JPH03239485A - Robot controller - Google Patents
Robot controllerInfo
- Publication number
- JPH03239485A JPH03239485A JP3674690A JP3674690A JPH03239485A JP H03239485 A JPH03239485 A JP H03239485A JP 3674690 A JP3674690 A JP 3674690A JP 3674690 A JP3674690 A JP 3674690A JP H03239485 A JPH03239485 A JP H03239485A
- Authority
- JP
- Japan
- Prior art keywords
- control device
- display
- robot controller
- data
- transmitted
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004891 communication Methods 0.000 abstract description 23
- 230000005856 abnormality Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は、外部制御装置（例えば、上位コンピュータ）
と通信する手段を有するロボット制御装置に関する。[Detailed Description of the Invention] [Industrial Application Field] The present invention is directed to an external control device (for example, a host computer).
The present invention relates to a robot control device having means for communicating with.
第３図に示すように、ロボッ）１を制御するロボット制
御装置２と外部制御装置３間の通信が正常に動作してい
るか否かの確認は、両者の間に高価かつ大形の通信状態
ｆ１１認装置（プロトコルアナライザ）４を接続して、
複雑かつ多量な情報の通信手続きを順次追いながら確認
している。As shown in Fig. 3, checking whether the communication between the robot control device 2 that controls the robot 1 and the external control device 3 is operating normally requires an expensive and large communication state between the two. Connect f11 authentication device (protocol analyzer) 4,
We follow and confirm the communication procedures for complex and large amounts of information.
つまり、通信異常が生ずれば、−旦、通信路５を切断し
、プロトコルアナライザを接続し再度異常が発生した手
順で動作させ、異常が再現させて異常原因を調べるわけ
である。That is, if a communication abnormality occurs, the communication path 5 is first disconnected, the protocol analyzer is connected, and the protocol analyzer is operated again according to the procedure in which the abnormality occurred, so that the abnormality is reproduced and the cause of the abnormality is investigated.
しかし、通信路の切断は相互間の機器の誤動作にもつな
がるノイズも発生するため、プロトコルアナライザの接
続は難作業になっている。However, disconnecting the communication path also generates noise that can lead to mutual equipment malfunction, making connecting protocol analyzers difficult.
さらに、プロトコルアナライザを接続しても、過去の異
常時どおりに再現できない時もある。Furthermore, even if a protocol analyzer is connected, there are times when it is not possible to reproduce the abnormal situation in the past.
また、ひとつの外部制御装置に対し、複数のロボット制
御装置が通信を行うシステムでは、ひとつの装置の異常
でも、上記切断のため異常のない装置も動作を中止させ
ねばならない欠点もある。Furthermore, in a system in which a plurality of robot control devices communicate with one external control device, there is a drawback that even if one device has an abnormality, even devices that are not abnormal must stop operating due to the above-mentioned disconnection.
そこで、本発明は、通信路を切断することなく、ロボッ
ト制御装置と外部制御装置間の通信状態を、その過去の
状態も含めて確認することができるロボット制御装置を
提供するものである。SUMMARY OF THE INVENTION Therefore, the present invention provides a robot control device that can check the communication status between the robot control device and an external control device, including its past status, without cutting the communication path.
本発明は、ロボット制御装置内部に、ロボット制御装置
と外部制御装置間で送信或いは受信するデータを表示す
る手段と記憶する手段とを設けるものである。The present invention provides within a robot control device a means for displaying and a means for storing data transmitted or received between the robot control device and an external control device.
ロボット制御装置と外部制御装置間の通信において、複
雑かつ多量な情報の送受信データが、ロボット制御装置
内の表示装置上へ表示されるため、通信状態の確認作業
がロボット制御装置で可能となる。In communication between the robot control device and an external control device, complex and large amounts of transmitted and received data are displayed on a display device within the robot control device, so that the robot control device can check the communication status.
また、送受信データが記憶されるため、過去の異常もさ
かのぼって確認できる。Additionally, since transmitted and received data is stored, past abnormalities can be checked retroactively.
〔実施例〕
第１図は、本発明の一実施例のロボット制御装置である
。[Embodiment] FIG. 1 shows a robot control device according to an embodiment of the present invention.
ロボット制御装置２は、中央処理装置（以下ＣＰＵとい
う）５を有し、該ＣＰ Ｕ ５にはＲＯＭ ６、ＲＡＭ
７、操作盤８、通信ユニット９、表示ユニット１０、及
び図示していない教示操作盤、サーボモータ制御回路、
周辺インターフェイス回路がバス１１で接続されている
。The robot control device 2 has a central processing unit (hereinafter referred to as CPU) 5, and the CPU 5 includes a ROM 6 and a RAM.
7, operation panel 8, communication unit 9, display unit 10, teaching operation panel (not shown), servo motor control circuit,
Peripheral interface circuits are connected via a bus 11.
ＲＡＭ７の中に、通信ユニット９を介して送信・受信し
たデータが蓄積されるエリアが設けられている。An area is provided in the RAM 7 in which data transmitted and received via the communication unit 9 is stored.
操作盤８はテンキーやファンクションキーなど各種牛−
を有し、操作者よりロボットの動作に必要な各種データ
・指令を制御装置２に人力できるが、この指令の中に、
通信状態を表示させるか否かの指令や、過去に通信状態
の表示させるという指令が含まれる。The operation panel 8 has various functions such as a numeric keypad and function keys.
The operator can manually input various data and commands necessary for the operation of the robot to the control device 2.
This includes a command to display the communication status or not, and a command to display the past communication status.
通信状態の表示を指令すると、表示ユニッ）１０は、第
２図に示すように、送受信のやりとりが行なわれた順に
、＜ＥＮＱ＞＜ＡＣＫＯ＞・・・・・・と表示される。When commanded to display the communication status, the display unit 10 displays <ENQ><ACKO> . . . in the order in which transmission and reception are performed, as shown in FIG.
このうち、受信したデータは黒白反転して表示され、伝
送制御キャラクタはく〉で囲まれて表示される。なお、
このように区別できれば、この表示例に限定することな
く、どのような表示態様でもよい。Among these, the received data is displayed in reverse black and white, and is displayed surrounded by transmission control characters <>. In addition,
As long as the distinction can be made in this way, any display mode may be used without being limited to this display example.
通信状態を表示させないと指令すると、ＲＡＭ７の中に
、通信ユニット９を介して送信・受信したデータが蓄積
される。なお、通信状態の表示を指令した場合でも、同
様に蓄積される。When a command is given not to display the communication status, data transmitted and received via the communication unit 9 is stored in the RAM 7. Note that even if a command is given to display the communication status, the information is accumulated in the same way.
送信・受信したデータの蓄積は、最新の所定期間内のデ
ータが蓄積されておればよいので、先入れ先出し方式が
望ましい。A first-in, first-out method is preferable for storing transmitted and received data, since it is sufficient that the latest data within a predetermined period is stored.
過去に通信状態の表示させるという指令を行なえば、こ
の蓄積された過去の状態を表示する。If a command is issued to display the past communication status, the accumulated past status will be displayed.
以上述べたように、本発明によれば、ロボット制御装置
の表示ユニットに、ロボット制御装置と外部制御装置間
で送信或いは受信するデータ、または、その過去の蓄積
したデータを表示できるので、通信路を切断することな
く、ロボット制ａ装置と外部制御装置間の通信状態を確
認できる。As described above, according to the present invention, data transmitted or received between the robot control device and an external control device, or data accumulated in the past can be displayed on the display unit of the robot control device. The communication status between the robot control device and the external control device can be confirmed without disconnecting the device.
したがって、ｍ認作業時間が大幅に短縮に短縮され、生
産性の向上に貢献するところ人なるものがある。Therefore, the time required for verification work is significantly reduced, contributing to improved productivity.
第１図は本発明のロボット制御装置の実施例、第２図は
本発明の送受信データの表示例、第３図は従来例である
。
第
１
図
？
第
しｊFIG. 1 shows an embodiment of the robot control device of the present invention, FIG. 2 shows an example of display of transmitted and received data of the present invention, and FIG. 3 shows a conventional example. Figure 1? The first
Claims (2)
装置において、その通信された送受信データを表示する
手段と、そのデータを記憶する手段とを備えたことを特
徴とするロボット制御装置。(1) A robot control device having means for communicating with an external control device, characterized by comprising means for displaying the transmitted and received data and means for storing the data.
装置において、その通信された送受信データを記憶する
手段と、その記憶されたデータを表示する手段とを備え
たことを特徴とするロボット制御装置。(2) A robot control device having a means for communicating with an external control device, characterized in that the device includes a means for storing the transmitted and received data and a means for displaying the stored data. .
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3674690A JPH03239485A (en) | 1990-02-16 | 1990-02-16 | Robot controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3674690A JPH03239485A (en) | 1990-02-16 | 1990-02-16 | Robot controller |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH03239485A true JPH03239485A (en) | 1991-10-25 |
Family
ID=12478296
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP3674690A Pending JPH03239485A (en) | 1990-02-16 | 1990-02-16 | Robot controller |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH03239485A (en) |
-
1990
- 1990-02-16 JP JP3674690A patent/JPH03239485A/en active Pending
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