JP2016060016A - Robot control system and radio communication connection establishment method of robot control system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve the problem in which, in the case where a plurality of robot control devices exist in a robot control system, there is a possibility that a robot control device for establishing connection of radio communication is mistaken; however, a conventional robot control system does not have a function for suppressing establishment of radio communication connection with respect to an unintended robot control device.SOLUTION: When an operator presents a radio teach pendant to a short-range radio communication unit of a robot control device, authentication information stored in an NFC chip of the radio teach pendant is read by the robot control device. A robot control unit of the robot control device considers that the radio teach pendant identified by the authentication information requires establishment of radio communication connection. Then, the robot control unit permits establishment of radio communication connection via a radio access point for the radio teach pendant.SELECTED DRAWING: Figure 6

Description

  The present invention relates to a robot control system and a wireless communication connection establishment method for the robot control system.

  Patent Document 1 proposes a technique for connecting a robot control device for controlling the operation of a robot and the like and a portable operation device for inputting an operation signal to the robot control device by wireless communication. When establishing a wireless communication connection (so-called pairing) between a robot control device and a portable operation device in the robot control system of Patent Document 1, first, the portable device is displayed on a display mounted on the portable operation device. A robot control device to which the operation device can be connected is displayed. When a robot control device to be connected is selected on the display of the portable operation device, a request signal and mutual identification information are transmitted and received between the connected robot control device and the portable operation device. A wireless communication connection is established. Further, in the robot control system disclosed in Patent Document 1, when the connection destination confirmation switch of the portable operation device is operated in a state where the wireless communication connection is established, the partner robot with which the wireless communication connection is established is operated. The control indicator light on the control device lights up.

JP 2008-80474 A

  When there are a plurality of robot control devices in the robot control system of Patent Document 1, there is a possibility that a robot control device that establishes a wireless communication connection may be mistaken. Specifically, as shown in FIG. 16, it is assumed that a set of the robot control device Ca and the robot Ra and a set of the robot control device Cb and the robot Rb exist. Then, it is assumed that the portable operation device TP possessed by the operator H is within the wireless communication range of the robot control device Ca and also within the wireless communication range of the robot control device Cb. In this case, both the robot control device Ca and the robot control device Cb are displayed as connectable robot control devices on the display of the portable operation device TP.

  Here, as shown in FIG. 16, although the operator H intends to establish a wireless connection to the robot control device Cb, the robot control device Ca is set as a connection destination due to an erroneous operation of the portable operation device TP. May be selected. In this case, establishment of wireless communication connection is requested from the portable operation device TP to the robot control device Ca, and wireless communication is established between the two. However, a wireless communication connection to the robot controller Cb originally intended to establish a connection is not established.

  In the robot control system of Patent Document 1, it is possible to confirm that the robot control device with which the wireless communication connection is established is not intended by turning on the confirmation indicator lamp of the robot control device. it can. However, it is difficult to say that the robot control system of Patent Document 1 has a function that can suppress the establishment of a wireless communication connection to an unintended robot control device.

  The present invention has been made in view of such a conventional technique, and an object of the present invention is to establish a wireless communication connection between a portable operation device and a robot control device. It is to establish a wireless communication connection more reliably.

  In order to achieve the above object, the present invention provides a robot control device that controls the operation of the robot and the power supply to the robot, and a portable operation that transmits a control signal for operating the robot to the robot control device. An apparatus, a wireless communication apparatus connected to the robot control apparatus by wire, and wirelessly communicating with the portable operation apparatus to output the received control signal to the robot control apparatus; and wired to the robot control apparatus And a second communication device that communicates with the portable operating device according to a standard different from the wireless communication performed by the wireless communication device, and the robot control device performs communication via the second communication device. In the robot control system, the wireless communication device is allowed to establish the wireless communication connection for the portable operation device.

  In order to achieve the above object, the present invention provides a robot control device that controls the operation of the robot and the power supply to the robot, and a control signal for operating the robot can be transmitted to the robot control device. A portable operation device, a wireless communication device connected to the robot control device by wire, and wirelessly communicating with the portable operation device to output the received control signal to the robot control device, and wired to the robot control device A wireless communication connection establishing method for a robot control system, comprising: a second communication device that communicates with the portable operation device according to a standard different from the wireless communication by the wireless communication device, wherein the portable operation An identification information transmission step in which the device transmits identification information unique to the portable operating device; and the second communication device receives the identification information and An identification information receiving step of outputting identification information to the robot control device; and establishment of a connection of the wireless communication by the wireless communication device for the portable operation device specified by the identification information by the robot control device And a connection establishment permission step for permitting the connection.

  In order to achieve the above object, the present invention provides a robot control device that controls the operation of the robot and the power supply to the robot, and a control signal for operating the robot can be transmitted to the robot control device. A portable operation device, a wireless communication device connected to the robot control device by wire, and wirelessly communicating with the portable operation device to output the received control signal to the robot control device, and wired to the robot control device A wireless communication connection establishing method for a robot control system, comprising: a second communication device that communicates with the portable operation device according to a standard different from the wireless communication by the wireless communication device, the robot control device Outputs identification information unique to the robot control device to the second communication device, and the second communication device transmits the identification information. A transmission step; an identification information receiving step in which the portable operating device receives the identification information; and a wireless communication by the wireless communication device to the robot control device specified by the identification information. A connection establishment request step for transmitting a connection establishment request signal indicating that a connection establishment request is requested, and the robot control device is directed to the portable operation device that is the transmission source of the connection establishment request signal. And a connection establishment permission step for permitting establishment of the wireless communication connection by the device.

  According to the present invention, it is possible to suppress the possibility of establishing a wireless communication connection between an unintended robot control device and a portable operating device.

Schematic of a robot control system. 1 is a block diagram of a robot control apparatus according to a first embodiment. The block diagram of the wired teach pendant of 1st Embodiment. The block diagram of the wireless teach pendant of 1st Embodiment. The flowchart which shows the state transition process of a robot control apparatus. 3 is a flowchart showing a wireless communication connection establishment process according to the first embodiment. The block diagram of the robot control apparatus of 2nd Embodiment. The block diagram of the wireless teach pendant of 2nd Embodiment. The flowchart which shows the connection establishment process of the radio | wireless communication of 2nd Embodiment. The flowchart which shows the connection establishment process of the radio | wireless communication of 2nd Embodiment. 9 is a flowchart showing a wireless communication connection establishment process according to the third embodiment. 9 is a flowchart showing a wireless communication connection establishment process according to the third embodiment. The robot control apparatus of 4th Embodiment and the block diagram of a mounting base. The block diagram of the wireless teach pendant of 4th Embodiment. The block diagram of the robot controller of 5th Embodiment and a mounting base. Explanatory drawing explaining the establishment process of the connection of the conventional radio | wireless communication.

(Configuration of the first embodiment)
1st Embodiment of the robot control system of this invention is described. First, an outline of the robot control system will be described.

  As shown in FIG. 1, the robot control device C of the robot control system controls the operation of the robot R and the power supply to the robot R, and includes a computer and various modules. On the outer surface of the housing of the robot control device C, a wireless access point AP is fixed as a wireless communication device. The wireless access point AP is connected to the robot control device C by wire, and inputs and outputs signals to and from the robot control device C through wired communication. An operation box OP that outputs a signal for controlling power supply to the robot R is wired to the robot control device C.

  As shown in FIG. 1, a robot R is connected to the robot control device C by wire. The robot R is, for example, an articulated welding robot having a plurality of arms driven by a servo motor and having a welding torch mounted on the arm at the tip. In the robot R, the operation of the arm or the like is controlled by a signal from the robot controller C. A wired teach pendant TP1 for inputting a control signal or the like necessary for operating the robot R is connected to the robot controller C by wire. The robot control system includes a wireless teach pendant TP2 for inputting a control signal and the like necessary for operating the robot R. The wireless teach pendant TP2 transmits and receives signals to and from the wireless access point AP by wireless communication. Both the wired teach pendant TP1 and the wireless teach pendant TP2 correspond to portable operation devices.

Next, the electrical configuration of each device constituting the robot control system will be described.
As shown in FIG. 2, the robot controller C is provided with a power switch 11 for switching on / off the power. By operating the power switch 11, the robot controller C, the operation box OP, and the wireless access point AP are turned on / off. The robot control device C is provided with a robot control unit 12 responsible for control processing, communication processing, and the like of the robot R. The robot control unit 12 stores a central processing unit 12a (CPU) that executes various programs, a volatile RAM 12b that temporarily stores data when each program is executed, a program necessary for processing, various data, and the like. It is comprised as a computer which has the non-volatile storage part 12c etc. which are performed.

  As shown in FIG. 2, the robot control apparatus C is provided with a servo amplifier 14 for supplying electric power to the servo motor of the robot R. The servo amplifier 14 supplies electric power corresponding to the posture of the arm of the robot R instructed by the robot control unit 12 to the servo motor of the robot R. That is, the robot control unit 12 controls the operation of the robot R by controlling the servo amplifier 14.

  As shown in FIG. 2, the robot control device C includes a short-range wireless communication unit 16 as a second communication device (short-range wireless communication device). A part of the short-range wireless communication unit 16 is exposed to the outside of the housing of the robot control apparatus C, and wireless communication is performed in the part exposed to the outside. The short-range wireless communication unit 16 performs wireless communication according to a standard called NFC (Near Field Communication), and the communication range is several centimeters to several tens of centimeters. Therefore, even if a plurality of robot control devices C are provided, the communication ranges of the short-range wireless communication unit 16 in each robot control device C do not almost overlap each other. The short-range wireless communication unit 16 is connected to the robot control unit 12 by wire, outputs a received signal to the robot control unit 12, and transmits a signal input from the robot control unit 12.

  As shown in FIG. 2, the communication control unit 15 of the robot control device C is connected to the robot control unit 12. Based on the connection permission signal from the robot control unit 12, the communication control unit 15 establishes a communication connection to either the wired teach pendant TP1 or the wireless teach pendant TP2. The communication control unit 15 outputs a control signal from the wired teach pendant TP1 or the wireless teach pendant TP2 that has established a communication connection to the robot control unit 12, thereby enabling control of the robot R based on the operation of the teach pendant. . A wireless access point AP is connected to the communication control unit 15 by wire, and a wired teach pendant TP1 is connected by wire.

  As shown in FIG. 2, the wireless access point AP includes an antenna for transmitting / receiving radio waves, a communication module for controlling transmission / reception of radio waves by the antenna, and the like, and wireless communication according to the wireless LAN standard (IEEE 802.11 standard). I do. The communication range of the wireless communication by the wireless access point AP is, for example, several tens of meters to hundreds of tens of meters. Note that this wireless LAN standard is different from the NFC standard by the short-range wireless communication unit 16 described above.

  As shown in FIG. 2, the wireless access point AP transmits a control signal output from the communication control unit 15 of the robot controller C to the wireless teach pendant TP2 by wireless communication. The wireless access point AP outputs a control signal received by wireless communication from the wireless teach pendant TP2 to the communication control unit 15, and the communication control unit 15 outputs the control signal to the robot control unit 12. The wireless access point AP transmits its network information (for example, SSID (Service Set Identifier)) every predetermined time regardless of whether the wireless communication connection to the wireless teach pendant TP2 is established. The network information is not transmitted to a specific wireless teach pendant TP2, but is transmitted without specifying a destination.

  As shown in FIG. 2, the operation box OP connected by wire to the robot controller C is provided with an operation preparation switch 21 for causing the robot controller C to transition from the operation preparation waiting state to the operation preparation state. Yes. When the operation preparation switch 21 of the operation box OP is operated, the operation box OP outputs an operation preparation signal to the robot controller 12 of the robot controller C. The operation box OP is provided with an emergency stop switch 22 for emergency stop of the robot R. When the emergency stop switch 22 of the operation box OP is operated, the operation box OP outputs an emergency stop signal to the robot controller 12 of the robot controller C.

  As shown in FIG. 3, the wired teach pendant TP1 is provided with a teach pendant control unit 31 that performs input processing, communication processing, and the like. The teach pendant control unit 31 includes a central processing unit 31a (CPU) that executes various programs, a volatile RAM 31b in which data is temporarily stored during execution of the programs, and a nonvolatile storage in which programs necessary for processing are stored. It is comprised as a computer which has the memory | storage part 31c of sex.

  As shown in FIG. 3, the wired teach pendant TP1 is provided with a display 32 for displaying various kinds of information. The display 32 displays, for example, the current status of the robot R, the teaching contents for the robot R, the operation guidance for the wired teach pendant TP1, and the like based on the image signal from the teach pendant control unit 31. The wired teach pendant TP1 is provided with a keyboard 33 for inputting information. The keyboard 33 is, for example, an arrow key for moving a selection position (cursor position) displayed on the display 32 or a character key for inputting character information. The wired teach pendant TP1 is provided with an enable switch 34 for permitting power supply to the robot R. When the enable switch 34 of the wired teach pendant TP1 is operated, the wired teach pendant TP1 outputs an enable signal to the robot controller C. The wired teach pendant TP1 is provided with an emergency stop switch 35 for emergency stop of the robot R. When the emergency stop switch 35 of the wired teach pendant TP1 is operated, the wired teach pendant TP1 outputs an emergency stop signal to the robot controller C.

  As shown in FIG. 3, the wired teach pendant TP1 is provided with a wired LAN interface 36 connected to the communication control unit 15 of the robot controller C by a LAN cable. The wired LAN interface 36 includes a connector for attaching a cable such as a LAN cable and a communication module for controlling wired communication via the LAN cable.

  As shown in FIG. 4, the wireless teach pendant TP2 is provided with a teach pendant control unit 41 that performs input processing, communication processing, and the like. The teach pendant control unit 41 includes a central processing unit 41a (CPU) that executes various programs, a volatile RAM 41b in which data is temporarily stored during execution of the programs, and a nonvolatile storage in which programs necessary for processing are stored. It is comprised as a computer which has the property memory | storage part 41c.

  As shown in FIG. 4, the wireless teach pendant TP2 is provided with a display 42 for displaying various kinds of information. Based on the image signal from the teach pendant control unit 41, the display 42 displays, for example, the current status of the robot R, the teaching content for the robot R, and operation guidance for the wireless teach pendant TP2. The wireless teach pendant TP2 is provided with a keyboard 43 for inputting information. The keyboard 43 is, for example, an arrow key for moving a selection position (cursor position) displayed on the display 42 or a character key for inputting character information. The wireless teach pendant TP2 is provided with an enable switch 44 for permitting power supply to the robot R. When the enable switch 44 of the wireless teach pendant TP2 is operated, the wireless teach pendant TP2 transmits an enable signal to the robot controller C. The wireless teach pendant TP2 is provided with an emergency stop switch 45 for emergency stop of the robot R. When the emergency stop switch 45 of the wireless teach pendant TP2 is operated, the wireless teach pendant TP2 transmits an emergency stop signal to the robot controller C.

  As shown in FIG. 4, the wireless teach pendant TP2 is provided with a wireless LAN interface 46 for wireless communication with the wireless access point AP. The wireless LAN interface 46 includes an antenna for transmitting and receiving radio waves and a communication module for controlling wireless communication using the antenna, and performs wireless communication according to the wireless LAN standard (IEEE 802.11 standard).

  As shown in FIG. 4, the wireless teach pendant TP2 includes an NFC chip 47 that performs wireless communication at a short distance. The NFC chip 47 incorporates an antenna for transmitting and receiving signals and a memory for storing information. The memory of the NFC chip 47 stores authentication information for specifying the wireless teach pendant TP2 on which the NFC chip 47 is mounted on the network. This authentication information is, for example, the IP address of the wireless teach pendant TP2.

  When the operator performs a presentation action such as holding the wireless teach pendant TP2 over the short-range wireless communication unit 16 of the robot control device C, the wireless teach pendant TP2 is within the communication range of the short-range wireless communication unit 16 of the robot control device C. NFC chip 47 is located. Then, the NFC chip 47 transmits authentication information to the short-range wireless communication unit 16. The short-range wireless communication unit 16 reads the authentication information of the NFC chip 47 by receiving the transmitted authentication information.

(State transition process of the robot controller in the first embodiment)
Next, the state transition process of the robot controller C will be described with reference to FIG.
When the operator operates the power switch 11 of the robot control device C and the power supply of the robot control device C is turned on from off, the processing of the robot control device C proceeds to step ST1.

  In step ST1, the robot controller 12 of the robot controller C determines whether a predetermined voltage is supplied to each electronic component, the operation box OP, and the wireless access point AP constituting the robot controller C. Perform initial diagnosis with If it is determined that there is an abnormality in this initial diagnosis (NO in step ST1), the series of processes is terminated. If it is determined that the initial diagnosis is normal (YES in step ST1), the process of the robot controller C proceeds to step ST2.

  In step ST2, the robot control unit 12 of the robot control apparatus C outputs to the communication control unit 15 a notification indicating that the establishment of communication connection is permitted and the destination is the wired teach pendant TP1. The communication control unit 15 outputs the input permission notification to the wired teach pendant TP1. In the robot control apparatus C, the robot control unit 12 outputs a connection permission signal to the communication control unit 15 with the wired teach pendant TP1 as a target for establishing a communication connection. Thereafter, necessary information is input / output between the robot controller 12 of the robot controller C and the wired teach pendant TP1, and communication connection between the robot controller 12 of the robot controller C and the wired teach pendant TP1 is established. The When the communication connection is established, the process of the robot control apparatus C proceeds to step ST3.

  In step ST3, the robot control unit 12 of the robot control apparatus C changes the state of the robot control apparatus C to the “operation preparation waiting state”. The “operation preparation waiting state” is a state in which power supply from the servo amplifier 14 of the robot controller C to the robot R is prohibited. Accordingly, in this “operation ready state”, even if the enable signal from the wired teach pendant TP1 is input to the robot controller 12 of the robot controller C, the enable signal is not processed and is invalidated. When the state of the robot control device C transits to the “operation preparation waiting state”, the processing of the robot control device C proceeds to step ST4.

  In step ST4, the robot controller 12 of the robot controller C determines whether or not an operation preparation signal is input from the operation box OP. If the operation preparation signal is not input (NO in step ST4), the robot controller 12 continues to wait for the operation preparation signal to be input. When the operator operates the operation preparation switch 21 of the operation box OP, an operation preparation signal is output from the operation box OP to the robot controller 12 of the robot controller C. When this operation preparation signal is input to robot control unit 12 (YES in step ST4), the process of robot control apparatus C proceeds to step ST5.

  In step ST5, the robot control unit 12 of the robot control device C changes the state of the robot control device C to the “operation preparation state”. The “operation preparation state” is a state in which power supply from the servo amplifier 14 of the robot controller C to the robot R is permitted. When the state of the robot controller C transitions to the “operation preparation state”, the process of the robot controller C proceeds to step ST6.

  In step ST6, the robot controller 12 of the robot controller C determines whether or not there is an enable signal input from the wired teach pendant TP1 that established the communication connection in step ST2. If no enable signal is input (NO in step ST6), the robot controller 12 continues to wait for an enable signal. When the operator operates the enable switch 34 of the wired teach pendant TP1, an enable signal is output from the wired teach pendant TP1 to the robot controller C. When this enable signal is input to robot controller 12 of robot controller C (YES in step ST6), the process of robot controller C proceeds to step ST7.

  In step ST7, the robot control unit 12 of the robot control apparatus C changes the state of the robot control apparatus C to the “servo amplifier ON state”. The “servo amplifier ON state” is a state in which the servo amplifier 14 of the robot controller C is turned on and power corresponding to the posture of the arm of the robot R indicated by the robot controller 12 is supplied to the servo motor of the robot R. is there. For example, the state in which the robot R is instructed to operate, the state in which the instructed operation is replayed by the robot R, and the like correspond to the “servo amplifier ON state”. Further, when the state of the robot control device C transitions to the “servo amplifier ON state”, the processing of the robot control device C proceeds to step ST8.

  In step ST8, the robot controller 12 of the robot controller C receives an emergency stop signal from the wired teach pendant TP1 that has established a communication connection in step ST2 or an emergency stop signal from the operation box OP. Determine whether or not. If no emergency stop signal is input (NO in step ST8), the robot controller C is maintained in the “servo amplifier ON state”. When the operator operates the emergency stop switch 45 of the wired teach pendant TP1, an emergency stop signal is output from the wired teach pendant TP1 to the robot controller C. When the operator operates the emergency stop switch 22 of the operation box OP, an emergency stop signal is output to the robot control unit 12 of the robot control apparatus C. When any one of these emergency stop signals is input to robot controller 12 (YES in step ST6), the process of robot controller C proceeds to step ST9.

  In step ST9, the robot controller 12 of the robot controller C forcibly stops the power supply from the servo amplifier 14 to the robot R by turning off the servo amplifier 14. As a result, the robot R comes to an emergency stop. Thereafter, the process of the robot controller C returns to step ST3, and the robot controller C transitions to the “operation preparation waiting state”. The subsequent processing of step ST4 to step ST9 is the same as described above.

  In addition, when the robot controller C is in any of the “operation ready state”, “operation preparation state”, and “servo amplifier ON state”, the robot control unit 12 turns off the power supply from the wired teach pendant TP1. It is determined whether there is a signal input. When the power-off signal is input, the robot control unit 12 transmits / receives necessary information to / from the robot R, and stores necessary information in the storage unit 12c. After that, the robot control unit 12 turns off the power supply of the entire robot control apparatus C including the servo amplifier 14 and ends the series of processes.

(Wireless communication establishment process in the first embodiment)
Next, a process for establishing a wireless communication connection between the wireless teach pendant TP2 and the robot controller C will be described with reference to FIG. In the following description, it is assumed that the robot control apparatus C has completed the processes of step ST1 to step ST7 in the series of state transition processes described above. That is, it is assumed that a communication connection is established between the wired teach pendant TP1 and the robot controller C, and the robot controller C is in the “servo amplifier ON state”.

  As shown in FIG. 6, the robot controller C performs the process of step ST21 when the power is on. In step ST21, the robot control unit 12 of the robot control apparatus C causes the wireless access point AP to transmit network information of the wireless access point AP every predetermined time. Thereafter, the processing of the robot control apparatus C proceeds to step ST22.

  On the other hand, when the power supply of the wireless teach pendant TP2 is turned on, the wireless teach pendant TP2 performs the process of step ST11. In step ST11, the teach pendant control unit 41 searches for a wireless access point AP of the robot controller C that can communicate based on whether the network information transmitted by the wireless access point AP has been received. When the wireless access point AP of the communicable robot controller C is searched, the processing of the wireless teach pendant TP2 moves to step ST12.

  In step ST12, the teach pendant control unit 41 causes the display 42 to display the received network information of the wireless access point AP as information that can identify the searched wireless access point AP that can be communicated. The operator confirms the network information displayed on the display 42 of the wireless teach pendant TP2, thereby confirming the wireless access point AP that can communicate at the current position and the robot controller C to which the wireless access point AP is connected. can do. Thereafter, the processing of the wireless teach pendant TP2 proceeds to step ST13.

  In step ST13, the teach pendant control unit 41 causes the display 42 to display a display requesting the presentation of the wireless teach pendant TP2 to the robot controller C that desires to establish a wireless communication connection. Thereafter, the processing of the wireless teach pendant TP2 repeats the processing of step ST11 to step ST13 while waiting for a response from the robot controller C.

  On the other hand, the process of the robot control apparatus C has shifted to step ST22 after transmitting network information (step ST21). In step ST22, the robot controller 12 of the robot controller C determines whether or not the short-range wireless communication unit 16 has read the authentication information of the wireless teach pendant TP2. Specifically, when the operator presents the wireless teach pendant TP2 to the short-range wireless communication unit 16 of the robot controller C according to the content displayed on the display 42 of the wireless teach pendant TP2 by the process of step ST13, the wireless teach pendant. The NFC chip 47 of TP2 is located within the communication range of the short-range wireless communication unit 16. At this time, the NFC chip 47 transmits the authentication information to the short-range wireless communication unit 16, and the short-range wireless communication unit 16 outputs the received authentication information to the robot control unit 12. The robot control unit 12 determines whether the authentication information has been read based on whether the authentication information from the short-range wireless communication unit 16 has been input. If it is determined that the authentication information has not been read (NO in step ST22), the process of the robot controller C returns to step ST21. If it is determined that the authentication information has been read (YES in step ST22), the robot control unit 12 considers that the wireless teach pendant TP2 specified by the authentication information requests establishment of a wireless communication connection. And the process of the robot control apparatus C transfers to step ST23 and step ST24.

  In step ST23, the robot control unit 12 of the robot control apparatus C turns off the servo amplifier 14. Thereby, the power supply to the robot R is cut off, and the operation of the robot R stops. In step ST <b> 24, the robot control unit 12 outputs a connection release signal for releasing establishment of communication connection to the communication control unit 15. In response to the connection release signal, the communication control unit 15 releases the establishment of communication connection with the wired teach pendant TP1. After the establishment of the communication connection is canceled, the control signal from the wired teach pendant TP1 is invalidated and is not input to the robot controller 12 of the robot controller C. When the processes of step ST23 and step ST24 are completed, the process of the robot controller C proceeds to step ST25.

  As shown in FIG. 6, in step ST <b> 25, the robot control unit 12 of the robot control apparatus C outputs a permission notice addressed to the wireless teach pendant TP <b> 2 specified by the read authentication information to the communication control unit 15. The communication control unit 15 outputs the input permission notification to the wireless access point AP, and the wireless access point AP transmits the permission notification to the wireless teach pendant TP2. Thereafter, the process of the robot controller C proceeds to step ST26.

  In step ST <b> 26, the robot control unit 12 of the robot control apparatus C outputs, to the communication control unit 15, a connection permission signal that uses the wireless teach pendant TP <b> 2 specified by the read authentication information as a communication connection establishment target. Based on the connection permission signal, the communication control unit 15 establishes a wireless communication connection between the wireless teach pendant TP2 and the robot controller C via the wireless access point AP.

  On the other hand, in step ST <b> 14, the wireless teach pendant TP <b> 2 receives the permission notification from the robot controller C through the wireless LAN interface 46. The wireless teach pendant TP2 that has received the permission notification transmits / receives necessary information to / from the robot control unit 12 of the robot control device C, and then between the wireless teach pendant TP2 and the robot control unit 12 of the robot control device C. A wireless communication connection is established.

  After the wireless communication connection is established between the robot controller 12 of the robot controller C and the wireless teach pendant TP2, the process of the wireless teach pendant TP2 proceeds to step ST15. In step ST15, the teach pendant control unit 41 of the wireless teach pendant TP2 causes the display 42 to display an indication that the wireless communication connection has been successfully established. Thereafter, the wireless teach pendant TP2 is in a state where the robot R can be operated based on the operation of the keyboard 43, the enable switch 44, the emergency stop switch 45, and the like.

  After the wireless communication connection is established between the robot controller 12 of the robot controller C and the wireless teach pendant TP2, the process of the robot controller C proceeds to step ST3 (see FIG. 5) in the state transition process. . However, the establishment of the communication connection to the wired teach pendant TP1 is cancelled, and the connection of the wireless communication to the wireless teach pendant TP2 is established. Therefore, control signals such as an enable signal and an emergency stop signal from the wireless teach pendant TP2 are valid. When the wireless communication connection to the wireless teach pendant TP2 is established, the part described as “wired TP” in the flowchart shown in FIG. 5 is read as “wireless TP”. Other processing contents are the same as described above.

  After the servo amplifier 14 is turned off in step ST23, the servo amplifier 14 is connected until the wireless communication connection is established between the robot controller 12 of the robot controller C and the wireless teach pendant TP2 and the process proceeds to step ST3. Remains off and power supply to the robot R is prohibited. In the first embodiment, even if a wireless communication connection is established, power supply to the robot R is prohibited until the robot control apparatus C transitions to the “operation preparation state” through steps ST3 to ST5. It remains.

(Operation and Features of First Embodiment)
The features of the robot control system of the first embodiment will be described together with the operation thereof.
(1) In the first embodiment, the short-range wireless communication unit 16 of the robot controller C performs wireless communication with the wireless teach pendant TP2 according to the NFC standard, which is a standard different from the wireless communication by the wireless access point AP. Then, the robot controller C permits establishment of a wireless communication connection by the wireless access point AP based on the authentication information received by wireless communication in accordance with the NFC standard. That is, in the first embodiment, when establishing a wireless communication connection by the wireless access point AP, communication of a different standard is necessary. For this reason, the operator needs to perform operations and operations different from those of the operation of the robot R when establishing a wireless communication connection by the wireless access point AP. In this way, the operator can be alerted by forcing the operator to perform an operation or operation different from the operation of the robot R, which is a normal operation, and wirelessly transmitted to an unintended robot controller C. The possibility of establishing a communication connection is reduced. As a result, a wireless communication connection can be more reliably established with respect to the intended robot controller 12 of the robot controller C.

  (2) In the first embodiment, since the communication range of the short-range wireless communication unit 16 of the robot controller C is several centimeters to several tens of centimeters, in order to establish a wireless communication connection by the wireless access point AP. Therefore, the operator needs to move to the vicinity of the robot controller C. Then, it can be said that there is a low possibility that the operator erroneously moves to the robot control apparatus C that does not intend to establish a wireless communication connection. That is, by moving the operator who possesses the wireless teach pendant TP2 to the vicinity of the robot controller C, it is possible to more reliably reflect the intention of establishing a wireless communication connection.

  (3) In the first embodiment, since the communication range of the short-range wireless communication unit 16 of the robot control device C is several centimeters to several tens of centimeters, each robot can be operated even when there are a plurality of robot control devices C. The communication range of the short-range wireless communication unit 16 of the control device C hardly overlaps. Therefore, although communication with the short-range wireless communication unit 16 of a certain robot control device C is intended, a situation where communication with the short-range wireless communication unit 16 of another robot control device C does not occur. .

  (4) In the first embodiment, when the short-range wireless communication unit 16 of the robot controller C performs wireless communication with the NFC chip 47 of the wireless teach pendant TP2, a wireless communication connection is established and the robot controller C Until the state shifts to the “operation preparation state”, power supply from the servo amplifier 14 to the robot R is prohibited. Therefore, the robot R does not operate based on the operation of another teach pendant during or immediately after the process of establishing the wireless communication connection between the wireless teach pendant TP2 and the robot controller C.

(Configuration of Second Embodiment)
The configuration of the second embodiment of the robot control system of the present invention will be described with reference to FIGS. In addition, about the structure of each apparatus in the robot control system of 2nd Embodiment, about the same structure as 1st Embodiment, the same code | symbol is attached | subjected and description is abbreviate | omitted.

  As shown in FIG. 7, the robot control apparatus C is provided with a timer 17 for measuring time. The timer 17 counts up the count value based on a command from the robot control unit 12. Further, the timer 17 clears the counted up count value and returns it to the initial value based on the command from the robot control unit 12. The timer 17 also functions as a clock indicating the current time.

  As shown in FIG. 8, the wireless teach pendant TP2 is provided with a timer 48 for measuring time. The timer 48 counts up the count value based on a command from the teach pendant control unit 41. In addition, the timer 48 clears the counted up count value based on a command from the teach pendant control unit 41 and returns it to the initial value. The timer 48 also functions as a clock indicating the current time.

  As shown in FIG. 8, a short-range wireless communication unit 49 is built in the wireless teach pendant TP2. A part of the short-range wireless communication unit 49 is exposed to the outside of the casing of the wireless teach pendant TP2, and wireless communication is performed in the part exposed to the outside. The short-range wireless communication unit 49 performs wireless communication according to a standard called NFC (Near Field Communication), and the communication range is several centimeters to several tens of centimeters. The short-range wireless communication unit 49 is connected to the teach pendant control unit 41 by wire, outputs the received signal to the teach pendant control unit 41, and transmits the signal input from the teach pendant control unit 41.

  As shown in FIG. 8, authentication information for specifying the wireless teach pendant TP2 on the network is stored in the storage unit 41c of the teach pendant control unit 41 in the wireless teach pendant TP2. This authentication information is, for example, the IP address of the wireless teach pendant TP2.

  As shown in FIG. 8, the robot control system according to the second embodiment is constructed including an ID card 50 that is also used as an employee ID card, entrance certificate, or the like. The ID card 50 includes an NFC chip 51 that performs wireless communication at a short distance as an authentication device. The NFC chip 51 has an antenna for transmitting and receiving signals and a memory for storing information. The memory of the NFC chip 51 stores correspondence information indicating that the ID card 50 is an ID card for wireless communication connection authentication. In addition, the memory of the NFC chip 51 has a free space that can store information transmitted from the short-range wireless communication unit 16 of the robot controller C or the short-range wireless communication unit 49 of the wireless teach pendant TP2. The NFC chip 51 receives and stores information transmitted by the short-range wireless communication unit 16 of the robot control apparatus C, and transmits the information to the short-range wireless communication unit 49 of the wireless teach pendant TP2. Similarly, the NFC chip 51 receives and stores information transmitted by the short-range wireless communication unit 49 of the wireless teach pendant TP2, and transmits the information to the short-range wireless communication unit 16 of the robot controller C. That is, the robot controller C and the wireless teach pendant TP2 communicate with each other using the NFC chip 51 of the ID card 50 as a medium.

(Wireless communication establishment process in the second embodiment)
Next, the establishment process of the wireless communication connection between the wireless teach pendant TP2 and the robot controller C in the second embodiment will be described with reference to FIGS. Note that, regarding the wireless communication connection establishment process in the second embodiment below, the same processes as the processes (steps) in the first embodiment are denoted by the same reference numerals, and the description will be simplified.

  As shown in FIG. 9, the robot controller C performs the process of step ST21 when the power is on. In step ST21, the robot controller C causes the wireless access point AP to transmit the network information of the wireless access point AP every predetermined time. Thereafter, the process of the robot controller C proceeds to step ST41.

  On the other hand, when the power supply of the wireless teach pendant TP2 is turned on, the wireless teach pendant TP2 performs the processes of step ST11 and step ST12. In step ST11, the teach pendant control unit 41 searches for a wireless access point AP of the robot controller C that can communicate based on whether the network information transmitted by the wireless access point AP has been received. In step ST12, the received network information of the wireless access point AP is displayed on the display 42. Thereafter, the processing of the wireless teach pendant TP2 proceeds to step ST31.

  In step ST31, the teach pendant control unit 41 causes the display 42 to display a display requesting the presentation of the ID card 50 in the order of the wireless teach pendant TP2 and the robot controller C in order to establish a wireless communication connection. . Thereafter, the processing of the wireless teach pendant TP2 proceeds to step ST32.

  In step ST32, the teach pendant control unit 41 determines whether or not an ID card 50 for wireless communication connection authentication is presented to the short-range wireless communication unit 49 of the wireless teach pendant TP2. Specifically, when the operator presents the ID card 50 to the short-range wireless communication unit 49 of the wireless teach pendant TP2 in accordance with the content displayed on the display 42 of the wireless teach pendant TP2 by the process of step ST31, the ID card 50 The NFC chip 51 is located within the communication range of the short-range wireless communication unit 49. At this time, the NFC chip 51 transmits correspondence information indicating that it is the ID card 50 for connection authentication to the short-range wireless communication unit 49, and the short-range wireless communication unit 49 transmits the received correspondence information to the teach pendant control unit. 41 is output. The teach pendant control unit 41 determines whether the ID card 50 is for connection authentication based on the correspondence information input from the short-range wireless communication unit 49.

  For example, when a device that has an NFC chip but does not support connection authentication of the robot control system of this embodiment is presented to the short-range wireless communication unit 49, the short-range wireless communication unit 49 Receive unknown correspondence information that does not correspond to the robot control system. This unknown correspondence information is input to the teach pendant control unit 41, and the teach pendant control unit 41 determines that the presented device is not the ID card 50 for connection authentication. At this time (NO in step ST32), the teach pendant control unit 41 displays an error display on the display 42, and then the processing of the wireless teach pendant TP2 returns to step ST31. When correspondence information indicating that the ID card 50 is for connection authentication is input to the teach pendant control unit 41 and the teach pendant control unit 41 determines that the corresponding ID card 50 is presented (YES in step ST32). The processing of the wireless teach pendant TP2 proceeds to step ST33.

  In step ST33, the teach pendant control unit 41 causes the short-range wireless communication unit 49 to transmit its own authentication information stored in the storage unit 41c. The teach pendant control unit 41 obtains the current time from the timer 48 and calculates a time obtained by adding a predetermined time (for example, several tens of seconds to several minutes) from the current time. The teach pendant control unit 41 causes the short-range wireless communication unit 49 to transmit the calculated time as the expiration date information of the authentication information. The authentication information and expiration date information transmitted from the short-range wireless communication unit 49 are received by the NFC chip 51 of the ID card 50 and stored in the memory of the NFC chip 51. Thereafter, the processing of the wireless teach pendant TP2 proceeds to step ST34 and step ST35.

  In step ST34, the teach pendant control unit 41 invalidates the signal transmission / reception function in the short-range wireless communication unit 49. In the state in which the signal transmission / reception function is disabled, even if the ID card 50 is presented to the short-range wireless communication unit 49, the signal from the NFC chip 51 of the ID card 50 is not received, and the NFC chip 51 Do not send a signal to. In step ST35, the teach pendant control unit 41 instructs the timer 48 to clear the count value. Then, the teach pendant control unit 41 instructs the timer 48 to count up the count value. Note that these steps ST34 and ST35 are processed in parallel. When step ST34 and step ST35 are completed, the processing of the wireless teach pendant TP2 proceeds to step ST36 and step ST37.

  In step ST36, the teach pendant control unit 41 waits for a connection permission notification from the robot controller C. In step ST37, the teach pendant control unit 41 determines whether a predetermined time has elapsed since the timer 48 started counting up. Specifically, the teach pendant control unit 41 determines that the predetermined time has not elapsed when the count value of the timer 48 is less than the predetermined value, and when the count value of the timer 48 reaches the predetermined value. Determines that a predetermined time has elapsed. If it is determined that the predetermined time has not elapsed (NO in step ST37), the processing of the wireless teach pendant TP2 returns to step ST36 and continues to wait for a connection permission notification. If it is determined that the predetermined time has elapsed (YES in step ST37), the processing of the wireless teach pendant TP2 proceeds to step ST38.

  In step ST38, the teach pendant control unit 41 enables the short-range wireless communication unit 49 invalidated in step ST34, and enables the short-range wireless communication unit 49 to transmit and receive signals. Thereafter, the process of the teach pendant control unit 41 returns to step ST31. The subsequent processing after step ST32 is as described above.

  Note that the “predetermined time” added to the current time in order to calculate the expiration date in step ST33 and the “predetermined time after timer 48 starts counting up” determined in step ST37 are the same time. Is set. Further, the time lag from when the expiration date information is calculated in step ST33 until the timer 48 starts counting in step ST35 is very short compared to the predetermined time. Accordingly, at almost the same time as the expiration date of the authentication information transmitted to the ID card 50 expires, the short-range wireless communication unit 49 is enabled in step ST38, and authentication information and expiration date information can be newly transmitted. Become.

  On the other hand, as shown in FIG. 10, the process of the robot control apparatus C has shifted to step ST41 after transmitting the network information (step ST21). In step ST41, the robot control unit 12 determines whether or not an ID card 50 for wireless communication connection authentication is presented to the short-range wireless communication unit 16 of the robot control apparatus C. Specifically, when the operator presents the ID card 50 to the short-range wireless communication unit 16 of the robot controller C according to the content displayed on the display 42 of the wireless teach pendant TP2 by the process of step ST31, the ID card 50 The NFC chip 51 is located within the communication range of the short-range wireless communication unit 16. At this time, the NFC chip 51 transmits correspondence information indicating that the ID card 50 is for connection authentication to the short-range wireless communication unit 16, and the short-range wireless communication unit 16 transmits the received correspondence information to the robot control unit 12. Output to. The robot control unit 12 determines whether the ID card 50 is for connection authentication based on the correspondence information input from the short-range wireless communication unit 16.

  For example, when a device that incorporates an NFC chip but does not support connection authentication of the robot control system of the present embodiment is presented to the short-range wireless communication unit 16, the short-range wireless communication unit 16 of the present embodiment Receive unknown correspondence information that does not correspond to the robot control system. The unknown correspondence information is input to the robot control unit 12, and the robot control unit 12 determines that the presented device is not the connection authentication ID card 50. At this time (NO in step ST41), the robot control unit 12 causes an alarm device (not shown) to output an error sound. Thereafter, the process of the robot control unit 12 returns to step ST21. When correspondence information indicating that the ID card 50 is for connection authentication is input to the robot control unit 12 and the robot control unit 12 determines that the corresponding ID card 50 has been presented (YES in step ST41), robot control The process of the apparatus C moves to step ST42.

  In step ST42, the robot controller C requests the NFC chip 51 of the ID card 50 to transmit authentication information and expiration date information, and receives these pieces of information. Specifically, the NFC chip 51 transmits the identification information and expiration date information transmitted from the wireless teach pendant TP2 and stored in the memory of the NFC chip 51 in step ST33 based on a request from the robot control apparatus C. The data is transmitted to the C short-range wireless communication unit 16. The short-range wireless communication unit 16 outputs the received identification information and expiration date information to the robot control unit 12. The robot controller 12 determines that the authentication information and the expiration date information are received when the identification information and the expiration date information are input. Then, the robot control unit 12 considers that the wireless teach pendant TP2 specified by the authentication information is requesting establishment of a wireless communication connection. Thereafter, the process of the robot controller C proceeds to step ST43.

  In step ST43, the robot control unit 12 determines whether or not the authentication information received in step ST42 is within the valid period. Specifically, the robot control unit 12 acquires the current time from the timer 17 as the time when the authentication information is received from the NFC chip 51 of the ID card 50. If the current time is after the expiration date indicated by the expiration date information received at step ST42, the robot control unit 12 determines that the expiration date has passed, and if it is before the expiration date. Is determined to be within the expiration date. If it is determined that the expiration date has passed (NO in step ST43), the process of robot controller C proceeds to step ST27.

  In step ST27, the robot control unit 12 sends a rejection notification to the wireless access point AP, indicating that the wireless communication pendant TP2 specified by the authentication information received in step ST42 refuses to establish a wireless communication connection. Send it. Thereafter, the processing of the robot controller 12 proceeds to step ST21 (see FIG. 9). Subsequent processing of step ST41 to step ST43 is the same as described above.

  On the other hand, in step ST16, the wireless teach pendant TP2 receives the rejection notification transmitted by the wireless access point AP. When the rejection notification is received, the processing of the wireless teach pendant TP2 proceeds to step ST17. In step ST17, the teach pendant control unit 41 of the wireless teach pendant TP2 causes the display 42 to display a warning that the wireless communication connection could not be established. After displaying the warning on the display 42 for a predetermined time, the processing of the wireless teach pendant TP2 returns to step ST11. The processing after step ST11 is the same as described above.

  In step ST43, when the robot control unit 12 of the robot control apparatus C determines that the authentication information is within the valid period (YES in step ST43), the process of the robot control apparatus C is performed in step ST23 (see FIG. 6). ). Thereafter, in the robot controller C, the processes in steps ST23 to ST26 are performed in the same manner as in the first embodiment. If the authentication information is within the valid period, the process of the wireless teach pendant TP2 is in a state of waiting for the connection permission notification in step ST36. Similarly to the first embodiment, the wireless teach pendant TP2 performs the permission notification reception process in step ST14 and the connection establishment display process in step ST15, and the robot controller C and the wireless teach pendant TP2 Thus, a wireless communication connection is established. When the connection permission notification can be received while waiting for the connection permission notification in step ST36, the count value of the timer 48 is cleared, and the processing of the wireless teach pendant TP2 does not shift to the processing of step ST37 and step ST38. .

(Characteristics of the second embodiment)
The robot control system of the second embodiment has the same features as (1) to (4) of the first embodiment. The robot control system according to the second embodiment has the following features.

  (5) In the second embodiment, the connection authentication ID card 50 is required to establish a wireless communication connection between the wireless teach pendant TP2 and the robot controller C. The establishment process can be executed only by an operator who has an ID card 50 for connection authentication. Therefore, it is possible to prevent an unrelated person who does not have the authority to establish connection for wireless communication from executing connection establishment processing for wireless communication.

  (6) In the second embodiment, the short-range wireless communication unit 49 of the wireless teach pendant TP2 transmits the authentication information and the expiration date information to the NFC chip 51 of the ID card 50 for a predetermined period. 49 disables wireless communication. Therefore, even if a new ID card 50 is presented to the short-range wireless communication unit 49 of the wireless teach pendant TP2 during a series of wireless communication connection establishment processes, identification information or the like is provided for the new ID card 50. Is not sent. Therefore, in one wireless teach pendant TP2, connection establishment processing for two systems of wireless communication is suppressed at the same time.

  (7) In the second embodiment, when the time when the robot control device C receives the authentication information from the NFC chip 51 of the ID card 50 has passed the expiration date of the authentication information, A wireless communication connection is not established with the wireless teach pendant TP2. Therefore, based on the authentication information transmitted to the NFC chip 51 of the ID card in the past, it is possible to suppress unintentionally establishing a wireless communication connection between the robot controller C and the wireless teach pendant TP2. .

  (8) In the second embodiment, a predetermined period from when the short-range wireless communication unit 49 of the wireless teach pendant TP2 is disabled until it is enabled, and authentication information are transmitted to the NFC chip 51 of the ID card 50. The predetermined period from the authentication date to the expiration date of the authentication information is set to be the same. Therefore, while the authentication information in the NFC chip 51 of the ID card 50 is valid, it is possible to reliably prevent new authentication information from being transmitted. On the other hand, the authentication information is immediately transmitted after the authentication information becomes invalid. It becomes possible.

(Configuration of Third Embodiment and Wireless Communication Connection Establishing Process in Third Embodiment)
A process for establishing a wireless communication connection between the wireless teach pendant TP2 and the robot controller C in the third embodiment will be described with reference to FIGS. In addition, since the structure of each apparatus in 3rd Embodiment is the same as that of 2nd Embodiment, description is abbreviate | omitted. Further, regarding the wireless communication connection establishment process in the third embodiment below, the same processes as those in the first and second embodiments (steps) are denoted by the same reference numerals, and the description will be simplified.

  As shown in FIG. 7, the robot controller 12 in the robot controller C is provided with a storage unit 12c. The storage unit 12c stores authentication information for identifying the robot control device C and the wireless access point AP connected thereto on the network. This authentication information is, for example, the IP addresses of the robot controller C and the wireless access point AP, the SSID of the wireless access point AP, and the like.

  As shown in FIG. 11, the robot controller C performs the process of step ST21 when the power is on. In step ST21, the robot controller C causes the wireless access point AP to transmit the network information of the wireless access point AP every predetermined time. Thereafter, the process of the robot controller C proceeds to step ST61.

  On the other hand, when the power supply of the wireless teach pendant TP2 is turned on, the wireless teach pendant TP2 performs the processes of step ST11 and step ST12. In step ST11, the teach pendant control unit 41 searches for a wireless access point AP of the robot controller C that can communicate based on whether the network information transmitted by the wireless access point AP has been received. In step ST12, the received network information of the wireless access point AP is displayed on the display 42. Thereafter, the processing of the wireless teach pendant TP2 proceeds to step ST31.

  In step ST31, the teach pendant control unit 41 causes the display 42 to display a display requesting the presentation of the ID card 50 in the order of the robot control device C and the wireless teach pendant TP2 in order to establish a wireless communication connection. . Thereafter, the processing of the wireless teach pendant TP2 proceeds to step ST51.

  On the other hand, the process of the robot control apparatus C moves to step ST61 after transmitting network information (step ST21). In step ST61, the robot control unit 12 determines whether or not an ID card 50 for wireless communication connection authentication is presented to the short-range wireless communication unit 16 of the robot control apparatus C. Specifically, when the operator presents the ID card 50 to the short-range wireless communication unit 16 of the robot controller C according to the content displayed on the display 42 of the wireless teach pendant TP2 by the process of step ST31, the ID card 50 The NFC chip 51 is located within the communication range of the short-range wireless communication unit 16. At this time, the NFC chip 51 transmits correspondence information indicating that the ID card 50 is for connection authentication to the short-range wireless communication unit 16, and the short-range wireless communication unit 16 transmits the received correspondence information to the robot control unit 12. Output to. The robot control unit 12 determines whether the ID card 50 is for connection authentication based on the correspondence information input from the short-range wireless communication unit 16.

  For example, when a device that incorporates an NFC chip but does not support connection authentication of the robot control system of the present embodiment is presented to the short-range wireless communication unit 16, the short-range wireless communication unit 16 of the present embodiment Receive unknown correspondence information that does not correspond to the robot control system. The unknown correspondence information is input to the robot control unit 12, and the robot control unit 12 determines that the presented device is not the connection authentication ID card 50. At this time (NO in step ST61), the robot control unit 12 causes an alarm device (not shown) to output an error sound. Thereafter, the process of the robot controller C returns to step ST21. When correspondence information indicating that the ID card 50 is for connection authentication is input to the robot control unit 12 and the robot control unit 12 determines that the corresponding ID card 50 is presented (YES in step ST61), the robot The process of the control apparatus C moves to step ST62.

  In step ST62, the robot control unit 12 causes the short-range wireless communication unit 16 to transmit the authentication information stored in the storage unit 12c. The robot control unit 12 acquires the current time from the timer 17 and calculates a time obtained by adding a predetermined time (for example, several tens of seconds to several minutes) from the current time. The robot control unit 12 causes the short-range wireless communication unit 16 to transmit the calculated time as the expiration date information of the authentication information. The authentication information and expiration date information transmitted from the short-range wireless communication unit 16 is received by the NFC chip 51 of the ID card 50 and stored in the memory of the NFC chip 51. Thereafter, the processing of the robot control apparatus C proceeds to step ST63 and step ST64.

  In step ST63, the robot control unit 12 invalidates the signal transmission / reception function in the short-range wireless communication unit 16. In the state where the signal transmission / reception function is disabled, even if the ID card 50 is presented to the short-range wireless communication unit 16, the signal from the NFC chip 51 of the ID card 50 is not received, and the NFC chip 51 Do not send a signal to. In step ST64, the robot controller 12 instructs the timer 17 to clear the count value. Then, the robot control unit 12 instructs the timer 17 to count up the count value. Note that these steps ST63 and ST64 are processed in parallel. When step ST63 and step ST64 are completed, the process of the robot controller C proceeds to step ST65 and step ST66.

  In step ST65, the robot controller 12 stands by for a connection request signal from the wireless teach pendant TP2. In step ST66, the robot controller 12 determines whether or not a predetermined time has elapsed since the timer 17 started counting up. Specifically, the robot control unit 12 determines that the predetermined time has not elapsed when the count value of the timer 17 is less than the predetermined value, and when the count value of the timer 17 reaches the predetermined value. It is determined that a predetermined time has elapsed. If it is determined that the predetermined time has not elapsed (NO in step ST66), the process of the robot controller C returns to step ST65 and continues to wait for a connection request signal. If it is determined that the predetermined time has elapsed (YES in step ST66), the process of robot controller C proceeds to step ST67.

  In step ST67, the robot control unit 12 enables the short-range wireless communication unit 16 invalidated in step ST63, and enables the short-range wireless communication unit 16 to transmit and receive signals. Thereafter, the process of the robot control unit 12 returns to step ST21. The subsequent processing after step ST61 is as described above.

  Note that the “predetermined time” added to the current time to calculate the expiration date in step ST62 and the “predetermined time after the timer 17 starts counting up” determined in step ST66 are the same time. Is set. In addition, the time lag from when the expiration date information is calculated in step ST62 to when the timer 17 starts counting in step ST64 is much shorter than the predetermined time. Accordingly, at almost the same time as the expiration date of the authentication information transmitted to the ID card 50 and stored in the memory of the NFC chip 51 expires, the short-range wireless communication unit 16 is activated in step ST67, and the authentication information is newly added. And the expiration date information can be transmitted.

  On the other hand, as shown in FIG. 12, the process of the wireless teach pendant TP2 causes the display 42 to display a display requesting the presentation of the ID card 50 (step ST31), and then proceeds to step ST51. In step ST51, the teach pendant control unit 41 determines whether or not an ID card 50 for wireless communication connection authentication is presented to the short-range wireless communication unit 49 of the wireless teach pendant TP2. Specifically, when the operator presents the ID card 50 to the short-range wireless communication unit 49 of the teach pendant control unit 41 according to the content displayed on the display 42 of the wireless teach pendant TP2 by the process of step ST31, the ID card 50 NFC chip 51 is located within the communication range of the short-range wireless communication unit 49. At this time, the NFC chip 51 transmits correspondence information indicating that it is the ID card 50 for connection authentication to the short-range wireless communication unit 49, and the short-range wireless communication unit 49 transmits the received correspondence information to the teach pendant control unit. 41 is output. The teach pendant control unit 41 determines whether the ID card 50 is for connection authentication based on the correspondence information input from the short-range wireless communication unit 49.

  For example, when a device that has an NFC chip but does not support connection authentication of the robot control system of this embodiment is presented to the short-range wireless communication unit 49, the short-range wireless communication unit 49 Receive unknown correspondence information that does not correspond to the robot control system. This unknown correspondence information is input to the teach pendant control unit 41, and the teach pendant control unit 41 determines that the presented device is not the ID card 50 for connection authentication. At this time (NO in step ST51), the teach pendant control unit 41 displays an error display on the display 42, and then the processing of the wireless teach pendant TP2 returns to step ST31 (see FIG. 11). When correspondence information indicating that the ID card 50 for connection authentication is input to the teach pendant control unit 41 and the teach pendant control unit 41 determines that the corresponding ID card 50 is presented (YES in step ST51) The process of the wireless teach pendant TP2 moves to step ST52.

  In step ST52, the teach pendant control unit 41 requests the NFC chip 51 of the ID card 50 to transmit authentication information and expiration date information, and receives these pieces of information. Specifically, the NFC chip 51 transmits the identification information and the expiration date information transmitted from the robot controller C in step ST62 and stored in the memory of the NFC chip 51 based on the request of the wireless teach pendant TP2, to the wireless teach pendant. It transmits to the near field communication part 49 of TP2. The short-range wireless communication unit 49 outputs the received identification information and expiration date information to the teach pendant control unit 41. The teach pendant control unit 41 determines that the authentication information and the expiration date information have been received when the identification information and the expiration date information are input. Thereafter, the processing of the wireless teach pendant TP2 proceeds to step ST53.

  In step ST53, the teach pendant control unit 41 determines whether or not the authentication information received in step ST52 is within the valid period. Specifically, the teach pendant control unit 41 acquires the current time from the timer 48 as the time when the authentication information is received from the NFC chip 51 of the ID card 50. Then, the teach pendant control unit 41 determines that the expiration date has passed if the current time is later than the expiration date indicated by the expiration date information received in step ST52, and is before the expiration date. In this case, it is determined that it is within the expiration date. If it is determined that the expiration date has passed (NO in step ST53), the process of robot controller C proceeds to step ST55.

  In step ST55, the teach pendant control unit 41 displays a warning on the display 42 that the wireless communication connection could not be established because the expiration date has expired. Thereafter, the processing of the teach pendant control unit 41 proceeds to step ST11 (see FIG. 11). Subsequent processing is the same as described above.

  If the teach pendant control unit 41 determines in step ST53 that the authentication information is within the valid period (YES in step ST53), the process of the wireless teach pendant TP2 proceeds to step ST54. In step ST54, the teach pendant control unit 41 transmits a connection request signal addressed to the robot control device C specified by the authentication information received in step ST52, using the wireless LAN interface 46.

  On the other hand, if the predetermined time has not elapsed since the start of counting by the timer 17 in step ST64 (NO in step ST66), the robot controller C is in a state of waiting for a connection request signal. In this state, the robot controller 12 determines whether or not a connection request signal is input in step ST68. Specifically, when the wireless teach pendant TP2 transmits a connection request signal in step ST54, the connection request signal is received by the wireless access point AP. The wireless access point AP outputs the received connection request signal to the communication control unit 15 of the robot control apparatus C, and the communication control unit 15 outputs the input connection request signal to the robot control unit 12. If there is no connection request signal input from the communication control unit 15 (NO in step ST68), the robot control unit 12 returns to step ST65 and continues to wait for the connection request signal input. When a connection request signal is input from communication control unit 15 (YES in step ST68), the process of robot control device C proceeds to step ST23 (see FIG. 6). Thereafter, in the robot controller C, the processes in steps ST23 to ST26 are performed in the same manner as in the first embodiment. Further, the processes of step ST14 and step ST15 are performed in the wireless teach pendant TP2 in the same manner as in the first embodiment, and the wireless communication connection is established between the robot controller C and the wireless teach pendant TP2.

(Characteristics of the third embodiment)
The robot control system of the third embodiment has the same features as (1) to (4) of the first embodiment and (5) of the second embodiment. The robot control system according to the third embodiment has the following features.

  (9) In the third embodiment, the short-range wireless communication unit 16 of the robot controller C transmits the authentication information and the expiration date information to the NFC chip 51 of the ID card 50 for a predetermined period of time. 16 disables wireless communication. Therefore, even if a new ID card 50 is presented to the short-range wireless communication unit 16 of the robot controller C during a series of wireless communication connection establishment processes, identification information or the like is not provided for the new ID card 50. Is not sent. Therefore, in one robot controller C, it is possible to suppress connection establishment processing for two systems of wireless communication at the same time.

  (10) In the third embodiment, when the time when the wireless teach pendant TP2 receives the authentication information from the NFC chip 51 of the ID card 50 has passed the expiration date of the authentication information, A wireless communication connection is not established with the wireless teach pendant TP2. Therefore, based on the authentication information transmitted to the NFC chip 51 of the ID card in the past, it is possible to suppress unintentionally establishing a wireless communication connection between the robot controller C and the wireless teach pendant TP2. .

  (11) In the third embodiment, a predetermined period from when the short-range wireless communication unit 16 of the robot controller C is disabled until it is enabled, and authentication information are transmitted to the NFC chip 51 of the ID card 50. The predetermined period from the authentication date to the expiration date of the authentication information is set to be the same. Therefore, while the authentication information in the NFC chip 51 of the ID card 50 is valid, it is possible to reliably prevent the authentication information from being newly transmitted, while it is possible to transmit the authentication information again immediately after the authentication information becomes invalid. It becomes.

(Configuration of Fourth Embodiment)
The configuration of the fourth embodiment of the robot control system of the present invention will be described with reference to FIGS. In addition, about the structure of each apparatus in the robot control system of 4th Embodiment, the same code | symbol is attached | subjected about the same structure as 1st Embodiment, and description is abbreviate | omitted.

  As shown in FIG. 13, the robot control device C is connected to a mounting table 60 on which a wireless teach pendant TP2 can be mounted. For example, a recess is formed in the mounting table 60 according to the outer shape of the wireless teach pendant TP2, and the wireless teach pendant TP2 can be placed by fitting the wireless teach pendant TP2 into the recess.

  As shown in FIG. 13, the mounting table 60 is equipped with a wired communication unit 65 for communicating with the robot control unit 12 of the robot control apparatus C. The wired communication unit 65 is mounted with a communication connector (not shown) (for example, a male communication connector), and can be connected to the wireless teach pendant TP2 via this communication connector. The wired communication unit 65 is connected to the robot control unit 12 in a wired manner, and outputs a signal from the robot control unit 12 to the wireless teach pendant TP2, and outputs a signal from the wireless teach pendant TP2 to the robot control unit 12. To do. The wired communication unit 65 is connected to a power supply device (not shown) of the robot control device C by wire, and supplies the power output from the power supply device to the wireless teach pendant TP2. That is, the wired communication unit 65 of the mounting table 60 functions as a second communication device (wired communication device) that communicates with a standard different from the wireless access point AP, and as a charging device that supplies power to the wireless teach pendant TP2. Also works.

  As shown in FIG. 14, the wireless teach pendant TP2 is equipped with a communication connector 75 of the same standard as the communication connector of the wired communication unit 65 of the mounting table 60. The communication connector 75 is a female connector, for example, and can be connected to the wired communication unit 65 of the mounting table 60. The communication connector 75 is connected to the teach pendant control unit 41 by wire, and a signal from the teach pendant control unit 41 is output to the wired communication unit 65 of the mounting table 60 via the communication connector 75. Further, a signal from the wired communication unit 65 of the mounting table 60 is output to the teach pendant control unit 41 via the communication connector 75. The communication connector 75 is connected to a battery (not shown) of the wireless teach pendant TP2 by wire, and outputs power supplied from the wired communication unit 65 of the mounting table 60 to the battery.

  The wireless communication connection establishment process in the fourth embodiment is substantially the same as the wireless communication connection establishment process (see FIG. 6) in the first embodiment. However, in the robot control system of the fourth embodiment, the wireless teach pendant TP2 is not presented to the short-range wireless communication unit 16 of the robot controller C, but the wireless teach pendant TP2 is placed on the mounting table 60. The communication connector 75 of the wireless teach pendant TP2 is connected to the wired communication unit 65 of the mounting table 60. When a predetermined operation is performed on the keyboard 43 of the wireless teach pendant TP2 in a state where the communication connector 75 of the wireless teach pendant TP2 is connected to the wired communication unit 65 of the mounting table 60, the teach pendant control of the wireless teach pendant TP2 is performed. The unit 41 outputs authentication information. The output authentication information is input (read) to the robot control unit 12 of the robot control device C via the communication connector 75 and the wired communication unit 65 of the mounting table 60. Therefore, the description “present wireless TP to the robot controller” in the operator's operation column shown in FIG. 6 is read as “place wireless TP on the mounting table”.

  Further, in the wireless communication establishment process of the fourth embodiment, a process in place of the process of step ST13 of the first embodiment shown in FIG. 6 is performed. In this process, the teach pendant control unit 41 of the wireless teach pendant TP2 causes the display 42 to display a display requesting that the wireless teach pendant TP2 be placed on the mounting table 60. Therefore, the description “display wireless TP presentation request” in step ST13 shown in FIG. 6 is read as “display wireless TP placement request”. Except for the processing relating to the placement of the wireless teach pendant TP2 on the placement table 60 described above, this is the same as in the first embodiment.

  In the fourth embodiment, after the wireless communication connection between the wireless teach pendant TP2 and the robot controller C is established, the wireless communication connection is established even if the wireless teach pendant TP2 is removed from the mounting table 60. Is maintained.

(Features of the fourth embodiment)
The robot control system of the fourth embodiment has the same features as (1) to (4) of the first embodiment. The robot control system according to the fourth embodiment has the following features.

  (12) In the robot control system having the wireless teach pendant TP2, it is common that a mounting table for mounting and charging the wireless teach pendant TP2 is provided. By incorporating the wired communication unit 65 in this mounting table, it is possible to secure a communication device (second communication device) that performs communication with a standard different from the wireless access point AP with minimal design change / software change.

(Configuration of Fifth Embodiment)
A fifth embodiment of the robot control system of the present invention will be described with reference to FIG. Note that the electrical configuration of each device such as the robot control device C, the wireless access point AP, and the wireless teach pendant TP2 in the robot control system of the fifth embodiment is the same as that of the fourth embodiment, and a description thereof will be omitted.

  The robot control system of the fifth embodiment is constructed including a plurality (two in FIG. 15) of robot control apparatuses C. The mounting table 60 is connected to each of the plurality of robot control devices C by wire. Inside the mounting table 60, a changeover switch 66 is provided as a switching unit for switching the connection destination of the wired communication unit 65. By operating the changeover switch 66, the wired communication unit 65 is electrically connected to any one of the plurality of robot control devices C. That is, in the robot control system of the fifth embodiment, a plurality of robot control apparatuses C share one mounting table 60 (wired communication unit 65).

  When the wired communication unit 65 of the mounting table 60 is connected to any one of the robot control devices C by the changeover switch 66, the robot control device C and the mounting table 60 perform the fourth process for establishing the wireless communication connection. Functions like a form.

(Features of Fifth Embodiment)
The robot control system according to the fifth embodiment has the following characteristics in addition to the characteristics (1) to (4) of the first embodiment and (12) of the fourth embodiment.

  (13) According to the fifth embodiment, a single mounting table 60 (wired communication unit 65) can be shared by a plurality of robot control apparatuses C. Therefore, when there are a plurality of robot control devices C, it is not necessary to provide as many mounting tables 60 as the number of the robot control devices C, which contributes to a reduction in the construction cost of the robot control system.

(Example of change)
Each of the above embodiments may be modified as follows. Moreover, you may apply combining each modification example suitably.

  In each embodiment, the state transition process of the robot control device C can be changed as appropriate according to, for example, the configuration of the robot R and the work content. For example, when it is determined that the initial diagnosis is normal, the operation preparation state may be entered without going through the operation preparation waiting state. That is, step ST3 and step ST4 may be omitted in the flowchart of FIG. In addition to the operation preparation waiting state, the operation preparation state, and the servo amplifier ON state, there may be other states.

  In each embodiment, the content of the authentication information is not limited to that exemplified in the above embodiment, and any information that can identify the wireless teach pendant TP2 and the robot control device C can be used. For example, a symbol number or name assigned by the operator for each of the wireless teach pendant TP2 or the robot control device C may be used.

  In each embodiment, the display for indicating the next operation to the operator may not be displayed on the display 42 of the wireless teach pendant TP2. Specifically, for example, the process of step ST15 (see FIG. 6) may be omitted in the first embodiment.

  In the first to third embodiments, the short-range wireless communication unit 16 is built in the robot control device C. However, if both are connected to each other by wire, they may be configured separately. For example, the short-range wireless communication unit 16 may be provided in the operation box OP, or the short-range wireless communication unit 16 may be provided in addition to or instead of the wired communication unit 65 of the mounting table 60 in the fourth embodiment. Moreover, you may comprise only the near field communication part 16 by a single housing | casing.

  -You may abbreviate | omit a charge function in the mounting base 60 of 4th and 5th embodiment. Further, the mounting table 60 may be omitted, and only the cable and wired communication unit 65 (communication connector) may be configured.

  -Other than the NFC standard and the wired communication standard mentioned in the above embodiments may be adopted as communication of a standard different from the wireless communication by the wireless access point AP. For example, IEEE802.15.1 standard, optical communication standards such as infrared communication can be mentioned.

  As described above, any standard communication different from the wireless communication by the wireless access point AP can be adopted. However, when a plurality of robot control devices C are provided, the communication is different. It is preferable that the communication range of the standard communication does not overlap for each robot control device C.

  In the first embodiment, the processing for turning off the servo amplifier 14 is performed when the short-range wireless communication unit 16 of the robot control apparatus C receives (reads) the authentication information. Good. That is, the process of step ST23 in FIG. 6 may be omitted. In this case, when a wireless communication connection is established between the wireless teach pendant TP2 and the robot control device C, the robot control device C is in the “operation preparation state (step ST5 in FIG. 5)” or “servo amplifier ON state (FIG. 5). Transition to step ST6) ”in FIG. This also applies to the second to fifth embodiments.

  In the second embodiment, the short-range wireless communication unit 49 is invalidated by invalidating the signal transmission / reception function of the short-range wireless communication unit 49, but the invalidation mode is not limited thereto. For example, output of signals from the short-range wireless communication unit 49 to the teach pendant control unit 41 may be prohibited while the signal transmission / reception function in the short-range wireless communication unit 49 is effectively maintained. That is, based on the fact that the ID card 50 is presented to the short-range wireless communication unit 49, it can be said that the short-range wireless communication unit 49 is invalidated if the processing of step ST32 and step ST33 in FIG. 7 is not executed. The same applies to the invalidation of the short-range wireless communication unit 16 in the third embodiment.

  -In 2nd Embodiment, you may abbreviate | omit the process (The process of step ST34, step ST35, step ST37, step ST38 in FIG. 9) which invalidates the short distance radio | wireless communication part 49 of wireless teach pendant TP2. Similarly, in the third embodiment, the process of invalidating the short-range wireless communication unit 16 of the robot control apparatus C (the process of step ST63, step ST64, step ST66, and step ST67 in FIG. 11) may be omitted. . When the process of invalidating these short-range wireless communication units is omitted, a switch or the like that can manually switch on / off communication may be provided in the short-range wireless communication unit.

  In the second and third embodiments, the processing for calculating the expiration date of the authentication information and the processing for transmitting the expiration date information to the NFC chip 51 of the ID card 50 may be omitted. That is, it is not necessary to set an expiration date in the authentication information. In this case, it is preferable to delete the authentication information stored in the NFC chip 51 of the ID card 50 at least when a wireless communication connection is established between the robot controller C and the wireless teach pendant TP2. For example, in the second embodiment (see FIGS. 9 and 10), when the ID card 50 is presented to the short-range wireless communication unit 16 of the robot controller C and authentication information is received, the NFC chip 51 of the ID card 50 is received. It is preferable to delete the authentication information stored in.

  In the fourth embodiment, when a predetermined operation is performed on the keyboard 43 of the wireless teach pendant TP2 in a state where the communication connector 75 of the wireless teach pendant TP2 is connected to the wired communication unit 65 of the mounting table 60, the wireless teach pendant TP2 Although the teach pendant control unit 41 of the pendant TP2 outputs the authentication information, this may be changed. For example, when a predetermined operation is performed on the keyboard 43 of the wireless teach pendant TP2, and the communication connector 75 of the wireless teach pendant TP2 is connected to the wired communication unit 65 of the mounting table 60 within a predetermined time, the wireless teach pendant TP2 The teach pendant control unit 41 may output the authentication information.

  R ... Robot, C ... Robot controller, 12 ... Robot controller, 16 ... Near field communication unit, 17 ... Timer, AP ... Wireless access point, TP2 ... Wireless teach pendant, 41 ... Teach pendant controller, 47 ... NFC Chip, timer ... 48, 49 ... near field communication unit, 75 ... communication connector, 50 ... ID card, 51 ... NFC chip, 60 ... mounting table, 65 ... wired communication unit, 66 ... switch.

Claims (10)

A robot controller for controlling the operation of the robot and the power supply to the robot;
A portable operation device for transmitting a control signal for operating the robot to the robot control device;
A wireless communication device connected to the robot control device by wire and outputting the control signal received by performing wireless communication with the portable operation device to the robot control device;
A second communication device connected to the robot control device by wire and communicating with the portable operation device according to a standard different from the wireless communication by the wireless communication device;
The robot control system permits establishment of a connection of the wireless communication by the wireless communication device for a portable operation device that communicates via the second communication device. The second communication device is a wired communication device that is connected to the portable operation device and performs wired communication, or a short-range wireless communication device that performs short-range wireless communication having a narrower communication range than the wireless communication. The robot control system according to claim 1. The second communication device is a short-range wireless communication device that performs short-range wireless communication with a narrower communication range than the wireless communication,
The robot control system according to claim 1, wherein the short-range wireless communication device is connected to each of the plurality of robot control devices, and communication ranges of the short-range wireless communication devices do not overlap each other. A plurality of the robot control devices are provided,
The second communication device is connected to a plurality of the robot control devices,
The switching unit capable of switching the connection destination of the second communication device to any one of the plurality of robot control devices is provided in the second communication device. The robot control system described in 1. When the robot control device communicates with the portable operation device via the second communication device, the robot control device until the connection of the wireless communication between the robot control device and the portable control device is established. The robot control system according to any one of claims 1 to 4, wherein power supply to is prohibited. 6. The robot control device according to claim 1, wherein the robot control device invalidates communication by the second communication device for a predetermined period after communication with the portable operation device via the second communication device. The robot control system according to any one of the above. A robot controller for controlling the operation of the robot and the power supply to the robot;
A portable operation device for transmitting a control signal for operating the robot to the robot control device;
A wireless communication device connected to the robot control device by wire and outputting the control signal received by performing wireless communication with the portable operation device to the robot control device;
A wireless communication connection establishment method for a robot control system, comprising: a second communication device that is connected to the robot control device in a wired manner and communicates with the portable operation device according to a standard different from the wireless communication by the wireless communication device. And
An identification information transmitting step in which the portable operating device transmits identification information unique to the portable operating device;
An identification information receiving step in which the second communication device receives the identification information and outputs the identification information to the robot control device;
The robot control device includes a connection establishment permission step for allowing the wireless communication device to establish the connection of the wireless communication for the portable operation device specified by the identification information. A wireless communication connection establishment method for a control system. In the identification information transmission step, the expiration date information indicating the expiration date of the identification information is transmitted together with the identification information,
In the identification information receiving step, the expiration date information is received together with the identification information,
In the connection establishment permission step, based on the expiration date information, it is determined whether or not the time when the second communication device has received the identification information has passed the expiration date of the identification information. 8. The method for establishing a wireless communication connection of a robot control system according to claim 7, wherein establishment of the wireless communication connection is not permitted when the wireless communication is present. A robot controller for controlling the operation of the robot and the power supply to the robot;
A portable operation device for transmitting a control signal for operating the robot to the robot control device;
A wireless communication device connected to the robot control device by wire and outputting the control signal received by performing wireless communication with the portable operation device to the robot control device;
A wireless communication connection establishment method for a robot control system, comprising: a second communication device that is connected to the robot control device in a wired manner and communicates with the portable operation device according to a standard different from the wireless communication by the wireless communication device. And
An identification information transmission step in which the robot control device outputs identification information unique to the robot control device to the second communication device, and the second communication device transmits the identification information;
An identification information receiving step in which the portable operating device receives the identification information;
A connection establishment request step for transmitting a connection establishment request signal indicating that the portable operation device requests establishment of wireless communication connection by the wireless communication device to the robot control device specified by the identification information;
The robot control device includes a connection establishment permission step for allowing the wireless communication device to establish the connection of the wireless communication for the portable operation device that is a transmission source of the connection establishment request signal. To establish a wireless communication connection of a robot control system. In the identification information transmission step, the expiration date information indicating the expiration date of the identification information is transmitted together with the identification information,
In the connection establishment request step, based on the expiration date information, it is determined whether or not the time when the portable operating device has received the identification information has passed the expiration date of the identification information. 10. The wireless communication connection establishment method for a robot control system according to claim 9, wherein the connection establishment request signal is not transmitted when the robot control system is present.