SE1500033A2 - A robot control unit comprising a safety control unit with an operating mode state machine - Google Patents
A robot control unit comprising a safety control unit with an operating mode state machine Download PDFInfo
- Publication number
- SE1500033A2 SE1500033A2 SE1500033A SE1500033A SE1500033A2 SE 1500033 A2 SE1500033 A2 SE 1500033A2 SE 1500033 A SE1500033 A SE 1500033A SE 1500033 A SE1500033 A SE 1500033A SE 1500033 A2 SE1500033 A2 SE 1500033A2
- Authority
- SE
- Sweden
- Prior art keywords
- control unit
- robot
- operating mode
- robot control
- safety
- Prior art date
Links
- 238000000034 method Methods 0.000 claims abstract 2
- 230000003213 activating effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- General Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Quality & Reliability (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
30 35 According to a further feature, the safety control unit may be configured to update its safe outputs to represent the actual operating mode, after a change of operating mode has been performed. 30 35 According to a further feature, the safety control unit may be con fi gured to update its safe outputs to represent the actual operating mode, after a change of operating mode has been performed.
According to another aspect of the invention is defined a system comprising a robot control unit according to any one of the claims detining such a unit, and a user operated client device, which user operated client device comprises the mode selection unit and a communication module for communicating mode selection requests to the robot control unit.According to another aspect of the invention is de fi ned a system comprising a robot control unit according to any one of the claims detining such a unit, and a user operated client device, which user operated client device comprises the mode selection unit and a communication module for communicating mode selection requests to the robot control unit.
The user operated client device may be portable.The user operated client device may be portable.
The present invention has the following advantages: - The change of state of the operating mode is handled by the safety control unit, which wlll ensure that a state cannot change without the proper handshake. This allows for change of mode from potentlally any source that has communication with the safety control unit.The present invention has the following advantages: - The change of state of the operating mode is handled by the safety control unit, which wlll ensure that a state cannot change without the proper handshake. This allows for change of mode from potentially any source that has communication with the safety control unit.
- The invention offers a software based solution that makes it possible to customize the location of the mode selector, since it can be either on a control cabinet or on a local client device, which may be portable, such as a TPU, computer tablet, smart phone. etc.- The invention offers a software based solution that makes it possible to customize the location of the mode selector, since it can be either on a control cabinet or on a local client device, which may be portable, such as a TPU, computer tablet, smart phone. etc.
- The software based solution makes it possible to lock the operating mode by software means.- The software based solution makes it possible to lock the operating mode by software means.
- Faster commissicning and installation vmen using local client device, e.g. portable TPU, computer tablet, etc.- Faster commissicning and installation vmen using local client device, e.g. portable TPU, computer tablet, etc.
- Reduced cost for robot control unit since the mechanical mode switch on the cabinet can be dispensed vrith.- Reduced cost for robot control unit since the mechanical mode switch on the cabinet can be dispensed vrith.
- Hardware independent solution since it is possible to use any software device for the local client device.- Hardware independent solution since it is possible to use any software device for the local client device.
- Reduced need for space in robot controller cabinet.- Reduced need for space in robot controller cabinet.
- Easily customizable by use of state machine, e.g. easy to remove possibility of full manual speed which is required by some markets.- Easily customizable by use of state machine, e.g. easy to remove possibility of full manual speed which is required by some markets.
Further features and advantages of the invention will also become apparent from the following detailed description of ernbodiments.Further features and advantages of the invention will also become apparent from the following detailed description of ernbodiments.
Brief description of the drawings The invention will now be described in more detail, with reference being made to the enclosed schematic drawing illustrating aspects and embodiments of the invention, given as examples only, and in which: 10 20 25 30 35 Fig. 1 illustrates schematiælly a robot control unit and a user operated client device according to the present invention.Brief description of the drawings The invention will now be described in more detail, with reference being made to the enclosed schematic drawing illustrating aspects and embodiments of the invention, given as examples only, and in which: 10 20 25 30 35 Fig. 1 illustrates schematiælly a robot control unit and a user operated client device according to the present invention.
Detailed description ln Fig. 1 is schematically shown a robot control unit 1. The robot control unit Is part of an industrial robot system that also comprises at least one manipulator, which is controlled by the robot control unit. The robot control unit can be located in a robot controller cabinet. The robot control unit includes different components mainly related to safety, to the control of the manipulator and to power supply. lt includes a main computer 3 that comprises a safety control unit 5. The robot control unit further comprises a communication module by means of which it can communicate with a mode selection unit 20. The communication module is only schematically illustrated by means of the arrows labelled Req and Conf in Fig. 1 that goes from the safety control unit 5 to the mode selection unit 20.Detailed description ln Fig. 1 is schematically shown a robot control unit 1. The robot control unit Is part of an industrial robot system that also comprises at least one manipulator, which is controlled by the robot control unit. The robot control unit can be located in a robot controller cabinet. The robot control unit includes different components mainly related to safety, to the control of the manipulator and to power supply. lt includes a main computer 3 that comprises a safety control unit 5. The robot control unit further comprises a communication module by means of which it can communicate with a mode selection unit 20. The communication module is only schematically illustrated by means of the arrows labeled Req and Conf in Fig. 1 that goes from the safety control unit 5 to the mode selection unit 20.
The safety control unit 5 is a redundant type safety controller. lt comprises duplicate systems. each comprising a central processing unit (CPU) and different types of diagnostics. and the function of the safety controller is to ascertain that all required safety conditions are fuifilled.The safety control unit 5 is a redundant type safety controller. lt comprises duplicate systems. each comprising a central processing unit (CPU) and different types of diagnostics. and the function of the safety controller is to ascertain that all required safety conditions are fui fi lled.
According to the present invention, the safety control unit also cornprises a robot operating mode state machine 7. As shown in Fig. 1, the operating mode state machine comprises three states corresponding to the operating modes of the robot: Automatic (Auto), Manual (Man) and Manual full speed (Man FS).According to the present invention, the safety control unit also cornprises a robot operating mode state machine 7. As shown in Fig. 1, the operating mode state machine comprises three states corresponding to the operating modes of the robot: Automatic (Auto), Manual (Man) and Manual full speed (Man FS).
The robot control unit 1 forms a part of a robot control system that also comprises a user operated client device 30 that includes the previously mentioned operating mode selection unit 20 with its processor 24 and the necessary software. The user operated client device further includes a communication module 22 for communicating with the corresponding communication module of the safety control unit 5. The client device further comprises a user interface 26 by means of which the user can enter requests for different operation modes. The user interface may for example be a display and touch screen.The robot control unit 1 forms a part of a robot control system that also comprises a user operated client device 30 that includes the previously mentioned operating mode selection unit 20 with its processor 24 and the necessary software. The user operated client device further includes a communication module 22 for communicating with the corresponding communication module of the safety control unit 5. The client device further comprises a user interface 26 by means of which the user can enter requests for different operation modes. The user interface may for example be a display and touch screen.
The user enters the request for change of operating mode on the client device 30. The request is sent to the safety control unit, as illustrated by the arrow marked "Req'. The request will be processed by the safety control unit 5. which initially will ask the client device for an acknowledgement of the request. When an acknovviedgement is received, the change of mode request can be further processed by the safety controller to determine if a change of operating mode is allowed. lf the request is allowed, the change of state of the operating mode is performed. This may for example also entail activating or de-activating an enable switch. The 10 15 result of the request, i.e. if the operating mode is changed or not, is then sent back to the client device (arrow marked 'Conf'), and presented to the user by means of the user interface.The user enters the request for change of operating mode on the client device 30. The request is sent to the safety control unit, as illustrated by the arrow marked "Req '. The request will be processed by the safety control unit 5. which initially will ask the client device for an acknowledgment of the request. When an acknovviedgement is received, the change of mode request can be further processed by the safety controller to determine if a change of operating mode is allowed. lf the request is allowed, the change of state of the operating mode is performed. This may for example also entail activating or de-activating an enable switch. The 10 15 result of the request, ie if the operating mode is changed or not, is then sent back to the client device (arrow marked 'Conf'), and presented to the user by means of the user interface.
When the state of operating mode is changed, the safety control unit is also conflgured to update its safe outputs to other safe or non-safe devices for further processing.When the state of operating mode is changed, the safety control unit is also conflgured to update its safe outputs to other safe or non-safe devices for further processing.
In the safety control unit all operating mode changes can be handled in safe software using the state machine.In the safety control unit all operating mode changes can be handled in safe software using the state machine.
Thus the change of operating mode of a robot involving the system according to the invenfion is purely software based, no mechanical switch is used.Thus the change of operating mode of a robot involving the system according to the inven fi on is purely software based, no mechanical switch is used.
The client device 30 is preferably a portable device. lt can be a remote control, a so called teach pendant unit, it can be a computer tablet, or other sources capable of communicating with the safety controller.The client device 30 is preferably a portable device. lt can be a remote control, a so called teach pendant unit, it can be a computer tablet, or other sources capable of communicating with the safety controller.
The invention shall not be considered limited to the illustrated embodiments, but can be modified and altered in many ways, as realised by a person skiiled in the art, without departing from the scope defined in the appended claims.The invention shall not be considered limited to the illustrated embodiments, but may be modified and altered in many ways, as realized by a person skiiled in the art, without departing from the scope defined in the appended claims.
Claims (5)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE1500033A SE1500033A2 (en) | 2015-01-21 | 2015-01-21 | A robot control unit comprising a safety control unit with an operating mode state machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE1500033A SE1500033A2 (en) | 2015-01-21 | 2015-01-21 | A robot control unit comprising a safety control unit with an operating mode state machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| SE1500033A1 SE1500033A1 (en) | 2015-01-23 |
| SE1500033A2 true SE1500033A2 (en) | 2015-03-31 |
Family
ID=52464921
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| SE1500033A SE1500033A2 (en) | 2015-01-21 | 2015-01-21 | A robot control unit comprising a safety control unit with an operating mode state machine |
Country Status (1)
| Country | Link |
|---|---|
| SE (1) | SE1500033A2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110605712B (en) * | 2018-06-14 | 2022-11-08 | 西门子股份公司 | Robot system and safety control device |
-
2015
- 2015-01-21 SE SE1500033A patent/SE1500033A2/en not_active Application Discontinuation
Also Published As
| Publication number | Publication date |
|---|---|
| SE1500033A1 (en) | 2015-01-23 |
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| NAV | Patent application has lapsed |