Parameter setting device, parameter setting method, and parameter setting program

Abstract

To provide a parameter setting device capable of easily setting a parameter in the field network of a robot control device. This parameter setting device sets the parameter of a connection external device connected to a robot control device via a network, and comprises a vendor specification unit, a parameter temporary setting unit, and a parameter determination unit. The vendor specification unit specifies the vendor of the connection external device. The parameter temporary setting unit temporarily sets the parameter of at least one external device by referring to a correspondence table in which at least one external device provided by the specified vendor and a parameter specific to each external device are associated with each other. The parameter determination unit determines a connection parameter corresponding to the connection external device on the basis of a response from the connection external device to the temporarily set parameter.

Description

Parameter setting device, parameter setting method, and parameter setting program

[0001] The present disclosure relates to a parameter setting device, a parameter setting method, and a parameter setting program.

[0002] Conventionally, for example, in a field network of a robot control device, there exists a protocol that requires input of parameters of an external device (communication device). In such a case, for example, parameters specific to the external device are input from the robot control device or a robot teaching operation panel connected to the robot control device, and are set in the robot control device.

[0003] However, since parameters are unique to each device, the parameter setting work, which is performed by inputting them from a robot control device or robot teaching operation panel, requires, for example, referring to a manual, which is time-consuming.

[0004] 2. Description of the Related Art Conventionally, when communicating with an external device connected to a network, various proposals have been made as techniques for setting parameters to effectively communicate with the external device.

[0005] JP 2008-282342 A JP 2022-138072 A JP 2021-181124 A

[0006] As described above, in the past, for example, in a field network of a robot control device, it was sometimes necessary to set parameters of an external device in the robot control device, but the parameter setting work was time-consuming. Specifically, a worker (operator, user) would, for example, refer to a manual for the external device to be used and input the parameters of the external device described in the manual into a robot teaching operation panel or the like, thereby setting the parameters of the external device in the robot control device.

[0007] As described above, the parameter setting work performed by inputting parameters from a robot teaching operation panel or the like is specific to the external device being used, and therefore places a heavy burden on the operator.

[0008] Therefore, there is a demand for a parameter setting device, a parameter setting method, and a parameter setting program that can easily set parameters in a field network of a robot control device.

[0009] According to one embodiment of the present disclosure, there is provided a parameter setting device that sets parameters of an external device connected to a robot control device via a network, the parameter setting device including a vendor identification unit, a temporary parameter setting unit, and a parameter determination unit.

[0010] The vendor specifying unit specifies the vendor of the connected external device, the parameter temporary setting unit temporarily sets parameters of the at least one external device by referring to a correspondence table in which at least one external device provided by the specified vendor is associated with parameters unique to each external device, and the parameter determination unit determines connection parameters corresponding to the connected external device based on a response from the connected external device to the temporarily set parameters.

[0011] The objects and advantages of the invention will be realized and obtained by means of the elements and combinations particularly pointed out in the claims. Both the foregoing general description and the following detailed description are exemplary and explanatory and are not restrictive of the invention as claimed.

[0012] FIG. 1 is a block diagram illustrating a schematic overall configuration of an example of a robot system. FIG. 2 is a diagram illustrating an example of a screen for setting EtherNet / IP (registered trademark) in a field network of a robot control device. FIG. 3 is a block diagram illustrating a schematic example of a robot system to which a first example of a parameter setting device according to this embodiment is applied. FIG. 4 is a functional block diagram for explaining the parameter setting device of the first example shown in FIG. 3. FIG. 5 is a diagram for explaining an example of the structure of an ARP packet. FIG. 6 is a diagram showing an example of a captured ARP packet. FIG. 7 is a flowchart for explaining an example of processing in an example of a parameter setting program according to this embodiment. FIG. 8 is a block diagram illustrating a schematic example of a robot system to which a second example of a parameter setting device according to this embodiment is applied. FIG. 9 is a functional block diagram for explaining the parameter setting device of the second example shown in FIG. 8.

[0013] Before describing in detail examples of the parameter setting device, parameter setting method, and parameter setting program according to this embodiment, parameter setting of an external device (connected external device) connected to a robot control device via a network will be described with reference to Figures 1 and 2. Figure 1 is a block diagram showing an outline of the overall configuration of an example of a robot system, and is intended to explain parameter setting of a connected external device 4 connected to a robot control device 2 via a network 63.

[0014] 1, the robot system 300 includes a robot 1, a robot control device 2, a robot teaching operation panel 3, and a connected external device (external device) 4. Here, the external device 4 is, for example, a PLC (Programmable Logic Controller) 41 or an I / O module (Input / Output Module) 42, but is not limited to these.

[0015] The cable 61 connecting the robot teaching pendant 3 and the robot control device 2, and the cable (communication cable) 63 connecting the robot control device 2 and the external device 4 are, for example, compliant with ETHERNET (registered trademark). Note that the cable 62 connecting the robot control device 2 and the robot 1 is, for example, a dedicated cable.

[0016] The robot teaching operation panel 3 is equipped with a display unit 31 such as an LCD display and a keyboard (including various operation buttons) 32, and the operator (worker) operates the keyboard 32 while checking the display unit 31 to control the operation of the robot 1 and perform various settings.

[0017] Incidentally, for example, when the PLC 41 is used by connecting it to the robot control device 2 via the cable 63, the PLC 41 cannot be used unless parameters specific to the PLC 41 are set in the robot control device 2. For this reason, the operator, for example, refers to a manual for the PLC 41 to be used, and operates the keyboard 32 while checking the display unit 31 of the robot teaching operation panel 3 to set the parameters specific to the PLC 41 in the robot control device 2.

[0018] Here, if the robot system 300 does not include the robot teaching pendant 3 and the display unit 31 and keyboard 32 are provided in the robot control device 2, the operator refers to, for example, a manual for the PLC 41 to be used, and operates the keyboard 32 while checking the display unit 31 of the robot control device 2 to set parameters specific to the PLC 41 in the robot control device 2. The same applies to the case where the robot system 300 includes the robot teaching pendant 3 and the display unit 31 and keyboard 32 are provided in both the robot teaching pendant 3 and the robot control device 2. As mentioned above, the connected external device 4 is not limited to the PLC 41.

[0019] 2A and 2B are diagrams showing examples of screens for setting EtherNet / IP (registered trademark) in the field network of a robot control device, where FIG. 2A shows an example of a screen for scanner settings, and FIG. 2B shows an example of a screen for advanced settings (Adv).

[0020] For example, the scanner settings may include setting the parameters of the connected external device 4 to "Vendor Id: 0," "Device Type: 0," and "Product Code: 0" as indicated by reference symbol AA in FIG. 2(a), and also setting the parameters of the connected external device 4 to "Assembly instance (input): 1," "Assembly instance (output): 2," and "Configuration instance: 4" as indicated by reference symbol BB.

[0021] The advanced setting (Adv) sets the parameters of the connected external device 4 to "Major Revision: 0" and "Minor Revision: 0" as shown by reference sign CC in FIG. 2(b), and also sets the parameters of the connected external device 4 to "Type: Exclusive-Owner", "O=>T Format: Run / Idle Header", and "T=>O Format: Mode less" as shown by reference sign DD in FIG. 2(b).

[0022] In this way, for example, when a new external device 4 such as a PLC 41 is connected to the robot control device 2 via the network cable 63, the operator refers to a manual for the PLC 41 and inputs parameters specific to the PLC 41 from the robot teaching operation panel 3 or the like, thereby setting the parameters of the PLC 41 in the robot control device 2. This parameter setting work, which is performed by inputting the parameters from the robot teaching operation panel 3 or the like, is specific to the external device (connected external device) 4 used, and therefore places a heavy burden on the operator.

[0023] Hereinafter, examples of a parameter setting device, a parameter setting method, and a parameter setting program according to the present embodiment will be described in detail with reference to the accompanying drawings. In each drawing, identical or similar components are assigned identical or similar reference numerals. Furthermore, the embodiments described below do not limit the technical scope and meaning of the terms of the invention described in the claims.

[0024] Fig. 3 is a block diagram showing an example of a robot system to which a first example of a parameter setting device according to this embodiment is applied, and Fig. 4 is a functional block diagram for explaining the parameter setting device of the first example shown in Fig. 3. The parameter setting device 2a of this first example is built into and integrally provided in the robot control device 2. That is, as shown in Fig. 3, the robot system 100 includes a robot 1, a robot control device 2 (parameter setting device 2a), a robot teaching pendant 3, and a connected external device 4.

[0025] Here, when an external device (connected external device) 4 such as a PLC 41 or an I / O module 42 is used by connecting it to the robot control device 2 via a network (e.g., Ethernet (registered trademark)) 63, by applying the parameter setting device 2a of the first embodiment, the operator only needs to connect the PLC 41 or the I / O module 42 to one end of the network (cable) 63, the other end of which is connected to the robot control device 2. In other words, the operator does not need to perform the task of setting the parameters to be set in the robot control device 2 by inputting the parameters of the PLC 41 or the I / O module 42 from, for example, the robot teaching operation panel 3 or the like.

[0026] 4, the parameter setting device 2a of the first embodiment built into the robot control device 2 includes a vendor identification unit 21, a temporary parameter setting unit 22, and a parameter determination unit 23. The vendor identification unit 21 identifies the vendor of a connected external device 4, such as a PLC 41 or an I / O module 42, connected to the robot control device 2 via a cable (network) 63, based on a MAC (Media Access Control) address in an ARP (Address Resolution Protocol) packet of the connected external device 4.

[0027] The parameter temporary setting unit 22 temporarily sets parameters of at least one external device, for example, by referring to a correspondence table 24 stored in advance in the memory of the parameter setting device 2 a (robot control device 2). That is, the parameter temporary setting unit 22 refers to the correspondence table 24, temporarily sets while changing parameters of at least one external device provided by the vendor, and then transmits a communication start packet to the connected external device 4.

[0028] Here, the correspondence table 24 is, for example, a table in which at least one external device provided by a vendor is associated with parameters specific to each external device, and is downloaded from a database such as the home page of each vendor and stored (memorized) in advance in the memory of the parameter setting device 2 a. That is, for example, if a vendor provides multiple types of external devices, the correspondence table 24 stores parameters specific to each type of external device in association with each other, and if a vendor provides only one type of external device, the correspondence table 24 stores parameters specific to that external device in association with each other.

[0029] The parameter determination unit 23 determines the connection parameters corresponding to the connected external device 4 based on a response from the connected external device 4 to the temporarily set parameters. That is, the parameter determination unit 23 determines the temporarily set parameters as connection parameters, for example, when the temporary parameter setting unit 22 receives a success response from the connected external device 4 in response to the communication initiation packet. In other words, when a communication initiation packet is sent based on the parameters temporarily set by the temporary parameter setting unit 22, if the temporarily set parameters differ from the parameters of the actually connected connected external device 4, a success response cannot be received, and therefore the parameters corresponding to the connected external device 4 can be determined.

[0030] In the above, the parameter setting device 2a including the vendor identification unit 21, the parameter temporary setting unit 22, and the parameter determination unit 23 can be integrally provided as a built-in part of the robot teaching pendant 3 rather than the robot control device 2. The correspondence table 24 can also be stored in the memory of the robot teaching pendant 3 rather than the robot control device 2.

[0031] In this way, by applying the parameter setting device 2a of the first embodiment, for example, when a new external device is connected to the robot control device via the cable 63 as the connected external device 4, the parameters of the connected external device are automatically set in the robot control device 2. In other words, the operator can use the external device 4 as is without having to input parameters from the robot teaching pendant 3 by referring to the manual for the external device 4, for example.

[0032] Figure 5 is a diagram illustrating an example of the structure of an ARP packet. As shown in Figure 5, the structure of an ARP packet is very simple, and by exchanging this packet once between the sender and destination, each party can exchange information about their IP (Internet Protocol) address and MAC address. While actual MAC addresses differ depending on the network, Figure 5 shows the case of Ethernet (registered trademark), which is capable of storing 6 bytes (48 bits) of MAC address.

[0033] In other words, ARP is a protocol for obtaining a MAC address from an IP address, and fields are provided inside the packet for storing the source and destination IP and MAC addresses. RARP is a protocol (Reverse ARP) for obtaining an IP address from a MAC address, the opposite of ARP. MAC addresses and IP addresses are variable length, and their lengths (byte lengths) are written in HLEN and PLEN, respectively. Specifically, in the case of Ethernet (registered trademark), HLEN is "6," and PLEN is always "4" in IPv4 (Internet Protocol Version 4).

[0034] 6 is a diagram showing an example of a captured ARP packet, showing a specific example of an ARP packet captured by packet capture software. As indicated by reference character EE in FIG. 6, for example, when the robot control device 2 and a connected external device (external device) 4 are connected via a network (e.g., an Ethernet (registered trademark) cable 63) and communicating with each other, the vendor of the connected external device 4 can be identified by checking the ARP packet of the connected external device 4. That is, from the ARP data "Sender MAC Address: XYZ 7c:cf8e (00:00:00:7c:cf:8e)," for example, the vendor of the connected external device 4 can be identified as "XYZ Company," indicated by "00:00:00."

[0035] 7 is a flowchart for explaining an example of processing in an example of the parameter setting program according to this embodiment. As shown in FIG. 7, when an example of processing in the parameter setting program according to this embodiment starts (START), in step ST1, it is determined whether or not communication with the connected external device 4 is in progress. If it is determined that communication with the connected external device 4 is in progress (YES), the process proceeds to step ST2, where it is determined whether or not an ARP packet has been received.

[0036] If it is determined in step ST2 that an ARP packet has been received (YES), the process proceeds to step ST3, where it is determined whether or not the vendor code can be identified. If it is determined in step ST3 that the vendor code can be identified (YES), the process proceeds to step ST4. That is, as described above, the vendor identification unit 21 identifies the vendor of the connected external device 4, for example, based on the MAC address in the ARP packet of the connected external device 4. Note that if it is determined in step ST1 that communication with the connected external device 4 is not in progress (NO), if it is determined in step ST2 that an ARP packet has not been received (NO), or if it is determined in step ST3 that the vendor code cannot be identified (NO), the process ends (END).

[0037] In step ST4, it is determined whether there are multiple candidate external devices, and if it is determined that there are multiple candidate external devices (YES), the process proceeds to step ST5, where a communication initiation packet is transmitted while changing the parameters for each external device. That is, as described above, the parameter temporary setting unit 22 refers to the correspondence table 24 stored in advance in the memory of the parameter setting device 2a, for example, and transmits a communication initiation packet to the connected external device 4 whose type has not yet been determined, while sequentially changing the parameters corresponding to each of the multiple candidate external devices.

[0038] Next, the process proceeds to step ST6, where it is determined whether a success response has been received. If it is determined that a success response has been received (YES), the process proceeds to step ST9, where the parameters of the external device from which the success response was received are set in the robot control device 2 as the parameters of the connected external device 4. That is, as described above, the parameter determination unit 23 transmits a communication start packet based on the parameters temporarily set by the parameter temporary setting unit 22, and can receive a success response only if the temporarily set parameters match the parameters of the actually connected connected external device 4, thereby making it possible to determine the parameters of the connected external device 4. Then, in step ST9, the parameters of the external device from which the success response was received are set in the robot control device 2 as the parameters of the connected external device 4, and the process then ends (END).

[0039] Here, if it is determined in step ST4 that there are not multiple candidate external devices (NO), that is, if the vendor provides only one type of external device, the process proceeds to step ST9, where the parameters of that one type of external device are set in the robot control device 2 as the parameters of the connected external device 4. Also, if it is determined in step ST6 that no successful response has been received (NO), the process proceeds to step ST7, where it is determined whether or not all candidate parameters have been sent, and if it is determined that not all candidate parameters have been sent (NO), the process returns to step ST5 and the same process is repeated.

[0040] If it is determined in step ST7 that all candidate parameters have been transmitted (YES), the process proceeds to step ST8, where a list of candidate external devices is displayed on the robot teaching pendant 3, and the process ends (END). That is, if all candidate parameters have been transmitted to the connected external device 4 but no successful response is received, a list of all candidate external devices is displayed, for example, on the display unit 31 of the robot teaching pendant 3 to notify the operator. If the robot control device 2 also has a display unit (31), the list of all candidate external devices may be displayed on the display unit of the robot control device 2, or may be displayed on both the display unit 31 of the robot teaching pendant 3 and the display unit of the robot control device 2. Furthermore, the display unit 31 is not limited to displaying a list of all candidate external devices when all candidate parameters have been transmitted but no successful response is received. For example, the display unit 31 may also display the parameters confirmed by the parameter confirmation unit 23, as well as information such as the vendor and type of the connected external device 4 corresponding to the confirmed parameters.

[0041] Here, an example of the parameter setting program according to the present embodiment described above can be stored in the memory of the robot control device 2 or the robot teaching pendant 3 connected to the robot control device, and executed by a central processing unit (CPU) of the robot control device 2 or the robot teaching pendant 3. Alternatively, an example of the parameter setting program according to the present embodiment can be stored in the memory of a setting computer 5 separate from the robot control device 2, and executed by the central processing unit of the setting computer 5, as will be described in detail below.

[0042] The parameter setting program according to the present embodiment described above may be provided by recording it on a computer-readable non-transitory recording medium or non-volatile semiconductor memory, or may be provided via a wired or wireless connection. Examples of the computer-readable non-transitory recording medium include optical disks such as CD-ROMs (Compact Disc Read Only Memory) and DVD-ROMs, or hard disk drives. Examples of the non-volatile semiconductor memory include PROMs (Programmable Read Only Memory) and flash memory. Furthermore, distribution from a server device may be via a wired or wireless LAN (Local Area Network) or a WAN (Wide Area Network) such as the Internet.

[0043] FIG. 8 is a block diagram schematically illustrating an example of a robot system to which a second example of a parameter setting device according to this embodiment is applied, and FIG. 9 is a functional block diagram for explaining the parameter setting device of the second example shown in FIG. 8. Here, the parameter setting device 2b of the second example is provided as a setting computer separate from the robot control device 2. That is, as shown in FIG. 8, a robot system 200 includes a robot 1, a robot control device 2, a PLC setting computer 5 (parameter setting device 2b), a robot teaching pendant 3, and a connected external device 4. Note that in FIGS. 8 and 9, the setting computer functioning as the parameter setting device 2b is configured by the PLC setting computer 5 that performs various settings in the PLC 41, but is not limited to the PLC setting computer 5.

[0044] 9 and the above-mentioned FIG. 4, the parameter setting device 2b of the second embodiment has the same configuration as the parameter setting device 2a of the first embodiment. That is, the parameter setting device 2b of the second embodiment is provided separately from the robot control device 2, and includes a vendor identification unit 21, a temporary parameter setting unit 22, and a parameter determination unit 23. The vendor identification unit 21, the temporary parameter setting unit 22, the parameter determination unit 23, and the correspondence table 24 are substantially the same as those in the parameter setting device 2a of the first embodiment, and therefore a description thereof will be omitted.

[0045] As shown in FIGS. 8 and 9 , a PLC setting computer (setting computer) 5 is connected to the PLC 41 via, for example, a USB (Universal Serial Bus) cable 64 and performs various settings for the PLC 41. The parameter setting device 2b of the second embodiment performs the same functions as the parameter setting device 2a of the first embodiment by installing the parameter setting program according to the present embodiment described above in the PLC setting computer 5. Note that the parameter setting device 2b (setting computer 5) can be, for example, a laptop computer or a tablet computer. The parameter setting device 2b of the second embodiment can receive a success response to a communication start packet sent by the temporary parameter setting unit 22 from the PLC 41 via the USB cable 64. However, the setting computer 5 (parameter setting device 2b) can also be connected to the PLC 41 via an Ethernet® cable 64.

[0046] The parameter setting device 2b of the second embodiment stores the determined parameters of the connected external device 4 (PLC 41) obtained by performing substantially the same processing as the parameter setting device 2a of the first embodiment described with reference to FIGS. 3 to 7 in a USB memory 6. The operator then inserts the USB memory 6, which stores the determined parameters of the connected external device 4, into a USB terminal of the robot controller 2 to set the parameters of the connected external device 4 in the robot controller 2. In this case, the operator attaches and detaches the USB memory 6, which acts as an intermediary between the setting computer 5 and the robot controller 2. This is a much easier task than, for example, setting parameters by referring to a manual for the connected external device 4. Needless to say, various modifications and variations are possible, such as connecting the setting computer 5 and the robot controller 2 with a communication cable such as Ethernet (registered trademark) without using the USB memory 6.

[0047] As described above in detail, the parameter setting device, parameter setting method, and parameter setting program according to the present embodiment make it possible to easily set parameters in a field network of a robot control device.

[0048] Although the present disclosure has been described in detail, the present disclosure is not limited to the individual embodiments described above. Various additions, substitutions, modifications, partial deletions, etc. are possible in these embodiments without departing from the gist of the present disclosure or the spirit of the present disclosure derived from the content of the claims and their equivalents. These embodiments can also be implemented in combination. For example, in the above-described embodiments, the order of each operation and the order of each process are shown as examples and are not limited to these. The same applies when numerical values ​​or mathematical expressions are used in the description of the above-described embodiments.

[0049] The following supplementary notes are further disclosed regarding the above-described embodiment and modified examples. [Supplementary Note 1] A parameter setting device (2a, 2b) for setting parameters of a connected external device (4) connected to a robot control device (2) via a network (63), comprising: a vendor identification unit (21) for identifying a vendor of the connected external device (4), a parameter temporary setting unit (22) for temporarily setting parameters of a plurality of the external devices by referring to a correspondence table (24) in which at least one external device provided by the identified vendor is associated with parameters unique to each of the external devices, and a parameter determination unit (23) for determining connection parameters corresponding to the connected external device (4) based on a response from the connected external device (4) to the temporarily set parameters. [Supplementary Note 2] The parameter setting device according to Supplementary Note 1, wherein the parameter temporary setting unit (22) refers to the correspondence table (24), changes and temporarily sets parameters of at least one external device provided by the vendor, and then transmits a communication start packet to the connected external device (4), and the parameter determination unit (23) determines the temporarily set parameters as the connection parameters when the parameter temporary setting unit (22) receives a success response to the communication start packet from the connected external device (4). [Supplementary Note 3] The parameter setting device according to Supplementary Note 1 or Supplementary Note 2, wherein the vendor identification unit (21) identifies the vendor of the connected external device (4) based on an ARP packet from the connected external device (4). [Supplementary Note 4] The parameter setting device according to Supplementary Note 3, wherein the vendor identification unit (21) identifies the vendor of the connected external device (4) based on a MAC address in the ARP packet from the connected external device (4). [Supplementary Note 5] The parameter setting device according to any one of Supplementary Notes 1 to 4, wherein the correspondence table (24) is downloaded in advance from a database and stored in a memory of the parameter setting device. [Supplementary Note 6] The parameter setting device according to any one of Supplementary Notes 1 to 5, wherein the parameter setting device (2 a) is built into and integrally provided in the robot control device (2).[Supplementary Note 7] The parameter setting device according to any one of claims 1 to 5, wherein a robot teaching operation panel (3) is connected to the robot control device (2), and the parameter setting device (2a) is built into and integral with the robot teaching operation panel (3). [Supplementary Note 8] The parameter setting device according to Supplementary Note 6 or Supplementary Note 7, wherein the connection parameters determined by the parameter determination unit (23) are set in the robot control device (2). [Supplementary Note 9] The parameter setting device according to any one of Supplementary Notes 1 to 5, wherein the parameter setting device (2b) is provided as a setting computer separate from the robot control device (2). [Supplementary Note 10] The parameter setting device according to Supplementary Note 9, wherein the connection parameters determined by the parameter determination unit (23) are set in the robot control device (2) via an external memory (5) detachable from the setting computer (2b). [Supplementary Note 11] The parameter setting device according to any one of Supplementary Notes 1 to 10, wherein the robot control device (2) controls the operation of the robot (1), and the external device (4) is a PLC (41) or an I / O module (42) connected to a network (63) connected to the robot control device (2). [Supplementary Note 12] A parameter setting method for setting parameters of connected external devices (4) connected to the robot control device (2) via the network (63), comprising: a step of identifying a vendor of the connected external devices (4); a step of temporarily setting parameters of a plurality of the external devices (4) by referring to a correspondence table (24) in which at least one external device (4) provided by the identified vendor is associated with parameters unique to each of the external devices (4); a step of determining connection parameters corresponding to the connected external devices (4) based on a response from the connected external devices (4) to the temporarily set parameters; and a step of setting the determined connection parameters in the robot control device (2).[Supplementary Note 13] The parameter setting method according to Supplementary Note 12, wherein the step of temporarily setting parameters comprises referring to the correspondence table (24), temporarily setting parameters of at least one external device provided by the vendor while changing them, and then transmitting a communication start packet to the connected external device (4), and the step of confirming the connection parameters comprises confirming the temporarily set parameters as the connection parameters based on a success response from the connected external device (4) to the communication start packet. [Supplementary Note 14] A parameter setting program for setting parameters of a connected external device (4) connected to a robot control device (2) via a network (63), the parameter setting program causing an arithmetic processing device to execute the parameter setting method according to Supplementary Note 12 or Supplementary Note 13.

[0050] REFERENCE SIGNS LIST 1 Robot 2 Robot control device 2a Parameter setting device (robot control device) 2b Parameter setting device (setting computer) 3 Robot teaching operation panel 4 Connected external device (external device) 5 Setting computer (PLC setting computer) 6 USB memory 21 Vendor identification unit 22 Temporary parameter setting unit 23 Parameter determination unit 24 Correspondence table 41 PLC 42 I / O module 61 to 64 Cables 100, 200, 300 Robot system

Claims

1. A parameter setting device that sets parameters of a connected external device connected to a robot control device via a network, comprising: a vendor identification unit that identifies the vendor of the connected external device; a temporary parameter setting unit that temporarily sets parameters of multiple external devices by referring to a correspondence table in which at least one external device provided by the identified vendor is associated with parameters unique to each of the external devices; and a parameter determination unit that determines connection parameters corresponding to the connected external device based on a response from the connected external device to the temporarily set parameters.

2. The parameter setting device of claim 1, wherein the temporary parameter setting unit refers to the correspondence table, changes and temporarily sets parameters of at least one external device provided by the vendor, and then transmits a communication start packet to the connected external device, and the parameter confirmation unit confirms the temporarily set parameters as the connection parameters when the temporary parameter setting unit receives a success response to the communication start packet from the connected external device.

3. The parameter setting device according to claim 1 or 2, wherein the vendor identification unit identifies the vendor of the connected external device based on an ARP packet from the connected external device.

4. The parameter setting device according to claim 3, wherein the vendor identification unit identifies the vendor of the connected external device based on a MAC address in the ARP packet from the connected external device.

5. A parameter setting device according to any one of claims 1 to 4, wherein the correspondence table is downloaded in advance from a database and stored in the memory of the parameter setting device.

6. A parameter setting device according to any one of claims 1 to 5, wherein the parameter setting device is built into and integral with the robot control device.

7. A parameter setting device according to any one of claims 1 to 5, wherein a robot teaching operation panel is connected to the robot control device, and the parameter setting device is built into and integral with the robot teaching operation panel.

8. A parameter setting device according to claim 6 or 7, wherein the connection parameters confirmed by the parameter confirmation section are set in the robot control device.

9. A parameter setting device according to any one of claims 1 to 5, wherein the parameter setting device is provided as a setting computer separate from the robot control device.

10. A parameter setting device according to claim 9, wherein the connection parameters confirmed by the parameter confirmation unit are set in the robot control device via an external memory that is detachable from the setting computer.

11. A parameter setting device according to any one of claims 1 to 10, wherein the robot control device controls the operation of a robot, and the external device is a PLC or I / O module connected to a network connected to the robot control device.

12. A parameter setting method for setting parameters of a connected external device connected to a robot control device via a network, comprising: a step of identifying a vendor of the connected external device; a step of temporarily setting parameters of a plurality of the external devices by referring to a correspondence table in which at least one external device provided by the identified vendor is associated with parameters specific to each of the external devices; a step of determining connection parameters corresponding to the connected external device based on a response from the connected external device to the temporarily set parameters; and a step of setting the determined connection parameters in the robot control device.

13. The parameter setting method of claim 12, wherein the step of temporarily setting the parameters comprises referring to the correspondence table, changing and temporarily setting parameters of at least one external device provided by the vendor, and then transmitting a communication start packet to the connected external device, and the step of confirming the connection parameters comprises confirming the temporarily set parameters as the connection parameters based on a success response from the connected external device to the communication start packet.

14. A parameter setting program for setting parameters of an external device connected to a robot control device via a network, the parameter setting program causing a processor to execute the parameter setting method according to claim 12 or 13.

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