| 摘要 |
An industrial robot system comprising an industrial robot including a manipulator (2) and a control unit (3) for controlling the manipulator, and a plurality of portable operator control devices (5a-d), called TPUs, for manually operating the robot. Each TPU comprises a manually operated enabling device (14), which upon activation enables manual movement of the robot by the TPU. The control unit comprises a safety system, which upon connection enables the enabling device of the TPU. The system is adapted to simultaneously connect the TPUs to the safety system of the control unit. One of the TPUs, called a Master TPU, is given a master authority. The control unit receives information from all TPUs about whether the enabling device of the TPU is activated or deactivated, and permits manual movement of the robot by the Master TPU if the received information indicates that the enabling devices for all TPUs connected to the safety system are simultaneously activated. The system does not permit manual movement of the robot by any other TPU than the Master TPU. |
