JP4859706B2 - Robot control system - Google Patents

Description

  In the present invention, when a teach pendant (hereinafter referred to as “TP”) and a robot controller (hereinafter referred to as “controller”) are connected by a wireless LAN or a wired LAN, an unintended robot is erroneously operated due to the connection of the TP. The present invention relates to a robot control system that prevents the occurrence of a problem.

  Conventionally, a system in which a controller (robot control device) and a robot manipulator correspond one-to-one has been proposed. For example, this technique is cited as a conventional technique in Patent Document 1. In this type of system, the TP, controller, and robot manipulator are always paired. For this reason, if a production line in which a plurality of systems are arranged is considered, since the robot manipulators operating at each TP are determined, they correspond to the TP on a one-to-one basis by operation with a specific TP. Other manipulators other than the manipulator will not move unintentionally.

  Patent Document 1 discloses a system for storing teaching programs for two or more robots with one control device (controller) and controlling the reproduction operation of the teaching programs for two or more robots. Proposed. In this system, in the controller, a robot identification unit and a work identification unit are provided in the teaching program identification unit of the teaching program storage unit, and a robot selection unit and a work selection unit are provided in the teaching program selection unit. When the teaching program is selected by the robot selecting means, all the work programs of the selected robot are selected, and when the teaching program is selected by the work selecting means, the selected program is selected. The program for all robots in work is selected. And when both the robot selection means and the work selection means are selected, the selected work program of the selected work robot can be selected.

  In the case of this system, for example, since a teaching program created by one robot is not reproduced by another robot, the other robot does not cause an unexpected operation.

  Patent Document 2 proposes a robot control device having a plurality of connector boxes so that a plurality of TPs can be connected to one controller. The robot control device includes a limiting unit that accepts any one of the information from the plurality of connected TPs and inputs the information from the controller to the plurality of TPs equally, and the controller. And a buffer for temporarily storing a signal exchanged with the TP.

  In Patent Document 2, when information is output from a plurality of connected TPs, the information is temporarily stored in different data buffers, and the controller accepts any one of the information via an exclusive logic element. Has been. According to the above configuration, when information is output from a plurality of TPs to a single controller, an operator operating one TP by temporarily storing the information in a data buffer to avoid data collision. By this command, the robot manipulator moves unexpectedly for the operator who operates the other TP so that the operator is not in danger.

  Patent Document 3 proposes a robot control device that does not stop the robot even if the TP connector is inserted or removed in the energized state, and that does not stop all the robots controlled by the host control device that controls many robots. Has been. Although not specified in Patent Document 3, there is a possibility that one TP can be reused for a plurality of controllers.

The conventional techniques described in Patent Documents 1 to 3 can be summarized as follows.
1) When the controller and the TP are one-to-one and a plurality of robot manipulators are connected to one controller, the risk of the operator operating the robot manipulator unexpectedly is already in the prior art. Consideration has been made (Patent Document 1, Patent Document 2).

2) It has been suggested that one TP can be reused for a plurality of controllers (Patent Documents 2 and 3).
In addition, when using one TP for a plurality of controllers and a plurality of robot manipulators as inferred from 1) and 2) above, there is a problem that an operator unintentionally operates a robot manipulator that is not intended. Is not taken into account in the above prior art.
Japanese Patent Laid-Open No. 5-119827, “Work Program Selection Method for Industrial Robots” Japanese Patent No. 2884812, “Robot Control Device” JP 2003-136447 A

By the way, in recent years, network technology and non-wired communication technology have been developed, and as seen in USB (Universal Serial Bus), IEEE 1394 (Institute of Electrical and Electronic Engineers 1394), etc., the cable is turned on. Electrical communication means that can be inserted / removed and connected have been established. For example, FIG. 5 (a), and one of the teach pendant TP, a plurality of controllers C10~C12 for controlling the robot shows the case of performing communication via radio. Further, FIG. 5 (b), a plurality of controllers C20~C22 which also controls the one TP and the robot shows the case of performing communication via a LAN (Local Area Network). The LAN (local area network) includes a wired LAN and a wireless LAN. In such a technical situation, it is conceivable that one TP is used by switching to a plurality of controllers in which the robot is operating. This advantage includes the following:

1) Space saving by reducing the number of TPs 2) Cost reduction by reducing the number of TPs 3) When TP is made non-wired, workability is improved by cableless 4) TP is made non-wired In such a case, improving the reliability to eliminate the disconnection, but the biggest problem at that time is ensuring the safety of the operator. If a controller that is a desired connection destination cannot be selected from a plurality of controllers, the TP may be connected to an unintended controller and an unintended robot may be operated by an operation from the TP. There is a problem that the safety of the operator cannot be ensured.

  An object of the present invention is to connect a single portable operation unit to a plurality of controllers and connect it to an unintended robot due to an operator's mistake, thereby operating the unintended robot. An object of the present invention is to provide a robot control system that prevents this.

In order to solve the above problem, the invention according to claim 1 is a plurality of controllers that transmit and receive information via a portable operation unit and network means, or via the portable operation unit and non-wired communication means. And in a robot control system provided with a robot that is connected to each controller and can be controlled by the controller, the portable operation unit has a reply request means for requesting the controller to return controller identification information; Display means for displaying the controller identification information returned from the controller in response to the reply request, selection operation means for selecting the controller identification information displayed by the display means, and controller identification selected by the selection operation means with a connection construction means for constructing a connection relationship between a controller having information, the return If the controller that has received the controller identification information return request from the request means has already established a connection relationship with another portable operation unit, the portable operation unit that has been requested to return the connection relationship established information. Reply to
The gist of the portable control unit is a robot control system characterized in that the controller identification information is not displayed for the controller having the connection relationship constructed information .

Note that the non-wired communication refers to a transmission method that includes wireless communication (communication medium: radio wave), infrared communication, optical communication, or magnetic communication, all of which are performed wirelessly .
The invention of claim 2 is connected to each of the controllers with a plurality of controllers that transmit and receive information via a portable operation unit and network means, or via the portable operation unit and non-wired communication means. In the robot control system including a robot that can be controlled by a controller, the portable operation unit is returned from the controller in response to the reply request, and reply request means for requesting the controller to return the controller identification information. Display means for displaying the controller identification information, selection operation means for selecting the controller identification information displayed by the display means, and connection for establishing a connection relationship with the controller having the controller identification information selected by the selection operation means It is equipped with construction means, and the controller is portable for which connection is permitted A hardware key storing connection permission operation unit information for identifying an operation unit is detachably attachable, and when the controller receives a controller identification information return request from the return request unit, The controller identification information is returned only when the hardware key is attached and the connection permission operation unit information of the hardware key matches the transmission source identification information transmitted with the reply request. The gist of the robot control system is characterized by this.

As described above in detail, according to the invention of claim 1 and claim 2, the portable operating part of one, to use by connecting it to a plurality of controllers, the robot unintended by mistake of the operator It is possible to prevent the robot from being connected and operating an unintended robot.

Further, according to the invention of claim 1, the controller may already build a connection relationship with other portable operating unit, and returns to the portable operating part to which the controller is a request for return connection relationship prebuilt information Therefore, the display means of the portable operation unit does not display the controller identification information for the controller for which the connection relationship has been established. As a result, the operator of the portable operation unit does not mistakenly select a controller that is already connected to another portable operation unit, and the desired one from the controllers that are not connected to the portable operation unit. Therefore, the connection process between the portable operation unit and the controller can be performed more securely and reliably.

Further , according to the invention of claim 2 , the operator of the portable operation unit can construct a connection relationship with only the controller equipped with the hardware key having a one-to-one authentication relationship with the portable operation unit. Therefore, it becomes possible to connect the portable operation unit and the controller more safely and reliably. In addition, even when a plurality of operators perform work with a plurality of portable operation units, according to this hardware key authentication system, The relationship between the controllers is uniquely determined, so that a plurality of operators will not accidentally try to perform operations on the same controller.

( Reference example )
First, the robot control system 3 0 of the reference example with reference to FIGS. The robots R1 to R3 respectively controlled by the controllers 20A to 20C of the robot control system 30 are, for example, welding robots. The robot is not limited to the welding robot, and may be other robots such as a transfer robot. There may be. Since the configuration of each controller is the same, the configuration of the controller 20A will be described below, and the description of the other controllers will be omitted.

  For convenience of explanation, in the following explanation, when any of the controllers 20A to 20C is not specified, the controller is denoted by reference numeral 20. Similarly, when any of the robots R1 to R3 is not specified, the robot is given a symbol R.

(1. Teach pendant 10)
As shown in FIG. 1, a teach pendant 10 as a portable operation unit includes a CPU 11, a ROM 12, a RAM 13, a hard disk 14, a LAN I / F 15, a keyboard 16 (see FIG. 3), a liquid crystal display 17 (see FIG. 3), and a wired / wireless conversion. Each part of the container 18 is provided, and each part is connected via a bus 19.

  The ROM 12 of the teach pendant 10 stores various control programs and control constants for executing the operation of the robot R1 from the teach pendant 10 and communication with the teach pendant 10. The RAM 13 is used as a working area for the CPU 11 and temporarily stores data being calculated. The hard disk 14 stores execution variables of various control programs. For example, the address (TPIP140) of the teach pendant 10 and the identification information (TPID 141) of the teach pendant 10 are stored. The LAN I / F 15 is a communication device used for connection with the controller 20. The wired / wireless converter 18 wirelessly transmits data output via the LAN I / F 15 or receives data wirelessly transmitted from the controller 20 and outputs the data to the LAN I / F 15.

The CPU 11 of this reference example corresponds to a reply request unit and a connection establishment unit. The keyboard 16 corresponds to selection operation means. The liquid crystal display 17 corresponds to display means.
(2. Controller 20A)
The controller 20 </ b> A includes a CPU 21, a ROM 22, a RAM 23, a hard disk 24, a LAN I / F 25, a timer 26, a servo driver 27, and a wired / wireless converter 28, and each unit is connected via a bus 29. The ROM 22 includes various programs such as a control program for executing the operation control of the robot R1 to be controlled by the controller 20A and its control constant, and an ID notification processing program 220 for performing its own ID notification, for example. Is stored. In FIG. 1, only the ID notification processing program 220 is shown for convenience of explanation. The RAM 23 is used as a working area for the CPU 21 and temporarily stores data being calculated. The hard disk 24 stores data teaching the work of the robot R1, execution conditions of the control program, and various control variables. Instead of the hard disk 24, another rewritable storage device may be used. The LAN I / F 25 is a communication device used for connection with the teach pendant 10. The servo driver 27 is connected to a motor (not shown) that drives each joint of the robot R1, and controls a current supplied to the motor. The timer 26 generates a synchronization signal at regular intervals. The synchronization signal is used for the update timing of the command value to the servo driver 27.

In this reference example , the LAN I / F 15 of the teach pendant 10, the wired / wireless converter 18, the LAN I / F 25 of the controller 20A, and the wired / wireless converter 28 constitute a network means including a wireless LAN. In the wireless LAN, communication between the LAN I / Fs 15 and 25 is performed by communication packets. In each of the following embodiments including this reference example , various messages are generated and transmitted to the communication partner, but various messages are generated as communication packets even if not specifically described.

( Operation of the reference example )
Now, in the robot control system 30 configured as described above, an operation when the teach pendant 10 is connected to one of the controllers 20 will be described. In this reference example , when searching for a connection destination from the teach pendant 10, it is performed in the following order.

1) Controller search by the teach pendant 10 When the CPU 11 of the teach pendant 10 detects that the “connection process to the controller” is started by the keyboard operation by the operator of the teach pendant 10, the connection destination stored in the ROM 12 The search processing program 121 is executed. FIG. 2 is a flowchart of the connection destination search processing program 121 executed by the CPU 11.

The CPU 11 searches for all the controllers 20A to 20C that can be connected to itself via the wireless LAN of the teach pendant 10 (see S1 in FIG. 2). In the following, in the present reference example and the embodiments described later , for the sake of convenience of explanation, the teach pendant 10 and the controller 20 communicate with each other via the LAN I / Fs 15 and 25 and the wired / wireless converters 18 and 28 via the wireless LAN. (Including transmission and reception) is simply referred to as transmission, reception, issuance, or notification via a wireless LAN.

  Specifically, the CPU 11 creates a communication packet including the controller IP request command as an address and its own TPIP 140 as transmission source information and issues it to all the controllers 20 via the wireless LAN. On the other hand, each controller 20 creates a communication packet including its own controller IP 242 stored in the hard disk 24 and the teach pendant TPIP 140 as transmission destination information, and transmits the communication packet via the wireless LAN. IP means an IP (Internet Protocol) address.

  The CPU 11 of the teach pendant 10 stores the searched address (controller IP 242) of the controller 20 in the controller address list 142 of the hard disk 14. At this time, the CPU 11 may store the addresses of the nodes of all devices connected to the network in the controller address list 142.

  If there are many controllers, an operator sets a controller to which connection is permitted in the connection permission controller address list 143 of the hard disk 14 in advance, and only controllers that match the connection permission controller address list 143 are controller. It may be stored in the address list 142. In this way, it is possible to shorten the processing time and simplify the user connection destination confirmation work.

2) Acquisition of Controller ID by Teach Pendant 10 Next, the CPU 11 sequentially picks up an address from the controller address list 142, and for each address, returns the address as the transmission destination information, its own TPIP 140 as the transmission source information, and the controller ID. A communication packet including a command requesting is generated and issued via the wireless LAN. The controller ID is unique identification information provided for each controller and corresponds to the controller identification information.

  When the CPU 21 of the controller having the address of the corresponding destination information receives the command, according to the ID notification processing program 220, the CPU 21 creates a communication packet including its own controller ID 241 and the TPIP 140 of the teach pendant as destination information. The controller ID 241 is stored in advance in the hard disk 24.

  Then, the CPU 21 returns the communication packet to the command issuing source teach pendant 10 via the wireless LAN. The CPU 11 of the teach pendant 10 stores the returned controller ID in the controller ID list 144 of the hard disk 14 as a controller ID of a controller connectable to the teach pendant 10 (see S2 in FIG. 2).

3) Display of Controller ID by Teach Pendant 10 Next, the CPU 11 executes the connection destination display processing program 122 stored in the ROM 12 in S3 of FIG. That is, the CPU 11 displays the contents of the controller ID list 144 of the hard disk 14 on the liquid crystal display 17 of the teach pendant 10 as shown in FIG. It goes without saying that this display is safer and more reliable if the robot ID is identified by a controller ID using alphabets, kanji, hiragana, or kana, rather than simply searching with a list of numbers. There is no. Further, if the controller ID is recorded on the controller 20A to 20C or the main body of the robot R as shown in FIG. 3, the certainty and safety of identification can be further improved.

4) Selection of Controller ID by Teach Pendant 10 Next, the CPU 11 executes the connection destination selection processing program 123 stored in the ROM 12 in S4. That is, in S4, the CPU 11 waits for the operator to input a key on the keyboard 16. When the CPU 11 detects that any one of the controller IDs displayed on the liquid crystal display 17 by key input is selected and confirmed, the determination in S4 is “YES”. Subsequently, the CPU 11 registers the controller address corresponding to the selected controller ID in the hard disk 14 as the connection destination controller IP145 that is the connection destination controller address of the own teach pendant 10 (S5).

5) Notification of own ID number by teach pendant 10 Next, in S6, the CPU 11 notifies the selected connection destination controller of its own address as the connection destination controller address which is transmission destination information. A communication packet including its own address (TPIP 140) that also serves as the connection destination controller IP 145 and the transmission source information is created and issued via the wireless LAN.

  The controller that has received the notification stores the address (TPIP 140) notified as the connection destination teach pendant 10 in the hard disk 24 of the controller 20 as the connection destination TPIP 243.

  As described above, the connection relationship is established when both the teach pendant 10 and the controller 20 confirm each other's addresses (TPIP, controller IP). Accordingly, even when a plurality of teach pendants 10 and a plurality of controllers are mixed, the connection process between the teach pendant 10 and the controller can be performed safely and reliably by the operation from the teach pendant 10.

Now, according to this reference example , there are the following features.
In the robot control system 30 of the present reference example , a teach pendant 10 (portable operation unit) and a plurality of controllers 20A to 20C that transmit and receive information via a wireless LAN (non-wired communication means) are connected to each controller. And robots R1 to R3 that can be controlled by the controller.

  The teach pendant 10 includes a CPU 11 (reply requesting means) for requesting the controller 20 to return a controller ID (controller identification information), and displays the controller ID returned from the controller 20 in response to the reply request. The liquid crystal display 17 (display means) is provided. When the CPU 11 (connection construction means) of the teach pendant 10 selects the controller ID displayed on the liquid crystal display 17 by operating the keyboard 16 (selection operation means), the CPU 11 (connection construction means) constructs a connection relationship with the controller having the selected controller ID. To do.

As a result, in the reference example , when one teach pendant 10 is used by connecting to a plurality of controllers, it is connected to an unintended robot due to an operator's mistake, and the unintended robot is operated. This can be prevented.

( First embodiment )
Next, the first embodiment will be described. In the following embodiments, including the first embodiment, the same or corresponding components as those in the reference example described above are denoted by the same reference numerals, detailed description thereof is omitted, and different parts are mainly described. I will explain. The first embodiment has the same hardware configuration as that of the reference example . The first embodiment, in the description of the action of Reference Example 2) and how the different "Getting the controller ID by teach pendant 10" of, for the other control is the same, or less, the first The operation of the embodiment will be described focusing on the acquisition of the controller ID by the teach pendant 10.

2) Acquisition of Controller ID by Teach Pendant 10 Here, the CPU 11 sequentially picks up an address from the controller address list 142, and for each address, returns the address as the transmission destination information and its own TPIP 140 and the controller ID as the transmission source information. A communication packet including a command requesting is generated and issued via the wireless LAN.

In the first embodiment, control by the ID notification processing program 220 is different from that in the first embodiment.
That is, when the CPU 21 of the controller having the address of the corresponding destination information receives a command for requesting a reply of the controller ID, it has already established a connection relationship with another teach pendant according to the ID notification processing program 220. Judge whether there is.

  In this case, the controller that has already established the connection relationship with the teach pendant stores the address of the connection destination teach pendant in the hard disk 24 as the connection destination TPIP243.

  Then, in the controller whose connection relationship with the teach pendant is not established (that is, not connected), for example, “0” is stored as the connection destination TPIP 243. This “0” is used as information indicating that there is no connection relationship with the teach pendant. The information indicating that there is no connection relationship is not limited to “0”. Of course, other data may be used. For this reason, when the CPU 21 of the controller receives a command requesting a reply of the controller ID, the CPU 21 itself determines whether or not the connection destination TPIP 243 is “0” if it is already connected to another teach pendant. It can be judged by whether or not there is. If the connection destination TPIP 243 is “0”, the CPU 21 determines that it is in an unconnected state and, like the first embodiment, assigns its own controller ID to the teach pendant 10 that issued the command. In response via the wireless LAN.

  On the other hand, if the connection destination TPIP 243 is not “0”, the CPU 21 assumes that it is already connected to another teach pendant, and the teach pendant of the command issuer (that is, the connection request source) that requests the return of the controller ID. It is determined that connection with is impossible. In this case, the CPU 21 uses “0” as its controller ID, and creates a communication packet including the controller ID and the TPIP 140 of the teach pendant as transmission destination information. Then, the CPU 21 returns the communication packet to the teach pendant of the connection request source via the wireless LAN.

In this case, the controller ID “0” corresponds to the connection relationship established information.
If the controller ID of the returned communication packet is not “0”, the CPU 11 of the teach pendant 10 as the connection request source stores it in the hard disk as a connectable “controller ID list”. On the other hand, if the controller ID is returned as “0”, the CPU 11 determines that the controller cannot be connected to the teach pendant, and does not execute registration in the “controller ID list”.

In the following, as in the reference example , the CPU 1 executes the processes after S3. At this time, in S3, the CPU 11 displays the controller ID of the controller that can be connected, but does not display the controller ID of the controller that cannot be connected.

Now, according to the first embodiment, there are the following features.
In the first embodiment, when the controller has received a controller ID return request from the CPU 11 of the teach pendant 10 and has already established a connection relationship with another teach pendant, the controller ID is set to “0”. The controller ID is returned to the teach pendant 10 for which a return request has been made as connection relation constructed information. The liquid crystal display 17 of the teach pendant 10 does not display the controller ID for the controller whose controller ID is “0”.

  As a result, the operator of the teach pendant 10 does not select a controller that is already connected to another teach pendant, and can select a desired controller from controllers that are not connected to the teach pendant. The connection process of the teach pendant and the controller can be performed safely and reliably.

( Second Embodiment)
Next, a second embodiment will be described with reference to FIG.
As for the hardware of the robot control system 30 according to the third embodiment, the hardware key plug 40 is provided in each controller 20 in the configuration of the reference example 1 , and the hardware key 41 is detachably attached to the hardware key plug 40. The place attached to is different. The hardware key 41 is realized by, for example, a USB memory or a memory card. The hardware key plug 40 includes a USB memory or a plug that allows a memory card to be detachably connected to the controller. In addition, the hardware key 41 stores and holds a connection permission TPID 42 for granting the connection permission of the teach pendant to the controller 20 to which the hardware key 41 is attached. The connection permission TPID 42 of the hardware key 41 attached to the hardware key plug 40 can be read. The connection permission TPID 42 stored in the hardware key 41 corresponds to connection permission operation unit information.

(Operation of Second Embodiment)
In the second embodiment, in the description of the action of in Reference Example, 2) it has different ways of "acquisition of controller ID by the teach pendant 10", since the other control is the same, 2 in the second embodiment ) "Acquisition of controller ID by teach pendant 10" will be described.

2) Acquisition of Controller ID by Teach Pendant 10 The CPU 11 sequentially picks up an address from the controller address list 142, and for each address, the address as transmission destination information, and its own TPID 141 as transmission source identification information (that is, connection request source TPID). Then, a communication packet including a command requesting a reply of TPIP 140 and controller ID as transmission information is created. Then, the CPU 11 issues this communication packet via the wireless LAN.

  When the CPU 21 of the controller having the corresponding address receives this command, it starts the TPID comparison processing program stored in the ROM 22 and determines whether the hardware key 41 is attached to the hardware key plug 40. .

When the CPU 21 determines that the hardware key 41 is attached, the CPU 21 reads “connection permission TPID” stored in the hardware key 41. Next, the CPU 21 compares the read “connection permission TPID” with the “connection request source TPID (ie, TPID 141)” added to the command of the received communication packet, and only when both are the same, It is determined that the connection with the teach pendant 10 as the connection request source is possible. In this case, as in the reference example , the CPU 21 returns its own controller ID via the wireless LAN to the teach pendant 10 that issued the command.

When the hardware key 41 is not attached to the hardware key plug 40 or when the “connection permission TPID” and the “connection request source TPID” are not the same, it is determined that the connection with the teach pendant of the connection request source is impossible. to decide. In this case, as in the first embodiment, the CPU 21 sets “0” as its controller ID, and creates a communication packet including the controller ID and the TPIP 140 of the teach pendant as transmission destination information. Then, the CPU 21 returns the communication packet to the teach pendant of the connection request source via the wireless LAN.

Hereinafter, as in the first embodiment, the CPU 11 of the teach pendant 10 as the connection request source stores the connectable “controller ID list” on the hard disk if the controller ID of the returned communication packet is not “0”. Save it. On the other hand, if the controller ID is returned as “0”, the CPU 11 determines that the controller cannot be connected to the teach pendant and does not execute registration in the “controller ID list”.

In the following, similarly to the reference example , the CPU 11 executes the processes after S3. At this time, in S3, the CPU 11 displays the controller ID of the controller that can be connected, but does not display the controller ID of the controller that cannot be connected.

Now, according to the second embodiment, there are the following features.
In the robot control system 30 according to the second embodiment, a hardware key 41 storing a connection permission TPID 42 (connection permission operation unit information) for identifying the teach pendant 10 that is permitted to be connected is detachably attached to the controller 20. It can be installed. When the controller 20 receives a controller ID return request from the CPU 11, the controller 20 only when the hardware key 41 is attached and the transmitted TPID 141 matches the connection permission TPID 42. An ID (controller identification information) is returned.

  As a result, the operator of the teach pendant can establish a connection relationship only with the controller to which the hardware key 41 having a one-to-one authentication relationship with the teach pendant is attached. Controller connection processing is possible.

  Further, even when a plurality of operators carry out a work with a plurality of teach pendants, according to the authentication system for the hardware key 41, the hardware key 41 is attached to the controller in advance to establish a connection relationship. The relationship between the teach pendant and the controller can be uniquely determined. As a result, there is no possibility that a plurality of operators mistakenly perform an operation on the same controller.

2) Authentication processing of robot individual ID by controller 20 When the CPU 21 of the controller 20 that matches the connection destination controller ID 148 receives the motor operation permission request message via the wireless LAN, the transmission source in the motor operation permission request message TPID 141 is stored in hard disk 24 as connection destination TPID 246 and ID authentication processing program 223 stored in ROM 22 is activated.

In each of the above embodiments, the teach pendant 10 and the controller 20 are constructed by network means using a wireless LAN, but may be constructed by a wired LAN.
In each of the above embodiments, the communication between the teach pendant 10 and the controller 20 is performed by wireless communication. However, the communication is not limited to the wireless method, and may be performed by infrared communication, optical communication, or magnetic communication.

  In each of the above embodiments, the network means is constructed by wireless LAN between the teach pendant 10 and the plurality of controllers 20, but the teach pendant 10 and the plurality of controllers 20 may be simply communicated with each other wirelessly. Further, instead of wireless communication, infrared communication, optical communication, or magnetic communication may be performed.

The block circuit diagram of the controller and teach pendant of the robot control system of a reference example . The flowchart of the connection destination search process which CPU11 performs similarly. Explanatory drawing showing the state which similarly registered controller ID to controllers 20A-20C. The block circuit diagram of the controller and teach pendant of the robot control system of a 2nd embodiment. (A) is explanatory drawing showing the connection form in which a teach pendant and a controller are connected to wireless LAN, (b) is explanatory drawing showing the connection form in which a teach pendant and a controller are connected to wired LAN.

10 ... Teach pendant (portable operation part),
11 ... CPU (reply request means, connection construction means, confirmation operation detection means, output means, authentication means), 16 ... keyboard (selection operation means, input means),
17 ... Liquid crystal display (display means, discrimination result display means),
24. Hard disk (storage means),
42 ... connection permission TPID (connection permission operation part information),
52 ... Connection destination confirmation SW (connection destination confirmation operation means),
146... SW state data (confirmation operation information).

Claims (2)

A plurality of controllers that transmit and receive information via a portable operation unit and network means, or via the portable operation unit and non-wired communication means, and a robot that is connected to each controller and can be controlled by the controller In the robot control system provided,
In the portable operation unit,
A reply request means for requesting the controller to return the controller identification information;
Display means for displaying controller identification information returned from the controller in response to the reply request;
Selection operation means for selecting the controller identification information displayed by the display means;
A connection construction means for constructing a connection relationship with the controller having the controller identification information selected by the selection operation means ;
If the controller that has received the controller identification information return request from the reply request means has already established a connection relationship with another portable operation unit, the controller has received a request to return the connection relationship established information. Reply to the operation unit,
The robot control system according to claim 1, wherein the display means of the portable operation unit does not display controller identification information for a controller having the connection relationship constructed information .   A plurality of controllers that transmit and receive information via a portable operation unit and network means, or via the portable operation unit and non-wired communication means, and a robot that is connected to each controller and can be controlled by the controller In the robot control system provided,
  In the portable operation unit,
  A reply request means for requesting the controller to return the controller identification information;
  Display means for displaying controller identification information returned from the controller in response to the reply request;
  Selection operation means for selecting the controller identification information displayed by the display means;
  A connection construction means for constructing a connection relationship with the controller having the controller identification information selected by the selection operation means;
  The controller is detachably mountable with a hardware key storing connection permission operation unit information for identifying a portable operation unit permitted to be connected,
  When the controller receives a reply request for controller identification information from the reply request means, the controller transmits the hardware key connection permission operation unit information together with the reply request when the hardware key is attached. The robot control system is characterized in that the controller identification information is returned only when it matches the transmitted source identification information.

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