Control method and system for controlling six-axis robot based on EtherNet / IP protocol

Abstract

The invention discloses a control method and system for controlling a six-axis robot based on an EtherNet / IP protocol, and the method achieves the high integration of program number switching, robot state monitoring and external signal interaction through optimizing an external control method of the robot, and effectively solves a problem of complex signal interaction between a robot control system and a PLC. According to the scheme, the signal interaction process between the robot and the PLC is simplified, the operation complexity is reduced, particularly when the program numbers are frequently switched, it is ensured that the robot can accurately receive and execute the correct program numbers, and the production efficiency is improved. By introducing the PGNOVAILD pulse signal, the accuracy and response speed of the program number are improved, and wrong execution caused by program number switching delay or signal instability is avoided. And the PLC ensures stable transmission of the program number by delaying 500ms, so that automatic starting and operation control are enhanced, manual intervention requirements are reduced, and the production efficiency and the reliability of the robot are improved.

Description

Technical Field

[0001] The present application relates to the technical field of control of a six-axis robot, and in particular to a control method and system for controlling a six-axis robot based on an EtherNet / IP protocol. Background Art

[0002] With the development of industrial automation, robots are widely used in various types of production. As the core of automated production, robot control systems undertake key tasks, especially in scenarios that require efficient and precise control. Traditional robot control methods usually rely on manual selection of programs or control through hard-wired I / O signals.

[0003] There are some problems with existing robot control systems. The traditional method requires on-site manual intervention to select program numbers or control robot movements, which increases the complexity of operation and the risk of errors. At the same time, this control method cannot achieve remote monitoring and management, limiting the flexibility and efficiency of production. In addition, the robot and the control system are connected through I / O signals, which are susceptible to signal interruption or hardware failure, which may cause the robot to continue to operate, increasing potential safety hazards. Summary of the invention

[0004] The present application provides a control method and system for a six-axis robot based on the EtherNet / IP protocol, aiming to solve the problem that the prior art is easily affected by signal interruption or hardware failure, which may cause the robot to continue to run, increasing potential safety hazards.

[0005] In a first aspect, a control method for a six-axis robot based on an EtherNet / IP protocol is provided, the method comprising:

[0006] Set up an EtherNet / IP connection in the PLC to communicate with the robot, configure the network connection between the PLC and the robot, and ensure that the PLC and the robot are in the same network segment;

[0007] Configure the PLC control signal mapping, including PRNO_FBIT, PGNO_LENGTH, PGNO_VAILD and other signals, for program number selection and verification;

[0008] In the PLC, the $move_enable signal is continuously sent to start the robot, and then the $drivers_off and $drivers_on signals are sent to control the start and stop of the robot's driver;

[0009] The robot is triggered to start executing tasks through the $ext_start pulse signal;

[0010] When the PLC receives the PGNO_REQ signal, it updates and sends the new program number to the robot;

[0011] After sending the program number, the PLC confirms the validity of the program number through the PGNO_VAILD pulse signal, so that the robot can perform the corresponding action.

[0012] In a second aspect, a control device for controlling a six-axis robot based on an EtherNet / IP protocol, the device comprising:

[0013] A PLC, used to send control signals to the robot via EtherNet / IP protocol, perform program number selection, robot motion control, and emergency stop functions;

[0014] a robot, receiving the control signal of the PLC through the EtherNet / IP protocol, and performing corresponding actions or state changes according to the control signal;

[0015] A network connection device configured for data transmission and signal interaction between PLC and robot.

[0016] In the above scheme, optionally, the PLC is connected to the robot via a switch, and the PLC and the robot are in the same local area network and have the same network segment and subnet mask.

[0017] In the above scheme, optionally, the PLC selects the robot program number through specific signal mapping, and the mapping signal includes PRNO_FBIT, PGNO_LENGTH, and PGNO_VAILD signals.

[0018] In the above scheme, optionally, the PLC uses $IN

[11] to $IN

[17] signals to map to the variable PGNO to select the program number, and ensures the validity of the selected program number through the PGNO_VAILD signal. PGNO_VAILD is a pulse signal. When it is TRUE, the program number sent by the PLC is valid.

[0019] In the above scheme, optionally, the PLC starts the robot through the $move_enable signal, which remains valid when the robot is ready to perform an action, and controls the start and stop of the robot's driver through the $drivers_off and $drivers_on signals after the robot is enabled.

[0020] In the above scheme, optionally, after sending the $move_enable signal to the robot, the PLC sends a $drivers_off signal and a $drivers_on signal successively. The $drivers_on signal is responded to by the robot and a $peri_rdy signal is sent to the PLC. After receiving the signal, the PLC disconnects the $drivers_on signal to complete the startup of the driver.

[0021] In the above scheme, optionally, the PLC starts the robot movement through the $ext_start signal, and $ext_start is a pulse signal that triggers the robot to perform a predetermined task.

[0022] In the above scheme, optionally, the PLC requests the current program number from the robot via a PGNO_REQ signal, and the PGNO_REQ signal is sent by the robot when the program number changes, and the PLC updates the program number sent to the robot according to the signal.

[0023] In the above scheme, optionally, after sending the program number signal, the PLC confirms whether the program number is valid through the PGNO_VAILD signal. PGNO_VAILD is a pulse signal with a pulse width of approximately 1000ms, which is used to make the robot's variable PGNO value effective.

[0024] Compared with the prior art, this application has at least the following beneficial effects:

[0025] This application is based on further analysis and research of the existing technical problems. It is recognized that the existing technology is susceptible to signal breakage or hardware failure, which may cause the robot to continue to run, increasing the potential safety hazard. By optimizing the robot's external control method, a high degree of integration of program number switching, robot status monitoring and external signal interaction is achieved, effectively solving the complex signal interaction problem between the robot control system and the PLC. This solution simplifies the signal interaction process between the robot and the PLC, reduces the complexity of operation, and ensures that the robot can accurately receive and execute the correct program number, especially when the program number is frequently switched, thereby improving production efficiency. By introducing the PGNO_VAILD pulse signal, this solution improves the accuracy and response speed of the program number, and avoids erroneous execution caused by program number switching delays or unstable signals. The PLC ensures stable transmission of the program number by delaying 500ms, enhances automatic startup and operation control, reduces the need for manual intervention, and improves production efficiency and robot reliability.

[0026] In addition, the solution realizes flexible program number switching and rapid response in the production process, significantly improving the robot's response speed and adaptability, and enhancing production flexibility and reliability. At the same time, through precise signal transmission and state feedback mechanisms, the robustness and stability of the system are improved, effectively coping with various interference factors that may occur in the production process, and ensuring the continuous and stable operation of the production line.

[0027] In summary, this solution achieves the purpose of improving production efficiency, enhancing automated control, and improving system stability by optimizing signal transmission and status monitoring mechanisms, providing an effective control method for automated production. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A flow chart of a control method for a six-axis robot based on the EtherNet / IP protocol provided in one embodiment of the present application. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0030] In one embodiment, Figure 1 As shown, a control method for controlling a six-axis robot based on an EtherNet / IP protocol is provided, comprising the following steps:

[0031] Set up an EtherNet / IP connection in the PLC to communicate with the robot, configure the network connection between the PLC and the robot, and ensure that the PLC and the robot are in the same network segment;

[0032] Configure the PLC control signal mapping, including PRNO_FBIT, PGNO_LENGTH, PGNO_VAILD and other signals, for program number selection and verification;

[0033] In the PLC, the $move_enable signal is continuously sent to start the robot, and then the $drivers_off and $drivers_on signals are sent to control the start and stop of the robot's driver;

[0034] The robot is triggered to start executing tasks through the $ext_start pulse signal;

[0035] When the PLC receives the PGNO_REQ signal, it updates and sends the new program number to the robot;

[0036] After sending the program number, the PLC confirms the validity of the program number through the PGNO_VAILD pulse signal, so that the robot can perform the corresponding action.

[0037] This embodiment achieves a high degree of integration of program number switching, robot status monitoring and external signal interaction through an optimized robot external control method. This technical solution solves the problem of complex signal interaction between the robot control system and the PLC during the production process, especially in terms of rapid switching of robot program numbers, external automatic startup and operation status monitoring, and provides an effective control method. Specific technical effects include:

[0038] Simplified the signal interaction process between the robot and PLC:

[0039] In traditional robot external control systems, signal transmission between PLC and robot usually requires synchronization and precise control of multiple signals. This will lead to complicated operations, especially in an environment where program numbers are frequently switched, where it is easy for program numbers to be out of sync or the robot to be unable to accurately perform tasks. This embodiment proposes an optimized signal transmission mechanism, which effectively simplifies the control process between PLC and robot by accurately configuring multiple signals (such as `PRNO_FBIT`, `PGNO_LENGTH`, `PGNO_VAILD`, etc.), making signal transmission clearer and more reliable. This simplification not only reduces the burden on operators, but also improves production efficiency, especially when program numbers need to be switched quickly, it can ensure that the robot can accurately receive the correct program number and perform corresponding operations.

[0040] Improved the accuracy and response speed of robot program numbers:

[0041] In a production environment, especially in an automated production line, robots often need to switch the program number to be executed according to different production tasks. Traditional methods may encounter delays in program number switching, or the risk of the robot executing the wrong program due to unstable signals. The control method in this embodiment introduces the `PGNO_VAILD` pulse signal to ensure that each update of the program number is confirmed by the PLC, and the robot will only execute the new program if the program number is valid. After the PLC sends the `PGNO_REQ` signal, it will delay 500ms to ensure the stable transmission of the program number, avoiding inconsistencies or program errors that may occur during the switching process of the program number. In this way, the robot can respond quickly and execute accurately when receiving a new program number, avoiding production failures caused by improper program number switching and improving the overall efficiency of the production line.

[0042] Enhanced the robot's automatic startup and operation control:

[0043] In automated production, the startup and operation control of the robot is crucial. This embodiment describes in detail how the PLC can accurately control the entire process from initialization to automatic operation of the robot through signals such as `$move_enable`, `$drivers_off`, `$drivers_on`, and `$ext_start`. This method ensures that the robot can enter the working mode in the correct state each time it is started, thereby reducing robot failures or improper execution caused by improper startup steps. The PLC ensures that the robot enters the normal operating state through continuous signal control, and confirms that the robot is ready through the `$peri_rdy` signal. Through this highly automated control process, the production line can enter the production state faster and more stably, reducing the need for manual intervention and improving production efficiency and robot reliability.

[0044] Realizes flexible program number switching and quick response during the production process:

[0045] During the production process, it is often necessary to adjust the robot program number according to different production tasks. Traditional control methods may cause delays after the program number is switched, affecting production efficiency. The control method in this embodiment ensures the real-time and accuracy of the robot program number switching by sending `PGNO_REQ` and `PGNO_VAILD` signals by PLC. When the PLC receives the program number request signal sent by the robot, it quickly sends a new program number to the robot and ensures the effectiveness of the program number through the `PGNO_VAILD` pulse signal after 500ms. This precise program number switching mechanism ensures flexible adjustments during the production process and avoids execution errors or untimely execution caused by inconsistent program numbers. For production environments that require frequent switching of program numbers, this embodiment can significantly improve the robot's response speed and adaptability, and enhance production flexibility and reliability.

[0046] Improved system robustness and stability:

[0047] By precisely controlling the signal transmission and status monitoring between the PLC and the robot, this embodiment improves the robustness of the system to a certain extent. In traditional robot control systems, fluctuations and interferences of external signals often lead to unstable working states of the robot, affecting production efficiency. Through meticulous signal transmission and state feedback mechanisms (such as the coordinated use of the `$peri_rdy` signal and the `PGNO_VAILD` signal), it is ensured that the signal interaction between the robot and the PLC can operate stably in different production environments. The PLC is not only responsible for the accurate transmission of the program number, but also for real-time monitoring of the robot's working status, and ensuring that the robot's start and stop can proceed smoothly without errors in the system. In this way, the robustness of the entire system is improved, and it can effectively cope with various interference factors that may occur in the production process, ensuring the continuous and stable operation of the production line.

[0048] Optimized the control accuracy and efficiency of the automated production line:

[0049] Improving the automation level of the production line is inseparable from high-precision robot control. The solution in this embodiment uses a series of precise control signals to ensure that the robot can receive and execute the program number in the shortest time, avoiding the impact of problems such as slow program number switching and unstable startup in traditional robot control on the production line. Especially when the production line needs to constantly adjust tasks, the PLC can greatly improve the accuracy of automated control through precise program number switching and robot startup control, allowing the robot to quickly adjust tasks and execute them. This improvement in accuracy not only reduces the failure rate, but also greatly improves production efficiency, allowing the entire production line to operate efficiently under automated control.

[0050] Achieved fully automated management of external startup and control:

[0051] This embodiment not only optimizes the process of program number switching, but also enables the robot to be fully automatically started and controlled through an external PLC system without relying on human intervention. By sending different control signals to the robot, the PLC can realize the fully automatic start-up and execution of the robot in the production process. After receiving the external signal, the robot system can independently complete the loading, execution and control of the program, greatly reducing the complexity and error rate of manual operation and improving the degree of automation of the production line. The realization of this fully automated management makes the production process smoother and reduces the instability and errors caused by human operation.

[0052] To sum up, the technical effects of this embodiment show significant advantages in improving robot control accuracy, simplifying signal interaction processes, improving the stability of program number switching, and enhancing system robustness. It provides strong technical support for the efficient, flexible and stable operation of the production line, and greatly promotes the improvement of production automation level.

[0053] In one embodiment, a control system for controlling a six-axis robot based on an EtherNet / IP protocol is provided, wherein:

[0054] A PLC, used to send control signals to the robot via EtherNet / IP protocol, perform program number selection, robot motion control, and emergency stop functions;

[0055] a robot, receiving the control signal of the PLC through the EtherNet / IP protocol, and performing corresponding actions or state changes according to the control signal;

[0056] A network connection device configured for data transmission and signal interaction between PLC and robot.

[0057] The control system of this embodiment controls the six-axis robot through the EtherNet / IP protocol, simplifying the wiring and connection complexity in the traditional control method. The system uses the EtherNet / IP protocol for data transmission, and the PLC is connected to the robot control unit via Ethernet. The core advantage of this protocol is its high compatibility and stability, which supports large-scale automation system connections without the need for separate IO interfaces. By setting the appropriate IP addresses of the PLC and the robot controller, the PLC and the robot can communicate in the same network and exchange control data in real time.

[0058] Specifically, the PLC outputs control signals through its network port to control the program number selection, emergency stop function, etc. of the six-axis robot. The basic control process of the system is: first, the program number selection signal is sent through the PLC, and the robot selects the corresponding control program according to the signal; then, the robot operation is started or stopped by sending a control signal to complete the external automation control.

[0059] This control system upgrades the traditional robot control method to network-based automation control through the EtherNet / IP protocol, solving the problems of complex wiring, inflexible control methods, and inability to achieve remote control and intelligent operation in traditional technologies. Especially in production line applications, the EtherNet / IP protocol can provide efficient and low-latency data transmission, ensuring the real-time and stability of robot operation. At the same time, the use of network protocols for data exchange significantly improves the scalability and reliability of the system.

[0060] In this embodiment, the PLC is connected to the robot via a switch, and the PLC and the robot are in the same local area network and have the same network segment and subnet mask.

[0061] The PLC controls the behavior of the six-axis robot by configuring a series of signals. The signals that need to be configured include: PRNO_FBIT, PGNO_LENGTH, PGNO_VAILD, and PGNO_REQ. PRNO_FBIT is used to specify the bit position of the program number, PGNO_LENGTH is used to define the maximum length of the program number, and the PGNO_VAILD signal is used to identify the validity of the program number. Whenever the PLC sends a program number, the pulse signal PGNO_VAILD is used to confirm whether the program number is valid, ensuring that the robot receives the correct program number and performs the corresponding operation.

[0062] Specifically, through the $IN

[11] to $IN

[17] signals, the PLC can control the value of the PGNO variable, so that the robot selects the corresponding program to run. Before the program number is sent, the PLC also needs to ensure that the PGNO_VAILD signal pulse is true before sending the program number and performing subsequent operations.

[0063] This configuration method enables the robot to flexibly select different programs and perform corresponding operations. At the same time, the PGNO_VAILD signal ensures the validity of the program number, avoiding robot motion errors caused by incorrect or invalid program numbers. This method reduces the need for manual intervention and makes robot control more precise and automated.

[0064] In this embodiment, the PLC selects the robot program number through specific signal mapping, and the mapping signals include PRNO_FBIT, PGNO_LENGTH, and PGNO_VAILD signals.

[0065] The external start of the robot is achieved through the PLC control signal. First, the PLC selects a specific program number through the program number selection signal (such as PRNO_FBIT), and then the PLC turns on the robot drive through the $move_enable signal to prepare to start the robot. On the premise that the PLC ensures that the robot is in safe mode and there are no errors, the PLC sends signals such as $drivers_off and $drivers_on in sequence to control the robot's driver status. When the robot is ready, the PLC sends a start command through the $ext_start signal to start the robot to execute the selected program.

[0066] This control process ensures that the robot can accurately start and execute the program under external control, avoiding operation failures due to incorrect program selection or drive problems.

[0067] This method realizes the external start of robot control through precise signal interaction between PLC and robot, ensuring that the robot can be quickly switched and started according to different production requirements, greatly improving production efficiency and system safety. In addition, the communication between PLC and robot is completed through EtherNet / IP protocol, making the system highly scalable and flexible.

[0068] In this embodiment, the PLC uses the $IN

[11] to $IN

[17] signals to map to the variable PGNO to select the program number, and ensures the validity of the selected program number through the PGNO_VAILD signal. PGNO_VAILD is a pulse signal. When it is TRUE, the program number sent by the PLC is valid.

[0069] When the PLC selects a program number and sends it to the robot through the signal PGNO_REQ, the robot control system will start the corresponding action according to the program number. The PLC needs to confirm to the robot whether the program number is valid through the PGNO_VAILD signal 500ms after the program number is sent. Only after the PGNO_VAILD signal is confirmed, the robot's PGNO value will take effect.

[0070] This verification process ensures the reliability of the program number and the accuracy of the robot's movements through the pulse form of the control signal. After the program number takes effect, the robot starts to perform the task according to the specified program.

[0071] Through this verification and execution signal interaction, the robot control system can ensure the accuracy and effectiveness of the program number selection and verification process, thereby avoiding operational errors caused by invalid program numbers. This approach enhances the reliability of the robot system and enables the system to operate stably in a changing production environment.

[0072] In this embodiment, the PLC starts the robot via the $move_enable signal, which remains valid while the robot is ready to perform an action, and controls the start and stop of the robot's drivers via the $drivers_off and $drivers_on signals after the robot is enabled.

[0073] The control method of this embodiment includes switching of the robot operation mode, especially automatic switching of the robot mode during the production process. In T1 mode, the user program is inserted into cell.src, and the PLC switches the robot to EXT_AUTO mode through the EtherNet / IP protocol. In this mode, the robot performs the specified action according to the external control signal.

[0074] Through the control signals sent by the PLC, the robot can respond quickly and switch to automatic operation mode to complete the specified tasks.

[0075] This automatic mode switching method reduces the need for manual operation and improves the degree of automation of robot operation. Especially in production line applications, the robot can quickly adapt to different operating modes, improving production efficiency and system flexibility.

[0076] In this embodiment, after sending the $move_enable signal to the robot, the PLC sends the $drivers_off signal and the $drivers_on signal successively. The $drivers_on signal is responded by the robot and the $peri_rdy signal is sent to the PLC. After receiving the signal, the PLC disconnects the $drivers_on signal to complete the startup of the driver.

[0077] The robot sends the $peri_rdy signal to feedback its status to the PLC. After receiving the signal, the PLC disconnects the $drivers_on signal and puts the robot into the ready state. Through this signal interaction, the PLC can grasp the robot status in real time and take corresponding measures in time.

[0078] This method ensures the state synchronization between the PLC and the robot, avoiding operational errors caused by signal loss or delay. Through real-time feedback, the robot can quickly respond and adjust its state during the production process, improving the stability and safety of the system.

[0079] In this embodiment, the PLC starts the robot movement through the $ext_start signal, and $ext_start is a pulse signal that triggers the robot to perform a predetermined task.

[0080] When the program number needs to be switched, the PLC sends the new program number to the robot and ensures that the new program number takes effect after 500ms. Through the PGNO_VAILD signal pulse, the PLC confirms the validity of the new program number and updates the robot's PGNO variable.

[0081] This control method can flexibly adjust the robot's workflow to meet the needs of different production environments through periodic program switching. Each program switch will ensure the correctness and safety of the program through verification signals, thereby avoiding operational errors caused by program errors.

[0082] In this embodiment, the PLC requests the current program number from the robot via a PGNO_REQ signal. The PGNO_REQ signal is sent by the robot when the program number changes, and the PLC updates the program number sent to the robot based on the signal.

[0083] This embodiment provides a precise control method for the robot driver, and the PLC controls the driver switch of the robot through the $drivers_off and $drivers_on signals. Before each startup, the PLC first sends the $drivers_off signal, waits for 500ms, and then sends the $drivers_on signal to ensure that the driver can start stably.

[0084] This method avoids system instability caused by premature or late start and stop of the robot driver by precisely controlling the on and off state of the driver. Through reasonable time delay, the robot driver can be ensured to operate stably, improving the safety and stability of the system.

[0085] In this embodiment, after sending the program number signal, the PLC confirms whether the program number is valid through the PGNO_VAILD signal. PGNO_VAILD is a pulse signal with a pulse width of about 1000ms, which is used to make the robot's variable PGNO value effective. The specific implementation content of each module can be found in the above definition of the control method for controlling a six-axis robot based on the EtherNet / IP protocol, which will not be repeated here.

[0086] This embodiment provides a power management method, which ensures that the robot system starts under normal power conditions by controlling the power input sequence of the PLC. When the PLC is powered on, the system starts various functions of the robot through sequential signals to avoid failures caused by improper power startup sequence.

[0087] This method optimizes the power management of the robot system, ensuring that the robot starts and runs under stable power conditions, thereby avoiding system failures caused by power problems and improving the reliability and production efficiency of the robot.

[0088] In one embodiment, a six-axis robot is controlled based on the EtherNet / IP protocol.

[0089] The hardware used includes Hechuan Q series 1300PLC and Kuka robot.

[0090] Connect the network cable from the PLC's network port to the switch, and connect the network cable from the robot's control cabinet to the switch.

[0091] After establishing the above connection, set the PLC IP address and the robot IP address in the same network segment, for example: PLC IP address 172.16.1.10, robot IP address 172.16.1.12. After setting the PLC and robot IP addresses, you need to configure the PLC and robot system.

[0092] The robot's external automatic logic is:

[0093] The external start robot of the program is selected by the program number (without parity check). Signals that need to be configured: PRNO_FBIT: Indicates the first bit of the byte. For example, use $IN

[11] ---$IN

[17] to map to the variable PGNO, then PRNO_FBIT11, which means PRNO_FBIT is the first bit of this area. PGNO_LENGTH: Indicates the length of the data mapped to the variable PGNO. In the above example, PGNO_LENGTH is 7, and the maximum value of the variable PGNO is 127. PGNO_PARITY: Program number parity check. If there is no special requirement, the value is set to 0 if no check is required. PGNO_VAILD: Program number is valid, the bit signal of the robot signal input terminal. Write the bit signal number after it. For example, if $IN

[18] is used to indicate that this program number is valid, when $IN

[18] is TRUE, the program number sent by the PLC is valid. PGNO_VAILD is a pulse signal (pulse width is about 1 second). Each time the program number is changed, the PLC must set PGNO_VAILD to TRUE. Otherwise, the value of the variable PGNO on the robot side will not change. PGNO_REQ: Program number request signal sent by the robot to the PLC, a bit signal.

[0094] After the above signals are configured correctly, start the robot externally by following the steps below:

[0095] In T1 mode, insert the user program into cell.src according to the control requirements, select the cell.src program, and switch the robot operation mode to EXT_AUTO.

[0096] Under the condition that the robot system does not report an error, the PLC will send a $move_enable signal to the robot as soon as it is powered on (it must be given continuously).

[0097] After the PLC gives the $move_enable signal for 500ms, it gives the robot the $drivers_off signal (which must be given continuously).

[0098] After PLC sends $drivers_off signal, it sends $drivers_on signal to the robot 500ms later. When the robot receives $drivers_on, it sends signal $peri_rdy to PLC. When PLC receives this signal, it turns off $drivers_on.

[0099] PLC can start the robot by sending $ext_start (pulse signal) to the robot.

[0100] When the PLC receives the PGNO_REQ signal, it will send the program number to the robot.

[0101] 500ms after the PLC sends the program number, the PLC sends $PGNO_VAILD (pulse signal, pulse width of about 1000ms) to the robot so that the robot's variable PGNO value can take effect.

[0102] If the production process switches the program number, repeat the above two steps.

[0103] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

Claims

1. A control method for a six-axis robot based on the EtherNet / IP protocol, characterized in that: The following steps are involved: Set up an EtherNet / IP connection in the PLC to communicate with the robot, configure the network connection between the PLC and the robot, and ensure that the PLC and the robot are in the same network segment; Configure the PLC control signal mapping, including PRNO_FBIT, PGNO_LENGTH, PGNO_VAILD and other signals, for program number selection and verification; In the PLC, the $move_enable signal is continuously sent to start the robot, and then the $drivers_off and $drivers_on signals are sent to control the start and stop of the robot's driver; The robot is triggered to start executing tasks through the $ext_start pulse signal; When the PLC receives the PGNO_REQ signal, it updates and sends the new program number to the robot; After sending the program number, the PLC confirms the validity of the program number through the PGNO_VAILD pulse signal, so that the robot can perform the corresponding action.

2. A control system for controlling a six-axis robot based on the EtherNet / IP protocol, characterized in that: include: A PLC, used to send control signals to the robot via EtherNet / IP protocol, perform program number selection, robot motion control, and emergency stop functions; a robot, receiving the control signal of the PLC through the EtherNet / IP protocol, and performing corresponding actions or state changes according to the control signal; A network connection device configured for data transmission and signal interaction between PLC and robot.

3. The control system according to claim 2, characterized in that: The PLC and the robot are connected via a switch. The PLC and the robot are in the same local area network and have the same network segment and subnet mask.

4. The control system according to claim 2, characterized in that: The PLC selects the robot program number through specific signal mapping, and the mapping signals include PRNO_FBIT, PGNO_LENGTH, and PGNO_VAILD signals.

5. The control system according to claim 2, characterized in that: The PLC uses the $IN[11] to $IN[17] signals to map to the variable PGNO to select the program number, and ensures the validity of the selected program number through the PGNO_VAILD signal. PGNO_VAILD is a pulse signal. When it is TRUE, the program number sent by the PLC is valid.

6. The control system according to claim 2, characterized in that: The PLC starts the robot via the $move_enable signal, which remains valid while the robot is ready to perform an action, and controls the start and stop of the robot's drivers via the $drivers_off and $drivers_on signals after the robot is enabled.

7. The control system according to claim 6, characterized in that: After sending the $move_enable signal to the robot, the PLC sends the $drivers_off signal and the $drivers_on signal successively. The $drivers_on signal is responded by the robot and the $peri_rdy signal is sent to the PLC. After receiving the signal, the PLC disconnects the $drivers_on signal to complete the startup of the driver.

8. The control system according to claim 2, characterized in that: The PLC starts the robot movement through the $ext_start signal, and $ext_start is a pulse signal that triggers the robot to perform a predetermined task.

9. The control system according to claim 8, characterized in that: The PLC requests the current program number from the robot via a PGNO_REQ signal, which is sent by the robot when the program number changes. The PLC updates the program number sent to the robot based on the signal.

10. The control system according to claim 9, characterized in that: After sending the program number signal, the PLC confirms whether the program number is valid through the PGNO_VAILD signal. PGNO_VAILD is a pulse signal with a pulse width of approximately 1000ms, which is used to make the robot's variable PGNO value effective.

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