Method for verifying the assignment of a drive to a control device

{
  "publication_number": "US10081105B2",
  "country": "US",
  "kind": "B2",
  "title": "Method for verifying the assignment of a drive to a control device",
  "abstract": "A method for verifying the assignment of a drive to a control device of an industrial robot. A drive, comprising at least one actuator and a motion sensor, is assigned to one of the axles of the robot. The assignment is verified by outputting a suitable test signal from the control device to the drive, and comparing the output test signal with motion signals generated by the motion sensor.",
  "claims": [
    "1. A method for verifying an assignment of a plurality of drives of a machine having a plurality of axles to a control device, wherein each of the plurality of drives is assigned to a corresponding one of the axles and comprises a triggering device, an actuator and a motion sensor, wherein the control device is coupled to each of the triggering devices and the motion sensors via associated signal lines, and wherein the control device is configured to control the machine by means of a control program, the method comprising: a) the control device outputting a test signal to the triggering device of one of the drives; b) in response to the test signal, the triggering device actuating the actuator of the one drive to move a corresponding axle to which the one drive is assigned, wherein the test signal comprises a periodic signal decreasing and increasing in amplitude to cause the corresponding axle to move in respective directions alternatingly aligned with an additional applied external force and against the additional applied external force, and wherein a slope of an amplitude of the test signal indicates whether the additional applied external force is aligned with or against a direction of movement of the corresponding axle; c) the motion sensor of the one drive detecting movements of the axle both in directions with or against the additional applied external force, and sending a corresponding motion signal to the control device, and d) the control device comparing the test signal with the corresponding motion signal to detect at least one of a cross of the signal lines coupling the control device to the triggering device or a cross of the signal lines coupling the control device to the motion sensor, wherein in comparing the test signal with the corresponding motion signal to detect the at least one cross, the comparison includes at least one of a step of detecting an inversion of the corresponding motion signal relative to the test signal or a step of detecting an alternate indicator of a direction of the additional applied external force with or against the movement of the axle that is opposite to the direction indicated by the slope of the amplitude of the test signal.",
    "2. The method according to claim 1, wherein the test signal includes at least one of different accelerations, different speeds, or different paths to be traversed in the respective directions alternatingly aligned with the additional applied external force and against the additional applied external force.",
    "3. The method according to claim 1, wherein the control device repeats the steps a) to d) for each of the plurality of drives.",
    "4. The method according to claim 1, wherein the test signal has a period that is at least twice as longer as a period associated with a maximum phase shift value.",
    "5. The method according to claim 1, further comprising the step of the control device generating a message that at least one of a cross of the signal lines coupling the control device to the triggering device or a cross of the signal lines coupling the control device to the motion sensor has been detected.",
    "6. The method according to claim 1, wherein: the additional applied external force is a gravitational force, and the step of detecting an alternate indicator comprises the step of detecting an indicator of a level on energy consumption for the actuator of the at least one drive.",
    "7. The method according to claim 1, wherein the test signal triggers a movement amplitude of a link of the machine, which is less than 1 cm or triggers a rotational movement of the link which is less than 1 degree.",
    "8. The method according to claim 1, further comprising the step of the control device comparing the test signal with the corresponding motion signal in order to measure at least one of a phase shift or a change in amplitude, wherein target values of the phase shift or the change in amplitude are known for each drive, and wherein the control device compares the measured phase shift or the change in amplitude with the target values of for the drive.",
    "9. The method according to claim 1, wherein the machine comprises a robot.",
    "10. The method according to claim 7, wherein the movement amplitude is less than 0.5 cm.",
    "11. The method according to claim 7, wherein the movement amplitude is less than 1 mm.",
    "12. The method according to claim 7, wherein the rotational movement is less than 0.5 degrees.",
    "13. The method according to claim 7, wherein the rotational movement is less than 0.1 degrees.",
    "14. The method according to claim 9, wherein the machine comprises an articulated-arm robot.",
    "15. A machine having a plurality of driven axles and a control device configured to control the machine by means of a control program, wherein the control device is configured to verify an assignment of a plurality of drives to the plurality of axles, wherein each of the plurality of drives is assigned to one of the axles and comprises a triggering device, an actuator and a motion sensor, each drive being further assigned to the control device, wherein: the control device is configured to output a test signal to the triggering device of one of the drives, the triggering device is configured, in response to the test signal, to actuate the actuator of the one drive to move a corresponding axle to which the one drive is assigned, wherein the test signal comprises a periodic signal decreasing and increasing in amplitude to cause the corresponding axle to move in respective directions alternatingly aligned with an additional applied external force and in a direction against the additional applied external force, and wherein a slope of an amplitude of the test signal indicates whether the additional applied external force is aligned with or against the direction of movement of the axle, the motion sensor of the one drive is configured to detect movements of the axle both in directions with or against the additional applied external force, and send a corresponding motion signal to the control device; and the control device is further configured to compare the test signal with the corresponding motion signal to detect at least one of a cross of the signal lines coupling the control device to the triggering device or a cross of the signal lines coupling the control device to the motion sensor, wherein in comparing the test signal with the corresponding motion signal to detect at least one cross, the comparison includes at least one of a step of detecting an inversion of the motion signal relative to the test signal or a step of detecting an alternate indicator of a direction of the additional applied external force with or against the movement of the axle that is opposite to the direction indicated by the slope of the amplitude of the test signal.",
    "16. The machine according to claim 15, further comprising the step of the control device generating a message that at least one of a cross of the signal lines coupling the control device to the triggering device or a cross of the signal lines coupling the control device to the motion sensor has been detected.",
    "17. A non-transitory computer-readable storage medium on which instructions are stored, which, when loaded to a control device and executed, perform a method for verifying an assignment of a plurality of drives of a machine having a plurality of axles, wherein each of the plurality of drives is assigned to one of the axles and comprises a triggering device, an actuator and a motion sensor, wherein the control device is coupled to each of the triggering device and the motion sensor via associated signal lines, and wherein the control device is configured to control the machine by means of a control program, the method comprising: a) the control device outputting a test signal to the triggering device of one of the drives; b) in response to the test signal, the triggering device actuating the actuator of the one drive to move a corresponding axle to which the one drive is assigned, wherein the test signal comprises a periodic signal decreasing and increasing in amplitude to cause the corresponding axle respectively to move in respective directions alternatingly aligned with an additional applied external force and in a direction against the additional applied external force, and wherein a slope of an amplitude of the test signal indicates the respective direction of the additional applied external force as being with or against a direction of movement of the axle; c) the motion sensor of the one drive detecting the movements of the axle in both directions with or against the additional applied external force, and sending a corresponding motion signal to the control device; and d) the control device comparing the test signal with the corresponding motion signal to detect at least one of a cross of the signal lines coupling the control device to the triggering device or a cross of the signal lines coupling the control device to the motion sensor, wherein in comparing the test signal with the corresponding motion signal to detect at least one cross, the comparison includes at least one of a step of detecting an inversion of the motion signal relative to the test signal or a step of detecting an alternate indicator of a direction of the additional applied external force with or against the movement of the axle that is opposite to the direction indicated by the slope of the amplitude of the test signal."
  ],
  "description_excerpt": "This application claims the benefit of priority under 35 § 119(a) to German Patent Application No. 10 2014 226 008.6, filed on Dec. 16, 2014.\n\nThe present invention relates to a method for verifying the assignment of a drive to a control device of a machine having a plurality of axles. The method can be used in particular for the initiation of newly installed robotic systems. The invention further relates to a corresponding assembly and a computer-readable medium.\n\nDuring initiation of an industrial robot, it is necessary to connect the drives of the axles with the control device of the industrial robot, that is, assign the correct drives to the control device. The connection is typically established by wiring the components by means of signal lines. An industrial robot generally means a manipulating machine that is equipped for automatic manipulation of objects with suitable tools and that is programmable in a plurality of axes, in particular with regard to orientation, position, and process sequence. Industrial robots typically include a control device and a robot arm having a plurality of axles and, optionally, links that are moved by drives which are controlled by the control device. A link typically forms a mechanical connection between the joints of two axles.\n\nA control device that controls an industrial robot having at least two drives, i.e., at least two signal inputs and outputs, in practice has the problem that the components of the drive of the control device must be correctly assigned, i.e., the wiring between the drive and control device must be correct.",
  "cpc": [
    "B25J 9/1674",
    "B25J 9/06",
    "B25J 9/1679",
    "B25J 9/1692",
    "B25J 9/1694",
    "G01R 31/2829",
    "G01R 31/343",
    "G01R 31/40",
    "G05B 2219/21157",
    "G05B 2219/42301",
    "Y10S 901/09"
  ],
  "ipc": [
    "B25J 9/06",
    "B25J 9/16",
    "G01R 31/28",
    "G01R 31/34",
    "G01R 31/40"
  ],
  "assignees": [
    "KUKA Roboter GmbH"
  ],
  "inventors": [
    "Torsten Geiler"
  ],
  "filing_date": "2015-12-14",
  "publication_date": "2018-09-25",
  "grant_date": "2018-09-25",
  "priority_date": "2014-12-16",
  "application_number": "US-201514967890-A",
  "family_id": "54608346",
  "cited_by_count": 2,
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}