Robot control device
The purpose of the present invention is to provide a robot control device capable of efficiently adjusting a parameter. This robot control device comprises: a first application unit that applies a setting parameter to a first safety parameter for verification in a verification mode; a first update unit that updates, on the basis of the first safety parameter, first safety information related to the robot in a verification function in the verification mode; a copy unit that copies the setting parameter; a second application unit that, after switching from the verification mode to the safety mode by a switch unit, applies the setting parameter copied by the copy unit to a second safety parameter; and a second update unit that updates, on the basis of the second safety parameter, second safety information related to the robot in a safety function in the safety mode.
1 . A robot control device comprising:
processors,
wherein the processors are configured to:
control a safety function for performing an operation of a robot safely and a verification function for verifying a setting of the safety function;
switch between a safety mode for executing the safety function and a verification mode for executing the verification function;
receive an input of a setting parameter by a user in the verification mode;
apply the setting parameter to a first safety parameter for verification in the verification mode;
update first safety information relating to the robot in the verification function based on the first safety parameter in the verification mode, wherein the setting parameter is automatically verified by the verification function by comparing it to a first safety parameter prior to changing;
copy the setting parameter after it has been verified in the verification mode;
apply the setting parameter to a second safety parameter after switching from the verification mode to the safety mode;
update second safety information relating to the robot in the safety function based on the second safety parameter in the safety mode;
change an operation region of the robot by updating the first safety information or the second safety information;
not require a user authentication when the setting parameter is applied to the first safety parameter, and
require the user authentication when the setting parameter is applied to the second safety parameter,
wherein the processors include a first processor and a second processor, and
wherein the first processor and the second processor are configured to mutual check input-output signals in the safety function.
2 . The robot control device according to claim 1 , wherein the processor displays a screen for setting the safety function and the verification function on a display.
3 . The robot control device according to claim 2 , wherein the processor reflects the updated the first safety information and the second safety information on the screen for setting the safety function and the verification function.
4 . The robot control device according to claim 1 , wherein, in a case in which the verification function is valid in an automatic mode in which the robot is automatically operated, the processor stops starting of an automatic operation of the robot.
5 . The robot control device according to claim 1 , wherein the safety function and the verification function include functions for checking position and speed of the robot.
6 . The robot control device according to claim 5 , wherein the safety function and the verification function include a function for checking the position of each axis of the robot, the speed of each axis of the robot, a Cartesian position of the robot, and a Cartesian speed of the robot.
7 . The robot control device according to claim 1 , wherein the user authentication includes inputting of a password.
8 . The robot control device according to claim 1 , wherein the robot is an articulated industrial robot.
9 . The robot control device according to claim 1 , wherein the processor starts the verification function, when switching from the safety mode to the verification mode.
10 . A robot control device comprising:
a processor,
wherein the processor is configured to:
control a safety function for performing an operation of a robot safely and a verification function for verifying a setting of the safety function;
switch between a safety mode for executing the safety function and a verification mode for executing the verification function;
receive an input of a setting parameter by a user in the verification mode;
apply the setting parameter to a first safety parameter for verification in the verification mode, wherein the setting parameter is automatically verified by the verification function by comparing it to a first safety parameter prior to changing;
update first safety information relating to the robot in the verification function based on the first safety parameter in the verification mode;
copy the setting parameter after it has been verified in the verification mode;
apply the setting parameter to a second safety parameter after switching from the verification mode to the safety mode;
update second safety information relating to the robot in the safety function based on the second safety parameter in the safety mode;
change an operation region of the robot by updating the first safety information or the second safety information;
not require a user authentication when the setting parameter is applied to the first safety parameter, and
require the user authentication when the setting parameter is applied to the second safety parameter,
wherein the safety function and the verification function include functions for checking position and speed of the robot set by the first safety information and the second safety information, in at least the operation region of the robot.