Method for controlling a plurality of axes in a industrial robot system and the industrial robot system.

摘要

An industrial robot system comprising: a workcell including a load area and a process area (9a, 9b; 28,30,26; 36,37; 38,39), at least one detector (6, 6a-b) detecting when a person enters the load area of ​​the workcell, a manipulator (1) located in the workcell and adapted to process a workpiece, at least one positioner (4,5; 10a d; 2,24; 32,34) adapted to hold the workpiece and to change the orientation of the workpiece about at least one axis while the manipulator processes the workpiece a station exchanger (7; 1 ) which is movable about an axis and adapted to move in response to a received command, the manipulator or the positioner between said load area and a process area of ​​a workcell, an axis controller (50) adapted controlling movement of said at least two axes, and a safety controller (58) adapted to monitor the cell worked oy generate stop signals to the axes, characterized in that each of said shafts is provided with a motor (M1 - M3) and a control unit (53 - 55), the axis controller is adapted to switch between executing at least two tasks: a first task in which the detention of the axes of the positioner and the station exchanger are commanded, and a second task which enables the axes of the positioner and the station exchanger is moving, and said controller safety is adapted to receive continually information on the position of positioner and the station exchanger, and information from said detector, and upon detecting that someone is entering the load area of ​​the workcell: continuously monitoring at least during the time that the person is within the load area, if the station exchanger or the positioner is moving, and generating a signal to disable the one ity control shaft is in motion if it is detected that any of the supervised axes is moving, and keeping the control units of the supervised axes enabled if it is decided that the supervised axes are not moving.