Robot control system and controller

Abstract

A robot control system and controller are provided. The robot control system (100) includes: a control device (10) that outputs motion command signals for a robot (30); and a controller (20) that controls the motion of the robot (30) based on the motion command signals from the control device (10). The controller (20) includes: a detection unit (24) that detects errors occurring in the robot (30) and the controller (20); a storage unit (23) that stores a definition file that defines association information associated with the error information detected by the detection unit (24); and a transmission unit (25) that transmits the error information detected by the detection unit (24) and the definition file to the control device (10). The control device (10) has a determination unit (12) that, in the presence of multiple error messages, selects the error message to be displayed on the display unit (15) from the multiple error messages transmitted by the transmission unit (25) based on the association information from the definition file transmitted by the transmission unit (25).

Description

Technical Field

[0001] This invention relates to a robot control system and controller. Background Technology

[0002] Patent Document 1 describes a robot control system for controlling a robot. The robot control system of Patent Document 1 includes: a robot; a host control device that outputs motion command signals for the robot; and a controller that controls the robot's motion based on the motion command signals from the control device.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2021-171890 Summary of the Invention

[0006] The technical problem that the invention aims to solve

[0007] In robot control systems, various errors sometimes occur in the robot, controller, and other components. When an error occurs, the error detection unit in the controller detects all errors, and the transmitting unit in the controller sends all detected error information to the higher-level control device. The control device then displays all the transmitted error information on its display unit.

[0008] Here, there is sometimes a clear causal relationship among the causes of the error. In this case, the user selects the error message that is the source of the error from the multiple error messages displayed on the display unit, and performs maintenance work on the robot control system based on the selected error message.

[0009] However, for some users, it is sometimes difficult to properly select the error message that is the source of the error from multiple error messages, resulting in the inability to quickly perform maintenance operations.

[0010] In view of the above problems, the objective of this invention is to provide a robot control system and controller that enables any user to appropriately select the error message as the source of the error from multiple error messages.

[0011] Technical solutions adopted to solve technical problems

[0012] To solve the above-mentioned technical problems, one aspect of the robot control system of the present invention is a robot control system for controlling the actions of a robot, comprising:

[0013] Control device, which outputs motion command signals to the robot; and

[0014] The controller controls the robot's movements based on motion command signals from the control device.

[0015] The controller includes: a detection unit that detects errors occurring in the robot and the controller; a storage unit that stores a definition file defining association information associated with the error information detected by the detection unit; and a transmission unit that transmits the error information detected by the detection unit and the definition file to the control device.

[0016] The control device includes a determination unit that, in the presence of multiple error messages, selects a display error message to be displayed on the display unit from the multiple error messages sent by the sending unit based on the association information of the definition file sent by the sending unit.

[0017] One aspect of the controller of the present invention is a controller that controls the actions of a robot based on action command signals from a control device, comprising:

[0018] The testing department, where testing errors occur;

[0019] A storage unit that stores a definition file that defines association information related to error information detected by the detection unit; and

[0020] The determination unit, when multiple error messages exist, selects the error message to be displayed on the display unit from the multiple error messages based on the association information in the definition file. Attached Figure Description

[0021] Figure 1 This is a block diagram of the robot control system according to Implementation Method 1.

[0022] Figure 2 It is a schematic diagram of the controller, cables, and robot.

[0023] Figure 3 This is a schematic diagram of the external power supply and power circuit.

[0024] Figure 4 This is a block diagram of the robot control system according to implementation method 2.

[0025] Explanation of reference numerals in the attached figures

[0026] 100, 100A… Robot control system, 10… Control device, 11… Control unit, 12… Judgment unit, 15… Display unit, 20… Controller, 21… Control circuit, 22… Power supply circuit, 23… Storage unit, 24… Detection unit, 25… Transmitting unit, 26… Control unit, 28… Judgment unit, 30… Robot, 31… Motor unit, 32… Motor section, 33… Encoder section, 40… External power supply, 50… Cable, 51… Connector, 52… Connector, 53… Wiring, 60… Power cable, 70… Communication cable, 221… First converter, 222… Second converter, 531… Communication line, 532… Power line. Detailed Implementation

[0027] Reference will now be made in detail to exemplary embodiments of the invention, examples of which are illustrated in the accompanying drawings. Wherever possible, the same element references are used in the drawings and description to denote the same or similar parts.

[0028] Hereinafter, embodiments of the robot control system 100 to which the present invention is applied will be described with reference to the accompanying drawings.

[0029] [Implementation Method 1]

[0030] Figure 1 This is a block diagram of the robot control system according to Embodiment 1. The robot control system 100 of this embodiment is used to control an industrial robot 30. The robot 30 includes multiple motor units 31 for driving robot arms, etc. The motor unit 31 includes a motor section 32 for driving the robot arm, etc., and an encoder section 33 for detecting the rotational position of the motor section 32.

[0031] The robot control system 100 includes a control device 10 and a controller 20. The control device 10 is a host device of the controller 20, such as a computer, which outputs motion command signals of the robot 30 to the controller 20 and displays errors occurring in the robot control system 100. The control device 10 sets various functions based on information input from input units, etc. The control device 10 includes a control unit 11 and a display unit 15. The control unit 11, such as a CPU, controls the control device 10. The control unit 11 displays error information sent from the controller 20 on the display unit 15. The control unit 11 includes a determination unit 12, which selects the error information to be displayed on the display unit 15 when multiple error messages are sent from the controller 20. The display unit 15 is a monitor, etc.

[0032] The controller 20 controls the movement of the robot 30 based on motion command signals from the control device 10. The controller 20 includes a control circuit 21, a power supply circuit 22, a storage unit 23, a detection unit 24, and a transmission unit 25.

[0033] The control circuit 21 is connected to the robot 30 via the communication cable 70 and controls the robot 30 based on motion command signals from the control device 10. The power supply circuit 22 converts the voltage input from the external power supply 40. For example, the power supply circuit 22 converts the AC voltage 220V input from the external power supply 40 to a DC voltage of 24V or 5V, and supplies the converted DC voltage to the various electrical components of the controller 20. Additionally, the power supply circuit 22 supplies the converted DC voltage to the robot 30 via the power cable 60. In this embodiment, the power cable 60 and the communication cable 70 are combined into a single cable 50.

[0034] The detection unit 24 detects errors occurring in the robot 30 and the controller 20. In this embodiment, the detection unit 24 is located in the control circuit 21. The storage unit 23 stores a definition file that defines the association information associated with the error information detected by the detection unit 24. The definition file is a file in a format that can structure and save data, such as XML or CSV. In this embodiment, the association information defined in the definition file includes at least hierarchical information about the causes of multiple error messages and combined error information that combines multiple error messages. The sending unit 25 sends the error information detected by the detection unit 24 and the definition file to the control device 10.

[0035] Here, when multiple error messages are sent to the control device 10, the determination unit 12 selects the error messages to be displayed on the display unit 15 from the multiple error messages sent by the sending unit 25 based on the association information of the definition file sent from the sending unit 25. The control unit 11 then displays the selected error messages on the display unit 15. Thus, only a portion of the error messages selected based on the association information of the definition file are displayed on the display unit 15. Furthermore, the user of the robot control system 100 can also configure the control device 10 to display all the multiple error messages sent from the sending unit 25 on the display unit 15.

[0036] Next, the selection of error information in the determination unit 12 will be explained. Figure 2 This is a schematic diagram of the controller 20, cable 50, and robot 30. Figure 3 This is a schematic diagram of the external power supply 40 and the power supply circuit 22.

[0037] (Example 1 of selected error messages)

[0038] like Figure 2As shown, cable 50 includes a connector 51 for connecting to controller 20, a connector 52 for connecting to robot 30, and wiring 53 for connecting controller 20 and robot 30. In this embodiment, as an example, robot 30 has three motor units 31, therefore wiring 53 includes a communication line 531 for communicating with each encoder unit 33 of motor unit 31, and a power line 532 for supplying power to each motor unit 31 motor unit 32. Communication line 531 is equivalent to a communication cable, and power line 532 is equivalent to a power cable. Detection unit 24 detects breaks in communication lines 531, communication anomalies occurring in communication lines 531, information anomalies occurring in communication lines 531, and breaks in power lines 532 as errors.

[0039] Here, as an example of a communication anomaly occurring in communication line 531, an external noise occurs in communication line 531 and is superimposed on the signal of communication line 531. When the noise is superimposed on the signal of communication line 531, causing signal disturbance, the detection unit 24 detects an error as a communication anomaly occurring in communication line 531. Furthermore, in the case of a break in communication line 531, since the signal no longer flows in communication line 531 due to the break, the detection unit 24 also detects an error as a communication anomaly occurring in communication line 531.

[0040] As an example of an information anomaly occurring in communication line 531, if communication line 531 is not connected to the correct device, information different from what should have been received is obtained from communication line 531. Therefore, when information different from what should have been received is obtained from communication line 531, the detection unit 24 detects an error as an information anomaly occurring in communication line 531. Furthermore, if a communication anomaly occurs in communication line 531, information different from what should have been received due to the communication anomaly is also obtained from communication line 531. Therefore, the detection unit 24 detects an error as a communication anomaly occurring in communication line 531.

[0041] For example, if the communication line 531A connected to the encoder section 33 of the motor unit 31A is disconnected, and the power line 532C connected to the motor section 32 of the motor unit 31C is disconnected, the detection unit 24 detects errors such as a disconnection of the communication line 531A, a communication abnormality of the communication line 531A, an information abnormality of the communication line 531A, and a disconnection of the power line 532C. The sending unit 25 sends the error information detected by the detection unit 24, namely "disconnection of communication line 531A", "communication abnormality of communication line 531A", "information abnormality of communication line 531A", and "disconnection of power line 532C", along with the definition file, to the control device 10.

[0042] Here, the association information in the definition file includes hierarchical information about the causes of multiple error messages. In this hierarchical information, for example, "disconnection of communication line 531," "communication anomaly of communication line 531," and "information anomaly of communication line 531" are associated sequentially from the higher-level hierarchy to the lower-level hierarchy based on causal relationships. Furthermore, in this approach, "disconnection of power line 532" has no other causally related errors and therefore does not exist in the hierarchical information.

[0043] Based on hierarchical information, the determination unit 12 selects the top-ranking error message "Communication line 531A disconnection" from among multiple error messages, namely "Communication line 531A disconnection," "Communication error of communication line 531A," and "Information error of communication line 531A," as the error message to be displayed on the display unit 15. The control unit 11 displays the selected error message "Communication line 531A disconnection" on the display unit 15. Additionally, the control unit 11 displays "Power line 532 disconnection" on the display unit 15.

[0044] Furthermore, for example, if a communication abnormality occurs in the communication line 531A of the encoder section 33 connected to the motor unit 31A due to external noise, the detection unit 24 detects both the error that a communication abnormality has occurred in the communication line 531A and the error that an information abnormality has occurred in the communication line 531A. The transmission unit 25 sends the error information detected by the detection unit 24, namely "communication abnormality of communication line 531A" and "information abnormality of communication line 531A", along with the definition file, to the control device 10.

[0045] Based on the hierarchical information, the determination unit 12 selects the top-level error message "Communication error of communication line 531A" from among the multiple error messages, namely "Communication error of communication line 531A" and "Information error of communication line 531A", as the error message to be displayed on the display unit 15. The control unit 11 displays the selected error message "Communication error of communication line 531A" on the display unit 15.

[0046] Additionally, for example, if the communication line 531A connected to the encoder section 33 of the motor unit 31A is disconnected, the communication line 531B connected to the encoder section 33 of the motor unit 31B experiences a communication abnormality due to external noise, the communication line 531C connected to the encoder section 33 of the motor unit 31C experiences an information abnormality, the power line 532A connected to the motor section 32 of the motor unit 31A is disconnected, or the power line 532C connected to the motor section 32 of the motor unit 31C is disconnected, the detection unit 24 detects errors such as a disconnected communication line 531A, a communication abnormality in the communication line 531A, an information abnormality in the communication line 531A, a communication abnormality in the communication line 531B, an information abnormality in the communication line 531C, a disconnected power line 532A, or a disconnected power line 532C.

[0047] The sending unit 25 sends the error information detected by the detection unit 24, namely "communication line 531A disconnection", "communication line 531A communication abnormality", "communication line 531A information abnormality", "communication line 531B communication abnormality", "communication line 531B information abnormality", "communication line 531C information abnormality", "power line 532A disconnection" and "power line 532C disconnection", and the definition file to the control device 10.

[0048] Based on hierarchical information, the determination unit 12 selects the top-ranked error message "Communication line 531A disconnection" from among multiple error messages, namely "Communication line 531A disconnection", "Communication line 531A communication error", and "Communication line 531A information error", as the error message to be displayed on the display unit 15. Additionally, the determination unit 12 selects the top-ranked error message "Communication line 531B communication error" from among multiple error messages, namely "Communication line 531B communication error" and "Communication line 531B information error", as the error message to be displayed on the display unit 15. The control unit 11 displays the selected error messages "Communication line 531A disconnection" and "Communication line 531B communication error" on the display unit 15. Furthermore, the control unit 11 displays the error messages "Communication line 531C information error", "Power line 532A disconnection", and "Power line 532C disconnection" on the display unit 15.

[0049] Furthermore, since there are no other error messages associated with "Information abnormality of communication line 531C", the determination unit 12 does not select the error message "Information abnormality of communication line 531C". Therefore, the control unit 11 directly displays "Information abnormality of communication line 531C" on the display unit 15.

[0050] Furthermore, for example, if connector 51 or connector 52 of cable 50 becomes detached, the situation is the same as the disconnection of each communication line 531 and each power line 532. Therefore, the detection unit 24 detects errors such as disconnection of each communication line 531, communication abnormality of each communication line 531, information abnormality of each communication line 531, and disconnection of each power line 532. The transmitting unit 25 sends the error information detected by the detection unit 24, namely "disconnection of communication line 531A", "communication abnormality of communication line 531A", "information abnormality of communication line 531A", "disconnection of communication line 531B", "communication abnormality of communication line 531B", "information abnormality of communication line 531B", "disconnection of communication line 531C", "communication abnormality of communication line 531C", "information abnormality of communication line 531C", "disconnection of power line 532A", "disconnection of power line 532B", and "disconnection of power line 532C", along with the definition file, to the control device 10.

[0051] Here, the associated information in the definition file includes combined error information, which consists of a combination of multiple error messages and a specific error message determined based on the combined information. As an example, the combined error information consisting of "disconnection of communication line 531A", "communication abnormality of communication line 531A", "information abnormality of communication line 531A", "disconnection of communication line 531B", "communication abnormality of communication line 531B", "information abnormality of communication line 531B", "disconnection of communication line 531C", "communication abnormality of communication line 531C", "information abnormality of communication line 531C", "disconnection of power line 532A", "disconnection of power line 532B", and "disconnection of power line 532C" is associated with the specific error message "connector not connected" determined based on this combined information.

[0052] The determination unit 12 determines whether a combination of multiple error messages conforms to the combined information based on the combined error information. In this embodiment, based on the combined error information, since the combination of "communication line 531A disconnection", "communication line 531A communication abnormality", "communication line 531A information abnormality", "communication line 531B disconnection", "communication line 531B communication abnormality", "communication line 531B information abnormality", "communication line 531C disconnection", "communication line 531C communication abnormality", "communication line 531C information abnormality", "power line 532A disconnection", "power line 532B disconnection", and "power line 532C disconnection" conforms to the combined information, the determination unit 12 determines that the combination of multiple error messages conforms to the combined information. Based on this determination, the specific error message "connector not connected," determined according to the conforming combined information, is selected as the error message to be displayed on the display unit 15. The control unit 11 displays "connector not connected" on the display unit 15.

[0053] Furthermore, if the determination unit 12 determines that the combination of multiple error messages does not conform to the combination information based on the combined error information, it selects the highest-level error message that conforms to the hierarchy information from among the multiple error messages as the display error message based on the hierarchy information. The control unit 11 displays the selected error message on the display unit 15. However, if the determination unit 12 does not select a display error message to display on the display unit 15 from among the multiple error messages based on the association information, the control unit 11 displays all error messages on the display unit 15.

[0054] (Selected example 2 of error messages)

[0055] like Figure 3 As shown, the power supply circuit 22 includes, as an example, a first converter 221 that converts the AC voltage input from the external power supply 40 into a DC voltage; and a second converter 222 that converts the DC voltage from the first converter 221 into a low potential. For example, the AC voltage input from the external power supply 40 is 220V. The DC voltage converted by the first converter 221 is 24V. The DC voltage converted by the second converter 222 is 8V. When an abnormality occurs in the voltage of the external power supply 40 input to the first converter 221, the voltage converted by the first converter 221, or the voltage converted by the second converter 222, the detection unit 24 detects an error as an abnormality in the voltage.

[0056] Here, as an example of an abnormal voltage converted by the first converter 221, if the voltage of the input external power supply 40 is not 220V but abnormal, the first converter 221 cannot convert it to the normal voltage of 24V. Therefore, the voltage converted by the first converter 221 is not 24V and becomes abnormal. Similarly, as an example of an abnormal voltage converted by the second converter 222, if the voltage converted by the first converter 221 is not 24V but abnormal, the second converter 222 cannot convert it to the normal voltage of 8V. Therefore, the voltage converted by the second converter 222 is not 8V and becomes abnormal.

[0057] For example, if an abnormality occurs in the voltage input to the first converter 221, the detection unit 24 detects an error as an abnormality in the voltage input to the first converter 221, the voltage converted by the first converter 221, and the voltage converted by the second converter 222. The transmission unit 25 sends the error information detected by the detection unit 24, namely "abnormal voltage of external power supply 40", "abnormal conversion voltage of first converter 221", and "abnormal conversion voltage of second converter 222", along with a definition file, to the control device 10.

[0058] Here, the hierarchical information of the definition file is used as an example. Based on the cause-and-effect relationship, the "abnormal voltage of external power supply 40", "abnormal conversion voltage of first converter 221" and "abnormal conversion voltage of second converter 222" are sequentially associated from the higher level to the lower level.

[0059] Based on the hierarchical information, the determination unit 12 selects the topmost error message "external power supply 40 voltage abnormality" from among multiple error messages, namely "external power supply 40 voltage abnormality", "first converter 221 conversion voltage abnormality", and "second converter 222 conversion voltage abnormality", as the error message to be displayed on the display unit 15. The control unit 11 displays the selected error message "external power supply 40 voltage abnormality" on the display unit 15.

[0060] (Effects)

[0061] The robot control system 100 includes: a control device 10 that outputs motion command signals to a robot 30; and a controller 20 that controls the motion of the robot 30 based on the motion command signals from the control device 10. The controller 20 includes: a detection unit 24 that detects errors occurring in the robot 30 and the controller 20; a storage unit 23 that stores a definition file defining association information associated with the error information detected by the detection unit 24; and a transmission unit 25 that transmits the error information detected by the detection unit 24 and the definition file to the control device 10. The control device 10 has a determination unit 12 that, in the presence of multiple error messages, selects the error message to be displayed on the display unit 15 from the multiple error messages transmitted by the transmission unit 25 based on the association information in the definition file transmitted by the transmission unit 25 (displaying the error message). Therefore, in the presence of multiple error messages, the determination unit 12 can select only the error message that is the source of the error from the multiple error messages based on the association information, and thus display the appropriate error message on the display unit 15. As a result, users can quickly perform maintenance work on the robot control system 100 based on the appropriate error information displayed on the display unit 15.

[0062] The associated information includes hierarchical information linking the causes of multiple error messages. Based on this hierarchical information, the determination unit 12 selects the highest-level error message from among the multiple error messages that matches the hierarchical information. Therefore, the determination unit 12 can select only the error message at the next higher level from among the multiple error messages that is the source of the error, and thus display the appropriate error message on the display unit 15. As a result, the user does not need to manually select the error message at the next higher level from among the multiple error messages, thus enabling rapid maintenance operations.

[0063] The associated information includes combined information consisting of multiple error messages, and combined error information with specific error messages determined based on the combined information. The determination unit 12 determines whether a combination of multiple error messages conforms to the combined information based on the combined error information. If the combination of multiple error messages conforms to the combined information, the specific error message determined based on the combined information is selected as the error message (displayed). Therefore, the determination unit 12 can select only the error message determined based on the combination of multiple errors from multiple error messages based on the combined error information, and thus display the appropriate error message on the display unit 15. As a result, the user does not need to manually select the error message determined based on the combination of multiple errors from multiple error messages, thus enabling rapid performance of maintenance tasks.

[0064] [Implementation Method 2]

[0065] Figure 4This is a block diagram of the robot control system 100A according to Embodiment 2. Figure 4 In the robot control system 100A of Embodiment 2 shown, the controller 20 has a determination unit 28, which is different from the controller 20 of the robot control system 100 of Embodiment 1. Therefore, in Embodiment 2, the same reference numerals are sometimes used for structures that are the same as those in Embodiment 1, and the description is omitted.

[0066] The robot control system 100A includes a control device 10 and a controller 20. The control device 10 is a host device of the controller 20, such as a computer, which outputs motion command signals from the robot 30 to the controller 20 and displays errors occurring in the robot control system 100. The control device 10 sets various functions based on information input from input units, etc. The control device 10 includes a control unit 11 and a display unit 15. The control unit 11, such as a CPU, controls the control device 10. The control unit 11 displays error information sent from the controller 20 on the display unit 15. The display unit 15 is a monitor, etc.

[0067] The controller 20 controls the movement of the robot 30 based on motion command signals from the control device 10. The controller 20 includes a control circuit 21, a power supply circuit 22, a storage unit 23, a detection unit 24, and a control unit 26. The control unit 26 is a CPU or microcomputer, etc. The control unit 26 includes a determination unit 28, which selects the error information to be displayed on the display unit 15 when multiple error messages are received from the controller 20. When the detection unit 24 detects multiple error messages, the determination unit 28 selects the error message to be displayed on the display unit 15 based on the association information in the definition file. When the determination unit 28 selects the displayed error message, the control unit 11 sends the selected error message and the error messages not selected by the determination unit 28 to the control device 10. The control unit 11 of the control device 10 displays the selected error message and the error messages not selected by the determination unit 28 on the display unit 15.

[0068] Furthermore, the control unit 11 can also send the selected error message and the error message not selected by the determination unit 28 to the teach pendant connected to the controller 20. In this case, the selected error message and the error message not selected by the determination unit 28 are displayed on the display unit of the teach pendant.

[0069] (Effects)

[0070] The controller 20 includes: a detection unit 24 that detects the occurrence of errors; a storage unit 23 that stores a definition file that defines association information associated with the error information detected by the detection unit 24; and a determination unit 28 that, when multiple error messages exist, selects the error message to be displayed on the display unit 15 based on the association information in the definition file (displaying the error message). Therefore, the robot control system 100A of Embodiment 2 can achieve the same operating effect as the robot control system 100 of Embodiment 1.

[0071] (Modified Example)

[0072] The errors that the detection unit 24 can detect are not limited to those described above. The detection unit 24 can be configured to detect various errors as needed.

[0073] The hierarchical information stored in the definition file is not limited to the methods described above. As long as the hierarchical information establishes associations based on the causes of multiple error messages sequentially from the higher-level hierarchy to the lower-level hierarchy, it can be defined using any error message.

[0074] The combined error messages stored in the definition file are not limited to the methods described above. Combined error messages can also be defined by combining any number of error messages.

[0075] In the above configuration, power line 532 and communication line 531 are connected to motor unit 31, but power line 532 and communication line 531 can also be connected to a calibrator for calibrating the conveyed object transported by robot 30. Additionally, power line 532 and communication line 531 can also be connected to other devices.

[0076] Furthermore, this technology can be configured as follows.

[0077] (Postscript 1)

[0078] A robot control system, which controls the actions of a robot, includes:

[0079] Control device, which outputs motion command signals to the robot; and

[0080] The controller controls the robot's movements based on motion command signals from the control device.

[0081] The controller includes: a detection unit that detects errors occurring in the robot and the controller; a storage unit that stores a definition file defining association information associated with the error information detected by the detection unit; and a transmission unit that transmits the error information detected by the detection unit and the definition file to the control device.

[0082] The control device includes a determination unit that, in the presence of multiple error messages, selects a display error message to be displayed on the display unit from the multiple error messages sent by the sending unit based on the association information of the definition file sent from the sending unit.

[0083] (Postscript 2)

[0084] According to the robot control system described in Appendix 1

[0085] The associated information includes hierarchical information that links the causes of the multiple error messages.

[0086] Based on the hierarchical information, the determination unit selects the topmost error message that conforms to the hierarchical information from among the plurality of error messages as the displayed error message.

[0087] (Note 3)

[0088] According to the robot control system described in Appendix 1 or 2

[0089] The associated information includes combined error information, which is associated with combined information consisting of multiple error messages and specific error information determined based on the combined information.

[0090] The determination unit determines whether the combination of the plurality of error messages conforms to the combination information based on the combined error information. If the combination of the plurality of error messages conforms to the combination information, the specific error message determined based on the combination information is selected as the display error message.

[0091] (Postscript 4)

[0092] The robot control system according to any one of the appendices 1 to 3

[0093] The controller includes a power supply circuit that converts the voltage input from an external power source and supplies the converted voltage to the robot via a power cable.

[0094] The detection unit detects errors that occur in the power supply circuit or in the power cable as error information.

[0095] (Note 5)

[0096] The robot control system according to any one of notes 1 to 4

[0097] The controller has control circuitry that controls the robot's movements via a communication cable.

[0098] The detection unit detects errors that occur in the communication cable as error information.

[0099] (Note 6)

[0100] A controller that controls the robot's movements based on motion command signals from a control device.

[0101] It includes: a testing department, which handles the occurrence of testing errors;

[0102] A storage unit that stores a definition file that defines association information related to error information detected by the detection unit; and

[0103] The determination unit, when multiple error messages exist, selects the error message to be displayed on the display unit from the multiple error messages based on the association information in the definition file.

[0104] (Note 7)

[0105] According to the controller described in Appendix 6

[0106] The associated information includes hierarchical information that links the causes of the multiple error messages.

[0107] Based on the hierarchical information, the determination unit selects the topmost error message that conforms to the hierarchical information from among the plurality of error messages as the displayed error message.

[0108] (Postscript 8)

[0109] The controller according to Appendix 6 or 7

[0110] The associated information includes combined error information, which is associated with combined information consisting of multiple error messages and specific error information determined based on the combined information.

[0111] Based on the combined error information, if the combination of the plurality of error information matches the combined information, the determination unit selects the specific error information determined according to the combined information as the display error information.

Claims

1. A robot control system for controlling the actions of a robot, characterized in that, have: Control device, which outputs motion command signals to the robot; and The controller controls the robot's movements based on motion command signals from the control device. The controller includes: a detection unit that detects errors occurring in the robot and the controller; a storage unit that stores a definition file defining association information associated with the error information detected by the detection unit; and a transmission unit that transmits the error information detected by the detection unit and the definition file to the control device. The control device includes a determination unit that, in the presence of multiple error messages, selects a display error message to be displayed on the display unit from the multiple error messages sent by the sending unit based on the association information of the definition file sent by the sending unit.

2. The robot control system according to claim 1, characterized in that, The associated information includes hierarchical information that links the causes of the multiple error messages. Based on the hierarchical information, the determination unit selects the topmost error message that conforms to the hierarchical information from among the plurality of error messages as the displayed error message.

3. The robot control system according to claim 1 or 2, characterized in that, The associated information includes combined error information, which is associated with combined information consisting of multiple error messages and specific error information determined based on the combined information. The determination unit determines whether the combination of the plurality of error messages conforms to the combination information based on the combined error information, and if the combination of the plurality of error messages conforms to the combination information, the specific error message determined according to the combination information is selected as the display error message.

4. The robot control system according to claim 1, characterized in that, The controller includes a power supply circuit that converts the voltage input from an external power source and supplies the converted voltage to the robot via a power cable. The detection unit detects errors that occur in the power supply circuit or in the power cable as error information.

5. The robot control system according to claim 1, characterized in that, The controller has control circuitry that controls the robot's movements via a communication cable. The detection unit detects errors that occur in the communication cable as error information.

6. A controller for controlling the actions of a robot based on motion command signals from a control device, characterized in that, It includes: a testing department, which handles the occurrence of testing errors; The storage unit stores a definition file that defines the association information associated with the error information detected by the detection unit; as well as The determination unit, when multiple error messages exist, selects the error message to be displayed on the display unit from the multiple error messages based on the association information in the definition file.

7. The controller according to claim 6, characterized in that, The associated information includes hierarchical information that links the causes of the multiple error messages. Based on the hierarchical information, the determination unit selects the topmost error message that conforms to the hierarchical information from among the plurality of error messages as the displayed error message.

8. The controller according to claim 6 or 7, characterized in that, The associated information includes combined error information, which is associated with combined information consisting of multiple error messages and specific error information determined based on the combined information. Based on the combined error information, if the combination of the plurality of error information matches the combined information, the determination unit selects the specific error information determined according to the combined information as the display error information.

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