| 摘要 |
<p>The invention is related to a System (30) for commanding a robot (90, 120) by a programmable logic controller (92), comprising ° at least two function blocks (10, 32, 34, 36, 38) with at least one input for triggering (12, 42, 44, 46, 48) an execution of a belonging PLC function and at least one output (14, 16, 18, 62, 64, 66) indicating the status of the belonging function block (10, 32, 34, 36, 38), whereas each function block (10, 32, 34, 36, 38) is representing a movement segment (112, 114, 116, 118) of a movement path of the robot (90, 120) to be commanded, ° a robot controller interface (40) which orchestrates the function blocks (10, 32, 34, 36, 38) currently in execution into a robot command. The function blocks (10, 32, 34, 36, 38) are linked (62-44; 64-46; 66-48) sequentially, so that the execution of a subsequent function block is triggered by the output of the proceeding function block. The orchestrated robot commands (74, 76, 78, 80, 82, 84) are applicable to a robot controller (94, 122) and the robot controller interface (40) is prepared to receive a feedback signal of the robot controller (94, 122), which influences the output (14, 16, 18, 62, 64, 66) status of the belonging function block (10, 32, 34, 36, 38).</p> |
