Parameter setting device, parameter setting procedure and parameter setting program

Abstract

To provide a parameter setting device capable of easily setting a parameter in the field network of a robot controller. This parameter setting device sets the parameter of an external connection device that is networked with a robot controller and comprises a vendor specification unit, a temporary parameter setting unit, and a parameter determination unit. The vendor specification unit specifies the vendor of the external connection device. The temporary parameter setting unit temporarily sets the parameter of at least one external device by reference to a correspondence table that maps at least one external device provided by the specified vendor and a parameter specific to each external device.The parameter determination unit determines a connection parameter corresponding to the external connection device based on a response from the external connection device to the temporarily set parameter.

Description

field of technology

[0001] The present invention relates to a parameter setting device, a parameter setting method and a parameter setting program. State of the art

[0002] Traditionally, for example, a protocol exists that requires parameter input from an external device (data transmission device) into a field network of a robot control unit. In such a case, parameters specific to the external device are entered from the robot control unit, a robot training control panel, or similar connected to the robot control unit, and then configured on the robot control unit.

[0003] However, since the parameters are unique for each device, adjusting the parameters entered by the robot control unit and the robot teaching panel requires, for example, looking up information in a manual, etc., which takes time and effort.

[0004] When exchanging data with an external device connected to a network, various suggestions and techniques have traditionally been made regarding parameter settings for effective data exchange with the external device. List of quotations Patent literature [PTL 1] Unexamined Japanese patent publication (Kokai) No. 2008-282342 [PTL 2] Unexamined Japanese patent publication (Kokai) No. 2022-138072 [PTL 3] Unexamined Japanese patent publication (Kokai) No. 2021-181124 Overview: Technical Task

[0005] As described above, it may be necessary, for example, in the field network of the robot control unit, to configure the parameters of the external device for the robot control unit. However, this parameter configuration process is time-consuming and labor-intensive. Specifically, a worker (operator, user) might consult a manual for the external device to be used and enter the parameters described in the manual from a robot training control panel or similar device, thereby configuring the parameters of the external device for the robot control unit.

[0006] As described above, the setup of the parameters entered from the robot teaching control panel or similar is unique to the external device to be used and therefore represents a significant burden for the operator.

[0007] Therefore, there is a need for a parameter setting device, a parameter setting procedure, and a parameter setting program that make it possible to easily perform parameter setting in a field network of a robot control device. Technical solution

[0008] According to one embodiment of the present invention, a parameter setting device is provided for setting a parameter of an external connection device which is connected via a network to a robot control unit which has a supplier specification unit, a unit for temporarily setting parameters and a parameter determination unit.

[0009] The supplier specification unit is configured to specify a supplier of the external connection device. The temporary parameter setting unit is configured to temporarily set parameters of a plurality of external devices with reference to a correspondence table in which at least one external device provided by the specified supplier and a parameter unique to each of the external devices are mapped to one another. The parameter determination unit is configured to determine a connection parameter corresponding to the external connection device based on a response from the external connection device with respect to the temporarily set parameters.

[0010] The objectives and effects of the present invention are achieved using the components and combinations specified in the claims. Both the general description above and the detailed description below are exemplary and descriptive and do not limit the invention described in the claims. Brief description of the drawings [ Fig. 1] Fig. Figure 1 is a graphical block representation that schematically depicts the overall configuration of an example robot system. [ Fig. 2] Fig. Figure 2 is an example of a screen for setting an EtherNet / IP (registered trademark) in a field network of a robot control device. [ Fig. 3] Fig. Figure 3 is a graphical block representation that schematically depicts an example of a robot system to which a first example of a parameter setting device according to the present embodiment is applied. [ Fig. 4] Fig. Figure 4 is a graphical function block representation to explain the parameter setting device according to the one described in Figure 4. Fig. 3 first embodiment shown. [ Fig. 5] Fig. Figure 5 is a graphical representation to explain a structural example for an ARP package. [ Fig. 6] Fig. Figure 6 is a graphical representation that shows an example of a captured ARP packet. [ Fig. 7] Fig. Figure 7 is a flowchart to explain an example of processing in an embodiment of a parameter setting program according to the present embodiment. [ Fig. 8] Fig. Figure 8 is a graphical representation that schematically depicts an example of a robot system to which a second example of a parameter setting device according to the present embodiment is applied. [ Fig. 9] Fig. Figure 9 is a graphical function block representation to explain the parameter setting device of the in Fig. 8 second embodiment shown. Description of the embodiments

[0011] First, with reference to Fig. 1 and Fig. 2 a parameter setting device, a parameter setting method and a parameter setting program according to the present embodiment is described, and the parameter setting of an external device (an external connection device) that is connected to a robot control device via a network is described. Fig. Figure 1 is a graphical block representation that schematically depicts an overall configuration of an example of a robot system and serves to describe a parameter setting of an external connection device 4 that is connected to a robot control unit 2 via a network 63.

[0012] As in Fig. As shown in Figure 1, a robot system 300 comprises a robot 1, a robot control unit 2, a robot teaching control panel 3, and an external connection device (external device) 4. It should be noted that the external device 4 is, for example, a programmable logic controller (PLC) 41 or an input / output module (I / O module) 42, or the like, and is not limited to these.

[0013] A cable 61, which connects the robot teaching control panel 3 and the robot control unit 2, and a cable (data transmission cable) 63, which connects the robot control unit 2 and the external connection device 4, correspond, for example, to an ETHERNET / EtherNet (registered trademark). It should be noted that the cable 62, which connects the robot control unit 2 and the robot 1, is, for example, dedicated.

[0014] The robot teaching control panel 3 includes, for example, a display unit 31 such as a liquid crystal display and a keyboard (including various operating buttons) 32, and an operator (worker) operates the keyboard 32 while confirming the display unit 31 to perform operational control and various settings of the robot 1.

[0015] Furthermore, when the PLC 41 is used by connecting it to the robot control unit 2 via cable 63, it can only be used if parameters specific to the PLC 41 are set in the robot control unit 2. Therefore, the operator consults, for example, a manual for the PLC 41 to be used and operates the keypad 32 while checking the display unit 31 of the robot teaching control panel 3 to set the parameters specific to the PLC 41 on the robot control unit 2.

[0016] It should be noted that if the robot system 300 does not include the robot teaching panel 3 and the display unit 31 and the keypad 32 are provided in the robot control unit 2, the operator, for example, consults the manual for the PLC 41 to be used and operates the keypad 32 while confirming the display unit 31 of the robot control unit 2 in order to set the parameters specific to the PLC 41 on the robot control unit 2. The same applies if the robot system 300 includes the robot teaching panel 3 and the display unit 31 and the keypad 32 are provided in both the robot teaching panel 3 and the robot control unit 2. Furthermore, the external connection device 4 is not limited to the PLC 41 described above.

[0017] Fig. Figure 2 is an example of a screen for setting an EtherNet / IP (registered trademark) in a field network of a robot control unit. Fig. 2(a) provides an example of a screen for a scanner setting, and Fig. 2(b) is an example of an advanced setting (Adv).

[0018] As in the reference AA of Fig. As shown in 2(a), the scanner setting sets a “Vendor ID: 0”, a “Device type: 0”, and a “Product code: 0” and parameters of the external connection device 4, and as shown in reference BB, the scanner setting sets an “Assembly instance (input): 1”, an “Assembly instance (output): 2”, and a “Configuration instance: 4” and parameters of the external connection device 4.

[0019] As in the reference CC of Fig. As shown in 2(b), the extended setting (Adv) sets a “Major revision: 0” and a “Minor revision: 0” and parameters of the external connection device 4, and as in reference DD of Fig. As shown in 2(b), the scanner setting sets a “Type: Exclusive-owner”, “O=>T format: Run / Idle Header”, “T=>O format: Modeless” and parameters of the external connection device 4.

[0020] In this way, for example, when the external connection device 4, such as the PLC 41, is newly connected to the robot control unit 2 via a network cable 63, the operator configures the parameters of the PLC 41 on the robot control unit 2 by entering parameters specific to the PLC 41 from the robot teaching panel 3 or the like, or by consulting the PLC 41 manual or similar documentation. Since the configuration of the parameters entered from the robot teaching panel 3 or the like is unique to the external device (external connection device) 4 being used, this represents a significant burden for the operator.

[0021] Examples of a parameter setting device, a parameter setting method, and a parameter setting program according to the present embodiment are described in detail below with reference to the accompanying drawings. In each drawing, the same or similar elements are identified by the same or similar reference numerals. Furthermore, the embodiments described below are not intended to limit the technical scope of the invention described in the claims or the meaning of the term.

[0022] Fig. Figure 3 is a graphical block representation that schematically depicts an example of a robot system to which a first example of a parameter setting device according to the present embodiment is applied, and Fig. Figure 4 is a graphical function block representation to explain the parameter setting device according to the one described in Figure 4. Fig. 3 first embodiment shown. The parameter setting device 2a according to the first embodiment is integrated into the robot control unit 2 and is integrally provided with it. As in Fig. As shown in Figure 3, a robot system 100 includes a robot 1, a robot control unit 2 (a parameter setting device 2a), a robot teaching control panel 3 and an external connection device 4.

[0023] If, for example, an external device (external connection device) 4, such as a PLC 41 or an I / O module 42, is used by connecting it to the robot control unit 2 via a network (e.g., EtherNet (registered trademark)) 63, the operator only needs to connect the PLC 41 or the I / O module 42 to one end of the network (cable) 63, the other end of which is connected to the robot control unit 2, using the parameter setting device 2a of the first embodiment. In other words, the operator does not need to perform the setting of the parameters to be set in the robot control unit 2 by entering the parameters of the PLC 41 or the I / O module 42, which are output by the robot teaching panel 3 or the like.

[0024] As in Fig. As shown in Figure 4, the parameter setting device 2a of the first embodiment, which is integrated into the robot control unit 2, includes a vendor specification unit 21, a unit 22 for temporarily setting parameters, and a parameter determination unit 23. The vendor specification unit 21 identifies, for example, a vendor of a connected external device 4, such as a PLC 41 or an I / O module 42, which is connected to the robot control unit 2 via a cable (network) 63, based on a MAC (Media Access Control) address in an ARP (Address Resolution Protocol) packet of the connected external device 4.

[0025] For example, the unit 22 for temporarily setting parameters temporarily sets parameters of at least one external device with reference to a correspondence table 24, which has been stored in advance in a memory of the parameter setting device 2a (robot control unit 2). In particular, the unit 22 for temporarily setting parameters refers to the correspondence table 24, temporarily sets the parameter of at least one external device provided by the supplier, and then transmits the data transmission start package to an external connection device 4.

[0026] It should be noted that, for example, correspondence table 24 is a table in which parameters unique to each external device are assigned to at least one external device provided by the provider. This table is downloaded in advance from a database, such as a provider's website, and stored (read) in the memory of parameter setting device 2a. Specifically, if the provider offers multiple types of external devices, correspondence table 24 stores the parameters unique to each type in conjunction with one another. Conversely, if the external device provided by the provider is of a single type, the parameters unique to that external device are stored in conjunction with one another.

[0027] The parameter determination unit 23 determines the connection parameters corresponding to the external connection device 4 based on a response from the external connection device 4 regarding temporarily set parameters. In particular, if the unit 22 receives, for example, a success response from the external connection device 4 regarding the start packet for data transmission, the parameter determination unit 23 determines the temporarily set parameters as connection parameters.In other words, if the start packet for data transmission is transmitted based on the parameter set by unit 22 for temporary parameter setting, the success response may not be received if the temporarily set parameters differ from the parameters of the external connection device 4 to which the temporarily set parameter is actually connected, so that the parameter corresponding to the external connection device 4 can be determined.

[0028] In the above, the parameter setting device 2a, which includes the supplier specification unit 21, the unit 22 for temporarily setting parameters, and the parameter determination unit 23, can also be integrally provided in the robot teaching panel 3 instead of in the robot control unit 2. The correspondence table 24 can also be stored in the memory of the robot teaching panel 3 instead of in the robot control unit 2.

[0029] As described above, by applying the parameter setting device 2a according to the first embodiment, for example, when the new external device is connected to the robot control unit via a cable 63 as an external connection device 4, the parameter of the external connection device is automatically set to the robot control unit 2. In particular, the operator can use an external connection device 4 in its current state without entering parameters from the robot teaching panel 3, for example by referring to the manual of the external connection device 4.

[0030] Fig. Figure 5 is a graphical representation to explain a structural example for an ARP package. As in Fig. As shown in Figure 5, the structure of the ARP packet is very simple, and the packet is exchanged between the sender and the destination to exchange information about the respective IP (Internet Protocol) address and a MAC address. It should be noted that the actual MAC address varies depending on the network. Fig. 5 represents the case of EtherNet (registered trademark) and stores a MAC address for 6 bytes (48 bits).

[0031] Specifically, ARP is a protocol for determining the MAC address from the IP address, and within the packet, fields are prepared to store the IP address and MAC address of both the sender and recipient. It should be noted that RARP, unlike ARP, is a protocol (Reverse ARP) for deriving an IP address from a MAC address. Furthermore, the MAC address and the IP address have variable lengths, and these lengths (in bytes) are written in HLEN and PLEN, respectively. Specifically, in EtherNet (registered trademark) within IPv4 (Internet Protocol version 4), HLEN is "6" and PLEN is always "4".

[0032] Fig. Figure 6 is a graphical representation that depicts an example of a captured ARP packet and represents a specific example of an ARP packet captured by packet capture software. As indicated by the reference EE in Fig. As shown in Figure 6, for example, if the robot control unit 2 and the external connection device (external device) 4 are connected by a network (e.g., an EtherNet (registered trademark) cable 63) to perform data transmission, the provider of the external connection device 4 can be specified by acknowledging the ARP packet of the external connection device 4. In particular, from the ARP data “Sender MAC address: XYZ 7c:cf8e (00:00:00:7c:cf:8e)”, for example, it is specified that the provider of the external connection device 4 is “Company XYZ”, represented by “00:00:00”.

[0033] Fig. Figure 7 is a flowchart to explain an example of processing in an embodiment of a parameter setting program according to the present embodiment. As in Fig. As shown in Figure 7, when an example of the processing of the parameter setting program of the present embodiment begins (START), step ST1 determines whether a device is connected to an external connection device 4 for data transmission, and if it is determined that the device is connected to the external connection device 4 for data transmission (YES), it proceeds to step ST2 to determine whether an ARP packet has been received.

[0034] In step ST2, if it is determined that the ARP packet has been received (YES), the process proceeds to step ST3 to determine whether a provider code has been specified. If step ST3 determines that the provider code has been specified (YES), the process proceeds to step ST4. This means that, as described above, the provider specification unit 21 specifies the provider of the external connection device 4, for example, based on the MAC address in the ARP packet of the external connection device 4. If no connection for data transmission with the external connection device 4 exists in step ST1 (NO), the ARP packet is not received in step ST2 (NO), and if step ST3 determines that the provider code is not specified (NO), the processing is terminated (END).

[0035] In step ST4, it is determined whether an external candidate device consists of multiple parts. If it is determined that the external candidate device consists of multiple parts (YES), it proceeds to step ST5 and transmits the data transmission start package while simultaneously changing the parameters for each external device. That is, as described above in the example, the unit 22, for temporarily setting parameters, refers to the correspondence table 24, which was previously stored in the memory of the parameter setting device 2a, and transmits the data transmission start package to the external connection device 4, whose type has not yet been determined. At the same time, it changes the parameters corresponding to the respective external devices so that the majority of the external devices are candidates.

[0036] Next, in step ST6, it is determined whether a success response has been received. If it is determined that a success response has been received (YES), it proceeds to step ST9, and the parameter of the external device with which the success response was received is set as a parameter of the external connection device 4 on the robot control unit 2. Specifically, the parameter determination unit 23, as described above, transmits the data transmission start packet based on the parameter temporarily set by the unit 22 for temporary parameter setting and receives a success response only if the temporarily set parameter matches the parameter of the actually connected external connection device 4, so that the parameter of the external connection device 4 can be determined.Subsequently, in step ST9, after setting the parameter of the external device that has the success response, the process is terminated (END) as parameter of the external device 4 to the robot control unit 2.

[0037] It should be noted that in step ST4, if it is determined that there are no multiple external candidate devices (NO), meaning that the external device provided by the vendor is of one type, the parameters of that one type of external device are set as parameters of the external connection device 4 on the robot control unit 2. If in step ST6 it is determined that there is no success response (NO), it proceeds to step ST7 to determine whether all candidate parameters have been transmitted, and if it is determined that not all candidate parameters have been transmitted (NO), the process returns to step ST5 to repeat a similar process.

[0038] In particular, the process in step ST7, when it is determined that all candidate parameters have been transferred (YES), proceeds to step ST8, and the list of external candidate devices is displayed on the robot teaching panel 3 to terminate the processing (END). It should be noted that if all candidate parameters are transferred to the external connection device 4, the list of external devices containing all candidates is displayed, for example, on display unit 31 of the robot teaching panel 3 and communicated to an operator. If display unit 31 is also provided in the robot control unit 2, the list of external devices containing all candidates is displayed on the display unit of the robot control unit 2, or it is displayed on both display unit 31 of the robot teaching panel 3 and on the display unit of the robot control unit 2.Furthermore, the display unit 31 is not limited to showing a list of the external devices of all candidates once all candidate parameters have been transmitted. For example, the display unit 31 also shows information such as a parameter determined by the parameter determination unit 23 and a supplier or type of external connection device 4 that corresponds to the determined parameter.

[0039] It should be noted that one embodiment of the parameter setting program according to the present embodiment described above can be stored in a memory of the robot training control panel 3, which is connected, for example, to a robot control unit 2 or a robot control device, and can be executed by an arithmetic processing unit (CPU) of the robot control unit 2 or the robot training control panel 3. Alternatively, one embodiment of the parameter setting program according to the present embodiment can be stored in a memory of a setting computer 5, which differs, for example, from the robot control unit 2, as described in detail below, and can also be executed by the arithmetic processing unit of the setting computer 5.

[0040] The parameter setting program according to the embodiment described above can be recorded and provided on a computer-readable non-transient recording medium or a non-volatile semiconductor memory, or it can be provided via wired or wireless means. The computer-readable non-transient recording medium can be, for example, a CD-ROM (Compact Disc Read Only Memory), an optical disc such as a DVD-ROM, a hard disk device, and the like. Furthermore, a PROM (Programmable Read Only Memory), flash memory, and the like are considered non-volatile semiconductor memories.Furthermore, it is assumed that distribution from the server device is intended to take place via a wired or wireless LAN (Local Area Network) or a WAN (Wide Area Network) such as the Internet.

[0041] Fig. Figure 8 is a graphical block representation that schematically depicts an example of a robot system to which a second example of a parameter setting device according to the present embodiment is applied, and Fig. Figure 9 is a graphical function block representation to explain the parameter setting device of the in Fig. 8 shown in the second embodiment. It should be noted that, according to the second embodiment, the parameter setting device 2b is provided as a separate setting computer, distinct from the robot control unit 2. As in Fig. As shown in Figure 8, a robot system 200 comprises a robot 1, a robot control unit 2, a PLC setting computer 5 (a parameter setting device 2b), a robot teaching control panel 3, and an external connection device 4. Fig. 8 and Fig. 9 is the setting computer functioning as parameter setting device 2b by the PLC setting computer 5, which performs various settings in a PLC 41, but is not limited to the PLC setting computer 5.

[0042] As can be seen from the comparison described above between Fig. 9 and Fig. As can be seen in Figure 4, the parameter setting device 2b according to the second embodiment has a similar configuration to that of the parameter setting device 2a of the first embodiment. In particular, the parameter setting device 2b according to the second embodiment is provided separately from the robot control unit 2 and includes a supplier specification unit 21, a unit 22 for temporarily setting parameters, and a parameter determination unit 23. Since this supplier specification unit 21, the unit 22 for temporarily setting parameters, the parameter determination unit 23, and the correspondence table 24 are essentially similar to those in the parameter setting device 2a of the first embodiment, their description is omitted.

[0043] As in Fig. 8 and Fig. As shown in Figure 9, the PLC setting computer (setting computer) 5 is connected to the PLC 41, for example, by a USB (Universal Serial Bus) cable 64 and performs various settings in the PLC 41. The parameter setting device 2b according to the second embodiment has a similar function to that of the parameter setting device 2a of the first embodiment by installing the parameter setting program according to the present embodiment described above with respect to the PLC setting computer 5. It should be noted that a notebook personal computer, a tablet computer, and the like can be used as the parameter setting device 2b (setting computer 5).Furthermore, although the parameter setting device 2b of the second embodiment may receive a success response to the start packet for data transmission by the unit 22 for temporarily setting parameters from the PLC 41 via the USB cable 64, the setting computer 5 (the parameter setting device 2b) may also be connected to the PLC 41 via the EtherNet (registered trademark) cable 64, for example.

[0044] The parameter setting device 2b of the second embodiment essentially stores the determined parameters of the external connection device 4 (PLC 41), which were obtained by performing the same processing as in the parameter setting device 2a of the first embodiment, with reference to Fig. 3 to Fig.As described in section 7, the external connection device 4 is stored in a USB storage device 6. Furthermore, the operator inserts the USB storage device 6, which contains the determined parameter of the external connection device 4, into the USB port of the robot control unit 2 and sets the parameter of the external connection device 4 on the robot control unit 2. In this case, the operator performs the task of attaching / removing the USB storage device 6, which mediates between the configuration computer 5 and the robot control unit 2. This task is, however, simpler than setting the parameters by consulting the manual or similar documentation for the external connection device 4.It should be noted that various modifications and variations are possible, such as connecting the setting computer 5 and the robot control unit 2 via a data transmission cable such as EtherNet (registered trademark) instead of using the USB storage device 6, which is not possible without using the USB storage device 6.

[0045] As described in detail above, a parameter setting device, a parameter setting method and a parameter setting program according to the present embodiment enable simple setting of parameters in a field network of a robot control device.

[0046] Although the present disclosure has been described in detail, it is not limited to the individual embodiments described above. These embodiments may be supplemented, replaced, modified, partially deleted, or otherwise altered within a scope that does not deviate from the core idea of ​​the present disclosure, or within a scope that does not deviate from the essential content of the present disclosure as derived from the content described in the claims and their equivalents. These embodiments may also be implemented in combination. For example, in the embodiment described above, the sequence of each operation and the sequence of each processing step are shown as examples and are not limited to these. The same applies furthermore if a numerical value or a mathematical expression is used in the description of the embodiment described above.

[0047] With regard to the embodiments and variants described above, the following descriptions are further disclosed. Annex 1

[0048] A parameter setting device (2a, 2b) for setting parameters of an external connection device (4) which is connected to a robot control device (2) via a network (63) and which has: a provider specification unit (21) which is configured to specify a provider of the external connection device (4); a unit (22) for temporarily setting parameters, which is configured to temporarily set parameters of a plurality of external devices with reference to a correspondence table (24) in which at least one external device provided by the specified supplier and parameters unique to each of the external devices are mapped to one another, and a parameter determination unit (23) which is configured to determine connection parameters corresponding to the external connection device (4) on the basis of a response from the external connection device (4) with respect to temporarily set parameters. Appendix 2

[0049] The parameter setting device according to Annex 1, wherein the unit (22) for temporarily setting parameters refers to the correspondence table (24), temporarily sets the parameters of at least one external device provided by the supplier and simultaneously changes the parameters of the at least one external device provided by the supplier, transmits a starter package for data transmission to the external connection device (4), and The parameter determination unit (23) determines the temporarily set parameters as connection parameters when the unit (22) for temporarily setting parameters receives a success response from the external connection device (4) with respect to the start packet for data transmission. Appendix 3

[0050] The parameter setting device according to Annex 1 or 2, wherein the provider specification unit (21) specifies a provider of the external connection device (4) based on an ARP packet from the external connection device (4). Appendix 4

[0051] The parameter setting device according to Annex 3, wherein the provider specification unit (21) specifies the provider of the external connection device (4) based on a MAC address in the ARP packet from the external connection device (4). Appendix 5

[0052] The parameter setting device according to any one of Annexes 1 to 4, wherein the correspondence table (24) is downloaded in advance from a database and stored in a memory of the parameter setting device. Appendix 6

[0053] The parameter setting device according to any one of Annexes 1 to 5, wherein the parameter setting device (2a) is integrated into the robot control device (2) and is integrally provided with it. Appendix 7

[0054] The parameter setting device according to any one of Annexes 1 to 5, wherein a robot teaching control panel (3) is connected to the robot control unit (2), and the parameter setting device (2a) is built into the robot teaching control panel (3) and is integrally provided with it. Appendix 8

[0055] The parameter setting device according to Annex 6 or 7, wherein The connection parameters determined by the parameter determination unit (23) are set to the robot control unit (2). Appendix 9

[0056] The parameter setting device according to any one of Annexes 1 to 5, wherein the parameter setting device (2b) is provided as a setting computer which differs from the robot control device (2). Appendix 10

[0057] The parameter setting device according to Annex 9, wherein The connection parameters determined by the parameter determination unit (23) are set to the robot control unit (2) via an external memory (5) which is attached to and removed from the setting computer (2b). Annex 11

[0058] The parameter setting device according to any one of Annexes 1 to 10, wherein the robot control unit (2) controls the operations of a robot (1), and the external device (4) is a PLC (41) or an I / O module (42) which is connected to a network (63) which is connected to the robot control device (2). Appendix 12

[0059] A parameter setting method for setting parameters of an external connection device (4) which is connected to a robot control device (2) via a network (63), a step towards specifying a supplier of the external connection device (4), a step to refer to a correspondence table (24) in which at least one external device (4) provided by the specified supplier and unique parameters for each of the external devices (4) are mapped to each other, a step to determine the connection parameters corresponding to the external connection device (4) based on a response from the external connection device (4) with respect to temporarily set parameters, and a step to set the determined connection parameters in the robot control unit (2). Appendix 13

[0060] The parameter setting procedure according to Annex 12, wherein the step to temporarily set the parameters refers to the correspondence table (24), transmits a starter package for data transmission to the external connection device (4) after the parameters of at least one external device (4) provided by the provider have been temporarily set, and The step to determine the connection parameters is to determine the temporarily set parameters as connection parameters based on a success response from the external connection device (4) to the start packet for data transmission. Appendix 14

[0061] A parameter setting program for setting parameters of an external connection device (4) which is connected to a robot control device (2) via a network (63), wherein the parameter setting program causes a computational processing device to perform the parameter setting procedure according to Annex 12 or 13. List of reference symbols 1 robot 2 Robot control unit 2a Parameter setting device (robot control unit) 2b Parameter setting device (setting computer) 3 Robot teaching control panel 4. Connected external device (external device) 5 Setting computers (PLC setting computers) 6 USB storage devices 21 Vendor Specification Unit 22 Unit for temporarily setting parameters 23 Parameter determination unit 24 Correspondence table 41 PLC 42 I / O module 61 to 64 cables 100, 200, 300 robot system

Claims

[1] Parameter setting device for setting parameters of an external connection device that is connected to a robot control device via a network, comprising: a vendor specification unit trained to specify a vendor of the external connection device; a unit for temporarily setting parameters, which is designed to temporarily set parameters of a plurality of external devices with reference to a correspondence table in which at least one external device provided by the specified supplier and parameters unique to each of the external devices are mapped to each other, and a parameter determination unit designed to determine connection parameters corresponding to the external connection device based on a response from the external connection device with respect to the temporarily set parameters. [2] Parameter setting device according to claim 1, wherein the unit for temporarily setting parameters refers to the correspondence table, temporarily sets the parameters of at least one external device provided by the provider and simultaneously modifies the parameters of the at least one external device provided by the provider, transmits a starter package for data transmission to the external connection device, and The parameter determination unit identifies the temporarily set parameters as connection parameters when the temporary parameter setting unit receives a success response from the external connection device regarding the data transmission start packet. [3] Parameter setting device according to claim 1 or 2, wherein the provider specification unit specifies a provider of the external connection device based on an ARP packet from the external connection device. [4] Parameter setting device according to claim 3, wherein the provider specification unit specifies the provider of the external connection device on the basis of a MAC address in the ARP packet from the external connection device. [5] Parameter setting device according to any one of claims 1 to 4, wherein the correspondence table is downloaded in advance from a database and stored in a memory of the parameter setting device. [6] Parameter setting device according to any one of claims 1 to 5, wherein the parameter setting device is integrated into and integrally provided with the robot control device. [7] Parameter setting device according to any one of claims 1 to 5, wherein a robot teaching control panel is connected to the robot control unit, and The parameter setting device is built into the robot teaching control panel and is integrally provided with it. [8] Parameter setting device according to claim 6 or 7, wherein the connection parameters determined by the parameter determination unit are set to the robot control device. [9] Parameter setting device according to any one of claims 1 to 5, wherein the parameter setting device is provided as a setting computer which is distinct from the robot control device. [10] Parameter setting device according to claim 9, wherein the connection parameters determined by the parameter determination unit are set to the robot control device via an external memory which is attached to and removed from the setting computer. [11] Parameter setting device according to any one of claims 1 to 10, wherein The robot control unit controls the processes of a robot, and The external device is a PLC or an I / O module that is connected to a network that is connected to the robot control device. [12] Parameter setting method for setting parameters of an external connection device that is connected to a robot control device via a network, a step towards specifying a supplier of the external connection device, a step to refer to a correspondence table in which at least one external device provided by the specified supplier and parameters that are unique to each of the external devices are mapped to each other, a step to determine the connection parameters corresponding to the external connection device based on a response from the external connection device regarding temporarily set parameters, and a step to set the determined connection parameters in the robot control unit. [13] Parameter setting method according to claim 12, wherein The step of temporarily setting the parameters refers to the correspondence table, transmits a starter package for data transmission to the external connection device after the parameters of at least one external device provided by the provider have been temporarily set, and The step to determine the connection parameters involves determining the temporarily set parameters as connection parameters based on a success response from the external connection device to the start packet for data transmission. [14] Parameter setting program for setting parameters of an external connection device that is connected to a robot control device via a network, wherein the parameter setting program causes a computing processing device to perform the parameter setting method according to claim 12 or 13.

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