System for commanding a robot

US9254567B2 · kind B2 · utility

Assignee

• ABB TECHNOLOGY AG · CH

Inventors

• Fan Dai · Zwingenberg, DE
• Oliver Becker · Ludwigsburg, DE

Key dates

• Filing date: Jan 27, 2014
• Grant date: Feb 9, 2016
• Expiry date: Apr 4, 2034

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B19/056
• WIPO field: Control
• WIPO sector: Instruments

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.