Method for transmitting a permission signal for the operation of a robot
First Claim
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1. A method for transmitting an operation signal from a manual programming unit to a robot controller via a line system comprising the steps of:
- generating a permission signal as a binary signal indicative of a "Permission given" or "Permission not given" state for the robot;
modulating the generated permission signal using an auxiliary signal produced by a pulse generator by adding the auxiliary signal to the permission signal at the location of the manual programming unit to produce the operation signal;
transmitting the operation signal form the manual programming unit via the line system;
detecting the transmitted operation signal at the location of the robot controller;
determining whether or not the auxiliary signal is included in said detected operation signal;
accepting a permission signal simultaneously received in the robot controller as a correct permission signal only if the determining step determines that the auxiliary signal is included in the detected operation signal; and
triggering an EMERGENCY-OFF command if the determining step determines that the auxiliary signal is not included in the detected operation signal.
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Abstract
A method for transmitting a permission signal for the operation of a robot is provided. In order to detect whether a permission signal gets from a manual programming unit to a robot control without disturbance, the permission signal is modulated with an auxiliary signal, whose continuous presence at the location of the robot control is monitored. If the auxiliary signal is present, the permission signals are accepted. If the auxiliary signal is no longer present, an EMERGENCY-OFF is triggered. For reasons of safety, the condition of the signal flow is also a two-channel one.
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Citations
9 Claims
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1. A method for transmitting an operation signal from a manual programming unit to a robot controller via a line system comprising the steps of:
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generating a permission signal as a binary signal indicative of a "Permission given" or "Permission not given" state for the robot; modulating the generated permission signal using an auxiliary signal produced by a pulse generator by adding the auxiliary signal to the permission signal at the location of the manual programming unit to produce the operation signal; transmitting the operation signal form the manual programming unit via the line system; detecting the transmitted operation signal at the location of the robot controller; determining whether or not the auxiliary signal is included in said detected operation signal; accepting a permission signal simultaneously received in the robot controller as a correct permission signal only if the determining step determines that the auxiliary signal is included in the detected operation signal; and triggering an EMERGENCY-OFF command if the determining step determines that the auxiliary signal is not included in the detected operation signal. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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Specification