Robot Interlock Control During Backward Program Execution
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Solution Overview
Problem
During backward execution of a robot program, ignored logic statements associated with interlock signals can lead to inappropriate switching of interlock signals, potentially causing collisions between robots.
Innovation Solution
A controller with a program execution unit that ignores specific logic statements during backward execution and an interlock setting unit that automatically enables interlocking associated with pre-registered interlock signals, ensuring appropriate interlock signal switching.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If logic statements associated with interlock signals are ignored during backward execution of the robot program, then backward execution can be performed, but interlock signals may not be switched appropriately causing robots to collide
Solution Approach 1:
The controller pre-registers interlock signal statements in the robot program before execution. During backward execution, when these pre-registered interlock signal statements are detected, they are automatically executed even though other logic statements are ignored. This preliminary registration ensures that interlock signals are properly switched during backward execution without requiring manual program modification.
2Reliability
If operators manually switch interlock signals or modify the program to ensure proper interlocking during backward execution, then robot collision can be avoided, but time is consumed
Solution Approach 1:
The controller automatically handles interlock signal switching during backward execution by executing pre-registered interlock signal statements when detected. This self-service mechanism eliminates the need for operators to manually switch interlock signals or modify the program, thereby avoiding time consumption while ensuring reliable interlock signal switching and preventing robot collisions.
Data Source
AI summary
The present invention provides a control device and a control method that can eliminate problems related to interlock settings associated with backward execution of a robot program. A first control device comprises: a program execution unit that executes a robot program that operates a first robot, and while the program is executing backwards, ignores at least one logic statement that is included in the program and that relates to an interlock signal; and an interlock setting unit that, during backward execution of the program that operates the robot, enables interlocking for a pre-registered interlock signal.