Method of controlling a robotic work station, as a function of synchronization states, and a corresponding robotic work station
First Claim
1. A method of controlling at least one work station comprising operational units arranged to act on the same workpiece, the operational units comprising at least one welding robot and one operational unit that is not a welding robot, the operational units being connected to a single controller executing a control program, the control program including, for each operational unit, at least one sub-portion that defines a plurality of different sequences of actions onto the same workpiece as a function of synchronization states, the control method comprising after the control program was compiled:
- a configuration stage and an execution stage for the control program,the configuration stage comprising the steps ofi) selecting the operational units to be operated,ii) for each operational unit, setting parameter values in the corresponding sub-portions by selecting the sequence of actions to be performed and, when necessary, the associated synchronization states, the configuration stage enabling sequences of actions by the operational units to be interleaved in such a manner as to enable the operational units to work together on the same workpiece,with the execution stage comprising the step of the single controller executing the control program as configured in this way.
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Abstract
The invention relates to a method of driving a workstation (1) comprising operational units (2, 3) linked to a drive automaton (7) executing a drive program, the drive program comprising for each operational unit at least one sub-part defining a plurality of strings of actions as a function of synchronization states, the drive method comprising a phase of configuration and a phase of execution of the drive program, the configuration phase comprising the steps of selecting the units to be implemented, of parametrizing the corresponding sub-parts by selecting the string of actions to be carried out and the associated synchronization states, the execution phase comprising the step of executing the drive program thus configured. The subject matter of the invention is also a workstation allowing the implementation of this method.
53 Citations
21 Claims
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1. A method of controlling at least one work station comprising operational units arranged to act on the same workpiece, the operational units comprising at least one welding robot and one operational unit that is not a welding robot, the operational units being connected to a single controller executing a control program, the control program including, for each operational unit, at least one sub-portion that defines a plurality of different sequences of actions onto the same workpiece as a function of synchronization states, the control method comprising after the control program was compiled:
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a configuration stage and an execution stage for the control program, the configuration stage comprising the steps of i) selecting the operational units to be operated, ii) for each operational unit, setting parameter values in the corresponding sub-portions by selecting the sequence of actions to be performed and, when necessary, the associated synchronization states, the configuration stage enabling sequences of actions by the operational units to be interleaved in such a manner as to enable the operational units to work together on the same workpiece, with the execution stage comprising the step of the single controller executing the control program as configured in this way. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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- 8. A work station comprising operational units arranged to act on the same workpiece comprising at least one welding robot and one operational unit that is not a welding robot, the operational units being connected to a single controller controlled by a control program compiled, wherein the control program includes, for each operational unit, at least one sub-portion of a plurality of different sequences of actions onto the same workpiece and means for setting parameters values of the sub-portions to interleave the sequences of actions by the operational units in such a manner as to enable the operational units to work together on the same workpiece, the single controller executing the control program.
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21. A computer readable memory with a control program stored thereon, the control program executed by a computer unit of a single controller of a robotic work station to perform the method of:
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defining a plurality of different sequences of actions onto a same workpiece as a function of synchronization states for each of a plurality of operational units of the robotic work station that include at least one welding robot and one operational unit that is not a welding robot; selecting each of the plurality of operational units of the robotic work station to be operated; setting parameters values for each of the plurality of operational units of the robotic work station for each action to perform the sequence actions and synchronization states, wherein the control program includes, for each operational unit, at least one sub-portion of a plurality of different sequences of actions onto the same workpiece, and the setting parameters values of the sub-portions enabling sequences of actions by the operational units to be interleaved in such a manner as to enable the operational units to work together on the same workpiece; and driving each of the plurality of operational units of the robotic work station in correspondence to the parameter values.
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Specification