robot systems

Abstract

This robot system (100) comprises: a robot (1) including motors (11); first storage units (12a) that are provided so as to correspond to the motors and store identification information about the motors; a second storage unit (13a) that is provided separately from the first storage units and stores the identification information about the motors; and a control unit (2) that collates the motor identification information stored in the first storage units and the motor identification information stored in the second storage unit, thereby detecting whether a motor attached to the robot is a motor to which identification information has been previously applied.

Description

Technical Field

[0001] This disclosure relates to a robot system.

Background Art

[0002] Conventionally, a robot system including a robot has been known. Such a robot system is disclosed in, for example, Japanese Patent Application Laid-Open No. 2020-179486.

[0003] Japanese Patent Application Laid-Open No. 2020-179486 discloses a robot system including a robot main body and a robot controller that controls the robot main body. The robot main body includes a plurality of drive axes. Each drive axis is provided with a motor that drives the drive axis and an encoder that detects the rotational position of the rotation axis of the motor. Further, the encoder is provided with a storage unit that stores the serial number of the robot main body. When the power is turned on, the robot controller determines whether the serial numbers read from the storage units of the respective encoders are the same. The fact that the serial numbers are not the same means that the motor has been replaced. Therefore, when the serial numbers are not the same, the robot controller generates a motor replacement error.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

[0005] Although not explicitly stated in the above-mentioned Japanese Patent Publication No. 2020-179486, in production sites using robots, if a motor fails, it may be replaced illegally and without authorization by someone other than a qualified technician. Furthermore, since robots using illegally replaced motors may malfunction, there is a need to detect when a motor has been illegally replaced. However, in the robot system described in the above-mentioned Japanese Patent Publication No. 2020-179486, a motor replacement error occurs if the serial numbers read from the memory unit of each encoder are not the same. Therefore, a motor replacement error occurs in both cases, whether the motor is replaced legally or illegally. As a result, there is a problem in that it is not easy to detect when a motor has been illegally replaced due to a motor failure or other reason.

[0006] This disclosure is made to solve the problems described above and to provide a robot system that can easily detect when a motor has been replaced improperly.

[0007] This disclosure 1 The robot system comprises a robot including a motor, a first storage unit provided to correspond to the motor and storing motor identification information, a second storage unit provided separately from the first storage unit and storing motor identification information, and a control unit that detects whether the motor attached to the robot is a motor to which identification information has been previously assigned by comparing the motor identification information stored in the first storage unit with the motor identification information stored in the second storage unit. The control unit, upon detecting that a motor has been pre-assigned identification information, sets the normal operating mode. If it detects that a motor has not been pre-assigned identification information, it sets a performance limitation mode that restricts the robot's performance compared to the normal operating mode while continuing the robot's operation. The performance limitation mode either reduces the speed compared to the normal operating mode or restricts the movement of some of the robot's joints. ru.

[0008] This disclosure 1As described above, the robot system includes a control unit that detects whether the motor attached to the robot is a motor to which identification information has been pre-assigned by comparing the motor identification information stored in the first memory unit with the motor identification information stored in the second memory unit. This makes it possible to detect whether a legitimate motor to which identification information has been pre-assigned is attached to the robot, or whether an unauthorized motor to which identification information has not been pre-assigned is attached to the robot. As a result, it is possible to easily detect if a motor has been replaced with an unauthorized one. A method for controlling a robot system according to the second aspect of this disclosure is a method for controlling a robot system comprising a robot including a motor, comprising the steps of: acquiring motor identification information from a first storage unit provided to correspond to the motor and a second storage unit provided separately from the first storage unit; and detecting whether a motor attached to the robot is a motor to which identification information has been previously assigned by comparing the motor identification information stored in the first storage unit with the motor identification information stored in the second storage unit, wherein if it is detected that the motor is a motor to which identification information has been previously assigned, a normal operation mode is set, and if it is detected that the motor is not a motor to which identification information has been previously assigned, a performance limitation mode is set that restricts the performance of the robot while continuing to operate, the performance limitation mode either reduces the speed to a lower speed than the normal operation mode or restricts the operation of some of the robot's joints.

[0009] According to this disclosure, as described above, it is possible to easily detect that the motor has been replaced in an improper manner. [Brief explanation of the drawing]

[0010] [Figure 1] This is a block diagram of a robot system according to one embodiment. [Figure 2] Figure (1) illustrates the matching of motor identification information according to one embodiment. [Figure 3] Figure (2) illustrates the matching of motor identification information according to one embodiment. [Figure 4] This figure illustrates the writing of motor identification information to the encoder's memory unit according to one embodiment. [Figure 5] This diagram illustrates the writing of motor identification information to the storage unit of the arm portion according to one embodiment. [Figure 6] This figure shows a setting screen for enabling or disabling the non-regular motor detection function according to one embodiment. [Figure 7] This figure shows a setting screen for writing motor identification information to the encoder's memory unit according to one embodiment. [Figure 8] This figure shows a setting screen for writing motor identification information to the storage unit of the arm according to one embodiment. [Figure 9]This figure shows a confirmation screen for verifying the settings of the non-regular motor detection function according to one embodiment. [Figure 10] This is a flowchart illustrating the control process for the irregular motor detection function of a robot system according to one embodiment. [Modes for carrying out the invention]

[0011] The embodiments of this disclosure will be described below with reference to the drawings.

[0012] (Robot system configuration) Referring to Figures 1 to 9, the configuration of a robot system 100 according to one embodiment will be described. As shown in Figure 1, the robot system 100 comprises a robot 1 and a controller 2. Robot 1 is a clean robot placed in a clean room. Robot 1 is also a substrate transport robot that transports substrates within the clean room. Robot 1 is a horizontal articulated robot having multiple joints, and includes a base, an arm connected to the base, and a hand connected to the arm. The hand holds the substrate. The substrate is, for example, a semiconductor wafer. Note that controller 2 is an example of a control unit.

[0013] The robot 1 also includes a motor 11, an encoder 12, and a board 13. Multiple motors 11 are provided to correspond to each of the multiple joints of the robot 1. Each of the multiple motors 11 drives the corresponding joint. Multiple encoders 12 are provided to correspond to each of the multiple motors 11. Each of the multiple encoders 12 is connected to the corresponding motor 11 and detects the rotational position of the corresponding motor 11. Each of the multiple encoders 12 also has a storage unit 12a. The storage unit 12a is a non-volatile memory and stores information related to the operation of the encoder 12. In this embodiment, the storage unit 12a also stores identification information of the motor 11. Note that the storage unit 12a is an example of a first storage unit.

[0014] Board 13 is a circuit board provided in the arm part of robot 1. Board 13 has a storage part 13a. The storage part 13a is a non-volatile memory and stores information such as the model information of robot 1. Also, in the present embodiment, the storage part 13a stores the identification information of motor 11. One storage part 13a is provided in the arm part of robot 1. Also, the storage part 13a is provided separately from the storage part 12a. Further, the storage part 12a and the storage part 13a are provided in robot 1. Note that the storage part 13a is an example of a second storage part.

[0015] Controller 2 controls the operation of robot 1. Specifically, controller 2 controls the operation of robot 1 by controlling the power supplied to motor 11 of robot 1. Also, controller 2 can be connected to a plurality of robots 1 and can control the operations of the plurality of robots 1. In FIG. 1, for the sake of convenience, only one robot 1 is illustrated.

[0016] Here, in the present embodiment, as shown in FIGS. 2 and 3, at startup, controller 2 collates the identification information of motor 11 stored in storage part 12a with the identification information of motor 11 stored in storage part 13a to detect whether the motor 11 attached to robot 1 is a motor 11 with pre-assigned identification information. Specifically, when the identification information of motor 11 stored in storage part 12a matches the identification information of motor 11 stored in storage part 13a (see FIG. 2), controller 2 detects that motor 11 is a motor 11 with pre-assigned identification information. Also, when the identification information of motor 11 stored in storage part 12a does not match the identification information of motor 11 stored in storage part 13a (see FIG. 3), controller 2 detects that motor 11 is a motor 11 without pre-assigned identification information.

[0017] The regular motor 11 is provided with identification information in advance as will be described later, while the non-regular motor 11 is not provided with identification information in advance. Therefore, by detecting whether the motor 11 is a motor with identification information provided in advance, it is possible to detect whether the motor 11 is a regular motor or a non-regular motor. Also, when the motor 11 is replaced, usually, the encoder 12 is also replaced together with the motor 11. Therefore, by comparing the identification information of the motor 11 stored in the storage unit 12a of the encoder 12 with the identification information of the motor 11 stored in the storage unit 13a, it is possible to detect whether the motor 11 is a motor with identification information provided in advance.

[0018] Also, in this embodiment, when the controller 2 detects that the motor 11 is a motor with identification information provided in advance, the normal operation mode is set. Specifically, when the controller 2 detects that all of the plurality of motors 11 are motors with identification information provided in advance, the normal operation mode is set. In the normal operation mode, when the robot 1 is operated by the controller 2, it operates without restrictions as usual. Also, when the controller 2 detects that the motor 11 is not a motor with identification information provided in advance, a performance limit mode that limits the performance more than the normal operation mode is set. Specifically, when the controller 2 detects that at least one of the plurality of motors 11 is not a motor with identification information provided in advance, the performance limit mode is set.

[0019] For example, if controller 2 detects that motor 11 is not a motor 11 to which identification information has been assigned in advance, it sets a performance limit mode that reduces the speed to a lower speed than the normal operating mode. In this performance limit mode, when robot 1 is operated by controller 2, the operating speed is reduced to a predetermined percentage of the normal speed. Also, for example, if controller 2 detects that motor 11 is not a motor 11 to which identification information has been assigned in advance, it sets a performance limit mode that restricts the movement of some of the robot 1's multiple joints. In this performance limit mode, when robot 1 is operated by controller 2, predetermined joints among the multiple joints become immobile, while the other joints become mobile.

[0020] Furthermore, the controller 2 also sets the performance limit mode when verifying the identification information of the motor 11 if the storage unit 13a is not attached to the robot 1, or if the identification information of the motor 11 cannot be read from the storage unit 13a. The case where the storage unit 13a is not attached to the robot 1 is, for example, when the board 13 has been removed from the robot 1 for some reason. The case where the identification information of the motor 11 cannot be read from the storage unit 13a is, for example, when the wiring for communication with the board 13 has been changed for some reason. In these cases, the motor 11 may have been replaced illegally, so the performance limit mode is set.

[0021] Furthermore, in this embodiment, the controller 2 notifies an error if it detects that the motor 11 is not a motor 11 to which identification information has been assigned in advance. Specifically, the controller 2 notifies the higher-level device that manages the robot system 100 of the error. When the higher-level device is notified of an error, it displays the details of the error on its display unit. This makes it possible for the user to recognize an error caused by the motor 11 attached to the robot 1 not being a motor 11 to which identification information has been assigned in advance.

[0022] The setting of the motor 11 identification information will be explained with reference to Figures 4 to 8. This setting is performed by connecting the setting device 200 to the controller 2. The setting device 200 is, for example, a personal computer and includes an operation unit for inputting the operator's operations and a display unit for displaying the screen. The operator is a person who is authorized to perform work on the robot system 100, such as an engineer from the manufacturer of the robot system 100 or a direct user who is not an end user who actually uses the robot system 100.

[0023] In this embodiment, as shown in Figures 4 and 5, when the controller 2 sets the identification information of the motor 11, it performs the following processes: receiving input of the motor 11 identification information from the operator; storing the received motor 11 identification information in the storage unit 12a; and storing the motor 11 identification information stored in the storage unit 12a in the storage unit 13a.

[0024] Furthermore, in this embodiment, as shown in Figure 6, the controller 2 switches a function that detects whether or not the motor 11 is a motor 11 to which identification information has been assigned in advance (hereinafter, for convenience, this may be referred to as the "non-standard motor detection function") on or off based on the operator's operation. When the controller 2 switches the non-standard motor detection function on or off, it accepts a password. The password is automatically set by the controller 2 according to predetermined rules. The operator is aware of the password that is automatically set by the controller 2 according to predetermined rules.

[0025] The operator displays the setting screen 201 on the display unit of the setting device 200 and switches the non-standard motor detection function to enable or disable it by operating the controller 2 using the operation unit of the setting device 200. Specifically, the operator executes a program to enable or disable the non-standard motor detection function by entering a program name. When the program is executed, the operator is prompted to enter a password. Therefore, the operator enters a password they know. If the correct password is entered, the operator is prompted to enter either enable or disable. Therefore, the operator enters the desired setting of enable or disable. If enable is entered, a message indicating that the non-standard motor detection function has been enabled is displayed. The controller 2 also sets the non-standard motor detection function to enable. Similarly, if disable is entered, a message indicating that the non-standard motor detection function has been disabled is displayed. The controller 2 also sets the non-standard motor detection function to disable. Figure 6 shows an example where enable is entered.

[0026] With the non-standard motor detection function enabled, the motor 11 identification information is set. Specifically, as shown in Figure 7, the operator displays the setting screen 202 on the display unit of the setting device 200 and uses the operation unit of the setting device 200 to operate the controller 2, thereby inputting the motor 11 identification information and storing it in the storage unit 12a. Specifically, the operator executes a program to input the motor 11 identification information and store it in the storage unit 12a by entering a program name. When the program is executed, the operator is prompted to enter a password. Therefore, the operator enters a password they know. If the correct password is entered, the operator is prompted to enter the robot 1 number. The robot 1 number refers to the number set for each of the multiple robots 1 when multiple robots 1 are connected to the controller 2. The operator enters the number of the robot 1 for which they wish to set the motor 11 identification information. This makes it possible to set the motor 11 identification information for each robot 1.

[0027] When the robot number 1 is entered, the operator is prompted to enter the identification information for the motor 11 of the robot 1 whose number was entered. Therefore, the operator enters the identification information for the motor 11. The identification information consists of numbers, for example. In this case, the operator enters any number as the identification information for the motor 11. When the identification information is entered, as shown in Figure 4, the controller 2 writes the entered identification information to the storage unit 12a corresponding to the motor 11 for which the identification information was entered. In this way, the motor 11 is assigned the identification information. Then, as shown in Figure 7, it is displayed that the writing of the motor 11's identification information to the storage unit 12a has been successfully completed.

[0028] Furthermore, as shown in Figure 8, the operator displays the setting screen 203 on the display unit of the setting device 200 and uses the operation unit of the setting device 200 to operate the controller 2, thereby storing the motor 11 identification information stored in the storage unit 12a in the storage unit 13a. Specifically, the operator executes a program to store the motor 11 identification information stored in the storage unit 12a in the storage unit 13a by entering a program name. When the program is executed, the operator is prompted to enter a password. Therefore, the operator enters a password they know. If the correct password is entered, the operator is prompted to enter the robot 1 number. The operator enters the number of the robot 1 for which they wish to set the motor 11 identification information.

[0029] When the robot number 1 is entered, as shown in Figure 5, the controller 2 reads the motor 11 identification information from the storage unit 12a of the robot 1 whose number was entered, and writes the read motor 11 identification information to the storage unit 13a of the robot 1 whose number was entered. As a result, the same information as the motor 11 identification information stored in storage unit 12a is stored in storage unit 13a. Then, as shown in Figure 8, a message is displayed indicating that the writing of the motor 11 identification information to storage unit 13a is complete. Note that the processing contents of each of the above programs are encrypted. This makes it difficult to easily analyze the processing contents of each of the above programs, including the password setting.

[0030] Figures 4 to 8 show an example of setting the identification information of motor 11 for the first time. When setting the identification information of motor 11 for the first time, the identification information of all motors 11 attached to robot 1 is set. Also, when motor 11 is replaced by a legitimate motor, the identification information of the replaced motor 11 is set as explained with reference to Figures 7 and 8. That is, the controller 2 performs the following processes: receiving input of the identification information of the replaced motor 11, storing the received motor 11 identification information in the storage unit 12a, and storing the motor 11 identification information stored in the storage unit 12a in the storage unit 13a. As a result, legitimate motors 11 are assigned identification information in advance. In addition, the motor 11 identification information stored in the storage unit 12a and the motor 11 identification information stored in the storage unit 13a will match.

[0031] On the other hand, if the motor 11 is replaced in an unauthorized manner, the motor 11 will be replaced by someone other than a person authorized to replace it in an unauthorized manner, and therefore, the setting of identification information as explained with reference to Figures 7 and 8 will not be performed. For this reason, the unauthorized motor 11 will not be assigned any identification information in advance. In this case, the identification information of the motor 11 stored in the memory unit 12a will not match the identification information of the motor 11 stored in the memory unit 13a.

[0032] Furthermore, if the performance limit mode is set due to the motor 11 being replaced in an unofficial manner, the performance limit mode can be released by replacing the unofficial motor 11 with a proper motor 11 and setting the motor 11's identification information. Once the identification information is set, the motor 11's identification information stored in the memory unit 12a and the motor 11's identification information stored in the memory unit 13a will match, and the normal operation mode will be set when the identification information is verified, thus releasing the performance limit mode.

[0033] Furthermore, as shown in Figure 9, the operator confirms the setting of the non-standard motor detection function by displaying a confirmation screen 204 on the display unit of the setting device 200 and operating the controller 2 using the operation unit of the setting device 200. Specifically, the operator executes a program to confirm the setting of the non-standard motor detection function by entering a program name. When the program is executed, the operator is prompted to enter a password. Therefore, the operator enters a password they know. If the correct password is entered, the controller 2 notifies the setting device 200 of the activation status of the non-standard motor detection function, the identification information of the motor 11 stored in the storage unit 12a for each robot 1, and the identification information of the motor 11 stored in the storage unit 13a for each robot 1. The setting device 200 displays the activation status of the non-standard motor detection function, the identification information of the motor 11 stored in the storage unit 12a for each robot 1, and the identification information of the motor 11 stored in the storage unit 13a for each robot 1 on the display unit. This allows the operator to confirm the status of the enabled non-regular motor detection function, the identification information of the motor 11 stored in the memory unit 12a for each robot 1, and the identification information of the motor 11 stored in the memory unit 13a for each robot 1.

[0034] Referring to Figure 10, the control process of the irregular motor detection function by the robot system 100 of this embodiment will be explained based on a flowchart. Each process in the flowchart is performed by the controller 2.

[0035] When controller 2 is activated, as shown in Figure 10, in step S1, identification information of motor 11 is obtained from storage units 12a and 13a. Then, in step S2, the identification information of motor 11 stored in storage unit 12a is compared with the identification information of motor 11 stored in storage unit 13a. Then, in step S3, it is determined whether the identification information of motor 11 stored in storage unit 12a and the identification information of motor 11 stored in storage unit 13a match. If the identification information of motor 11 stored in storage unit 12a and the identification information of motor 11 stored in storage unit 13a match, the process proceeds to step S4, and the normal operation mode is set. Then, the control process is terminated.

[0036] Furthermore, if, in step S3, the identification information of the motor 11 stored in the memory unit 12a does not match the identification information of the motor 11 stored in the memory unit 13a, the process proceeds to step S5, and an error is notified to the higher-level device. The error is then displayed on the display unit of the higher-level device. Then, in step S6, the performance limit mode is set. Finally, the control process is terminated.

[0037] [Effects of this embodiment] In this embodiment, as described above, the robot system 100 includes a robot 1 including a motor 11, a storage unit 12a provided to correspond to the motor 11 and storing identification information of the motor 11, a storage unit 13a provided separately from the storage unit 12a and storing identification information of the motor 11, and a controller 2 that detects whether the motor 11 attached to the robot 1 is a motor 11 to which identification information has been previously assigned by comparing the identification information of the motor 11 stored in the storage unit 12a with the identification information of the motor 11 stored in the storage unit 13a.

[0038] This makes it possible to detect whether a genuine motor 11 with pre-assigned identification information is attached to the robot 1, or whether an unauthorized motor 11 without pre-assigned identification information is attached to the robot 1. As a result, it is easy to detect if the motor 11 has been replaced with an unauthorized one.

[0039] Furthermore, in this embodiment, as described above, if the controller 2 detects that the motor 11 is a motor 11 to which identification information has been assigned in advance, it sets the normal operation mode, and if it detects that the motor 11 is not a motor 11 to which identification information has been assigned in advance, it sets the performance-restricted mode, which limits the performance more than the normal operation mode. As a result, if a genuine motor 11 to which identification information has been assigned in advance is attached to the robot 1, the normal operation mode can be set, so that the robot 1 can be operated normally and appropriately. On the other hand, if an unofficial motor 11 that has not been assigned in advance is attached to the robot 1, the performance-restricted mode can be set, so that malfunctions can be prevented in the robot 1 to which an unofficial motor 11 with inferior performance compared to the genuine motor 11 is attached. In addition, when the performance-restricted mode is set, the robot 1 can be operated even though its performance is limited, so the robot 1 can continue to operate while waiting for the genuine motor 11 to be replaced. As a result, the impact on production efficiency and other factors caused by the delay in the robot 1's work until the genuine motor 11 is replaced can be reduced compared to when the robot 1 does not operate.

[0040] Furthermore, in this embodiment, as described above, if the controller 2 detects that the motor 11 is not a motor 11 to which identification information has been assigned in advance, it sets a performance limiting mode that reduces the speed to a lower speed than the normal operating mode. This allows the robot 1 to operate at a low speed while waiting for the replacement of the correct motor 11, thus easily reducing the impact on production efficiency caused by delays in the robot 1's work until the correct motor 11 is replaced.

[0041] Furthermore, in this embodiment, as described above, the robot 1 is a multi-joint robot, and the controller 2, when it detects that the motor 11 is not a motor 11 to which identification information has been assigned in advance, sets a performance limiting mode that restricts the operation of some of the robot 1's multiple joints. This allows the robot 1 to operate the joints that are not subject to operation restrictions while waiting for the replacement of the correct motor 11, thus easily reducing the impact on production efficiency caused by delays in the robot 1's work until the correct motor 11 is replaced.

[0042] Furthermore, in this embodiment, as described above, the controller 2 notifies an error if it detects that the motor 11 is not a motor 11 to which identification information has been assigned in advance. This makes it easy to recognize that an unauthorized motor 11, which has not been assigned identification information in advance, is attached to the robot 1 through the error notification.

[0043] Furthermore, in this embodiment, as described above, the controller 2 switches the function of detecting whether or not motor 11 is a motor 11 to which identification information has been assigned in advance, based on the operator's operation, to enable or disable. This allows the operator to switch the function of detecting whether or not motor 11 is a motor 11 to which identification information has been assigned in advance, to enable or disable, so it is possible to flexibly respond to cases such as when it is desired to temporarily disable the function of detecting whether or not motor 11 is a motor 11 to which identification information has been assigned in advance.

[0044] Furthermore, in this embodiment, as described above, when the controller 2 switches the function that detects whether or not motor 11 is a motor 11 to which identification information has been assigned in advance to be enabled or disabled, it accepts the input of a password. This makes it possible to prevent the function that detects whether or not motor 11 is a motor 11 to which identification information has been assigned in advance from being enabled or disabled without entering a password, thereby suppressing unauthorized switching of the function.

[0045] Furthermore, in this embodiment, as described above, when the controller 2 sets the identification information of the motor 11, it performs the following processes: receiving input of the motor 11 identification information from the operator, storing the received motor 11 identification information in the storage unit 12a, and storing the motor 11 identification information stored in the storage unit 12a in the storage unit 13a. This allows identification information to be assigned based on the operator's input, and the identification information assigned to the motor 11 can be stored in the storage unit 12a and the storage unit 13a, making it easy to realize a configuration that can detect whether or not the motor 11 is a motor 11 to which identification information has been assigned in advance.

[0046] Furthermore, in this embodiment, as described above, the memory unit 12a is a memory unit of an encoder provided to correspond to the motor 11. This allows the memory unit of the encoder to be effectively used to store the identification information of the motor 11, eliminating the need to provide a separate memory unit 12a from the encoder's memory unit. As a result, the increase in the number of components can be suppressed compared to the case where a separate memory unit 12a is provided from the encoder's memory unit.

[0047] Furthermore, in this embodiment, as described above, the storage units 12a and 13a are provided on the robot 1. As a result, even when the robot 1 itself is replaced, since both the storage units 12a and 13a are provided on the robot 1, the identification information of the motor 11 stored in the storage unit 12a and the identification information of the motor 11 stored in the storage unit 13a can be easily obtained from the robot 1. Consequently, even when the robot 1 itself is replaced, a configuration can be easily realized to detect whether or not the motor 11 is a motor 11 to which identification information has been previously assigned.

[0048] Furthermore, in this embodiment, as described above, robot 1 is a clean robot placed in a cleanroom. This makes it easy to detect if motor 11 is replaced improperly in a clean robot due to a motor failure or other reasons. Also, if robot 1 is a clean robot where stopping its operation would have a significant impact, setting a performance limit mode allows robot 1 to continue operating while waiting for a proper replacement of motor 11. This effectively reduces the impact on production efficiency caused by delays in robot 1's work until a proper replacement of motor 11 is available.

[0049] [Differentiation] It should be understood that the embodiments disclosed herein are illustrative and not restrictive in all respects. The scope of this disclosure is indicated by the claims rather than the description of the embodiments above, and further includes all modifications (explanations) within the meaning and scope equivalent to the claims.

[0050] For example, the above embodiment shows an example where the robot is a clean robot placed in a cleanroom, but the disclosure is not limited to this. In this disclosure, the robot may be a robot placed outside of a cleanroom.

[0051] Furthermore, although the above embodiment shows an example where the robot is a substrate transport robot that transports substrates, this disclosure is not limited to this. In this disclosure, the robot may be an industrial robot other than a substrate transport robot.

[0052] Furthermore, although the above embodiments show an example where the robot is a horizontal articulated robot, this disclosure is not limited to this. In this disclosure, the robot may be a robot other than a horizontal articulated robot, such as a vertical articulated robot.

[0053] Furthermore, although the above embodiment shows an example where the first storage unit is a storage unit of an encoder, the disclosure is not limited thereto. In this disclosure, the first storage unit may be a storage unit other than a storage unit of an encoder, as long as it is provided to correspond to a motor. For example, the first storage unit may be a storage unit provided in a driver that drives and controls the motor, or it may be a storage unit provided in a mechanical component such as a reduction gear connected to the motor.

[0054] Furthermore, although the above embodiment shows an example in which the board having the second storage unit is provided on the arm of the robot, the disclosure is not limited to this. In this disclosure, the board having the second storage unit may be provided on the base of the robot.

[0055] Furthermore, while the above embodiment shows an example of setting a performance limiting mode when it is detected that the motor is not a motor to which identification information has been assigned in advance, the present disclosure is not limited to this. In this disclosure, the robot may be prevented from operating when it is detected that the motor is not a motor to which identification information has been assigned in advance. This makes it possible to prevent the robot from operating if an unofficial motor that has not been assigned in advance is attached to the robot, thereby suppressing the occurrence of inappropriate operation in a robot to which an unofficial motor is attached.

[0056] Furthermore, the above embodiment shows an example of setting a performance limiting mode that reduces the speed to a lower speed than the normal operating mode or a performance limiting mode that restricts the movement of some of the robot's joints when it is detected that the motor is not a motor to which identification information has been assigned in advance, but the present disclosure is not limited to this. In the present disclosure, when it is detected that the motor is not a motor to which identification information has been assigned in advance, a performance limiting mode other than the performance limiting mode that reduces the speed to a lower speed than the normal operating mode or the performance limiting mode that restricts the movement of some of the robot's joints may be set.

[0057] Furthermore, although the above embodiment shows an example in which motor identification information is stored in the first storage unit and then the motor identification information stored in the first storage unit is stored in the second storage unit, the disclosure is not limited to this. In this disclosure, motor identification information may be stored in the first storage unit and the second storage unit simultaneously and in parallel.

[0058] Furthermore, although the above embodiment shows an example in which the second storage unit is provided in a robot, this disclosure is not limited to this. In this disclosure, the second storage unit may be provided in a controller.

[0059] The functions of the elements disclosed herein can be performed using circuits or processing circuits, including general-purpose processors, dedicated processors, integrated circuits, ASICs (Application Specific Integrated Circuits), conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors and other circuits. In this disclosure, a circuit, unit, or means is hardware that performs the enumerated functions, or hardware programmed to perform the enumerated functions. The hardware may be hardware disclosed herein, or other known hardware that is programmed or configured to perform the enumerated functions. If the hardware is a processor, which is considered a type of circuit, then the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or the processor.

[0060] [Aspect] Those skilled in the art will understand that the exemplary embodiments described above are specific examples of the following embodiments.

[0061] (Item 1) A robot including a motor, A first storage unit is provided to correspond to the motor and stores identification information of the motor, A second storage unit is provided separately from the first storage unit and stores identification information of the motor, A robot system comprising: a control unit that detects whether the motor attached to the robot is a motor to which the identification information has been previously assigned by comparing the motor identification information stored in the first storage unit with the motor identification information stored in the second storage unit.

[0062] (Item 2) The robot system according to item 1, wherein the control unit detects that the motor is a motor to which the identification information has been previously assigned, sets a normal operating mode, and if it detects that the motor is not a motor to which the identification information has been previously assigned, it either prevents the robot from operating or sets a performance-restricted mode that limits performance more than the normal operating mode.

[0063] (Item 3) The robot system according to item 2, wherein the control unit detects that the motor is not a motor to which the identification information has been previously assigned, and sets the performance limiting mode to reduce the speed to a lower speed than the normal operating mode.

[0064] (Item 4) The robot is a multi-joint robot, The robot system according to item 2, wherein the control unit, when it detects that the motor is not a motor to which the identification information has been previously assigned, sets the performance limiting mode which limits the movement of some of the joints of the robot.

[0065] (Item 5) The robot system according to any one of items 1 to 4, wherein the control unit notifies an error when it detects that the motor is not a motor to which the identification information has been previously assigned.

[0066] (Item 6) The robot system according to any one of items 1 to 5, wherein the control unit switches on or off a function that detects whether the motor is a motor to which the identification information has been previously assigned, based on the operator's operation.

[0067] (Item 7) The robot system according to item 6, wherein the control unit accepts a password input when switching the function of detecting whether the motor is a motor to which the identification information has been previously assigned is enabled or disabled.

[0068] (Item 8) The robot system according to any one of items 1 to 7, wherein the control unit, when setting the motor identification information, performs the following processes: receiving input of the motor identification information from an operator; storing the received motor identification information in the first storage unit; and storing the motor identification information stored in the first storage unit in the second storage unit.

[0069] (Item 9) The robot system according to any one of items 1 to 8, wherein the first storage unit is a storage unit of an encoder provided to correspond to the motor.

[0070] (Item 10) The robot system according to any one of items 1 to 9, wherein the first storage unit and the second storage unit are provided in the robot.

[0071] (Item 11) The robot system described in any one of items 1 to 10 is a clean robot placed in a cleanroom. [Explanation of Symbols]

[0072] 1 Robot 2. Controller (Control Unit) 11 Motor 12a Storage unit (first storage unit) 13a Storage unit (second storage unit) 100 Robot Systems

Claims

1. A robot including a motor, A first storage unit is provided to correspond to the motor and stores identification information of the motor, A second storage unit is provided separately from the first storage unit and stores identification information of the motor, The system includes a control unit that detects whether the motor attached to the robot is a motor to which the identification information has been previously assigned by comparing the motor identification information stored in the first storage unit with the motor identification information stored in the second storage unit, If the control unit detects that the motor is a motor to which the identification information has been previously assigned, it sets a normal operation mode, and if it detects that the motor is not a motor to which the identification information has been previously assigned, it sets a performance limitation mode that limits the performance compared to the normal operation mode while continuing the operation of the robot. The performance limiting mode is a robot system that either operates at a lower speed than the normal operating mode or restricts the movement of some of the robot's joints.

2. The robot system according to claim 1, wherein the control unit notifies an error if it detects that the motor is not a motor to which the identification information has been previously assigned.

3. The robot system according to claim 1, wherein the control unit switches on or off a function that detects whether the motor is a motor to which the identification information has been previously assigned, based on the operator's operation.

4. The robot system according to claim 3, wherein the control unit accepts a password input when switching the function of detecting whether the motor is a motor to which the identification information has been previously assigned is enabled or disabled.

5. The robot system according to claim 1, wherein the control unit, when setting the motor identification information, performs the following processes: receiving input of the motor identification information from an operator; storing the received motor identification information in the first storage unit; and storing the motor identification information stored in the first storage unit in the second storage unit.

6. The robot system according to claim 1, wherein the first storage unit is a storage unit of an encoder provided to correspond to the motor.

7. The robot system according to claim 1, wherein the first storage unit and the second storage unit are provided in the robot.

8. The robot system according to claim 1, wherein the robot is a clean robot placed in a clean room.

9. A method for controlling a robot system comprising a robot including a motor, A first storage unit provided to correspond to the motor, and a second storage unit provided separately from the first storage unit, are used to obtain identification information of the motor. The system includes the step of detecting whether the motor attached to the robot is a motor to which the identification information has been previously assigned by comparing the motor identification information stored in the first storage unit with the motor identification information stored in the second storage unit, If it is detected that the motor is a motor to which the identification information has been previously assigned, the normal operation mode is set. If it is detected that the motor is not a motor to which the identification information has been previously assigned, a performance limitation mode is set that limits the performance of the robot while continuing its operation. A method for controlling a robot system in which the performance limiting mode reduces the speed to a lower speed than the normal operating mode, or restricts the movement of some of the robot's joints.

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