Robot system and method for detecting miswiring thereof

Abstract

To detect erroneous wiring in encoder wiring for connecting an encoder mounted in a motor and a robot controller without driving a motor of each axis of a manipulator in a robot system including the manipulator and the robot controller.SOLUTION: A manipulator 30 is provided with a storage section 35 for preliminarily storing a machine parameter including at least identification information for identifying an encoder 32 of the axis for each axis. A robot controller 10 is provided with a control section 12 which reads the machine parameter from the storage section 35 and communicates with the encoder 32 through encoder wiring 42. The control section 12 discriminates whether the identification information on the encoder 32 read from the encoder 32 through the encoder wiring 42 matches the identification information included in the machine parameter for each axis and determines that there is erroneous wiring in the encoder wiring 42 when no match is found at least one axis.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a robot system including a manipulator and a robot controller for controlling the operation of the manipulator, and more particularly to a robot system capable of detecting a miswiring in an encoder wiring within the robot system and a method for detecting the miswiring.

Background Art

[0002] A robot system includes a manipulator and a robot controller for controlling the manipulator, and a hand or a tool is attached to the manipulator. In the manipulator, arms and links are interconnected, and motors are provided to drive these arms and links. An encoder for detecting the rotational position is attached to the motor. When the robot controller controls the manipulator, servo control of the motor is performed based on the motor position detected by the encoder. In order to perform servo control, a control circuit for each motor, for example, a servo driver, is provided in the robot controller. Although the manipulator generally includes a plurality of motors, it is necessary that the control circuit in the robot controller and the motors and encoders in the manipulator are electrically connected in a predetermined one-to-one relationship. For example, the first motor and the first encoder in the manipulator need to be electrically connected to the first control circuit in the robot controller. At this time, if the second motor and the third encoder in the manipulator are connected to the first control circuit in the robot controller, it is called a miswiring. Miswiring is also called a wrong connection. If there is a miswiring in the encoder wiring, for example, when driving a certain motor, control is performed based on the rotation amount of a motor different from that motor, so the robot operates with a movement different from the intended control content. This also poses a problem in terms of ensuring safety. Conventionally, at the time of assembling or maintaining the manipulator, it has been confirmed visually whether the wiring is correctly connected.

[0003] Focusing on the wiring between the robot controller and each encoder in the manipulator, between the robot controller and the manipulator, all of these wirings can be bundled into one collective wiring member or a multi-core cable, so miswiring is relatively unlikely to occur here. And the manipulator is provided with a wiring board (also referred to as a manipulator board) or wiring terminals that connect to the collective wiring member or multi-core cable from the robot controller, and signal wirings (for example, signal cables) for each encoder are provided from this wiring board or wiring terminals toward the individual encoders. When arranging the signal wirings in this way, errors in connecting the signal wirings to the wiring board or wiring terminals are likely to occur, and miswiring is likely to occur. In a large manipulator, the signal wiring may be extended by inserting a relay connector, but connection errors may also occur in the relay connector. In particular, the signal wiring for the encoder is a signal wire or signal cable with a small diameter, and the connector used for connecting the signal wiring is also small, so misrecognition is likely to occur when visually checking the correctness of the connection in the wiring, and the possibility of miswiring also increases. Miswiring in the wiring for the encoder can occur not only during the manufacturing or assembly of the manipulator, but also when the wiring is removed or inserted and removed from the connector for maintenance of the manipulator.

[0004] Patent Document 1 discloses a method of detecting miswiring in either the wiring for the motor or the wiring for the encoder by determining whether the detection results at the encoder for each motor when a plurality of motors are sequentially driven are the results expected in advance. A method of detecting miswiring by a similar method for an encoder having UVW-phase output and AB-phase output is disclosed in Patent Document 2. Patent Document 3 discloses detecting miswiring in either the wiring for the motor or the wiring for the encoder by comparing the magnetic pole position obtained from the drive current for the motor with the output of the encoder when the motor is a three-phase synchronous motor.

[0005] As a technology related to the present invention, there is a technology for determining whether the combination of a robot controller and a manipulator (robot main body) is correct. Patent Documents 4 and 5 disclose that when a manipulator is connected to a robot controller, the robot controller reads type information or an identification label from a motor or an encoder in the manipulator and compares it with the type information or the identification label stored in advance in the robot controller, thereby determining whether the combination of the robot controller and the manipulator is correct.

[0006] In recent years, as an encoder attached to a motor in a manipulator, one that can transmit motor rotation position information and the like to a robot controller by bidirectional serial data communication has been used. Such an encoder is equipped with a non-volatile memory and can store various types of information in addition to the identification label of the encoder. Therefore, Patent Document 6 discloses providing a host device that stores model configuration information for each model of the manipulator in order to facilitate the replacement and connection of the same model or different models of manipulators to the robot controller regardless of the model of the manipulator, and storing device-specific data in the encoder of the manipulator. The device-specific data consists of information regarding the axis to which the corresponding encoder is attached and information regarding the model and manufacturing number of the manipulator. When the robot controller detects a change in the model of the manipulator, the robot controller reads the model configuration information corresponding to the changed model from the host computer, reads the device-specific data from each encoder of the manipulator, and controls the manipulator based on the read model configuration information and device-specific data. Patent Document 7 also discloses configuring the storage area of the encoder of the manipulator to store information regarding the model and manufacturing number of the manipulator and information regarding the axis to which the encoder is attached, and enabling the robot controller to read these information so that the robot controller or the like can be replaced and connected to the manipulator.

Prior Art Documents

Patent Documents

[0007]

Patent Document 1

Patent Document 2

Patent Document 3

Patent Document 4

Patent Document 5

Patent Document 6

Patent Document 7

Summary of the Invention

Problems to be Solved by the Invention

[0008] As a technique for detecting miswiring in a wiring connecting a robot controller and a motor or encoder in a manipulator, there is what is disclosed in Patent Documents 1-3. However, these detect miswiring depending on whether a signal as expected can be obtained from the encoder when any motor is driven, and assume actually driving the motor. From the viewpoint of ensuring safety and the like, it is preferable that miswiring related to the encoder can be detected without driving the motor.

[0009] An object of the present invention is to provide a robot system capable of detecting miswiring in a wiring connecting a robot controller and an encoder in a manipulator without driving a motor, and a method for detecting such miswiring.

Means for Solving the Problems

[0010] The robot system of the present invention includes a manipulator having a plurality of axes and driven by motors provided for each axis, and a robot controller for controlling the manipulator. The robot system has an encoder attached to the motor for each axis, and includes encoder wiring provided for each axis connecting the encoder and the robot controller, and a storage unit provided independently of the encoder in the manipulator and storing in advance mechanical parameters including at least identification information for identifying the encoder of that axis for each axis of the manipulator. Provided between the manipulator and the robot controller, a control data wiring different from the encoder wiring, and provided in the robot controller , via the control data wiring and a control unit that reads out the mechanical parameters from the storage unit and communicates with the encoder via the encoder wiring. The control unit determines whether the identification information for identifying the encoder read from the encoder via the encoder wiring matches the identification information included in the mechanical parameters for each axis, and determines that there is a miswiring in the encoder wiring when they do not match in at least one axis.

[0011] As an encoder that is attached to a motor in a manipulator and detects the rotational position of the motor, those that are connected by two-way serial communication with the robot controller side have become common. Such an encoder has a non-volatile memory, and identification information for identifying the encoder, such as a serial number, is stored in the non-volatile memory. In the robot system of the present invention, at the time of manufacturing the manipulator, mechanical parameters including at least the identification information of the encoder attached to each axis of the manipulator are stored in advance in a storage unit provided independently of the encoder in the manipulator for each axis of the manipulator. The identification information for each axis included in the mechanical parameters accurately represents the identification information stored in the encoder provided for each axis in the manipulator. And in the robot system of the present invention, a control unit provided in the robot controller reads the identification information of the encoder from each axis encoder via the encoder wiring and compares it with the identification information included in the mechanical parameters for each axis. If there is no miswiring, for all axes, the identification information read from the encoder and the identification information included in the mechanical parameters match for each axis. On the other hand, when there is miswiring, since the connection relationship between the encoder and the robot controller is different from the original one, specifically, the encoder of a certain axis is connected to the robot controller as the encoder of an axis different from that axis, so there will be an axis where the identification information read from the encoder does not match the identification information included in the mechanical parameters. As a result, when there is an axis where the identification information does not match, the control unit can determine that there is miswiring in the encoder wiring without actually driving the motor.

[0012] In the robot system of the present invention, based on the axis where the identification information read from the encoder does not match the identification information included in the mechanical parameters, the control unit to the outside of the robot system Preferably outputs information for specifying the encoder wiring in which miswiring has occurred. By outputting such information, it is possible to know which axis encoder wiring has actually caused miswiring, so that the labor of searching for the actual miswiring location can be significantly reduced.

[0013] In the robot system of the present invention, configuration information regarding the configuration of the manipulator is included in the mechanical parameters, and the robot controller can perform control of the manipulator based on the configuration information extracted from the mechanical parameters read by the control unit. By configuring in this way, even if the configuration information of the manipulator is not stored in the robot controller in advance, it becomes possible to immediately operate as a robot system when the robot controller connected to the manipulator is changed.

[0014] The miswiring detection method of the present invention includes a manipulator driven by motors provided for each axis with a plurality of axes and a robot controller for controlling the manipulator, and in a robot system in which an encoder is attached to the motor for each axis, it is a miswiring detection method for detecting miswiring in the encoder wiring provided for each axis connecting the encoder and the robot controller. The method includes a step of preliminarily storing in a storage unit provided independently of the encoder in the manipulator a mechanical parameter including at least identification information for identifying the encoder of each axis of the manipulator. In the robot controller, identification information for identifying the encoder is read from the encoder of each axis via the encoder wiring, Provided between the manipulator and the robot controller, via a control data wiring different from the encoder wiring a discrimination step of reading the mechanical parameter from the storage unit and discriminating whether the identification information read from the encoder matches the identification information included in the mechanical parameter for each axis, and a miswiring detection step of determining that there is miswiring in the encoder wiring when they do not match in at least one axis in the discrimination step.

[0015] In the wiring error detection method of the present invention, mechanical parameters including identification information (such as serial numbers) of encoders for each axis are stored in advance in a storage unit provided independently of the encoder in the manipulator. The identification information for each axis included in the mechanical parameters accurately represents the identification information stored in the encoder provided for each axis in the manipulator. Then, in the robot controller, it is determined whether the identification information read from the encoder of each axis via the encoder wiring matches the identification information included in the mechanical parameters for each axis. If there is a wiring error, an axis where the identification information read from the encoder does not match the identification information included in the mechanical parameters will occur. Therefore, it is possible to determine that there is a wiring error in the encoder wiring without actually driving the motor.

[0016] In the wiring error detection method of the present invention, in the wiring error detection step, based on an axis where the identification information read from the encoder does not match the identification information included in the mechanical parameters, information for specifying the encoder wiring in which the wiring error has occurred is to the outside of the robot system preferably output. By outputting such information, it is possible to know which axis of the encoder wiring has actually had a wiring error, so that the labor of searching for the actual wiring error location can be significantly reduced.

[0017] In the wiring error detection method of the present invention, it is preferable to perform the determination step and the wiring error detection step when starting the manipulator from the robot controller. By performing the determination step and the wiring error detection step when the manipulator is started, the robot controller can know whether there is a wiring error before actually operating the manipulator. Therefore, it is possible not to drive the manipulator in case of an abnormality, suppressing the occurrence of malfunction in the robot system and further improving safety.

[0018] In the miswiring detection method of the present invention, configuration information regarding the configuration of the manipulator is included in the machine parameters, and the configuration information extracted from the machine parameters can be used as the configuration information for the robot controller to control the manipulator. By configuring in this way, it becomes possible to operate as a robot system immediately when the robot controller connected to the manipulator is changed without the need to previously store the configuration information of the manipulator in the robot controller.

Advantages of the Invention

[0019] According to the present invention, in a robot system including a robot controller and a manipulator, it becomes possible to detect miswiring in the wiring connecting the robot controller and the encoder in the manipulator without driving the motors in the manipulator.

Brief Description of the Drawings

[0020]

Figure 1

Figure 2

Figure 3

Modes for Carrying Out the Invention

[0021] FIG. 1 shows a robot system according to an embodiment of the present invention. This robot system includes a robot controller 10 and a manipulator 30, and the robot controller 10 and the manipulator 30 are electrically connected by a collective wiring member 20. The manipulator 30 includes a plurality of axes, and a motor 31 for driving each axis is provided for each axis. An encoder 32 for detecting the rotational position of the motor 31 is attached to the motor 31. The motor 31 is, for example, a three-phase synchronous motor. In the example shown for explanation, three motors 31 are provided in the manipulator 30, but in a general manipulator, that is, a robot body, the number of motors 31 provided is, for example, from 5 to 7. The encoder 32 is given identification information for uniquely identifying the individual. The identification information is, for example, the serial number or manufacturing number of the encoder 32.

[0022] The robot controller 10 controls the manipulator 30 and includes a plurality of servo drivers 11 and a control unit 12 that performs overall control of the robot controller 10. The servo driver 11 is provided corresponding to each motor 31 for each axis within the manipulator 30. For each axis of the manipulator 30, the rotational position information output from the encoder 32 connected to the motor 31 of that axis is supplied to the servo driver 11 of that axis, and the servo driver 11 of that axis drives the motor 31 of that axis based on the supplied rotational position information. For each axis, the servo driver 11 and the motor 31 of that axis are connected by motor wiring 41, and the servo driver 11 and the encoder 32 of that axis are connected by encoder wiring 42. The motor wiring 41 is, for example, power wiring connected to the windings of a three-phase synchronous motor, and the encoder wiring 42 is signal wiring for bidirectional serial data communication. The servo driver 11 acquires the rotational position information of the corresponding motor 31 from the encoder 32 by sending commands to the encoder 32 at regular time intervals. The control unit 12 is constituted by, for example, a microprocessor (MPU), and controls each servo driver 11 by high-speed serial communication (such as CAN communication or EtherCAT (registered trademark) communication) that connects each servo driver 11 in a daisy-chain form. Therefore, the control unit 12 can communicate with the encoder 32 via the encoder wiring 42 through the servo driver 11. In particular, the control unit 12 can read, via the servo driver 11, identification information such as the rotational position information of the corresponding motor 31 and the serial number of the encoder 32 from the encoder 32 via the encoder wiring 42.

[0023] In the manipulator 30, in addition to the motors 31 and encoders 32 for each axis, a manipulator substrate 33 is provided. On the manipulator substrate 33, for example, a processing unit 34 constituted by a microprocessor and communicating with the control unit 12 in the robot controller 10 through the control data wiring 45, and a storage unit 35 constituted by a non-volatile memory and connected to the processing unit 34 are provided. In the control data wiring 45, commands and data are transmitted and received between the control unit 12 and the processing unit 34 by bidirectional serial data communication. In particular, the control unit 12 in the robot controller 10 transmits a command to the processing unit 34 in the manipulator 30 via the control data wiring 45 and commands the processing unit 34 to read data from the storage unit 35, whereby the mechanical parameters stored in the storage unit 35 can be read and acquired. The processing unit 34 and the storage unit 35 may be integrated, for example, as a one-chip microcomputer. The mechanical parameters of the manipulator 30 are written into the storage unit 35 at the time of manufacture of the manipulator 30. The mechanical parameters include at least the identification information of the encoder 32 for each axis in order to indicate which individual's encoder 32 is for each axis of the manipulator 30. As will be described later, the configuration information of the manipulator 30 may be included in the mechanical parameters.

[0024] The collective wiring member 20 that electrically connects between the robot controller 10 and the manipulator 30 is, for example, a multi-core cable formed by bundling together the motor wiring 41 for each axis, the encoder wiring 42 for each axis, and the control data wiring 45 into one, and is connected to each of the robot controller 10 and the manipulator 30 with dedicated multi-core connectors. The motor wiring 41, which is power wiring, may be provided between the robot controller 10 and the manipulator 30 by another cable without passing through the collective wiring member 20. In the manipulator 30, power is also required for the operation of the encoder 32, the processing unit 34, and the storage unit 35, and power supply wiring therefor and wiring necessary for starting the manipulator 30 from the robot controller 10 are also provided between the robot controller 10 and the manipulator 30. These wirings may also be arranged inside the collective wiring member 20.

[0025] In the manipulator 30, the multi-core connector used for connection to the collective wiring member 30 is also connected to the manipulator board 33 by a multi-core cable, and each encoder wiring 42 and control data wiring 45 are drawn into the manipulator board 33. The control data wiring 45 is connected to the processing unit 34 by a wiring pattern formed on the manipulator board 33. Each encoder wiring 42 is provided as signal wiring separated for each axis of the manipulator between the manipulator board 33 and the encoder 32. Connectors 43 are used for the connection between this signal wiring and the manipulator board 33 and for the connection between the signal wiring and the corresponding encoder 32. In order to pass signal wiring through long links and arms in the manipulator 30, the signal wiring may be extended via relay connectors 44. Usually, the same type of wiring material or cable is used for these signal wirings, and connectors of the same size and the same number of cores are also used as the connectors 43 and relay connectors 44. As a result, although the risk of miswiring in the encoder wiring 42 is small in the section from the robot controller 10 to the manipulator board 33, misconnections in the connectors 43 and relay connectors 44 are likely to occur in the section from the manipulator board 33 to the encoder 32 of each axis, and miswiring in the encoder wiring 42 is likely to occur.

[0026] Therefore, in the robot system of this embodiment, the control unit 12 provided in the robot controller 10 automatically detects the presence or absence of miswiring in the encoder wiring 42. The detection of the presence or absence of miswiring is performed, for example, when the manipulator 30 is activated from the robot controller 10 side. Hereinafter, the process of detecting miswiring in this embodiment will be described with reference to FIG. 2. Here, it is assumed that the mechanical parameters have already been stored in the storage unit 33 when the manipulator 30 is assembled. The mechanical parameters are associated with each axis of the manipulator 30 and include the serial number (S / N) of the encoder 32 of each axis. Here, the serial number is used as identification information for uniquely identifying the encoder 32. As long as the encoder 32 can be identified, identification information other than the serial number can be used.

[0027] First, in step 101, the control unit 12 activates the manipulator 30. A known technique for activating the manipulator 30 from the robot controller 10 can be used. Subsequently, in step 102, the control unit 12 sequentially transmits commands for requesting the serial number to the encoders 32 of each axis via the servo driver 11 and the encoder wiring 42, and receives the serial number from the encoder 32 that has received the command via the servo driver 11. In step 103, the control unit 12 transmits a command for requesting the serial number of the encoder 32 of each axis in the mechanical parameters stored in the storage unit 35 to the processing unit 34 of the manipulator 30. The processing unit 34 processes this command and transmits the serial number of the encoder 32 for each axis to the control unit 12. The processing of step 102 and the processing of step 103 may be interchanged.

[0028] Next, in step 104, the control unit 12 compares the serial number read from the encoder 32 via the servo driver 11 with the serial number in the machine parameters for each axis of the manipulator 30. In step 105, it determines whether the serial number read from the encoder 32 matches the serial number in the machine parameters for all axes. The serial number for each axis included in the machine parameters accurately represents the serial number stored in the encoder 32 provided for each axis in the manipulator 30. If there is no miswiring, the serial number read from the encoder 32 and the serial number included in the machine parameters should match for each axis. Therefore, in step 105, when the two serial numbers match for all axes, the control unit 12 determines that there is no miswiring in the encoder wiring 42, and in step 106, it starts controlling the manipulator 30 based on a predetermined operation program and ends the miswiring detection process.

[0029] On the other hand, when there is miswiring in the encoder wiring 42, since the connection relationship between the encoder 32 and the robot controller 10 is different from the original, an axis where the serial number read from the encoder 32 does not match the serial number included in the machine parameters will occur. In step 105, when there is even one axis where the serial numbers do not match, the control unit 12 determines in step 107 that there is miswiring and outputs, for example, an alarm. Also, since the axis where the serial numbers did not match is related to the miswiring, in step 108, the control unit 12 displays the axis related to the miswiring, for example, on the software tool of the robot controller 10 or on the pendant connected to the robot controller 10, as information for identifying the miswiring location. Then, it ends the miswiring detection process.

[0030] In the robot system of this embodiment, it is possible to detect a wiring error in the encoder wiring 42 without actually moving the motor 31 of the manipulator 30. In particular, by detecting a wiring error when starting the manipulator 30, the robot controller 10 can determine whether there is a wiring error before actually operating the manipulator 30. Therefore, it is possible not to drive the manipulator 30 in case of an abnormality, suppressing the occurrence of malfunction in the manipulator and further improving safety. Further, by outputting information for specifying the location of the wiring error when it is determined that a wiring error has occurred, the labor of disassembling the manipulator 30 to find the actual location of the wiring error can be significantly reduced.

[0031] In the robot system described above, it is assumed that the mechanical parameters pre-stored in the storage unit 35 of the manipulator 30 include the serial numbers of the encoders 32 of each axis. However, other information can be included in the mechanical parameters in addition to the serial numbers of the encoders 32. For example, configuration information regarding the configuration of the manipulator 30 can be included in the mechanical parameters, and the robot controller 10 can perform control of the manipulator 30 based on the configuration information extracted from the mechanical parameters read from the manipulator 30. Hereinafter, the case where the mechanical parameters also include the configuration information of the manipulator 30 will be described.

[0032] When controlling the operation of the manipulator 30 by the robot controller 10, it is necessary to perform control based on information such as the axis configuration of the manipulator 30, the lengths of the arms and links, the operating range in which the arms and links can be moved within the space where the manipulator 30 is installed, and the maximum allowable speed. Such information required when controlling the operation of the manipulator 30 is called the configuration information of the manipulator 30. Conventionally, such configuration information had to be stored in the robot controller 10 in advance. Therefore, when the robot controller 10 connected to the manipulator 30 was changed due to reasons such as a malfunction in the robot controller 10, it was difficult to immediately operate the robot system. On the other hand, by including the configuration information of the manipulator 30 in the mechanical parameters stored in the storage unit 35 of the manipulator 30 and enabling the robot controller 10 to read the mechanical parameters and perform control based on the configuration information in the mechanical parameters, even when the configuration information is not stored in the robot controller 10 in advance, it becomes possible to immediately operate the robot system when the robot controller 10 connected to the manipulator 30 is changed.

[0033] FIG. 3 is a flowchart showing a process of detecting a miswiring when mechanical parameters including configuration information of the manipulator 30 are stored in advance in the storage unit 35 of the manipulator 30. In FIG. 3, the same processes as those in the flowchart shown in FIG. 2 are given the same reference numerals. First, as in the case shown in FIG. 2, in step 101, the control unit 12 activates the manipulator 30, and in step 102, reads out the serial number of each encoder 32 from the encoder 32 via the servo driver 11 through the encoder wiring 42. Subsequently, in step 111, the control unit 12 transmits a command requesting the mechanical parameters stored in the storage unit 35 to the processing unit 34 of the manipulator 30. The processing unit 34 processes this command, reads out the mechanical parameters from the storage unit 35, and transmits them to the control unit 12. As a result, the control unit 12 acquires the mechanical parameters and stores them in a storage area (not shown) in the robot controller 10 as configuration information. The processes of step 102 and step 111 may be interchanged.

[0034] Next, the control unit 12, as in the case shown in FIG. 2, in step 104, compares the serial number read from the encoder 32 with the serial number in the mechanical parameters for each axis of the manipulator 30, and in step 105, determines whether the serial number read from the encoder 32 and the serial number in the mechanical parameters match for all axes. When the two serial numbers match for all axes in step 105, the control unit 12 determines that there is no miswiring in the encoder wiring 42, and in step 112, starts controlling the manipulator 30 based on the configuration information stored in the storage area, and ends the miswiring detection process.

[0035] On the other hand, when there is even one axis where the serial numbers do not match in step 105, as in the case shown in FIG. 2, the control unit 12 determines that there is a miswiring in step 107, outputs information for specifying the miswiring location in step 108, and then ends the miswiring detection process.

[0036] In this way, by storing the configuration information of the manipulator 30 in the storage unit 35 of the manipulator 30 so that the robot controller 10 can read this configuration information, even when the robot controller 10 is replaced for some reason such as a malfunction, it becomes possible to detect miswiring in the manipulator wiring 42, and the robot system can be immediately made to function.

Description of Signs

[0037] 10…Robot controller; 11…Servo driver; 12…Control unit; 20…Integrated wiring member; 30…Manipulator; 31…Motor; 32…Encoder; 33…Manipulator substrate; 34…Processing unit; 35…Storage unit; 41…Motor wiring; 42…Encoder wiring; 43…Connector; 44…Relay connector; 45…Control data wiring.

Claims

1. A robot system comprising a manipulator having a plurality of axes and driven by a motor provided for each axis, and a robot controller for controlling the manipulator, wherein an encoder is attached to the motor for each axis, Encoder wiring provided for each axis connecting the encoder and the robot controller, A storage unit provided independently of the encoder in the manipulator and storing mechanical parameters including at least identification information for identifying the encoder of each axis of the manipulator, Control data wiring provided between the manipulator and the robot controller and different from the encoder wiring, A control unit provided in the robot controller for reading the mechanical parameters from the storage unit via the control data wiring and communicating with the encoder via the encoder wiring, comprising, The control unit determines whether the identification information for identifying the encoder read from the encoder via the encoder wiring matches the identification information included in the mechanical parameters for each axis, and determines that there is a miswiring in the encoder wiring when they do not match in at least one axis. A robot system.

2. The control unit outputs, to the outside of the robot system, information for specifying the encoder wiring in which the miswiring has occurred, based on the axis in which the identification information read from the encoder does not match the identification information included in the mechanical parameters. The robot system according to claim 1.

3. The mechanical parameters include configuration information regarding the configuration of the manipulator, The robot controller controls the manipulator based on the configuration information extracted from the mechanical parameters read by the control unit. The robot system according to claim 1 or 2.

4. A miswiring detection method for detecting miswiring in encoder wiring provided for each axis connecting an encoder and a robot controller in a robot system comprising a manipulator having a plurality of axes and driven by a motor provided for each axis, and a robot controller for controlling the manipulator, wherein an encoder is attached to the motor for each axis, A step of preliminarily storing in a storage unit provided independently of the encoder in the manipulator, mechanical parameters including at least identification information for identifying the encoder of each axis of the manipulator for each axis of the manipulator; In the robot controller, identification information for identifying the encoder is read from the encoder of each axis via the encoder wiring, the mechanical parameters are read from the storage unit via a control data wiring provided between the manipulator and the robot controller and different from the encoder wiring, and a determination step of determining whether the identification information read from the encoder matches the identification information included in the mechanical parameters for each axis; A miswiring detection step of determining that there is a miswiring in the encoder wiring when they do not match in at least one axis in the determination step; A miswiring detection method having the above.

5. The miswiring detection method according to claim 4, wherein in the miswiring detection step, information for specifying the encoder wiring in which the miswiring has occurred is output to the outside of the robot system based on the axis in which the identification information read from the encoder does not match the identification information included in the mechanical parameters.

6. The miswiring detection method according to claim 4 or 5, wherein the determination step and the miswiring detection step are performed when the robot controller activates the manipulator.

7. The mechanical parameters include configuration information regarding the configuration of the manipulator, The miswiring detection method according to claim 6, wherein the configuration information extracted from the mechanical parameters is used as the configuration information when the robot controller controls the manipulator.

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