Electronic controller and portable programmer system for a pneumatically-powered point-to-point robot

An electronic controller system for a pneumatically-powered point-to-point robot having a plurality of cylinder means for performing a plurality of robot functions and valve means for controlling the supply of air to said cylinder means;

• comprising:
• transducer means operatively associated with each of said cylinder means for sensing the pressure therein and producing an output signal which is operable to indicate the completion of a robot function;
• and
• a controller connected to said valve means and including a microprocessor, read-only memory means for storing a main control program, non-volatile solid-state memory means for storing a sequence of encoded robot functions forming a user program, input interface means for receiving output signals from said transducer means, and output interface means for transmitting control signals to said valve means generated by said controller in accordance with said user program for executing said sequence of encoded robot functions.

In a control system for a pneumatically-powered point-to-point robot havinhg a plurality of cylinder means for performing a plurality of robot functions and valve means for controlling the supply of air to said cylinder means, including microcomputer controller means for storing a sequence of robot functions forming a user program and transmitting control signals to said cylinder means in accordance with said user program for executing said sequence of robot functions, a portable teach control programmer unit removably connected to said controller means for entering, editing and testing said sequence of robot functions, comprising:

• interface means for providing serial communication with said controller;
• a keyboard having a key dedicated to each of said plurality of robot functions;
• a digital display for indicating the step numbers and corresponding robot function codes stored in said user program;
• and
• circuit means coupled to said interface means for decoding said keyboard and driving said display.