| 摘要 |
A robot controller including a control unit and a portable operating device (TPU) for teaching and manually operating the robot. The TPU includes safety equipment, a safety TPU-part having a first communication unit and a main TPU-part having a third communication unit. The control unit includes a safety control part having a second communication unit and a main control part having a forth communication unit. The first and second communication units are arranged such that they form a first communication channel for transferring communication data including information regarding the status of safety equipment from the TPU to the control unit. The third and fourth communication units are arranged such that they form a second communication channel for transferring general communication data between the TPU and the control unit. Each of the main TPU-part, the safety TPU-part, the main control part, and the safety control part includes a central processing unit adapted for generating and/or handling the communication data. Each of the communication units is connected to a network. Each of the communication units forms a node in the network.
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