AN INDUSTRIAL ROBOT SYSTEM COMPRISING AN ENABLING UNIT AND A PLURALITY OF GENERAL PURPOSE DEVICES AND A METHOD FOR CONTROLLING THE ROBOT SYSTEM

摘要

The present invention relates to an industrial robot system comprising a manipulator (1), a robot controller (2) configured to control the movements of the manipulator based on jog commands during a manual mode, an enabling unit (7) including an enabling device, and the enabling unit is configured to transfer information regarding the state of the enabling device to the robot controller, and the robot controller controls the movements of the manipulator during manual mode in dependence on the state of the enabling device. The system further comprises at least two general purpose devices (6, 8) each including a user interface adapted to allow jogging of the manipulator, an authorization handler configured to send a request to the robot controller for authorization to take over control of the robot during manual mode,and a jog command module configured to send jog commands to the robot controller in response to user interactions with the user interface. The robot controller is configured to grant or deny the requests for authorization, and to control the movements of the manipulator during manual mode based on the received jog commands provided that the general purpose device sending the jog commands has been authorized control of the robot during manual mode.