JPH1148178A - Display device for a plurality of robot action programs - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable a device so as to simultaneously confirm by a single picture plane an execution condition of a plurality of action programs. SOLUTION: In a robot control device provided with an action program storage area 12 storing a plurality of action programs, teach/select part 11 teaching the action program to this action program storage area 12 also at execution time selecting a plurality of the action programs, action program execution part 13 executing the selected action program output to a robot drive part, and an action program/condition display part 14 displaying an execution condition of the action program in a display device, so as to simultaneously display in a picture plane of the display device the respective execution condition of a plurality of the action programs. In this way, a respective action condition of the independently operated action program can be confirmed at a glance, so as to facilitate action confirmation, further with necessity eliminated for complicated operation of switching or the like of a picture plane.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an operation program display device for a robot, and more particularly to an operation program display device for simultaneously executing or teaching a plurality of operation programs.

[0002]

2. Description of the Related Art In a case where an operation program is described for each of a plurality of robots or external axes by one control device and each operation program is executed independently and simultaneously, the operation program displayed on a screen in the conventional control device is There was only one, and it was necessary to switch the screen by key operation in order to check the execution state of another operation program.

[0003]

However, in the prior art, screens must be frequently switched in order to confirm operation programs operating independently on the display unit. Further, the execution positions of the respective programs at a certain time cannot be confirmed at the same time. Further, when teaching an operation program for operating the respective steps while synchronizing the steps between a plurality of programs, it is difficult to understand the correspondence of the steps between the respective operation programs. Accordingly, an object of the present invention is to provide a display device for an operation program that allows the execution states of a plurality of operation programs to be simultaneously checked on one screen.

[0004]

In order to solve the above-mentioned problems, the present invention provides an operation program storage area for storing a plurality of operation programs, a plurality of operation programs at the time of teaching the operation programs in the operation program storage area and executing the operation programs. A teaching / selection unit for selecting a program, an operation program execution unit for executing the selected operation program and outputting it to the robot driving unit, and an operation program / status display unit for displaying the execution status of the operation program on a display device The execution status of each of the plurality of operation programs is simultaneously displayed on a screen of the display device. In this device, a means for operating each step of the plurality of operation programs while synchronizing each other, and a movement of the cursor in one operation program of the plurality of operation programs correspond to other operation programs synchronized therewith. Means may be provided for automatically moving the cursor to the step. With the above-described means, the execution states of a plurality of operation programs that operate independently or synchronously can be simultaneously checked on one screen, so that operation confirmation is easy and complicated operations such as switching screens are not required. Become. Furthermore, by displaying a plurality of operation programs that move in synchronization with each other, it is possible to easily confirm the synchronization between the programs.

[0005]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing an example of a system for implementing the present invention. In the figure, 11 is a teaching / selection unit, 12 is an operation program storage area, 13 is an operation program execution unit, and 14 is an operation program / state. Display unit, 1
Reference numeral 5 denotes a robot 1 drive unit, and reference numeral 16 denotes a robot 2 drive unit. The operation program execution processing unit 13 includes the master task 1
3A, a sub 1 task 13B and a sub 2 task 13C. FIG. 2 shows an example of the division of the display area of the display screen of the operation program / status display unit 14;
Denotes a master task display area, 22 denotes a sub one task display area, 23 denotes a sub two task display area, and 24 denotes various control state display areas. This operation program / status display section 14
In each of the display areas, the size of an arbitrary display area can be changed or the arrangement state of the areas can be selected by key operation.

(1) In the system shown in FIG. 1, an operation program (hereinafter, referred to as a master task job) to be executed by the master task 13A is selected from the teaching / selection section 11 and executed. The operation program execution unit 13 executes the master task job in the master task 13A and transfers the operation status data of the master task job to the master task display area 21. By executing a specific instruction in the master task job, a specified operation program (hereinafter, referred to as a sub one task job or a sub two task job) is executed in the sub one task 13B or the sub two task 13C. The operation program execution unit 13 independently executes the operation program in each subtask, and transfers operation status data to the operation program / state display unit 14. The operation program / state display unit 14 displays the state of each task transferred from the operation program execution unit 13 in a corresponding display area. When the sub-one task job or the sub-two task job is not selected, the corresponding display area is blanked, or a message such as “job not selected” is displayed, and the sub-one task job is displayed. Alternatively, it indicates that the sub-two task job is not selected. Alternatively, the master task display area may be enlarged so that only the master task job is displayed. Further, an arbitrary task may be selected and the operation program of the task may be enlarged and displayed. The teaching / selecting unit 11 includes axis operation keys for operating the robot, cursor keys for selecting steps on each operation program, and a main task for operation (hereinafter referred to as a current task). A task switching key is provided. The display area of the current task selected by the task switching key is highlighted. By placing a cursor on a step describing the operation of the robot in the operation program and pressing a dedicated key, the robot can be operated at that step at a constant speed while the key is pressed. The teaching position is confirmed by this operation (hereinafter, this operation is referred to as “next” operation). When the next operation is performed, the operation program execution unit 1
3 reads the information of the step where the cursor is located of the selected task from the operation program storage area 12 and operates the robot.

(2) In the above-mentioned system, the sub-task 13B and the sub-task 13C can work while synchronizing each step. For example, for a symmetrical work, two robots of the same model are arranged on the left and right sides, each of which has a sub 1 task 13B and a sub 2 task 1
An example is the case of operating at 3C and performing symmetrical work at the same time. When confirming the teaching of the synchronous work as described above, first, the sub-
A pre-selection is made between an "interlocked mode" in which the task 13B and the sub-two task 13C are synchronized, or an "independent mode" in which only the task on the selected side is operated. This mode selection can be arbitrarily switched during teaching. When "simple mode" is selected, cursor movement and next operation on the operation program are performed only for the task selected at that time. On the other hand, when “interlock mode” is selected, cursor movement and next operation are
It is performed simultaneously in both the task 13B and the sub 2 task 13C.

FIG. 3 and FIG. 4 are flowcharts relating to processing for an operation in the teaching mode in the operation program execution unit 13 according to the present invention. This process is activated when a key operation is performed in the teaching / selection unit 11 using the operation content as a command. This will be specifically described as follows. FIG. 3 Step 110: The contents of the operation input are read from the teaching / selection unit 11 as a command. Step 120: Determine which task is selected as the current task, and if it is the master task 13A, go to step 130; if it is sub 1 task 13B, go to step 140; if it is sub 2 task 13C, go to step 170.
Go forward respectively. Step 130: Execute the command execution processing for the master task 13A and end. Step 140: A command execution process is performed on the sub 1 task 13B. Step 150: Determine whether the mode is the interlocking mode. In the case of the interlocking mode, the process proceeds to step 160, and otherwise ends. Step 160: A command execution process is performed on the sub 2 task 13C. Step 170: A command execution process is performed on the sub 2 task 13C. Step 180: It is determined whether the mode is the interlocking mode. In the case of the interlocking mode, the process proceeds to step 190, and otherwise ends. Step 190: A command execution process is performed on the sub 1 task 13B. FIG. 4 Command execution processing Step 200: It is determined whether the command is “cursor movement” or “next operation”.
If the operation is a next operation, the process proceeds to step 220. Step 210: Move the cursor of the teaching section based on the cursor movement command. Step 220: Read data and generate a robot operation command based on the next operation command.

FIGS. 5 and 6 show how the display on the operation program / status display unit 14 is actually controlled according to the flowchart of FIG. The left side shows the flowchart of FIG. 3, and the right side shows the state of the display screen of the operation program / status display unit 14 shown in FIG. In this figure, a job is started in which the sub-task 13B and the sub-task 13C can be synchronized together, and the current task is the sub-task 13C. Here, it is assumed that the teaching / selection unit 11 performs an operation of moving the cursor downward by one line. FIG. 5 shows the case of the single mode. In step 120, the current task is sub 2
Since it is a task, step 170 is executed,
The cursor in the task display area 23 moves down by one line. On the other hand, FIG. 6 shows the case of the linked mode. In step 120, since the current task is the sub-two task, step 170 is executed, and the cursor in the sub-two task display area 23 moves downward by one line. Further, since the mode is the interlocking mode, step 190 is executed according to the determination in step 180, and the cursor in the sub-one task display area 22 also moves downward by one line.

[0010]

As described above, according to the present invention, it is possible to confirm at a glance the operating state of each independently operating operation program, so that the operation can be easily confirmed and the screen can be displayed. No complicated operation such as switching is required. In addition, multiple operation programs that run synchronously
By displaying the programs in conjunction with each other, it is possible to easily confirm the synchronization between the programs.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an embodiment of the present invention.

FIG. 2 is a diagram of area division of a display screen according to an embodiment of the present invention.

FIG. 3 illustrates an operation program execution unit according to an embodiment of the present invention.
It is a flowchart regarding the outline processing of each task.

FIG. 4 is a flowchart showing a command execution process according to the embodiment of the present invention.

FIG. 5 is an explanatory diagram of a single mode showing a state where display is controlled in an operation program / state display unit according to the embodiment of the present invention.

FIG. 6 is an explanatory diagram of an interlocking mode showing a state in which display is controlled in the operation program / state display unit according to the embodiment of the present invention.

[Explanation of symbols]

11 teaching / selection unit, 12 operation program storage area, 13 operation program execution unit, 13A master task, 13B sub 1 task, 13C sub 2 task, 1
4 operation program / state display section, 15 robot 1 drive section, 16 robot 2 drive section, 21 mass task display area, 22 sub 1 task display area, 23 sub 2 task display area, 24 control state display area

Claims (2)

[Claims] 1. An operation program storage area for storing a plurality of operation programs, a teaching / selection unit for teaching the operation program to the operation program storage area and selecting a plurality of operation programs at the time of execution, and a selected operation A robot control device comprising: an operation program execution unit that executes a program and outputs the operation program to a robot driving unit; and an operation program / status display unit that displays an execution status of the operation program on a display device. A display device for displaying a plurality of robot operation programs, wherein execution states of the programs are simultaneously displayed on a screen of the display device. 2. A means for operating each step of a plurality of operation programs while synchronizing each step with each other, and another operation program synchronized with a movement of a cursor when one of the plurality of operation programs moves the cursor. 2. The display device according to claim 1, further comprising means for automatically moving a cursor to a step of performing the operation.