WO2018020672A1 - Procédé et dispositif de commande d'une pluralité d'appareils ayant une zone d'interférence mutuelle - Google Patents

Procédé et dispositif de commande d'une pluralité d'appareils ayant une zone d'interférence mutuelle Download PDF

Info

Publication number
WO2018020672A1
WO2018020672A1 PCT/JP2016/072388 JP2016072388W WO2018020672A1 WO 2018020672 A1 WO2018020672 A1 WO 2018020672A1 JP 2016072388 W JP2016072388 W JP 2016072388W WO 2018020672 A1 WO2018020672 A1 WO 2018020672A1
Authority
WO
WIPO (PCT)
Prior art keywords
control device
communication
control
status signal
robot
Prior art date
Application number
PCT/JP2016/072388
Other languages
English (en)
Japanese (ja)
Inventor
浩一郎 藤分
英康 上川
武 山元
貞雄 西田
二郎 上浦
Original Assignee
株式会社村田製作所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社村田製作所 filed Critical 株式会社村田製作所
Priority to PCT/JP2016/072388 priority Critical patent/WO2018020672A1/fr
Publication of WO2018020672A1 publication Critical patent/WO2018020672A1/fr

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices

Definitions

  • the present invention relates to a control method and a control apparatus that control operations of a plurality of devices that perform work independently and have interference areas with each other.
  • the robot control device disclosed in Patent Document 1 pre-reads each robot's teaching program, and obtains a planned stop position for each robot when a stop command is issued after n interpolation cycles from the current interpolation cycle. . Then, the robot control device checks whether interference occurs at the planned stop position of each robot, and if it determines that interference occurs, it outputs a stop command from the current interpolation cycle. Thus, the occurrence of interference can be prevented by outputting a stop command before n interpolation cycles when interference occurs.
  • the interference check control device disclosed in Patent Document 2 calculates the time required from the start of braking to the stop of the robot based on the speed / position data, and calculates the latest time between each component from the start of braking to the completion of braking.
  • the history of contact distance is estimated based on the speed of each approaching component.
  • the history of the closest distance between the components and the threshold value of the interference determination area are compared to determine the presence or absence of interference during the braking period, and a movement command value for each robot is generated according to the interference determination result.
  • the presence or absence of interference between the components of the robot during the braking operation can be determined with high accuracy.
  • the control method of the control device is a control method for controlling the operations of a plurality of control devices that work independently and have interference areas.
  • the control method includes a step of transmitting a status signal indicating an operation state of one control device from one control device among the plurality of control devices to the control device via communication conforming to at least one communication protocol; When the status signal indicating the stop of the operation of the one control device is received from the one control device via the communication conforming to at least one communication protocol, the control device is delayed from the timing of receiving the status signal. Allowing the operation of another control device that may interfere with one control device at a timing.
  • the control device is a control device that performs operations independently and controls operations of a plurality of control devices having interference areas with each other.
  • the control device includes each control device, a communication unit that performs communication in accordance with at least one communication protocol, and a control unit that controls the operation of each control device.
  • the communication unit receives a status signal indicating an operation state of each control device from each control device via communication using the at least one communication protocol.
  • the control unit receives a status signal indicating the stop of the operation of the one control device from the one control device via communication based on at least one communication protocol, at a timing delayed from the timing at which the status signal is received, Permit operation of other control devices that may interfere with one control device.
  • the risk of interference between the certain device and another device can be reduced.
  • the figure explaining an example of the robot system to which the control method of the present invention is applied 1 is a block diagram showing a configuration of a robot system in Embodiment 1 of the present invention.
  • the figure explaining transmission of the status signal via communication by two communication protocols between the robot and PLC in Embodiment 1 The flowchart which shows the process regarding the interference check by PLC in Embodiment 1.
  • the figure explaining transmission of the status signal between the robot and PLC in Embodiment 2 The flowchart which shows the process regarding the interference check by PLC in Embodiment 2.
  • FIG. 1 is a diagram for explaining an example of a robot system that performs a control method according to the present invention.
  • the robot system shown in FIG. 1 is a system used in a secondary battery laminating apparatus.
  • the work 80 that has been transported is placed on a laminating jig 83, and the laminating jig 83 on which the work 80 is placed. Is stored in the stacking jig rack 89.
  • the robot system includes a robot 100 that performs a predetermined operation, a workpiece transfer stage 200 that transfers a workpiece 80, and a workpiece transfer handler 400 that places the transferred workpiece 80 on a stacking jig 83 on the workpiece mounting stage 300. And comprising.
  • the workpiece conveyance stage 200 is a means for conveying the workpiece 80, and conveys the workpiece 80 from the left direction in FIG.
  • the robot 100 discards the inappropriate work 80b into the NG work disposal box 87, takes out the lamination jig 83 from the lamination jig rack 89, and the lamination jig rack 89 of the lamination jig 83 on which the workpiece 80 is mounted. It is an articulated robot that performs multiple operations such as storage.
  • the robot 100 includes a robot hand 112 that sucks or grips a work object (work 80 or a stacking jig 83), an arm 114 that supports the robot hand 112 at the tip, and a base portion 116 that rotatably supports the arm 114. including.
  • the robot hand 112 includes a suction part 112 a that sucks and holds the workpiece 80 and a gripping part 112 b that grips the stacking jig 83.
  • the arm 114 has a plurality of joints driven by a motor, and can take various postures.
  • the base part 116 is rotatable, and the direction of the arm 114 can be changed.
  • the workpiece transfer handler 400 places the workpiece 80 transferred to the predetermined position A by the workpiece transfer stage 200 on the stacking jig 89 on the workpiece mounting stage 300.
  • the workpiece transfer handler 400 includes a holding unit 412 that sucks and holds the workpiece 80, an arm unit 414 that includes a holding unit 412 at the tip, and a base unit 416 that rotates and moves the arm unit 414.
  • the holding unit 412 can lift or drop the workpiece 80 by suction.
  • the base portion 416 is rotatable, whereby the arm portion 414 rotates and can move the workpiece 80 from the workpiece transfer stage 200 to the workpiece mounting stage 300.
  • the workpiece transfer handler 400 includes a motor and an actuator for performing the above-described operation.
  • the robot 100 uses the suction unit 112a of the robot hand 112 to remove the workpiece 80 from the workpiece conveyance stage 300 when the workpiece 80 conveyed to the predetermined position A by the workpiece conveyance stage 200 is defective or is not a work target workpiece. It is adsorbed and lifted and discarded in the NG work disposal box 87.
  • the robot 100 takes out the stacking jig 83 on which the work 80 is not placed from the shelf of the stacking jig rack 89 by the gripping part 112b of the robot hand 112, and places (supply) it on the work mounting stage 300.
  • the workpiece conveyance handler 400 places the workpiece 80 on the workpiece conveyance stage 200 on the stacking jig 83 on the workpiece mounting stage 300.
  • the robot 100 lifts the stacking jig 83 on which the workpiece 80 is placed by the grip portion 112 b of the robot hand 112 and stores it in the shelf of the stacking jig rack 89.
  • the robot 100 and the workpiece transfer stage 200 have an interference area. Therefore, when one is working in the interference area, it is necessary to control each operation so that the other does not work in the interference area.
  • the robot 100 and the work transfer handler 400 also have an interference area, and one of them is working in the interference area, the other needs to be controlled so that the other does not work in the interference area.
  • the workpiece transfer stage 200 and the workpiece transfer handler 400 also have an interference area. Thus, it is necessary to control each operation of the robot 100, the workpiece transfer stage 200, and the workpiece transfer handler 400 so as not to interfere with each other. For this reason, this robot system performs an interference check described later for control devices that may interfere with each other.
  • FIG. 2 is a block diagram showing an internal configuration of the robot system according to the first embodiment.
  • the robot system includes a robot 100, a workpiece transfer stage 200, a workpiece transfer handler 400, and a robot controller 110 that controls the robot 100.
  • the robot system includes a PLC (programmable logic controller) 500 as a control device that controls operations of the robot 100, the workpiece transfer stage 200, and the workpiece transfer handler 400.
  • PLC programmable logic controller
  • control device the robot 100 (including the robot controller 110), the workpiece transfer stage 200, and the workpiece transfer handler 400 are collectively referred to as “control device”.
  • Each control device 100 (including the robot controller 110), 200, and 400 is an example of the “control device” in the present invention.
  • the PLC 500 is an example of the “control device” in the present invention.
  • the communication unit 55 is an example of the “communication unit” in the present invention.
  • the control unit 51 is an example of the “control unit” in the present invention.
  • the PLC 500 transmits an operation request to the robot controller 110 in order to control the robot 100. Further, the PLC 500 transmits an operation request to each of the workpiece transfer stage 200 and the workpiece transfer handler 400 in order to control the workpiece transfer stage 200 and the workpiece transfer handler 400. For this reason, the PLC 500 is connected to the robot controller 110 via the network 600. The PLC 500 is connected to the workpiece transfer stage 200 via the network 700. Furthermore, the PLC 500 is connected to the work transfer handler 400 via the network 800.
  • the network 600 performs communication based on two communication protocols having different communication cycles. Specifically, the network 600 performs communication conforming to the Ethernet standard whose communication cycle is indefinite, and communication conforming to the Ethernet IP standard whose communication cycle is a constant cycle.
  • the PLC 500 includes a control unit 51 that controls the operation of the PLC 500, a storage unit 52, and a communication unit 55.
  • the control unit 51 includes a CPU and realizes a predetermined function by executing a predetermined program.
  • the storage unit 52 is a recording medium composed of a semiconductor memory element, a hard disk, and the like, and stores programs and data executed by the control unit 51.
  • the communication unit 55 includes an interface circuit for performing communication via the network 600.
  • the communication unit 55 performs communication conforming to two communication protocols (Ethernet, Ethernet IP).
  • the robot 100 is a device that performs predetermined operations such as discarding the workpiece 80 and storing the stacking jig.
  • the robot 100 includes a communication unit 17 for communicating with the robot controller 110 and a drive unit 19 including a motor, an actuator, and the like for driving the arm 114.
  • the communication unit 17 includes a circuit for performing communication via the network 600.
  • the robot controller 110 controls the operation of the robot 100 according to instructions from the PLC 500.
  • the robot controller 110 includes a control unit 11 that controls the operation of the robot 100, a storage unit 12, and a communication unit 15.
  • the control unit 11 includes a CPU and realizes a predetermined function by executing a predetermined program.
  • the storage unit 12 is a recording medium composed of a semiconductor memory element, a hard disk, and the like, and stores programs and data executed by the control unit 11.
  • the communication unit 15 includes a circuit for performing communication via the network 600.
  • the communication unit 15 performs communication conforming to two communication protocols (Ethernet, Ethernet IP).
  • the workpiece transfer stage 200 is a device that transfers the workpiece 80 in accordance with instructions from the PLC 500.
  • the workpiece transfer stage 200 includes a communication unit 25 and a drive unit 22 including a motor, an actuator, and the like that move the stage on which the workpiece is mounted.
  • the communication unit 25 includes a circuit for performing communication via the network 700.
  • the communication unit 25 performs MetroLink communication specialized for the servo driver.
  • the workpiece transfer handler 400 is a device that moves the workpiece 80 from the workpiece transfer stage 200 to the workpiece mounting stage 300 in accordance with an instruction from the PLC 500.
  • the work transfer handler 400 includes a communication unit 45 and a drive unit 42 including a motor, an actuator, and the like that rotate and move the arm 414.
  • the communication unit 45 includes a circuit for performing communication via the network 800.
  • the communication unit 45 performs MetroLink communication specialized for the servo driver.
  • the PLC 500 stores data for specifying a work procedure for each of the control devices 100, 200, and 400 in the storage unit 52.
  • the PLC 500 sequentially reads out this data and executes processing corresponding to the data.
  • 200 and 400 are caused to execute a predetermined operation (work). Further, the PLC 500 grasps each control device 100, 200, 400 with other control devices that may interfere with each other and operations that may interfere with each other.
  • the PLC 500 clears the interference check and executes the operation for each control device 100, 200, 400 when a predetermined operation condition is satisfied for each operation of each control device 100, 200, 400.
  • Request The PLC 500 transmits an operation request signal for instructing the operation to the robot controller 110 and the control devices 200 and 400 via the network 600.
  • the robot controller 110 and the control devices 200 and 400 that have received the operation request signal transmit an ACK indicating that the operation request signal has been normally received to the PLC 500 through communication based on the two communication protocols via the network 600.
  • Send a signal When the PLC 500 does not receive the ACK signal for the operation request signal, the PLC 500 may retransmit the operation request signal. Alternatively, when the ACK signal is not received, it is considered that an unexpected situation such as a communication abnormality has occurred, so the PLC 500 may control the operation of each control device to stop.
  • the robot controller 110 and the control devices 200 and 400 transmit a status signal indicating the state (moving / stopped) of each control device to the PLC 500 at a predetermined timing.
  • the status signal includes information indicating the positions of the control devices 100, 200, and 400 and information indicating whether the control devices 100, 200, and 400 are moving.
  • the status signal of the control device 100 is transmitted to the PLC 500 via the network 600 by communication conforming to two communication protocols.
  • the status signal of the control device 200 is transmitted to the PLC 500 through MetroLink communication via the network 700.
  • the status signal of the control device 400 is transmitted to the PLC 500 via MetroLink communication via the network 800.
  • the PLC 500 performs an operation X of the control device A after the operation of the other device stops in order to prevent interference. To start. Therefore, the PLC 500 receives the status signal of each control device 100, 200, 400, determines whether the control device is moving or stopped based on the status signal, and performs an interference check.
  • FIG. 3 is a diagram illustrating transmission of a status signal from the robot 100, that is, the robot controller 110 to the PLC 500.
  • the PLC 500 determines that the robot 100 is moving based on the status signal received from the robot 100 in advance, and waits for another control device that may interfere with the robot 100. .
  • the robot controller 110 transmits a status signal indicating that the robot 100 has stopped (that is, a signal indicating permission to drive other control devices) to the PLC 500 via the network 600. To do. At this time, the status signal is transmitted at time t2 after one cycle of time t1.
  • a status signal by communication conforming to the Ethernet standard is recognized at time t3 and transmitted to the PLC 500 at time t4 after one cycle (see FIG. 3B). Therefore, the PLC 500 grasps the content of the status signal at time t7 according to the communication conforming to the Ethernet standard (see the broken line arrow in FIG. 3). In other words, the PLC 500 recognizes that the state of the robot 100 has been switched from being moved to being stopped at the time t7 through communication conforming to the Ethernet standard.
  • the status signal is recognized at time t5 and transmitted to the PLC 500 at time t6 of the next cycle (see FIG. 3C). Then, PLC 500 grasps the contents of the status signal at time t8 (see the solid arrow in FIG. 3). That is, the PLC 500 recognizes that the state of the robot 100 has changed from moving to stopping at the timing of time t8.
  • the timing (time t7, t8) at which the status signal transmitted from the robot 100 arrives at the PLC 500 is shifted by the communication protocol.
  • the PLC 500 performs an interference check based on the status signals received from both of the communications using the two communication protocols. That is, the PLC 500 determines that the robot 100 has stopped when receiving a status signal indicating that the robot 100 has stopped from both of the communications using the two communication protocols, and instructs the other control devices to operate. It is configured.
  • the PLC 500 does not determine that the robot 100 has stopped even if the status signal is received in only one of the communications using the two communication protocols.
  • the PLC 500 permits the operation of other control devices.
  • the PLC 500 transmits an operation request to the other control device.
  • the interference check based on the status signals received from both of the communications based on the two communication protocols, it is determined that the robot 100 is stopped, as compared with the case where the judgment is based only on the status signal based on the one communication Is delayed by ⁇ T. For this reason, the time during which the robot 100 and other control devices that may interfere with the robot 100 are stopped becomes longer (longer by ⁇ T), and the possibility of interference between the control devices can be further reduced. .
  • FIG. 4 is a flowchart showing the interference prevention process executed in the PLC 500 described above.
  • This flow shows the control of the PLC 500 when the robot 100 is initially moving and then stops. That is, it is assumed that the PLC 500 has received a status signal indicating “moving” from the robot controller 110 at the start of this process because the robot 100 is moving. For this reason, the PLC 500 initially disables the operations of the other control devices 200 and 400 that may interfere with the robot 100 and waits (stops the operation) for the other control devices (S11).
  • the robot controller 110 transmits a status signal indicating that the robot 100 is “stopped” to the PLC 500 via the network 600.
  • the PLC 500 receives a status signal indicating “stopped” from both of the communication using the two communication protocols from the robot controller 110 (YES in S12)
  • the PLC 500 permits the operation of another control device that interferes with the robot 100. (S13).
  • the PLC 500 transmits an operation request (operation instruction) to the other control device (S14).
  • the operation of the PLC 500 based on the status signal received from the robot 100 has been described.
  • the operation of the PLC 500 is similarly applied to the control devices 200 and 400 other than the robot 100.
  • the PLC 500 receives the status signal from the control devices 200 and 400, and determines the stop state of the control devices 200 and 400 based on the status signal, so that the PLC 500 may interfere with the control devices 200 and 400. Controls the operation of control equipment.
  • the PLC 500 receives a status signal from one control device via communication using communication protocols having different communication cycles. Then, the PLC 500 permits driving of other control devices that may interfere with one control device when both of the status signals received through communication using the respective communication protocols are “stopped”. In this way, when the status signal indicating “stopped” is received from both of the two communication protocols having different communication cycles, the driving of the other control device is permitted, thereby allowing the other control device to The timing of driving can be delayed further. That is, since the period during which the robot 100 and other control devices are stopped can be extended, the risk of interference between the robot 100 and other control devices can be reduced.
  • FIGS. 1 and 2 Another embodiment of the robot system according to the present invention will be described.
  • the configuration of the robot system in the present embodiment is the same as that in the first embodiment.
  • communication is performed between the PLC 500 and the control device 100 via two communication protocols, that is, the Ethernet standard and the Ethernet IP standard.
  • the Ethernet standard In contrast, in the present embodiment, only one communication protocol (in this example, Ethernet IP standard) is used.
  • An operation request signal and a status signal are transmitted and received between the PLC 500 and the control devices 100 (110), 200, and 400 via the networks 600, 700, and 800, respectively.
  • the PLC 500 receives a status signal indicating that one control device 100, 200, 400 is stopped in the interference check between devices, the PLC 500 performs a certain time ( ⁇ T1) from the received timing.
  • the operation is instructed to another control device that may interfere with the one control device. For example, when a status signal indicating that the robot 100 is stopped is received from the robot controller 110, another control that may interfere with the robot 100 after a certain time ( ⁇ T1) has elapsed from the received timing. An operation is instructed to the devices 200 and 400.
  • FIG. 5 is a diagram illustrating transmission of status signals between the robot 100 and the PLC 500.
  • the example shown in FIG. 5 assumes a case where the robot 100 is moving before the time t1 and the robot 100 stops at the time t1.
  • the PLC 500 determines that the robot 100 is moving based on the status signal received from the robot 100 in advance, and waits for another control device that may interfere with the robot 100. .
  • the robot controller 110 for the robot 100 sends a status signal indicating that the robot 100 has stopped (that is, a signal indicating permission to drive other control devices) to the network 600 (Ethernet IP). To the PLC 500 via the standard) (see FIG. 5A). At this time, the status signal is transmitted at time t2 after one cycle of time t1.
  • the status signal is recognized at time t5 in the network 600 and transmitted to the PLC 500 at time t5 after one cycle (see FIGS. 5B and 5C). Therefore, the PLC 500 grasps the change of the status signal at time t8 (see the solid arrow in FIG. 6). That is, the PLC 500 recognizes that the state of the robot 100 has changed from moving to stopping at the timing of time t8.
  • the PLC 500 permits the operation to other control devices at a timing (t10) delayed by a predetermined delay time ⁇ T1 from the timing (t8) at which the status signal indicating that the robot 100 is stopped from the network 600.
  • the PLC 500 instructs the other control device to operate.
  • the operation for other control devices is permitted at a timing delayed by a predetermined time from the timing at which the status signal indicating the stop of the control device is received.
  • the time during which the robot 100 and other control devices that may possibly interfere with the robot 100 are stopped can be lengthened (longer by ⁇ T1), and the possibility of interference between the control devices can be further reduced.
  • the predetermined delay time ⁇ T1 may be set to an integral multiple (for example, 4 to 5 times) of the communication period of EthernetEIP.
  • FIG. 6 is a flowchart showing the interference prevention process executed in the PLC 500 described above.
  • This flow shows the control of the PLC 500 when the robot 100 is initially moving and then stops.
  • the PLC 500 has received a status signal indicating “moving” from the robot controller 110 at the start of this processing because the robot 100 is moving.
  • the PLC 500 initially disables the operation of other control devices that interfere with the robot 100 (S21).
  • other control devices are put on standby (stopping operation).
  • the robot controller 110 transmits a status signal indicating that the robot 100 is “stopped” to the PLC 500 via the network 600.
  • the PLC 500 may interfere with the robot 100 when a predetermined time ( ⁇ T1) has elapsed since the reception of the status signal (S23).
  • the operation of another control device having a characteristic is permitted (S24).
  • the PLC 500 transmits an operation request (operation instruction) to another control device that satisfies the predetermined operation condition at this time (S25).
  • the operation of the PLC 500 based on the status signal received from the robot 100 has been described.
  • the operation of the PLC 500 is similarly applied to the control devices 200 and 400 other than the robot 100.
  • the example in which the data communication between the PLC 500 and the control device 100 is performed based on the Ethernet IP standard has been described.
  • the data communication may be performed based on the Ethernet standard.
  • PLC 500 when receiving a status signal from one moving control device, PLC 500 permits driving of another control device after a predetermined time ( ⁇ T1) has elapsed from the received timing. As a result, the period during which the robot 100 and other control devices are stopped can be lengthened, so that interference between the robot 100 and other control devices can be prevented.
  • the robot 100 performed operations such as supplying the stacking jig 83 and discarding the inappropriate work 80b.
  • the operations performed by the robot are not limited to these, and other types of operations are performed. Work may be performed.
  • the robot system in the secondary battery stacking apparatus has been described.
  • the idea related to the interference check disclosed in the above embodiment can also be applied to the robot system for other apparatuses. .
  • the timing after the timing at which the status signal indicating “stopped” is received may be obtained by other means. Also by this means, the operation start timing of other control devices can be delayed, the period during which a plurality of control devices that can interfere with each other is stopped can be lengthened, and the possibility of interference between control devices can be reduced.
  • the interference check is performed based on the condition that the control device is stopped.
  • the interference check may be performed including other conditions.
  • the condition of the interference check may include a positional relationship between the position of one control device and another control device that may interfere with the control device.
  • FIG. 7 is a diagram illustrating a communication protocol used for the FA network.
  • any one of the communication protocols shown in the figure for example, CC-Link, MechatroLink
  • any two standards having different communication cycles can be selected and used from the plurality of standards shown in FIG.
  • control units 51, 11,... Of the PLC and each control device are realized by cooperation of hardware and software, but are designed exclusively to realize a predetermined function. It may be realized only by the hardware circuit that is provided. That is, the control units 51, 11,... Can be configured not only by the CPU but also by various devices such as an MPU, DSP, FPGA, ASIC, and the like.
  • a control method in which operations are performed independently and operations of a plurality of control devices (100, 200, 400) having interference areas are controlled.
  • the control method is Transmitting a status signal indicating an operation state of one control device from one control device (100 (110)) of the plurality of control devices to the control device (500) via at least one communication protocol; ,
  • the control device (500) receives a status signal indicating the stop of the operation of the one control device from the one control device (100) via communication conforming to at least one communication protocol, the status signal Permitting the operation of another control device that may interfere with the one control device at a timing delayed from the timing at which the signal is received.
  • the operation start timing of another control device is delayed, and there is a period in which one control device and another control device that may interfere with the one control device are both stopped. Since it becomes longer, the possibility of interference between control devices can be reduced.
  • the status signal indicating the operation state of the one control device is compliant with each of two communication protocols having different communication cycles. You may transmit to a control apparatus (500) via the communicated.
  • the control device (500) permits the operation of the other control device when receiving the status signal indicating the stop of the operation of the one control device from both of the communications compliant with the two communication protocols. Also good. In this way, by waiting to receive status signals from both of two different networks, the operation start timing of other control devices can be delayed, and one control device and the other control device both stop. Therefore, the possibility of interference between the control devices can be reduced.
  • one of the two communication protocols may be a communication protocol having a constant communication cycle
  • the other of the two communication protocols may be a communication protocol having an indefinite communication cycle.
  • one communication protocol may be Ethernet IP
  • the other communication protocol may be Ethernet. Specifically, by setting in this way, it is possible to shift the status signal reception timing according to one communication protocol and the status signal reception timing according to the other communication protocol, whichever is later.
  • the control device (500) receives a status signal indicating the stop of the operation of one control device from one control device via at least one communication protocol for a predetermined time.
  • the operation of another control device may be permitted at a timing delayed by ( ⁇ T1). This also delays the operation start timing of another control device, and the period during which one control device and another control device that may interfere with the control device are stopped is longer. Therefore, the possibility of interference between control devices can be reduced.
  • the control device (500) may transmit an operation request signal to each control device when instructing the operation of each control device.
  • Each control device may return an ACK signal indicating that the operation request signal is normally received to the control device when the operation request signal is normally received.
  • each control device can be stopped when an unexpected situation such as a communication abnormality occurs.
  • a control device (500) that operates independently and controls the operations of a plurality of control devices (100) having interference areas with each other is disclosed.
  • the control device (500) includes a communication unit (55) that communicates with each control device in accordance with at least one communication protocol, and a control unit (51) that controls the operation of each control device.
  • the communication unit (55) receives a status signal indicating the operation state of each device from each control device via communication using at least one communication protocol.
  • the control unit (51) receives a status signal indicating the stop of the operation of the one control device from the one control device via communication using at least one communication protocol, the control unit (51) is delayed from the timing at which the status signal is received.
  • the operation of another control device that may interfere with the one control device is instructed.
  • the operation start timing of the other control device is delayed, and the period during which both the one control device and the control device that may interfere with the control device are stopped becomes longer. The possibility of interference between control devices can be reduced.
  • the communication unit (55) may receive a status signal from one control device via communication conforming to each of two communication protocols having different communication cycles.
  • the control unit (51) may permit the operation of the other control device when receiving a status signal indicating the stop of the operation of the one control device from both of the communications compliant with the two communication protocols. .
  • the operation start timing of the other control device can be delayed, and one control device, Since the period during which both other control devices that may possibly interfere with each other are stopped becomes longer, the possibility of interference between the control devices can be reduced.
  • the control unit (51) starts from the timing at which the status signal indicating the stop of the operation of the one control device is received from the one control device via communication using at least one communication protocol.
  • the operation of another control device may be instructed at a timing delayed by a predetermined time ( ⁇ T1). Even with this configuration, the operation start timing of other control devices can be delayed, and the period during which one control device and other control devices that may interfere with it are both longer, The possibility of interference between control devices can be reduced.
  • the present invention is not limited to the above-described embodiments.
  • the present invention can also be applied to embodiments in which the contents disclosed in the above embodiments are appropriately changed, replaced, added, omitted or the like. Moreover, it is also possible to combine each component demonstrated in the said embodiment suitably.
  • Robot Controller Control Unit 12 Robot Controller Storage Unit 15 Robot Controller Communication Unit 17 Robot Communication Unit 19 Robot Drive Unit 22 Work Transfer Stage Drive Unit 25 Work Transfer Stage Communication Unit 42 Work Transfer Handler Drive Unit 45 Work conveying handler communication unit 51 PLC control unit 52 PLC storage unit 55 PLC communication unit 80, 80b Work 83 Lamination jig 87 NG work disposal box 89 Lamination jig rack 100 Robot 110 Robot controller 200 Work conveyance stage 400 Work piece Transport handler 500 PLC (Programmable Logic Controller) 600, 700, 800 networks

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un procédé de commande pour commander le fonctionnement d'une pluralité d'appareils de commande qui fonctionnent indépendamment mais possèdent une zone d'interférence mutuelle. Le procédé de commande comprend : une étape de transmission, depuis l'un de la pluralité d'appareils de commande vers un dispositif de commande par le biais de communications conformes à au moins un protocole de communication, d'un signal d'état indiquant l'état de fonctionnement de l'appareil de commande ; et une étape pour, lorsqu'un signal d'état indiquant que ledit appareil de commande a cessé de fonctionner est reçu par le dispositif de commande de la part dudit appareil de commande par le biais de communications conformes à au moins un protocole de communication, permettre le fonctionnement d'un autre appareil de commande qui pourrait interférer avec ledit appareil de commande, à un instant (t8) retardé de l'instant (t7) auquel le signal d'état a été reçu.
PCT/JP2016/072388 2016-07-29 2016-07-29 Procédé et dispositif de commande d'une pluralité d'appareils ayant une zone d'interférence mutuelle WO2018020672A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/JP2016/072388 WO2018020672A1 (fr) 2016-07-29 2016-07-29 Procédé et dispositif de commande d'une pluralité d'appareils ayant une zone d'interférence mutuelle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2016/072388 WO2018020672A1 (fr) 2016-07-29 2016-07-29 Procédé et dispositif de commande d'une pluralité d'appareils ayant une zone d'interférence mutuelle

Publications (1)

Publication Number Publication Date
WO2018020672A1 true WO2018020672A1 (fr) 2018-02-01

Family

ID=61015965

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2016/072388 WO2018020672A1 (fr) 2016-07-29 2016-07-29 Procédé et dispositif de commande d'une pluralité d'appareils ayant une zone d'interférence mutuelle

Country Status (1)

Country Link
WO (1) WO2018020672A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03256681A (ja) * 1990-03-08 1991-11-15 Toshiba Corp ロボットの制御方法
JP2004358630A (ja) * 2003-06-06 2004-12-24 Honda Motor Co Ltd ロボットのティーチングデータ設定方法
JP2006346770A (ja) * 2005-06-14 2006-12-28 Toyota Motor Corp ロボット群の制御システム、及びロボット
JP3140561U (ja) * 2004-06-24 2008-04-03 エービービー エービー 無線ティーチペンダントによりロボットを制御する装置及び方法
JP2011056607A (ja) * 2009-09-08 2011-03-24 Seiko Epson Corp ロボットの干渉回避装置および干渉回避プログラム

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03256681A (ja) * 1990-03-08 1991-11-15 Toshiba Corp ロボットの制御方法
JP2004358630A (ja) * 2003-06-06 2004-12-24 Honda Motor Co Ltd ロボットのティーチングデータ設定方法
JP3140561U (ja) * 2004-06-24 2008-04-03 エービービー エービー 無線ティーチペンダントによりロボットを制御する装置及び方法
JP2006346770A (ja) * 2005-06-14 2006-12-28 Toyota Motor Corp ロボット群の制御システム、及びロボット
JP2011056607A (ja) * 2009-09-08 2011-03-24 Seiko Epson Corp ロボットの干渉回避装置および干渉回避プログラム

Similar Documents

Publication Publication Date Title
US9701023B2 (en) Teleoperation of machines having at least one actuated mechanism and one machine controller comprising a program code including instructions for transferring control of the machine from said controller to a remote control station
JP5497730B2 (ja) 無線通信システム、無線通信装置および無線通信方法
US20070276538A1 (en) Tool for an Industrial Robot
JP2003340758A (ja) ロボットの駆動制御方法と、その装置
US20140142754A1 (en) System for commanding a robot
TWI720797B (zh) 增加主電腦系統與射頻產生器之間之通訊速率的系統及方法
CN103009402B (zh) 机械臂控制装置以及机械臂系统
JP5633555B2 (ja) ロボットシステム
WO2018020672A1 (fr) Procédé et dispositif de commande d'une pluralité d'appareils ayant une zone d'interférence mutuelle
WO2015064000A1 (fr) Dispositif de communication et procédé de commande de dispositif de communication
JP2019053439A (ja) 制御システム、副制御装置及び制御方法
WO2020152891A1 (fr) Système de transfert de palette, procédé de transfert de palette et programme de transfert de palette
JPH11284053A (ja) ウェハカセット搬送システム及びウェハカセット搬送方法
WO2017051504A1 (fr) Système d'usinage au laser
KR102420896B1 (ko) 용접 로봇 제어시스템 및 그의 로봇 인식방법
JP6451297B2 (ja) 通信デバイス及び通信デバイスの制御方法
JP4980292B2 (ja) 異なる通信周期で複数のアンプと通信する数値制御システム
US10712732B2 (en) Slave device, master device, and industrial network system
US7720956B2 (en) Method, system, and storage medium for providing continuous communication between process equipment and an automated material handling system
JP7123620B2 (ja) 生産システム、生産機器、生産システムの制御方法、制御プログラム、記録媒体
JP7006910B2 (ja) ロボットシステム
CN112533737A (zh) 用于无线控制机器人设备的技术
JP2013066963A (ja) ロボット制御装置、及びロボットシステム
JP2019004259A (ja) 通信装置、および、ロボットシステム
JP7225946B2 (ja) ロボットシステム、ロボットの制御装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16910575

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 16910575

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: JP