Program, computer

Abstract

To solve the problems that a need for work to be done by a user is generated to assign names indicating roles of respective I / O signals, and that the roles of the I / O signals may be erroneously recognized until the names are assigned.SOLUTION: A program causes a computer to execute: a function of displaying, on a display unit, one or more types of role setting screens that allows for setting role information indicating roles of respective I / O signals being input to / output from a peripheral device involved in controlling a robot, wherein, the one or more types of role setting screens display identification information and role information of the I / O signals, in order to allow for setting the role information for the respective I / O signals corresponding to at least one of the type of peripheral device, the type of I / O terminal for the I / O signal, and the type of role; and a function of displaying, on the display unit, an I / O confirmation screen that displays, in correspondence with the identification information for each I / O signal, predetermined type information indicating at least one type of I / O signal, for I / O signals for which identification information and role information have been set.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present disclosure relates to a program and a computer. [Background technology]

[0002] The robot control device sends and receives information to and from peripheral devices via serial communication. Examples of peripheral devices include the robot's end effector, a PLC (Programmable Logic Controller), and an HMI (Human Machine Interface). In the following, signals received by the robot control device are called input signals, and signals sent from the robot control device are called output signals. Input signals and output signals are collectively called I / O (Input / Output) signals.

[0003] The setting screen of the robot control device in Patent Document 1 allows the user to set what I / O signals are to be controlled by which signals, with regard to the I / O signals transmitted and received between the robot control device and peripheral devices. For example, the setting screen allows the user to set that the first input signal is to be used as a command to turn on the function of a specific peripheral device. In other words, the setting screen allows the user to set the role of each I / O signal. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-140666 Summary of the Invention [Problem to be solved by the invention]

[0005] The inventors have developed a program with similar functionality. The program they developed displays a screen on the setting screen of the robot control device that allows the user to assign a name representing the role of each I / O signal, so that the user can easily check the role of each I / O signal.

[0006] However, there were issues with the time it took for users to assign names indicating the role of each I / O signal, and with the possibility of misunderstanding the role of the I / O signal until the name was assigned. [Means for solving the problem]

[0007] According to a first aspect of the present disclosure, there is provided a program that causes a computer to execute the following functions: displaying, on a display unit, one or more types of role setting screens that display identification information and role information of I / O signals, in order to set role information representing a role for each I / O signal input / output to / from a peripheral device involved in controlling a robot, the role information corresponding to at least one of a type of the peripheral device, a type of an I / O terminal for the I / O signal, and a type of the role; and displaying, on the display unit, an I / O confirmation screen that displays, for each I / O signal, predetermined type information representing the at least one type of I / O signal associated with the identification information for the I / O signals for which the identification information and the role information are set.

[0008] According to a second aspect of the present disclosure, there is provided a computer including a display unit that displays a screen and a control unit, wherein the control unit causes the display unit to display one or more types of role setting screens that display identification information and role information of I / O signals, in order to set role information representing a role for each I / O signal input / output to / from a peripheral device involved in control of a robot, the role information corresponding to at least one of a type of the peripheral device, a type of an I / O terminal for the I / O signal, and a type of the role, and causes the display unit to display an I / O confirmation screen that displays, for each I / O signal for which the identification information and role information have been set, predetermined type information representing the at least one type in association with the identification information. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is an explanatory diagram showing the configuration of a robot system according to a first embodiment. [Figure 2] FIG. 10 is an explanatory diagram showing a first role setting screen. [Figure 3] FIG. 10 is an explanatory diagram showing a second role setting screen. [Figure 4] FIG. 10 is an explanatory diagram showing a first I / O confirmation screen. [Figure 5] FIG. [Figure 6] FIG. 10 is an explanatory diagram showing a second I / O confirmation screen. [Figure 7] FIG. 10 is an explanatory diagram showing the configuration of a robot system according to a second embodiment. [Figure 8] FIG. 10 is an explanatory diagram showing a setting screen displaying a status display area. [Figure 9] FIG. 10 is an explanatory diagram showing a setting screen in which a status display area is not displayed. DETAILED DESCRIPTION OF THE INVENTION

[0010] A. First embodiment: A-1. System configuration: 1 is an explanatory diagram showing the configuration of a robot system 10 according to a first embodiment. The robot system 10 includes a robot 11, a teaching device 12, a peripheral device 13, and a robot control device 14.

[0011] The robot 11 performs a task according to teaching data created in advance. Specifically, the robot 11 is an industrial robot. That is, the robot 11 is used to manufacture workpieces. The robot 11 includes a manipulator 100 and a hand 310. The hand 310 will be described later as a peripheral device 13.

[0012] The manipulator 100 is equipped with a plurality of actuators. Each actuator functions as a joint of the manipulator 100. The actuator operates each individual joint. A hand 310 is attached to the distal end of the manipulator 100. The manipulator 100 is electrically connected via a manipulator connection terminal 430 of the robot control device 14. The manipulator 100 can move the hand 310 to any position by operating the actuators in accordance with instructions from the robot control device 14.

[0013] The peripheral devices 13 are used to control the robot 11. The peripheral devices 13 include multiple types of devices, such as a PLC (Programmable Logic Controller) 320, an HMI (Human Machine Interface) 330, a motion controller 340, and a sensor 350. For example, the PLC controls the robot system 10. The HMI 330 receives information from a user of the robot system 10 and displays information related to the robot system 10 to the user. The motion controller 340 operates, for example, a conveying device on the production line so as to cooperate with the robot 11. The sensor 350 acquires information necessary for controlling the robot 11. The sensor 350 is, for example, a camera that photographs workpieces on the production line. The robot 11 is controlled based on the information from the sensor 350. In other words, the peripheral devices 13 include not only the robot control device 14 but also general-purpose devices that are used.

[0014] The peripheral device 13 further includes a hand 310. The hand 310 is attached to the tip side of the manipulator 100. The hand 310 performs various operations, such as gripping a workpiece and processing the workpiece using a tool. The "hand" is also called an "end effector." Specific examples of the hand 310 will be described later.

[0015] The peripheral device 13 transmits and receives information to and from the robot control device 14 via serial communication. In this specification, a signal received by the robot control device 14 is called an input signal, and a signal transmitted from the robot control device 14 is called an output signal. The input and output signals are collectively called I / O (Input / Output) signals. The peripheral device 13 inputs and outputs I / O signals via an I / O terminal 410 of the robot control device 14.

[0016] In the teaching program PRG, which will be described later, each bit of the I / O signal, which is serial communication, is represented by a consecutive number starting from 0. All bits of the I / O signals input and output to and from the robot control device 14 are assigned consecutive numbers, regardless of the type of peripheral device 13 or I / O terminal 410. Therefore, the numbers identifying bits do not overlap. The numbers identifying bits are called "bit numbers." Furthermore, bit numbers are collectively called "identification information."

[0017] The teaching device 12 is used to create a control program for the robot system 10, which includes teaching data for the robot 11 to perform a task. The teaching device 12 includes an input unit 210, a display unit 220, and a teaching device control unit 230. Specifically, the teaching device 12 is a personal computer equipped with a display, keyboard, and mouse. Therefore, in this specification, the "teaching device" is also referred to as a "computer." The teaching device 12 is electrically connected to the robot control device 14 via a PC connection terminal 420.

[0018] The input unit 210 inputs information required for creating a control program for the robot system 10 to the teaching device control unit 230. The input unit 210 is, for example, a mouse or a keyboard. That is, the input unit 210 inputs information to the teaching device control unit 230 through a user's operation.

[0019] The display unit 220 displays a screen related to the control of the robot 11. More specifically, the display unit 220 displays information related to the creation of a control program for the robot system 10 in response to a command from the teaching device control unit 230. The display unit 220 is, for example, a display. This allows the user to create a control program for the robot system 10 by operating the input unit 210 based on the information displayed by the display unit 220.

[0020] The teaching device control unit 230 includes a CPU (Central Processing Unit) 231, a ROM (Read Only Memory) 232, and a RAM (Random Access Memory) 233. The CPU 231 executes preset programs to perform various processes and controls. The ROM 232 stores in advance programs and data required for the CPU 231 to execute various arithmetic processes. The RAM 233 temporarily reads and writes various data required for the CPU 231 to execute various arithmetic processes.

[0021] The RAM 233 pre-stores an application program for creating a control program for the robot system 10. The application program for creating a control program for the robot system 10 is called a "teaching program" or simply a "program." In other words, the teaching program PRG is a program for the teaching device 12 equipped with the display unit 220. The teaching program PRG is installed in the teaching device control unit 230 by the user.

[0022] The teaching program PRG is used to set up the robot control device 14, which has an I / O terminal 410 for I / O signals input and output to and from the peripheral devices 13 involved in the control of the robot 11. That is, the teaching program PRG causes the teaching device 12 to execute functions such as displaying setting information required for the robot system 10 on the display unit 220 and enabling the user to edit the setting information. Examples of setting information required for the robot system 10 include a program for operating the robot 11 and position information for operating the robot 11. Furthermore, the teaching program PRG causes the teaching device 12 to execute a function to assist the user in their work by warning the user if a processing abnormality or inappropriate setting has occurred. The teaching program PRG will be described in detail later.

[0023] The robot control device 14 includes an I / O terminal 410, a PC connection terminal 420, a manipulator connection terminal 430, and a control unit 440.

[0024] The I / O terminals 410 are used for I / O signals. That is, the I / O terminals 410 input and output I / O signals for the peripheral devices 13. The I / O terminals 410 include standard I / O terminals 411 to which the peripheral devices 13 are connected.

[0025] The standard I / O terminal 411 electrically connects the peripheral device 13 and the robot control device 14. Specifically, the standard I / O terminal 411 is composed of a plurality of pins. The plurality of pins in the standard I / O terminal 411 include a plurality of input pins to which input signals are input and a plurality of output pins to which output signals are output.

[0026] The PC connection terminal 420 electrically connects the teaching device 12 and the robot control device 14. Information is input and output between the teaching device 12 and the robot control device 14 via the PC connection terminal 420. For example, the PC connection terminal 420 is a USB (Universal Serial Bus) terminal.

[0027] The manipulator connection terminal 430 electrically connects the manipulator 100 and the robot control device 14. Information between the manipulator 100 and the robot control device 14 is input and output via the manipulator connection terminal 430.

[0028] The control unit 440 controls the robot system 10. The control unit 440 is configured as a logic circuit centered around a microcomputer. The control unit 440 includes a CPU 441, a RAM 442, and a ROM 443. The CPU 441 executes a control program for the robot system 10. The ROM 443 stores in advance programs and data required for the CPU 441 to execute various arithmetic processes. Various data required for the CPU 441 to execute various arithmetic processes is temporarily read from and written to the RAM 442. The control program for the robot system 10 created by the teaching device 12 is also stored in the RAM 442.

[0029] A-2. Functions performed by the teaching program: As described above, the teaching program PRG is used to set the robot control device 14 that is equipped with the I / O terminal 410. In addition to the functions described above, the teaching program PRG causes the teaching device 12 to execute a function to display multiple types of role setting screens De10 on the display unit 220 and a function to display an I / O confirmation screen De20 on the display unit 220. As a result, the role setting screen De10 and the I / O confirmation screen De20 are displayed on the display unit 220.

[0030] The role setting screen De10 includes a first role setting screen De11 and a second role setting screen De12. The functions of the role setting screen De10 will be explained using the first role setting screen De11 as an example.

[0031] FIG. 2 is an explanatory diagram showing the first role setting screen De11. The role setting screen De10 displays I / O signal identification information In20 and role information In10. The role information In10 indicates the role of each I / O signal input / output to / from the peripheral device 13 involved in the control of the robot 11. Note that "each I / O signal" means "each bit of the I / O signal." In the role setting screen De10, the user can set the role information In10 that indicates the role of each I / O signal.

[0032] The role information In10 is information that represents the function executed by the rising edge of each bit of the I / O signal. In other words, the role information In10 is information that represents the control program of the robot system 10 that is executed by the rising edge of each bit of the I / O signal. The role of the I / O signal is determined by the function played by the control program. Examples of the types of roles of the I / O signals are shown below.

[0033] The role of the I / O signal includes, for example, a function to control the operation of the peripheral device 13, a function to change the settings of the peripheral device 13, and a function to acquire information about the peripheral device 13 or information acquired by the peripheral device 13. In other words, the role of the I / O signal also includes a function to control the hand 310. For example, in the case of a hand 310 that performs grasping, the function to control the hand 310 is a command to instruct an operation such as grabbing or releasing.

[0034] Furthermore, the role of the I / O signals also includes the function of controlling the robot 11 from the peripheral device 13. The function of controlling the robot 11 from the peripheral device 13 is, for example, a command from a PLC to operate the robot 11, or a command from an HMI by a user to operate the robot 11. This function of remotely controlling the robot 11 is called a "remote function." Furthermore, among the I / O signals, bits used for the remote function are called "remote I / O."

[0035] As described above, the role setting screen De10 displays the identification information In20 and role information In10 of the I / O signal. This is performed to set the role information In10 for each I / O signal according to the type of peripheral device 13 and the type of role.

[0036] The first role setting screen De11 in Fig. 2 is a screen for setting role information In10 related to the remote function for each I / O signal. The first role setting screen De11 displays role information In10 representing the remote function and identification information In20. To facilitate understanding of the technology, the first role setting screen De11 in Fig. 2 displays only input signals among the I / O signals.

[0037] In the first role setting screen De11, the role information In10 in FIG. 2 represents the name of a control program. For example, "Stop" is the name representing a control program that suspends all tasks and commands in the robot system 10. For example, "Pause" is the name representing a control program that temporarily stops all tasks. In FIG. 2, the input signal of bit number 4 has the function of "Stop." The input signal of bit number 5 has the function of "Pause." For example, in the case of the settings shown in FIG. 2, when the input signal of bit number 4 rises, the control program named "Stop" is executed. Furthermore, when the input signal of bit number 5 rises, the control program named "Pause" is executed. Therefore, the role information In10 is also information representing the assignment of a control program to be executed for each I / O signal.

[0038] Using the first role setting screen De11, the user sets role information In10 for each I / O signal based on the identification information In20. As a result, the I / O signals set on the first role setting screen De11 have a remote function as their role. That is, the bit numbers set on the first role setting screen De11 are classified as remote I / O. In FIG. 2, I / O signals with bit numbers 0 to 7 are classified as remote I / O.

[0039] Information indicating the type or role of the peripheral device 13 is called "type information." When role information In10 is set on the first role setting screen De11, type information In30 indicating the role type, ie, remote function, is set for the I / O signal to which the role information In10 is set.

[0040] FIG. 3 is an explanatory diagram showing the second role setting screen De12. The second role setting screen De12 allows the user to set role information In10 according to the type of hand 310 connected to the robot 11, among the types of peripheral devices 13. That is, the second role setting screen De12 is a screen for setting the role of the I / O signal input / output to / from the hand 310. The second role setting screen De12 displays type information In30 at the top. Furthermore, the second role setting screen De12 displays role information In10 of the I / O signal input / output to / from the hand 310, type information In50 indicating the input signal or output signal, identification information In20 of the I / O signal, and status information In40 indicating the input / output status of the I / O signal at the bottom. The status information In40 will be explained later. In this specification, the "second role setting screen" is also referred to as the "hand role setting screen."

[0041] The type information In30 on the second role setting screen De12 indicates the type of hand 310. The types of hands 310 include, for example, a type that grips an object, a type that sucks an object, a type that tightens screws, and a type that applies liquid. Note that "Grippers" indicates a type that grips an object. The user sets the type of hand 310 on the second role setting screen De12. Furthermore, when the user sets the role information In10, the type information In30 is set for the I / O signal to which the role information In10 has been set. In other words, the type information In30 is set for the I / O signal to which the role information In10 has been set.

[0042] Next, the I / O confirmation screen De20 will be described. However, in the following description, it is assumed that the type information In30 is set to a hand 310 that grips an object.

[0043] 4 is an explanatory diagram showing the first I / O confirmation screen De21. The I / O confirmation screen De20 includes the first I / O confirmation screen De21.

[0044] The first I / O confirmation screen De21 displays type information In30 in association with identification information In20 for each I / O signal. That is, the first I / O confirmation screen De21 displays the identification information In20 and type information In30 side by side along the vertical direction of the screen. More specifically, the first I / O confirmation screen De21 displays the identification information In20 and type information In30 in a tabular format. The first I / O confirmation screen De21 displays the identification information In20 and type information In30 by dividing them into columns. More specifically, the first I / O confirmation screen De21 displays the information by dividing them into rows by bit number. In the role setting screen De10, type information In30 is set for the I / O signal to which role information In10 is set. That is, type information In30 is set for each bit number. The first I / O confirmation screen De21 displays the type information In30 set for the bit number of each row in one cell adjacent to one cell displaying the associated bit number.

[0045] The first I / O confirmation screen De21 displays the type information In30 and the identification information In20 adjacent to each other. "The type information In30 and the identification information In20 are adjacent to each other" means that no other information is included between the type information In30 and the identification information In20. By using this format, the program of this embodiment makes it easier for the user to visually recognize the type information In30 that corresponds to the identification information In20.

[0046] The first I / O confirmation screen De21 further displays consecutive numbers as the identification information In20, and arranges and displays the type information In30 in numerical order. By adopting such a configuration, the teaching program PRG of this embodiment displays the type information In30 arranged together with the identification information In20, making it easier for the user to visually recognize information based on the numbers of the identification information In20.

[0047] In order to display the type information In30 on the first I / O confirmation screen De21, the type information In30 must be set in advance. The first I / O confirmation screen De21 in Fig. 4 shows the state displayed after the user sets the role information In10 on the first role setting screen De11.

[0048] 5 is an explanatory diagram showing the type information In30. The first I / O confirmation screen De21 displays an image as the type information In30. More specifically, the first I / O confirmation screen De21 displays the icons shown in FIG. 5 as the type information In30.

[0049] The first icon Ic1 to the fourth icon Ic4 represent the types of the hand 310. The icons, in the order of the first icon Ic1 to the fourth icon Ic4, represent the types of the hand 310: a type that grasps an object, a type that suctions an object, a type that tightens screws, and a type that applies liquid. In FIG. 5, the "type that grasps an object" is represented as "general hand," the "type that suctions an object" is represented as "hand suction," the "type that tightens screws" is represented as "hand screw tightening," and the "type that applies liquid" is represented as "hand dispenser." In other words, the type information In30 includes information on multiple types of images representing the hand 310 connected to the robot 11 among the types of peripheral devices 13. By adopting this format, the teaching program PRG of this embodiment allows the user to easily visually recognize I / O signals input and output to and from the hand 310.

[0050] The fifth icon Ic5, "remote I / O," represents a role type called a remote function. That is, the type information In30 includes image information representing the remote function of remotely controlling the robot 11, among the role types. By adopting this format, the teaching program PRG of this embodiment makes it easier for the user to visually recognize the I / O signals used for the remote function.

[0051] The sixth icon Ic6 and the seventh icon Ic7 will be described in the third embodiment.

[0052] The type information In30 is stored in the RAM 442 before the teaching program PRG is used, when the teaching program PRG is installed or updated. That is, the first I / O confirmation screen De21 displays, for each I / O signal for which identification information In20 and role information In10 are set, predetermined type information In30 indicating the type of peripheral device 13 and the type of role, in association with the identification information In20.

[0053] The first I / O confirmation screen De21 in Fig. 4 displays the fifth icon Ic5 adjacent to a square displaying the bit number of an I / O signal to which type information In30 representing a remote function is set on the first role setting screen De11. Furthermore, the first I / O confirmation screen De21 in Fig. 4 displays the first icon Ic1 adjacent to a square displaying the bit number of an I / O signal to which type information In30 representing a type of hand 310 that grips an object is set on the second role setting screen De12.

[0054] The first I / O confirmation screen De21 further displays label information In60. The label information In60 is information that describes the I / O signal set by the user. The user can set the label information In60 for each I / O signal on the first I / O confirmation screen De21. In FIG. 4, label information In60 has been entered for some of the remote I / O.

[0055] As described above, in this embodiment, as shown in FIG. 4 , the type information In30 is displayed on the I / O confirmation screen De20 together with the identification information In20 to indicate the type and role of the peripheral device 13. The peripheral device 13 may be the PLC 320, the HMI 330, the sensor 350, the hand 310, or the like. That is, the user can easily confirm which peripheral device 13 or role the I / O signal is associated with based on the type information In30 displayed on the display unit 220. Therefore, the teaching program PRG of this embodiment makes it easier for the user to infer the role of the I / O signal from the type information In30. Therefore, compared to a configuration in which the type information In30 is not displayed, the teaching program PRG of this embodiment reduces the user's effort of inputting information to identify the role of each I / O signal. Furthermore, the teaching program PRG of this embodiment makes it easier for the user to infer the role of the I / O signal, thereby reducing the possibility of the user misunderstanding the role of the I / O signal.

[0056] Furthermore, as described above, the teaching program PRG of this embodiment displays an image as the type information In30, making it easier for the user to visually recognize the type information In30 than if it were displayed as a character string or a symbol.

[0057] Furthermore, as mentioned above, the teaching program PRG of this embodiment displays the type information In30 and the identification information In20 adjacent to each other on the I / O confirmation screen De20, making it easier for the user to see the type information In30 corresponding to the identification information In20.

[0058] Furthermore, as mentioned above, the teaching program PRG of this embodiment displays the type information In30 arranged together with the identification information In20 on the I / O confirmation screen De20, making it easier for the user to view the information based on the number of the identification information In20.

[0059] Furthermore, as mentioned above, the teaching program PRG of this embodiment makes it easier for the user to visually recognize the I / O signals used for the remote functions by including image information representing the remote functions in the type information In30.

[0060] Furthermore, as described above, in the program of this embodiment, the type information In30 includes information on a plurality of types of images representing the hand 310, making it easier for the user to visually recognize the I / O signals input and output to the hand 310.

[0061] Furthermore, as described above, the program of this embodiment allows the role information In10 and type information In30 of the hand 310 to be easily set by using the second role setting screen De12.

[0062] B. Second embodiment: FIG. 6 is an explanatory diagram showing the second I / O confirmation screen De22. The I / O confirmation screen De20 may further include the second I / O confirmation screen De22. The second I / O confirmation screen De22 displays identification information In20, type information In30, label information In60, and status information In40. The status information In40 represents the input / output status of each I / O signal. More specifically, the status information In40 represents the rising and falling status of each I / O signal. The second I / O confirmation screen De22 displays the status information In40 in association with the identification information In20 for each I / O signal.

[0063] The second I / O confirmation screen De22 displays the identification information In20, status information In40, and type information In30 in parallel along the vertical direction of the screen. Similar to the first I / O confirmation screen De21, the second I / O confirmation screen De22 displays the identification information In20, status information In40, and type information In30 in a tabular format. More specifically, the second I / O confirmation screen De22 displays the identification information In20, status information In40, and type information In30, separated by columns. The second I / O confirmation screen De22 displays the information separated by bit number, along rows. The second I / O confirmation screen De22 displays status information In40, which indicates the state of the adjacent bit number, in a cell adjacent to a cell displaying a bit number in each row.

[0064] The second I / O confirmation screen De22 displays the status information In40 between the identification information In20 and the type information In30 so that they are adjacent to each other. That is, the second I / O confirmation screen De22 does not display the type information In30 and the identification information In20 adjacent to each other as in the first I / O confirmation screen De21 of the first embodiment.

[0065] The second I / O confirmation screen De22 shown in FIG. 6 displays only the status information In40 related to the input signal to facilitate understanding of the technology. In FIG. 6, hatched circles represent a state in which an I / O signal is being input. Furthermore, unhatched circles represent a state in which an I / O signal is not being input. For example, FIG. 6 represents a state in which an I / O signal is being input to bit number 0 and bit number 15.

[0066] By adopting such a configuration, the program of this embodiment allows the user to easily visually recognize the input / output state of the I / O signal for the peripheral device 13 or the I / O terminal 410.

[0067] C. Third embodiment: In the above embodiment, the type information In30 is information that indicates the type and role type of the peripheral device 13. However, the type information In30 may be information that indicates the type of the I / O terminal 410. In other words, the type information In30 may be information that indicates the type of the peripheral device 13, the role type, and the type of the I / O terminal 410.

[0068] 7 is an explanatory diagram showing the configuration of a robot system 10a according to the second embodiment. In addition to a standard I / O terminal 411, an I / O terminal 410a according to the second embodiment includes multiple types of terminals, such as a fieldbus I / O terminal 412 and a real-time I / O terminal 413. Other configurations of the robot system 10a according to the second embodiment are the same as those of the robot system 10 according to the first embodiment. Note that, in the configuration of the robot system 10a according to the second embodiment, components that differ from the configuration of the robot system 10 according to the first embodiment are designated by the reference numerals suffixed with "a."

[0069] The real-time I / O terminal 413 electrically connects the peripheral device 13 and the robot control device 14a. Specifically, the real-time I / O terminal 413 is composed of a plurality of pins. The plurality of pins in the real-time I / O terminal 413 include a plurality of input pins to which input signals are input. A trigger signal output from the peripheral device 13 is input to the real-time I / O terminal 413. The trigger signal is used to determine the timing for acquiring the position of the robot 11 in operation. For example, the trigger signal is used to synchronize the camera of the peripheral device 13 with the robot 11. More specifically, the trigger signal is used to match the position of the robot 11 in the camera image with the position information acquired from the robot 11.

[0070] The fieldbus I / O terminal 412 is used for a fieldbus. That is, the fieldbus I / O terminal 412 is a terminal to which a cable for connecting the robot control device 14a to a field network is connected. The fieldbus I / O terminal 412 is designed to support the wiring method and communication protocol of the field network. For example, the fieldbus I / O terminal 412 supports DeviceNet (registered trademark), PROFIBUS-DP, PROFINET, CC-LINK (registered trademark), etc.

[0071] In addition, even if there are multiple types of I / O terminals 410a in the teaching program PRG, consecutive numbers are assigned to all bits of the I / O signals input and output to the robot control device 14a regardless of the type of I / O terminal 410a.

[0072] 5, the type information In30 representing the real-time I / O terminal 413 and the fieldbus I / O terminal 412 is the sixth icon Ic6 "real-time I / O" and the seventh icon Ic7 "fieldbus." That is, the type information In30 includes information on one type of image representing the fieldbus I / O terminal 412 and information on one type of image representing the real-time I / O terminal 413, both of which are included in the I / O terminal 410a.

[0073] The type information In30 may include image information corresponding to the type of field network, such as DeviceNet (registered trademark), PROFIBUS-DP, PROFINET, CC-LINK (registered trademark), etc.

[0074] The role setting screen De10 of the second embodiment displays the type of I / O terminal 410a, for example, like the second role setting screen De12 of the first embodiment that displays the type of hand 310. As a result, the user sets role information In10 for each I / O signal for each type of I / O terminal 410a, thereby setting type information In30 indicating the type of I / O terminal 410a. The role setting screen De10 of the second embodiment is used to set role information In10 for each I / O signal according to the type of peripheral device 13, the type of role, and the type of I / O terminal 410a.

[0075] By adopting this configuration, the program of this embodiment makes it easier for the user to visually recognize the I / O signals input and output to the field bus I / O terminal 412, the I / O signals input and output to the standard I / O terminal 411, and the I / O signals input and output to the real-time I / O terminal 413.

[0076] D. Other Embodiments: The teaching program PRG may further cause the teaching device 12 to execute a function of automatically displaying the status display area A2. As described above, the teaching program PRG causes the teaching device 12 to execute a function of assisting the user's work by warning the user when a processing abnormality or an inappropriate setting has occurred. The function of automatically displaying the status display area A2 is included in the function of assisting the user's work.

[0077] FIG. 8 is an explanatory diagram showing the setting screen De40 displaying the status display area A2. The setting screen De40 shown in FIG. 8 displays a program display area A1 and a status display area A2. The program display area A1 is an area for editing the control program of the robot system 10, for example. The status display area A2 is an area for displaying a warning to inform the user of a processing abnormality or an inappropriate setting. As an example of a display, the status display area A2 in FIG. 8 displays the details of an abnormality that occurred when code C1 in the control program in the program display area A1 was executed. By displaying the warning in this manner, the user can efficiently respond to the abnormality that has occurred.

[0078] Fig. 9 is an explanatory diagram showing the setting screen De40 in which the status display area A2 is not displayed. The teaching program PRG can also hide the status display area A2 at the user's discretion. Fig. 8 shows the setting screen De40 in which the status display area A2 is hidden.

[0079] The function to automatically display the status display area A2 is a function that automatically displays the status display area A2 if a processing abnormality or an inappropriate setting occurs while the status display area A2 is hidden. This allows the teaching program PRG to reduce the possibility that the user will overlook a warning. Furthermore, the teaching program PRG can reduce the user's effort to display the status display area A2.

[0080] E. Other Embodiments: (1) In the above embodiment, the teaching device 12 is a personal computer having the teaching program PRG. However, the teaching device 12 may be a computer having the teaching program PRG and dedicated to teaching the robot 11. More specifically, the teaching device 12 may be a teaching pendant. In this case, the teaching pendant is an example of a "computer."

[0081] (2) In the above embodiment, the PC connection terminal 420 is a USB terminal, but it may be another type of terminal. For example, the PC connection terminal 420 may be a terminal for connecting an Ethernet cable, or may be a terminal having a dedicated format.

[0082] (3) In the above embodiment, the role setting screen De10 includes the first role setting screen De11 and the second role setting screen De12, but it does not have to include either of them. The role setting screen De10 may include only the first role setting screen De11 or only the second role setting screen De12. The role setting screen De10 may further include another role setting screen that allows setting of type information In30 related to things other than the remote function and the hand 310. Alternatively, one type of role setting screen De10 may display different types of type information In30, such as displaying the role information In10 for the remote function and the hand 310. For example, the remote function may be selected by selecting the type information In30 on the second role setting screen De12. In other words, there may be one or more types of role setting screens De10.

[0083] (4) In the above embodiment, the I / O confirmation screen De20 displays the type information In30 and the identification information In20 side by side along the vertical direction of the screen. However, the arrangement direction of the type information In30 and the identification information In20 is not limited to the vertical direction. For example, the I / O confirmation screen De20 may display the type information In30 and the identification information In20 side by side along the horizontal direction of the screen.

[0084] (5) In the above embodiment, multiple types of hands 310 are used, but only one type of hand 310 may be used. In other words, the type information In30 may include information on one or more types of images representing the hands 310 connected to the robot 11 among the peripheral devices 13.

[0085] (6) In the above-described embodiments, the role setting screen De10 of the first embodiment allows role information In10 to be set for each I / O signal according to the type of peripheral device 13 and the type of role. The role setting screen De10 of the second embodiment allows role information In10 to be set for each I / O signal according to the type of peripheral device 13, the type of I / O terminal 410, and the type of role. However, the role setting screen De10 may allow role information In10 to be set for each I / O signal according to at least one of the type of peripheral device 13, the type of I / O terminal 410a, and the type of role. For example, the role setting screen De10 may allow role information In10 to be set for each I / O signal according to only the type of role.

[0086] (7) In the above embodiment, the I / O confirmation screen De20 displays the label information In60. However, the I / O confirmation screen De20 does not have to display the label information In60. That is, the I / O confirmation screen De20 may display only the identification information In20 and the type information In30, or may display only the identification information In20, the type information In30, and the status information In40.

[0087] (8) In the above embodiment, the type information In30 is displayed as an image on the display unit 220. However, the type information In30 is not limited to an image. The type information In30 may be a symbol or a character string.

[0088] (9) In the above embodiment, the type information In30 is information representing the type of peripheral device 13, the type of role, and the type of I / O terminal 410. However, the type information In30 may be information representing at least one of the type of peripheral device 13, the type of role, and the type of I / O terminal 410. In other words, the type information In30 may be information representing only one type of peripheral device 13 or one type of role.

[0089] (10) In the above embodiment, the identification information In20 is represented by a consecutive number. However, the identification information In20 is not limited to a consecutive number. The identification information In20 may be represented by alphabets in alphabetical order or kana characters in syllabary order, or a consecutive number may be combined with an alphabet.

[0090] (11) In the above embodiment, a configuration including a real-time I / O terminal 413 and a fieldbus I / O terminal 412 has been exemplified. In this case, the real-time I / O terminal 413 and the fieldbus I / O terminal 412 may be configured to have fixed identification information In20 in advance. In a configuration in which fixed identification information In20 is provided in advance, the role information In10 corresponding to the types of the real-time I / O terminal 413 and the fieldbus I / O terminal 412 may be automatically set for the I / O signals corresponding to the real-time I / O terminal 413 and the fieldbus I / O terminal 412, without the user having to set the role information In10 using the role setting screen De10. In other words, in a configuration in which fixed identification information In20 is provided in advance, the I / O confirmation screen De20 displays type information In30 in association with the fixed identification information In20 for each I / O signal, even without the user having to set the role information In10 using the role setting screen De10.

[0091] F. Other Forms: The present disclosure is not limited to the above-described embodiments and can be realized in various configurations without departing from the spirit thereof. For example, the technical features of the embodiments corresponding to the technical features in each aspect described in the Summary of the Invention section can be appropriately replaced or combined to solve some or all of the above-described problems or achieve some or all of the above-described effects. Furthermore, if a technical feature is not described as essential in this specification, it can be appropriately deleted.

[0092] (1) According to a first aspect of the present disclosure, there is provided a program that causes a computer to execute the following functions: displaying, on a display unit, one or more types of role setting screens that display identification information and role information of I / O signals, in order to set role information representing a role for each I / O signal input / output to / from a peripheral device involved in controlling a robot, the role information corresponding to at least one of a type of the peripheral device, a type of an I / O terminal for the I / O signal, and a type of the role, and displaying, on the display unit, an I / O confirmation screen that displays, for each I / O signal, predetermined type information representing the at least one type of I / O signal associated with the identification information for the I / O signals for which the identification information and the role information are set. In this embodiment, the type information is displayed on the I / O confirmation screen together with the identification information to indicate the type of peripheral device and the type of role. That is, the user can easily confirm which peripheral device or role the I / O signal is associated with based on the type information displayed on the display. Therefore, the program disclosed herein makes it easier for the user to infer the role of the I / O signal from the type information. Therefore, compared to a configuration in which type information is not displayed, the program disclosed herein reduces the user's effort in inputting information to identify the role of each I / O signal. Furthermore, because the program disclosed herein makes it easier for the user to infer the role of the I / O signal, it reduces the possibility that the user will misinterpret the role of the I / O signal.

[0093] (2) In the above aspect, the function of displaying the I / O confirmation screen on the display unit may display an image as the type information. By using such a format, the program of the present disclosure makes the type information easier for the user to see than when it is displayed as a string of characters or symbols.

[0094] (3) In the above aspect, the function of displaying the I / O confirmation screen on the display unit may display the type information and the identification information adjacent to each other. By adopting such a configuration, the program disclosed herein allows the user to easily visually recognize the type information corresponding to the identification information.

[0095] (4) In the above aspect, the function of displaying the I / O confirmation screen on the display unit may further display status information indicating an input / output status for each of the I / O signals in association with the identification information. By adopting such a configuration, the program of the present disclosure allows the user to easily visually recognize the input / output status of the I / O signal for the peripheral device or the I / O terminal.

[0096] (5) In the above aspect, the function of displaying the I / O confirmation screen on the display unit may display consecutive numbers as the identification information, and arrange and display the type information in the order of the numbers. By adopting such a configuration, the program of the present disclosure makes it easier for the user to visually recognize the information based on the number of the identification information.

[0097] (6) In the above aspect, the type information may include information on an image representing a remote function for remotely controlling the robot from among the types of roles. By adopting such a configuration, the program of the present disclosure allows the user to easily visually recognize, among the I / O signals, the I / O signals used for the remote function.

[0098] (7) In the above aspect, the type information may include information on one or more types of images representing hands connected to the robot among the peripheral devices. By adopting such a configuration, the program of the present disclosure makes it easier for the user to visually recognize the I / O signals input and output to and from the hand.

[0099] (8) In the above embodiment, the I / O terminal may further include a real-time I / O terminal to which a trigger signal output from the peripheral device is input, and the type information may include information on one or more types of images representing the real-time I / O terminal among the I / O terminals. By adopting such a configuration, the program of the present disclosure allows the user to easily visually recognize the I / O signals inputted and outputted to the real-time I / O terminal.

[0100] (9) In the above embodiment, the I / O terminal may further include a fieldbus I / O terminal used for a fieldbus, and the type information may include information on one or more types of images representing the fieldbus I / O terminal among the I / O terminals. By adopting such a configuration, the program of the present disclosure allows the user to easily visually recognize the I / O signals inputted and outputted to the fieldbus I / O terminal.

[0101] (10) In the above embodiment, the function of displaying one or more types of role setting screens on the display unit may at least display a hand role setting screen on which the role information can be set according to the type of hand connected to the robot among the peripheral devices. By adopting such a configuration, the program of the present disclosure can easily set the role information and type information of the hand.

[0102] (11) In the above aspect, the type information may include information on one or more types of images representing hands connected to the robot among the peripheral devices.

[0103] (12) According to a second aspect of the present disclosure, there is provided a computer including a display unit that displays a screen and a control unit, wherein the control unit causes the display unit to display one or more types of role setting screens that display identification information and role information of the I / O signals, in order to set the role information for each I / O signal according to at least one of the types of the peripheral device, the types of I / O terminals for the I / O signals, and the role types, and also causes the display unit to display an I / O confirmation screen that displays, for each I / O signal for which the identification information and role information have been set, predetermined type information that represents the at least one type in association with the identification information. In this embodiment, the type information is displayed on the I / O confirmation screen together with the identification information to indicate the type of peripheral device and the type of role. That is, the user can easily confirm which peripheral device or role the I / O signal is associated with based on the type information displayed on the display. Therefore, the computer disclosed herein makes it easier for the user to infer the role of the I / O signal from the type information. Therefore, the computer disclosed herein can reduce the user's effort in inputting information to identify the role of each I / O signal compared to an embodiment in which type information is not displayed. Furthermore, the computer disclosed herein makes it easier for the user to infer the role of the I / O signal, thereby reducing the possibility that the user will misinterpret the role of the I / O signal. [Explanation of symbols]

[0104] A1...Program display area, A2...Status display area, De10...Role setting screen, De11...1st role setting screen, De12...2nd role setting screen, De20...I / O confirmation screen, De21...1st I / O confirmation screen, De22...2nd I / O confirmation screen, De40...Setting screen, Ic1~Ic7...1st to 7th icons, In10...Role information, In20...Identification information, In30...Type information, In40...Status information, In50...Type information, In60...Label information, PRG...Teaching program, 10, 10a...Robot system, 11...Robot 12...teaching device, 13...peripheral equipment, 14, 14a...robot control device, 100...manipulator, 210...input unit, 220...display unit, 230...teaching device control unit, 231, 441...CPU, 232, 443...ROM, 233, 442...RAM, 310...hand, 340...motion controller, 350...sensor, 410, 410a...I / O terminal, 411...standard I / O terminal, 412...field bus I / O terminal, 413...real-time I / O terminal, 420...PC connection terminal, 430...manipulator connection terminal, 440...control unit

Claims

1. A program, a function of displaying one or more types of role setting screens on a display unit that display identification information and role information of the I / O signals, which are capable of setting role information representing a role for each I / O signal input / output to / from a peripheral device involved in controlling a robot, in order to set the role information for each I / O signal according to at least one of the type of the peripheral device, the type of the I / O terminal for the I / O signal, and the type of the role; a function of displaying an I / O confirmation screen on the display unit, which displays predetermined type information representing at least one type of I / O signal in association with the identification information for each I / O signal for which the identification information and the role information are set; A program that causes a computer to execute the following.

2. 2. The program according to claim 1, A program in which the function of displaying the I / O confirmation screen on the display unit displays an image as the type information.

3. 3. The program according to claim 2, A program in which the function of displaying the I / O confirmation screen on the display unit displays the type information and the identification information adjacent to each other.

4. 3. The program according to claim 2, A program in which the function of displaying the I / O confirmation screen on the display unit further displays status information indicating the input / output status of each I / O signal in association with the identification information.

5. 3. The program according to claim 2, The function of displaying the I / O confirmation screen on the display unit is a program that displays consecutive numbers as the identification information and arranges and displays the type information in the order of the numbers.

6. 6. The program according to claim 2, The type information is a program including information on an image representing a remote function for remotely controlling the robot among the role types.

7. 6. The program according to claim 2, The type information includes information on one or more types of images representing hands connected to the robot among the peripheral devices.

8. 6. The program according to claim 2, the I / O terminal further includes a real-time I / O terminal to which a trigger signal output from the peripheral device is input; The type information includes information on one or more types of images representing the real-time I / O terminals among the I / O terminals.

9. 6. The program according to claim 2, The I / O terminals further include a fieldbus I / O terminal used for a fieldbus. The type information includes information on one or more types of images representing the fieldbus I / O terminals among the I / O terminals.

10. 6. The program according to claim 2, The function of displaying one or more types of role setting screens on a display unit is a program that displays at least a hand role setting screen on which the role information can be set according to the type of hand connected to the robot among the peripheral devices.

11. 7. The program according to claim 6, The type information includes information on one or more types of images representing hands connected to the robot among the peripheral devices.

12. A computer comprising a display unit that displays a screen and a control unit, The control unit one or more types of role setting screens capable of setting role information representing a role for each I / O signal input / output to / from a peripheral device involved in controlling a robot, the one or more types of role setting screens displaying identification information and the role information of the I / O signal in order to allow the user to set the role information for each I / O signal according to at least one of the types of the peripheral device, the types of I / O terminals for the I / O signal, and the type of the role, on the display unit; The computer causes the display unit to display an I / O confirmation screen that displays predetermined type information representing at least one type of I / O signal for which the identification information and the role information are set, in association with the identification information for each I / O signal.

Images