公开(公告)号：US20140142754A1

公开(公告)日：2014-05-22

申请号：US14165161

申请日：2014-01-27

Applicant: ABB Technology AG

Inventor： Fan DAI ,  Oliver Becker

IPC: B25J9/16

CPC classification number: B25J9/16 ,  G05B19/056

Abstract: A system and method for commanding a robot by a programmable logic controller are disclosed. The system can include a programmable logic controller, at least two function blocks with at least one input for triggering an execution of a PLC function and at least one output indicating status of a function block. Each function block corresponds to a movement segment of a movement path of a robot to be commanded. A command queue can store and send orchestrated robot commands to the robot. Backwards motion of the robot can be performed by stopping execution of not yet executed robot commands for forward motion, and sequentially resending at least one executed robot command stored in the command queue in a contrawise sequence.

Abstract translation: 公开了一种用于由可编程逻辑控制器命令机器人的系统和方法。 该系统可以包括可编程逻辑控制器，至少两个功能块，其具有用于触发PLC功能的执行的至少一个输入和指示功能块的状态的至少一个输出。 每个功能块对应于要被命令的机器人的移动路径的移动段。 命令队列可以存储和发送协调的机器人命令到机器人。 机器人的向后运动可以通过停止执行尚未执行的机器人命令以进行前进运动来执行，并且以相反的顺序依次重新发送存储在命令队列中的至少一个执行的机器人命令。