Teaching device, control device, and mechanical system
This teaching device comprises a teaching unit that, using a force detector, binds a force parameter of a force control command for a machine, and a movement trajectory of the machine which executes force control, and that simultaneously teaches the force parameter and the movement trajectory.
1 . A teaching device, comprising:
a teaching unit configured to
associate a force parameter of a force control command for a machine with a motion trajectory of the machine for performing force control, and
teach the force parameter and the motion trajectory, using a force detector,
wherein
the teaching unit is configured to simultaneously teach the force parameter, the motion trajectory, and another parameter other than the force parameter and the motion trajectory, and
the another parameter includes at least one of an approach speed of the machine to a work target or a movement speed of the machine.
2 . The teaching device according to claim 1 , wherein the teaching unit is configured to associate the force parameter with the motion trajectory by direct teaching or playback teaching, and record the force parameter and the motion trajectory.
3 . The teaching device according to claim 1 , further comprising a test execution unit configured to execute a test of the force control command.
4 . The teaching device according to claim 1 , further comprising an adjustment unit configured to manually or automatically adjust at least one of the force parameter, the motion trajectory or the another parameter other than the force parameter and the motion trajectory.
5 . The teaching device according to claim 1 , further comprising a registration unit configured to previously register the another parameter other than the force parameter and the motion trajectory as an initial value.
6 . The teaching device according to claim 1 , wherein the teaching unit includes a teaching start command for starting recording of teaching and a teaching end command for ending the recording of the teaching.
7 . The teaching device according to claim 1 , wherein the teaching unit is configured to associate the force parameter with the motion trajectory and stores the force parameter, for each teaching point constituting the motion trajectory, or for each predetermined motion section constituting the motion trajectory, or for each predetermined time interval during a motion.
8 . The teaching device according to claim 1 , wherein the teaching unit is configured to switch an interval at which the force parameter is associated with the motion trajectory.
9 . The teaching device according to claim 1 , wherein the teaching device includes a command editing unit configured to edit the force control command, and the command editing unit includes the teaching unit.
10 . The teaching device according to claim 1 , further comprising a program generation unit configured to generate a motion program for the machine based on the force control command.
11 . The teaching device according to claim 1 , wherein the force parameter includes a magnitude and an acting direction of a force applied to the work target.
12 . A controller, comprising:
a teaching unit configured to associate a force parameter of a force control command for a machine with a motion trajectory of the machine for performing force control, and teach the force parameter and the motion trajectory, using a force detector;
a program generation unit configured to generate a motion program for the machine based on the force control command; and
a control unit configured to operate the machine according to the motion program and perform a force control for the machine,
wherein
the teaching unit is configured to simultaneously teach the force parameter, the motion trajectory, and another parameter other than the force parameter and the motion trajectory, and
the another parameter includes at least one of an approach speed of the machine to a work target or a movement speed of the machine.
13 . A machine system, comprising:
a machine having a force detector;
a teaching unit configured to associate a force parameter of a force control command for the machine with a motion trajectory of the machine for performing force control, and teach the force parameter and the motion trajectory, using the force detector;
a program generation unit configured to generate a motion program for the machine based on the force control command; and
a control unit configured to operate the machine according to the motion program and perform a force control for the machine,
wherein
the teaching unit is configured to simultaneously teach the force parameter, the motion trajectory, and another parameter other than the force parameter and the motion trajectory, and
the another parameter includes at least one of an approach speed of the machine to a work target or a movement speed of the machine.
14 . A teaching device, comprising:
a program editing unit configured to receive an addition of a force control command to a machine;
a command editing unit configured to
associate force parameters including a magnitude and a direction of a force of the force control command with a motion trajectory of the machine, and
teach or edit the force parameters; and
a display unit configured to display information relating to a plurality of taught or edited force parameters including magnitudes and directions of the force control command associated with the motion trajectory.
15 . The teaching device according to claim 14 , wherein the command editing unit is configured to cause the display unit to display a teaching button representing starting or ending teaching of the force control command.
16 . The teaching device according to claim 15 , wherein the teaching device is configured to perform direct teaching in response to the teaching button representing starting of the teaching being pressed.
17 . The teaching device according to claim 14 , wherein the information is represented by a table showing teaching points indicating the motion trajectory, and the magnitude and the direction of the force corresponding to the teaching points.
18 . The teaching device according to claim 14 , wherein the command editing unit is configured to
cause the display unit to display an execution button for executing a test of the force control command, and
execute the test in response to the execution button being pressed.
19 . The teaching device according to claim 14 , wherein the command editing unit is configured to cause the display unit to display a screen for reteaching or reediting the information.