JP2008093743A5 - - Google Patents

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JP2008093743A5
JP2008093743A5 JP2006274815A JP2006274815A JP2008093743A5 JP 2008093743 A5 JP2008093743 A5 JP 2008093743A5 JP 2006274815 A JP2006274815 A JP 2006274815A JP 2006274815 A JP2006274815 A JP 2006274815A JP 2008093743 A5 JP2008093743 A5 JP 2008093743A5
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controller
teaching device
communication unit
wireless communication
automatic machine
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JP2006274815A
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JP4697116B2 (en
JP2008093743A (en
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Priority claimed from JP2006274815A external-priority patent/JP4697116B2/en
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Claims (9)

自動機械のコントローラと前記自動機械の可搬式教示装置との間の通信を無線または接続ケーブルを介して行う自動機械システムであって、
前記教示装置は、無線通信部と有線通信部とからなる教示装置通信部と、前記教示装置の電源となるバッテリと、前記自動機械を停止させるための非常停止スイッチと、前記接続ケーブルを接続する教示装置側接続端子部を備え、
前記コントローラは、前記教示装置と通信を行う通信部と、前記通信部にて受信した前記教示装置からの指令信号に基づいて前記自動機械を駆動する駆動装置と、前記通信部にて受信した前記教示装置からの非常停止信号に基づいて機構部を非常停止させる非常停止装置とを備え、
前記接続ケーブルによって前記コントローラと接続されて前記教示装置の無線通信部と無線通信を行うコントローラ無線通信部を有し、
前記コントローラ無線通信部は、前記接続ケーブルを接続するコントローラ無線通信部側接続端子部を備え、
前記接続ケーブルの一端は前記コントローラに接続され、他端は前記コントローラ無線通信部側接続端子部または前記教示装置側接続端子部に選択的に接続されることを特徴とする自動機械システム。 An automatic machine system that performs communication between a controller of an automatic machine and the portable teaching device of the automatic machine via a wireless or connection cable,
The teaching device connects a teaching device communication unit including a wireless communication unit and a wired communication unit, a battery serving as a power source of the teaching device, an emergency stop switch for stopping the automatic machine, and the connection cable. Provided with teaching device side connection terminal
The controller includes a communication unit that communicates with the teaching device, a drive device that drives the automatic machine based on a command signal from the teaching device received by the communication unit, and the communication unit that receives the communication unit. An emergency stop device for emergency stopping the mechanical unit based on an emergency stop signal from the teaching device,
A controller wireless communication unit connected to the controller by the connection cable and performing wireless communication with the wireless communication unit of the teaching device;
The controller wireless communication unit includes a controller wireless communication unit side connection terminal unit for connecting the connection cable,
One end of the connection cable is connected to the controller, and the other end is selectively connected to the controller wireless communication unit side connection terminal unit or the teaching device side connection terminal unit. 前記接続ケーブルは、前記自動機械と前記コントローラとを結ぶケーブルと一体であって、一端は前記コントローラに接続され、他端は前記自動機械を経由して前記コントローラ無線通信部側接続端子部または前記教示装置側接続端子部に選択的に接続されることを特徴とする請求項１記載の自動機械システム。 The connection cable is integral with a cable connecting the automatic machine and the controller, one end is connected to the controller, and the other end is connected to the controller wireless communication unit side connection terminal part or the via the automatic machine. 2. The automatic machine system according to claim 1, wherein the automatic machine system is selectively connected to the teaching device side connection terminal portion. 前記接続ケーブルは、通信線と、電源供給線と、非常停止線と、接続切替信号線と、前記コントローラ無線通信部側接続端子部または前記教示装置側接続端子部に挿入されるコネクタで構成されていることを特徴とする請求項１または２記載の自動機械システム。 The connecting cable is constituted with a communication line, and a power supply line, and an emergency stop line, a connection switching signal line, the connector to be inserted into the controller wireless communication section-side connecting terminal portion or said teaching device-side connection terminal portions The automatic machine system according to claim 1, wherein the automatic machine system is provided. 前記コントローラは、前記教示装置のバッテリに電力を供給するバッテリ用電源を備え、前記教示装置側接続端子部に前記接続ケーブルのコネクタを接続した際に、前記接続ケーブルの電源供給線を介して前記バッテリを充電することを特徴とする請求項３記載の自動機械システム。 The controller includes a battery power supply for supplying power to the battery of the teaching device, and when the connector of the connection cable is connected to the teaching device- side connection terminal portion, the power supply line of the connection cable is used to connect the controller. 4. The automatic machine system according to claim 3, wherein the battery is charged. 前記コントローラ無線通信部は、前記コントローラ無線通信部側接続端子部に前記接続ケーブルのコネクタを接続した際に、前記接続ケーブルの非常停止線を短絡接続することを特徴とする請求項３記載の自動機械システム。 The automatic controller communication unit according to claim 3, wherein the controller wireless communication unit short-circuits the emergency stop line of the connection cable when the connector of the connection cable is connected to the connection terminal unit on the controller wireless communication unit side. Mechanical system. 前記教示装置の非常停止スイッチは、前記教示装置に前記接続ケーブルを接続した際に、前記接続ケーブルの非常停止線によって前記非常停止装置と接続されることを特徴とする請求項３記載の自動機械システム。 The automatic machine according to claim 3, wherein the emergency stop switch of the teaching device is connected to the emergency stop device by an emergency stop line of the connection cable when the connection cable is connected to the teaching device. system. 前記接続ケーブルは、前記コネクタに前記接続切替信号線と接続された２つの接続切替スイッチを備えることを特徴とする請求項３記載の自動機械システム。 4. The automatic machine system according to claim 3, wherein the connection cable includes two connection changeover switches connected to the connection change signal line on the connector. 前記コントローラ無線通信部側接続端子部は突起を備え、
前記コントローラ無線通信部側接続端子部に前記接続ケーブルのコネクタを接続する際に前記突起が前記２つの接続切替スイッチのうち第１の接続切替スイッチを押すことによって、前記コントローラは前記教示装置へ無線通信確立要求を行い、前記コントローラと前記教示装置との間の通信が前記接続ケーブルによる有線通信から前記コントローラ無線通信部を介した無線通信へと切替わることを特徴とする請求項７記載の自動機械システム。 The controller wireless communication part side connection terminal part includes a protrusion,
When the connector of the connection cable is connected to the controller wireless communication unit side connection terminal portion, the controller pushes the first connection switch among the two connection switches, so that the controller wirelessly transmits to the teaching device. 8. The automatic communication according to claim 7, wherein a communication establishment request is made, and communication between the controller and the teaching device is switched from wired communication using the connection cable to wireless communication via the controller wireless communication unit. Mechanical system. 前記教示装置側接続端子部は突起を備え、
前記教示装置側接続端子部に前記接続ケーブルのコネクタを接続する際に前記突起が前記２つの接続切替スイッチのうち第２の接続切替スイッチを押すことによって、前記コントローラは前記教示装置へ有線通信確立要求を行い、前記コントローラと前記教示装置との間の通信が前記コントローラ無線通信部を介した無線通信から前記接続ケーブルによる有線通信へと切替わることを特徴とする請求項７記載の自動機械システム。 The teaching device side connection terminal portion includes a protrusion,
When the connector of the connection cable is connected to the teaching device side connection terminal, the controller pushes a second connection switching switch of the two connection switching switches, so that the controller establishes wired communication with the teaching device. 8. The automatic machine system according to claim 7, wherein a request is made and communication between the controller and the teaching device is switched from wireless communication via the controller wireless communication unit to wired communication using the connection cable. .
JP2006274815A 2006-10-06 2006-10-06 Automatic machine system Active JP4697116B2 (en)

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JP2008093743A JP2008093743A (en) 2008-04-24
JP2008093743A5 true JP2008093743A5 (en) 2009-09-17
JP4697116B2 JP4697116B2 (en) 2011-06-08

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JP5192309B2 (en) * 2008-07-18 2013-05-08 ファナック株式会社 Self-propelled robot control system
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CN104002305B (en) * 2013-02-27 2017-07-14 株式会社大亨 Robot controller
JP2015044280A (en) * 2013-07-29 2015-03-12 株式会社ダイヘン Robot control device
JP6259413B2 (en) * 2015-03-23 2018-01-10 ファナック株式会社 Robot or machine tool control device, wireless teaching operation panel and automatic machine system
CN108349084B (en) 2015-11-19 2021-11-30 株式会社安川电机 Robot system and robot control method
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WO2020104314A1 (en) * 2018-11-19 2020-05-28 Kassow Robots Aps Teach pendant

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