WO2016203605A1 - Robot controller - Google Patents

Robot controller Download PDF

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Publication number
WO2016203605A1
WO2016203605A1 PCT/JP2015/067573 JP2015067573W WO2016203605A1 WO 2016203605 A1 WO2016203605 A1 WO 2016203605A1 JP 2015067573 W JP2015067573 W JP 2015067573W WO 2016203605 A1 WO2016203605 A1 WO 2016203605A1
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WIPO (PCT)
Prior art keywords
address
peripheral device
teaching pendant
robot
robot controller
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PCT/JP2015/067573
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French (fr)
Japanese (ja)
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智也 山下
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三菱電機株式会社
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Priority to JP2017509803A priority Critical patent/JP6223627B2/en
Priority to PCT/JP2015/067573 priority patent/WO2016203605A1/en
Publication of WO2016203605A1 publication Critical patent/WO2016203605A1/en

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  • the present invention relates to a robot controller that transfers information on peripheral devices to a teaching pendant.
  • an application-specific integrated circuit that performs processing such as data conversion between a peripheral device such as an imaging device of a robot and a teaching pendant, that is, an ASIC (Application Specific Integrated Circuit) is interposed in real time.
  • ASIC Application Specific Integrated Circuit
  • the present invention has been made in view of the above, and an object of the present invention is to provide a robot controller that can directly transfer peripheral device data to the teaching pendant and reduce the load on the CPU generated by the data transfer. To do.
  • the present invention relates to an address assigned to a peripheral device that transmits data related to the robot to the teaching pendant when the teaching pendant for teaching the robot is connected.
  • An address assignment unit for assigning different addresses, an address management unit for notifying peripheral devices of different addresses, and a data transfer unit for transferring data with different addresses as destination addresses from the peripheral device to the teaching pendant It is characterized by.
  • the robot controller according to the present invention can directly transfer data of peripheral devices to the teaching pendant, and has an effect of reducing the load on the CPU generated by the data transfer.
  • FIG. 1 is a block diagram showing a configuration of a robot control system according to a first embodiment of the present invention.
  • FIG. 1 is a block diagram showing a configuration of a robot control system according to a first embodiment.
  • FIG. 3 is a block diagram showing a configuration of a robot control system according to a second embodiment of the present invention.
  • FIG. 1 is a block diagram showing the configuration of the robot control system 100 according to the first embodiment of the present invention.
  • the robot control system 100 includes a robot controller 10 that controls a robot (not shown), a peripheral device 1 that transmits data related to the robot, and a teaching pendant 2 for robot teaching.
  • Specific examples of the peripheral device 1 are an imaging device installed at the tip of a robot arm, an imaging device that captures an operation of the robot, a sensor installed in the robot, and a personal computer that transfers a program related to the robot operation.
  • the teaching pendant 2 is a portable teaching device that is used when teaching the robot to operate by actually moving the robot and recording and reproducing its operation.
  • the robot controller 10 includes a data transfer unit 3 that is a hub that directly transfers received data, an address management unit 4 that is configured by an ASIC, an address allocation unit 5 that is a south bridge, and a CPU 6 that controls the address management unit 4. It consists of.
  • the South Bridge is composed of an FPGA (Field-Programmable Gate Array). The data transfer unit 3 and the address management unit 4 are connected, the address management unit 4 and the CPU 6 are connected, and the address management unit 4 and the address assignment unit 5 are connected.
  • the peripheral device 1 and the data transfer unit 3 are connected by a signal line 11, and the teaching pendant 2 and the data transfer unit 3 are connected by a signal line 12.
  • the communication standard of the signal lines 11 and 12 is Ethernet (registered trademark). Accordingly, the peripheral device 1 and the teaching pendant 2 are connected via Ethernet (registered trademark) via the data transfer unit 3. Further, the teaching pendant 2 is connected to the address assignment unit 5 and the signal line 13 according to a communication standard such as RS422.
  • the teaching pendant 2 is normally connected to the robot controller 10 on a one-to-one basis, and is initially assigned a unique IP address that is an initial IP (Internet Protocol) address.
  • the robot controller 10 according to the first embodiment is configured such that when the teaching pendant 2 is connected to the robot controller 10, the address assignment unit 5 can change the IP address of the teaching pendant 2.
  • FIG. 2 is a diagram illustrating a configuration of the teaching pendant 2 according to the first embodiment.
  • the teaching pendant 2 includes an address holding unit 20 that holds its own IP address. Initially, the unique IP address that is an initial setting address is held in the address holding unit 20.
  • the robot controller 10 uses the unique IP address set in the address holding unit 20 to teach the pendant 2. Communicate with.
  • the address management unit 4 grasps the network to which the peripheral device 1 belongs. Specifically, the address management unit 4 recognizes and holds the network address of the IP address of the peripheral device 1.
  • the network address is an address of the upper 3 octets of the 32-bit IP address, and is an address for designating a network. Terminals in the same network are identified by a host address which is the address of the lowest octet of the IP address.
  • the robot controller 10 can identify the network to which the peripheral device 1 belongs based on the network address of the IP address of the peripheral device 1.
  • the address management unit 4 can determine an IP address that can communicate with the network of the peripheral device 1 as a new address of the teaching pendant 2. Specifically, the address management unit 4 determines an IP address having a network address of a network to which the peripheral device 1 belongs and having a host address that can be identified by the network as a new address of the teaching pendant 2. The new address has a host address different from the IP address assigned to the peripheral device 1. That is, the new address is an IP address different from the IP address assigned to the peripheral device 1. The new address is determined before the teaching pendant 2 is connected to the robot controller 10, but may be determined after the connection.
  • the address assignment unit 5 assigns the new address determined by the address management unit 4 to the address holding unit 20. Overwrite to. That is, the address assigning unit 5 assigns a new address that the peripheral device 1 can designate as a data transmission destination as a new IP address for the teaching pendant 2.
  • the address management unit 4 notifies the peripheral device 1 of the determined new address to the teaching pendant 2. This notification may be performed before the teaching pendant 2 is connected to the robot controller 10, or may be performed when the teaching pendant 2 is connected to the robot controller 10. In any case, the peripheral device 1 may be notified when a new address is assigned to the teaching pendant 2 or before that.
  • the address assignment unit 5 may assign a new address to the teaching pendant 2.
  • the address management unit 4 grasps the network to which the peripheral device 1 belongs as described above. As a result, the address management unit 4 can determine an IP address that is communicable on the network of the peripheral device 1 and that is different from the IP address assigned to the peripheral device 1 as a new address of the teaching pendant 2. Then, the address assignment unit 5 overwrites the address holding unit 20 of the teaching pendant 2 with this new address. Further, the address management unit 4 notifies the peripheral device 1 of the determined new address.
  • the address assigning unit 5 assigns the teaching pendant 2 as a new address an IP address having the network address of the network to which the peripheral device 1 belongs. Will belong to the network.
  • the teaching pendant 2 can directly receive an IP packet transmitted from the peripheral device 1 that has been notified of the new address.
  • the peripheral device 1 transmits data related to the robot to be sent to the teaching pendant 2 using an IP packet in which the new address is added as a destination IP address.
  • the data transfer unit 3 transfers the data addressed to the teaching pendant 2 to which the new address is assigned as the destination IP address to the teaching pendant 2.
  • the teaching pendant 2 receives only an IP packet to which a new address which is its current IP address is attached as a destination IP address.
  • the peripheral device 1 and the teaching pendant 2 can directly communicate with each other. Accordingly, it is possible to transmit an IP packet including data related to the robot sent from the peripheral device 1 to the teaching pendant 2 via the data transfer unit 3 without going through the ASIC. Note that after the IP address of the teaching pendant 2 is changed to a new address, the peripheral device 1 and the teaching pendant 2 do not necessarily have to communicate via the data transfer unit 3. That is, communication may be performed via another wireless or wired communication path without using the data transfer unit 3.
  • the IP address of the teaching pendant 2 was used without changing the unique IP address.
  • the peripheral device 1 transmits data to the teaching pendant 2
  • an IP packet is transmitted to the robot controller 10 as a terminal in the network to which the peripheral device 1 belongs.
  • the IP address of the destination of the IP packet is converted into a unique IP address by the ASIC in the robot controller 10 and transmitted to the teaching pendant 2. This operation generated a processing load on the CPU 6.
  • the robot controller 10 changes the IP address of the teaching pendant 2 so that the teaching pendant 2 belongs to the network to which the peripheral device 1 belongs.
  • the data of the peripheral device 1 can be directly transferred to the teaching pendant 2. That is, the path for transferring the peripheral device information to the teaching pendant 2 can be separated from the ASIC.
  • the robot control system 100 is configured in FIG. 1, and after the above-described new address is assigned, the teaching pendant 2 is different from the robot controller 10. It may be connected to another robot controller 10 'that controls the robot. The state at this time is shown in FIG.
  • FIG. 3 is a block diagram illustrating a configuration of the robot control system 100 ′ according to the first embodiment.
  • the robot control system 100 ′ uses a robot (not shown) different from the robot that is the control target of the robot control system 100 as a control target.
  • the robot control system 100 ′ includes a robot controller 10 ′ that controls the other robot, a peripheral device 1 ′ that transmits data related to the other robot, and a teaching pendant 2 for teaching.
  • the robot controller 10 ′ includes a data transfer unit 3 ′ that is a hub that transfers received data as it is, an address management unit 4 ′ that is configured by an ASIC, an address assignment unit 5 ′ that is a south bridge, and an address management unit 4 And “CPU 6 for controlling”.
  • the peripheral device 1 'and the data transfer unit 3' are connected by a signal line 11 ', and the teaching pendant 2 and the data transfer unit 3' are connected by a signal line 12 '. Further, the teaching pendant 2 is connected to the address assignment unit 5 'through a signal line 13'.
  • the functions of the constituent elements with single quotation marks (') in FIG. 3 are the same as those of the constituent elements with the same reference numerals without single quotation marks in FIG.
  • the address management unit 4 ′ determines an IP address that can communicate with the network of the peripheral device 1 ′ as a new address of the teaching pendant 2.
  • a robot control system 100' is configured.
  • the address assignment unit 5 ′ overwrites the address holding unit 20 with the new address determined by the address management unit 4 ′.
  • the IP address assigned to the teaching pendant 2 is changed from an IP address communicable on the network of the peripheral device 1 to an IP address communicable on the network of the peripheral device 1 ′.
  • the teaching pendant 2 is assigned a new address that the peripheral device 1 ′ can designate as a data transmission destination. Further, the address management unit 4 ′ notifies the peripheral device 1 of the new address assigned to the teaching pendant 2. In this way, since the teaching pendant 2 belongs to the network to which the peripheral device 1 'belongs, the peripheral device 1' and the teaching pendant 2 can directly communicate with each other.
  • FIG. FIG. 4 is a block diagram showing the configuration of the robot control system 200 according to the second embodiment of the present invention.
  • the robot control system 200 there are a plurality of peripheral devices 7 and 8 that require real-time data transfer.
  • peripheral devices 7 and 8 that require real-time data transfer.
  • the functions of the constituent elements having the same reference numerals as those in FIG. 1 are the same as those described in the first embodiment, and thus description thereof is omitted.
  • the data related to the robot transmitted by the peripheral device 7 and the peripheral device 8 is sent to the signal line 21 via the data transfer unit 9 which is a hub for transferring the received data as it is.
  • the data transfer unit 9 and the data transfer unit 3 are connected by a signal line 21.
  • the communication standard of the signal line 21 is Ethernet (registered trademark). Accordingly, the peripheral device 7 and the peripheral device 8 and the teaching pendant 2 are connected by Ethernet (registered trademark) via the data transfer unit 9 and the data transfer unit 3.
  • the peripheral device 7 and the peripheral device 8 belong to the same network, and the operation of the robot controller 10 according to the second embodiment is basically the same as the operation in the first embodiment.
  • the address management unit 4 grasps the network to which the peripheral device 7 and the peripheral device 8 belong.
  • the address management unit 4 determines an IP address that can communicate with the network of the peripheral device 7 and the peripheral device 8 as a new address of the teaching pendant 2.
  • the new address is an IP address having a host address different from the IP addresses assigned to the peripheral device 7 and the peripheral device 8.
  • the robot control system 200 is configured.
  • the address assignment unit 5 overwrites the address holding unit 20 with the new address determined by the address management unit 4.
  • the IP address assigned to the teaching pendant 2 is changed from the unique IP address to an IP address that the peripheral device 7 and the peripheral device 8 can designate as the data transmission destination. Further, the address management unit 4 notifies the peripheral device 7 and the peripheral device 8 of the new address assigned to the teaching pendant 2. In this way, since the teaching pendant 2 belongs to the network to which the peripheral device 7 and the peripheral device 8 belong, the peripheral device 7 and the peripheral device 8 and the teaching pendant 2 can directly communicate with each other. .
  • the robot controller 10 when the teaching pendant 2 is connected, the IP address of the teaching pendant 2 is changed, and the teaching pendant 2 is connected to the network to which the peripheral device 7 and the peripheral device 8 belong. Make them belong.
  • data of a plurality of peripheral devices such as the peripheral device 7 and the peripheral device 8 can be directly transferred to the teaching pendant 2. That is, the path for transferring the peripheral device information to the teaching pendant 2 can be separated from the ASIC.
  • the robot can be controlled in real time.
  • the configuration described in the above embodiment shows an example of the contents of the present invention, and can be combined with another known technique, and can be combined with other configurations without departing from the gist of the present invention. It is also possible to omit or change the part.

Abstract

A robot controller (10) is provided with: an address assignment unit (5) for assigning, when a robot teaching pendant (2) is connected, an address to the teaching pendant (2) that differs from the address assigned to a peripheral device (1) that transmits data relating to the robot; an address management unit (4) for notifying the peripheral device (1) of the different address; and a data transfer unit (3) for transferring data in which the different address is attached as the destination address from the peripheral device (1) to the teaching pendant (2).

Description

ロボットコントローラRobot controller
　本発明は、周辺機器の情報をティーチングペンダントに転送するロボットコントローラに関する。 The present invention relates to a robot controller that transfers information on peripheral devices to a teaching pendant.
　従来のロボットコントローラにおいては、ロボットの撮像装置といった周辺機器とティーチングペンダントとの間にデータ変換といった処理を実行する特定用途向け集積回路、即ちＡＳＩＣ（Ａｐｐｌｉｃａｔｉｏｎ　Ｓｐｅｃｉｆｉｃ　Ｉｎｔｅｇｒａｔｅｄ　Ｃｉｒｃｕｉｔ）が介在することで、リアルタイムなデータ転送が出来ないという問題点があった。また、ＡＳＩＣ内をデータが経由することによってデータ変換が必要となり、そのために制御用のＣＰＵ（Ｃｅｎｔｒａｌ　Ｐｒｏｃｅｓｓｉｎｇ　Ｕｎｉｔ）の負荷が重くなるという欠点があった。 In a conventional robot controller, an application-specific integrated circuit that performs processing such as data conversion between a peripheral device such as an imaging device of a robot and a teaching pendant, that is, an ASIC (Application Specific Integrated Circuit) is interposed in real time. There was a problem that data transfer was not possible. In addition, there is a drawback that data conversion is required when data passes through the ASIC, which causes a heavy load on a control CPU (Central Processing Unit).
　ティーチングペンダントへのデータ転送に関しては、ロボットの撮像装置といった周辺装置からの動画データの転送時に、フレーム間およびパケット間に遅延時間を設ける技術が提案されている（特許文献１参照）。 Regarding the data transfer to the teaching pendant, a technique has been proposed in which a delay time is provided between frames and between packets when transferring moving image data from a peripheral device such as an imaging device of a robot (see Patent Document 1).
特開２０１３－２５８５４２号公報JP 2013-258542 A
　しかしながら、特許文献１の技術においても、動画データがデータバッファを経由しているので、ＣＰＵの負荷が重くなり、リアルタイムなデータ転送が出来ないという問題は解決されていない。 However, even in the technique of Patent Document 1, since the moving image data passes through the data buffer, the problem that the CPU load becomes heavy and real-time data transfer cannot be performed has not been solved.
　本発明は、上記に鑑みてなされたものであって、周辺機器のデータをティーチングペンダントへ直接転送することができ、またデータ転送により発生するＣＰＵの負荷を軽減するロボットコントローラを得ることを目的とする。 The present invention has been made in view of the above, and an object of the present invention is to provide a robot controller that can directly transfer peripheral device data to the teaching pendant and reduce the load on the CPU generated by the data transfer. To do.
　上述した課題を解決し、目的を達成するために、本発明は、ロボット教示用のティーチングペンダントが接続されると、ティーチングペンダントに、ロボットに係るデータを送信する周辺機器に割当てられたアドレスとは異なるアドレスを割当てるアドレス割当て部と、異なるアドレスを周辺機器に通知するアドレス管理部と、異なるアドレスが宛先のアドレスとして付されたデータを周辺機器からティーチングペンダントへ転送するデータ転送部と、を備えることを特徴とする。 In order to solve the above-described problems and achieve the object, the present invention relates to an address assigned to a peripheral device that transmits data related to the robot to the teaching pendant when the teaching pendant for teaching the robot is connected. An address assignment unit for assigning different addresses, an address management unit for notifying peripheral devices of different addresses, and a data transfer unit for transferring data with different addresses as destination addresses from the peripheral device to the teaching pendant It is characterized by.
　本発明にかかるロボットコントローラは、周辺機器のデータをティーチングペンダントへ直接転送することができ、またデータ転送により発生するＣＰＵの負荷を軽減するという効果を奏する。 The robot controller according to the present invention can directly transfer data of peripheral devices to the teaching pendant, and has an effect of reducing the load on the CPU generated by the data transfer.
本発明の実施の形態１にかかるロボット制御システムの構成を示すブロック図1 is a block diagram showing a configuration of a robot control system according to a first embodiment of the present invention. 実施の形態１にかかるティーチングペンダントの構成を示す図The figure which shows the structure of the teaching pendant concerning Embodiment 1. FIG. 実施の形態１にかかるロボット制御システムの構成を示すブロック図1 is a block diagram showing a configuration of a robot control system according to a first embodiment. 本発明の実施の形態２にかかるロボット制御システムの構成を示すブロック図FIG. 3 is a block diagram showing a configuration of a robot control system according to a second embodiment of the present invention.
　以下に、本発明の実施の形態にかかるロボットコントローラを図面に基づいて詳細に説明する。なお、この実施の形態によりこの発明が限定されるものではない。 Hereinafter, a robot controller according to an embodiment of the present invention will be described in detail with reference to the drawings. Note that the present invention is not limited to the embodiments.
実施の形態１．
　図１は、本発明の実施の形態１にかかるロボット制御システム１００の構成を示すブロック図である。ロボット制御システム１００は、図示せぬロボットを制御するロボットコントローラ１０と、ロボットに係るデータを送信する周辺機器１と、ロボット教示用のティーチングペンダント２と、を備える。周辺機器１の具体例は、ロボットアームの先端に設置されている撮像装置、ロボットの動作を撮影する撮像装置、ロボットに設置されているセンサおよびロボット動作にかかるプログラムを転送するパーソナルコンピュータである。ティーチングペンダント２は、ロボットを実際に動かし、その動作を記録および再生させてロボットを動作させる教示を行う際に使用される可搬式の教示装置である。 Embodiment 1 FIG.
FIG. 1 is a block diagram showing the configuration of the robot control system 100 according to the first embodiment of the present invention. The robot control system 100 includes a robot controller 10 that controls a robot (not shown), a peripheral device 1 that transmits data related to the robot, and a teaching pendant 2 for robot teaching. Specific examples of the peripheral device 1 are an imaging device installed at the tip of a robot arm, an imaging device that captures an operation of the robot, a sensor installed in the robot, and a personal computer that transfers a program related to the robot operation. The teaching pendant 2 is a portable teaching device that is used when teaching the robot to operate by actually moving the robot and recording and reproducing its operation.
　ロボットコントローラ１０は、受け取ったデータをそのまま転送するハブであるデータ転送部３と、ＡＳＩＣで構成されたアドレス管理部４と、サウスブリッジであるアドレス割当て部５と、アドレス管理部４を制御するＣＰＵ６とから構成される。サウスブリッジは、ＦＰＧＡ（Ｆｉｅｌｄ－Ｐｒｏｇｒａｍｍａｂｌｅ　Ｇａｔｅ　Ａｒｒａｙ）で構成される。データ転送部３とアドレス管理部４とは接続され、アドレス管理部４とＣＰＵ６とは接続され、アドレス管理部４とアドレス割当て部５とは接続されている。 The robot controller 10 includes a data transfer unit 3 that is a hub that directly transfers received data, an address management unit 4 that is configured by an ASIC, an address allocation unit 5 that is a south bridge, and a CPU 6 that controls the address management unit 4. It consists of. The South Bridge is composed of an FPGA (Field-Programmable Gate Array). The data transfer unit 3 and the address management unit 4 are connected, the address management unit 4 and the CPU 6 are connected, and the address management unit 4 and the address assignment unit 5 are connected.
　周辺機器１とデータ転送部３とは信号線１１で接続され、ティーチングペンダント２とデータ転送部３とは信号線１２で接続されている。信号線１１および１２の通信規格は、イーサネット（登録商標）である。従って、周辺機器１とティーチングペンダント２とはデータ転送部３を介してイーサネット（登録商標）で接続される。さらに、ティーチングペンダント２は、アドレス割当て部５と信号線１３を介してＲＳ４２２といった通信規格で接続されている。 The peripheral device 1 and the data transfer unit 3 are connected by a signal line 11, and the teaching pendant 2 and the data transfer unit 3 are connected by a signal line 12. The communication standard of the signal lines 11 and 12 is Ethernet (registered trademark). Accordingly, the peripheral device 1 and the teaching pendant 2 are connected via Ethernet (registered trademark) via the data transfer unit 3. Further, the teaching pendant 2 is connected to the address assignment unit 5 and the signal line 13 according to a communication standard such as RS422.
　ティーチングペンダント２は、ロボットコントローラ１０と通常１対１で接続されており、最初は、初期設定のＩＰ（Ｉｎｔｅｒｎｅｔ　Ｐｒｏｔｏｃｏｌ）アドレスである固有ＩＰアドレスが割り当てられている。実施の形態１にかかるロボットコントローラ１０においては、ティーチングペンダント２をロボットコントローラ１０に接続したときに、アドレス割当て部５がティーチングペンダント２のＩＰアドレスを変更することが可能な構成になっている。 The teaching pendant 2 is normally connected to the robot controller 10 on a one-to-one basis, and is initially assigned a unique IP address that is an initial IP (Internet Protocol) address. The robot controller 10 according to the first embodiment is configured such that when the teaching pendant 2 is connected to the robot controller 10, the address assignment unit 5 can change the IP address of the teaching pendant 2.
　図２は、実施の形態１にかかるティーチングペンダント２の構成を示す図である。ティーチングペンダント２は、自らのＩＰアドレスを保持するアドレス保持部２０を備えており、当初は、初期設定のアドレスである固有ＩＰアドレスがアドレス保持部２０に保持されている。そして、ロボットコントローラ１０が周辺機器１とは接続されずに、ティーチングペンダント２のみと接続されている場合、ロボットコントローラ１０は、アドレス保持部２０に設定されている固有ＩＰアドレスを用いてティーチングペンダント２と通信を実行する。 FIG. 2 is a diagram illustrating a configuration of the teaching pendant 2 according to the first embodiment. The teaching pendant 2 includes an address holding unit 20 that holds its own IP address. Initially, the unique IP address that is an initial setting address is held in the address holding unit 20. When the robot controller 10 is connected only to the teaching pendant 2 without being connected to the peripheral device 1, the robot controller 10 uses the unique IP address set in the address holding unit 20 to teach the pendant 2. Communicate with.
　ロボットコントローラ１０が周辺機器１と接続されると、アドレス管理部４は、周辺機器１が所属するネットワークを把握する。具体的には、アドレス管理部４は、周辺機器１のＩＰアドレスのネットワークアドレスを認識して保持する。ネットワークアドレスは、３２ビットのＩＰアドレスの上位３オクテットのアドレスであり、ネットワークを指定するアドレスである。同一ネットワーク内の端末はＩＰアドレスの最下位の１オクテットのアドレスであるホストアドレスで識別される。ロボットコントローラ１０は、周辺機器１のＩＰアドレスのネットワークアドレスにより、周辺機器１が所属するネットワークを識別することができる。 When the robot controller 10 is connected to the peripheral device 1, the address management unit 4 grasps the network to which the peripheral device 1 belongs. Specifically, the address management unit 4 recognizes and holds the network address of the IP address of the peripheral device 1. The network address is an address of the upper 3 octets of the 32-bit IP address, and is an address for designating a network. Terminals in the same network are identified by a host address which is the address of the lowest octet of the IP address. The robot controller 10 can identify the network to which the peripheral device 1 belongs based on the network address of the IP address of the peripheral device 1.
　従って、アドレス管理部４は、ティーチングペンダント２の新規なアドレスとして周辺機器１のネットワークで通信可能なＩＰアドレスを決定することができる。具体的には、アドレス管理部４は、周辺機器１が所属するネットワークのネットワークアドレスを有して、当該ネットワークで識別可能なホストアドレスを有するＩＰアドレスをティーチングペンダント２の新規なアドレスとして決定する。新規なアドレスは、周辺機器１に割当てられたＩＰアドレスとはホストアドレスが異なる。即ち、新規なアドレスは、周辺機器１に割当てられたＩＰアドレスとは異なるＩＰアドレスとなる。新規なアドレスはティーチングペンダント２がロボットコントローラ１０に接続される前に決定しておくが、接続後に決定してもかまわない。 Therefore, the address management unit 4 can determine an IP address that can communicate with the network of the peripheral device 1 as a new address of the teaching pendant 2. Specifically, the address management unit 4 determines an IP address having a network address of a network to which the peripheral device 1 belongs and having a host address that can be identified by the network as a new address of the teaching pendant 2. The new address has a host address different from the IP address assigned to the peripheral device 1. That is, the new address is an IP address different from the IP address assigned to the peripheral device 1. The new address is determined before the teaching pendant 2 is connected to the robot controller 10, but may be determined after the connection.
（先に周辺機器１がロボットコントローラ１０に接続されている場合）
　周辺機器１が既にロボットコントローラ１０に接続されている状態で、ティーチングペンダント２がロボットコントローラ１０に接続されると、アドレス割当て部５は、アドレス管理部４が決定した新規なアドレスをアドレス保持部２０に上書きする。即ち、アドレス割当て部５は、ティーチングペンダント２に対する新たなＩＰアドレスとして、周辺機器１がデータ送信先に指定可能な新規なアドレスを割当てる。 (When the peripheral device 1 is connected to the robot controller 10 first)
When the teaching pendant 2 is connected to the robot controller 10 while the peripheral device 1 is already connected to the robot controller 10, the address assignment unit 5 assigns the new address determined by the address management unit 4 to the address holding unit 20. Overwrite to. That is, the address assigning unit 5 assigns a new address that the peripheral device 1 can designate as a data transmission destination as a new IP address for the teaching pendant 2.
　さらに、アドレス管理部４は、ティーチングペンダント２に対して決定した新規なアドレスを周辺機器１に通知する。この通知は、ティーチングペンダント２がロボットコントローラ１０に接続される前に行ってもよいが、ティーチングペンダント２がロボットコントローラ１０に接続されたときに行ってもよい。いずれにせよ、ティーチングペンダント２に新規なアドレスが割当てられたとき、またはそれ以前にティーチングペンダント２の新規なアドレスが周辺機器１に通知されていればかまわない。 Furthermore, the address management unit 4 notifies the peripheral device 1 of the determined new address to the teaching pendant 2. This notification may be performed before the teaching pendant 2 is connected to the robot controller 10, or may be performed when the teaching pendant 2 is connected to the robot controller 10. In any case, the peripheral device 1 may be notified when a new address is assigned to the teaching pendant 2 or before that.
（先にティーチングペンダント２がロボットコントローラ１０に接続されている場合）
　上記の場合と異なり、周辺機器１が接続されておらず、ティーチングペンダント２がロボットコントローラ１０と接続されている状態で、新たに周辺機器１がロボットコントローラ１０に接続される場合に、アドレス割当て部５は、新規なアドレスの割当てをティーチングペンダント２に行ってもよい。 (When the teaching pendant 2 is connected to the robot controller 10 first)
Unlike the above case, when the peripheral device 1 is not connected and the teaching pendant 2 is connected to the robot controller 10 and the peripheral device 1 is newly connected to the robot controller 10, the address assignment unit 5 may assign a new address to the teaching pendant 2.
　具体的には、ティーチングペンダント２のみがロボットコントローラ１０に接続されている状態では、ティーチングペンダント２には上述した固有ＩＰアドレスが割り当てられている。ティーチングペンダント２が接続されている状態で、周辺機器１がロボットコントローラ１０に接続されると、アドレス管理部４は、上述したように周辺機器１が所属するネットワークを把握する。これにより、アドレス管理部４は、周辺機器１のネットワークで通信可能で且つ周辺機器１に割当てられたＩＰアドレスとは異なるＩＰアドレスをティーチングペンダント２の新規なアドレスとして決定することができる。そして、アドレス割当て部５は、この新規なアドレスをティーチングペンダント２のアドレス保持部２０に上書きする。さらに、アドレス管理部４は、決定した新規なアドレスを周辺機器１に通知する。 Specifically, in the state where only the teaching pendant 2 is connected to the robot controller 10, the above-described unique IP address is assigned to the teaching pendant 2. When the peripheral device 1 is connected to the robot controller 10 with the teaching pendant 2 connected, the address management unit 4 grasps the network to which the peripheral device 1 belongs as described above. As a result, the address management unit 4 can determine an IP address that is communicable on the network of the peripheral device 1 and that is different from the IP address assigned to the peripheral device 1 as a new address of the teaching pendant 2. Then, the address assignment unit 5 overwrites the address holding unit 20 of the teaching pendant 2 with this new address. Further, the address management unit 4 notifies the peripheral device 1 of the determined new address.
　以上説明した二つの場合のいずれにおいても、アドレス割当て部５により、ティーチングペンダント２は、周辺機器１が所属するネットワークのネットワークアドレスを有するＩＰアドレスを新規なアドレスとして割当てられるので、周辺機器１が所属するネットワークに所属することになる。その結果、ティーチングペンダント２は、上記新規なアドレスを通知されている周辺機器１が送信するＩＰパケットを直接受け取ることが可能となる。具体的には、周辺機器１は、ティーチングペンダント２に送りたいロボットに係るデータを上記新規なアドレスが宛先のＩＰアドレスとして付されたＩＰパケットを用いて送信する。データ転送部３は、上記新規なアドレスが宛先のＩＰアドレスとして付されたティーチングペンダント２宛の上記データをティーチングペンダント２へ転送する。そして、ティーチングペンダント２は、自らの現在のＩＰアドレスである新規なアドレスが宛先のＩＰアドレスとして付されたＩＰパケットのみを受信する。 In any of the two cases described above, the address assigning unit 5 assigns the teaching pendant 2 as a new address an IP address having the network address of the network to which the peripheral device 1 belongs. Will belong to the network. As a result, the teaching pendant 2 can directly receive an IP packet transmitted from the peripheral device 1 that has been notified of the new address. Specifically, the peripheral device 1 transmits data related to the robot to be sent to the teaching pendant 2 using an IP packet in which the new address is added as a destination IP address. The data transfer unit 3 transfers the data addressed to the teaching pendant 2 to which the new address is assigned as the destination IP address to the teaching pendant 2. Then, the teaching pendant 2 receives only an IP packet to which a new address which is its current IP address is attached as a destination IP address.
　このようにして、周辺機器１とティーチングペンダント２とは直接通信することが可能となる。従って、周辺機器１から送られたロボットに係るデータを含んだＩＰパケットを、ＡＳＩＣを経ずにデータ転送部３を介してティーチングペンダント２に送信することが可能となる。なお、ティーチングペンダント２のＩＰアドレスが新規なアドレスに変更された後は、周辺機器１とティーチングペンダント２とは必ずしもデータ転送部３を介して通信しなくても構わない。即ち、データ転送部３を介さずに、無線または有線の別の通信経路を介して通信してもかまわない。 In this way, the peripheral device 1 and the teaching pendant 2 can directly communicate with each other. Accordingly, it is possible to transmit an IP packet including data related to the robot sent from the peripheral device 1 to the teaching pendant 2 via the data transfer unit 3 without going through the ASIC. Note that after the IP address of the teaching pendant 2 is changed to a new address, the peripheral device 1 and the teaching pendant 2 do not necessarily have to communicate via the data transfer unit 3. That is, communication may be performed via another wireless or wired communication path without using the data transfer unit 3.
　従来、ティーチングペンダント２のＩＰアドレスとしては、固有ＩＰアドレスを変更せずに使用していた。この状況で周辺機器１がティーチングペンダント２にデータを送るときは、まず、自らが所属するネットワーク内の端末としてのロボットコントローラ１０宛にＩＰパケットを送信する。そして、ロボットコントローラ１０内のＡＳＩＣでＩＰパケットの宛先のＩＰアドレスを固有ＩＰアドレスに変換して、ティーチングペンダント２に送信していた。この作業によりＣＰＵ６の処理負荷が発生していた。 Conventionally, the IP address of the teaching pendant 2 was used without changing the unique IP address. In this situation, when the peripheral device 1 transmits data to the teaching pendant 2, first, an IP packet is transmitted to the robot controller 10 as a terminal in the network to which the peripheral device 1 belongs. Then, the IP address of the destination of the IP packet is converted into a unique IP address by the ASIC in the robot controller 10 and transmitted to the teaching pendant 2. This operation generated a processing load on the CPU 6.
　これに対して実施の形態１にかかるロボットコントローラ１０によれば、ティーチングペンダント２のＩＰアドレスを変更して、ティーチングペンダント２を周辺機器１が所属するネットワークに所属させる。これにより、周辺機器１のデータをティーチングペンダント２へ直接転送することが可能となる。即ち、周辺機器情報をティーチングペンダント２へ転送する経路をＡＳＩＣから分離することができる。その結果、データ転送により発生するＣＰＵ６の負荷を軽減することができ、周辺機器情報のリアルタイムなデータ転送が可能となる。センサ情報といった周辺機器情報のタイムラグを低減できるので、ロボットをリアルタイムに制御することが可能となる。 In contrast, the robot controller 10 according to the first embodiment changes the IP address of the teaching pendant 2 so that the teaching pendant 2 belongs to the network to which the peripheral device 1 belongs. As a result, the data of the peripheral device 1 can be directly transferred to the teaching pendant 2. That is, the path for transferring the peripheral device information to the teaching pendant 2 can be separated from the ASIC. As a result, it is possible to reduce the load on the CPU 6 caused by the data transfer, and it is possible to transfer the peripheral device information in real time. Since the time lag of peripheral device information such as sensor information can be reduced, the robot can be controlled in real time.
　ティーチングペンダント２は可搬式の教示装置、即ち可搬式の操作器であるので、図１でロボット制御システム１００を構成して、上述した新規なアドレスが割当てられた後に、ロボットコントローラ１０とは別のロボットを制御する別のロボットコントローラ１０’に接続されることがある。このときの状態を図３に示す。 Since the teaching pendant 2 is a portable teaching device, that is, a portable operating device, the robot control system 100 is configured in FIG. 1, and after the above-described new address is assigned, the teaching pendant 2 is different from the robot controller 10. It may be connected to another robot controller 10 'that controls the robot. The state at this time is shown in FIG.
　図３は、実施の形態１にかかるロボット制御システム１００’の構成を示すブロック図である。ロボット制御システム１００’は、ロボット制御システム１００の制御対象であったロボットとは別の図示せぬロボットを制御対象としている。ロボット制御システム１００’は、当該別のロボットを制御するロボットコントローラ１０’と、当該別のロボットに係るデータを送信する周辺機器１’と、教示用のティーチングペンダント２と、を備える。ロボットコントローラ１０’は、受け取ったデータをそのまま転送するハブであるデータ転送部３’と、ＡＳＩＣで構成されたアドレス管理部４’と、サウスブリッジであるアドレス割当て部５’と、アドレス管理部４’を制御するＣＰＵ６’とから構成される。周辺機器１’とデータ転送部３’とは信号線１１’で接続され、ティーチングペンダント２とデータ転送部３’とは信号線１２’で接続される。さらに、ティーチングペンダント２は、アドレス割当て部５’と信号線１３’を介して接続される。図３のシングルクォーテーション（’）が付いた符号の構成要素の機能は、図１のシングルクォーテーションを有さない同一符号の構成要素の機能と同じなので説明を省略する。 FIG. 3 is a block diagram illustrating a configuration of the robot control system 100 ′ according to the first embodiment. The robot control system 100 ′ uses a robot (not shown) different from the robot that is the control target of the robot control system 100 as a control target. The robot control system 100 ′ includes a robot controller 10 ′ that controls the other robot, a peripheral device 1 ′ that transmits data related to the other robot, and a teaching pendant 2 for teaching. The robot controller 10 ′ includes a data transfer unit 3 ′ that is a hub that transfers received data as it is, an address management unit 4 ′ that is configured by an ASIC, an address assignment unit 5 ′ that is a south bridge, and an address management unit 4 And “CPU 6 for controlling”. The peripheral device 1 'and the data transfer unit 3' are connected by a signal line 11 ', and the teaching pendant 2 and the data transfer unit 3' are connected by a signal line 12 '. Further, the teaching pendant 2 is connected to the address assignment unit 5 'through a signal line 13'. The functions of the constituent elements with single quotation marks (') in FIG. 3 are the same as those of the constituent elements with the same reference numerals without single quotation marks in FIG.
　アドレス管理部４’は、ティーチングペンダント２の新規なアドレスとして周辺機器１’のネットワークで通信可能なＩＰアドレスを決定する。そして、周辺機器１’がロボットコントローラ１０’に接続されている状態で、ティーチングペンダント２がロボットコントローラ１０’に接続されると、ロボット制御システム１００’が構成される。ティーチングペンダント２がロボットコントローラ１０’に接続されると、アドレス割当て部５’は、アドレス管理部４’が決定した新規なアドレスをアドレス保持部２０に上書きする。これにより、ティーチングペンダント２に割当てられたＩＰアドレスは、周辺機器１のネットワークで通信可能なＩＰアドレスから周辺機器１’のネットワークで通信可能なＩＰアドレスに変更される。即ち、ティーチングペンダント２には、周辺機器１’がデータ送信先に指定可能な新規なアドレスが割当てられる。さらに、アドレス管理部４’は、ティーチングペンダント２に対して割当てた新規なアドレスを周辺機器１に通知する。このようにして、ティーチングペンダント２は、周辺機器１’が所属するネットワークに所属することになるので、周辺機器１’とティーチングペンダント２とは直接通信することが可能となる。 The address management unit 4 ′ determines an IP address that can communicate with the network of the peripheral device 1 ′ as a new address of the teaching pendant 2. When the teaching pendant 2 is connected to the robot controller 10 'while the peripheral device 1' is connected to the robot controller 10 ', a robot control system 100' is configured. When the teaching pendant 2 is connected to the robot controller 10 ′, the address assignment unit 5 ′ overwrites the address holding unit 20 with the new address determined by the address management unit 4 ′. As a result, the IP address assigned to the teaching pendant 2 is changed from an IP address communicable on the network of the peripheral device 1 to an IP address communicable on the network of the peripheral device 1 ′. That is, the teaching pendant 2 is assigned a new address that the peripheral device 1 ′ can designate as a data transmission destination. Further, the address management unit 4 ′ notifies the peripheral device 1 of the new address assigned to the teaching pendant 2. In this way, since the teaching pendant 2 belongs to the network to which the peripheral device 1 'belongs, the peripheral device 1' and the teaching pendant 2 can directly communicate with each other.
実施の形態２．
　図４は、本発明の実施の形態２にかかるロボット制御システム２００の構成を示すブロック図である。ロボット制御システム２００では、リアルタイムなデータ転送が必要となる周辺機器が、周辺機器７および周辺機器８と複数存在する。具体例としては、周辺機器７がロボットアームの先端に設置されている撮像装置、周辺機器８がロボットアームに設置された非接触センサといった場合である。図４において、図１と同一符号の構成要素の機能は、実施の形態１で説明したものと同じなので説明を省略する。 Embodiment 2. FIG.
FIG. 4 is a block diagram showing the configuration of the robot control system 200 according to the second embodiment of the present invention. In the robot control system 200, there are a plurality of peripheral devices 7 and 8 that require real-time data transfer. As a specific example, there are an imaging device in which the peripheral device 7 is installed at the tip of the robot arm, and a non-contact sensor in which the peripheral device 8 is installed in the robot arm. In FIG. 4, the functions of the constituent elements having the same reference numerals as those in FIG. 1 are the same as those described in the first embodiment, and thus description thereof is omitted.
　周辺機器７および周辺機器８が送信するロボットに係るデータは、受け取ったデータをそのまま転送するハブであるデータ転送部９を介して信号線２１に送られる。データ転送部９とデータ転送部３とは信号線２１で接続されている。信号線２１の通信規格は、イーサネット（登録商標）である。従って、周辺機器７および周辺機器８とティーチングペンダント２とはデータ転送部９およびデータ転送部３を介してイーサネット（登録商標）で接続される。 The data related to the robot transmitted by the peripheral device 7 and the peripheral device 8 is sent to the signal line 21 via the data transfer unit 9 which is a hub for transferring the received data as it is. The data transfer unit 9 and the data transfer unit 3 are connected by a signal line 21. The communication standard of the signal line 21 is Ethernet (registered trademark). Accordingly, the peripheral device 7 and the peripheral device 8 and the teaching pendant 2 are connected by Ethernet (registered trademark) via the data transfer unit 9 and the data transfer unit 3.
　周辺機器７および周辺機器８は同一のネットワークに所属しており、実施の形態２にかかるロボットコントローラ１０の動作も、実施の形態１における動作と基本的に同様である。 The peripheral device 7 and the peripheral device 8 belong to the same network, and the operation of the robot controller 10 according to the second embodiment is basically the same as the operation in the first embodiment.
　ロボットコントローラ１０が周辺機器７および周辺機器８と接続されると、アドレス管理部４は、周辺機器７および周辺機器８が所属するネットワークを把握する。アドレス管理部４は、ティーチングペンダント２の新規なアドレスとして周辺機器７および周辺機器８のネットワークで通信可能なＩＰアドレスを決定する。新規なアドレスは、周辺機器７および周辺機器８に割当てられたＩＰアドレスとはホストアドレスが異なるＩＰアドレスとなる。そして、周辺機器７および周辺機器８がロボットコントローラ１０に接続されている状態で、ティーチングペンダント２がロボットコントローラ１０に接続されると、ロボット制御システム２００が構成される。ティーチングペンダント２がロボットコントローラ１０に接続されると、アドレス割当て部５は、アドレス管理部４が決定した新規なアドレスをアドレス保持部２０に上書きする。これにより、ティーチングペンダント２に割当てられたＩＰアドレスは、固有ＩＰアドレスから周辺機器７および周辺機器８がデータ送信先に指定可能なＩＰアドレスに変更される。さらに、アドレス管理部４は、ティーチングペンダント２に割当てた新規なアドレスを周辺機器７および周辺機器８に通知する。このようにして、ティーチングペンダント２は、周辺機器７および周辺機器８が所属するネットワークに所属することになるので、周辺機器７および周辺機器８とティーチングペンダント２とは直接通信することが可能となる。 When the robot controller 10 is connected to the peripheral device 7 and the peripheral device 8, the address management unit 4 grasps the network to which the peripheral device 7 and the peripheral device 8 belong. The address management unit 4 determines an IP address that can communicate with the network of the peripheral device 7 and the peripheral device 8 as a new address of the teaching pendant 2. The new address is an IP address having a host address different from the IP addresses assigned to the peripheral device 7 and the peripheral device 8. When the teaching pendant 2 is connected to the robot controller 10 while the peripheral device 7 and the peripheral device 8 are connected to the robot controller 10, the robot control system 200 is configured. When the teaching pendant 2 is connected to the robot controller 10, the address assignment unit 5 overwrites the address holding unit 20 with the new address determined by the address management unit 4. As a result, the IP address assigned to the teaching pendant 2 is changed from the unique IP address to an IP address that the peripheral device 7 and the peripheral device 8 can designate as the data transmission destination. Further, the address management unit 4 notifies the peripheral device 7 and the peripheral device 8 of the new address assigned to the teaching pendant 2. In this way, since the teaching pendant 2 belongs to the network to which the peripheral device 7 and the peripheral device 8 belong, the peripheral device 7 and the peripheral device 8 and the teaching pendant 2 can directly communicate with each other. .
　実施の形態２にかかるロボットコントローラ１０によれば、ティーチングペンダント２が接続されたときに、ティーチングペンダント２のＩＰアドレスを変更して、ティーチングペンダント２を周辺機器７および周辺機器８が所属するネットワークに所属させる。これにより、周辺機器７および周辺機器８といった複数の周辺機器のデータをティーチングペンダント２へ直接転送することが可能となる。即ち、周辺機器情報をティーチングペンダント２へ転送する経路をＡＳＩＣから分離することができる。その結果、データ転送により発生するＣＰＵ６の負荷を軽減することができ、周辺機器情報のリアルタイムなデータ転送が可能となる。センサ情報といった周辺機器情報のタイムラグを低減できるので、ロボットをリアルタイムに制御することが可能となる。 According to the robot controller 10 according to the second embodiment, when the teaching pendant 2 is connected, the IP address of the teaching pendant 2 is changed, and the teaching pendant 2 is connected to the network to which the peripheral device 7 and the peripheral device 8 belong. Make them belong. As a result, data of a plurality of peripheral devices such as the peripheral device 7 and the peripheral device 8 can be directly transferred to the teaching pendant 2. That is, the path for transferring the peripheral device information to the teaching pendant 2 can be separated from the ASIC. As a result, it is possible to reduce the load on the CPU 6 caused by the data transfer, and it is possible to transfer the peripheral device information in real time. Since the time lag of peripheral device information such as sensor information can be reduced, the robot can be controlled in real time.
　以上の実施の形態に示した構成は、本発明の内容の一例を示すものであり、別の公知の技術と組み合わせることも可能であるし、本発明の要旨を逸脱しない範囲で、構成の一部を省略、変更することも可能である。 The configuration described in the above embodiment shows an example of the contents of the present invention, and can be combined with another known technique, and can be combined with other configurations without departing from the gist of the present invention. It is also possible to omit or change the part.
　１，１’，７，８　周辺機器、２　ティーチングペンダント、３，３’，９　データ転送部、４，４’　アドレス管理部、５，５’　アドレス割当て部、６，６’　ＣＰＵ、１０，１０’　ロボットコントローラ、１１，１１’，１２，１２’，１３，１３’，２１　信号線、２０　アドレス保持部、１００，１００’，２００　ロボット制御システム。 1, 1 ', 7, 8 peripheral device, 2, teaching pendant, 3, 3', 9 data transfer unit, 4, 4 'address management unit, 5, 5' address allocation unit, 6, 6 'CPU, 10, 10 'Robot controller, 11, 11', 12, 12 ', 13, 13', 21 signal line, 20 address holding unit, 100, 100 ', 200 robot control system.

Claims (5)

  1. 　ロボット教示用のティーチングペンダントが接続されると、前記ティーチングペンダントに、ロボットに係るデータを送信する周辺機器に割当てられたアドレスとは異なるアドレスを割当てるアドレス割当て部と、
    　前記異なるアドレスを前記周辺機器に通知するアドレス管理部と、
    　前記異なるアドレスが宛先のアドレスとして付された前記データを前記周辺機器から前記ティーチングペンダントへ転送するデータ転送部と、
    　を備える
    　ことを特徴とするロボットコントローラ。     When a teaching pendant for robot teaching is connected, an address assigning unit that assigns an address different from an address assigned to a peripheral device that transmits data related to the robot to the teaching pendant;
    An address management unit for notifying the peripheral device of the different address;
    A data transfer unit that transfers the data with the different address as a destination address from the peripheral device to the teaching pendant;
    A robot controller characterized by comprising:
  2. 　前記アドレス割当て部は、前記周辺機器が接続されている状態で、前記ティーチングペンダントが接続されると、前記異なるアドレスを割当てる
    　ことを特徴とする請求項１に記載のロボットコントローラ。     The robot controller according to claim 1, wherein the address assignment unit assigns the different address when the teaching pendant is connected in a state where the peripheral device is connected.
  3. 　ロボットに係るデータを送信する周辺機器が接続されると、ロボット教示用のティーチングペンダントに、前記周辺機器に割当てられたアドレスとは異なるアドレスを割当てるアドレス割当て部と、
    　前記異なるアドレスを前記周辺機器に通知するアドレス管理部と、
    　前記異なるアドレスが宛先のアドレスとして付された前記データを前記周辺機器から前記ティーチングペンダントへ転送するデータ転送部と、
    　を備える
    　ことを特徴とするロボットコントローラ。     When a peripheral device that transmits data related to the robot is connected, an address assignment unit that assigns an address different from the address assigned to the peripheral device to the teaching pendant for robot teaching;
    An address management unit for notifying the peripheral device of the different address;
    A data transfer unit that transfers the data with the different address as a destination address from the peripheral device to the teaching pendant;
    A robot controller characterized by comprising:
  4. 　前記異なるアドレスはＩＰアドレスであり、前記異なるアドレスのネットワークアドレスは前記周辺機器が所属するネットワークのネットワークアドレスである
    　ことを特徴とする請求項１、２または３に記載のロボットコントローラ。     4. The robot controller according to claim 1, wherein the different address is an IP address, and the network address of the different address is a network address of a network to which the peripheral device belongs.
  5. 　前記周辺機器は複数である
    　ことを特徴とする請求項１、２または３に記載のロボットコントローラ。     The robot controller according to claim 1, wherein a plurality of the peripheral devices are provided.
PCT/JP2015/067573 2015-06-18 2015-06-18 Robot controller WO2016203605A1 (en)

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JP2004282119A (en) * 2003-03-12 2004-10-07 Fanuc Ltd Network address setting method
JP2005138223A (en) * 2003-11-06 2005-06-02 Fanuc Ltd Positional data correcting device for robot
JP2008080475A (en) * 2006-08-29 2008-04-10 Daihen Corp Robot control system
JP2009218933A (en) * 2008-03-11 2009-09-24 Seiko Epson Corp Smart camera and robot vision system

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Publication number Priority date Publication date Assignee Title
JP4842054B2 (en) * 2006-08-29 2011-12-21 株式会社ダイヘン Robot control system
JP5746879B2 (en) * 2011-02-18 2015-07-08 株式会社ダイヘン Robot control device, teaching device, and robot system

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004282119A (en) * 2003-03-12 2004-10-07 Fanuc Ltd Network address setting method
JP2005138223A (en) * 2003-11-06 2005-06-02 Fanuc Ltd Positional data correcting device for robot
JP2008080475A (en) * 2006-08-29 2008-04-10 Daihen Corp Robot control system
JP2009218933A (en) * 2008-03-11 2009-09-24 Seiko Epson Corp Smart camera and robot vision system

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