	US 12,030,174 B2
	Machine control via wireless communication
Kazuo Fujino, Fukuoka (JP); Tadasuke Yuba, Fukuoka (JP); Ryo Shimodome, Fukuoka (JP); Ryota Moriwaka, Fukuoka (JP); and Kazutoshi Kobayashi, Fukuoka (JP)
Filed by KABUSHIKI KAISHA YASKAWA DENKI, Kitakyushu (JP)
Filed on Nov. 8, 2021, as Appl. No. 17/520,719.
Application 17/520,719 is a continuation of application No. PCT/JP2020/019141, filed on May 13, 2020.
Claims priority of provisional application 62/879,528, filed on Jul. 28, 2019.
Claims priority of provisional application 62/871,742, filed on Jul. 9, 2019.
Claims priority of provisional application 62/866,622, filed on Jun. 26, 2019.
Claims priority of provisional application 62/858,341, filed on Jun. 7, 2019.
Claims priority of provisional application 62/846,759, filed on May 13, 2019.
Prior Publication US 2022/0080601 A1, Mar. 17, 2022
Int. Cl. B25J 13/00 (2006.01); B25J 9/16 (2006.01); G05B 19/418 (2006.01); G08C 17/02 (2006.01); H04Q 9/04 (2006.01)

CPC B25J 13/006 (2013.01) [G05B 19/418 (2013.01); G05B 2219/33097 (2013.01); G05B 2219/33192 (2013.01)]

21 Claims

1. A machine control system comprising:

a machine comprising a machine body and machine circuitry configured to control the machine body to execute a motion according to a machine command;

a controller server comprising control circuitry configured to control the machine; and

a communication server comprising communication circuitry configured to communicate with the controller server via a wired communication network, and to communicate with the machine via a wireless communication network,

wherein the control circuitry is configured to repeat operations according to a control cycle, the operations including:

executing a motion program to generate the machine command for the machine;

adding first cycle information designating a first use timing to the machine command; and

transmitting the machine command including the first cycle information to the communication server,

wherein the machine circuitry is configured to:

repeat local operations for controlling the machine according to a local control cycle;

store the machine command received from the communication server; and

call the stored machine command, based on the first cycle information added to the stored machine command, to use the machine command in the local control cycle corresponding to the first use timing,

wherein the local operations comprise:

causing the machine body to execute the motion based on the called machine command;

acquiring response information based on the motion executed by the machine body;

adding second cycle information designating a second use timing to the response information; and

transmitting the response information including the second cycle information to the communication server, and

wherein the control circuitry or the communication circuitry is further configured to:

store the response information received from the machine; and

call the stored response information, based on the second cycle information added to the stored response information, to execute the motion program according to the called response information in the control cycle corresponding to the second use timing.