Production plant and method for operating a production plant having a robot and a programmable logic controller with relative addressing

Abstract

The present invention relates to a method for operating a production plant having a robot (2) and a programmable logic controller (3), wherein the robot (2) is designed to apply multiple technologies (41, 42, 43) and multiple functional units (51, 52, 53, 54), wherein a communication between the robot (2), a functional unit (51, 52) assigned to the robot (2) and the programmable logic controller (3) takes place via a field bus, wherein the robot (2) is initialized by virtue of signal declarations for the technologies (41, 42, 43) and signal declarations for the functional units (51, 52, 53, 54) each being allocated a plurality of address ranges (8), comprising address fields (7), that can be accessed via the field bus, wherein the signal declarations of each technology (41, 42, 43) and the signal declarations of each functional unit (51, 52, 53, 54) are each allocated a starting address (9), and wherein the respective starting address (9) is defined relative to a permanently defined reference address (11, 12) and called. The invention further relates to a production plant designed to carry out the method.

Description

[0001] Manufacturing plant and method for operating a manufacturing plant with a robot and a programmable logic controller with relative addressing

[0002] The invention relates to a method for operating a production plant with a robot and a programmable logic controller, wherein the robot is set up to use a plurality of technologies and a plurality of functional units, in particular a plurality of tools and / or devices, wherein communication between the robot, a functional unit assigned to the robot and the programmable logic controller takes place via a fieldbus, wherein during an initialization of the robot, signal declarations for the technologies and signal declarations for the functional units are each assigned to address ranges comprising a plurality of address fields, which can be accessed via the fieldbus, and wherein the signal declarations of each technology and the signal declarations of each functional unit are each assigned a start address.The signal declarations for the technologies and the signal declarations for the functional units specify in particular how control is to be carried out for an operation and, in particular, how signals are to be sent and received via the fieldbus.

[0003] Furthermore, the invention relates to a production plant with a robot which is configured to use a plurality of technologies and a plurality of functional units, with a programmable logic controller, and with at least one functional unit which is assigned to the robot, wherein the robot, the functional unit assigned to the robot and the programmable logic controller are connected for the transmission of signals via a fieldbus.

[0004] Such production systems, which in particular comprise mechanical and electronic components, and methods for operating a production system are known in the prior art. In particular, such highly automated production systems are used in the automotive industry for motor vehicle construction, especially in so-called body-in-white systems. For example, a robot in such a production system can be configured for welding and clinching as possible technologies. A robot configured for welding comprises, for example, a WPS gun (WPS: resistance spot welding) as a functional unit. However, a robot can be configured to use several identical or different technologies, as well as to use several identical or different tools and process devices as functional units.In this context, a technology is, in abstract terms, particularly an encapsulated range of functions that can be instantiated any number of times and, in particular, extends the basic functions of the robot to implement specific tasks within the manufacturing process, such as gripping a component or welding. A technology can furthermore include, in particular, functions to enable the use of an associated functional unit or units with the robot controller. In addition, the technology can, in particular, include functions to exchange signals with the higher-level programmable logic controller (PLC).

[0005] The electronic components of the production plant, also called field devices, are connected to each other via a fieldbus and communicate via this bus. Components of the production plant or field devices include, in particular, PLCs, robots, welding controllers, tool changers, grippers, stations, conveyor technology, etc., with functional units being field devices subordinate to the robot controller. The fieldbus connects the field devices to an automation device in a known manner and is used for the digital, bidirectional exchange of data, in particular signals and / or other information. For communication between the field devices, in particular between a robot and a functional unit, a previously defined and limited address range is available in such a production plant according to the current state of the art. This address range specifies how the field devices send and receive data via the fieldbus.Each field device is assigned its own address range on the fieldbus. During robot initialization, signals are assigned to the address ranges of the field devices on the fieldbus. This assignment is usually defined and prescribed by the OEM (OEM: Original Equipment Manufacturer). Different technologies occupy address ranges of different sizes. Since there are significantly more technologies than address ranges, the address ranges must be assigned multiple times, which is illustrated by the following table, where "I / O" stands for "input / output", meaning data exchange, and "PLC" for "programmable logic controller". PLC and functional units I / O.

[0006] This means that the constant start address of the base interface is located at a start address A, for example, at bit "0", for all three robot variants. The start address is the first address of a respective field device. The constant end address of the base interface for the three robot variants is located at the end address B, for example, at bit "127". The constant start address of technology interface 1 for the "Variant 1" robot is located at the start address C, for example, at bit "128". The constant start address of technology interface 2 for the "Variant 1" and "Variant 2" robots, or the constant start address of technology interface 5 for the "Variant 3" robot, is located at the start address D, for example, at bit "180". The constant start address of technology interface 3 for the "Variant 1" and "Variant 3" robots, is located at the start address E, for example, at bit "253".The start address F, for example at bit “386”, is the constant start address of technology interface 4 for the robots “Variant 1” and “Variant 2” and the constant start address of technology interface 7 for the robot “Variant 3”. For all three robots, the end address G, for example at bit “4096”, is the constant end address of the technology interfaces.

[0007] However, such a static specification of technologies means that technologies cannot be combined arbitrarily. Only certain technology combinations are available. For example, with the "Variant 3" robot, Technology 2 cannot be provided in addition to Technology 5 because the corresponding address range is already assigned. This reduces the flexibility in using the robots in the production systems and, in the worst case, leads to the number of robots increasing so that the required technologies can be used. In addition to the lack of flexibility, a previous OEM standard is also tied to different manufacturers of a functional unit implementing an identical and / or a predetermined I / O interface. In addition, these functional units from different manufacturers must behave in approximately the same way so that the production system can be operated as intended.

[0008] Against this background, it is an object of the present invention to improve a method for operating a production plant with a robot and a programmable logic controller as well as a production plant with a robot and a programmable logic controller, in particular to the extent that the robots can be used more flexibly for predeterminable technologies and functional units, such as tools and other process devices, in extensive combination.

[0009] To achieve this object, a method for operating a production plant according to claim 1 and a production plant according to the independent claim are proposed. Further advantageous embodiments of the invention are described in the dependent claims and the description, as well as illustrated in the figures.

[0010] The proposed solution provides a method for operating a production plant with a robot and a programmable logic controller, wherein the robot is configured to use multiple technologies and multiple functional units. Communication between the robot, a functional unit assigned to the robot, in particular a tool or other field device, and the programmable logic controller (PLC) takes place via a fieldbus. During robot initialization, signal declarations for the technologies and signal declarations for the functional units are assigned to address ranges, each of which comprises a plurality of address fields and can be accessed via the fieldbus.The signal declarations of each technology and the signal declarations of each functional unit are each assigned a start address, with the respective start address being defined relative to a fixed reference address. In particular, dynamically calculated signal addresses are used to configure the necessary signal exchange between the individual functional units. Advantageously, the signal areas for the technology-related signal exchange with the PLC and for the signal exchange with the process-relevant technology devices are each assigned a start address, with the respective start address advantageously being defined relative to a fixed reference address. The respective start address is, in particular, the first address of a respective field device.In particular, it is provided that the signal declarations of each technology are each assigned a start address relative to a first, fixed reference address, and the signal declarations of each functional unit are each assigned a start address relative to a second, fixed reference address. This advantageously enables flexible and technology-independent serialization of technology and / or device address ranges, which in turn advantageously enables a wide variety of combinations of technologies and functional units that a robot can use.

[0011] The relative indices of the signal declarations to the PLC and the associated functional units advantageously define the respective technology. Another advantage is that during initialization, each field device receives its own signal range in the robot controller, which in turn is advantageously assigned to the corresponding address range on the fieldbus. This address range is used in particular for signal exchange, in particular for signal exchange with the higher-level controller, in particular with the PLC and / or the robot, and further in particular for processing inputs and / or providing outputs. If a technology contains several functional units, it is advantageously provided that the signal ranges are linked to one another and form a higher-level signal range of the technology instance. A signal range comprises in particular several signal declarations, and each technology comprises in particular several signal declarations.Furthermore, it is particularly provided that the production plant is a highly automated production plant, in particular a highly automated motor vehicle production plant. The production plant can in particular comprise a plurality of robots. Each robot of the production plant can in particular be configured to use several identical technologies, for example, to carry out several welding processes, to use identical and different technologies, for example, to carry out several welding processes and for clinching, or to use exclusively different technologies, for example, for punch riveting, gluing, and riveting. Furthermore, a robot can be designed to use one or more functional units, in particular one or more tools and / or other process devices.Several identical functional units, identical and different functional units, or only different functional units can be assigned to a robot. However, the start addresses for the different technologies and the start addresses for the different functional units are advantageously no longer assigned exclusively to fixed address ranges, each of which begins at a fixed bit position. Instead, as already explained, the start addresses are advantageously defined relative to a fixed reference address, whereby the reference address can be different for each technology and the functional units.

[0012] According to an advantageous embodiment, the reference address is equal to the first start address of signal declarations of a first technology, i.e., the reference address corresponds to the first start address of signal declarations of a first technology. This start address advantageously follows the end address of a basic interface in which basic inputs and outputs are defined. This first start address of the first technology is advantageously used for the relative definition of the start addresses for all other technologies. Thus, advantageously, there is only one fixed reference address for the technologies. In particular, it can also be provided that the start addresses for the functional units are also defined in relation to this first start address of the first technology.However, it is preferred that a first start address of signal declarations of a first functional unit is assigned to a further fixed reference address that is independent of the first start address of signal declarations of the first technology. Advantageously, this clearly separates the assignment of signal declarations of the technologies and the assignment of signal declarations of the functional units. Furthermore, this can simplify implementation. Furthermore, this can simplify daily use. Advantageously, for robot-side initialization, the signal declarations of a respective technology are assigned serially to the address range, starting at the reference address. Further advantageously, for robot-side initialization, the signal declarations of a respective functional unit are assigned serially to the address range, starting at the reference address.Serialization advantageously relies on defining flexible starting addresses and then arranging the technologies or functional units serially. This allows for better utilization of the available address ranges.

[0013] According to a further advantageous embodiment, the signal declarations for the technologies are assigned to directly consecutive address ranges, wherein the start address of signal declarations of a subsequent technology is assigned to an address field that follows the last address field occupied by signal declarations of a preceding technology. The address ranges are thus advantageously arranged additively, wherein for each technology only the exact number of address fields or bits required is advantageously assigned. This number of address fields or bits for a respective technology is also referred to below as the technology width. The address ranges are thus obtained in particular by adding "first start address of the first technology" + "technology width 1" + "technology width 2" + ... + "technology width n".Advantageously, any technology combination can be flexibly enabled and new technologies can be easily integrated if required.

[0014] A further advantageous embodiment provides for the signal declarations for the functional units to be assigned to directly consecutive address ranges, with the start address of signal declarations of a subsequent functional unit being assigned to an address field that follows the last address field occupied by signal declarations of a preceding functional unit. The address ranges are thus advantageously arranged additively, with each functional unit advantageously being assigned only the exact number of address fields or bits required. This number of address fields or bits for a respective functional unit is also referred to below as the functional unit width. The address ranges are thus obtained, in particular, by adding "first start address of the first functional unit" + "functional unit width 1" + "functional unit width 2" + ...+ "Functional unit width n" or alternatively "first start address of the first technology" + "Technology width 1" + "Technology width 2" + ... + "Technology width n" + "Functional unit width 1" + "Functional unit width 2" + ... + "Functional unit width n". Advantageously, any combination of functional units can be flexibly enabled and, if necessary, new functional units can be easily integrated.

[0015] By advantageously assigning the signal declarations to directly consecutive address ranges, the limited resource "address range" is utilized very effectively. Furthermore, several technologies and / or functional units can be assigned to a robot, especially with longer cycle times.

[0016] A further embodiment provides that the start address of signal declarations for a first functional unit is assigned to an address field that follows an address range that adjoins the last address field occupied by signal declarations of a last technology. This further increases flexibility. According to an advantageous embodiment variant, however, the start address of signal declarations for a first functional unit is assigned to an address field with a further fixed reference address. This separation of technologies and functional units advantageously brings with it various simplifications in practice, particularly with regard to current production systems. In particular, there can be several unoccupied address fields between the address field of a last signal declaration of a last technology and the fixed reference address.

[0017] By assigning signal declarations for a particular technology to an address range, inputs and outputs for the respective technology are advantageously configured for a device fieldbus interface of the production system. Furthermore, by assigning signal declarations for a particular technology to an address range, inputs and outputs for the respective technology are configured for an SPS fieldbus interface of the programmable logic controller. Advantageously, the respective technology can then be used directly.

[0018] In particular, by assigning signal declarations for a particular technology to an address range, technology information for the respective technology is stored in a memory unit of the robot. This technology information particularly concerns the start addresses for signal exchange with the PLC and the functional units. In addition, the distinction between similar technologies that differ in terms of their functional units can be stored. In particular, for a specific technology, this makes it possible to distinguish between the different implementations with regard to signal configuration and sequence between manufacturer A and manufacturer B. Advantageously, the number of functional units can also be configured. This allows the use of different manufacturers in one technology.

[0019] It is further advantageous to store a number of address fields allocated for a particular technology in an address range. This advantageously results in the technology width or functional unit width. The stored information is then advantageously used, for example, when calling a technology to determine the starting address of the called technology based on the reference address and the respective number of address fields.

[0020] According to a further advantageous embodiment of the method, in addition to the initialization of the robot, an initialization of the programmable logic controller takes place, with the initialization of the programmable logic controller taking place in particular in parallel with the initialization of the robot. Advantageously, the respective technologies and / or functional units are thus successively and completely configured for an application.

[0021] Furthermore, the data representing the different technologies are advantageously instantiated and parameterized during the initialization of the programmable logic controller. This advantageously adapts the technologies to the specific application.

[0022] A further advantageous embodiment of the method provides that in order to execute one of the technologies using the robot, the respective start address is called relative to the fixed reference address. In particular, in order to execute one of the technologies using the robot, the respective start address is called relative to the first start address of the first technology, wherein the respective start address of a technology "n" is called in particular as the sum of "first start address of the first technology" + "technology width 1" + "technology width 2" + ... + "technology width n-1". Further advantageously, in order to use one of the functional units using the robot, the respective start address is called relative to the fixed reference address, in particular relative to the fixed further reference address.In particular, to execute one of the functional units in connection with the use of the robot, the respective start address is called relative to the first start address of the first functional unit, wherein the respective start address of a functional unit “m” is called in particular as the sum of “first start address of the first functional unit” + “functional unit width 1” + “functional unit width 2” + ... + “functional unit width m-1”.

[0023] In particular, it is intended that when a technology command related to one of the technologies is called, a query regarding the start address of the corresponding technology is performed. In particular, the distance, i.e., the number of address fields, between the start address of the corresponding technology and the first start address of the first technology is determined. This distance is also referred to below as the "I / O offset" (I / O: Input / Output).

[0024] Advantageously, a start address of signal declarations to be called is called, starting from the reference address, as the sum of the number of address fields of subsequent signal declarations for the technologies and / or for the functional units up to a last address field of signal declarations immediately preceding the target data. The signal declarations to be called are the signal declarations stored in the address range for the selected technology or the selected functional unit. For calling the start address of signal declarations to be called for a technology, the reference address is in particular equal to the first start address of the first technology. For calling the start address of signal declarations to be called for a functional unit, the reference address is in particular equal to the first start address of the first functional unit.

[0025] For communication between the robot and the programmable logic controller, an address field distance between the reference address and a respective start address is advantageously used when executing a technology command. Another advantage is that an address field distance between the further reference address and a respective start address of a functional unit is used for communication between the robot and a respective functional unit. Advantageously, therefore, no fixed addresses need to be defined for each technology and each functional unit in order to execute a technology command. Since the address field distance can change when the technology combinations or combinations of functional units change, a respective technology can advantageously continue to be called via the changed address field distance, advantageously without having to make further adjustments.

[0026] The following table illustrates an advantageous assignment of the address ranges as explained above. Where "I / O" stands for "input / output", "PLC" for "programmable logic controller", TB for technology width and FB for

[0027] Basic I / O

[0028] PLC I / O

[0029] Functional units I / O In this embodiment, the start address A is the start address of the base interface, although this could also be flexibly defined as a fixed reference address. The end address B is the end address of the base interface, although this does not have to be fixed. The first start address C of technology 1 is fixed as the first reference address for the technologies used by the robot. TB1 is the flexible width of the technology interface for technology 1 and is a specific number of address fields. TB2 is the flexible width of the technology interface for technology 2 and is also a specific number of address fields. The end address D is the flexible end address resulting for the technology interfaces. The first start address E of functional unit 1 is fixed as the second fixed reference address for the functional units used by the robot.FBI is the flexible width of the functional unit interface for functional unit 1 and is a specific number of address fields. FB2 is the flexible width of the functional unit interface for functional unit 2 and is a specific number of address fields. The end address F is the flexible end address resulting from the functional unit interfaces.

[0030] The manufacturing system further proposed to solve the aforementioned problem comprises a robot configured to use multiple technologies and multiple functional units, a programmable logic controller, and at least one functional unit assigned to the robot, wherein the robot, the functional unit assigned to the robot, and the programmable logic controller are connected for data transmission via a fieldbus. The system is configured for operation according to a method according to the invention. In particular, the manufacturing system is configured such that a respective start address of a technology or functional unit is defined relative to a fixed reference address, and the respective start address of a technology or functional unit is called relative to the fixed reference address.In particular, the production facility is a highly automated production facility, in particular a motor vehicle production facility.

[0031] Further advantageous details, features, and design details of the invention are explained in more detail in connection with the exemplary embodiments shown in the figures (Fig.: Figure).

[0032] Fig. 1a shows a highly simplified schematic representation of an exemplary embodiment of a production plant designed according to the invention; Fig. 1b shows a schematic representation of an exemplary embodiment of addressing technologies and functions according to a method designed according to the invention; and

[0033] Fig. 2 shows a flowchart of an embodiment of an execution of a method according to the invention.

[0034] With reference to Fig. 1a and Fig. 1b, an embodiment of a production system 1 designed according to the invention with a robot 2, a programmable logic controller 3 and two functional units 51, 52 assigned to the robot 2 is explained. The robot 2 is set up to use a plurality of technologies 41, 42, 43 and a plurality of functional units 51, 52, 53, 54. In this embodiment, it is provided that the robot 2 is set up to use the technologies spot welding 41, gripping 42 and riveting 43. This means that the robot 2 is set up to carry out these technologies 41, 42, 43 when appropriately controlled. Furthermore, the robot 2 in this embodiment is set up to use the functional units spot welding control 51, cap milling cutter 52, valve terminal 53 and hollow punch rivet control 54.These functional units 51, 52, 53, 54 are related to the technologies 41, 42, 43 for whose application the robot 2 is configured. In this exemplary embodiment, however, only a cap cutter 52 and a spot welding controller 51 are assigned to the robot 2 as functional units. Furthermore, in this exemplary embodiment, the robot 2 comprises a WPS gun 22 (WPS:.

[0035] Resistance spot welding), which, however, is not defined as a further functional unit but is assigned directly to the robot 2 and which, like the entire robot 2, is controlled via the robot controller 21. The robot 2, the robot controller 21, the programmable logic controller 3, the cap cutter 52 assigned to the robot 2 and the spot welding controller 51 assigned to the robot 2 are connected to one another via a fieldbus 6, wherein the data necessary for operating the production system is transmitted via this fieldbus 6. In particular, a data packet comprises at least one address and the binary information. The binary information describes, in particular, signals which can represent, in particular, the measurement data of a sensor or the switching state of an actuator.The robot controller 21 itself is a field device that is connected both to the higher-level programmable logic controller and to lower-level field devices, such as the spot welding controller 51 in this exemplary embodiment. In this exemplary embodiment, the robot controller 21 uses signal declarations that can be formed both internally from variables of the robot controller 21 itself and from address ranges of the fieldbus 6. These signal declarations can be used numerically during the control process, in particular via an index, or symbolically, in particular via a name. The arrangement of these signal declarations is, in particular, independent of the respective address ranges of the fieldbus 6. The assignment of address to signal declaration for the robot controller is defined during commissioning during initialization.

[0036] In order to be able to operate the production system 1, for initializing the robot 2, signal declarations for the various technologies 41, 42, 43 and signal declarations for the various functional units 51, 52, 53, 54 are each assigned address ranges 8, as shown in Fig. 1b, which can be accessed via the fieldbus 6. The address ranges 8 have a plurality of address fields 7, each of which can be addressed via an address. The signal declarations of each technology 41, 42, 43 are each assigned a start address 9, which is defined and called relative to a fixed first reference address 11, and the signal declarations of each functional unit 51, 52, 53, 54 are each assigned a start address 9, which is defined and called relative to a fixed second reference address 12.The signal declarations for the technologies 41, 42, 43 are assigned serially to the address range 8 starting at the first reference address 11 and the signal declarations for the functional units 51, 52, 53, 54 are assigned serially to the address range 8 starting at the second reference address 12.

[0037] In a first address range 8, which in this exemplary embodiment, as shown in Fig. 1b, is defined from a bit "1" as the start address 9 to a bit "512" as the end address 10, a basic package of signal declarations is initially stored, which relate in particular to robot interlocks, quality data, etc. The signal declarations of the first spot welding technology 41 are assigned to the directly adjacent address range 8 with the bit "513" as the start address 9. The signal declarations of the first spot welding technology 41 occupy sixteen address fields 7, so that the technology width is 16 bits. For the first technology 41 and the further technologies 42, 43, the start address 9 for spot welding 41 is defined at the bit "513" as the fixed reference address.The signal declarations of the further technologies 42, 43 are then assigned to immediately consecutive address areas 8, wherein the start address 9 of signal declarations of a subsequent technology is assigned to an address field 7 that follows the last address field 7 occupied by signal declarations of a preceding technology. This means that the start address 9 for the second technology, gripping 42, is calculated from the reference address "513" and the address field spacing 15 resulting from the technology width, which in this case is 16 bits, as the sum of 513 and 16 to 529. Since the second technology, gripping 42, has a technology width of 32 bits in this exemplary embodiment, the address field spacing to the reference address is 513 bits, i.e. 16+32, and the start address for the third technology, riveting 43, is calculated as the sum of 513+16+32.There are no unused address fields 7 between the spot welding 41 and gripping 42 technologies, and between the gripping 42 and riveting 43 technologies. The address ranges 8 are thus optimally utilized. However, a number of unused address fields 7, i.e. address fields 7 to which no signal declarations are assigned, are provided between the end address of the last technology 43 and the start address 9 of the first spot welding control functional unit 51. The start address 9 of the first spot welding control functional unit 51 is at bit "1032" and is the reference address 12 for this functional unit 51 and the other functional units 52, 53, 54 for assigning and calling the respective start address 9 of a respective functional unit.Here, too, the address areas 8 are written directly one after the other, starting from the reference address 12, with the signal declarations for the functional units 51, 52, 53, 54, and the functional unit width, i.e., the address spacing from the start address to the end address of the signal declarations for a respective functional unit, is stored in order to be able to call up the start addresses for use. Thus, in this exemplary embodiment, the spot welding control functional unit 51 has an address field spacing of 124 bits, the cap milling cutter functional unit 52 has an address field spacing of 124+8 bits, the valve terminal functional unit 53 has an address field spacing of 124+8+64 bits, and the hollow punch rivet control functional unit 54 has an address field spacing of 124+8+64+40 to the reference address 12 at bit "1032."This type of relative definition of the start addresses allows additional technologies and functional units to be easily added or replaced with existing ones, allowing robot 2 to be converted accordingly. The combinability of technologies and functional units is thus only subject to the restriction of the overall limited address field area 8, but not to any limitation by fixed start addresses for technologies and functional units that are permanently assigned and anchored in standards, as illustrated in the table below. Combinability according to the state of the art:

[0038] Combinability according to the invention: For example, technology 1 can mean riveting, instance 1 can mean first rivet control and instance 2 can mean second rivet control.

[0039] Fig. 2 shows, by way of example, a flowchart illustrating the initialization B1 and the execution of technology commands B2 in connection with the execution of a method according to the invention. In particular, the production facility can be a production facility as explained with reference to Figs. 1a and 1b. The term I / O offset corresponds to the term address field offset.

[0040] Block B1 shows the robot-side and PLC-side initialization within the framework of a technology configuration. The technologies to be configured are initialized successively. During initialization of the programmable logic controller, the data representing the different technologies are successively instantiated and parameterized. In addition, by assigning data for a respective technology to an address range (field: "Initialize next technology"), inputs and outputs for the respective technology are configured for a device fieldbus interface as a functional unit fieldbus interface, and inputs and outputs for the respective technology are configured for an PLC fieldbus interface of the programmable logic controller, which is referred to as "I / O configuration" in Fig. 2.

[0041] In addition, by assigning signal declarations for a respective technology to an address range, technology information on the respective technology is stored in a memory unit of the robot, designated "robot memory" in Fig. 2, and a number of address fields that are occupied for a respective technology in an address range are stored. Since the signal declarations for the technology are written serially one after the other, the information regarding the number of occupied address fields for a respective technology is used to address the respective technology relative to a reference address, as already explained above with reference to Fig. 1b, when calling a technology command (block B2). To execute an initialized technology using the robot, the respective start address of the selected technology is called relative to the fixed reference address.To do this, when a technology command related to one of the technologies is called, a query is made regarding the starting address of the corresponding technology, which is represented by the "Determine I / O Offsets" field in Fig. 2. Therefore, there are no fixed starting addresses stored for the technologies; instead, the respective starting address must first be determined. The same applies to the functional units.

[0042] The exemplary embodiments shown in the figures and explained in connection with them serve to explain the invention and are not limiting thereof.

[0043] List of reference symbols

[0044] 1 production facility

[0045] 2 robots

[0046] 21 Robot control

[0047] 22 WPS pliers

[0048] 3 programmable logic controllers

[0049] 41 first technology

[0050] 42 second technology

[0051] 43 third technology

[0052] 51 first functional unit

[0053] 52 second functional unit

[0054] 53 third functional unit

[0055] 54 fourth functional unit

[0056] 6 Fieldbus

[0057] 7 Address field

[0058] 8 Address range

[0059] 9 Starting address

[0060] 10 Final address

[0061] 11 first reference address

[0062] 12 second reference address

[0063] 15 Address field spacing

[0064] Bl Block “Initialization”

[0065] B2 Block “Execution of technology commands”

Claims

Claims 1. A method for operating a production plant (1) with a robot (2) and a programmable logic controller (3), wherein the robot (2) is configured to use a plurality of technologies (41, 42, 43) and a plurality of functional units (51, 52, 53, 54), wherein communication between the robot (2), a functional unit (51, 52) assigned to the robot (2) and the programmable logic controller (3) takes place via a field bus (6), wherein during an initialization of the robot (2), signal declarations for the technologies (41, 42, 43) and signal declarations for the functional units (51, 52, 53, 54) are each assigned to address areas (8) comprising a plurality of address fields (7) which can be accessed via the field bus (6), and wherein the signal declarations of each technology (41, 42, 43) and the signal declarations of each functional unit (51, 52, 53, 54) is assigned a start address (9), characterized in thatthat the respective start address (9) is determined relative to a fixed reference address (11, 12)., 2. Method according to claim 1, characterized in that the reference address (11) corresponds to the first start address of signal declarations of a first technology (41).

3. Method according to claim 1 or claim 2, characterized in that for the robot-side initialization, the signal declarations of a respective technology (41, 42, 43) and the signal declarations of a respective functional unit (51, 52, 53, 54) are assigned serially to the address range (8) starting at the reference address (11, 12).

4. Method according to one of the preceding claims, characterized in that the signal declarations for the technologies (41, 42, 43) are assigned to immediately successive address ranges (8), wherein the start address (9) of signal declarations of a subsequent technology (42, 43) is assigned to an address field (7) which follows a last address field (7) occupied by signal declarations of a preceding technology (41, 42). Method according to one of the preceding claims, characterized in that the signal declarations for the functional units (51, 52, 53, 54) are assigned to immediately consecutive address ranges (8), wherein the start address (9) of signal declarations of a subsequent functional unit (52, 53, 54) is assigned to an address field that follows an address field last occupied by signal declarations of a preceding functional unit (51, 52, 53). Method according to one of the preceding claims, characterized in that the start address of signal declarations for a first functional unit (51) is assigned to an address field that follows an address range (8) that adjoins an address field last occupied by signal declarations of a last technology (43).Method according to one of the preceding claims, characterized in that the start address (9) of signal declarations for a first functional unit (51) is assigned to an address field (7) with a further fixed reference address (12). Method according to one of the preceding claims, characterized in that by assigning signal declarations for a respective technology (41, 42, 43) to an address range (8), inputs and outputs for the respective technology (41, 42, 43) are configured for a respective functional unit fieldbus interface. Method according to one of the preceding claims, characterized in that by assigning signal declarations for a respective technology (41, 42, 43) to an address range (8), inputs and outputs for the respective technology (41, 42, 43) are configured for a respective PLC fieldbus interface of the programmable logic controller (3).Method according to one of the preceding claims, characterized in that, by assigning signal declarations for a respective technology (41, 42, 43) to an address range (8), technology information relating to the respective technology (41, 42, 43) is stored in a memory unit of the robot (2). Method according to one of the preceding claims, characterized in that a number of address fields allocated for a respective technology (41, 42, 43) in an address range (8) are stored.

12. Method according to one of the preceding claims, characterized in that in addition to the initialization of the robot (2) an initialization of the programmable logic controller (3) takes place.

13. The method according to claim 12, characterized in that during the initialization of the programmable logic controller (3), the data representing the different technologies (41, 42, 43) are instantiated and parameterized.

14. Method according to one of the preceding claims, characterized in that for executing one of the technologies (41, 42, 43) using the robot (2), the respective start address (9) is called relative to the fixed reference address (11).

15. Method according to one of the preceding claims, characterized in that for using one of the functional units (51, 52, 53, 54) using the robot (2), the respective start address (9) is called relative to the fixed reference address (11) or relative to the fixed further reference address (12).

16. Method according to one of the preceding claims, characterized in that when a technology command relating to one of the technologies (41, 42, 43) is called, a query is made regarding the start address (9) of the corresponding technology (41, 42, 43).

17. Method according to one of the preceding claims, characterized in that a start address (9) of signal declarations to be called is called starting from the reference address (11, 12) as the sum of the number of address fields (7) of subsequent signal declarations for the technologies (41, 42, 43) and / or for the functional units (51, 52, 53, 54) up to a last address field of signal declarations immediately preceding the signal declarations to be called.

18. Method according to one of the preceding claims, characterized in that an address field distance (15) between the reference address (11) and a respective start address (9) is respectively for communication between the robot (2) and the programmable logic controller (3) when executing a technology command is used and / or that an address field distance (15) between the further reference address (12) and a respective start address (9) is used for communication between the robot (2) and a respective functional unit (51, 52, 53, 54). A production plant (1) comprising a robot (2) configured to use multiple technologies (41, 42, 43) and multiple functional units (51, 52, 53, 54), a programmable logic controller (3), and at least one functional unit (51, 52) assigned to the robot (2), wherein the robot (2), the at least one functional unit (51, 52) assigned to the robot, and the programmable logic controller (3) are connected for data transmission via a field bus (6), characterized in that the production plant (1) is configured for operation according to one of claims 1 to 18.

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