Method for the exchange of data between controls of machines, particularly robots

• US 20040083027A1
• Filed: 07/28/2003
• Published: 04/29/2004
• Est. Priority Date: 07/27/2002
• Status: Active Grant

• Current Assignee: KUKA Roboter GmbH (Midea Group Co., Ltd)
• Original Assignee: KUKA Roboter GmbH (Midea Group Co., Ltd)
• Inventors: Graf, Stefan, Chaffee, Michael
• Granted Patent: US 7,123,991 B2
• Time in Patent Office: Days
• US Class Current: 700/245
• CPC Class Codes: B25J 9/1602 characterised by the control system, structure, architecture
• CPC Class Codes: B25J 9/1669 characterised by special application, e.g. multi-arm co-operation, assembly, grasping
• CPC Class Codes: G05B 19/41815 characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
• CPC Class Codes: G05B 19/4185 characterised by the network communication
• CPC Class Codes: G05B 2219/31157 Star network, hub
• CPC Class Codes: G05B 2219/31199 UDP-IP
• CPC Class Codes: G05B 2219/32133 Commands from program of other controller cause recompilation of local program
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

To improve the exchange of data between controls of machines, particularly robots, the invention provides a method for the exchange of such data, wherein a first control produces an instruction to be transmitted with data to be sent to a second control and with an identification representing said second control, wherein the instruction to be transmitted is provided with an identification of the first control, wherein the first control sends the instruction to be transmitted to the second control, wherein the second control evaluates the data of the instruction and wherein the second control provides the first control with an acknowledgement.

Claims

1. A method for the exchange of data between controls of machines, particularly robots, wherein a first control produces an instruction to be transmitted with data to be sent to a second control and with an identification representing said second control, wherein the instruction to be transmitted is provided with an identification of the first control, wherein the first control sends the instruction to be transmitted to the second control, wherein the second control evaluates the data of the instruction and wherein the second control provides the first control with an acknowledgement.

2. The method according to claim 1, wherein the instruction to be transmitted is formatted as a UDP message.

3. The method according to claim 1, wherein the acknowledgement of the second control is formatted as a UDP message.

4. The method according to claim 1, wherein the second control compiles the data received to an internal code.

5. The method according to claim 1, wherein, if the data to be transmitted contain a control command, the second control executes the same.

6. The method according to claim 1, wherein the first control only transmits an instruction to be transmitted to a further control if it has received from the latter an acknowledgement to the effect that the second control is ready to perform an instruction.

7. The method according to claim 1, wherein the instruction to be transmitted can contain both the identification of the control in question and also the data to be transmitted as a constant or variable.

8. The method according to claim 1, wherein there are commands for the selection of a program on the second control (RUNProgName ( )), resetting a program of the second control (RESET), cancellation of a program of the second control (CANCEL), value allocations and/or commands for waiting on Boolean values.