A robot controller with integrated logic functionality

A method for controlling operation of a robot system, the method comprising:

• providing at least one application input signal to an auxiliary control process implemented by executing an auxiliary control software program on a robot controller, the at least one application input signal being from at least one of a peripheral device in the robot system or a robot control process implemented by executing a robot control software program on the robot controller;
• the auxiliary control process generating one or more logic signals based on the at least one application input signal;
• the auxiliary control process producing at least one logic output signal based on the one or more logic signals;
• providing the at least one logic output signal to the peripheral device or the robot control process;
• and and
• the robot controller controlling a robotic arm in the robot system using the robot control process, wherein the robotic arm comprises joints connecting a base and a robot tool flange, and wherein the robot controller controls at least one of the peripheral device or the robotic arm based on the at least one logic output signal.

A method for controlling operation of a peripheral device of a system comprising a robotic arm, the method comprising:

• providing at least one application input signal to an auxiliary control process of the system, the at least one application input signal being from at least one of a robot controller or one or more peripheral devices;
• generating one or more logic signals based on the at least one application input signal by executing the auxiliary control process;
• establishing, by the auxiliary control process, at least one output signal based on the one or more logic signals;
• and
• providing the at least one output signal to a peripheral device of the one or more peripheral devices to control the peripheral device.

A distributed control system for a peripheral device of a robot system, wherein the robot system comprises a robotic arm, a controller, and a peripheral device, wherein the robotic arm comprises joints connecting a base and a tool flange, wherein the controller is at least configured to execute a robot control process to control operation of the robotic arm, and wherein the distributed control system comprises:

• a first control block located in the robot controller;
• and
• a second control block located outside the robot controller;
• wherein the first control block and the second control block are configured to collectively control the peripheral device in coordination with the robot control process controlling the robotic arm, and wherein the coordination is implemented via a communicative connection between the robot control process and the first control block. cm 71. The distributed control system of claim 70, wherein the second control block is located in the peripheral device.

A peripheral device controller configured to execute processes comprising:

• a robot control process based on a robot control software program;
• and
• an auxiliary control process based on an auxiliary control software program;
• wherein execution of the robot control process causes operation of a robotic arm communicatively connected to the peripheral device controller;
• wherein execution of the auxiliary control process produces one or more logic signals based on at least one application input signal received from at least one of the robot control process or one or more peripheral devices;
• and
• wherein the auxiliary control process is configured to establish at least one logic output signal based on the one or more logic signals, and is configured to control operation of at least one of the robot control process or the one or more peripheral devices based on said at least one logic output signal.