edited to create a work program and to perform operations such as monitoring the state of the drive control device 2 and the drive shaft 1. The automatic mode is a mode in which work is performed by the drive shaft 1 by reproducing a registered work program, and both modes are exclusive.

Reference numeral 34 denotes a protective fence relay. A guard fence (not shown) is a fence or a room for preventing an operator or another worker from accidentally approaching the drive shaft 1 and being exposed to danger while the drive shaft 1 is operated in the regeneration mode. A door is provided to allow the operator to approach the drive shaft 1 when registering or editing work programs. The guard fence relay 34 is connected to the output of an opening / closing detector (not shown) of the door of the guard fence, and the contact of the guard fence relay 34 is closed when the door is closed.
A teaching lock relay 35 is closed when a driving signal is output from the control unit 7 and the teaching mode is locked. The teaching lock is operated by the operator in order to prevent the start of playback of the work program by changing to the playback mode without being noticed by another operator while the operator approaches the drive shaft 1 in the teaching mode. Setting is performed by the device 3.

Reference numeral 36 denotes a mismatch relay, and a drive signal is output from the first comparison unit 15. When the comparison results of the safety confirmation signals received by the first transmitter / receiver 15 and the second transmitter / receiver 16 do not match, the mismatch relay 36 is opened.
Due to the difference between the transmission and reception data lengths of the first and second control signals and the transmission / reception timing, the safety confirmation signal is received synchronously by the first transmission / reception unit 15 and the second transmission / reception unit 16. No. Therefore, the first comparison unit 19 confirms the coincidence of the two signals as in the comparison unit circuit shown in FIG. The signals received by the first transmission / reception unit 15 and the second transmission / reception unit 16 are input to the exclusive OR circuit 46 as the first signal and the second signal. The output of the exclusive OR circuit 46 is input to the count valid CE terminal of the counter circuit 47 and the counter value clear CL terminal which is a negative logic input. The CK terminal is a count signal and a pulse signal having a predetermined cycle.

If the logics of the first signal and the second signal are the same, the output of the exclusive OR circuit 46 is “0”, the counter circuit becomes count invalid and the counter value is cleared, and the counter output CO is output regardless of the incoming count signal. Is “0”. The counter output CO is an overflow of a value preset in the counter circuit 47. If the logics of the first signal and the second signal are different, the output of the exclusive OR circuit 46 is “1”, the connected counter circuit 47 is valid, the counter value is not cleared, and the count is based on the count signal. Do. When the count advances and the counter circuit 47 reaches the count overflow, the count output CO outputs “1”. If the logics of the first signal and the second signal become the same before the count overflow, the counter output CO remains “0”. The counter output CO energizes the mismatch relay 36 through a drive circuit (not shown). When the counter output CO is “0”, the non-matching relay 36 is energized and energized, and the contact of the relay is closed. When the counter output CO is “1”, it is deenergized and the contact is opened.
That is, when the state of logic mismatch between the first signal and the second signal continues for a predetermined time or more, the mismatch relay 36 enters a non-excited state, that is, a contact open circuit, and cuts off the driving power. Thereby, even when any one of the signals is stopped due to a communication failure or the like, this can be detected and the drive shaft can be stopped.

Reference numeral 37 denotes a first emergency stop relay, and a drive signal is output from the first transmission / reception unit 15. Reference numeral 38 denotes a second emergency stop relay, and a drive signal is output from the second transmission / reception unit 16. The signal of the emergency stop switch 13 of the operating device 3 is input to the control unit 12, output to the third transmitter / receiver 17 and the fourth transmitter / receiver 18, and transmitted to the first transmitter / receiver 15 and the second transmitter / receiver 16 as a safety confirmation signal. Is done. The first transmitter / receiver 15 and the second transmitter / receiver 16 drive the first emergency stop relay 37 and the second emergency stop relay 38 based on the contact open / close signal of the emergency stop switch 13 included in the safety confirmation signal. The first and second emergency stop relays 37 and 38 are closed when the emergency stop switch 13 is closed. If there is no failure such as a component failure in each transmission / reception unit, the respective contacts of the first emergency stop relay 37 and the second emergency stop relay 38 operate substantially in synchronization.

Reference numeral 39 denotes a first enable relay, and a drive signal is output from the first transmission / reception unit 15. Reference numeral 40 denotes a second enable relay, and a drive signal is output from the second transceiver 16. The signal of the enable switch 14 of the controller device 3 is input to the control unit 12, output to the third transmitter / receiver 17 and the fourth transmitter / receiver 18, and transmitted to the first transmitter / receiver 15 and the second transmitter / receiver 16 as a safety confirmation signal. The The first transmission / reception unit 15 and the second transmission / reception unit 16 drive the first enable relay 39 and the second enable relay 40 based on the contact open / close signal of the enable switch 13 included in the safety confirmation signal. The first and second enable relays 39 and 40 are closed when the enable switch 13 is closed. When there is no failure such as a component failure in each transmission / reception unit, each contact point of the first enable relay 39 and the second enable relay 40 operates substantially in synchronization.
Reference numeral 41 denotes a drive-on relay, and a drive signal is output from the control unit 7. When the operator gives an instruction to turn on the drive power, the control unit 7 checks whether or not there is a drive power cutoff factor such as an emergency stop operation, and outputs a drive signal of the drive feed relay 41 when there is no drive power cutoff factor.

The contacts of the emergency stop relay 31, the mismatching relay 36, the first emergency stop relay 37, and the second emergency stop relay 38 are connected in series to form a circuit line 42.
The contacts of the regeneration mode relay 32 and the protective fence relay 34 are connected in series to form a circuit line 43.
Each contact point of the teaching mode relay 33, the teaching lock relay 35, the first enable relay 39, and the second enable relay 40 is connected in series to form a circuit line 44.
The circuit line 43 and the circuit line 44 connected in parallel to the circuit line 42 are connected in series, and are connected to the drive power supply relay 45 via the contact of the drive input relay 41. The drive power supply relay 45 relays the power supply 5 to the drive unit 4. The drive power supply relay 45 may be an electromagnetic contactor.

According to the above configuration, the signal of the emergency stop switch 13 of the teaching device 3 is received by the first transmission / reception unit 15 as the first control signal, is output to the first emergency stop relay 37, and the second control is performed as another path. The signal is received by the second transmission / reception unit 16 and output to the second emergency stop relay 38. Even if a circuit component failure or the like occurs in a single transmission / reception unit, the other circuit reliably shuts off the drive power supply. Can be done.
In addition, the enable switch 14 reliably shuts off the drive power supply as in the case of the emergency stop switch 13 signal described above even during an operation in which the operator approaches the drive shaft 1 and operates the drive shaft 1 in the teaching mode. Can be done.
Since it has become like this, since the drive shaft 1 can be operated under the guarantee that both the safety confirmation signal and the control signal are normally transmitted, the safety can be further improved.
In the regeneration mode in which the drive shaft 1 is operated based on the taught content, the open circuit line 43 is closed if the door of the protective fence is closed, and the drive-on relay 41 if there is no other drive power shut-off factor. By outputting the drive signal, power is supplied to the drive unit 4 and the drive shaft 1 becomes operable.

FIG. 4 is a configuration diagram of a drive shaft operating system according to the second embodiment of the present invention, and the configuration is the same except for part of FIG. The same reference numerals indicate the corresponding parts and will not be described. In the present embodiment, the controller device 3 includes two control units, a first control unit 22 and a second control unit 23. The first control unit 22 is connected to the third transmission / reception unit 17 and monitors the safety confirmation signal of the first control signal. The second control unit 23 is connected to the fourth transmission / reception unit 18 to monitor the safety confirmation signal of the second control signal and process the control signal. When the comparison result in the second comparison unit 20 does not match, the first control unit 22 and the second control unit that have received the output validate the operation device abnormality signal included in the safety confirmation signal. Then, the first transmission / reception unit 15 and the second transmission / reception unit 16 deenergize the emergency stop relays 37 and 38 of the drive power supply control unit 6 based on the operation device abnormality signal included in the safety confirmation signal. Stops.

According to the above configuration, even if one of the CPUs constituting the first control unit 22 and the second control unit 23 runs out of control, the other control unit can correctly transmit a safety confirmation signal. Since the drive power supply can be cut off, safety and reliability can be further improved.
In the above embodiment, only the control unit of the operating device 3 is duplicated, but if the CPUs constituting the control unit 7 of the drive shaft control device 2 are duplicated in the same manner, safety and reliability can be further improved.
At this time, the CPU connected to the first transmission / reception unit 15 is an auxiliary one that only monitors the safety confirmation signal, and the CPU connected to the second transmission / reception unit 16 performs main processing based on the control signal.
In order to further increase the certainty, it is possible to employ a configuration in which the number of CPUs is three or more and the CPU is stopped if any one fails, but this is a tradeoff with the cost required for the device.
In the above-described first embodiment, since the controller device 3 is controlled by a single CPU, when the CPU runs away, the safety confirmation signal indicates that the controller device 3 is abnormal. Therefore, the possibility that the drive power supply of the drive shaft 1 cannot be cut off is excluded.

FIG. 5 is a configuration diagram of a drive shaft operating system according to the third embodiment of the present invention, and the configuration is the same except for part of FIG. The same reference numerals indicate the corresponding parts and will not be described. In the present embodiment, the emergency stop switches 8 and 13 and the enable switch 14 are provided with two contact points, and both the two circuits are operated in conjunction with the switch operation. Thereby, even when contact welding or wiring short circuit occurs in one circuit, the signal of the other circuit is output correctly, and the drive power supply of the drive shaft 1 can be cut off reliably.
FIG. 6 is a diagram showing an internal configuration of the drive power supply control unit 26 in the third embodiment, and the configuration is the same except for a part of FIG. The same reference numerals indicate the corresponding parts and will not be described.

In the present embodiment, the first circuit and the second circuit which are independent from each other are formed to perform duplication. In accordance with this, the relays constituting the circuit are also provided twice. The target relays are emergency stop relays 31-1, 31-2, regeneration mode relays 32-1, 32-2, teaching mode relays 33-1, 33-2, guard fence relays 34-1, 34-2, The teaching lock relays 35-1 and 35-2, the mismatching relays 36-1 and 36-2, the drive-on relays 41-1 and 41-2, and the drive power supply relays 45-1 and 45-2.
The first emergency stop relay 37 and the first enable relay 39 are used in the first circuit, and the second emergency stop relay 38 and the second enable relay 40 are used in the second circuit.
The power supply 5 to the drive unit 4 is supplied by connecting the contact points of the drive power relays 45-1 and 45-2 in series.
According to the above configuration, the drive shaft can be stopped by the operation of the other circuit even when relay contact welding or wiring short-circuit in the drive power control unit 26 occurs.
Further, even when the contact welding of the emergency stop switches 8 and 13 or the enable switch 14 or a wiring short-circuit occurs, the drive shaft can be similarly stopped by the operation of the other circuit.

FIG. 7 is a time chart for explaining a communication state in the embodiment of the present invention. FIG. 7A shows a first control signal exchanged between the first transmission / reception unit 15 and the third transmission / reception unit 17 (transmission / reception is described in terms of the first transmission / reception unit 15. is there). A request command is transmitted from the first transmission / reception unit 15, and the second transmission / reception unit 16 transmits a safety confirmation signal as a response thereto.
The request command and the safety confirmation signal can use a specific character string arrangement or a data pattern consisting of a bit string. By adding a header before the request command and the safety confirmation signal, the ID and data size of the receiver are clarified, and by adding CRCC (Cyclic Redundancy Check Code) after the safety confirmation signal, communication error of the entire data Is detected.

FIG. 2B shows a second control signal exchanged between the second transmission / reception unit 16 and the fourth transmission / reception unit 18 (transmission / reception is described in terms of the second transmission / reception unit 16. is there). As shown in the figure, the second control signal is display information transmitted from the second transmitter / receiver 16 and operation input information and safety confirmation signal transmitted from the fourth transmitter / receiver 18 as a response thereto. Is added with the above-mentioned header and CRCC.
The communication of the first control signal and the communication of the second control signal are repeated to confirm that the mutual control unit is operating normally and that the wireless communication is functioning normally. Do.

FIG. 8 is a safety confirmation signal arrangement diagram. FIG. 8A shows an arrangement of safety confirmation signals included in the first control signal, which are in the order of an emergency stop switch signal, an enable switch signal, and an operating device abnormality signal. FIG. 8B shows the arrangement of the safety confirmation signal included in the second control signal, which is in order of the operating device abnormality signal, the emergency stop switch signal, and the enable switch signal. As shown in the figure, the arrangement order of each signal is changed.
Also, transmission / reception is performed by changing the signal logic of the safety confirmation signal included in the first control signal and the safety confirmation signal included in the second control signal, and after reception, this signal logic is restored to perform the subsequent processing. However, the first comparison unit 19 can obtain a signal mismatch result, and the drive power supply can be shut off.
Because of this configuration, even when a communication error cannot be completely detected by the known CRCC, communication is performed by changing the arrangement and logic of the safety confirmation signals of the first control signal and the second control signal. Thus, even if a communication error that cannot be detected occurs, the drive power supply can be reliably shut off.

INDUSTRIAL APPLICABILITY The present invention can be used for a positioning device of a semiconductor manufacturing apparatus, a control device for operating a machine tool or an industrial robot wirelessly. In addition, the communication medium is not limited to wireless communication, but is also effective as a method for ensuring safety and certainty by wired connection.

Configuration diagram of the drive shaft operating system in the first embodiment The figure which shows the internal circuit of the drive power supply control part in 1st Embodiment. The figure which shows the circuit of the comparison part in 1st Embodiment Configuration diagram of drive shaft operation system in second embodiment The block diagram of the drive-shaft operation system in 3rd Embodiment The figure which shows the internal structure of the drive power supply control part in 3rd Embodiment. Time chart explaining communication state in the embodiment The figure which shows the arrangement | sequence of the safety confirmation signal in embodiment Configuration diagram of drive shaft operating system in first conventional example Time chart explaining communication state in second conventional example

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Drive shaft 2 Drive shaft control apparatus 3 Operation apparatus 4 Drive part 5 Power supply 6 Drive power supply control part 7 Control part 8, 13 Emergency stop switch 9 Display part 10 Operation part 11 Battery 12 Control part 14 Enable switch 15 1st transmission / reception part 16 Second transmission / reception unit 17 Third transmission / reception unit 18 Fourth transmission / reception unit 19 First comparison unit 20 Second comparison unit 22 First control unit 23 Second control unit 31 Emergency stop relay 32 Regeneration mode relay 33 Teaching mode relay 34 Guard fence relay 35 teaching lock relay 36 disagreement relay 37 first emergency stop relay 38 second emergency stop relay 39 first enable relay 40 second enable relay 41 drive-on relay 45 drive power relay 46 exclusive OR circuit 47 counter circuit 101 stop receiving unit 102 Transmission / Reception Unit 103 Regular Transmission Unit 104 Transmission / Reception Unit

Claims (5)

A drive shaft operation system comprising a drive shaft, a drive shaft control device that controls the drive shaft, and an operation device that includes an emergency stop switch, an enable switch, and an operation unit that perform wireless transmission and reception with the drive shaft control device. In
Transmission / reception between the drive shaft control device and the operating device is:
A first transceiver and a second transceiver provided in the drive shaft control device, the third transceiver and a fourth transceiver provided in the operating device, and a first transceiver and the third transceiver, and a second The transmission / reception unit and the fourth transmission / reception unit are connected by radio,
A first control signal for controlling a power supply for the drive shaft, the safety control signal including a signal of the emergency stop switch, a signal of the enable switch, and a signal of the operation device abnormality; and the first control signal A second control signal for controlling the operation of the drive shaft based on input information of the operation unit, and
In the case where the safety confirmation signal does not match in the comparison between the first comparison unit that compares the safety confirmation signal received from the first transmission / reception unit and the second transmission / reception unit and the first comparison unit. And a drive power supply controller for stopping the drive shaft.
The operating device includes a first control unit to be connected to the third transceiver, and a second control unit to be connected to the fourth transceiver, signal a signal of the enable switch of the emergency stop switch the first control And a second comparison unit that compares the signal of the emergency stop switch with the signal of the enable switch that is output to the first control unit and the second control unit. drive shaft operating system according to claim 1, characterized in that the comparison result in the second comparing unit stops the transmission or transmission operating apparatus abnormality signal enabling to the in case of disagreement. The first comparison unit is characterized in that a comparison result between a safety confirmation signal included in the first control signal and a safety confirmation signal included in the second control signal does not coincide with each other within a predetermined time. The drive shaft operating system according to claim 1 . The second comparison unit does not make the comparison result between the signal of the emergency stop switch input to the first control unit and the second control unit and the enable switch within a predetermined time inconsistent. The drive shaft operating system according to claim 2 , wherein the drive shaft operating system is characterized. Wherein a safety check signal included in the first control signal, wherein the safety confirmation signal included in the second control signal, the drive shaft operating system according to claim 1, characterized in that the sequence or logical sent is different .

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