Robot system

A robot system having a manual guide device connected to the robot in wireless data communication with a portable terminal for use in programming the robot.

FIELD OF THE INVENTION

The present invention relates to industrial robots and has been developed with particular reference being paid to devices used for carrying out the programming or “teaching” of industrial robots.

BACKGROUND

The activity of programming of a robot basically consists in teaching the robot the path that a point of its movable structure must repeat automatically in the course of the normal working steps, to execute a certain operation. Said point is typically represented by the so-called “Tool Center Point” (TCP), which identifies in general the position of the active part of the tool mounted on the wrist of the robot, i.e., the part that executes the operation and that is defined by an operator in a convenient way according to the application. For example, in the case of an operation of arc welding, the TCP is located on the tip of the welding torch at the end of the welding wire; in sealing applications, the TCP is instead at a nozzle for outlet of the sealant, whilst, for applications that provides for the use of an electric spot-welding gun, the TCP corresponds to one of the two electrodes or an intermediate point between them.

An industrial robot can then operate at least in an automatic mode and in a manual mode, usually selectable on the control unit of the robot. When the manual mode is selected, for example for the purposes of programming or teaching, the robot can be manuevered via commands imparted by a portable programming device, known as “teach pendant”. Instead, when the automatic-operating mode is selected, the movement of the robot is governed only by the control unit.

The majority of the programming time is dedicated to manual control of the robot, in order to identify the points deemed optimal of the paths of movement of the TCP, and store the corresponding co-ordinates thereof. For this purpose the teach pendant is used, which typically comprises a display and a series of pushbuttons, used for maneuvering and programming the robot. The teach pendant is in general connected to the control unit by means of a long cable that enables the operator to move into the proximity of the working area of the robot, in order to be able to verify accurately the points and paths of the TCP. Also known are teach pendants connected to the control unit of the robot in wireless mode.

For manual control of the variations of the posture of the robot, the operator uses specific pushbuttons of the teach pendant, known as jog pushbuttons or keys, which govern the movement of one or more axes of the robot. By acting on the jog buttons of the teach pendant, the TCP can be moved in a specific positive or negative direction in the range of a reference system selected by the operator from among a plurality of possible reference systems. In an anthropomorphic robot with six degrees of freedom, there are typically envisaged at least the “Joints”, “Base”, and “Tool” reference systems, where the “Joints” system is referenced to the joints of the robot (a vector in said system represents the angular positions of each of the joints), and the “Base” and “Tool” systems are cartesian reference systems, the former being referenced to the base of the robot and the latter to the tool mounted on the flange of the wrist of the robot.

In order to follow the TCP closely and make a visual check on positioning thereof, the operator moves continuously around the robot: by so doing, the operator moves evidently also with respect to the origins of the aforesaid reference systems, and this complicates to a certain extent the activity of programming, also in view of the fact that the operator is each time called upon to select the reference system that he wishes to use.

In order to render the activity of programming of the robot more intuitive, it has also been proposed to equip the robot with a manual guide device, mounted directly on the movable structure of the robot. Known devices of this type, generally based upon the use of a force/torque sensor connected to the control unit of the robot or else to the corresponding teach pendant via wired connection, are inconvenient to install, relatively cumbersome and costly, and their modalities of interfacing to the control system of the robot are frequently complex. These disadvantages also have the consequence of rendering the transferability of the guide device from one robot to another laborious, for example in the cases where a number of robots of one and the same working environment are to be programmed.

BRIEF SUMMARY

In the light of what is set forth above, the object of the present invention is basically to provide a robot system equipped with a manual guide device that is easy to install, simple to use, and inexpensive to produce, as well as being convenient and fast to interface to a portable programming terminal or teach pendant. The correlated object of the invention is to provide a manual guide device that can be transferred in a simple and fast way from one robot to another, for the purposes of the corresponding programming operations.

The above and other purposes, which will emerge clearly hereinafter, are achieved according to the invention by a robot system and by a manual guide device for a robot having the characteristics indicated in the annexed claims. The claims form an integral part of the technical teaching provided herein in relation to the invention.

DETAILED DESCRIPTION OF EMBODIMENTS OF THE INVENTION

Represented schematically inFIG. 1is a robot system according to the invention, comprising a robot1having a structure2that is movable according to a number of degrees of freedom. In the example illustrated, the robot is an anthropomorphic robot having a base3and a column4mounted so that it can turn on the base3about a first axis A1directed vertically. Designated by5is an arm mounted oscillating on the column4about a second axis A2directed horizontally. Designated by7is a forearm mounted on the arm5about a third axis A3, which is also directed horizontally. The forearm7moreover has the possibility of turning about its axis A4, which consequently constitutes a fourth axis of movement of the robot1, and is equipped at its end with a wrist10, mounted for the movement according to two axes A5and A6. Associated to the terminal flange of the wrist10is a tool or end effector, designated by13, which in the example is represented by a welding torch with corresponding wire. As explained in the introductory part of the present description, the end of the end effector13constitutes a so-called “Tool Center Point” (TCP).

According to a technique in itself known, the movement of each of the movable parts4,5,7and10of the structure2is controlled by a respective electric motor with corresponding gear-reducing transmission. The movements of the structure2and the operations of the end effector13are managed by a control unit, designated by14inFIG. 1, which is in a remote position with respect to the structure2and is connected to the latter via a cable15.

The system moreover comprises a portable programming terminal, or teach pendant, designated by20, usable by an operator EU for manual programming of the robot1. The modalities of practical embodiment of the hardware relating to the unit14and to the terminal20, equipped with respective microprocessor control system, are irrespective of the aims of the present description, apart from some aspects indicated hereinafter that regard the invention.

As previously explained, the operator EU can simulate a working step that the robot1will then be called upon to perform automatically, varying the posture of the robot via purposely provided movement control means envisaged on the terminal20, constituted by the so-called jog buttons; via other pushbuttons of the terminal20the operator EU can store the co-ordinates of the optimal path identified for the TCP.

Represented inFIG. 2in a merely schematic form is an example of teach pendant20, which comprises at least:a display20a,through which the machine states, the program steps, possible alarms, and various parameters, such as the position of the axes of the manipulator, can be monitored; the display20ais used both during programming of the positions of the axes and of the movement program steps and as remote monitor of the unit14;a set of keys for governing the movement of the axes of the robot1, some of which designated by20b;the keys of said set comprise in particular those for selection of the desired reference system of movement and the jog buttons; anda set of programming and editing keys, some of which designated schematically by20c,used for navigating within the programs displayed on the display20a,activating the various functions and entering data.

The terminal20further comprises an emergency-stop device, designated by ES, which can be constituted by a mushroom-headed pushbutton, set in a fixed position on the front of the terminal. Pressure applied on said pushbutton enables immediate stopping/deactivation of the movement of the robot and/or of the entire operating cell in which the robot operates. The terminal is also equipped with an enabling device designated by ED, which is to be used in combination with the keys of the set20bduring the steps of learning or of manual control of movement of the robot. In practice, the enabling device ED is to be actuated or kept active by the operator, in order to enable the robot1to perform the desired movements during programming. In the non-limiting example ofFIG. 2, the device ED comprises two keys that extend along the side edges of the terminal20, but in another possible embodiment the device ED can be located in the rear part of the terminal.

In the example represented, the control unit of the robot and the terminal are prearranged for communicating with one another in wireless mode, and for said purpose are equipped with means for exchange of signals over the air, comprising respective transceiver modules14a(FIGS. 1) and 24(FIG. 2). Said modules are sized so as to have a useful range of some meters, and hence fall within the range of the terminal20with respect to the unit14. Transmission over the air of the signals can occur according to any known technique. In a preferred embodiment, the wireless communication between the unit14and the terminal20occurs in radio frequency, using the transmission system defined by the IEEE 802.11a standard (to which the reader is referred integrally for further details), known as Wi-fi.

The wireless connection between the terminal20and the unit14basically enables exchange of the following three types of information:

a) operating data, such as information regarding the dimensions of the axes, the jog commands, and in general all the selections that can be made via the terminal20, as well as downloading of software from the terminal itself to the unit14; also the unit14can send data to the terminal20, such as information necessary for updating of the display windows on the display20a,warning codes (alarms, machine states, etc.), uploading of programs, etc.;

b) state of the emergency-stop device ES; and

c) state of the enabling device ED.

The terminal20further comprises an electrical connector23, forming part of an arrangement for recharging an internal battery of the terminal, and at least one communication port25. In a preferred embodiment, the port25is a USB port.

The control logic of the system envisages that the jog buttons command each time functions of translation and functions of rotation of axes of the robot1with reference to the various possible reference systems, such as those referred to as Joints, Base and Tool, which the operator EU must each time choose and select previously. Said circumstance, as previously explained, can render the activity of programming via the terminal20far from intuitive.

For this reason, directly associated to the movable structure2of the robot1is a manual guide device, to which the invention refers in a specific way and which is designated as a whole by30inFIG. 1. The guide device30is provided with additional control means, which can be used as an alternative to the jog keys of the terminal or teach pendant20for governing the movement of the robot during programming.

Represented via a block diagram inFIG. 3is an example of the general architecture for control of the robot, including the unit14, the terminal20, and the guide device30.

The guide device30has a microprocessor electronic control system, of a programmable type and provided with permanent rewritable memory means, designated as a whole by31. Preferentially, the circuit is of a miniaturized type, and can be implemented, for example, using a board of a “FOX Board” type, produced by the company ACME Systems Srl, Rome, Italy, to the technical documentation of which the reader is referred for further details. Designated by32are the movement control means of the robot belonging to the device30. In the preferred embodiment of the invention, these means are constituted by a joystick with a number of degrees of freedom, particularly an optical-sensor joystick with six degrees of freedom. Joysticks of the type indicated are commercially available, at contained costs, and are extremely precise. A device usable for this purpose is, for example, the one referred to as SPACE NAVIGATOR™, marketed by the company 3DConnexion GmbH, Seefeld, Germany, to the technical documentation of which the reader is referred for further detail. The device moreover comprises some keys, amongst which, for example, a key33for turning on/turning off the device and a storage key34, usable by the operator EU for storing the coordinates of the points of the path identified for the TCP.

The device30further comprises an autonomous supply source35, such as a battery, which is preferentially of a rechargeable type. For this purpose, the device30is also conveniently provided with a connector36for connection to a recharging device of a known type, not represented.

According to the main characteristic of the invention, the manual guide device30is provided with wireless communication means, in order to set up a wireless communication channel for communication with the portable terminal20. The communication means comprise for said purpose a first transceiver module on the manual guide device30and a second transceiver module on the portable terminal20.

The first wireless transceiver module is designated by37inFIG. 3and is connected to the control system31. In a preferred embodiment of the invention, the module37is prearranged for operating according to the Bluetooth standard and can be implemented by any transceiver suited for the purpose. The use of Bluetooth technology proves particularly advantageous both as regards the easy traceability and the contained cost of the transceivers and because the typical mode of operation envisaged by the Bluetooth standard enables containment of the levels of consumption of electrical energy by the device30.

In a possible practical embodiment, the module37can be of the “key” type in order to enable connection to the control system31exploiting a communication port of the latter, particularly a USB port; in an example, the module37will have a USB plug, and the aforesaid port will have a USB socket. In such a case, the control system31of the device30is preferentially configured for effecting installation of the peripheral represented by the module37via the plug-and-play technique. It should on the other hand be borne in mind that the module37, irrespective of its practical implementation, does not necessarily have to be associated to the device30in a removable way.

Also the terminal20is provided with a corresponding microprocessor programmable electronic control system, designated by21, equipped with corresponding memory means, to which the various keys of the device (designated as a whole by K inFIG. 3) and the display20aare interfaced in a known way, the latter possibly being implemented with touch-screen technology.

As already mentioned, the terminal20has a corresponding autonomous supply source22, such as a battery, preferentially of a rechargeable type and with a connector23for connection to a suitable recharging arrangement (not represented).

Associated to the control system21are first transceiver means for wireless signals, designated by24, for communicating with similar transceiver means14aof the control unit14of the robot1. As already explained, these transceiver means operate, in a possible embodiment, according to the Wi-fi communication standard.

The control system21of the terminal20is moreover provided with at least one communication port25accessible from outside the teach pendant, preferably of a USB type. It should be noted that practically all teach pendants commonly used in combination with industrial robots are provided with at least one accessible communication port.

Connectable in a removable way to said port25is the second transceiver module, designated by26, forming part of the communication means provided to enable dialogue in wireless mode between the device30and the terminal20.

Consequently, in the example considered, the module26, which can be implemented via any transceiver suited to the purpose, operates according to the Bluetooth standard. In the preferred embodiment of the invention, the module26is of the “key” type in order to enable connection to the control system21, exploiting the communication port25. As has been said, the port25is preferably of a USB type, in which case the module26will preferentially have a USB plug and the port25will have a USB socket. Preferably, the control system21of the terminal20is configured to enable installation of the peripheral represented by the module26via the plug-and-play technique.

Illustrated inFIG. 4is a possible practical embodiment of the device30, which comprises a casing of a prismatic shape, housed within which is the corresponding control system, and mounted on which is the joystick32with six degrees of freedom, with the keys33and34, the recharging connector36, and the transceiver module37. As has been said, the control circuit of the device30is of a miniaturized type so that the dimensions of its casing are small, indicatively less than 10 cm in the three dimensions.

The device30is provided with means for its coupling, at the axis A6, to one of the movable structure2and the end effector13of the robot1, said means being preferably configured to enable a fast coupling or assembly. In the embodiment exemplified inFIG. 5an assembly base40is purposely provided, equipped with straps or clamps41for fast fixing to the structure of the robot or directly to the tool (of course, instead of clamps, other means of assembly can be used, such as for example adjustable collars).

Exemplified, for instance, inFIG. 6is the coupling of the guide device30to one of the electrodes51of a welding gun50mounted on the wrist10of the robot. In the case ofFIG. 1, instead, the device30is fixed to the support of the torch13via screws, for example exploiting the presence of purposely provided holes42made in the base40or in a base of the casing of the device30.

In the example ofFIG. 5, the casing of the device30has a respective base38that defines one or more engagement seats39designed to receive respective portions43of the assembly base40, with a substantially slide-type coupling. Secure fixing between the bases38and40can be guaranteed by snap-action or spring-action couplings.

The guide device30can be used in the case where it is intended to facilitate programming of the robot, via means alternative to the jog keys of the terminal20, simplifying also movement of the robot in its range of application. Preferentially, the movement of the robot1by means of the device30occurs in a cartesian reference system, i.e., in the “Tool” reference system, in a way independent of the reference system possibly selected for the terminal20. In other words, the movement of the TCP determined by actuation of the joystick32is not affected by the current setting of the jog keys, so that it is sufficient for the operator EU to actuate the joystick32in the desired direction in order to produce a corresponding movement of the robot1. It should in any case be noted that the joystick is a control means additional to the jog keys: consequently, the movement of the TCP to reach the desired point can always be governed by the operator EU using the teach pendant, after prior selection of the desired reference system.

Using the joystick device it is possible to move the TCP of the robot1in all the directions of the “Tool” reference system (and following all the rotations). In a preferred embodiment of the invention, it is possible, using the teach pendant, to block some movements (blocking the degrees of freedom), with the possibility of moving the robot along a plane or a straight line, possibly also in a reference system different from the “Tool” reference system, previously selectable according to an appropriate procedure on the terminal20.

As has been said, the joystick has preferentially six degrees of freedom. For example, by exerting a pressure or else a pulling action on the knob of the joystick32, an advance or a recession of the TPC is obtained; by pressing the knob to the right or to the left, a displacement to the right and to the left, respectively, of the TCP is obtained. Likewise, by pushing the knob down or up, the corresponding movements of the TCP are obtained. The knob can likewise be turned in a clockwise direction and in a counterclockwise direction to obtain movements of rotation of the TCP, or else be inclined to obtain inclinations of the TCP in the desired direction.

As previously explained, in a possible embodiment of the invention the device30communicates with the terminal20through a Bluetooth system, which guarantees low consumption levels, using the UDP (User Datagram Protocol). The communication protocol is preferentially a dedicated protocol, based upon encapsulated messages as body of a UDP packet.

The practical modes of implementation of the communication between the device30and the terminal20, as well as between the latter and the control unit14of the robot, can be of any type.

In general terms, the terminal20operates alternatively as client and as server in regard to the guide device30. The terminal20behaves as UDP client in regard to the device30for the messages of initial configuration and messages of movement, requesting at each instant—for example, every 10 ms—the position of the knob of the joystick32, with the corresponding control system that responds in a synchronous way. With a touch or release of the knob of the joystick by the user, detected by the control system31of the device30, this sends a message of activation to the terminal20, which in this case behaves as UDP server for the messages of action, i.e., control of the displacement of the robot.

The modalities of communication between the terminal20and the control unit14of the robot is substantially analogous to the one described above, but the terminal20behaves always as a UDP client for the messages of configuration and movement, whereas the control unit14is configured for handling a task that is launched at start-up of the system with the UDP server in listening mode. The aforesaid task in the unit14is provided for handling the messages of interchange between the task of communication present on the terminal20(which behaves as client) and the task on the unit14(server). The task on the unit14is configured for establishing whether, in the communication when waiting for a message there occurs a timeout or an error in reception, and makes a series of attempts in such a way as to be able to guarantee a percentage of error in reception such as not to have an adverse effect on the performance of the communication. Upon receipt of a packet of an action type (movement of the robot), the server process responds to the terminal20with a message containing the current position of the TCP and the state of the enabling device ED of the terminal.

In the case where via the terminal20deactivation of the guide device30is requested, the corresponding module is deactivated within the interpolator of the control14; otherwise, the system activates the device30. During the step in which in the system device30—terminal20carries out polling to supply the current position to the control14, the server on the control14receives the data regarding the position reference of the device30and responds to the task client on the terminal20with the current position of the TCP, from which the reference systems commonly active on the system have previously been removed. Finally, the task client on the terminal20requests at a regular rate from the task server the reference systems active on the system, which are, however, used in combination with the device30only for management of possible advanced movements, as has been said previously (blocking of the degrees of freedom).

The part of communication between the teach pendant20and the control unit14can be basically divided into two parts. The part of the communication between the user interface (display) of the terminal20and the device30, and the part for management at a lower level of the communication and handshaking between the terminal20and the device30, and between the terminal20and the control unit14. The first part concerns the exchange of information that occurs between the user interface of the teach pendant (hence, for example, information regarding the state of the system, the configuration, and set-up of the device), is established upon start-up of the system and updating of the data between the teach pendant and the guide device, and is performed whenever the graphic interface on the teach pendant requests an updating of the data to be displayed, or when there are entered from the user interface configuration values that are to be passed to the guide device30.

The second part of the communication between the teach pendant and the device30is, instead, as has already been said, at a lower level and deals prevalently with the initialization part of the communication (start-up of the Bluetooth protocol and adaptation to the TCP/IP protocol with the Bluetooth Network Encapsulation Protocol—BNEP) and the part of renewal of the connection between the device30and the terminal20and between the terminal20and the control unit14. All the messages that regard the movement and updating of the reference systems are managed by this task on the terminal20.

Thanks to its own microprocessor control system, the device30is configurable, in so far as, in the communication protocol, different messages can be integrated for entering the parameters of the guide device. Preferentially, there is envisaged the possibility of configuring the position of the device30with respect to the axis A6of the robot, the maximum speeds and the accelerations that may be allowed for translations and rotations, the number and the gear-reducing ratio, the limitation of the degrees of freedom, and the configuration of the reference systems.

In the preferred embodiment, integrated in the control logic of the system is a calibration procedure controllable by means of the terminal20, which enables configuration of the guide device30in any point of the “Tool” system of coordinates starting from the axis A6of the robot. The procedure is preferentially guided via the display of the teach pendant, through which there is first requested positioning of the robot1, by a command issued by the device30, in a position such that a side face of the casing of the device itself is substantially parallel to the base3of the robot or to the ground; in this a way, the calibration procedure can occur more easily. Next, the system requests the user, once again via the display of the teach pendant, to act on the joystick32in such a way as to cause displacements in the directions X, Y, Z of the “Base” reference system in such a way as to be able to calculate the conversion of coordinates between the “Tool” reference system of the device30and the “Base” reference system of the robot. If the procedure of acquisition of the directions has been performed correctly, the system sends back on the display a message to indicate that calibration has been performed and in this way it will be possible to use the device30in the position just calibrated. Of course, it is possible to execute the calibration procedure for “n” possible points of installation of the device30on the robot, and each configuration will preferentially be saved on the unit14and not on the device30, which can be used also on robots different from the one currently being programmed.

To guarantee coupling of the terminal20with the manual guide device30, it is necessary for the Bluetooth transceiver modules to be uniquely identified. The unique coupling between the device30and the terminal20, purposely configured, is guaranteed through a pairing procedure that envisages scanning by the terminal, via the corresponding module26, of the Bluetooth network so as to identify the Bluetooth devices present. The device30responds to the scanning, via the corresponding transceiver module37, with an identifier or information of identity that coincides with the identifier or information of identity of the module26paired with the terminal20. Preferentially, said identifier is represented by the MAC address of the module26of the terminal20. The terminal is able to query the corresponding transceiver module37to identify the aforesaid identifier and to enable pairing or otherwise. The uniqueness of the identifier evidently guarantees the uniqueness of the pairing.

In normal use, the device30is mounted on the robot1, in a position corresponding to the axis A6, for example directly on the end effector13. Next, the logic pairing and calibration procedures described above are performed. Next, the robot1can be manuevered by the operator EU by directly acting on the joystick32, as described previously. As explained, the possibility of maneuvering the robot1using the device30depends always and in any case upon the state of activation of the enabling device ED provided on the terminal20.

From the foregoing description, the characteristics of the present invention emerge clearly. The manual guide device proposed is simple and economically advantageous to produce and ensures precise and reliable operation. The fact that the device is provided with means for establishing a wireless communication with a teach pendant renders transportability or transferability of the device between different robots to be programmed very convenient and fast. As has been said, the fact that practically all the teach pendants for industrial robots are provided with at least one communication port renders implementation of the invention very easy, it being sufficient to combine with such a port a module of the wireless communication system. Of course, the absence of a cable between the teach pendant and the manual guide device has also the practical advantage of facilitating the displacements of the operator in the proximity of the TCP.

The contained dimensions of the device and the provision of coupling means of a substantially fast-coupling type further facilitate the transportability of the device itself and, in addition to facilitating its installation, enabling positioning of the device in various possible positions on the robot.

The advantages in terms of transportability of the device30are highlighted inFIGS. 7 and 8.

Illustrated schematically inFIG. 7is a working cell that comprises a plurality of robots1A,1B,1C,1D, each equipped with a respective control unit14. In the example ofFIG. 7, each unit is wire connected to a respective terminal or teach pendant20A,20B,20C,20D. As may be appreciated, thanks to the present invention, the guide device30previously described can be used for programming any of the robots (the robot1A, in the example illustrated), and then be transferred and interfaced in a simple and fast way to other robots of the plurality (1B,1C,1D), for the corresponding programming, and so forth for the other robots. For this purpose, it is in fact sufficient to uncouple the device30from the robot1A, and then mount it on a different robot of the cell, for example, the robot1B, as well as transfer the transceiver module from the teach pendant20A to the teach pendant20B in order to carry out then the procedures of pairing and calibration described.

Even more convenient is the case where the working cell is provided with a single teach pendant of a wireless type, of the sort that can be coupled selectively to any of the control units14, as schematically illustrated inFIG. 8. A technique that can be used for this purpose is the one described in the document No. EP-B-1 716 983 (with particular reference to the connection defined as “Main” in said document), the subject matter of the claims of which is considered as being incorporated herein.

In this application, the manual guide device30can always remain paired to one and the same teach pendant20, whereas the latter can be selectively coupled to each of the robots1A,1B,1B,1C of the cell. Hence, for such an application, it is sufficient to uncouple the device30from the robot1A, then mount it on a different robot of the cell, for example, the robot1B, and then carry out the calibration procedure described.

It will moreover be appreciated that, for an application of this sort, the communication module26of the teach pendant20does not have to be necessarily of a removable type, it being in fact possible to integrate it directly in the teach pendant.

Previously, reference has been made to Bluetooth technology for the purposes of implementation of the communication between the teach pendant20and the manual guide device30, but it is clear that it is possible to implement for the purpose a radio frequency communication network in compliance with other specifications, such as ZigBee, Wi-fi, Bluetooth, Z-Wave or some other wireless protocol of a standard or proprietary type.

Finally, it will be appreciated that, if the teach pendant is provided with means for communicating in wireless mode with the corresponding robot control unit and if said means are based upon the same communication technology as the one implemented in the device30, no additional wireless communication means are required for the terminal, such as the second communication module26. For example, in the case of the teach pendant ofFIGS. 1 and 2, the transceiver module37of the guide device30could operate according to the Wi-fi standard, in which case the transceiver means24of the teach pendant20, used for dialoguing with the control unit14, can advantageously be exploited also for dialoguing with the manual guide device30. Obviously, for an application of this sort, there will in any case be provided a procedure for pairing in a unique way the teach pendant20and the device30, comprising, for example, the exchange of at least one piece of information of identity between the two devices to be connected.