Robot control system

Abstract

To suppress improper setting of a safety function to thereby contribute to enhancement of safety and productivity of a robot.SOLUTION: A robot control system is set with a plurality of scenes that are safety-related parameter groups. A logic section of a safety-related part determines motion of a robot while referring to any of the scenes. Upon receiving a [CHANGE SCENE] command included in a control program during driving control (automatic operation) of the robot based on the control program, the control device switches the scene to be referred to, to any of a plurality of registered scenes for automatic operation, on the basis of satisfaction of a switching condition including a position condition for the robot. Although, in a manual operation mode, a scene to be referred to is designated to a scene for manual operation (PD4), when a scene test is performed during the manual operation mode, the scene to be referred to is switched to a scene for automatic operation designated by a user (PD8).SELECTED DRAWING: Figure 37

Description

[Technical field]

[0001] The present invention relates to a robot control system. [Background technology]

[0002] Some robot control systems applied to robots such as industrial robots have a safety-related part that realizes the safety functions of the robot, and a non-safety-related part that controls the drive of the robot, etc. As for the safety-related part, there have been proposals for a system that forcibly stops the robot when it collides with an obstacle such as a person (see, for example, Patent Document 1), or forcibly stops the robot when it monitors the force (thrust) and speed of the robot while it is moving and the robot moves in a way that deviates from safety standards. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 4240517 Summary of the Invention [Problem to be solved by the invention]

[0004] In recent years, the number of types of work that a robot can perform is increasing due to the advancement of robot technology. When a robot is used for various tasks, if the safety functions are uniform, it may be difficult to improve both the safety of the robot and the productivity (work efficiency) of the robot. In view of this situation, the inventor of the present invention has devised a configuration for switching the safety functions of a robot according to the work content, etc. Specifically, the inventor has devised a configuration in which various safety-related parameters that affect the safety functions are provided and the safety-related parameter groups (scenes) are switched according to the work content, etc., and more specifically, a configuration in which a safety function switching instruction is included in a control program and the safety-related parameter groups are automatically switched according to the progress of the program. Here, although the configuration for automatically switching the safety-related parameter groups according to the work content, etc. is advantageous in terms of improving safety and productivity, if the set safety-related parameter groups are not as intended by the user, the effect of these parameters may be greatly reduced. Furthermore, there is a concern that even if a test run is performed after the control program is completed, it will be difficult to find anything other than obvious setting errors. Thus, in order to improve the safety and productivity of robots, there is still room for improvement in the configuration related to the setting of safety functions.

[0005] The present invention has been made in consideration of the problems exemplified above, and its main object is to suppress inappropriate settings of safety functions and contribute to improving the safety and productivity of robots. [Means for solving the problem]

[0006] Means for solving the above problems will be described below.

[0007] First means: A robot control system having a safety-related unit that has a motion judgment unit that judges the motion of the robot based on a safety-related input signal including a parameter correlated with at least one of the force, speed, and motion position of the robot during motion and a judgment criterion for the parameter that is stored in advance, and that realizes a safety function of the robot by generating a safety-related output signal according to the judgment result, a control mode of the robot, which is an automatic operation mode applied when the robot is operated in accordance with each operation instruction constituting a control program for the robot, and a manual operation mode applied when the robot is manually operated by a user; a plurality of scenes can be set, each of which is a group of safety-related parameters including the judgment criterion as a safety-related parameter that affects the safety function, and the operation judgment unit is configured to make the judgment by referring to the scenes; As the scenes, a plurality of scenes for autonomous driving that are referenced when the autonomous driving mode is set are provided, During the autonomous driving mode, when an instruction to switch the autonomous driving scene included in the control program is reached during drive control of the robot based on the control program, the scene to be referred to is switched to the autonomous driving scene specified by the switching instruction among the plurality of autonomous driving scenes based on the establishment of a predetermined switching condition, When any one of a plurality of scenes for automatic driving is specified under a situation in which the control mode is the manual operation mode, settings are made for testing the specified scene for automatic driving in the manual operation mode.

[0008] As shown in the first means, by incorporating a scene (group of safety-related parameters) switching instruction into the control program of the robot and making it possible to switch scenes during drive control (during automatic operation), it is possible to contribute to realizing a configuration that appropriately exercises safety functions according to the situation. This is preferable in terms of achieving both improved robot safety and improved productivity by the robot.

[0009] Here, if the number of items of safety-related parameters that the user can set for each scene increases, the safety functions can be finely changed according to the work content, etc. This is preferable in terms of achieving both improved safety and improved productivity. However, it is expected that the number of configurable items increases the likelihood of setting errors in safety-related parameters, etc. Furthermore, although obvious setting errors can be easily found during trials of autonomous driving, there is a concern that it will be difficult to find small setting errors, etc. This may be a factor that reduces the various effects described above.

[0010] In this regard, according to the configuration shown in the present means, by specifying one of the automatic driving scenes during the manual operation mode, the specified automatic driving scene can be tested during the manual operation mode. Since various robot movements can be tried during the manual operation mode, it is possible to find minor setting errors that are easily overlooked in the automatic operation mode. In other words, it is possible to properly check whether the automatic driving scene being set matches the user's intention. This is preferable in terms of suppressing inappropriate settings of safety functions and improving the safety and productivity of the robot.

[0011] Second means: A robot control system having a safety-related unit that has a motion judgment unit that judges the motion of the robot based on a safety-related input signal including a parameter correlated with at least one of the force, speed, and motion position of the robot during motion and a judgment criterion for the parameter that is stored in advance, and that realizes a safety function of the robot by generating a safety-related output signal according to the judgment result, a control mode of the robot, which is an automatic operation mode applied when the robot is operated in accordance with each operation instruction constituting a control program for the robot, and a manual operation mode applied when the robot is manually operated by a user; a plurality of scenes can be set, each of which is a group of safety-related parameters including the judgment criterion as a safety-related parameter that affects the safety function, and the operation judgment unit is configured to make the judgment by referring to the scenes; As the scenes, a plurality of scenes for autonomous driving that are referenced when the autonomous driving mode is set are provided, During the autonomous driving mode, when an instruction to switch the autonomous driving scene included in the control program is reached during drive control of the robot based on the control program, the scene to be referred to is switched to the autonomous driving scene specified by the switching instruction among the plurality of autonomous driving scenes based on the establishment of a predetermined switching condition, The vehicle is equipped with a setting unit that, when the control mode is the manual operation mode and any one of the multiple automatic driving scenes is specified, can set the specified automatic driving scene as a reference object for the judgment.

[0012] According to the second aspect, it is possible to suppress inappropriate settings of the safety function, thereby contributing to improvement of the safety and productivity of the robot.

[0013] Third means: A robot control system having a safety-related unit that has a motion judgment unit that judges the motion of the robot based on a safety-related input signal including a parameter correlated with at least one of the force, speed, and motion position of the robot during motion and a judgment criterion for the parameter that is stored in advance, and that realizes a safety function of the robot by generating a safety-related output signal according to the judgment result, a control mode of the robot, which is an automatic operation mode applied when the robot is operated in accordance with each operation instruction constituting a control program for the robot, and a manual operation mode applied when the robot is manually operated by a user; a plurality of scenes can be set, each of which is a group of safety-related parameters including the judgment criterion as a safety-related parameter that affects the safety function, and the operation judgment unit is configured to make the judgment by referring to the scenes; As the scenes, a plurality of scenes for autonomous driving that are referenced when the autonomous driving mode is set are provided, During the autonomous driving mode, when an instruction to switch the autonomous driving scene included in the control program is reached during drive control of the robot based on the control program, the scene to be referred to is switched to the autonomous driving scene specified by the switching instruction among the plurality of autonomous driving scenes based on the establishment of a predetermined switching condition, When the control mode is the manual operation mode and any one of a plurality of scenes for automatic driving is specified, the movement of the robot is confirmed based on the safety-related parameters that constitute the specified scene for automatic driving, and the confirmation results are notified to the user.

[0014] According to the third aspect, it is possible to suppress inappropriate settings of the safety function, thereby contributing to improvement of the safety and productivity of the robot. [Brief description of the drawings]

[0015] [Figure 1] 1 is a schematic diagram showing a factory according to a first embodiment. [Diagram 2] Side view of the robot. [Diagram 3] FIG. 2 is a block diagram showing the electrical configuration of the robot system. [Figure 4] Schematic diagram showing the robot's work routine. [Diagram 5] FIG. 2 is a schematic diagram showing the relationship between safety-related parts and non-safety-related parts. [Figure 6] FIG. 1A is a flowchart showing a motion monitoring process; FIG. 1B is a schematic diagram comparing judgment criteria set for each work scene; [Figure 7] FIG. 1 is a schematic diagram illustrating a control device for instructing switching of a safety function. [Figure 8] FIG. 4 is a schematic diagram illustrating switching positions of safety functions. [Figure 9] FIG. 1 is a schematic diagram showing the flow of a scene change sequence. [Figure 10] FIG. 11 is a schematic diagram showing items of safety-related parameters in the second embodiment. [Figure 11]FIG. 13 is a schematic diagram illustrating a main scene setting screen. [Figure 12] FIG. 13 is a schematic diagram illustrating a main scene setting screen. [Figure 13] FIG. 13 is a schematic diagram illustrating the setting screen for special scene 1. [Figure 14] Schematic diagram illustrating the setting screen for special scene 2. [Figure 15] FIG. 13 is a schematic diagram showing a simulation screen in the third embodiment. [Figure 16] FIG. 1 is a schematic diagram illustrating a program creation flow. [Figure 17] 11A and 11B are schematic diagrams comparing methods of dealing with the case where a position condition is not satisfied during a scene change. [Figure 18] 11 is a flowchart showing the flow of a scene change sequence in a simulation. [Figure 19] FIG. 1 is a schematic diagram illustrating a part of a simulation flow. [Figure 20] 11 is a flowchart showing a modified example of a scene change sequence in a simulation. [Figure 21] FIG. 13 is a schematic diagram showing a modified example related to a simulation. [Figure 22] FIG. 1 is a schematic diagram for explaining a problem. [Diagram 23] FIG. 13 is a schematic diagram illustrating a setting screen according to the fourth embodiment. [Figure 24] 13 is a flowchart showing a transmission process. [Diagram 25] FIG. 13 is a schematic diagram showing a message box for confirming transmission. [Figure 26] FIG. 4 is a schematic diagram showing a configuration related to the display of a name. [Figure 27] FIG. 13 is a schematic diagram showing a configuration related to setting of names in the fifth embodiment. [Figure 28] FIG. 4 is a schematic diagram showing types of unique information. [Figure 29] 13 is a flowchart showing a transmission process. [Diagram 30] FIG. 13A is a schematic diagram comparing serial numbers and names, and FIG. 13B is a schematic diagram showing a name structure in a sixth embodiment. [Diagram 31]A schematic diagram to explain the role of each part that makes up the name. [Diagram 32] FIG. 23 is a schematic diagram showing a scene for manual operation in the seventh embodiment. [Diagram 33] (a) Schematic diagram showing the control modes. (b) Schematic diagram showing the states of safety-related parts. [Diagram 34] FIG. 11 is a schematic diagram showing the flow of scene switching when an error is resolved. [Diagram 35] FIG. 1 is a schematic diagram for explaining a problem. [Diagram 36] FIG. 23A is a schematic diagram showing the relationship between control modes and main triggers for scene switching in the eighth embodiment, and FIG. 23B is a schematic diagram showing scenes for a manual operation mode. [Figure 37] Schematic diagram showing the flow up to executing a scene test. [Figure 38] FIG. 11 is a schematic diagram illustrating a flow of scene switching in a scene test. [Figure 39] 13A and 13B are schematic diagrams showing an item selection screen according to the ninth embodiment, and FIG. 13A and 13B are schematic diagrams showing a scene change. [Diagram 40] FIG. [Diagram 41] 23 is a flowchart showing a notification standard setting process according to the tenth embodiment. [Diagram 42] FIG. 4 is a schematic diagram showing the relationship between a monitoring criterion and a notification criterion. [Diagram 43] 13 is a flowchart showing a special notification process. [Diagram 44] Schematic diagram showing behavior during testing. [Diagram 45] 23 is a flowchart showing a test setting change process in the eleventh embodiment. [Figure 46] 1 is a schematic diagram illustrating scene changes during manual operation mode. [Figure 47] FIG. 13 is a schematic diagram showing a modified example of the robot system. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] <First embodiment> Hereinafter, a first embodiment of a robot system used in a factory, etc. will be described with reference to the drawings. First, with reference to FIG.

[0017] In one section of the factory 10, there are provided a stock area E1 in which shelves 12 for storing materials transported to the section by the conveyor 11 and shelves 13 for storing empty containers B are arranged, a processing area E2 in which various processing machines 14 for forming workpieces are arranged, an accumulation area E3 for accumulating formed workpieces, a receiving area E4 for receiving materials transported by the conveyor 11, and a passage E5 connecting these areas E1 to E4. An industrial robot 16 (hereinafter referred to as robot 16) shown in this embodiment moves between the areas E1 to E4 through the passage E5 and engages in predetermined work at each location.

[0018] As shown in FIG. 2, the robot 16 includes an AGV (Automated Guided Vehicle) 21, a vertical articulated robot arm 31 mounted on the AGV 21, and a control device 51 (see FIG. 3) that controls the AGV 21 and the robot arm 31.

[0019] The AGV 21 is provided with a traveling motor 25 and a magnetic sensor 26 that detects magnetism from a guide tape for magnetic guidance provided on the floor (see FIG. 3), and the control device 51 performs traveling control of the AGV 21, for example, drive control and steering control of the traveling motor 25, based on the magnetism detected by the magnetic sensor 26. In this embodiment, guide tapes are arranged in the areas E1 to E4 and the passage E5 so as to connect the areas E1 to E4, and the movement path (travel route) of the robot 16 is defined by the guide tapes.

[0020] A table 22 on which a container B is placed is formed on the upper surface of the body of the AGV 21, and the AGV 21 is capable of moving within the factory 10 with the container B placed on the table 22. The AGV 21 is also provided with a scanner 27 capable of detecting obstacles on the path of the robot 16, and an emergency stop switch 28 to be operated by a worker or the like in the event of an emergency. The scanner 27 and the emergency stop switch 28 function as input units for a safety-related unit, which will be described later, and are configured to bring the robot 16 to an emergency stop (so-called protective stop) when an obstacle is detected or an emergency stop operation is detected.

[0021] The robot arm 31 has a base 32 fixed to the upper surface of the body of the AGV 21 (next to the table 22), an arm body 33 attached to the base 32, and a hand 34 provided at the tip (hand tip) of the arm body 33. The hand 34 is replaceable with other end effectors such as tools depending on the work the robot 16 is engaged in.

[0022] The arm body 33 is formed by connecting a plurality of movable parts, and for each joint part, a drive motor 35 for driving the movable parts, a rotary encoder 36 for detecting the rotation angle of each joint part (axis), and a torque sensor 37 for detecting the rotation torque of each joint part (axis) are provided (see FIG. 3). As shown in FIG. 3, the drive motor 35, the rotary encoder 36, and the torque sensor 37 are connected to a control device 51, and a drive control unit 52 of the control device 51 controls each drive motor 35 based on the rotation angle detected by the rotary encoder 36, etc.

[0023] A personal computer (hereinafter, also referred to as PC 60) and a teaching pendant 70 can be connected to the control device 51 by wire or wirelessly. Software is installed in the control unit 62 of the PC 60 for creating a control program for the robot 16, backing up the data of the control device 51, and simulating the control program using a 3D model of the robot 16, and a setting support application is installed in the teaching pendant 70 for supporting the user in setting the movement of the robot 16 (including so-called teaching). For example, a control program created by the PC 60 is transmitted to the control device 51, and the drive control unit 52 of the control device 51 controls the drive of the AGV 21 and the robot arm 31 based on the control program. That is, the work contents and the work order of the robot 16 are defined by the control program. Hereinafter, the work contents and the work flow (routine) of the robot 16 shown in this embodiment will be described with reference to FIG. 1 and FIG. 4.

[0024] First, the robot 16 sets an empty container B on itself in the stock area E1 (work scene SCN1). Specifically, the robot arm 31 extends to grab an empty container B stored on the shelf 13, and places the container B on its own table 22. Thereafter, the robot arm 31 returns to the standby position, and moves to the processing area E2 through the passage E5 (work scene SCN2). Note that the robot arm 31 in the standby position is configured to avoid protruding from the AGV 21 when the robot 16 is viewed from above.

[0025] In the processing area E2, the completed workpieces are collected from the various processing machines 14 arranged in the processing area E2 (work scene SCN3). Specifically, the robot arm 31 is extended to grab the workpiece held in the chuck or the like of the processing machine 14 with the hand 34, and the workpiece is removed and stored in the container B on the table 22. This picking operation is repeated, and when the number of collected workpieces reaches a predetermined number, collection is completed. After collection is completed, the robot arm 31 is returned to the standby position, and the container B containing the workpieces is transported to the accumulation area E3 through the passage E5 (work scene SCN4).

[0026] In the accumulation area E3, the containers B are unloaded. Specifically, the containers B are stacked on the pallets 15 (so-called palletizing) (work scene SCN5). The group of containers B stacked on the pallets 15 is transported sequentially to the next process (for example, another processing process).

[0027] Incidentally, if workpieces pile up in container B due to an accidental factor or the like in the above work scene SCN3, it is assumed that stacking container B in work scene SCN5 becomes difficult. The robot arm 31 shown in this embodiment is equipped with a camera (not shown), and the control device 51 can check the storage state of the workpieces in container B from an image captured inside the container B. In work scene SCN4, the robot arm 31 executes an operation to level the workpieces piled up in container B as necessary.

[0028] After completing unloading in the accumulation area E3, the robot 16 returns the robot arm 31 to the standby position and moves through the passage E5 from the accumulation area E3 to the receiving area E4 at the end of the conveyor 11 (work scene SCN6). Then, the robot 16 receives the container B containing the work material from the conveyor 11 (work scene SCN7). More specifically, the container B is set on the table 22 by a crane attached to the conveyor 11. At this time, the robot arm 31 temporarily changes direction to avoid a collision with the crane or the container B.

[0029] The robot 16 that receives the container B transports the container B to the stock area E1 through the passage E5 (work scene SCN8). After arriving at the stock area E1, the robot 16 stores the set container B on the shelf 12 (work scene SCN9).

[0030] After the storing is completed, the work scenes SCN1 to SCN9 are repeated again. In this manner, the work routine of the robot 16 in this embodiment is constructed by the work scenes SCN1 to SCN9. Note that, depending on the operation status of the conveyor 11, the work scenes SCN7 to SCN9 may be skipped.

[0031] In the work scenes SCN1 to SCN9, not only the area where the robot 16 is located and the specific content of the work, but also the relationship with people (whether or not there is collaboration, etc.) are different. For example, the stock area E1 corresponding to the work scene SCN1 (obtaining a container) and the processing area E2 corresponding to the work scene SCN3 (picking) are collaboration areas where the area staff (people) work together with the robot 16. Specifically, the area staff of the stock area E1 and the processing area E2 are responsible for the input work of taking out materials from the container B stored on the shelf 12 and inputting them into the processing machine 14, the setting work of each processing machine 14, and the operation check work of each processing machine 14, and the collection work of collecting the work after processing, including the acquisition work of the empty container B, is the role of the robot 16. In other words, in the stock area E1 and the processing area E2, the work is shared between the area staff and the robot 16.

[0032] For work scenes SCN2, SCN4, and SCN6, the work area is defined to be the passage E5, and for work scene SCN5 (palletizing), the work area is defined to be the accumulation area E3. Work scenes SCN2, SCN4, SCN5, and SCN6 are different from work scenes SCN1 and SCN3 in that the robot 16 is performing a solitary task (non-collaborative task) in all of them. However, while people (such as area personnel) are allowed to pass through the passage E5, people are basically prohibited from entering the accumulation area E3. In other words, there is a difference in the possibility of contact between the robot 16 and people between work scenes SCN2, SCN4, and SCN6 and work scene SCN5 due to the difference in the operation of the areas. Specifically, the possibility of contact between people and the robot 16 is higher in work scenes SCN2, SCN4, and SCN6 than in work scene SCN5.

[0033] As described above, the robot 16 may come into contact with humans during its work routine, and one of its features is that it is equipped with configurations for enhancing the safety of the robot 16 in addition to the scanner 27 and emergency stop switch 28. Below, a supplementary explanation of the configuration related to the safety functions of the robot 16 will be given with reference to FIG.

[0034] The control system CS applied to the robot 16 is classified into a safety-related part PX that realizes the safety function of the robot 16 by outputting safety-related output signals in response to safety-related input signals, and a non-safety-related part PY that controls the drive of the AGV 21 and the robot arm 31 when safety has been confirmed by the safety-related part PX and operation of the AGV 21 and the robot arm 31 is permitted.

[0035] The safety-related part PX is composed of an input part X1 that inputs the above-mentioned safety-related input signal, a logic part X2 that performs safety checks, and an output part X3 that outputs a safety-related output signal. In this embodiment, the scanner 27, emergency stop switch 28, etc. correspond to the input part X1, the monitoring control part (safety controller) 53 provided in the control device 51 corresponds to the logic part X2, and the safety contactor attached to the control device 51 corresponds to the output part X3.

[0036] The safety contactor is connected to a switch provided in a drive circuit for the travel motor 25 of the AGV 21 and a switch provided in a drive circuit for the drive motor 35 of the robot arm 31. When a safety-related output signal is output from the safety contactor to these switches, the power supply to each of the motors 25, 35 is cut off, and the robot 16 is forcibly stopped.

[0037] The safety-related unit PX shown in this embodiment includes the rotary encoder 36 and the torque sensor 37 in addition to the scanner 27 and the emergency stop switch 28. That is, detection signals from the rotary encoder 36 and the torque sensor 37 are input to the logic unit X2 as the safety-related input signals. The logic unit X2 monitors the operation of the robot 16 based on the detection signals from the rotary encoder 36 and the torque sensor 37. Here, with reference to Fig. 6(a), an operation monitoring process executed as part of regular processing by the logic unit X2 (monitoring control unit 53 of the control device 51) will be described.

[0038] In the operation monitoring process, first, the speed, force (thrust), and position (coordinates) of the tip of the robot 16 (robot arm 31) (so-called tool center point) are grasped based on the detection signal from the rotary encoder 36 and the detection signal from the torque sensor 37 (step S101).

[0039] Next, it is determined whether the current hand speed value is smaller than the speed monitoring reference value (speed threshold or upper limit value) stored in the memory of the control device 51 (step S102). If the hand speed value is smaller than the monitoring reference value, it is determined whether the current hand force value is smaller than the force monitoring reference value (force threshold or upper limit value) stored in the memory of the control device 51 (step S103). If the hand force value is smaller than the monitoring reference value, it is determined whether the current hand position is within the monitoring reference area (within the operation allowable range) stored in the memory of the control device 51 (step S104). If the hand position is within the monitoring reference area, that is, if all the above-mentioned three judgment criteria are met, it is determined that the operation is performed properly, and this operation monitoring process is terminated. In the following description, each monitoring reference value and monitoring reference area will also be referred to as a "judgment criterion".

[0040] On the other hand, if any of the above three judgment criteria is not satisfied, each process for emergency stop and abnormality notification is executed (step S105), and this operation monitoring process is terminated. In the emergency stop process, the power supply to the motors 25 and 35 is forcibly cut off to stop the robot 16 (hereinafter, also referred to as emergency stop). Then, in the abnormality notification process, a warning lamp provided on the robot 16 is turned on, and information that an abnormality has occurred is transmitted to the management system of the factory 10. Thus, in this embodiment, the force, speed, and position of the hand of the robot 16 are parameters for monitoring the operation of the robot 16. In the following description, the force, speed, and position parameters, specifically, the parameters input to the logic unit X2 from the rotary encoder 36 and the torque sensor 37 are also referred to as "monitoring parameters".

[0041] The monitoring parameters are not limited to the parameters of the force, speed, and position of the hand of the robot 16. Instead of or in addition to these, parameters indicating the force (rotational torque), speed (rotational speed), and position of each joint (axis) can also be used as the monitoring parameters.

[0042] In this embodiment, the judgment criteria of the monitoring parameters also function as targets for suppressing (limiting) the movement of the robot arm 31 (specifically, the hand). For example, when a user directly touches the robot arm 31 or the like to teach the robot 16 a movement, the robot arm 31 may be pushed and pulled by the force of the force, resulting in a movement that exceeds the judgment criteria. Even in such a case, the movement of the robot arm 31 is restricted so as to fall within a range that does not exceed the judgment criteria, thereby suppressing frequent emergency stops caused by the judgment criteria being exceeded during work.

[0043] Here, as described above, when the robot 16 is engaged in various tasks, it is assumed that it becomes difficult to improve both safety and productivity if the safety functions become uniform. In this embodiment, taking such circumstances into consideration, the safety functions of the robot 16, specifically, the judgment criteria of each monitoring parameter, are made switchable according to the work scene. In other words, the judgment criteria shown in this embodiment are variable parameters (also referred to as safety-related parameters in the following explanation).

[0044] For example, as shown in Fig. 6(b), in "picking" of the work scene SCN3, the criterion for the speed monitoring parameter is 150 mm / s, the criterion for the force monitoring parameter is 100 N, and the criterion for the position monitoring parameter is the upper area of ​​the AGV 31 + the outer area of ​​the AGV 31 taking into consideration the workpiece picking operation (the outer area in the plan view of the robot 16). In this case, the robot 16 is brought to an emergency stop when any of the following conditions is met: the speed of the hand exceeds 150 mm / s, the force of the hand exceeds 100 N, or the position of the hand is outside the upper area + outer area of ​​the AGV 31.

[0045] In contrast, in the "Transport (1)" of the work scene SCN4, the criterion for the speed monitoring parameter is 200 mm / s, the criterion for the force monitoring parameter is 150 N, and the criterion for the position monitoring parameter is the upper region of the AGV 31. In this case, the robot 16 is brought to an emergency stop when any of the following occurs: the speed of the hand exceeds 200 mm / s, the force of the hand exceeds 150 N, or the position of the hand falls outside the upper region of the AGV 31 (when the robot arm 31 protrudes from the AGV 31 in a plan view).

[0046] In the work scene SCN5 "palletizing", the criterion for the speed monitoring parameter is 100 mm / s, the criterion for the force monitoring parameter is 300 N, and the criterion for the position monitoring parameter is the upper area of ​​the AGV 31 + the outer area of ​​the AGV 31 taking into account the palletizing operation (the outer area in the plan view of the robot 16). In this case, the robot 16 is brought to an emergency stop when any of the following conditions is met: the speed of the hand exceeds 100 mm / s, the force of the hand exceeds 300 N, or the position of the hand is outside the upper area + outer area of ​​the AGV 31.

[0047] As control devices capable of switching the safety functions by the safety-related part PX, there are provided three devices: (1) a teaching pendant 70, (2) a drive control part 52 (pack script in detail), and (3) an external general-purpose input / output 80 (hereinafter referred to as IO80) (see FIG. 5). All of these three control devices correspond to the non-safety-related part PY. Here, the configuration related to the switching of the safety functions will be described with reference to FIG. 7.

[0048] An application for switching safety functions is installed on the teaching pendant 70, and when a user performs a switching operation of the safety functions, i.e., a switching operation of the work scene, a scene change sequence is executed to switch the safety functions by the teaching pendant 70, which is a non-safety-related unit PY, and a safety FPGA (Field Programmable Gate Array) of the safety-related unit PX. Although details will be described later, in this scene change sequence, a command (request command) for switching the safety functions and diagnostic information (CRC) for diagnosing whether the command has been normally transmitted and received are transmitted to the safety FPGA of the safety-related unit PX. The safety FPGA switches the judgment criteria of the monitoring parameters based on this command. Note that the specific configuration of the logic unit X2 of the safety-related unit PX is not limited to a safety FPGA, and it may be a microcomputer or a CPU.

[0049] Sensors, the control center of the factory 10, and the like are communicatively connected to the IO 80, and switching of safety functions is permitted from external devices other than the teaching pendant 70. In other words, a scene change sequence is started in response to a signal from the IO 80.

[0050] Moreover, the control system CS shown in this embodiment is configured to be able to actively switch safety functions by the judgment of the control device 51. Specifically, during the automatic operation of the robot 16, the judgment criteria of the monitoring parameters are switched according to the work scene. Specifically, in the control program of the robot 16, the movement of the robot 16 in the work scene is defined by a combination of a plurality of operation control commands. In addition to the operation control commands, a safety function switching command for switching the safety function, more specifically, a "CHANGE SECEN" command for executing a scene change sequence is provided. This "CHANGE SECEN" command is configured to include information indicating a work scene to be switched to (a scene number to be described later) as information on how to set the safety function. In other words, the user can specify the work scene to be switched to by the "CHANGE SECEN" command when creating the control program. After the scene change sequence is started, the execution of the next task, i.e., the progress of the control program, is suspended until the scene change sequence is completed.

[0051] Here, the motion control command includes a command that specifies the destination of the robot 16, and this command moves the robot 16 to a specified control point in the next work area (the first control point in this embodiment). In the control program, the above-mentioned "CHANGE SECEN" command is entered after this command, and after executing the process of moving the robot 16 to the specified control point, the "CHANGE SECEN" command starts the sequence change sequence.

[0052] 8, the robot 16 moves in the order of processing area E2 → passage E5 → accumulation area E3. In passage E5, the scene change sequence is started at control point PT4 (corresponding to the above-mentioned predetermined control point) to which the robot 16 moves first from the processing area E2. The robot arm 31 is controlled to return to the standby position when picking is completed in the processing area E2, and the robot 16 basically moves to the control point PT4 with the robot arm 31 in the standby position. After the scene change sequence is completed, the robot arm 31 performs load leveling as necessary.

[0053] In addition, a sea change sequence is started at control point PT5 (corresponding to the above-mentioned predetermined control point) where the robot 16 moves first from aisle E5 in the accumulation area E3. The robot arm 31 is controlled to return to the standby position when the robot 16 finishes leveling the load in aisle E5, and basically the robot arm 31 moves to the control point PT5 while keeping the standby position. After the sea change sequence is completed, the robot arm 31 starts unloading the load.

[0054] Next, a scene change sequence executed by the non-safety-related part PY and the safety-related part PX (specifically, the safety FPGA) will be described with reference to FIG.

[0055] In the scene change sequence, first, the non-safety-related part PY confirms that the robot 16 (AGV 21 and robot arm 31) is stopped (stationary) (first process P1). Note that the safety function switching is basically configured to be executed under the condition that the robot 16 is stopped, taking safety into consideration, and if the robot 16 is not stopped due to a delay in operation, etc., the sequence is advanced after waiting for the robot 16 to stop.

[0056] Incidentally, in this embodiment, the scene change sequence is advanced when it is confirmed that both the AGV 21 and the robot arm 31 are stopped (stationary), but this may be modified so that when it is confirmed that the robot arm 31 is stopped, the scene change sequence is advanced even if the AGV 21 is moving.

[0057] When it is confirmed that the robot 16 has stopped, the position of the robot 16 is confirmed (second process P2). Specifically, the robot 16 is provided with a locator 41 capable of identifying the position of the robot 16 in the factory 10, and based on the position information (e.g., coordinates) of the robot 16 acquired from the locator 41, it is confirmed that the robot 16 is located at the above-mentioned predetermined control point in the designated area. Note that the robot 16 has a certain size, and the above-mentioned position confirmation is configured to determine whether a specific part of the robot 16 (the tip of the robot arm 31 in this embodiment) is located at a predetermined control point in the designated area.

[0058] Furthermore, in the position confirmation in the second process P2, it is confirmed that the tip of the robot arm 31 is placed at a preset position (a standby position corresponding to the above-mentioned standby posture in this embodiment) based on the encoder information acquired from the rotary encoder 36. That is, in this embodiment, the condition for switching the safety function is that the position of the robot 16 and the position of the tip of the robot arm 31 are at preset positions.

[0059] When the above-mentioned stop conditions and position conditions (switching conditions) are satisfied, the non-safety-related part PY instructs the safety-related part PX to switch the safety function of the safety-related part PX, i.e., to switch the monitoring parameters (criteria) (see the third process P3). Specifically, a request command requesting the safety FPGA of the safety-related part PX to switch the safety function and a CRC, which is diagnostic information for diagnosing whether the transmission and reception of the request command were performed normally, are transmitted to the safety FPGA of the safety-related part PX.

[0060] In this embodiment, the safety functions are defined for each work scene (work scenes SCN1 to SCN9) of the robot 16, and the request command is composed of information for identifying the control device that is the sender, a command ID including information indicating that the current request is to switch the safety function, and data (scene number) indicating the judgment criteria to be referred to in the subsequent judgments. If the sender of the request command for switching the safety function is the teaching pendant 70, the command ID is "11", if the sender is the drive control unit 52 (more specifically, the pack script), the command ID is "12", and if the sender is the IO 80, the command ID is "13".

[0061] Furthermore, when a request command for switching the safety function is set, the data is one of nine numbers from "1" to "9." For example, if the next work scene is SCN3 (picking), the data is "3." If the next work scene is SCN4 (transport (1)), the data is "4." If the next work scene is SCN5 (palletizing), the data is "5." The CRC is a checksum of the command ID and the data number. For example, if the drive control unit 52 is the sender and the next work scene is picking in SCN3, the CRC is "12" + "3" = "15."

[0062] The safety-related unit PX diagnoses whether or not an abnormality such as damage has occurred in the current request command and CRC based on the instruction received from the non-safety-related unit PY (fourth process P4). Specifically, it judges whether or not the sum of the command ID number and the data number of the request command matches the CRC. If they match, it is assumed that the current instruction has been transmitted and received normally, and it then diagnoses whether or not the request command itself is normal. Specifically, it refers to the command ID to identify that the current instruction is to switch a safety function, and judges whether or not the data is within the range corresponding to the current command ID. As described above, if the command ID is "11" to "13", the data will be any of "1" to "9". If the current data is any of "1" to "9", it diagnoses that the request command is normal.

[0063] Next, it is confirmed that the robot 16 is located in a specified area, more specifically, at the above-mentioned predetermined control point, based on the position information (e.g., coordinates) of the robot 16 acquired from the locator 41, and it is confirmed that the tip of the robot arm 31 is placed at the above-mentioned waiting position, based on the encoder information acquired from the rotary encoder 36 (fifth process P5). The position confirmation in the fifth process P5 is similar to the position confirmation in the above-mentioned second process P2.

[0064] If the request command is diagnosed as abnormal or if it is determined that the robot 16 or the tip of the robot arm 31 is not in the specified position, a notification is sent to the control center of the factory 10 or the like that an abnormality such as a communication error has occurred, and this scene change sequence is terminated.

[0065] If the current request command is normal and the tip of the robot 16 or the robot arm 31 is at the specified position, the request command is accepted and the safety function, i.e., the judgment criteria of the monitoring parameters, is switched in response to an instruction from the non-safety-related part PY (sixth process P6). Specifically, the memory of the control device 51 stores the correspondence between the data number and each monitoring parameter and the judgment criteria. The safety function (judgment criteria) is switched based on the specified data number and the correspondence stored in the memory. In other words, the value of the safety-related parameter is changed.

[0066] After the switching of the safety functions is completed, the safety-related part PX transmits information for identifying the settings of the safety functions after the switching to the non-safety-related part PY (seventh process P7). Specifically, after the switching of the safety functions is completed, an acknowledge signal is sent to the non-safety-related part PY to notify the non-safety-related part PY that the request command has been accepted. When the acknowledge signal arrives from the safety-related part PX, the non-safety-related part PY requests information for identifying the settings of the safety functions after the switching, that is, information for identifying the judgment criteria currently set as the reference target, from the safety-related part PX. A CRC may also be added to this request.

[0067] In response to a confirmation request from a non-safety-related part PY, the safety-related part PX sends to the non-safety-related part PY a request command (more specifically, a command simulating the request command) and a CRC, which is diagnostic information for diagnosing whether the transmission and reception of the request command was performed normally. The request command from the safety-related part PX, like the above request command from the non-safety-related part PY, is composed of information for identifying that the sender is the safety-related part PX, a command ID including information indicating that the current request is a switching of a safety function, and data (scene number) indicating a judgment criterion to be referred to in subsequent judgments. The CRC is the sum of the command ID number and data number of the command to be responded to this time. For example, if the current setting corresponds to "picking" of the work scene SCN3 in response to a request from the non-safety-related part PY, the safety-related part PX (safety FPGA) returns the command ID="19", data number="3", and CRC="22". Incidentally, it is sufficient for the CRC to be determined based on the command ID and data number, and the specific calculation method is arbitrary.

[0068] The non-safety-related part PY that has received a response from the safety-related part PX judges whether the safety function of the safety-related part PX has been switched normally in response to the request from the non-safety-related part PY (eighth process P8). Specifically, it first diagnoses whether the current response has been transmitted and received normally based on the request command and CRC. More specifically, it judges whether the sum of the command ID number and the data number of the request command matches the CRC. If they match, it considers that the current response has been transmitted and received normally. The non-safety-related part PY stores the relationship between the command ID and data of the request command from the safety-related part PX, and judges whether the command ID and data of the request command that it sent to the safety-related part PX match the content based on these relationships. If it is confirmed that the response from the safety-related part PX matches its own instructions, the scene change sequence is completed.

[0069] According to the first embodiment described above in detail, the following excellent effects can be expected.

[0070] It is preferable for one robot to take on multiple different tasks in order to promote the automation of manufacturing processes, etc. However, if a uniform configuration is adopted in which the same level of safety functions (judgment criteria for motion monitoring) are applied to multiple work scenes with different work contents, etc., it becomes difficult to achieve both improved safety and improved productivity. In this regard, if a configuration is adopted in which the safety functions are switched (judgment criteria for motion monitoring are changed) for each work scene as shown in this embodiment, it can contribute to improved safety of the robot and improved work efficiency.

[0071] As described above, making the safety function switchable has various technical significances as described above. However, providing such a switching function gives rise to the following new concerns. That is, if the safety function suddenly switches due to an accidental reason while the robot 16 is operating, an event may occur in which a movement that would not be problematic is caught by monitoring. This unnecessarily increases the opportunities for the robot to be forcibly stopped, etc., and is a factor in reducing productivity. Therefore, as shown in this embodiment, if a configuration is adopted in which the safety function is allowed to be switched when the robot 16 is stopped after one work scene is completed during automatic operation of the robot 16, the above concerns can be suitably alleviated.

[0072] In this embodiment, the above-mentioned stop conditions and position conditions are particularly used as switching conditions for the safety functions. In other words, the configuration is such that the safety functions are switched after the positions of the robot 16 and the tip of the robot arm 31 are confirmed. In view of the fact that the work content differs depending on the area in which the robot 16 works and the appropriate safety functions differ accordingly, it is preferable to switch the safety functions after confirming the position in order to improve the reliability of the switching.

[0073] When switching between multiple types of criteria (force criteria, speed criteria, etc.), instead of specifying each criterion individually, it is possible to prevent instructions from the non-safety-related part PY to the safety-related part PX from becoming complicated by specifying a combination of those criteria (scene number) that has been defined in advance. This is a preferable configuration for increasing the number of tasks that the robot can perform while taking into consideration safety functions.

[0074] When switching the safety function, a switching instruction is sent from the non-safety-related part PY to the safety-related part PX. This instruction is composed of a request command and a CRC, and the safety-related part PX diagnoses whether the instruction has been received normally based on the request command and the CRC, and diagnoses whether the instruction itself is normal. If the diagnosis shows no abnormality, the instruction from the non-safety-related part PY is accepted, and the safety-related part PX switches the judgment criterion to be referred to according to the instruction. In other words, even if the instruction is from the non-safety-related part PY, if it is determined that the instruction is not abnormal due to a transmission error or the like, the judgment criterion is switched. In this way, if safe switching from the non-safety-related part PY is realized, the operability of changing the safety function in the control system CS can be suitably improved.

[0075] According to the configuration shown in this embodiment, even when switching the safety function of the safety-related part PX from the non-safety-related part PY, it is possible to suppress a decrease in reliability with respect to the change of the safety function, and it is possible to avoid stricter restrictions on the change compared to the case where the input for changing the safety function is an input from the input part X1 (so-called safety input). This makes it possible to suitably improve the operability of changing the safety function.

[0076] As shown in this embodiment, if the configuration is such that the type of command pre-stored in the safety-related unit PX is compared with the current command to diagnose whether the command itself from the non-safety-related unit PY is normal, when the command is damaged due to a stuck bit, a communication error, or the like, it is possible to preferably prevent the safety function from being switched based on the damaged command.

[0077] <Variation 1> In the first embodiment, the position of the tip of the robot arm 31 (position on the robot 16), which is one of the switching conditions of the safety function, is set to a common position corresponding to the standby posture of the robot arm 31 regardless of the work scene, but this is not limited to this. The position of the tip of the robot arm 31 (position on the robot 16), which is a switching condition of the safety function, may be set differently depending on the work scene (e.g., work area) in which the safety function is switched. In addition, the tip of the robot arm 31 is used as a reference for checking the position of the robot 16, but this is not limited to this. For example, it is also possible to use the base 32 of the robot arm 31 as a reference for checking the position, the center of the robot 16 as a reference for checking the position, or the center or tip of the AGV 21 as a reference for checking the position.

[0078] <Variation 2> In the first embodiment, the position of the robot 16 is identified based on information from the locator 41 mounted on the robot 16, and the position of the tip of the robot arm 31 is identified based on information from the rotary encoder 36, but the specific configuration for identifying these positions is arbitrary. For example, the position of the robot 16 and the position of the tip of the robot arm 31 may be identified based on images captured by a surveillance camera installed in the factory 10. Also, an electronic tag may be placed in each area, and the position may be identified by reading the electronic tag with a reader mounted on the robot 16.

[0079] <Modification 3> In the above-described first embodiment, when a scene change sequence is executed, the non-safety-related unit PY (drive control unit 52) ​​transmits a request command and a CRC to the safety-related unit PX (safety FPGA), but does not transmit position information of the robot 16 or position information of the hand of the robot arm 31. In other words, the safety-related unit PX acquires such position information independently from the input unit X1. This may be modified so that when a scene change sequence is executed, the non-safety-related unit PY (drive control unit 52) ​​transmits the position information of the robot 16 or the position information of the hand of the robot arm 31 together with the request command and the CRC to the safety-related unit PX (safety FPGA). In this case, it is preferable to set the CRC taking into account the position information.

[0080] <Variation 4> In the first embodiment, picking and palletizing are exemplified as tasks for which the robot 16 is engaged, but the tasks are not limited to these. The robot 16 can also be engaged in tasks such as processing, assembly, welding, and inspection.

[0081] <Second embodiment> In the first embodiment, the safety function, specifically, the judgment criteria for the three monitoring parameters, "speed", "force" and "position", are switched for each work scene (work scenes SCN1 to SCN9), thereby improving both the safety and productivity of the robot 16. Here, for example, when focusing on "speed" and "force", the speed and force that can be tolerated from the viewpoint of safety may differ between a movement in one direction and a movement in another direction. In addition, when the judgment criteria are set for "speed", "force" and "position", the coordinate system to be used as the reference may differ depending on the work scene. Furthermore, by providing a safety-related parameter that can be set for each work scene other than the judgment criteria for the above three monitoring parameters, it is possible to contribute to further improvement of safety and productivity. In this embodiment, taking these circumstances into consideration, various settable safety-related parameters are provided other than the judgment criteria. Below, a characteristic configuration of this embodiment will be described, focusing on the differences from the first embodiment. In the following description, the judgment criteria (values) of the monitoring parameters set by the user and the set values ​​of the safety-related parameters other than the judgment criteria will be collectively referred to as "set values" or simply "values". In the following description, the safety-related parameter group is also referred to as a "scene" to distinguish it from the "work scene" in which the robot 16 is engaged as described in the first embodiment.

[0082] As shown in FIG. 10, the safety-related parameters in this embodiment are broadly categorized into basic items (basic parameters), items related to monitoring of the motion range (monitoring reference parameters), items related to monitoring of the speed (monitoring reference parameters), items related to monitoring of the force (monitoring reference parameters), items related to scene switching conditions (switching reference parameters), and items related to sensor input (sensor input parameters).

[0083] The basic items include "collaborative operation setting (collaborative / non-collaborative)", which indicates whether the scene corresponds to collaboration or non-collaboration, "tool number", which indicates the type of end effector (tool) to be used, "work number", which indicates the type of work, and "object number", which indicates the type of object with a number. For example, for "collaborative operation setting (collaborative / non-collaborative)", a setting value of "0" indicates collaboration, and a setting value of "1" indicates non-collaboration.

[0084] During collaborative operation, it is necessary to suppress speed and force, and the reference values ​​of the speed and force are limited in consideration of safety. By specifying collaboration in the above-mentioned "collaborative operation setting (collaborative / non-collaborative)", the settable range is limited so that the user can set the reference values ​​of speed and force within the range considering the above-mentioned limit. During automatic operation of the robot 16, whether or not collaborative operation is in progress is notified to the outside by switching the IO80 according to the setting value of the "collaborative operation setting (collaborative / non-collaborative)". The "tool number", "workpiece number", and "object number" are parameters that specify a specific coordinate system. Basically, a scene (a group of safety-related parameters) is linked to a specific task, so that various coordinate systems such as the tool coordinate system are configured to switch accordingly, improving the convenience of setting the group of safety-related parameters.

[0085] The robot 16 (specifically, the robot arm 31) has a function of decelerating or stopping when a worker approaches. For example, by switching the distance at which the deceleration starts and the strength of the deceleration depending on the setting of cooperation / non-cooperation, it is possible to favorably achieve both improved safety and improved productivity. In addition, since the weight of the tip of the robot arm 31 differs depending on the type of tool, workpiece, and object, the appropriate timing for starting deceleration of the robot arm 31 and the appropriate degree of deceleration as the robot approaches a worker, etc. also differ. By setting the "tool number," "workpiece number," and "object number" as parameters, it is possible to respond in accordance with reality. In other words, these basic items can contribute to improving safety not only by the operation monitoring shown in the first embodiment but also by avoiding collisions with obstacles, etc.

[0086] The items related to monitoring the operating range include "RLO enable setting (enable / disable)" which specifies whether to enable / disable RLO (Robot Limited Orientation) monitoring, "RLO monitoring attitude Rx (deg)", "RLO monitoring attitude Ry (deg)", "RLO monitoring attitude Rz (deg)" which specify the monitoring attitude (angle) in each coordinate axis as the judgment criterion, and "RLO monitoring allowable angle (deg)" which specifies the monitoring allowable angle. In addition, the items related to monitoring the operating range include "Positive direction software limit J1 (deg)" to "Positive direction software limit J8 (deg)", "Negative direction software limit J1 (deg)" to "Negative direction software limit J8 (deg)" which specify the limit angle in each axis of the J1 axis to the J8 axis. For "RLO enable setting (enable / disable)", set the value to "0" to disable, and set the value to "1" to enable.

[0087] Items related to speed monitoring include "RLS enable setting (enable / disable)," which specifies whether to enable / disable RLS (Robot Limited Speed) monitoring, "RLS monitoring speed (mm / s)," which specifies the speed as the judgment criterion without limiting the direction, and items to specify the speed for each axis direction in the hand coordinate system individually. "RLS enable setting (enable / disable)" is disabled by setting the value = "0," and enabled by setting the value = "1."

[0088] Items related to force monitoring include "RLF enable setting (enable / disable)," which is an item that specifies the enable / disable setting of RLF (Robot Limited Force) monitoring with a number, "RLF monitoring force (N)," which is an item that specifies force as a judgment criterion without limiting the direction, and items that specify the force in each axial direction in the hand coordinate system. "RLF enable setting (enable / disable)" is disabled by setting the value = "0," and enabled by setting the value = "1."

[0089] The items related to scene change conditions include "Scene Change Condition <Position> Setting", which is an item for selecting whether the position condition, which is one of the execution conditions of the scene change sequence, is to be a control point (point) or an area including the control point, and "Scene Change Condition <Position> Setting", which is an item for specifying the control point for switching. <point>The scene change condition items include "scene change condition <area>X (mm)", "scene change condition <area>Y (mm)", "scene change condition <area>Z (mm)", "scene change condition <area>RX (deg)", "scene change condition <area>RY (deg)", "scene change condition <area>RZ (deg)", "scene change condition <area>DX (mm)", "scene change condition <area>DY (mm)", and "scene change condition <area>DZ (mm)". The scene change condition items include various items that specify the position or area of ​​the robot 16 where the position condition is satisfied, and "scene change condition <stopped state> valid setting (valid / invalid)", which is an item that specifies by a number whether to enable or disable the stop condition (stop of the robot arm 31), which is one of the execution conditions of the scene change sequence.

[0090] The items related to sensor input are items that link the sensor input numbers and their states of IO80 with the reference values ​​of speed and force, and have the function of switching the reference values ​​of speed and force depending on the state of IO80 (a function similar to the subscenes described below).

[0091] Here, as described above, if the number of items that can be set by the user increases, the safety functions can be set more appropriately according to the work scene, but the increase in the number of configurable items raises the following new concerns. That is, compared to when the number of configurable items is small, the user may be more likely to make setting errors or may have difficulty in identifying necessary items. This is an obstacle to effectively achieving the effect of improving safety. One of the features of the present embodiment is that it is designed to address such new issues.

[0092] The control unit 62 of the PC 60 is installed with software for supporting the user in setting each safety-related parameter for each scene. By executing this software, a setting screen for safety-related parameters (hereinafter referred to as a scene parameter setting screen) is displayed on the display 61 of the PC 60. As shown in FIG. 11 and FIG. 12, the scene parameter setting screen WD is provided with a scene display section D1 that displays registered scenes and a parameter display section D2 that displays various parameters. When a user selects one scene from the scenes displayed in the scene display section D1, a parameter group corresponding to the one scene is displayed in the parameter display section D2 together with the setting values. In this embodiment, the scenes are mainly divided into main scenes corresponding to various work scenes during automatic driving and special scenes that are other scenes, and multiple main scenes (specifically, nine) are prepared.

[0093] The number of main scenes may be fixed, or may be added or deleted. However, an excessive number of main scenes can make scene management difficult. Therefore, in this embodiment, the number of main scenes is fixed, and a sub-scene can be set for each main scene, which will be described in detail later, thereby realizing a practically preferable configuration.

[0094] In the examples shown in Figs. 11 and 12, main scenes 1 to 9 are prepared as main scenes. The display mode (type of parameters to be displayed, arrangement order, layout) of the parameter display section D2 is common to these main scenes 1 to 9. In this embodiment, the display of the parameter display section D2 can be switched between a plurality of patterns, specifically, between all item display and main item display. The display is switched between all item display and main item display by the user operating the display switching tabs (tab for displaying all items and tab for displaying main items) provided at the top of the parameter display section D2. In this embodiment, "1" to "9" are defined as the scene numbers of main scenes 1 to 9, and "11" to "12" are defined as the scene numbers of special scenes 1 to 2, respectively.

[0095] In the all-item display shown in Fig. 11, all safety-related parameters are displayed, and are listed vertically in the following order: basic items, items related to monitoring of motion range, items related to monitoring of speed, items related to monitoring of force, items related to scene switching conditions, and items related to sensor input. Note that, since there are a large number of safety-related parameters, those that do not all fit within the frame of the parameter display section D2 can be displayed in the parameter display section D2 by scrolling the list.

[0096] In the main item display shown in Fig. 12, the display targets are limited so that some parameters extracted from all safety-related parameters are displayed. Specifically, at least some parameters are extracted from each of the basic items, items related to speed monitoring, items related to force monitoring, items related to scene switching conditions, and items related to sensor input, and the extracted parameters are displayed according to their applications. More specifically, while all safety-related parameters are displayed for each of the basic items, items related to scene switching conditions, and items related to sensor input, none of the safety-related parameters are displayed for the items related to monitoring of the operating range, and only the main safety-related parameters for each of the remaining items (items related to speed monitoring and items related to force monitoring) are displayed.

[0097] For items related to speed monitoring and items related to force monitoring, safety-related parameters that set judgment criteria regardless of direction and safety-related parameters that set judgment criteria for each of multiple directions are extracted as the main parameters. For example, "RLS monitoring speed (mm / s)" is extracted from the items related to speed monitoring, and "RLF monitoring force (N)" is extracted from the items related to force monitoring. The extracted safety-related parameters are then displayed according to their intended use. Here, we will provide a supplementary explanation of the display in the parameter display section D2 when the main items are displayed.

[0098] In the main item display, the parameter display section D2 is divided into three display sections G1 to G3. The first display section G1 displays a group of safety-related parameters belonging to basic items, the second display section G2 displays a group of safety-related parameters belonging to items related to sensor input, and the third display section G3 displays a group of safety-related parameters extracted from items related to speed monitoring, safety-related parameters extracted from items related to force monitoring, and safety-related parameters belonging to items related to scene switching conditions.

[0099] In this embodiment, a scene derived from a main scene, specifically a scene in which only the setting values ​​of the safety-related parameters displayed on the display unit G3 are different, can be registered as a sub-scene. This is a device to suppress the proliferation of main scenes and prevent the user from making scene management cumbersome, and is effective in suppressing erroneous settings. For example, when the setting values ​​of the parameters displayed on the display unit G1 are the same but at least one of the setting values ​​of "RLS monitoring speed (mm / s)" and "RLF monitoring force (N)" is to be changed or when the setting values ​​related to the scene switching conditions are to be changed, the registration function of the sub-scene can be used.

[0100] More specifically, in the transport (1) of the work scene SCN4 shown in the first embodiment, the robot 16 passes through the passage E5, but the passage E5 is bent (see FIG. 1). Since the external force acting on the robot arm 31 differs between going straight and turning, the appropriate "RLF monitoring force (N)" may differ. Therefore, it is preferable to set the main scene = transport (1), register sub scene 1 for going straight, and register sub scene 2 for turning, and set the judgment criteria of "RLF monitoring force (N)" for each. Also, it is assumed that the number of people passing through the passage E5 increases during a specific time period such as a break such as a lunch break in the factory 10, and the appropriate "RLS monitoring speed (mm / s)" and "RLF monitoring force (N)" may differ. Therefore, it is advisable to set the main scene = transportation (1), register subscene 1 for times other than the specific time period, and register subscene 2 for the specific time period, and set the judgment criteria for "RLS monitoring speed (mm / s)" and "RLF monitoring force (N)" individually.

[0101] When multiple sub-scenes are registered for the selected main scene, the sub-scenes can be switched by operating the tabs provided at the top of the display unit G3.

[0102] When multiple subscenes are registered for one main scene, displaying all items will display all of the parameter groups corresponding to each subscene. Specifically, for example, when subscene 1 and subscene 2 are registered, "RLS monitoring speed (mm / s) subscene 1" and "RLS monitoring speed (mm / s) subscene 2" will be displayed vertically. In other words, if the number of subscenes for one main scene increases, the number of parameters displayed in a list in the all-item display (the number of parameters to be displayed) will also increase. In contrast, in the main item display, even if the number of registered subscenes increases, the number of parameters displayed together in the parameter display section D2 (the number of parameters to be displayed) remains constant because it is possible to switch the display of the subscenes.

[0103] Here, the flow of parameter setting by the user will be described. When the scene parameter setting screen WD is opened on the display 61 of the PC 60, the display of the parameter display section D2 is configured to display the main items. The fact that the main item display has priority over the all-item display remains the same even when the selected scene is changed to another main scene or special scene. By setting each safety-related parameter under the main item display, the setting of the main parameters related to the safety function is completed. After that, detailed settings are performed as necessary. When detailed settings are performed, the display of the parameter display section D2 is switched from the main item display to the all-item display. At this time, the contents set in the main item display are carried over to the all-item display. In other words, since some safety-related parameters have already been set when the all-item display is selected, the user can narrow down the settings to the safety-related parameters that have not been set. Note that when the "RLS monitoring speed (mm / s)" or "RLF monitoring force (N)" is set in the main item display, the "RLS enable setting (enable / disable)" or "RLF enable setting (enable / disable)" is automatically set to "enable".

[0104] As described above, in this embodiment, special scene 1 and special scene 2 are registered in addition to the main scene. Special scene 1 is assumed to be the default during automatic operation (automatic control), and for example, when the robot 16 is started and automatic operation is started, the scene is the special scene 1 until the first work scene. As shown in FIG. 13, when special scene 1 is selected by the user in the scene display section D1, the display in the parameter display section D2 becomes the main item display. In this main item display, the number of parameters displayed is smaller than that in the main scene. In this embodiment, "collaboration operation setting (collaboration / non-collaboration)", "RLS monitoring speed (mm / s)", and "RLF monitoring force (N)" are displayed, and other parameters such as the parameter group belonging to the basic items are not displayed. Even if a parameter is required in the main scene, which is a scene assuming automatic operation, a parameter that is substantially unnecessary or of low importance in the special scene 1 is not displayed in the main item display. This slims down the display target in the main item display.

[0105] Special scene 2 is intended for cases where the user manually moves the robot 16 (robot arm 31), and is applied to a scene where, for example, the robot 16 moves out of the area and is forced to stop, and the user manually returns the robot 16 to the area. As shown in FIG. 14, when special scene 2 is selected by the user in scene display section D1, the display in parameter display section D2 becomes the main item display. In this main item display, the number of parameters displayed is smaller than in the main scene. Specifically, "RLS monitoring speed (mm / s)" and "RLF monitoring force (N)" are displayed, and other parameters are not displayed.

[0106] It should be noted that there is no need to set the safety-related parameters belonging to the items related to scene switching conditions and the safety-related parameters belonging to the items related to sensor input in special scene 1 and special scene 2. When all items are displayed, these safety-related parameters are also displayed, but are restricted so that input of the setting values ​​is not possible.

[0107] If the number of items of safety-related parameters that the user can set for each scene increases, the safety functions can be changed in detail according to the work content, etc. This is preferable in terms of achieving both improved safety and improved productivity. However, if the number of items that can be set increases, it becomes difficult for the user to determine the items that are required. This can lead to incorrect settings. In this regard, according to the configuration shown in this embodiment, the display pattern (corresponding to the "display mode") of the safety-related parameter group in the parameter display section D2 of the scene parameter setting screen WD (corresponding to the "parameter setting screen") can be switched between displaying all items (corresponding to the "first display mode") and displaying main items (corresponding to the "second display mode"). In the main item display, the display targets are limited to some safety-related parameters, so that the user can easily narrow down the required items. On the other hand, in the all item display, all safety-related parameters are displayed (set), so that individual safety-related parameters can be set and checked. In this way, providing two display patterns of the parameter display section D2, namely, all item display / major item display, is preferable in terms of improving both safety and productivity while preventing setting errors by the user.

[0108] If you want to make detailed settings for a specific safety-related parameter displayed in the main item display, you can do so by switching from the main item display to the all item display. Such detailed settings may or may not be necessary depending on various circumstances. It is preferable to exclude the detailed setting parameters from the display in the main item display to narrow down the display target, in order to prevent important parameters from being buried.

[0109] In this embodiment, the number of safety-related parameter items displayed in the main item display < the number of safety-related parameter items displayed in the all item display - the number of safety-related parameter items displayed in the main item display, and the items extracted for the main item display are greatly narrowed down. This allows the main item display and the all item display to coexist suitably according to the purpose.

[0110] In the main item display, the safety-related parameters are displayed in a state of being classified into several groups. This makes it easier for the user to find the desired item when it is included in the items to be displayed in the main item display. In addition, encouraging the user to set the parameters by group is also preferable in terms of preventing the user from making incorrect parameter setting.

[0111] When the user opens the scene parameter setting screen WD, the safety-related parameters are displayed as the main items first. This allows the user to set items that are narrowed down to a certain extent. After that, the display pattern can be switched to display all items, so that the user has the opportunity to set other items that are not displayed when the scene parameter setting screen WD is launched.

[0112] When a main scene is designated by the user, a group of safety-related parameters corresponding to the main scene is displayed in the main item display. Even when safety-related parameters are set for a plurality of main scenes, the safety-related parameters are displayed in the main item display only for the designated main scene, so that the user can be prevented from becoming overwhelmed with information.

[0113] In each main scene for autonomous driving, the items displayed in the main item display for the main scenes are the same. With this configuration, when a parameter group is set for one main scene in the main item display and then a parameter group is set for another main scene in the main item display, the setting work can be performed with the image of the previous setting intact. This is preferable in terms of reducing setting errors.

[0114] Depending on the main scene, only some of the safety-related parameters may differ. In such a case, if only the safety-related parameters are adjustable by the sub scene, the proliferation of main scenes can be suppressed, and the confusion of the main scenes by the user can be suppressed.

[0115] As shown in the present embodiment, by distinguishing between items set for each subscene and items common to the subscenes, the items set for each subscene can be suggested to the user in an easy-to-understand manner. Also, distinguishing between items common to the subscenes is preferable in order to prevent the settings of the common items from being changed erroneously when setting the subscenes.

[0116] <Variation 1> In the above second embodiment, a configuration for providing setting assistance when safety-related parameters are set by the PC 60 has been described, but in cases where safety-related parameters can be set by the teaching pendant 70, the configuration relating to setting assistance may be applied to the teaching pendant 70. In addition, in the present embodiment, a case has been exemplified in which setting assistance software is pre-installed in the control unit 62 of the PC 60, but this software may be distributed via an Internet line or the like, and the user may install the software at any time in the control unit 62 of the desired PC 60.

[0117] <Variation 2> In the above second embodiment, when the scene parameter setting screen WD is opened or when each scene is selected, the safety-related parameters are first displayed in the main item display, but it is also possible to change this and display all items first.

[0118] <Modification 3> In the second embodiment, when all items are displayed in special scene 1 and special scene 2, the safety-related parameters belonging to the items related to scene switching conditions and the safety-related parameters belonging to the items related to sensor input are displayed and the input of setting values ​​is restricted so that it is not possible to input the setting values, but it is also possible to configure these parameter groups to be excluded from the display even when all items are displayed. However, it is preferable to unify the items displayed in the all items display in each main scene and each special scene in order to prevent the user from feeling uncomfortable when some items are not displayed.

[0119] <Third embodiment> In the robot systems shown in the first and second embodiments, a control program created by a user on a PC 60 is transmitted to a control device 51 of the robot 16, and the robot 16 operates according to the control program. The PC 60 executes the created control program on the PC 60, and a simulation is possible to check the operation, posture, interference, etc. of the robot 16 without operating the robot 16. The configuration related to this simulation is a characteristic of this embodiment. The characteristic configuration of this embodiment will be described below, focusing on the differences from the second embodiment.

[0120] When the simulation software installed in the control unit 62 of the PC 60 is launched, a simulation screen is displayed on the display 61 of the PC 60. As shown in Fig. 15, the simulation screen has a program display section WP in which a control program created by the user is displayed, and a 3D view WV in which 3D models of the robot 16, peripheral devices, facilities of the factory 10, etc. can be displayed in a virtual space. Note that the 3D view can be switched between displaying and hiding the 3D models individually, and Fig. 15 shows an example in which only the model RM of the robot arm 31 is displayed.

[0121] When the user specifies a control program and starts a simulation, that control program is executed on the PC 60. This causes the model RM displayed in the 3D view WV to move in accordance with the progress of the control program. The user can check from the movement of the model RM whether the control program is configured as the user imagines it. In the program display section WP, the currently executing line in the control program is highlighted, making it easy for the user to understand which line in the control program the movement of the model RM corresponds to.

[0122] The simulation screen also includes a scene setting monitor WM, which displays various safety-related parameters. This allows the user to check the settings of various parameters as needed. Since there are many safety-related parameters (see Figure 10), the scene setting monitor WM limits the display to only display some of the main safety-related parameters.

[0123] Here, the control program for the robot 16 shown in this embodiment is designed on the assumption that the robot 16 will be engaged in a number of different tasks, and the above-mentioned "CHANGE SCENE" command is provided in multiple places to switch the safety function for each task. As already explained, in the robot 16, the "CHANGE SCENE" command is used as a trigger to start a scene change sequence, and a pseudo scene change sequence is also executed in the simulation.

[0124] In the scene change sequence, when it is confirmed that the robot 16 is stopped (stationary) (stop condition) and that the robot 16 and the tip of the robot arm 31 are at a specified position (position condition), the safety function is switched between the non-safety-related part PY and the safety-related part PX. Similarly, in the simulation shown in this embodiment, the safety function is basically switched when the stop condition and the position condition are satisfied.

[0125] Next, a general procedure for a user to create a control program is illustrated. In pattern A shown in FIG. 16(a), the outline of the robot 16's movement is determined in the first phase (PA1), and a control program is created based on the outline (PA2). However, at this point, priority is given to determining the movement of the robot 16, and the scene is set provisionally before sufficient verification. After the control program is created, the process moves to the second phase, where the control program is created by repeating the operation check by simulation (PA3) and the control program correction based on the result (PA4). Then, when the control program is somewhat solidified, the process moves to the third phase, where the scene is set up (PA5). Then, the operation is checked again by simulation and the scene setting is checked (PA6). The scene setting and the control program are corrected as necessary. The above procedure completes the setting of the control program and the scene. On the other hand, in pattern B shown in FIG. 16(b), the outline of the robot 16's movement and the scene are determined in the first phase (PB1), and a control program is created based on the outline and the scene is set up (PB2). After that, the process moves to the second phase, where operation is checked by simulation and scene settings are checked (PB3), and the control program and scene settings are modified based on the results (PB4). In the second phase, checking and modification are repeated until the control program and scene settings are complete. In most cases, the control program is created and the scenes are set in one of the above two patterns.

[0126] When the control program is completed and the scene has already been set appropriately (especially the scene change position), the above-mentioned position condition for switching the safety function is satisfied without any problems, and the simulation proceeds smoothly. On the other hand, in order to efficiently proceed with the creation of the control program and to check at any time whether the program is appropriate, there are cases where the user wishes to perform a simulation before the creation of the control program and the setting of the scene are completed (intermediate stage) as illustrated in Figs. 16(a) and (b). In addition, there is a possibility that the operation after switching the safety function may be checked, and if the scene setting is not completed, the scene change sequence cannot be completed, and an event may occur in which the simulation of the part (row) that is originally to be checked cannot be performed. This is a new issue that arises when attempting to perform a simulation of a control program including the switching of the safety function.

[0127] If the position condition is not satisfied due to an accidental reason or the like during the automatic operation of the robot 16, the robot 16 will stop as an error has occurred. In this case, the user can resume the automatic operation by returning the robot 16 to the appropriate position after checking the state of the robot 16 (see FIG. 17). On the other hand, in the stage of creating a control program or the like, a simulation may be executed knowing that the scene setting is not appropriate, and it is not preferable that the simulation cannot be continued in such a situation or that the effort required to resolve the position condition not being satisfied becomes large. Therefore, in this embodiment, when the position condition is not satisfied during the simulation, a device is devised to enable the simulation to be continued by a simple response different from that during the automatic operation of the robot 16. Below, with reference to FIG. 18 and FIG. 19, a rough flow of a scene change sequence executed during the simulation will be described. In the simulation, a virtual non-safety-related part (virtual drive control part) and a virtual safety-related part (virtual safety FPGA) are set in the PC 60 by software, and a flow similar to the flow shown in FIG. 9 is reproduced between the virtual non-safety-related part and the virtual safety-related part. In other words, the scene change sequence is also executed as a part of the simulation.

[0128] As shown in FIG. 18, in the scene change sequence during the simulation, first, it is confirmed that the model simulating the robot 16, that is, the model simulating the AGV 21 and the model RM simulating the robot arm 31 (see FIG. 15) are stopped (S201). Then, when it is confirmed that they are stopped, the position of the model simulating the robot 16 and the position of the tip of the model RM simulating the robot arm 31 are confirmed (S202). This confirmation is performed first on the virtual non-safety-related part side, and then on the virtual safety-related part side. When both the stop condition and the position condition are satisfied and a virtual request command, etc. are confirmed, if both conditions are satisfied (S203: YES), the safety function is switched. That is, each safety-related parameter is changed to one corresponding to the next scene (S204). Then, each safety-related parameter displayed on the scene setting monitor WM is changed to a value corresponding to the next scene (S205).

[0129] On the other hand, if the scene setting is not appropriate, the position condition is not satisfied in the position confirmation on the virtual non-safety-related part side (S203: NO). If the position condition is not satisfied, the simulation is interrupted (S206), and a message indicating that the position condition is not satisfied in the scene change sequence is displayed (S207). Specifically, as shown in FIG. 19(a), a message box MB1 is popped up so as to overlap with the 3D view WV in which the model RM and the like are displayed. This message box MB1 displays a title "CHANGE SCENE" indicating that this message is related to the scene change sequence, and a message "The current state does not satisfy the switching condition (position condition). Do you want to resume the program?" indicating that the position condition is not satisfied and confirming the program resumption. Then, a "Resume" button for instructing continuation of the simulation and a "Cancel" button for instructing termination of the simulation are displayed as icons that the user can select. The 3D view WV is configured to display information indicating the current scene, but the message box MB1 is displayed in a position that does not overlap with that information, ensuring the visibility of that information even while the message box MB1 is displayed. Also, in the program display area WP, the "CHANGE SCENE" command is kept highlighted to clearly indicate the current program progress position (line).

[0130] Returning to the explanation of FIG. 18, after the message box MB1 is displayed, it is determined whether or not the user has operated to continue the simulation, i.e., operated the "Resume" button (S208), and if the operation has been performed, the simulation is resumed (S209). In other words, the result of the position condition determination is invalidated and the simulation is continued as is. Then, the safety function is switched in the same manner as when various stop conditions and position conditions are satisfied. In other words, each safety-related parameter is changed to a value corresponding to the next scene (S204). Then, each safety-related parameter displayed on the scene setting monitor WM is changed to a value corresponding to the next scene (S205). When the simulation is resumed, the message box MB1 is hidden, and the highlight of the program display section WP moves from the "CHANGE SCENE" command to the next command (the "APPROACH" command in the example shown in FIG. 19(b)).

[0131] Incidentally, when the user operates to end the simulation, i.e., presses the "Cancel" button (S210: YES), the simulation ends (S211). If the user then operates to start the simulation, the simulation will be executed again from the beginning of the control program.

[0132] The configuration relating to the simulation described above in detail can also be applied to the robot system shown in the first embodiment.

[0133] According to the configuration shown in this embodiment, the simulation can be continued not only when the scene switching condition is satisfied, but also when the scene switching condition is not satisfied. Since the robot does not actually operate in the simulation, continuing the simulation does not affect safety. Therefore, this configuration can favorably support the creation of a control program that takes into consideration both the safety and productivity of the robot.

[0134] In this embodiment, when the "CHANGE SCENE" command in the control program is reached, the user is notified of this fact. This reduces the chances that the user will miss the scene change. In addition, a configuration in which the simulation is temporarily stopped and awaits the user's operation to resume is preferable in terms of ensuring an opportunity to pay attention to the display of safety-related parameters, etc., compared to a configuration in which the simulation is not temporarily stopped.

[0135] <Variation 1> In the third embodiment, when a scene change sequence is executed in a simulation, even if a switching condition (specifically, a position condition) for switching a safety function is not satisfied, the result is invalidated to continue the simulation, specifically, the safety function is switched and then the simulation is continued. This may be changed so that even if the position condition is not satisfied, the position condition is not judged (the judgment function itself is invalidated) in order to enable the simulation to continue. A specific example will be described below with reference to Fig. 20 and Fig. 21(a). Fig. 20 shows a modified example of a scene change sequence in a simulation.

[0136] In the scene change sequence during the simulation, first, it is confirmed whether the model RM simulating the robot arm 31, etc. is stopped. Then, if it is confirmed that the model is stopped, a virtual request command, etc. is transmitted from the virtual non-safety-related part to the virtual safety-related part, and the virtual safety-related part diagnoses the request command. If it is confirmed by the diagnosis that the command is appropriate, the setting of the safety function is switched without checking the position condition. That is, each safety-related parameter is changed to a value corresponding to the next scene (S302). Then, each safety-related parameter displayed on the scene setting monitor WM is changed to a value corresponding to the next scene (S303). After that, the simulation is temporarily stopped (S304), and a message indicating that the scene change sequence has been executed is displayed (S305). Specifically, as shown in FIG. 21(a), a message box MB2 is popped up so as to overlap the 3D view WV in which the model RM is displayed. In this message box MB2, a title "CHANGE SCENE" indicating that this message box MB2 is related to the scene change sequence and a message "Do you want to resume the program?" to confirm the program resumption are displayed. Then, a "Resume" button for instructing to continue the simulation and a "Cancel" button for instructing to end the simulation are displayed as icons that the user can select. The 3D view WV is configured to display information showing the scenes before and after the switching, and the message box MB2 is displayed at a position that does not overlap with the information, so that the visibility of the information is guaranteed. In addition, in the program display section WP, the "CHANGE SCENE" command is kept highlighted to clearly indicate the current program progress position (line). Returning to the explanation of FIG. 20, after the message box MB2 is displayed, if the "Resume" button is operated by the user (S306: YES), the simulation is resumed (S307). On the other hand, if the "Cancel" button is operated by the user (S308: YES), the simulation is terminated (S211).

[0137] It is also possible to configure the scene change sequence ("CHANGE SCENE" command) itself to be disabled during simulation, for example by allowing the user to select whether to enable or disable the scene change sequence.

[0138] <Variation 2> As execution modes of the simulation, a condition check avoidance mode (see FIG. 21(a)) in which the switching conditions of the safety functions (particularly the position conditions) are not judged, and a condition check implementation mode (see FIG. 21(b)) in which the switching conditions are judged may be provided, allowing the user to select whether or not the switching conditions need to be judged. Note that in the condition check implementation mode, if the conditions are not met, it is preferable to display the same error message (message box MB3) as when the robot 16 is operating automatically.

[0139] <Modification 3> In the third embodiment, when the position condition is not satisfied in the scene change sequence during the simulation and the simulation is interrupted, the safety-related parameters are changed to values ​​corresponding to the next scene and the safety-related parameters displayed on the scene setting monitor WM are changed to values ​​corresponding to the next scene by the user performing an operation to continue the simulation. This may be modified so that when the simulation is interrupted due to failure to satisfy the condition, the values ​​of the safety-related parameters corresponding to the next scene are notified in advance of the user's operation. For example, the values ​​of the safety-related parameters corresponding to the next scene may be displayed in a message box, or the safety-related parameters displayed on the scene setting monitor WM may be changed to values ​​corresponding to the next scene in advance.

[0140] <Modification 4> As shown in the third embodiment and the modified example, when the simulation is continued by invalidating the judgment of the switching condition (position condition) or invalidating the judgment result of the switching condition, the safety function may be switched and the simulation may be continued without confirming the user's intention to continue. Even in such a configuration, it is preferable to notify the user that the safety function has been switched.

[0141] <Variation 5> In a scene change sequence during a simulation, a specific configuration for notifying a user that a switching condition such as a position condition has not been satisfied in a manner other than an error is arbitrary. For example, a configuration may be adopted in which the fact that a switching condition such as a position condition has not been satisfied is output to a simulation log.

[0142] <Variation 6> During the simulation, it is preferable to devise a display method that allows easy identification of safety-related parameters whose values ​​are changed due to a scene change from safety-related parameters whose values ​​are not changed. For example, it is preferable to support visual identification by displaying safety-related parameters whose values ​​are changed in a color different from that of safety-related parameters whose values ​​are not changed, or by highlighting one of the safety-related parameters whose values ​​are changed and the safety-related parameters whose values ​​are not changed.

[0143] <Variation 7> In the simulation shown in the third embodiment, a stop check is performed when a scene change sequence is executed, but the present invention is not limited to this. A stop check may not be performed in the scene change sequence in the simulation.

[0144] <Fourth embodiment> As shown in the first to third embodiments, making it possible to switch safety functions according to the work scene is preferable in terms of achieving both improved safety of the robot 16 and improved productivity by the robot 16. Software that supports the setting of various safety-related parameters related to the safety functions is installed in the control unit 62 of the PC 60, and the efficiency of the setting of the safety-related parameters is improved. In particular, as shown in the second embodiment, etc., if there are more safety-related parameters to be set, further improvements in safety and productivity can be expected, but the load of the setting work also increases, so that the support effect becomes more remarkable by collectively managing the safety-related parameter groups for each scene on the PC 60.

[0145] The safety-related parameter group set by the PC 60 is transmitted from the PC 60 to the robot 16 and stored in the memory of the robot 16 (control device 51). The safety-related parameter group stored in the memory is referenced when controlling the robot 16. If a user mistakenly transmits a safety-related parameter group set assuming a specific work scene by a specific robot to another robot, there is a concern that the erroneously transmitted safety-related parameter group will be applied to the other robot, making it difficult to achieve both safety and productivity.

[0146] For example, in the example shown in FIG. 22, the robot 16X arranged in the first area EX of the factory and the robot 16Y arranged in the second area EY are of the same type, but the tasks performed in each area are different, and the tasks do not overlap. Specifically, the main scene 1 in the robot 16X is different from the main scene 1 in the robot 16Y. The user sets a safety-related parameter group for the robot 16X assuming the main scene 1 on the PC 60. There is no problem if the safety-related parameter group is transmitted to the target (robot 16X) and stored in the memory 55X of the control device 51X as the safety-related parameter group corresponding to the main scene 1, but the above-mentioned inconvenience occurs when the safety-related parameter group is erroneously transmitted to the robot 16Y and stored in the memory 55Y of the control device 51Y as the safety-related parameter group corresponding to the main scene 1. The teaching pendant 70X connected to the robot 16X displays the safety-related parameters stored in the memory 55X on a display 71X, allowing them to be visually confirmed, and the teaching pendant 70Y connected to the robot 16Y displays the safety-related parameters stored in the memory 55Y on a display 71Y, allowing them to be visually confirmed.

[0147] However, although a user can find that a set of safety-related parameters is not appropriate for the main scene 1 of the robot 16Y by checking the safety-related parameters one by one, if the number of safety-related parameters is large, it becomes a lot of work to visually check the set safety-related parameters one by one, and it may become practically difficult to find out. In addition, when transmitting from the PC 60, it cannot be denied that there is a possibility that a set of safety-related parameters for the same main scene 1 that was created with a different robot in mind may be mistakenly selected as the transmission target.

[0148] One of the features of this embodiment is that it is designed to prevent operational mistakes such as sending a safety-related parameter group to the wrong destination or sending a wrong selection of the safety-related parameter group to be sent. The following describes the design, focusing on the differences from the second embodiment.

[0149] As shown in FIG. 23, the scene parameter setting screen WD displayed on the display 61 of the PC 60 is provided with a name display section D3 that displays the name of the selected scene, i.e., the name of the currently displayed safety-related parameter group. The user can set or change the name in the name display section D3 as desired. In other words, a name that can be set or changed by the user can be set (arbitrary name) separately from the unchangeable name (fixed name) set for identification by the software side of the PC 60, i.e., the name displayed in the scene display section D1. The arbitrary name can be set or changed by clicking the name display section D3, and the set name is stored in association with the parameter group. Incidentally, the names displayed in the scene display section D1 (main scene 1 to main scene 9, special scene 1 to special scene 2) are displayed in the same way even when setting scenes (safety-related parameter groups) for other robots.

[0150] In the example shown in Fig. 23, a name (composite name) that combines the name of the destination robot and the area covered by the robot is set as an arbitrary name, specifically "Robot X_parameters for first area". If an arbitrary name has not been set, a message is displayed in the name display section D3 to prompt the user to set a name. Note that, although Fig. 23 shows an example in which the main items are displayed, when the scene parameter setting screen WD is open, the name display section D3 remains displayed regardless of whether the main items are displayed or all items are displayed.

[0151] The scene parameter setting screen WD also displays a send button SB, which is an operation icon for sending the current parameter group to the robot 16. This send button SB is displayed when the main items are displayed, and the safety-related parameter group of the selected scene is sent to the robot 16 when the user operates the send button SB.

[0152] Next, with reference to FIG. 24, a transmission process that is executed as part of regular processing by the PC 60 when the above-mentioned software relating to the setting support is running will be described.

[0153] In the transmission process, first, in step S401, it is determined whether confirmation (confirmation of transmission destination and final confirmation) is being performed with the user before transmitting the parameter group. If confirmation is not being performed, the process proceeds to step S402. In step S402, it is determined whether the Send button SB on the scene parameter setting screen WD has been operated. If the Send button SB has not been operated, the transmission process ends as it is. If the Send button SB has been operated, an affirmative determination is made in step S402 and the process proceeds to step S403.

[0154] In step S403, it is determined whether the arbitrary name is set. If an arbitrary name is not set, in step S404, a teaching process is executed to teach the user how to set an arbitrary name, and then the transmission process is terminated. In this teaching process, a message such as "Name setting is required for transmission" is displayed near the transmission button SB on the scene parameter setting screen WD. This message is hidden when an arbitrary name is set.

[0155] On the other hand, if an arbitrary name is set, the process for transmission is terminated after executing the transmission confirmation process in step S405. In the transmission confirmation process, a message box is displayed in the center of the scene parameter setting screen WD. As shown in FIG. 25(a), this message box MB3 first displays a list of robots to which the PC 60 is connected. Specifically, unique information (e.g., robot name, controller name, serial number, etc.) for identifying the connected robot is acquired, and the acquired unique information is displayed as a candidate for the transmission destination. When the user designates a transmission destination from the list of candidates, the message box MB3 is switched to a display for final confirmation of transmission. Specifically, as shown in FIG. 25(b), a title indicating that this is the final confirmation before transmission, a message for final confirmation, and an execute button and a cancel button, which are operation icons, are displayed. The message for final confirmation includes the unique information for identifying the robot of the transmission destination and the arbitrary name that has been set. For example, in the example shown in FIG. 25(b), "Destination: Robot X" is displayed as the unique information, and "Robot X_parameters for the first area" is displayed as the arbitrary name.

[0156] Returning to the explanation of Fig. 24, if the message box MB3 is displayed, the process proceeds to step S406, where it is determined whether or not a final confirmation operation has been performed. In other words, it is determined whether or not the execute button has been operated under the circumstances in which the destination and an arbitrary name are displayed in the message box MB3. If a negative determination is made in step S406, the process proceeds to step S407, where it is determined whether or not a cancel operation has been performed. If a cancel operation has been performed, a cancel process is executed in step S408 to cancel the transmission of the parameters, and then this transmission process is terminated.

[0157] If a positive determination is made in step S406, the transmission process is executed in step S409, and then this transmission process is terminated. In the transmission process in step S409, the scene number, the safety-related parameter group, and the arbitrary name set by the user are transmitted to the robot specified as the transmission destination. In other words, when the user carries out the transmission procedure, an opportunity is provided for the user to confirm the main safety-related parameter group, the arbitrary name, and the transmission destination. This is a device to reduce the occurrence of the above-mentioned operational mistakes during transmission.

[0158] The control device 51 of the robot 16 stores the various information received from the PC 60 in the memory of the control device 51. Then, by connecting a teaching pendant 70 to the robot 16, the various information stored in the memory can be displayed on the display 71 of the teaching pendant 70. In other words, the user can check the arbitrary name displayed on the display 71 of the teaching pendant 70 on-site. The display of the arbitrary name helps the user to check whether the parameters are appropriate for the robot 16.

[0159] In the example shown in Fig. 26, similarly to the example shown in Fig. 22, a set of safety-related parameters for the robot 16X set by the PC 60 is erroneously transmitted to the robot 16Y. However, the user can recognize the possibility that the set of safety-related parameters has been erroneously transmitted by checking the arbitrary name displayed on the display 71Y of the teaching pendant 70Y for the robot 16Y. Providing an opportunity for discovering an erroneous transmission in this manner is preferable in reducing the chances that the robot 16 will be operated with inappropriate parameters.

[0160] If the number of items of safety-related parameters that can be set according to various situations such as the surrounding environment and the work content increases, the safety function can be finely adjusted (changed) according to the situation. This is advantageous in achieving both improved safety of the robot and improved productivity by the robot. However, if the number of items that can be set increases, the number of items that the user must check when transmitting a safety-related parameter group (scene) from the PC 60 to the control device increases, and it becomes practically difficult to check all items each time. As a result, the user is more likely to make an operational mistake, such as selecting the wrong safety-related parameter group to be transmitted and transmitting it without noticing. If the wrong safety-related parameter group is stored in the control device as it is, there is a concern that the safety function of the robot will not be properly exhibited by applying the parameter group. In this regard, in the configuration shown in this embodiment, an arbitrary name (corresponding to a "scene name") of the scene can be set for each scene, and the arbitrary name is notified for the scene during the setting support. By using such a function, a configuration can be realized in which the user can easily understand what the safety-related parameter group is without checking the safety-related parameters individually. For example, a user can determine whether his / her work is appropriate by checking the arbitrary name without checking each safety-related parameter when transmitting. In other words, being able to set an arbitrary name for a group of safety-related parameters is effective in preventing the above-mentioned work mistakes. For the above reasons, by switching scenes consisting of groups of safety-related parameters, it is possible to improve both the safety of the robot and the productivity of the robot, while preventing an increase in work mistakes caused by them.

[0161] In the PC 60, scenes can be appropriately managed by using scene numbers. However, it is unclear whether a user can appropriately identify a scene (a group of safety-related parameters) by looking at the scene number. For example, if the identification information is simply a number or a string of numbers, it is difficult to intuitively understand the corresponding scene from the scene number and the robot to which the scene is applied. In this regard, by configuring the scene so that the user can set an arbitrary name for the scene in addition to the scene number for the system, the user can easily intuitively understand the corresponding scene, etc. from the arbitrary name. Therefore, it is easy to understand what the scene is like without checking each item of the safety-related parameters that make up the scene. This is preferable in terms of reducing the effort of checking each safety-related parameter when transmitting the scene to the control device, as described above.

[0162] As shown in this embodiment, if the arbitrary name set by the user is displayed on the display 61 together with the scene (safety-related parameter group) to which the arbitrary name corresponds, the user can easily check the relationship between the safety-related parameter group and the arbitrary name. This is preferable in terms of reducing the above-mentioned work errors. Since the arbitrary name set by the user is displayed on the scene parameter setting screen WD, the user can appropriately check the arbitrary name when setting safety-related parameters for each scene, thereby reducing setting errors (work errors) due to confusion with other scenes (including scenes for other control devices).

[0163] When a scene is to be transmitted to a control device, the user is informed of the arbitrary name at least before the transmission operation is performed, thereby reducing the chances of erroneous transmission or incorrect setting of the scene.

[0164] By connecting a device other than the device from which the scene or arbitrary name was sent (for example, a teaching pendant) to the control device, the scene and arbitrary name can be displayed on the other device, allowing the user to check after the fact on the other device whether the scene was sent in error, etc.

[0165] <Variation 1> In the fourth embodiment, the PC 60 capable of setting and changing safety-related parameters allows the setting and changing of arbitrary names, whereas the teaching pendant 70 incapable of setting and changing the safety-related parameters does not allow the setting and changing of arbitrary names. When the teaching pendant 70 is configured to allow the setting and changing of safety-related parameters, the teaching pendant 70 may allow the setting and changing of names. When multiple devices capable of setting and changing parameters and setting and changing arbitrary names are provided, it is preferable to share the latest setting values ​​and the latest arbitrary names of the safety-related parameters between the devices. To realize such a configuration, for example, it is preferable to instruct the arbitrary names to include version information and date information of the setting values, or to add such information to the arbitrary names on the device side. <Variation 2> In the above fourth embodiment, a configuration in which the user directly inputs an arbitrary name has been exemplified, but a configuration in which arbitrary name candidates are displayed using a pull-down menu and the user selects one arbitrary name from among them may also be used. Also, as shown in the fourth embodiment, by configuring an arbitrary name by combining multiple pieces of information, it becomes easier to strengthen the distinguishability of the name. In this way, when configuring a name by combining multiple pieces of information, a configuration in which each piece of information is selected from a pull-down menu provided individually may also be used.

[0166] <Modification 3> In the above fourth embodiment, an example was given of an arbitrary name formed by a combination (compound name) of two pieces of information, the robot name and the area name, but this is not limited to this. The arbitrary name may be formed by a single piece of information, or may be formed by a combination of three or more pieces of information. For example, the arbitrary name may be "parameters for the first area."

[0167] In the fourth embodiment, the user can set the name as a whole, but the present invention is not limited to this. As shown in the first modification, the name may be composed of a part that the user can set and a part that is forcibly determined by the device.

[0168] <Modification 4> In the fourth embodiment, the send button is displayed when the main items are displayed, that is, the safety-related parameter group can be sent when the main items are displayed, but the present invention is not limited to this. The send button may be displayed when all items are displayed, or the send button may be displayed whether the main items are displayed or all items are displayed.

[0169] <Variation 5> When at least one value of the safety-related parameter group is changed due to a review of the safety-related parameter value, etc., it is possible to configure so that the arbitrary name before the change cannot be carried over and the user must change the arbitrary name (for example, a configuration in which saving or transmission is not possible unless the arbitrary name is changed). In particular, for values ​​of the safety-related parameter group that have already been transmitted to the robot 16, by making it mandatory to change the arbitrary name when the safety-related parameter value is reviewed, it is possible to prevent it from becoming difficult to determine whether the values ​​of the safety-related parameter group stored in the robot 16 have been updated to the latest ones. For example, it is advisable to include the date and time of change in the name, information that can identify an individual, such as a login user ID or a user name, or version information.

[0170] <Variation 6> In this embodiment, too, an example has been given of a case in which configuration assistance software is pre-installed on PC 60, but this software may also be distributed via an Internet line or the like, allowing the user to install the software on the desired PC 60 at any time.

[0171] <Fifth embodiment> In the above-mentioned fourth embodiment, an arbitrary name that can be arbitrarily set by the user is provided as the name of the safety-related parameter group, and an opportunity is provided to display the arbitrary name when the safety-related parameter group is transmitted from the PC 60 or after the safety-related parameter group is received by the robot 16. Such a configuration can contribute to suppressing erroneous transmission of the safety-related parameter group and early detection of erroneous settings. One of the features of this embodiment is that the system more actively intervenes in the use of the arbitrary name to improve the above-mentioned effect. Below, a description is given of the characteristic configuration of this embodiment, focusing on the differences from the fourth embodiment.

[0172] First, in this embodiment, the arbitrary name is composed of a first half part and a second half part, and while the user is prompted to set an arbitrary character string for one of the two parts (the second half part), the other part (the first half part) is provided with a guideline for setting. Specifically, the user is prompted to input the unique information of the destination robot for one part (the first half part).

[0173] As shown in Fig. 27, when an arbitrary name has not been set, the message "Destination unique information_arbitrary character string" is displayed in the name display section D3 of the scene parameter setting screen WD to prompt the user to set a name in accordance with the above guidelines. This message can be made to disappear when the user clicks on the name display section D3 and starts inputting. For example, in the example shown in Fig. 27, the arbitrary name is configured by the combination of unique information = "Robot X" and arbitrary character string = "Parameter for first area".

[0174] The unique information is roughly divided into fixed information (e.g., ID, serial number, etc.) that is set for each individual robot and cannot be changed, and arbitrarily set information (e.g., controller name, robot name, etc.) that can be arbitrarily set by the user using the teaching pendant 70, etc. (see FIG. 28). The unique information is information that the user can confirm from the manufacturing plate of the robot 16 or the teaching pendant 70.

[0175] In this embodiment, when transmitting safety-related parameters, the occurrence of erroneous transmission is suppressed by checking the unique information included in the arbitrary name set by the user against the unique information stored in the robot 16. Hereinafter, the transmission process in this embodiment will be described with reference to Fig. 29, focusing on the differences from the transmission process shown in the fourth embodiment.

[0176] In the transmission process in this embodiment, if it is determined in step S406 that a final confirmation operation has been performed, the process proceeds to step S501. In step S501, unique information is acquired from the robot designated as the destination by the user. Specifically, fixed information such as the ID and serial number stored in the robot, and optional setting information such as the controller name and robot name are acquired. Note that the configuration related to the designation of the destination is the same as in the fourth embodiment, and therefore a description thereof will be omitted.

[0177] After acquiring the unique information from the destination robot, the process proceeds to step S502, where the unique information included in the arbitrary name set by the user is compared with the unique information acquired from the destination. If, in this comparison, the unique information included in the arbitrary name set by the user matches any of the unique information acquired from the destination, a positive determination is made in step S503, the process proceeds to step S409, and the transmission process is executed, and then this transmission process is terminated. In the transmission process, the scene number, the safety-related parameter group, and the arbitrary name set by the user (the unique information of the destination and an arbitrary character string) are transmitted to the robot designated as the destination. Note that, in the transmission process, it is also possible to configure the transmission process to send only the arbitrary character string of the arbitrary name.

[0178] If, in the comparison in step S502, the unique information included in the arbitrary name set by the user does not match any of the unique information obtained from the destination, a negative judgment is made in step S503 and the process proceeds to step S506, where a process for canceling the transmission of safety-related parameters (similar to step S408) and a process for instructing the name setting (similar to step S403) are executed, and then the transmission process is terminated.

[0179] By including unique information that is unique to the destination control device in the arbitrary name set by the user, matching using the unique information becomes possible. In this way, if the system is configured to be able to identify erroneous transmissions, human error can be significantly reduced.

[0180] <Variation 1> In the above fifth embodiment, the PC 60 compares the unique information included in the arbitrary name set by the user with the unique information of the destination robot 16, and if the unique information included in the arbitrary name set by the user is not included in the unique information of the destination robot 16, the transmission is stopped (i.e., the safety-related parameter group and the like are not transmitted), but this may be modified as follows. That is, the robot 16 may compare the unique information included in the arbitrary name set by the user with the unique information of the destination robot 16, and if the unique information included in the arbitrary name set by the user is not included in the unique information of the destination robot 16, the robot 16 may refuse to receive the safety-related parameter group and the like.

[0181] <Variation 2> Information to be included in the arbitrary name may be specified on the robot 16 side, and the transmission and reception of a safety-related parameter group, etc. may be permitted only when the specified information is included in the arbitrary name, and transmission or reception may be prohibited if the specified information is not included. Also, an arbitrary name may be specified on the robot 16 side, and the transmission and reception of a safety-related parameter group, etc. may be permitted only when the specified arbitrary name matches an arbitrary name set by the user in the PC 60, and transmission or reception may be prohibited if they do not match.

[0182] <Modification 3> A unique value may be created from the safety-related parameter group by CRC calculation, and the result of the CRC calculation performed on the sending side (PC 60 side) may be compared with the result of the CRC calculation performed on the receiving side (robot 16 side) to monitor for data loss or tampering. Also, a part or all of the arbitrary name may be included in the CRC calculation of the safety-related parameter group.

[0183] Sixth embodiment Regarding the unique information shown in the fifth embodiment, there is a large difference in characteristics between fixed information (e.g., ID and serial number) and arbitrarily set information (e.g., robot name and controller name). It is assumed that IDs and serial numbers are set so that there will be no duplication (collision) when identifying other devices. In other words, since there are basically no robots or almost no robots with the same fixed information, the possibility of a match (risk of confusion) is low when comparing fixed information with other fixed information. However, since most fixed information is meaningless, such as a combination of alphanumeric characters, it is difficult for a user to identify which robot the fixed information corresponds to by looking at it (see the example in Figure 30(a)).

[0184] On the other hand, the optional setting information such as the controller name and the robot name can be given a meaningful name (an easy-to-understand name) that the user himself can understand. Therefore, it is easier for the user to look at the optional name and identify which robot the optional name corresponds to from the optional setting information compared to identifying it from the fixed information (see the example in FIG. 30(a)). However, by leaving the setting of the optional setting information to the user, the possibility that the same optional name will be set for multiple robots is higher than with the fixed information.

[0185] In this embodiment, one of the features is that, focusing on such differences in characteristics, the guidelines for setting arbitrary names are defined as follows. Below, the characteristic configuration of this embodiment will be described, focusing on the differences from the fifth embodiment.

[0186] As shown in FIG. 30(b), in the name display section D3 shown in this embodiment, if an arbitrary name has not been set, a message (specifically, "fixed information (serial number, etc.)_arbitrary setting information (controller name, etc.)_arbitrary character string") is displayed that instructs how to set an arbitrary name. In other words, in this embodiment, it is instructed to configure an arbitrary name by combining three pieces of information. When the user places the cursor on the name display section D3, more detailed guidelines (for example, other examples of fixed information and arbitrary setting information and how to check each of these pieces of information) are popped up.

[0187] For example, when setting an arbitrary name for a parameter group for a robot with serial number = "0001" and controller name = "RobotX", if the user sets the arbitrary character string = "parameters for first area", the arbitrary name can be set according to the guidelines, resulting in the arbitrary name = "0001_RobotX_parameters for first area" (see Fig. 31). Here, the handling of each piece of information constituting the arbitrary name in this embodiment will be described with reference to Fig. 31.

[0188] In the example shown in Fig. 31, the robot 16X arranged in the first area EX of the factory and the robot 16Y arranged in the second area EY are the same type, but the tasks performed in each area are different. In other words, the tasks are not overlapped. Specifically, the main scene 1 of the robot 16X and the main scene 1 of the robot 16Y are assumed to be different tasks.

[0189] The user sets a parameter group of the main scene 1 for the robot 16X on the PC 60, and sets, as an arbitrary name, "0001_RobotX_parameters for the first area," which is a combination of the robot 16X's serial number "0001," which is fixed information, the controller name "RobotX," which is arbitrary setting information, and an arbitrary character string "parameters for the first area." When this parameter group is transmitted to the robot 16X, information is collated between the PC 60 and the robot 16X, as in the fifth embodiment.

[0190] In this embodiment, the object of the comparison is "fixed information". That is, the fixed information (serial number) included in the arbitrary name is compared to the fixed information (serial number) stored in the robot 16X. In the example of FIG. 31, since the serial numbers match, the safety-related parameter group, scene number, and arbitrary name set by the PC 60 are transmitted to the robot 16X, and the transmitted safety-related parameter group is stored in the memory of the robot 16X as a safety-related parameter group corresponding to the main scene 1. As a result, the teaching pendant 70X connected to the robot 16X can display and confirm the safety-related parameter group corresponding to the main scene 1 stored in the memory 55X on the display 71X. In addition, when the safety-related parameter group is displayed on the display 71X, not only the safety-related parameter group but also the arbitrary name is displayed. Specifically, the arbitrary name is displayed as "current parameters<0001_RobotX_parameters for the first area>". That is, the displayed arbitrary name includes "RobotX", which is the arbitrary setting information (controller name), and "parameters for the first area", which is an arbitrary character string. "RobotX" and "Parameters for the first area" displayed on display 71X can be used to assist the user in visually confirming whether the set of safety-related parameters applied to robot 16X are those intended for this robot 16X.

[0191] Here, the above-mentioned collation is also performed when the safety-related parameter group is to be transmitted to the robot 16Y by mistake. In the example of Fig. 31, the fixed information (serial number) included in the arbitrary name does not match the fixed information (serial number) stored in the robot 16Y. Therefore, as a result of the collation, the safety-related parameter group cannot be transmitted from the PC 60 to the robot 16Y, and erroneous transmission is avoided. In other words, the parameters are not overwritten in the robot 16Y, and the parameters and name displayed on the display 71Y of the teaching pendant 70Y remain the same.

[0192] <Variation 1> In the sixth embodiment, the displays 71X, 71Y of the teaching pendants 70X, 70Y are configured to display arbitrary names of the safety-related parameter groups, but the displays 71X, 71Y may display inherent information stored in the robots 16X, 16Y together with the arbitrary names. By visually comparing these, the user can easily check whether an incorrect safety-related parameter group has been applied, which contributes to facilitating the checking work.

[0193] <Variation 2> In the sixth embodiment, the displays 71X and 71Y of the teaching pendants 70X and 70Y are configured to display all of the fixed information, the optional setting information, and the optional character strings that constitute the optional names of the safety-related parameters, but it is sufficient to display at least the optional setting information, and preferably the optional setting information and the optional character strings. In other words, it is possible to exclude the fixed information included in the optional names from the display targets.

[0194] <Modification 3> In the sixth embodiment described above, when a set of safety-related parameters or the like is transmitted from the PC 60 to the robots 16X, 16Y, only fixed information is checked. However, in addition to this, arbitrarily set information may also be checked.

[0195] Seventh embodiment In each of the first to sixth embodiments, when the safety-related unit PX detects a force or speed exceeding a reference value or a movement to a position outside a reference area, the robot 16 is stopped as an error, thereby contributing to improving the safety of the robot 16. Here, for example, if the robot 16 is stopped during automatic operation due to an error related to the force or position, the user can manually move the robot 16 to eliminate the error, thereby restarting automatic operation of the robot 16. In addition, when setting a motion trajectory for the robot 16, the robot 16 may be operated by a jog operation or the robot 16 may be pushed and pulled by hand to teach the motion trajectory, etc. As shown in the first embodiment, etc., it is preferable to configure the safety-related unit PX to monitor not only during automatic operation but also during manual operation in order to improve the safety of the robot 16, but there is a high possibility that the appropriate value of each safety-related parameter will differ depending on the situation in which the manual operation is performed and the work content. Furthermore, in order to achieve both improved convenience and improved safety when using the manual operation function, there is an even higher possibility that the appropriate value of each safety-related parameter will differ.

[0196] In this embodiment, one of the features is that, in consideration of such circumstances, a device is provided to improve both safety during manual operation and convenience. The device will be described below with reference to FIG. 32, focusing on the differences from the first embodiment. In the following description, the safety-related parameter group is also referred to as a "scene" to distinguish it from the "work scene" in which the robot 16 is engaged as described in the first embodiment. This also applies to the eighth to eleventh embodiments described later.

[0197] In this embodiment, instead of the special scene 2 shown in the first embodiment, a manual operation scene D, a manual operation scene R, and manual operation scenes 1 to 3 are provided. That is, these five scenes are registered as scenes for manual operation, and during manual operation, monitoring by the safety-related part PX is performed based on one of these five scenes depending on the situation, work content, and the like.

[0198] The manual operation scene D is a default scene during manual operation, and is set when the control mode in the drive control unit 52 is switched to the manual operation mode, or when an error is resolved or teaching is completed, as described later. In the manual operation scene D, the speed and force are monitored (reference value setting = "enabled"), and the position is not monitored (reference area setting = "disabled"). In the example shown in FIG. 32, the speed and force restriction levels are set to a HIGH level, and the speed and force are greatly restricted, but this is not limited. The restriction levels are arbitrary. Force may also be excluded from monitoring. Excluding force from monitoring is effective in reducing the effort of switching the state of the safety-related part PX to recovery or to the manual operation scene R every time the jog operation comes into contact with equipment, etc., and the force is applied to stop the jog operation.

[0199] The manual operation scene R is a scene that is assumed to be selected when performing recovery work of the robot 16 that has stopped due to an error. In the manual operation scene D, the speed, force, and position are all monitored, but the limit level for each is set to LOW. For example, when performing recovery work under a situation in which the robot 16 is stuck on equipment or the like and stopped, the force required to separate the robot 16 may be large. By lowering the force monitoring level as described above, the recovery work is prevented from becoming difficult. In addition, since the manual operation scene R is set even when the robot 16 goes outside the reference area, the position monitoring level is also lowered to prevent the position monitoring function from interfering with the recovery work. Note that, as described later, the manual operation scene R is set when the safety-related part PX is in a "recovery state," but in this "recovery state," the monitoring of force and position is disabled. Therefore, at least in combination with the "recovery state," the movement of the robot 16 is not impeded even if the above-mentioned force and position judgment criteria are met.

[0200] Manual operation scene 1 is a scene that is assumed to be selected when teaching is performed by jog operation on the teaching pendant 70 or the like. Although manual operation is assumed, the user does not directly touch the robot 16, so the restriction levels for speed, force, and position are set to the minimum (MIN). In other words, among manual operation scenes 1 to 3, this is the most lenient restriction.

[0201] Manual operation scene 2 and manual operation scene 3 are scenes that are assumed to be selected when performing so-called direct teaching. They are similar to manual operation scene 1 in that speed, force, and position are all monitored. However, in direct teaching, unlike teaching by jog operation, the user directly touches the robot 16. For this reason, the monitoring levels of speed, force, and position are all higher than in manual operation scene 1.

[0202] At least some safety-related parameters (for example, at least one of speed, force, and position) are different between manual operation scene 2 and manual operation scene 3. In the example shown in Fig. 32, the speed limit level of manual operation scene 3 is set higher than the speed limit level of manual operation scene 2 to differentiate between the two manual operation scenes 2 and 3 depending on the situation in which direct teaching is performed. Since the robot 16 is engaged in various tasks in various areas, it is preferable to configure direct teaching to be selectable depending on the situation in order to improve work safety and work efficiency.

[0203] Here, with reference to FIG. 33, a supplementary explanation will be given of the control mode in the drive control section 52 and the state of the safety-related part PX.

[0204] As shown in FIG. 33(a), the control modes of the drive control unit 52 include an automatic control mode for automatic operation and a manual operation mode for manual operation. In the automatic control mode, drive control is performed according to the progress of an operation program created by a user, and a scene designated by a "CHANGE SCENE" command, which is a command for scene switching in the operation program, is triggered. In contrast, in the manual operation mode, the scene is switched according to the user's operation. That is, the user can arbitrarily determine the switching timing and the switching destination. In this way, the trigger for scene switching is different between the automatic control mode and the manual operation mode. In addition, the scene switching in the manual operation mode is also related to the state of the safety-related part PX. Below, a supplementary explanation of the state of the safety-related part PX will be given with reference to FIG. 33(b).

[0205] The states of the safety-related part PX are roughly classified into the following three states. That is, "normal state", "safe state", and "recovery state". The normal state is a state in which the operation of the robot 16 is permitted, and the drive control part 52 can execute the operation program when the safety-related part PX is in the normal state and in the automatic control mode. If the above-mentioned error occurs in the normal state, the robot is forcibly stopped, and the state of the safety-related part PX is switched from the normal state to the safe state. In other words, the safe state can also be said to be a state in which the robot 16 is held in a stopped position with the operation of the robot being disabled. In this safe state, the safety-related part PX continues to monitor the robot 16, so it is difficult to move the robot 16 from that position. Therefore, in order to recover the robot 16, it is necessary to switch the state of the safety-related part PX to the recovery state. In the recovery state, the monitoring of the force and position is disabled, so the monitoring function does not hinder the robot 16 from returning to the appropriate position and eliminating the error.

[0206] Here, with reference to FIG. 34, the flow of error resolution will be described based on the relationship between the control mode, the state of the safety-related part PX, and the scene to be set.

[0207] When the user starts operation while the safety-related part PX is in the "normal state," automatic operation starts with the operation program specified by the user (see ta1). When automatic operation starts, the scene set is "Special Scene 1," which is the default in automatic control mode, and it switches to one of "Main Scene 1 to Main Scene 9" depending on the progress of the operation program.

[0208] During automatic operation, the control mode is "automatic control mode", the state of the safety-related part PX is "normal state", and the scene is one of "main scene 1 to main scene 9" and "special scene 1". If an error occurs during automatic operation, such as when the robot 16 moves outside the reference area, the safety-related part PX switches from "normal state" to "safe state", the robot 16 is forcibly stopped, and the scene automatically switches to "special scene 1" (see ta2).

[0209] Thereafter, the user switches the control mode from the "automatic control mode" to the "manual operation mode" by operating the teaching pendant 70, etc., and the scene is switched from the "special scene 1" to the "manual operation scene D", which is the default in the "manual operation mode" (see ta3). When the switch to the "manual operation mode" is completed and the "manual operation mode" and "safe state" are established, a switch button for switching to the "recovery state" is displayed on the display 71 (top screen for details) of the teaching pendant 70 (see ta4). In other words, the switch button is not basically displayed on the top screen of the display 71, and is displayed only when the above-mentioned conditions of the "manual operation mode" and the "safe state" are met. This is a device to prevent the user from accidentally switching to recovery during automatic operation.

[0210] When the user operates the switching button, the safety-related unit PX switches from the "safe state" to the "recovery state" and the set scene switches to the "manual operation scene R" (see ta5). This enables recovery work of the robot 16. When the user is manually moving the robot 16 to perform recovery work, the safety-related unit PX is in the "recovery state" and the monitoring of the force and position is disabled (see ta6). Note that, although monitoring is performed using the scene judgment criteria (reference values ​​and reference areas) due to the disabling in the "recovery state", the result (stop judgment) is invalidated. However, this does not deny a configuration in which monitoring is not performed instead. Incidentally, if the safety-related unit PX is left in the "recovery state" for a certain period of time, it automatically returns to the state before the "recovery state", that is, the "safe state".

[0211] When the recovery work is completed and the error is resolved, the safety-related part PX returns from the "recovery state" to the "normal state", and accordingly the scene switches from the recovery "manual operation scene R" to the default "manual operation scene D" (see ta7). After that, when the user switches to the automatic control mode, the control mode switches from "manual operation mode" to "automatic control mode", and accordingly the scene switches from "manual operation scene D" to "special scene 1", which is the default in the automatic control mode (see ta8).

[0212] After that, automatic operation will resume from the part of the operation program where it was interrupted due to the error (see ta9). At this point, the scene that was set when the operation program was resumed will be reset, and from then on the scenes will be switched in order according to the "CHANGE SCENE" command of the operation program.

[0213] As shown in this embodiment, it is preferable to provide an automatic control mode for automatic operation (corresponding to an "automatic operation mode") and a manual operation mode for manual operation as control modes of the robot, and to take into consideration the manual operation as described above, in order to improve safety and workability when performing the manual operation. However, the automatic control mode and the manual operation mode are significantly different in the assumed situations, and various safety-related parameters may be different in order to properly exercise the safety function. In other words, if the same scene is configured to be referred to in the automatic control mode and the manual operation mode, it may be difficult to improve safety and productivity during automatic operation, and to improve safety and workability during manual operation. In this regard, in the configuration shown in this embodiment, a scene to be referred to when the robot is automatically operated and a scene to be referred to when the robot is manually operated are provided, respectively. This allows the safety function to be properly exercised during automatic operation and manual operation.

[0214] In addition, while the scene is automatically switched in response to a switching command from the control program during automatic driving, the scene for manual operation is switched in response to a user's operation. This configuration can prevent the scene from suddenly switching at a timing not intended by the user. This is preferable for further improving safety.

[0215] If the robot stops by moving to a position outside the monitoring reference area specified by the user, the robot is returned to the monitoring reference area. In this configuration, the position of the robot is not an issue when switching to a manual operation scene, so there is no inconvenience that switching to a manual operation scene becomes difficult depending on the position of the robot. This is preferable for smooth recovery operations to resume the operation of the robot.

[0216] According to the seventh embodiment described above in detail, it is possible to improve the safety of the robot, while contributing to improving the productivity of the robot during automatic operation and improving the workability of the user during manual operation.

[0217] <Variation 1> During automatic driving, it is also possible to disable switching to a scene for manual operation. For example, during automatic driving, when safety-related parameters are automatically switched, inappropriate scene switching is avoided by checking the position of the robot 16. In contrast, a scene for manual operation is switched to by a user's operation, but no position check is performed at that time. If a scene for manual operation is set as a scene for automatic driving, the reliability of the safety function may decrease due to the lack of position check. Therefore, as shown in this modified example, there is technical significance in suppressing a decrease in reliability by disabling switching to a scene for manual operation during automatic driving.

[0218] <Variation 2> In the seventh embodiment, the manual operation scene R for recovery is provided separately from the default manual operation scene D, but the present invention is not limited to this. It is also possible that the manual operation scene D doubles as the manual operation scene R. It is also possible that the manual operation scene D and the manual operation scene R double as the manual operation scene 1 for teaching by jog operation. The number of manual operation scenes is not limited to five. As long as at least a plurality of scenes including the default manual operation scene are provided as manual operation scenes, the number is arbitrary. For example, the number may be two, three, four, or six or more.

[0219] <Modification 3> In the seventh embodiment, when the safety-related unit PX is in the safe state and the control mode is in the manual operation mode, a recovery button is displayed on the display 71 of the teaching pendant 70, and the user operates the recovery button to switch to the recovery state and the manual operation scene R, but it is also possible to configure the operation of switching to the recovery state and the operation of switching to the manual operation scene R separately. Note that it is also possible to configure the switching to the recovery state and the manual operation scene R to be permitted when the safety-related unit PX is in the safe state and the control mode is in the automatic control mode.

[0220] <Modification 4> It is also possible to configure the robot 16 to switch to the manual operation mode when the robot 16 is stopped by a safety function, so that the scene R for manual operation is switched to in response to the switching operation.

[0221] <Variation 5> It is preferable that the manual operation scene 1 to the manual operation scene 3 are configured so that when the user performs a scene selection operation in the manual operation mode, the scene is switched to the selected scene.

[0222] <Variation 6> It is also possible to define the manual operation scene 2 and the manual operation scene 3 shown in the seventh embodiment as sub-scenes of the manual operation scene.

[0223] <Eighth embodiment> As shown in the first embodiment and the like, if a scene (safety-related parameter group) switching instruction is incorporated into the control program of the robot 16 and the scene can be switched during the automatic operation of the robot 16, it becomes possible to appropriately exercise the safety function according to the situation. This is preferable in terms of achieving both an improvement in the safety of the robot 16 and an improvement in the productivity of the robot 16. Here, in order to make it possible to change the safety function in detail according to the work content, etc., not only the number of registered scenes but also the number of safety-related parameter items may increase. It is assumed that if the number of scenes and the number of configurable items increase, setting errors of the safety-related parameters, etc., will be more likely to occur. Although obvious setting errors can be easily found during the trial of automatic operation, there is a concern that it will be difficult to find small setting errors, etc. This may be a factor that reduces the effect of improving safety and productivity described above.

[0224] For example, in the example shown in FIG. 35, the robot 16 is engaged in the task of picking up a workpiece W from a container 105 on a table 101 and packing it into another container 106 prepared on an adjacent table 102. Here, when picking up the workpiece W from the container 105, a pick-up scene is referred to. In this scene, for example, an area above the table 101 is assumed as the operating range of the hand 34a of the robot 16 (robot arm 31). Since a working area WE of a worker E who cooperates with the robot 16 is provided around the table 101, the safety-related parameter for monitoring the position of the robot 16 in the pick-up scene is assumed to be a monitoring range TA (a range that avoids overlap with the working area WE) shown by a dashed line in the figure.

[0225] However, the actually set monitoring range FA is shifted from the assumed monitoring range TA, and a part of it overlaps with the working area WE of the worker E. In other words, due to the difference between the assumed monitoring range TA and the actual monitoring range FA, it is difficult to restrict the movement of the robot 16 so that it does not enter the working area WE. Such a setting situation is difficult to notice just by trying to operate the robot 16 automatically, and there is a high possibility that the setting situation will be overlooked. In addition, when a control program is executed in the automatic control mode, the robot 16 operates according to the control program, so it is difficult to check whether the scene is appropriate by changing the movement of the robot 16 in various ways. In particular, the safety-related parameters related to the operating range are specified by the angle of the rotation axis, etc. (see FIG. 10), and in the case of an articulated robot, it tends to be difficult to clearly imagine the operating range only by those angles.

[0226] One of the features of this embodiment is that it is possible to execute a test (hereinafter also referred to as a scene test) to check whether the scene is appropriate, for example, whether it is as intended by the user, by utilizing a manual operation mode for manually operating the robot 16. Hereinafter, the characteristic configuration of this embodiment will be described with reference to Figs. 36 to 38, focusing on the differences from the first embodiment. Note that the description of the same configuration as the first embodiment will be omitted as appropriate.

[0227] As shown in Fig. 36, in the present embodiment, as in the first embodiment, an automatic control mode and a manual operation mode are provided as control modes. In the automatic control mode, the scenes to be referred to are limited to automatic driving scenes (automatic driving scenes 1 to 9, etc.), whereas in the manual operation mode, the automatic driving scenes can be used as reference objects in addition to the manual operation scenes. In the manual operation mode, the robot 16 can be manually operated while the automatic driving scenes are used as reference objects.

[0228] In this embodiment, instead of the special scene 2 shown in the first embodiment, three scenes, a manual operation scene TS, a manual operation scene RC, and a manual operation scene TC, are registered.

[0229] The manual operation scene RC is a scene that is assumed to be selected when performing recovery work of the robot 16 that has stopped due to an error. In the manual operation scene RC, speed and force are monitored (reference value setting = "enabled"), and position is not monitored (reference area setting = "disabled"). In the example shown in FIG. 36, the speed limit level is set to MID level (medium level), while the force limit level is set to LOW level (weak level). For example, when performing recovery work in a situation where the robot 16 is stuck on equipment or the like and stopped, the force required to separate the robot 16 may be large. By lowering the force limit level as described above, the recovery work is prevented from becoming difficult. In addition, since the manual operation scene RC may be set even when the robot 16 goes outside the reference area, the position is not monitored, thereby preventing the position monitoring function from interfering with the recovery work.

[0230] The manual operation scene TC is a scene that is assumed to be selected when teaching is performed. In the manual operation scene TC, speed and force are also monitored (reference value setting = "enabled"), but position is not monitored (reference area setting = "disabled"). Since there is a high possibility that the user will be working around the robot 16 during teaching, the speed and force restriction levels are both set to MID level (medium level) for safety reasons. In other words, restrictions are placed on preventing excessively fast movements and excessively strong forces from occurring.

[0231] The manual operation scene TS is a default scene when the above-mentioned scene test is performed. Details will be described later, but it is set when the control mode in the drive control unit 52 (see FIG. 3) is switched to the manual operation mode, or it is set as a transition to another scene when a scene test for one scene is completed. In the manual operation scene TS, speed and force are monitored (reference value setting = "enabled"), but position is not monitored (reference area setting = "disabled"). The speed and force restriction levels are at a LOW level, and it can be said that this is the scene with the loosest monitoring among the three manual operation scenes.

[0232] Next, the flow up to execution of the scene test in the manual operation mode will be described with reference to the flowchart in FIG.

[0233] When a scene test is to be performed, first, the control mode of the drive control unit 52 is switched to the manual operation mode based on the operation of the teaching pendant 70 (see FIG. 3) by the user (PD1). After switching to the manual operation mode, a confirmation screen for confirming the operation content in the manual operation mode is displayed on the display 71 (see FIG. 3) of the teaching pendant 70 (PD2). This confirmation screen presents selection candidates for operations to be performed in the manual mode, such as "recovery," "teaching," and "scene test." When the user selects "scene test" (PD3), a scene switching is instructed to the safety-related unit PX (see FIG. 5) of the control device 51 to set the manual operation scene TS as the scene to be referred to in this manual operation mode (PD4).

[0234] In this embodiment, as test modes for performing a scene test, there are provided an individual confirmation mode in which a scene selected by the user from a list of scenes for automatic driving is tested, and a step execution mode in which scenes are tested in sequence in accordance with the step execution of the control program by the user (specifically, selective execution of the "CHANGE SCENE" command, which is a command for switching scenes). When "Scene Test" is selected on the confirmation screen, the confirmation screen is switched to a selection screen for the individual confirmation mode and the step execution mode.

[0235] When the individual confirmation mode is selected by the user (PD6), a list of selectable automatic driving scenes (including, for example, various main scenes and their sub-scenes) is displayed on the display 71. When the user selects the automatic driving scene to be tested this time from the list (PD7), the selected automatic driving scene is set as the reference target. In other words, the reference target scene is changed from the manual operation scene TS to the specified automatic driving scene (PD8). Thereafter, the reference target scene is maintained as the specified automatic driving scene until the scene test of the specified automatic driving scene is completed. During the scene test, the control mode is the manual operation mode, so the user manually operates the robot 16 in various ways to check whether the monitoring criteria such as speed, force, position, etc. set by the scene are appropriate (whether they are as intended) (PD9).

[0236] On the other hand, when the step execution mode is selected by the user (PD10), the registered control program is displayed on the display 71. The user executes the displayed control program line by line (step execution) (PD11). When the step execution is repeated and a line containing a "CHANGE SCENE" command for scene switching is reached (PD12), the scene for automatic driving specified by the "CHANGE SCENE" command is set as the reference target based on the user's operation to execute the line (PD13). In other words, the scene to be referenced is changed from the scene TS for manual operation to the scene for automatic driving specified by the user. Thereafter, the scene to be referenced is fixed to the scene for automatic driving specified this time until the next "CHANGE SCENE" command is reached. During the scene test, the control mode is the manual operation mode, so the user temporarily suspends the step execution and manually operates the robot 16 in various ways to check whether the monitoring criteria set by the scene, such as speed, force, and position, are as intended (PD14).

[0237] Here, a specific flow of the scene test will be illustrated using Fig. 35 as an example. The work of the robot 16 shown in Fig. 35 is classified into three: picking up the work W from the container 105, transporting the picked up work W, and packing the transported work W into a box. A different automatic driving scene is applied to each of these works. For example, automatic driving scene 5 is applied to picking up the work W, and automatic driving scene 7 is applied to packing the work W into a box (see Fig. 38).

[0238] When performing scene tests for these automatic driving scenes in order, first switch the control mode to the manual operation mode and select scene test as the work item. This sets the manual operation scene TS as the reference target. Next, when the hand 34a of the robot 16 is placed above the table 101 and then the automatic driving scene 5 is specified, the reference target scene is changed from the manual operation scene TS to the automatic driving scene (see FIG. 38). Here, the position of the robot 16 (hand 34a) is not monitored for the manual operation scene TS. This prevents the safety function from interfering with the task of placing the hand 34a above the table 101 during the scene test of the automatic driving scene 5.

[0239] When scene 5 for automatic driving is specified above table 101, various safety parameters serving as monitoring criteria (judgment criteria) are switched from those corresponding to scene TS for manual operation to those corresponding to scene 5 for automatic driving (see FIG. 38). For scene 5 for automatic driving, "position" is included in the monitoring target, and by enabling position monitoring, the movement of hand 34a that deviates from area A above table 101 is restricted. This allows the user to check whether the safety-related parameters (monitoring criteria) related to monitoring "position" in scene 5 for automatic driving are as intended by the user. After that, the user checks whether the safety-related parameters (monitoring criteria) related to monitoring "speed" and "force" are appropriately set while actually moving robot 16.

[0240] After the scene test of the automatic driving scene 5 is completed, the user performs a test end operation on the teaching pendant 70, and the scene to be referred to is switched to the manual operation scene TS (see FIG. 38). This allows the robot 16 to move to another position. Then, for example, when performing a scene test on the automatic driving scene 7 corresponding to the packing of the workpiece W, the hand 34a of the robot 16 is placed above the table 102, and then the automatic driving scene 7 is specified. This changes the scene to be referred to from the manual operation scene TS to the automatic driving scene 7. Thereafter, it is similarly confirmed for the automatic driving scene 7 whether various safety-related parameters are as intended by the user.

[0241] According to the eighth embodiment described above in detail, the following excellent effects can be expected.

[0242] If a scene (safety-related parameter group) switching instruction is incorporated into the control program of the robot 16 and the scene can be switched during drive control (automatic driving), it can contribute to realizing a configuration that appropriately exercises the safety function according to the situation. This is preferable in terms of achieving both improved safety of the robot 16 and improved productivity by the robot 16. Here, if the number of items of safety-related parameters that the user can set for each scene increases, the safety function can be finely changed according to the work content, etc. This is preferable in terms of achieving both improved safety and improved productivity. However, it is assumed that if the number of items that can be set increases, setting errors of safety-related parameters, etc. will be more likely to occur. And, although obvious setting errors can be easily found during a trial of automatic driving, there is a concern that it will be difficult to find small setting errors, etc. This can be a factor that reduces the various effects described above. In this regard, according to the configuration shown in this embodiment, by specifying one of the automatic driving scenes during the manual operation mode, the specified automatic driving scene can be tested during the manual operation mode. In the manual operation mode, various movements of the robot 16 can be tried, so that minor setting errors that are easily overlooked in the automatic operation mode can be found. In other words, it is possible to properly check whether the automatic operation scene that is set matches the user's intention. This is preferable in terms of suppressing inappropriate settings of the safety functions and improving the safety and productivity of the robot 16.

[0243] It is preferable to configure the robot 16 to monitor the position of the hand 34a by referring to the position monitoring parameters in order to avoid contact with other robots or workers. However, when the position is expressed as a parameter, it is difficult to intuitively understand what the reference area is like by looking at the parameter. Therefore, it is preferable to check such parameters by actually operating the robot 16. In the above-mentioned scene test, the position monitoring parameters included in the automatic driving scene specified by the user are set as the reference object. This makes it possible to check in the scene test whether the "position" monitoring criteria match the user's intention.

[0244] When testing a large number of scenes, the selection operation each time is a burden for the user, and there is a concern that this will hinder the improvement of work efficiency. In this regard, according to the step execution mode shown in this embodiment, the scenes for automatic driving are "instructed" in sequence in the process of sequentially executing the operation instructions of the control program (for example, the process of step execution), and the reference object is switched sequentially without performing the above-mentioned selection operation. This greatly reduces the user's effort when testing a plurality of scenes, and can favorably improve work efficiency during testing.

[0245] <Ninth embodiment> In the above eighth embodiment, when the user specifies an automatic driving scene during the manual operation mode (test mode), all of the safety-related parameters to be referenced are changed from those corresponding to the manual operation scene to those corresponding to the specified automatic driving scene. This embodiment is different from the eighth embodiment in that the user can specify not only the scene to be referenced but also which items to be referenced, that is, the safety-related parameters to be changed by the user's instruction are limited to some items. Below, the characteristic configuration of this embodiment will be described, focusing on the eighth embodiment and its differences. Note that the description of the same configuration as the eighth embodiment will be omitted as appropriate.

[0246] When a scene is designated for a scene test in the manual operation mode, an item selection screen CW (see FIG. 39) that allows the user to select which item to perform the scene test on is displayed on the display 71 of the teaching pendant 70. In detail, the item selection screen CW displays three items, "speed," "force," and "position," as selection items.

[0247] For example, when the user selects "position", as shown in FIG. 39(a2), among the safety-related parameters of the specified scene for automatic driving, the safety-related parameters related to monitoring "position" are set as the reference object. In contrast, the reference object for the safety-related parameters of "speed" and "force" that are not selected remains the scene for manual operation. In other words, the reference object for the safety-related parameters related to the selected "position" is changed from the scene TS for manual operation to the scene for automatic driving, while the reference object for the safety-related parameters related to the unselected "speed" and "force" remains the scene TS for manual operation. In other words, in the scene test, a special situation occurs in which multiple scenes (both the scene TS for manual operation and the scene for automatic driving) are the reference object. In the scene TS for manual operation in this embodiment, the restriction levels for "speed" and "force" are both at the LOW level, and it is avoided that the restriction for "speed" and "force" becomes stronger due to the scene change. This makes it possible to suppress the monitoring function from becoming a factor that reduces the efficiency of the scene test.

[0248] Also, for example, when the user selects "speed", as shown in FIG. 39(b2), the safety-related parameters related to the monitoring of "speed" among the safety-related parameters of the specified scene for automatic driving are set as the reference object. In contrast, the reference object for the safety-related parameters of "force" and "position" that are not selected remains the scene for manual operation. In other words, the reference object for the safety-related parameters related to the selected "speed" is changed from the scene TS for manual operation to the scene for automatic driving, while the reference object for the safety-related parameters related to the unselected "force" and "position" remains the scene TS for manual operation. In other words, in the scene test, a special situation occurs in which multiple scenes (both the scene TS for manual operation and the scene for automatic driving) are the reference object. In the scene TS for manual operation in this embodiment, the restriction level of "force" is set to a LOW level, and "position" is not monitored. Therefore, it is avoided that the restriction of "force" and "position" becomes stronger due to the scene change. This makes it possible to suppress the monitoring function from becoming a factor that reduces the efficiency of the scene test.

[0249] <Variation 1> In the ninth embodiment, the manual operation scene TS remains as the reference target for items (safety-related parameters) not selected by the user, but the present invention is not limited to this. Depending on the scene to be tested, "speed" and "force" may be restricted rather severely in consideration of the surrounding environment in which the work is performed. Therefore, it is possible to configure the reference target for unselected safety-related parameters to be determined with priority given to safety. A specific example will be described below with reference to FIG. 40. Note that the specific example shown in FIG. 40 illustrates a case in which "position" is selected by the user as an item for the scene test.

[0250] When "position" is selected by the user as an item in the scene test, the safety-related parameters of the autonomous driving scene related to "position" are set as the reference object. On the other hand, for the unselected "speed" and "force", the reference object is set as follows. That is, the safety-related parameters related to "speed" in the autonomous driving scene are compared with the safety-related parameters related to "speed" in the manual operation scene TS, and the one with the higher degree of safety is set as the reference object, and the safety-related parameters related to "force" in the autonomous driving scene are compared with the safety-related parameters related to "force" in the manual operation scene TS, and the one with the higher degree of safety is set as the reference object.

[0251] In Example 1 shown on the left side of Fig. 40, the scene for automatic driving has a higher degree of safety in terms of both "speed" and "force" compared to the scene for manual operation TS, and the scene for automatic driving (safety-related parameters related to "speed" and "force") is set as the reference target. In contrast, in Example 2 shown on the right side of Fig. 40, the scene for manual operation TS has a higher degree of safety in terms of both "speed" and "force" compared to the scene for automatic driving, and the scene for manual operation TS (safety-related parameters related to "speed" and "force") is set as the reference target.

[0252] <Variation 2> When specifying an automatic driving scene in a scene test, the following points must be noted. That is, if the specified automatic driving scene is one that monitors "location," and the automatic driving scene is specified at a location other than the location assumed in the automatic driving scene, the movement of the robot 16 is restricted, and it may be difficult to release the restriction. Therefore, if the location monitoring is detected, it is preferable to restrict the specification of the corresponding automatic driving scene or the change (switching) to the automatic driving scene. For example, when prompting the user to specify an automatic driving scene in the individual confirmation mode, it is preferable to select an automatic driving scene that the user can specify by comparing the current position of the hand 34a with each automatic driving scene.

[0253] <Modification 3> If the safety-related parameters (speed, force) of the automatic driving scene specified by the user are lower in safety than the safety-related parameters (speed, force) of the manual operation scene TS, the safety-related parameters may be excluded from the selection items.

[0254] <Tenth embodiment> In the above eighth embodiment, the automatic driving scene designated by the user during the manual operation mode is configured to be referenced as a monitoring standard for operation monitoring, thereby making it possible to execute a scene test for the automatic driving scene during the manual operation mode. This embodiment is similar to the eighth embodiment in that a scene test for the automatic driving scene can be executed during the manual operation mode, but differs from the eighth embodiment in the way the automatic driving scene is handled when executing the scene test. Below, the characteristic configuration of this embodiment will be described, focusing on the differences from the eighth embodiment and the like. Note that the description of the same configuration as the eighth embodiment will be omitted as appropriate.

[0255] First, in this embodiment, the teaching pendant 70 is configured to perform the main function of the scene test, thereby reducing the burden on the safety-related unit PX that monitors the operation of the robot 16. Specifically, the teaching pendant 70 is configured to execute a special notification to notify the user that the scene test has failed the monitoring criteria, and the control unit of the teaching pendant 70 sets the notification criteria for the special notification by referring to the automatic driving scene specified by the user. Hereinafter, the notification criteria setting process executed as part of the periodic process by the control unit of the teaching pendant 70 will be described with reference to the flowchart of FIG. 41.

[0256] In the notification criterion setting process, first, it is determined whether or not the user has performed an operation to end the scene test (step S801). If the end operation has not been performed (step S801: YES), it is determined whether or not the individual confirmation mode is selected (step S802). If the individual confirmation mode is selected (step S802: YES), it is determined whether or not the user has performed an operation to specify a scene for automatic driving (step S803). If the specification operation has not been performed (step S803: NO), the notification criterion setting process is terminated as it is. If the specification operation has been performed (step S803: YES), a comparison process of safety-related parameters is performed. Specifically, the manual operation scene TS is compared with the specified automatic driving scene for each item of the safety-related parameters ("speed", "force", "position"), and the item for which the specified automatic driving scene has a higher degree of safety than the manual operation scene TS is identified (step S804). In addition, since "location" is not monitored for the manual operation scene TS, if a safety-related parameter regarding location is set in the autonomous driving scene, it is determined that "location" is an item with a higher safety level in the specified autonomous driving scene than in the manual operation scene TS.

[0257] Next, the notification criteria for special notification are set for the items identified in step S804. Specifically, for items with a high degree of safety, the values ​​are set as reference targets for the notification criteria. That is, the safety-related parameters of the automatic driving scene are used as the notification criteria. Specifically, the safety-related parameters are stored in the memory of the teaching pendant 70 as the notification criteria. In example 1 shown in FIG. 42, the safety-related parameters related to "speed", "force", and "position" in the automatic driving scene are all higher in safety than the safety-related parameters related to "speed", "force", and "position" in the manual operation scene. For this reason, the safety-related parameters related to "speed", "force", and "position" in the automatic driving scene are used as the notification criteria. On the other hand, in example 2 shown in FIG. 42, the safety-related parameters related to "speed" and "position" in the automatic driving scene are higher in safety than the safety-related parameters related to "speed" and "position" in the manual operation scene, while the safety-related parameters related to "force" in the automatic driving scene are lower in safety than the safety-related parameters related to "force" in the manual operation scene. For this reason, the safety-related parameters related to "speed" and "position" in the autonomous driving scene are used as the notification criteria, but the safety-related parameters related to "force" in the autonomous driving scene are not used as the notification criteria. In other words, the notification criteria for "force" have not been set.

[0258] Returning to the explanation of step S802, if the current test mode is the step execution mode, i.e., if it is the step execution mode, it is determined whether or not it has moved to the next step (code) (step S807). If it has moved to the next step, it is determined whether the step corresponds to the "CHANGE SCENE" command (step S808). If it corresponds to the "CHANGE SCENE" command, each of the processes of steps S804 to S806 is executed. Returning to the explanation of step S801, if the user performs an operation to end the scene test (step S808: YES), information related to the notification criteria for the special notification is erased (step S809), and the notification criteria setting process is terminated.

[0259] Next, a special notification process executed as part of the regular process by the control unit of the teaching pendant 70 will be described with reference to a flowchart of FIG.

[0260] In the special notification process, first, the speed, force, and position of the hand 34a of the robot 16 (robot arm 31) are grasped based on the detection signal from the rotary encoder 36 and the detection signal from the torque sensor 37 (step S901). Next, it is determined whether or not a special notification is being executed (step S902). If a special notification is not being executed (step S902: NO), it is determined whether or not the current speed value of the hand 34a is smaller than the speed notification reference value (speed threshold or upper limit value) stored in the memory of the teaching pendant 70 (step S903). If the speed value of the hand 34a is smaller than the notification reference value (step S903: YES), it is determined whether or not the current force value of the hand 34a is smaller than the force notification reference value (force threshold or upper limit value) stored in the memory of the teaching pendant 70 (step S904). If the force value of the hand 34a is smaller than the notification reference value (step S904: YES), it is determined whether the current position of the hand 34a is within the notification reference area (within the operation tolerance range) stored in the memory of the teaching pendant 70 (step S905). If the position of the hand 34a is within the notification reference area (step S905: YES), that is, if all the above-mentioned three notification criteria are met, it is determined that the operation is being performed properly, and the special notification process is terminated.

[0261] On the other hand, if any of the above three notification criteria is not met, a special notification start process is executed (step S906), and the special notification process is terminated. In the special notification start process, a special notification is performed on the display 71 of the teaching pendant 70 to notify the notification criteria not being met (including the indication of the trigger of this special notification). For example, a message such as "Speed ​​limit reached" or "Out of the restricted area" is displayed on the display 71 as the special notification. Thus, even if the notification criteria are not met, unlike the above operation monitoring, the robot 16 is not stopped (hereinafter also referred to as emergency stop) by forcibly cutting off the power supply to the motors 25 and 35. In addition, a warning lamp is not turned on, and information that an abnormality has occurred is not transmitted to the management system of the factory 10. The response such as the forced stop is performed by the control device 51 (safety-related unit PX) with reference to the monitoring criteria, which is the same as the first embodiment.

[0262] Returning to the explanation of step S902, if it is determined that a special notification is being issued, the process proceeds to step S907 to determine whether or not the special notification end conditions are met. Specifically, it is determined whether or not all of the above three notification criteria are met. If all of these three notification conditions are met, the special notification end process is executed (S908). As a result, the special notification message displayed on the display 71 of the teaching pendant 70 is hidden.

[0263] Here, with reference to Fig. 44, a supplementary explanation will be given of the difference between the monitoring criteria based on the manual operation scene TS and the notification criteria based on the automatic driving scene. The notification criteria basically refer to a higher restriction level than the monitoring criteria, so when the robot 16 is operated in the scene test, a special notification is executed before an emergency stop occurs due to the monitoring criteria. In other words, when the robot 16 is operated in various modes in the scene test, there are fewer opportunities for a sudden emergency stop, and a special notification is generated before an emergency stop occurs, making it possible to smoothly carry out the scene test.

[0264] <Eleventh embodiment> In the above tenth embodiment, a configuration was adopted in which a scene for automatic driving designated among a plurality of safety-related parameters has a lower degree of safety than a scene TS for manual operation is excluded from the target of special notification. In contrast, one of the features of the present embodiment is that a device is provided that enables a scene test to be performed even in such a case. The above device will be described below, focusing on the differences from the tenth embodiment. Note that a description of the same configuration as the tenth embodiment will be omitted as appropriate.

[0265] In the control system CS of the robot 16 (see FIG. 5), although the movement of the robot 16 in the manual operation mode is restricted by setting the scene TS for manual operation, the specifications of the robot 16 may allow the robot 16 to operate beyond the restrictions imposed by the scene TS for manual operation. For example, the monitoring standard for the safety-related parameter related to "force" in the scene TS for manual operation is 100N, but the specifications of the robot 16 allow the robot 16 to move beyond this value. Therefore, in the logic unit X2 of the safety-related unit PX (see FIG. 5), the safety-related parameter for which the automatic driving scene has a lower degree of safety than the scene TS for manual operation, that is, the monitoring standard referring to the scene TS for manual operation, can be temporarily changed under certain conditions. Hereinafter, the process related to the change, specifically, the test setting change process executed by the logic unit X2 of the safety-related unit PX will be described with reference to the flowchart of FIG. 45. The test setting change process is a process executed by the logic unit X2 as part of regular processing when the test mode is selected.

[0266] In the test setting change process, first, it is determined whether an instruction to end the scene test has been received from the teaching pendant 70 (step S1001). If the instruction has not been received (step S1001: YES), it is determined whether a scene has been specified from the teaching pendant 70 (step S1002). If a scene has been specified (step S1002: YES), the safety level of each safety-related parameter of the manual operation scene TS is compared with that of the specified automatic driving scene (step S1003). If there is a safety-related parameter that is difficult to test, that is, if there is a safety-related parameter of the specified automatic driving scene that is lower in safety than the safety-related parameter of the manual operation scene TS (step S1004: YES), it is determined whether there is a margin for the safety-related parameter up to the upper limit of the system (upper limit of the specifications) (step S1005). If there is a margin (step S1005: YES), a special change process is executed to temporarily change the monitoring criteria by referring to the safety-related parameters of the scene for autonomous driving (step S1006), and the setting change process for this test is terminated. Here, a supplementary explanation of the special change process is given with reference to the example of FIG.

[0267] In Example 1 shown on the left side of FIG. 46, the safety-related parameters of the designated automatic driving scene are higher in safety for all of "speed," "force," and "position" than the safety-related parameters of the manual operation scene TS. Therefore, the safety-related parameters of the designated automatic driving scene related to "speed," "force," and "position" are referenced as the notification standard. In contrast, in Example 2 shown on the right side of FIG. 46, the safety-related parameters of the designated automatic driving scene are higher in safety for "speed" and "position" than the safety-related parameters of the manual operation scene TS, but the safety-related parameters of the designated automatic driving scene are lower in safety for "force" than the safety-related parameters of the manual operation scene TS. In other words, if a scene test is performed for "force" as it is, the safety function will be activated first and the robot 16 will stop. On the other hand, although "force" is limited in the manual operation scene TS, there is room for change in the specifications. Therefore, the safety-related parameters related to "force" are referenced in the automatic driving scene, and the monitoring standard is raised so that the safety is lower than the safety-related parameters. Specifically, the force for the manual operation scene TS is 100N, but it has been raised to a higher value (160N) than the 150N for the autonomous driving scene. This prevents the safety function from activating first, even when testing the "force" for the specified autonomous driving scene.

[0268] Returning to the explanation of step S1001, when an instruction to end the scene test is received from the teaching pendant 70 (step S1001: NO), the monitoring criteria is returned to the manual operation scene TS (step S1007), and then the setting change process for this test is terminated. As a result, the monitoring criteria that were temporarily relaxed are restored to their original state.

[0269] <Variation 1> In the tenth and eleventh embodiments, a special notification message is displayed on the display 71 of the teaching pendant 70 when the notification criteria are not met, but the specific form of the special notification is arbitrary. For example, a notification lamp (a lamp mounted on the robot 16 or a lamp mounted on the teaching pendant 70) may be turned on in a predetermined manner, or a message or notification sound may be output from a speaker mounted on the teaching pendant 70. It is also possible to temporarily stop the robot 16.

[0270] <Variation 2> As with the ninth embodiment, the tenth and eleventh embodiments may also be configured such that both the scene and the item for automatic driving to perform the scene test are specified by the user. In this case, it is preferable to set the notification criteria for the specified items. In particular, as shown in the eleventh embodiment, in a configuration in which the monitoring criteria are temporarily relaxed, it is preferable to reduce the number of relaxed criteria as much as possible. Considering such circumstances, there is technical significance in configuring such that both the scene and the item for automatic driving to perform the scene test are specified.

[0271] <Modification 3> In the eleventh embodiment, when there is a safety-related parameter that is difficult to test, that is, when there is a safety-related parameter of the designated scene for automatic driving that is lower in safety than the safety-related parameter of the scene for manual operation TS, the monitoring standard is increased so as to be larger than the value of the safety-related parameter of the scene for automatic driving, but the present invention is not limited to this. For example, the monitoring standard may be increased so as to be the same value as the value of the safety-related parameter of the scene for automatic driving.

[0272] <Modification 4> The function of executing special notification with reference to the notification criteria shown in the tenth and eleventh embodiments can also be applied to the personal computer 60.

[0273] <Other embodiments> The present invention is not limited to the contents of the above-mentioned embodiments, and may be implemented, for example, as follows. Each of the following configurations may be applied individually to each of the above-mentioned embodiments, or may be applied in combination with some or all of the following configurations to each of the above-mentioned embodiments. It is also possible to arbitrarily combine all or some of the various configurations shown in each of the above-mentioned embodiments. In this case, it is preferable that the technical significance (effects exerted) of each of the configurations to be combined is guaranteed. Each of the following configurations may be applied individually to a new configuration consisting of a combination of the embodiments, or may be applied in combination with some or all of the following configurations.

[0274] In a configuration in which the robot 16 executes a plurality of tasks (task routines) according to a predetermined time schedule, the progress of the task routine may be managed based on the time elapsed since the start of the routine or the current time, and the safety functions may be switched based on the time or the current time. Also, in consideration of cases in which delays occur in the schedule, the safety functions may be switched based on the time or the time and information indicating the delay time. Furthermore, in addition to the configuration in which the safety functions are switched according to the task scene of the robot 16 as shown in each of the above embodiments, the safety functions may be switched based on the time elapsed or the current time.

[0275] In each of the above embodiments, the AGV 21 and the robot arm 31 are combined to form the robot 16, and the robot 16 moves between areas by self-propelling, but the present invention is not limited to this. For example, as shown in Fig. 47, a pedestal 19 is installed between two lines L1 and L2, and a base 32 of the robot arm 31 is fixed to the pedestal 19. Then, the arm body 33 of the robot arm 31 may be rotated horizontally to change its orientation, so that the robot arm 31 can be switched between a state in which it is engaged in a first task in a first working area LE1 of the first line L1 and a state in which it is engaged in a second task different from the first task in a second working area LE2 of the second line L2. In this case, when the tip of the robot arm 31 moves from the second working area LE2, etc. to the reference position LP1 in the first working area LE1, the safety function of the robot arm 31 (such as the judgment criteria for operation monitoring parameters) becomes for the first working operation, and when the tip of the robot arm 31 moves from the first working area LE1, etc. to the reference position LP2 in the second working area LE2, the safety function of the robot arm 31 is switched to the second working operation.

[0276] Also, for example, in a configuration in which a robot installed at a predetermined position on a line performs a plurality of different tasks according to the type of workpiece supplied by a conveyor or the like, it is possible to distinguish the work scene and switch the safety function (safety-related parameter) for each work scene. Note that the work scene may also be subdivided as described above, and the safety function may be switched for each subdivided scene.

[0277] In the picking of the work scene SCN3, the scene of taking the workpiece from the processing machine 14 and the scene of moving to the adjacent processing machine may be configured as separate scenes, with the safety function being switched. Furthermore, the safety function may be switched between the first half of the scene of taking the workpiece (until the workpiece is grasped) and the second half (until the workpiece is moved to the container B).

[0278] It is also possible to subdivide the work scene 1 into scenes where the distance from people is expected to be relatively close and scenes where the distance from people is expected to be relatively far, and to configure the safety function to be switched for each of these subdivided scenes.

[0279] The specific timing for starting a scene change sequence is arbitrary. For example, when moving from a previous work scene to the next work scene, it may be the timing when the previous work scene is completed or when moving to the next work scene. It may also be the timing immediately before or immediately after moving from one work area to another.

[0280] It is optional whether or not to allow the robot arm 31 to continue operating during switching of the safety function. Also, it is possible to configure the robot arm 31 to be temporarily stopped when switching to make the judgment criteria stricter, while allowing the robot arm 31 to continue operating when switching to make the judgment criteria more lenient.

[0281] In each of the above embodiments, a CRC is added as diagnostic information for diagnosing whether transmission and reception between the non-safety-related part PY and the safety-related part PX is normal. The CRC may be set in any manner, and does not necessarily have to be set based on the command ID and data of the request command.

[0282] In the first embodiment, the request commands from each non-safety-related part PY (control device) are configured to use the same numbers (scene numbers 1 to 9) specifying the work scenes SCN1 to SCN9, but this is not limited to the above. A different scene number may be used depending on which non-safety-related part PY the request command is from. For example, the scene numbers may be 1 to 9 in the request command when the control device is the teaching pendant 70, the scene numbers may be 11 to 19 in the request command when the control device is the drive control part 52 (pack script), and the scene numbers may be 21 to 29 in the request command when the control device is the IO80.

[0283] In the control device 51 shown in each of the above embodiments, each value of the safety-related parameter group is stored in advance in association with a scene number, and each value is specified from the scene number designated by the non-safety-related part PY, but this is not limited to the above. The non-safety-related part PY may be configured to send each set value to the safety-related part PX instead of the scene number.

[0284] In each of the above embodiments, the scene is configured by a group of safety-related parameters, but the present invention is not limited to this. The safety function of the robot may be realized by a simple configuration that monitors the movement of the robot based on one judgment criterion (for example, speed or force). However, even in such a configuration, it is preferable to configure the judgment criterion to be switched depending on the situation, for example, to switch the judgment criterion based on a judgment criterion switching command during automatic operation, and to switch to a judgment criterion for manual operation based on a user's operation during manual operation.

[0285] In the above embodiments, the robot 16 is applied to a processing line in the factory 10, but the application of the robot 16 is not limited to a processing line. The robot 16 can also be applied to an assembly line, an inspection line, or a packaging line.

[0286] <Inventions extracted from the above embodiments> The following describes the features of the inventions extracted from the above-mentioned embodiments, while indicating, as necessary, their effects, etc. In the following, for ease of understanding, the corresponding configurations in the above-mentioned embodiments are appropriately indicated in parentheses, but the present invention is not limited to the specific configurations indicated in parentheses.

[0287] <Characteristics Group A> Scene name The following feature A group is related to the background technology of "Some robot control systems applied to robots such as industrial robots have a safety-related section that realizes the safety functions of the robot and a non-safety-related section that performs drive control of the robot. As for the safety-related section, for example, a system has been proposed that forcibly stops the robot when it collides with an obstacle such as a person (see Patent Document 1, for example), or that monitors the force (thrust) and speed of the robot while it is moving and forcibly stops the robot when it moves outside of safety standards." The background technology of "In recent years, with the advancement of robot technology, the types of work that a robot can be engaged in are also on the rise. When a robot is engaged in various works, if the safety functions are uniform, it may be difficult to simultaneously improve the safety of the robot and improve the productivity (work efficiency) of the robot. In view of such circumstances, the inventor of the present application has devised a configuration for switching the safety functions of the robot depending on the work content, etc. Here, in order to prevent the safety functions from being impaired due to communication errors, etc. when changing the safety functions, it is necessary to input the input for changing the safety functions from the safety-related input section. It is preferable to input the safety function (so-called safety input) from the above. However, if the safety input is made a mandatory requirement, the constraints on the change will be strong, which is expected to hinder the improvement of the operability of the safety function change. In contrast, if the requirement is simply avoided, although the operability can be improved, there is a concern that the trust in the safety function of the robot will be shaken. Thus, there is still room for improvement in the configuration related to the change of the safety function in order to improve the safety and work efficiency of the robot. In addition, in order to improve safety and productivity, it is effective to provide various safety-related parameters that affect the safety function and enable detailed consideration of the work content, etc. If a setting support system is provided to support the user in setting a safety-related parameter group (scene) and the safety-related parameter group set by the setting support system is configured to be transmitted to the robot control device, it can contribute to reducing the user's workload. However, if the number of configurable items increases, the number of items that the user needs to check when transmitting the safety-related parameter group to the robot control device increases, and it becomes practically difficult to check all the items each time.As a result, for example, a user is more likely to make operational mistakes, such as selecting the wrong set of safety-related parameters to send and sending them without noticing. If an incorrect set of safety-related parameters is stored and referenced in the robot control device as is, there is a concern that the robot's safety functions will not be properly performed. Thus, in order to improve the safety and operability of the robot while suppressing setting errors related to the safety functions, there is still room for improvement in the configuration related to the setting of the safety functions. This was done in consideration of the background and issues.

[0288] Feature A1. A drive control unit (drive control unit 52) ​​that drives and controls the robot (robot 16) in accordance with each operation instruction (command for drive control) constituting a control program for the robot, and a safety-related unit (safety-related unit PX) that has a safety-related input signal (signal from rotary encoder 36, torque sensor 37, etc.) including correlation information that is correlated with at least one of the force and speed of the robot during drive control and a pre-stored judgment criterion (reference value or reference area) for the correlation information, and that realizes the safety function of the robot by generating a safety-related output signal according to the judgment result, and a plurality of scenes (e.g., main scenes) that are safety-related parameter groups including the judgment criterion as a safety-related parameter that affects the safety function are set, and the operation judgment unit is configured to make the judgment by referring to one of the scenes, and during drive control of the robot based on the control program, a switching instruction for the scene ("CHANGE a setting support system that supports a user in setting each of the scenes, and that can be connected to a robot control device (control device 51) configured to switch the scene to be referenced based on the establishment of a predetermined switching condition (e.g., a stop condition, a position condition, a command success) when a command for switching the scene to be referenced is reached, and that supports a user in setting each of the scenes, A storage means (a storage function of the PC 60) for storing the safety-related parameters input by the user for each scene; a transmission means (a communication function of the PC 60) for transmitting the scene stored in the storage means to the robot control device based on a transmission operation by a user; Equipped with The user can set a scene name for each scene, A setting assistance system comprising a notification means (for example, a function of displaying the scene name on a display 61) for notifying the user of the scene name set by the user for the scene during setting assistance.

[0289] As shown in this feature, if a scene (a group of safety-related parameters) switching instruction is incorporated into the control program of the robot and the scene can be switched during drive control (during automatic driving), it can contribute to realizing a configuration that properly exercises the safety function according to various conditions such as the surrounding environment and the work content. This is preferable in terms of improving both the safety of the robot and the productivity of the robot. However, as shown in this feature, if the scene is automatically switched, the scene may be inappropriately switched due to disturbances in the behavior of the robot, noise, etc., resulting in a mismatch between the scene that is assumed in advance and the actual scene. This is a concern that this will hinder the proper exercise of the safety function. In this regard, in this feature, when a switching instruction is reached in the control program, the scene switching is executed on the condition that a predetermined switching condition is satisfied. In other words, the configuration is such that the requirements such as whether or not the scene switching is possible can be confirmed when switching the scene. This is preferable in terms of suppressing scene switching that is not in line with the user's intention and suppressing the occurrence of the above-mentioned mismatch.

[0290] Here, if the number of items of safety-related parameters that can be set according to various situations such as the surrounding environment and the work content increases, the safety function can be finely adjusted (changed) according to the situation. This is advantageous in achieving both improved safety of the robot and improved productivity by the robot. However, if the number of items that can be set increases, the number of items that the user must check when transmitting a safety-related parameter group (scene) from the setting support system to the robot control device increases, and it becomes practically difficult to check all items each time. As a result, the user is more likely to make an operational mistake, such as selecting the wrong safety-related parameter group to be transmitted and transmitting it without noticing. If the wrong safety-related parameter group is stored in the robot control device as is, there is a concern that the safety function of the robot will not be properly exhibited by applying the parameter group. In this regard, in the configuration shown in this characteristic, the name of the scene (scene name) can be set for each scene, and the scene name is notified for the scene during the setting support. By using such a function, a configuration can be realized in which the user can easily understand what the safety-related parameter group is without checking the safety-related parameters individually. For example, a user can determine whether his / her work is appropriate by checking the scene name without checking each safety-related parameter when transmitting. In other words, being able to set the scene name of a safety-related parameter group is effective in preventing the above-mentioned work errors. For the above reasons, by switching between scenes consisting of a safety-related parameter group, it is possible to improve both the safety of the robot and the productivity of the robot, while preventing an increase in work errors caused by them.

[0291] In addition, the description "a setting support system that can be connected to a robot control device (control device 51) configured to switch the scene to be referenced based on the establishment of a predetermined switching condition (e.g., a stop condition, a position condition, a command success) when a switching instruction for the scene ("CHANGE SCENE" command) included in the control program is reached during drive control of the robot based on the control program, and supports a user in setting each of the scenes" may be read as "a setting support system that can be connected to a robot control device (control device 51) configured to switch the scene to be referenced based on the establishment of a predetermined switching condition (e.g., a stop condition, a position condition, a command success) when a switching instruction for the scene ("CHANGE SCENE" command) included in the control program is reached during drive control of the robot based on the control program, and to continue drive control of the robot, while interrupting drive control of the robot when the predetermined switching condition is not met, and supports a user in setting each of the safety-related parameters for each of the scenes."

[0292] Incidentally, for example, when a diagnosis of a command related to a switching instruction results in the command being normal and it is confirmed that the robot is positioned in the appropriate position, it is preferable to set the "specified switching condition" to "met."

[0293] Feature A2. A drive control unit (drive control unit 52) ​​that drives and controls the robot (robot 16) in accordance with each operation instruction (command for drive control) constituting a control program for the robot, and a safety-related unit (safety-related unit PX) that has a safety-related input signal (signal from rotary encoder 36, torque sensor 37, etc.) including correlation information that is correlated with at least one of the force and speed of the robot during drive control and a pre-stored judgment criterion (reference value or reference area) for the correlation information, and that realizes the safety function of the robot by generating a safety-related output signal according to the judgment result, and a plurality of scenes (e.g., main scenes) that are safety-related parameter groups including the judgment criterion as a safety-related parameter that affects the safety function are set, and the operation judgment unit is configured to make the judgment by referring to one of the scenes, and during drive control of the robot based on the control program, a switching instruction for the scene ("CHANGE a setting support system that supports a user in setting each of the safety-related parameters for each of the scenes, the setting support system being connectable to a robot control device (control device 51) configured to switch the scene to be referred to based on the establishment of a predetermined switching condition (e.g., a stop condition, a position condition, a command success) including a position condition that specifies the position of the robot when a command for switching the scene is reached ... A storage means (a storage function of the PC 60) for storing the safety-related parameters input by the user for each scene; a transmission means (a communication function of the PC 60) for transmitting the scene stored in the storage means to the robot control device based on a transmission operation by a user; Equipped with The user can set a scene name for each scene, A setting assistance system comprising a notification means (a function of displaying the scene name on a display 61) for notifying the user of the scene name set by the user for the scene during setting assistance.

[0294] As shown in this feature, if a scene (group of safety-related parameters) switching instruction is incorporated into the control program of the robot and the scene can be switched during drive control (during automatic driving), it can contribute to realizing a configuration that properly exercises the safety function according to various situations such as the surrounding environment and the work content. This is preferable in terms of improving both the safety of the robot and the productivity of the robot. However, as shown in this feature, if the scene is automatically switched, the scene may be inappropriately switched due to disturbances in the behavior of the robot, noise, etc., resulting in a mismatch between the pre-expected scene and the actual scene. There is a concern that this will hinder the proper exercise of the safety function. Here, even if the robot is engaged in various tasks, its movements basically follow the control program, so there is a certain relationship between the task and the area (operation area) in which the task is performed. In consideration of this actual situation, in this feature, the scene is switched on the condition that a predetermined switching condition including a position condition is satisfied. In this way, by at least checking the position at the time of scene switching, the above concerns can be eliminated and the scene can be switched properly.

[0295] Here, if the number of items of safety-related parameters that can be set according to various situations such as the surrounding environment and the work content increases, the safety function can be finely adjusted (changed) according to the situation. This is advantageous in achieving both improved safety of the robot and improved productivity by the robot. However, if the number of items that can be set increases, the number of items that the user must check when transmitting a safety-related parameter group (scene) from the setting support system to the robot control device increases, and it becomes practically difficult to check all items each time. As a result, the user is more likely to make an operational mistake, such as selecting the wrong safety-related parameter group to be transmitted and transmitting it without noticing. If the wrong safety-related parameter group is stored in the robot control device as is, there is a concern that the safety function of the robot will not be properly exhibited by applying the parameter group. In this regard, in the configuration shown in this characteristic, the name of the scene (scene name) can be set for each scene, and the scene name is notified for the scene during the setting support. By using such a function, a configuration can be realized in which the user can easily understand what the safety-related parameter group is without checking the safety-related parameters individually. For example, a user can determine whether his / her work is appropriate by checking the scene name without checking each safety-related parameter when transmitting. In other words, being able to set the scene name of a safety-related parameter group is effective in preventing the above-mentioned work errors. For the above reasons, by switching between scenes consisting of a safety-related parameter group, it is possible to improve both the safety of the robot and the productivity of the robot, while preventing an increase in work errors caused by them.

[0296] Feature A3. A setting support system described in Feature A1 or Feature A2, wherein the scene name is a name that can be set by the user (e.g., an arbitrary name) separate from identification information (e.g., a scene number) assigned by the setting support system to identify the scene by the setting support system.

[0297] In the setting support system, scenes can be appropriately managed by using identification information for scene identification. However, it is unclear whether a user can appropriately identify a scene (a group of safety-related parameters) by looking at this identification information. For example, if the identification information is simply a number or a list of numbers, it is difficult to intuitively grasp the corresponding scene and the robot to which the scene is applied from the identification information. In this regard, if a scene name can be set by the user separately from the identification information for the system, the user can easily intuitively grasp the corresponding scene, etc. from the name. Therefore, it is easy to understand what the scene is like without checking each item of the safety-related parameters that make up the scene. This is preferable in terms of reducing the effort of checking each safety-related parameter when transmitting a scene to a robot control device, as shown in feature A1, etc.

[0298] Feature A4. A setting support system described in any one of Features A1 to A3, which displays on a display unit (display 61) each of the safety-related parameters that constitute the scene being supported for setting and the scene name of the scene.

[0299] As shown in this feature, if the scene name set by the user is displayed on the display unit together with the scene (safety-related parameter group) to which the scene name corresponds, the user can easily confirm the relationship between the safety-related parameter group and the scene name. This is preferable in reducing the work mistakes as shown in feature A1, etc.

[0300] For example, the scene name set by the user may be displayed on the setting screen for each scene. With such a configuration, the user can appropriately check the scene name when setting safety-related parameters for each scene, thereby reducing setting errors (operation errors) caused by confusion with other scenes (including scenes for other robot control devices).

[0301] Feature A5. A setting support system described in any one of features A1 to A4, which, when the scene is sent to the robot control device based on a user's sending operation, notifies the user of the scene name of the scene at least before the sending operation is performed.

[0302] As shown in this feature, when a scene is to be transmitted to a robot control device, the scene name is notified to the user at least before the transmission operation is performed, thereby reducing the chance of erroneous transmission or incorrect setting of the scene. For example, it is preferable to configure the transmission screen for transmitting the scene to display the name of the safety-related parameter group.

[0303] Feature A6. A setting support system according to any one of Features A1 to A5, in which a scene for which the scene name is not set cannot be transmitted to the robot control device.

[0304] By specifying that the setting of a scene name is a condition for transmitting a scene to a robot control device, the effects shown in feature A1 etc. can be preferably exhibited.

[0305] Feature A7. A setting support system described in any one of features A1 to A6, which, when sending the scene to the robot control device, notifies the robot control device of the scene name by sending the scene name of the scene together with the scene to the robot control device.

[0306] By notifying the robot control device of the scene name, the robot control device can also grasp the scene name.

[0307] Feature A8. A setting support system as described in Feature A7, which has a plurality of devices connected to the robot control device, and is configured so that the scene and scene name can be displayed by connecting devices other than the device that transmitted the scene to the robot control device to the robot control device.

[0308] By connecting a device other than the device from which the scene and scene name were sent (for example, a teaching pendant) to the robot control device, the scene and scene name can be displayed on the other device, allowing the user to check after the fact on the other device whether a scene was sent in error, etc.

[0309] Feature A9. A means for prompting a user to include, in the scene name to be set, unique information related to the robot control device to which the scene is to be sent, The setting support system described in feature A7 or feature A8 is configured so that, when the scene is transmitted to the robot control device, the scene name is compared with the unique information relating to the destination robot control device, and if the scene name contains the unique information, the scene can be set in the robot control device, whereas if the scene name does not contain the unique information, the scene cannot be set in the robot control device.

[0310] By including unique information that is unique to the destination robot control device in the scene name set by the user, matching using the unique information becomes possible. In this way, if the system is configured to be able to identify erroneous transmissions, human error can be significantly reduced.

[0311] Feature A10. A setting support system described in any one of Features A7 to A9, which is capable of changing each safety-related parameter for a scene that has already been set, and has a means for prompting a user to change the scene name of the scene when such a change is made.

[0312] As shown in this feature, it is preferable to prompt the user to change the scene name when any one of the safety-related parameters is changed, in order to prevent confusion between scenes before and after the change.

[0313] Feature A11. A setting support system described in any one of Features A7 to A10, wherein if any of the safety-related parameters for a scene that has already been set is changed, the group of safety-related parameters cannot be transmitted to the robot control device until the scene name of the scene is changed.

[0314] When any of the safety-related parameters of a scene that has already been set is changed, the effect of the above-mentioned feature A10 can be preferably achieved by making it mandatory to change the scene name of the scene.

[0315] Feature A12. A setting support system described in any one of Features A1 to A11, which has a plurality of devices connected to the robot control device, and among the plurality of devices, the scene name can be set in a specific device in which the scene can be set, and the scene name cannot be set in other devices in which the scene cannot be set.

[0316] If scene names can be set only on specific devices that can set scenes, it is possible to prevent scene names from being inadvertently set or changed due to operational mistakes when operating other devices that cannot set scenes. This is preferable in order to effectively utilize the confirmation support function using the scene names when checking the scene names after the fact, for example.

[0317] Feature A13. A drive control unit (drive control unit 52) ​​that drives and controls the robot (robot 16) in accordance with each operation instruction (command for drive control) constituting a control program for the robot, and a safety-related unit (safety-related unit PX) that has a safety-related input signal (signal from rotary encoder 36, torque sensor 37, etc.) including correlation information correlated with at least one of the force and speed of the robot during drive control and a pre-stored judgment criterion (reference value or reference area) for the correlation information, and realizes the safety function of the robot by generating a safety-related output signal according to the judgment result, and a plurality of scenes (e.g., main scenes) that are safety-related parameter groups including the judgment criterion as a safety-related parameter that affects the safety function are set, and the operation judgment unit is configured to make the judgment by referring to one of the scenes, and during drive control of the robot based on the control program, a switching instruction for the scene ("CHANGE a setting support system that supports a user in setting each of the scenes, and that can be connected to a robot control device (control device 51) configured to switch the scene to be referenced based on the establishment of a predetermined switching condition (e.g., a stop condition, a position condition, a command success) when a command for switching the scene to be referenced is reached, and that supports a user in setting each of the scenes, The setting support system is configured so that a user can set a scene name for each of the scenes.

[0318] As shown in this feature, if a scene (a group of safety-related parameters) switching instruction is incorporated into the control program of the robot and the scene can be switched during drive control (during automatic driving), it can contribute to realizing a configuration that properly exercises the safety function according to various conditions such as the surrounding environment and the work content. This is preferable in terms of improving both the safety of the robot and the productivity of the robot. However, as shown in this feature, if the scene is automatically switched, the scene may be inappropriately switched due to disturbances in the behavior of the robot, noise, etc., resulting in a mismatch between the scene that is assumed in advance and the actual scene. This is a concern that this will hinder the proper exercise of the safety function. In this regard, in this feature, when a switching instruction is reached in the control program, the scene switching is executed on the condition that a predetermined switching condition is satisfied. In other words, the configuration is such that the requirements such as whether or not the scene switching is possible can be confirmed when switching the scene. This is preferable in terms of suppressing scene switching that is not in line with the user's intention and suppressing the occurrence of the above-mentioned mismatch.

[0319] Here, if the number of items of safety-related parameters that can be set according to various situations such as the surrounding environment and the work content increases, the safety functions can be finely adjusted (changed) according to the situation. This is advantageous in achieving both improved safety of the robot and improved productivity by the robot. However, if the number of items that can be set increases, the number of items that the user must check when transmitting a safety-related parameter group (scene) from the setting support system to the robot control device increases, and it becomes practically difficult to check all items each time. As a result, the user is more likely to make an operational mistake, such as selecting the wrong safety-related parameter group to be transmitted and transmitting it without noticing. If the wrong safety-related parameter group is stored in the robot control device as is, there is a concern that the safety functions of the robot will not be properly exhibited by applying the parameter group. In this regard, the configuration shown in this characteristic makes it possible to set the name of the scene for each scene. By using this name setting function, a configuration can be realized in which the type of safety-related parameter group can be easily understood without checking each safety-related parameter. For example, the user can determine whether his or her work is appropriate by checking the scene name without checking each safety-related parameter when transmitting. In other words, being able to set scene names for the safety-related parameter groups is effective in preventing the above-mentioned work mistakes. For the above reasons, by switching between scenes consisting of safety-related parameter groups, it is possible to improve both the safety of the robot and the productivity of the robot, while preventing an increase in work mistakes caused thereby.

[0320] In addition, the description in this feature that "a setting support system that can be connected to a robot control device (control device 51) configured to switch the scene to be referenced based on the satisfaction of a predetermined switching condition (e.g., a stop condition, a position condition, a successful command) when a switching instruction for the scene (``CHANGE SCENE'' command) included in the control program is reached during drive control of the robot based on the control program, and supports a user in setting each of the scenes" may be read as "a setting support system that can be connected to a robot control device (control device 51) configured to switch the scene to be referenced based on the satisfaction of a predetermined switching condition (e.g., a stop condition, a position condition, a successful command) including a position condition that defines a position of the robot, when a switching instruction for the scene (``CHANGE SCENE'' command) included in the control program is reached during drive control of the robot based on the control program, and supports a user in setting each of the safety-related parameters for each of the scenes."

[0321] Feature A14. A drive control unit (drive control unit 52) ​​that drives and controls the robot (robot 16) in accordance with each operation instruction (command for drive control) constituting a control program for the robot, and a safety-related unit (safety-related unit PX) that has a safety-related input signal (signal from rotary encoder 36, torque sensor 37, etc.) including correlation information correlated with at least one of the force and speed of the robot during drive control and a pre-stored judgment criterion (reference value or reference area) for the correlation information, and realizes the safety function of the robot by generating a safety-related output signal according to the judgment result, and a plurality of scenes (e.g., main scenes) that are safety-related parameter groups including the judgment criterion as a safety-related parameter that affects the safety function are set, and the operation judgment unit is configured to make the judgment by referring to one of the scenes, and during drive control of the robot based on the control program, a switching instruction for the scene ("CHANGE a setting assistance program that is installed in a computer that can be connected to a robot control device (control device 51) configured to switch the scene to be referenced based on the establishment of a predetermined switching condition (e.g., a stop condition, a position condition, a command success) when a command for switching the scene to be referenced is reached, and that causes the computer to assist a user in setting each of the scenes, A setting support program for controlling the computer so that a user can set a scene name for each of the scenes in the computer.

[0322] According to the configuration showing this characteristic, it is possible to improve both safety and productivity while suppressing an increase in work errors resulting therefrom.

[0323] Feature A15. A drive control unit (drive control unit 52) ​​that drives and controls the robot (robot 16) in accordance with each operation instruction (command for drive control) constituting a control program for the robot, and a safety-related unit (safety-related unit PX) that has a safety-related input signal (signal from rotary encoder 36, torque sensor 37, etc.) including correlation information that is correlated with at least one of the force and speed of the robot during drive control and a pre-stored judgment criterion (reference value or reference area) for the correlation information, and realizes the safety function of the robot by generating a safety-related output signal according to the judgment result, and a plurality of scenes (e.g., main scenes) that are safety-related parameter groups including the judgment criterion as a safety-related parameter that affects the safety function are set, and the operation judgment unit is configured to make the judgment by referring to one of the scenes, and during drive control of the robot based on the control program, a switching instruction for the scene ("CHANGE a setting assistance program that is installed in a computer that can be connected to a robot control device (control device 51) configured to switch the scene to be referenced based on the establishment of a predetermined switching condition (e.g., a stop condition, a position condition, a command success) when a command for switching the scene to be referenced is reached, and that causes the computer to assist a user in setting each of the scenes, The computer includes: a storage process for storing each of the safety-related parameters input by a user for each of the scenes; a transmission process of transmitting the stored scene to the robot control device based on a transmission operation by a user; Run the command, A user can set a scene name for each of the scenes on the computer; A setting support program that causes the computer to execute a notification process for notifying the scene name of the scene during setting support.

[0324] According to the configuration showing this characteristic, it is possible to improve both safety and productivity while suppressing an increase in work errors resulting therefrom.

[0325] In addition, the technical ideas described in Features A2 to A12 can also be applied to this feature.

[0326] <Feature B> Main items displayed The following feature B group is a background technology that states, "Some robot control systems applied to robots such as industrial robots have a safety-related unit that realizes the safety functions of the robot and a non-safety-related unit that controls the drive of the robot. For example, the safety-related unit has been proposed to forcibly stop the robot when it collides with an obstacle such as a person (see Patent Document 1), or to monitor the force (thrust) and speed of the robot while it is moving and forcibly stop the robot when it moves beyond a safety standard." The background technology that states, "In recent years, with the advancement of robot technology, the types of work that a robot can perform are also increasing. When a robot is used for various tasks, if the safety functions are uniform, it may be difficult to improve both the safety of the robot and the productivity (work efficiency) of the robot. In view of such circumstances, the inventor of the present application has devised a configuration that switches the safety functions of the robot depending on the work content, etc. Here, in order to prevent the safety functions from being impaired due to communication errors or the like when changing the safety functions, it is preferable that the input for changing the safety functions is an input from a safety-related input unit (so-called safety input). However, if the safety input is made a mandatory requirement, the constraints on the change will be strong, which is expected to hinder the improvement of the operability of the safety function change. In contrast, if the requirement is simply avoided, it is expected that the operability will be improved, but there is a concern that the trust in the safety function of the robot will be shaken. Thus, in order to improve the safety and work efficiency of the robot, there is still room for improvement in the configuration related to the change of the safety function. Also, in order to improve safety and productivity, it is effective to provide various safety-related parameters that affect the safety function and enable detailed consideration of the work content, etc. Here, if a configuration is adopted in which the setting support device supports the user in setting the safety-related parameter group (scene), the user's work burden can be reduced. However, if the number of configurable items increases, it becomes difficult for the user to identify the items that are required. This is not preferable in terms of improving the efficiency of the setting work, and may also be a factor in setting errors of the safety-related parameters. Thus, in order to realize the improvement of the safety and workability of the robot while suppressing setting errors related to the safety function, there is still room for improvement in the configuration related to the setting of the safety function.This was done in light of the background and issues surrounding the issue.

[0327] Feature B1. A drive control unit (drive control unit 52) ​​that drives and controls the robot (robot 16) in accordance with each operation instruction (command for drive control) constituting a control program for the robot, and a safety-related unit (safety-related unit PX) that has a safety-related input signal (signal from rotary encoder 36, torque sensor 37, etc.) including correlation information correlated with at least one of the force and speed of the robot during drive control and a pre-stored judgment criterion (reference value or reference area) for the correlation information, and that realizes the safety function of the robot by generating a safety-related output signal according to the judgment result, and a plurality of scenes (e.g., main scenes) that are safety-related parameter groups including the judgment criterion as a safety-related parameter that affects the safety function are set, and the operation judgment unit is configured to make the judgment by referring to one of the scenes, and during drive control of the robot based on the control program, a switching instruction for the scene ("CHANGE A setting support device (PC60) is applied to a robot control system (control system CS) configured to switch the scene to be referred to based on the establishment of a predetermined switching condition (e.g., a stop condition, a position condition, a command success) when a command for switching the scene to be referred to is reached, and supports a user in setting each of the safety-related parameters for each of the scenes, A display unit (display 61 of PC 60), a display control unit (control unit 62 of PC 60) that causes the display unit to display a parameter setting screen (parameter display unit D2 of scene parameter setting screen WD) corresponding to the scene designated by a user; Equipped with A setting support device having two display modes for the safety-related parameter group on the parameter setting screen: a first display mode (displaying all items) that displays both a first parameter group and a second parameter group that constitute the safety-related parameter group, and a second display mode (displaying major items) that displays the first parameter group of the first and second parameter groups.

[0328] As shown in this feature, if a scene (group of safety-related parameters) switching instruction is incorporated into the control program of the robot and the scene can be switched during drive control (during automatic driving), it can contribute to realizing a configuration that allows the safety function to be properly exercised according to the situation. This is preferable in terms of achieving both improved safety of the robot and improved productivity of the robot. However, as shown in this feature, if the scene is automatically switched, the scene may be switched due to an accidental factor such as noise, resulting in a mismatch between the actual situation and the scene. This is a concern as it may hinder the proper exercise of the safety function. In this regard, in this feature, when a switching instruction in the control program is reached, the scene is switched under the condition that a predetermined switching condition is satisfied. This makes it possible to suppress scene switching that is not in line with the user's intention and to suppress the occurrence of the above-mentioned mismatch.

[0329] Here, if the number of items of safety-related parameters that the user can set for each scene increases, the safety functions can be changed in detail according to the work content, etc. This is preferable in terms of achieving both improved safety and improved productivity. However, if the number of items that can be set increases, it becomes difficult for the user to identify the items that are required. This is not preferable in terms of improving the efficiency of the setting work, and may cause mistakes in setting safety-related parameters, etc. In this regard, according to the configuration shown in this characteristic, as display modes of the safety-related parameter group on the parameter setting screen, there are provided a first display mode (display of all items) that displays both the first parameter group and the second parameter group that constitute the safety-related parameter group, and a second display mode (display of main items) that displays the first parameter group out of the first parameter group and the second parameter group. In the second display mode, the display target is limited to the first parameter group, so that the user can easily narrow down the required items. On the other hand, in the first display mode, both the first parameter group and the second parameter group are displayed (set) so that it is possible to set and check each safety-related parameter. Providing two display modes in this way is preferable in terms of improving both safety and productivity while preventing setting errors by the user.

[0330] In addition, the description regarding the "second display mode" in this feature may be changed from "of the first parameter group and the second parameter group, the first parameter group is displayed" to "the first parameter group is displayed, while the second parameter group is not displayed."

[0331] Incidentally, for example, when a diagnosis of a command related to a switching instruction results in the command being normal and it is confirmed that the robot is positioned in the appropriate position, it is preferable to set the "specified switching condition" to "met."

[0332] Feature B2. A drive control unit (drive control unit 52) ​​that drives and controls the robot (robot 16) in accordance with each operation instruction (command for drive control) constituting a control program for the robot, and a safety-related unit (safety-related unit PX) that has a safety-related input signal (signal from rotary encoder 36, torque sensor 37, etc.) including correlation information correlated with at least one of the force and speed of the robot during drive control and a previously stored judgment criterion (reference value or reference area) for the correlation information and realizes the safety function of the robot by generating a safety-related output signal according to the judgment result, and a plurality of scenes (e.g., main scenes) that are safety-related parameter groups including the judgment criterion as a safety-related parameter that affects the safety function are set, and the operation judgment unit is configured to make the judgment by referring to one of the scenes, and during drive control of the robot based on the control program, a switching instruction for the scene ("CHANGE A setting support device (PC60) is applied to a robot control system (control system CS) configured to switch the scene to be referred to based on the establishment of a predetermined switching condition (e.g., a stop condition, a position condition, a command success) when a command for switching the scene to be referred to is reached, and supports a user in setting each of the safety-related parameters for each of the scenes, A display unit (display 61 of PC 60), a display control unit (control unit 62 of PC 60) that causes the display unit to display a parameter setting screen (parameter display unit D2 of scene parameter setting screen WD) corresponding to the scene designated by a user; Equipped with A setting support device having two display modes for the safety-related parameter group on the parameter setting screen: a first display mode (displaying all items) that displays both a first parameter group and a second parameter group that constitute the safety-related parameter group, and a second display mode (displaying major items) that displays the first parameter group of the first and second parameter groups.

[0333] As shown in this feature, if a scene (safety-related parameter group) switching instruction is incorporated into the control program of the robot and the scene can be switched during drive control (automatic driving), it can contribute to realizing a configuration that properly exercises the safety function according to the situation. This is preferable in terms of achieving both improved safety of the robot and improved productivity by the robot. However, as shown in this feature, if the scene is automatically switched, the scene may be switched due to an accidental factor such as noise, which may cause a mismatch between the actual situation and the scene. There is a concern that this will hinder the proper exercise of the safety function. Here, even if the robot is engaged in various tasks, its movements basically follow the control program, so there is a certain relationship between the task and the area (operation area) in which the task is performed. In consideration of this actual situation, in this feature, the scene is switched on the condition that a predetermined switching condition including a position condition is satisfied. In this way, by at least checking the position at the time of scene switching, the above concerns can be eliminated and the scene can be switched properly.

[0334] Here, if the number of items of safety-related parameters that the user can set for each scene increases, the safety functions can be changed in detail according to the work content, etc. This is preferable in terms of achieving both improved safety and improved productivity. However, if the number of items that can be set increases, it becomes difficult for the user to identify the items that are required. This can lead to incorrect settings. In this regard, according to the configuration shown in this characteristic, as display modes of the safety-related parameter group on the parameter setting screen, a first display mode (display of all items) that displays both the first parameter group and the second parameter group that constitute the safety-related parameter group, and a second display mode (display of main items) that displays the first parameter group out of the first parameter group and the second parameter group are provided. In the second display mode, the display target is limited to the first parameter group, so that the user can easily narrow down the required items. On the other hand, in the first display mode, both the first parameter group and the second parameter group are displayed (set) so that it is possible to set and check each safety-related parameter. In this way, providing two display modes is preferable in terms of achieving both improved safety and improved productivity while suppressing setting errors by the user.

[0335] Feature B3. The setting support device according to feature B2, which switches a display mode of the safety-related parameter group on the parameter setting screen between the first display mode and the second display mode based on a switching operation by a user.

[0336] As shown by this feature, it is preferable for improving user convenience to have a configuration in which the user can arbitrarily switch the display mode.

[0337] Feature B4. A setting support device as described in Feature B3, wherein the second parameter group includes a plurality of safety-related parameters for performing detailed settings related to a specific safety-related parameter included in the first parameter group.

[0338] When detailed settings are desired for specific safety-related parameters displayed in the second display mode, the detailed settings can be made by switching from the second display mode to the first display mode. Such detailed settings may or may not be necessary depending on various circumstances. It is preferable to exclude the detailed setting parameters from the display targets in the second display mode to narrow down the display targets, in order to prevent important parameters and the like from being buried.

[0339] Feature B5. A setting support device described in any one of Features B2 to B4, which classifies the first parameter group and the second parameter group so that the number of safety-related parameter items constituting the first parameter group is fewer than the number of safety-related parameter items constituting the second parameter group.

[0340] By narrowing down the items extracted for the second display mode so that the safety-related parameters constituting the first parameter group are less than the safety-related parameters constituting the second parameter group, the two display modes can be made to coexist in a manner suitable for the purpose.

[0341] Feature B6: The setting assistance device according to any one of features B2 to B5, in which, in the second display mode, the first parameter group is displayed in a state where it is classified into a plurality of groups.

[0342] As shown in this feature, by displaying the first parameter group classified into a plurality of groups in the second display mode, if the item desired by the user is included in the items to be displayed in the second display mode, the item can be easily found. In addition, encouraging the user to set the parameters by group is also preferable in terms of preventing the user from setting parameters incorrectly.

[0343] Feature B7. A setting support device described in any one of features B2 to B6, in which the display mode when the parameter setting screen is launched based on a user's start operation is the second display mode, and the display mode is switched to the first display mode based on the user's switching operation.

[0344] When the user opens the parameter setting screen, the safety-related parameters are displayed in the second display mode first. This allows the user to be prompted to set items that are narrowed down to a certain extent. After that, the display mode can be switched to the first display mode, so that the user can have the opportunity to set other items that are not displayed when the parameter setting screen is launched.

[0345] Feature B8. A setting support device described in any one of features B2 to B7, which, when a user performs a scene designation operation while the parameter setting screen is displayed, displays the safety-related parameter group of the designated scene in the second display mode.

[0346] When a scene is specified by the user, a group of safety-related parameters corresponding to the scene is displayed in the second display mode. Even when safety-related parameters are set for a plurality of scenes, the safety-related parameters are displayed in the second display mode only for the specified scene, so that the user can be prevented from becoming overwhelmed with information.

[0347] Feature B9. The scene includes a first scene and a second scene assuming a case where the robot is being controlled in accordance with the control program; The setting support device according to any one of features B2 to B8, wherein an item of the first parameter group in the first scene matches an item of the first parameter group in the second scene.

[0348] In the first and second scenes for automatic driving, the items displayed in the second display mode for those scenes match. With this configuration, when the first parameter group is set for one of the first and second scenes in the second display mode, and then the first parameter group is set for the other of the first and second scenes in the second display mode, the setting work can be performed with the image at the time of previous setting as it is. This is preferable in terms of reducing setting errors. In particular, in combination with feature B7, if the second scene is specified after the first parameter group is set for the first scene, the first parameter group is displayed, and the first parameter group can be set efficiently.

[0349] Feature B10. The scene is a main scene; A setting support device described in any one of features 2 to B9, in which multiple sub-scenes can be set in the main scene, the sub-scenes differing only in certain safety-related parameters that are part of the group of safety-related parameters that constitute the main scene.

[0350] Depending on the main scene, only some of the safety-related parameters may differ. In such a case, if only the safety-related parameters can be adjusted by the sub scene, the proliferation of main scenes can be suppressed, and the confusion of the main scenes by the user can be suppressed.

[0351] Feature B11. In the first display mode, the specific safety-related parameters are displayed for all sub-scenes corresponding to the main scene specified by a user; The setting support device according to feature B10, in the second display mode, displays the specific safety-related parameters for one subscene specified by the user out of all subscenes corresponding to the main scene specified by the user.

[0352] In the second display mode, safety-related parameters for one subscene specified by the user are displayed, allowing the user to focus on that one subscene for setting and checking. Narrowing down the display target in this way is preferable in terms of preventing erroneous setting of safety-related parameters. In contrast, in the first display mode, safety-related parameters for all subscenes are displayed, making it possible to compare those subscenes for the specified main scene without switching subscenes. In this way, by making the two display modes handle subscenes differently, a practically preferable configuration can be realized.

[0353] Feature B12. A setting support device as described in feature B10 or feature B11, in which, in the second display mode, safety-related parameters that are common to all sub-scenes corresponding to the main scene specified by the user are displayed separately from the specified safety-related parameters.

[0354] As shown in this feature, by displaying items set for each subscene and items common to the subscenes in a distinguished manner, the items set for each subscene can be easily suggested to the user. Also, displaying items common to the subscenes in a distinguished manner is preferable in terms of preventing the settings of the common items from being changed erroneously when setting the subscenes.

[0355] Feature B13. A drive control unit (drive control unit 52) ​​that drives and controls the robot (robot 16) in accordance with each operation instruction (command for drive control) constituting a control program for the robot, and a safety-related unit (safety-related unit PX) that has a safety-related input signal (signal from rotary encoder 36, torque sensor 37, etc.) including correlation information correlated with at least one of the force and speed of the robot during drive control and a pre-stored judgment criterion (reference value or reference area) for the correlation information, and realizes a safety function of the robot by generating a safety-related output signal according to the judgment result, and a plurality of scenes (e.g., main scenes) that are safety-related parameter groups including the judgment criterion as a safety-related parameter that affects the safety function are set, and the operation judgment unit is configured to make the judgment by referring to one of the scenes, and during drive control of the robot based on the control program, a switching instruction for the scene ("CHANGE a setting assistance program that is installed in a computer that can be connected to a robot control device (control device 51) configured to switch the scene to be referenced based on the establishment of a predetermined switching condition (e.g., a stop condition, a position condition, a command success) including a position condition that specifies a position of the robot when a command for switching the scene to be referenced (a command for switching the scene to be referenced) is reached, and that causes the computer to assist a user in setting each of the safety-related parameters for each of the scenes, A parameter setting screen (parameter display section D2 of scene parameter setting screen WD) corresponding to the scene designated by the user is displayed on a display section (display 61 of PC 60), a first display mode (displaying all items) for displaying both a first parameter group and a second parameter group constituting the safety-related parameter group on the parameter setting screen, and a second display mode (displaying main items) for displaying the first parameter group of the first and second parameter groups; a setting support program that switches the display mode between the first display mode and the second display mode based on a switching operation by a user;

[0356] According to the configuration showing this characteristic, it is possible to effectively prevent setting errors by the user while simultaneously improving safety and productivity.

[0357] Feature B14. A drive control unit (drive control unit 52) ​​that drives and controls the robot (robot 16) in accordance with each operation instruction (command for drive control) constituting a control program for the robot, and a safety-related unit (safety-related unit PX) that has a safety-related input signal (signal from rotary encoder 36, torque sensor 37, etc.) including correlation information correlated with at least one of the force and speed of the robot during drive control and a pre-stored judgment criterion (reference value or reference area) for the correlation information, and realizes a safety function of the robot by generating a safety-related output signal according to the judgment result, and a plurality of scenes (e.g., main scenes) that are safety-related parameter groups including the judgment criterion as a safety-related parameter that affects the safety function are set, and the operation judgment unit is configured to make the judgment by referring to one of the scenes, and during drive control of the robot based on the control program, a switching instruction for the scene ("CHANGE a display method for a group of safety-related parameters, the method being applied to a robot control system (control system CS) configured to switch the scene to be referred to based on the establishment of a predetermined switching condition (e.g., a stop condition, a position condition, a command success) including a position condition that specifies a position of the robot when a command for switching the scene to be referred to (a command for switching the scene to be referred to) is reached, the method displaying the safety-related parameters constituting each scene when a user sets or checks the safety-related parameters, A parameter setting screen (parameter display section D2 of scene parameter setting screen WD) corresponding to the scene designated by the user is displayed on a display section (display 61 of PC 60), A method for displaying safety-related parameters, which switches the display of the safety-related parameter group on the parameter setting screen between a first display (display of all items) that displays both a first parameter group and a second parameter group that constitute the safety-related parameter group, and a second display (display of major items) that displays the first parameter group of the first and second parameter groups, based on a user's switching operation.

[0358] According to the configuration showing this characteristic, it is possible to effectively prevent setting errors by the user while simultaneously improving safety and productivity.

[0359] The technical ideas shown in Features B3 to B12 may be applied to Features B13 and B14.

[0360] <Feature C> Scene change during simulation The following feature C group is related to the background technology that states, "Some robot control systems applied to robots such as industrial robots have a safety-related unit that realizes the safety functions of the robot and a non-safety-related unit that performs drive control of the robot. As for the safety-related unit, for example, a system has been proposed that forcibly stops the robot when it collides with an obstacle such as a person (see Patent Document 1, for example), or that monitors the force (thrust) and speed of the robot while it is moving and forcibly stops the robot when it moves beyond a safety standard." "In recent years, with the advancement of robot technology, the types of work that a robot can be engaged in are also on the rise. When a robot is engaged in various works, if the safety functions are uniform, it may be difficult to simultaneously improve the safety of the robot and improve the productivity (work efficiency) of the robot. In view of such circumstances, the inventor of the present application has devised a configuration for switching the safety functions of the robot depending on the work content, etc. Here, in order to prevent the safety functions from being impaired due to communication errors, etc. when changing the safety functions, it is preferable to input the input for changing the safety functions from the safety-related input unit (so-called safety It is preferable to set the safety input to the minimum input (all inputs). However, if the safety input is made a mandatory requirement, the constraints on the change will be strong, which is expected to hinder the improvement of the operability of the safety function change. In contrast, if the requirement is simply avoided, it is expected that the operability will be improved, but there is a concern that the trust in the safety function of the robot will be shaken. Thus, there is still room for improvement in the configuration related to the change of the safety function in order to improve the safety and work efficiency of the robot. In addition, in recent years, simulation technology that checks the operation using a robot model displayed in a virtual space has become widespread, and by making it possible to efficiently verify whether the created control program is functioning correctly, the creation period of the control program has been shortened. Here, when simulating a control program including a switching instruction of the safety function, a new concern arises that the switching instruction becomes an obstacle and the simulation cannot be used effectively. This is because the flow of creating a control program, etc. varies depending on the creator, and the simulation is not necessarily performed in a state where the switching instruction is properly performed.In other words, for control programs that include safety function switching instructions when checking operation, the use of simulations is subject to stricter restrictions, which can be a factor in reducing work efficiency when creating control programs. Thus, in terms of supporting the creation of control programs that consider both the safety and productivity of robots, there is still room for improvement in the configuration of said support. This was done in consideration of the above background and issues.

[0361] Feature C1. A drive control unit (drive control unit 52) ​​that drives and controls the robot (robot 16) in accordance with each operation instruction (command for drive control) constituting a control program for the robot, and a safety-related unit (safety-related unit PX) that has a motion judgment unit (logic unit X2) that judges the motion of the robot based on a safety-related input signal (signal from the rotary encoder 36, torque sensor 37, etc.) including correlation information that correlates with at least one of the force and speed of the robot during drive control and a judgment criterion (reference value or reference area) for the correlation information that is stored in advance, and that realizes the safety function of the robot by generating a safety-related output signal in accordance with the judgment result, and a plurality of candidates for the judgment criterion referred to by the motion judgment unit can be set, and the motion judgment unit is configured to make the judgment by referring to one of the judgment criteria, and during drive control of the robot based on the control program, a switching instruction for the judgment criterion ("CHANGE a simulation device that is applied to a robot control system (control system CS) configured to switch the judgment criterion to be referred to and continue drive control of the robot when a predetermined switching condition (e.g., a stop condition, a position condition, a command normal) is satisfied when a command ("SCENE" command) is reached, and to interrupt drive control of the robot when the predetermined switching condition is not satisfied, and to execute a simulation by operating a model of the robot (e.g., model RM) in a virtual area in accordance with each of the operation instructions constituting the control program, A simulation device configured to be able to continue the simulation when the switching instruction in the control program is reached during the simulation, not only when the specified switching condition is satisfied, but also when the specified switching condition is not satisfied.

[0362] As shown in this feature, by incorporating an instruction to switch the judgment criteria in the control program of the robot and by configuring the judgment criteria to be switchable during drive control (during automatic driving), it is possible to contribute to realizing a configuration in which the safety function is properly exercised according to the situation. This is preferable in terms of achieving both improved safety of the robot and improved productivity of the robot. However, as shown in this feature, if the judgment criteria are automatically switched, the judgment criteria may be switched due to accidental factors such as noise, resulting in a mismatch between the assumed situation and the judgment criteria. This is a concern as being an obstacle to the proper exercise of the safety function. In this regard, in this feature, when a switching instruction in the control program is reached, the judgment criteria are switched on the condition that a predetermined switching condition is met. This makes it possible to suppress switching of scenes that are not intended by the user, and to suppress the occurrence of the above-mentioned mismatch.

[0363] In recent years, simulation technology that checks the operation of a robot model displayed in a virtual space has become widespread, and by enabling efficient verification of whether a created control program functions correctly, the time required to create the control program has been shortened. Here, when simulating a control program that includes an instruction to switch the judgment criteria, the verification becomes difficult because a predetermined switching condition is not satisfied and the continuation of the simulation is prevented. In other words, a new concern arises that the simulation cannot be used effectively for a control program that takes into account the switching of safety functions. This is because the flow of creating a control program, etc. varies depending on the creator, and the progress of creating the operation program is not necessarily linked to the progress of setting the judgment criteria and switching conditions (especially the position conditions). In other words, the requirement that a predetermined switching condition be satisfied when checking the operation strengthens the constraints on the use of simulation, which can be a factor in reducing the work efficiency when creating a control program. In particular, when considering that it is possible to switch judgment criteria in various ways by reducing the need to redo the setting of the judgment criteria and switching conditions after the operation program has been compiled to a certain extent, the above concern becomes stronger. In this regard, according to the configuration shown in this characteristic, the simulation can be continued not only when the predetermined switching condition is satisfied, but also when the predetermined switching condition is not satisfied. Since the robot does not actually operate in the simulation, there is no substantial impact on safety even if the simulation is continued. Therefore, the above configuration can favorably support the creation of a control program that takes into consideration both the safety and productivity of the robot.

[0364] Note that "when the switching instruction in the control program is reached during the simulation, even if the predetermined switching condition is not satisfied" includes not only a case where the predetermined switching condition is actually judged and the judgment result is not satisfied, but also a case where the predetermined switching condition is not judged but would be not satisfied if the judgment were made. This also applies to the following features C2 and C3.

[0365] Feature C2. A drive control unit (drive control unit 52) ​​that drives and controls the robot (robot 16) in accordance with each operation instruction (command for drive control) constituting a control program for the robot, and a safety-related unit (safety-related unit PX) that has a motion judgment unit (logic unit X2) that judges the motion of the robot based on a safety-related input signal (signal from the rotary encoder 36, torque sensor 37, etc.) including correlation information correlated with at least one of the force and speed of the robot during drive control and a judgment criterion (reference value or reference area) for the correlation information stored in advance, and realizes the safety function of the robot by generating a safety-related output signal in accordance with the judgment result, and a plurality of candidates for the judgment criterion referred to by the motion judgment unit can be set, and the motion judgment unit is configured to make the judgment by referring to one of the judgment criteria, and during drive control of the robot based on the control program, a switching instruction for the judgment criterion ("CHANGE a simulation device that is applied to a robot control system (control system CS) configured to switch the judgment criteria to be referred to and continue drive control of the robot when a predetermined switching condition (e.g., a stop condition, a position condition, a command normal) including a position condition that specifies the position of the robot is satisfied when a command ("SCENE" command) is reached, and to interrupt drive control of the robot when the predetermined switching condition is not satisfied, and to execute a simulation by operating a model of the robot (e.g., a model RM) in a virtual area in accordance with each of the operation instructions constituting the control program, A simulation device configured to be able to continue the simulation when the switching instruction in the control program is reached during the simulation, not only when the specified switching condition is satisfied, but also when the specified switching condition is not satisfied.

[0366] As shown in this feature, by incorporating an instruction to switch the judgment criteria in the control program of the robot and by configuring the judgment criteria to be switchable during drive control (during automatic operation), it is possible to contribute to realizing a configuration that allows the safety function to be properly exercised according to the situation. This is preferable in terms of achieving both improved safety of the robot and improved productivity of the robot. However, as shown in this feature, if the judgment criteria are automatically switched, the judgment criteria may be switched due to accidental factors such as noise, resulting in a mismatch between the actual situation and the judgment criteria. There is a concern that this will hinder the proper exercise of the safety function. Here, even if the robot is engaged in various tasks, its movements will basically follow the control program, so there will be a certain relationship between the task and the area (operation area) in which the task is performed. In consideration of this actual situation, in this feature, the judgment criteria are switched on the condition that a predetermined switching condition including a position condition is satisfied. In this way, by at least checking the position when switching the judgment criteria, the above concerns can be eliminated and the judgment criteria can be properly switched.

[0367] In recent years, simulation technology that checks the operation of a robot model displayed in a virtual space has become widespread, and by enabling efficient verification of whether a created control program functions correctly, the time required to create the control program has been shortened. Here, when simulating a control program that includes an instruction to switch the judgment criteria, the verification becomes difficult because a predetermined switching condition is not satisfied and the continuation of the simulation is prevented. In other words, a new concern arises that the simulation cannot be used effectively for a control program that takes into account the switching of safety functions. This is because the flow of creating a control program, etc. varies depending on the creator, and the progress of creating the operation program is not necessarily linked to the progress of setting the judgment criteria and switching conditions (especially the position conditions). In other words, the requirement that a predetermined switching condition be satisfied when checking the operation strengthens the constraints on the use of simulation, which can be a factor in reducing the work efficiency when creating a control program. In particular, when switching judgment criteria in various ways, the above concern becomes stronger when considering that it is possible to reduce the need to redo the setting of the judgment criteria and switching conditions after the operation program, including the robot's motion trajectory, is somewhat completed. In this regard, according to the configuration shown in this characteristic, the simulation can be continued not only when the predetermined switching condition is satisfied, but also when the predetermined switching condition is not satisfied. Since the robot does not actually operate in the simulation, there is no substantial impact on safety even if the simulation is continued. Therefore, the above configuration can favorably support the creation of a control program that takes into consideration both the safety and productivity of the robot.

[0368] Feature C3. A drive control unit (drive control unit 52) ​​that drives and controls the robot (robot 16) in accordance with each operation instruction (command for drive control) constituting a control program for the robot, and a safety-related unit (safety-related unit PX) that has a safety-related input signal (signal from rotary encoder 36, torque sensor 37, etc.) including correlation information correlated with at least one of the force and speed of the robot during drive control and a previously stored judgment criterion (reference value or reference area) for the correlation information and realizes the safety function of the robot by generating a safety-related output signal according to the judgment result, and a plurality of scenes (e.g., main scenes) that are safety-related parameter groups including the judgment criterion as a safety-related parameter that affects the safety function can be set, and the operation judgment unit is configured to make the judgment by referring to one of the scenes, and during drive control of the robot based on the control program, a switching instruction for the scene ("CHANGE a simulation device that is applied to a robot control system (control system CS) configured to switch the scene to be referred to and continue drive control of the robot when a predetermined switching condition (e.g., a stop condition, a position condition, a command normal) including a position condition that specifies the position of the robot is satisfied when a command ("SCENE" command) is reached, and to interrupt drive control of the robot when the predetermined switching condition is not satisfied, and to execute a simulation by operating a model of the robot (e.g., a model RM) in a virtual area in accordance with each of the operation instructions constituting the control program, A simulation device configured to be able to continue the simulation when the switching instruction in the control program is reached during the simulation, not only when the specified switching condition is satisfied, but also when the specified switching condition is not satisfied.

[0369] As shown in this feature, if a scene (safety-related parameter group) switching instruction is incorporated into the control program of the robot and the scene can be switched during drive control (automatic driving), it can contribute to realizing a configuration that properly exercises the safety function according to the situation. This is preferable in terms of achieving both improved safety of the robot and improved productivity by the robot. However, as shown in this feature, if the scene is automatically switched, the scene may be switched due to an accidental factor such as noise, which may cause a mismatch between the actual situation and the scene. There is a concern that this will hinder the proper exercise of the safety function. Here, even if the robot is engaged in various tasks, its movements basically follow the control program, so there is a certain relationship between the task and the area (operation area) in which the task is performed. In consideration of this actual situation, in this feature, the scene is switched on the condition that a predetermined switching condition including a position condition is satisfied. In this way, by at least checking the position at the time of scene switching, the above concerns can be eliminated and the scene can be switched properly.

[0370] In recent years, simulation technology that checks the operation of a robot model displayed in a virtual space has become widespread, and by enabling efficient verification of whether a created control program functions correctly, the time required to create the control program has been shortened. Here, when simulating a control program that includes a scene switching instruction, the verification becomes difficult because a predetermined switching condition is not satisfied and the continuation of the simulation is prevented. In other words, a new concern arises that a simulation cannot be effectively used for a control program that takes into account the switching of a safety function. This is because the flow of creating a control program, etc. varies depending on the creator, and the progress of creating an operation program is not necessarily linked to the progress of setting the scene and the switching condition (especially the position condition). In other words, the requirement that a predetermined switching condition be satisfied when checking the operation strengthens the constraints on the use of simulation, and can be a factor that reduces the work efficiency when creating a control program. In particular, if the number of setting items related to the scene increases when switching between various scenes, the above concern becomes stronger when considering that it is possible to reduce the need to redo the scene-related settings after the operation program, including the robot's motion trajectory, is completed to a certain extent. In this regard, according to the configuration shown in this characteristic, the simulation can be continued not only when the predetermined switching condition is satisfied, but also when the predetermined switching condition is not satisfied. Since the robot does not actually operate in the simulation, continuing the simulation does not affect safety. Therefore, this configuration can favorably support the creation of a control program that takes into consideration both the safety and productivity of the robot.

[0371] Feature C4. The simulation device according to Feature C3, wherein the simulation is capable of switching the scene in accordance with the switching instruction and continuing the simulation not only when the specified switching condition is satisfied, but also when the specified switching condition is not satisfied.

[0372] In a simulation, the model operates in a virtual space, so even if a scene change is forced when a specified switching condition is not met, there is no practical impact on safety. Furthermore, by forcing a scene change, the user can also check the relationship between the robot's movement and the scene in the simulation, which further supports the creation of a control program that takes into account both the safety and productivity of the robot.

[0373] Feature C5. The simulation device according to Feature C3 or Feature C4, in which, in the simulation, if a judgment result of the specified switching condition indicates that the specified switching condition is not satisfied, the judgment result is invalidated and the simulation is continued.

[0374] As shown in this feature, by configuring the system to determine whether a certain switching condition is satisfied during the simulation, the actual drive control can be matched with the drive control in the simulation. In this configuration, by continuing the simulation while invalidating the determination result, even if the certain switching condition is not satisfied, it is possible to prevent this from interfering with the simulation.

[0375] Feature C6. The simulation device according to Feature C3 or Feature C4, wherein the simulation is continued by skipping a determination of the predetermined switching condition in the control program.

[0376] As shown in this feature, if a configuration is adopted in which the determination of a predetermined switching condition is skipped during simulation, the technical idea shown in feature C3 etc. can be easily embodied, and operation checks by simulation can be smoothly performed.

[0377] Feature C7. A simulation device according to any one of Features C3 to C6, which, when the simulation progresses and the switching instruction in the control program is reached, temporarily stops the progress of the simulation and notifies a user that the switching instruction has been reached, and resumes the simulation when the user performs an operation to resume the simulation.

[0378] According to the simulation device having this feature, the user is notified that the switching instruction has been reached. This reduces the chances that the user will miss the scene switching. In addition, a configuration in which the simulation is temporarily stopped and awaits the user's operation to resume is preferable in terms of ensuring an opportunity to pay attention to the display of safety-related parameters, etc., compared to a configuration in which the simulation is not temporarily stopped.

[0379] Feature C8. The simulation device according to feature C7, wherein, when the scene is switched based on the switching instruction during the simulation, the scene that is newly applied by the switching is notified in advance before the resuming operation.

[0380] By notifying the user of the changed scene before the restart operation, it is possible to preferably secure time for the user to confirm the changed scene. Note that, for example, the advance notification may be started based on the fact that a switching instruction has been reached, and the advance notification may be continued until the restart operation is performed.

[0381] Feature C9. A simulation device according to any one of Features C3 to C8, which has a parameter display unit that displays the group of safety-related parameters that constitute the scene in the simulation, and when the scene is switched based on the switching instruction, the parameter display unit performs a specific display that differentiates the display mode of the safety-related parameters that are changed from the display mode of the safety-related parameters that are not changed.

[0382] This feature of the configuration can assist in checking whether the scene is switching as expected by the user. When checking the model movement and scene switching, the number of items to be checked increases, which can lead to overlooking something and having to redo the simulation, reducing the efficiency of verification. In this regard, by performing specific display that differentiates the display mode of the safety-related parameters that are subject to change from the display mode of the safety-related parameters that are not subject to change as described above, the opportunities for redoing the above can be reduced.

[0383] Feature C10. The safety-related part of the robot system is configured to notify an error when the switching instruction in the control program is reached during drive control of the robot and the predetermined switching condition is not satisfied; A simulation device according to any one of features C3 to C9, which, if the switching instruction in the control program is reached during the simulation and the specified switching condition is not met, issues an error notification in the same manner as the error notification.

[0384] If a predetermined switching condition is not met during the simulation, an error notification is executed in the same manner as when a predetermined switching condition is not met in an actual robot. With this configuration, a more realistic simulation can be performed, including failures in scene switching.

[0385] Feature C11. The robot control system is configured to determine that the predetermined switching condition is satisfied when the position condition and a stop condition indicating that the robot is stopped are satisfied, and to determine that the predetermined switching condition is not satisfied when at least one of the position condition and the stop condition is not satisfied; A simulation device according to any one of features C3 to C10, in which, in the simulation, if the position condition and the stop condition are satisfied, it is determined that the specified switching condition is satisfied, and if at least one of the position condition and the stop condition is not satisfied, it is determined that the specified switching condition is not satisfied.

[0386] As shown in this feature, in a configuration in which the predetermined switching condition includes a position condition and a stop condition, the hurdle for achieving the predetermined switching condition during a simulation increases. In other words, while this can contribute to improving the reliability of an actual robot, it can also be an obstacle to promoting the use of simulations. If the technical ideas shown in feature C3 and the like are applied to such a configuration, it can contribute to promoting the use of simulations while improving reliability.

[0387] The technical ideas shown in the features C4 to C11 can also be applied to the feature C1 or feature C2.

[0388] Feature C12. A drive control unit (drive control unit 52) ​​that drives and controls the robot (robot 16) in accordance with each operation instruction (command for drive control) constituting a control program for the robot, and a safety-related unit (safety-related unit PX) that has a motion judgment unit (logic unit X2) that judges the motion of the robot based on a safety-related input signal (signal from the rotary encoder 36, torque sensor 37, etc.) including correlation information correlated with at least one of the force and speed of the robot during drive control and a judgment criterion (reference value or reference area) for the correlation information stored in advance, and realizes the safety function of the robot by generating a safety-related output signal according to the judgment result, and a plurality of candidates for the judgment criterion referred to by the motion judgment unit can be set, and the motion judgment unit is configured to make the judgment by referring to one of the judgment criteria, and during drive control of the robot based on the control program, a switching instruction for the judgment criterion ("CHANGE a simulation program that is installed in a computer that can be connected to a robot control system (control system CS) configured to switch the judgment criterion to be referred to and continue drive control of the robot when a predetermined switching condition (e.g., a stop condition, a position condition, a command normal) is satisfied when a command ("SCENE" command) is reached, and to interrupt drive control of the robot when the predetermined switching condition is not satisfied, and to cause the computer to execute a simulation by operating a model of the robot in a virtual area according to the operation instructions of the control program, A simulation program that allows the simulation to continue when the switching instruction in the control program is reached during the simulation, not only when the specified switching condition is satisfied, but also when the specified switching condition is not satisfied.

[0389] According to the configuration shown in this characteristic, it is possible to preferably support the creation of a control program that takes into consideration both the safety and productivity of the robot.

[0390] Feature C13. A drive control unit (drive control unit 52) ​​that drives and controls the robot (robot 16) in accordance with each operation instruction (command for drive control) constituting a control program for the robot, and a safety-related unit (safety-related unit PX) that has a safety-related input signal (signal from rotary encoder 36, torque sensor 37, etc.) including correlation information correlated with at least one of the force and speed of the robot during drive control and a pre-stored judgment criterion (reference value or reference area) for the correlation information, and realizes the safety function of the robot by generating a safety-related output signal according to the judgment result, and a plurality of scenes (e.g., main scenes) that are safety-related parameter groups including the judgment criterion as a safety-related parameter that affects the safety function can be set, and the operation judgment unit is configured to make the judgment by referring to one of the scenes, and during drive control of the robot based on the control program, a switching instruction for the scene ("CHANGE a simulation program that is installed in a computer that can be connected to a robot control system (control system CS) configured to switch the scene to be referenced and continue drive control of the robot based on the establishment of a predetermined switching condition (e.g., a stop condition, a position condition, a command normal) including a position condition that specifies the position of the robot when a command ("SCENE" command) is reached, and to interrupt drive control of the robot when the predetermined switching condition is not established, and to cause the computer to execute a simulation by operating a model of the robot in a virtual area according to the operation instructions of the control program, A simulation program that allows the simulation to continue when the switching instruction in the control program is reached during the simulation, not only when the specified switching condition is satisfied, but also when the specified switching condition is not satisfied.

[0391] According to the configuration shown in this characteristic, it is possible to preferably support the creation of a control program that takes into consideration both the safety and productivity of the robo...

Claims

1. A robot control system provided with a safety-related unit that has a motion determination unit that determines motion of a robot based on a safety-related input signal including a parameter correlated with at least one of a force, a speed, and a motion position of the robot during motion and a previously stored determination criterion for the parameter, and that realizes a safety function of the robot by generating a safety-related output signal in response to a result of the determination, a control mode of the robot, which is an automatic operation mode applied when the robot is operated in accordance with each operation instruction constituting a control program for the robot, and a manual operation mode applied when the robot is manually operated by a user; a plurality of scenes can be set, each of which is a group of safety-related parameters including the judgment criterion as a safety-related parameter that affects the safety function, and the operation judgment unit is configured to make the judgment by referring to the scenes; As the scenes, a plurality of scenes for autonomous driving that are referenced when the autonomous driving mode is set are provided, During the autonomous driving mode, when an instruction to switch the autonomous driving scene included in the control program is reached during drive control of the robot based on the control program, the scene to be referred to is switched to the autonomous driving scene specified by the switching instruction among the plurality of autonomous driving scenes based on the establishment of a predetermined switching condition, A robot control system that, when one of a plurality of automatic driving scenes is specified while the control mode is the manual operation mode, sets up to test the specified automatic driving scene in the manual operation mode.

2. A robot control system provided with a safety-related unit that has a motion determination unit that determines motion of a robot based on a safety-related input signal including a parameter correlated with at least one of a force, a speed, and a motion position of the robot during motion and a previously stored determination criterion for the parameter, and that realizes a safety function of the robot by generating a safety-related output signal in response to a result of the determination, a control mode of the robot, which is an automatic operation mode applied when the robot is operated in accordance with each operation instruction constituting a control program for the robot, and a manual operation mode applied when the robot is manually operated by a user; a plurality of scenes can be set, each of which is a group of safety-related parameters including the judgment criterion as a safety-related parameter that affects the safety function, and the operation judgment unit is configured to make the judgment by referring to the scenes; As the scenes, a plurality of scenes for autonomous driving that are referenced when the autonomous driving mode is set are provided, During the autonomous driving mode, when an instruction to switch the autonomous driving scene included in the control program is reached during drive control of the robot based on the control program, the scene to be referred to is switched to the autonomous driving scene specified by the switching instruction among the plurality of autonomous driving scenes based on the establishment of a predetermined switching condition, A robot control system having a setting unit that, when the control mode is the manual operation mode and one of a plurality of scenes for automatic driving is specified, can set the specified scene for automatic driving as a reference for the judgment.

3. the safety-related parameters include a parameter for position monitoring that monitors an operating position of the robot, and the safety-related unit is configured to stop the robot by the safety-related output signal when the operating position of the robot deviates from a reference area; The robot control system of claim 2, wherein the setting unit is configured to set the position monitoring parameters included in the specified automatic driving scene as a reference target for the judgment when any one of a plurality of automatic driving scenes is specified under a situation in which the control mode is the manual operation mode.

4. A robot control system provided with a safety-related unit that has a motion determination unit that determines motion of a robot based on a safety-related input signal including a parameter correlated with at least one of a force, a speed, and a motion position of the robot during motion and a previously stored determination criterion for the parameter, and that realizes a safety function of the robot by generating a safety-related output signal in response to a result of the determination, a control mode of the robot, which is an automatic operation mode applied when the robot is operated in accordance with each operation instruction constituting a control program for the robot, and a manual operation mode applied when the robot is manually operated by a user; a plurality of scenes can be set, each of which is a group of safety-related parameters including the judgment criterion as a safety-related parameter that affects the safety function, and the operation judgment unit is configured to make the judgment by referring to the scenes; As the scenes, a plurality of scenes for autonomous driving that are referenced when the autonomous driving mode is set are provided, During the autonomous driving mode, when an instruction to switch the autonomous driving scene included in the control program is reached during drive control of the robot based on the control program, the scene to be referred to is switched to the autonomous driving scene specified by the switching instruction among the plurality of autonomous driving scenes based on the establishment of a predetermined switching condition, A robot control system that, when the control mode is the manual operation mode and any one of a plurality of scenes for automatic driving is specified, confirms the movement of the robot based on the safety-related parameters that constitute the specified scene for automatic driving, and notifies a user of the confirmation results.

5. The scenes include a manual operation scene that is referred to when the manual operation mode is selected, The robot control system of claim 4, wherein when one of a plurality of scenes for automatic driving is specified under a situation in which the control mode is the manual operation mode and a scene for manual operation is set as a reference object for the judgment, the judgment criteria are relaxed or the judgment by the operation judgment unit is invalidated for those safety-related parameters for which the scene for manual operation has a higher degree of safety than the scene for automatic driving.

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