JP2001350509A - Robot controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot controller with an instructing operation board which makes it possible to smoothly do instructing operation for various application and confirming operation for states. SOLUTION: This controller is provided with a function allocation table which contains function allocations of command input keys and state pilot lamps on the instructing operation board by application programs and a program selecting means for selecting an application program to be executed out of the application programs, and the functions of the command input keys and state pilot lamps are switched according to the application program selected by the program selecting means and the function allocation table. According to the selected application, the functions of the command input keys and state pilot lamps are automatically switched, so smooth instructing operation can be done.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[0001] The present invention relates to an improvement in a robot control device.

[0002]

2. Description of the Related Art There is known a robot control device provided with a teaching operation panel for performing a teaching operation while confirming the operation of a robot away from a control device main body. Conventional robot controllers are designed as dedicated controllers specialized for specific applications, such as spot welding and sealing, etc., along with this, the teaching operation panel attached to the controller is Command input keys and status display lamps were also designed to correspond only to specific applications.

For example, a command input key for switching between valid / invalid of spot welding and a status display lamp for indicating the valid / invalid state are provided on a teaching operation panel of a robot controller for spot welding. ON / O of sealing is provided on the teaching operation panel of the robot controller
The command input keys for switching the FFs and the status display lamps for indicating the ON / OFF states of the FFs are provided, and the functions of the command input keys and the status display lamps are not compatible with each other.

Also, commands used for teaching work and programming of a user program are the same as those for the command input keys and status display lamps. For spot welding, specific commands such as spot welding and for sealing are used. Only supports applications. For example, a teaching operation panel for spot welding cannot be taught or a program created for a sealing application at all.

However, as in a case where a stationary robot holds a door or the like of an automobile and performs spot welding and then performs sealing work at a key point at a joint, a plurality of robots are controlled by a single robot and a control device. It may be advantageous to process the application. Conventionally, in order to cope with such a problem, a plurality of application programs are stored in parallel in a nonvolatile memory of a control device, and one of the application programs is read into a work memory as an execution target as needed. The teaching work such as spot welding or sealing work is performed independently.

Therefore, apart from the fact that only one control device is required, there is no relation between the application program for spot welding and the application program for sealing. However, there is a problem in that it is not possible to switch between valid / invalid of spot welding and to check the valid / invalid state of spot welding while the application program is selected.

In addition, commands related to a plurality of application programs such as those for spot welding and those for sealing are managed collectively for commands used for teaching work and programming of user programs. There is a problem that even when the is selected, commands including commands related to other application programs are displayed collectively at the same time, making the display on the display complicated and teaching work difficult. There were drawbacks.

Further, as for the operation control method of the robot, for example, the same method is applied to the acceleration / deceleration control method irrespective of the application, so that application programs having different acceleration / deceleration characteristics, specifically, the trajectory of the operation When one robot control device executes a sealing application program in which accuracy is important and a spot welding application program in which short cycle time is important, optimizing the acceleration / deceleration characteristics of one robot will accelerate the other. There is a problem that characteristics are sacrificed.

[0009]

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to solve the above-mentioned drawbacks of the prior art, and to perform a teaching operation for various applications, a state checking operation and an operation control that can be optimized and performed. An object of the present invention is to provide a robot controller with a board.

[0010]

According to the present invention, there is provided a function assignment storage means for storing function assignments to command input keys and status display lamps on a teaching operation panel connected to a robot control device in correspondence with each application program. Means for storing a plurality of application programs;
Program selecting means for selecting an application program to be executed from the plurality of stored application programs; and a command based on the application program selected by the program selecting means and the function allocation storage means. A switching means for switching the functions of an input key and a status display lamp is provided, so that a teaching operation and a status checking operation for various applications can be performed accurately.

Further, by displaying the command input keys corresponding to the selected application program and the function assignment of the status display lamps on the display on the teaching operation panel, commands used repeatedly among a plurality of applications are displayed. The role of input keys and status display lamps can be easily grasped.

A command storage means for storing a command group used for programming of a user program corresponding to each application program; a means for storing a plurality of application programs; A program selecting means for selecting an application program to be executed from a program, and a command corresponding to an application program currently selected based on the application program selected by the program selecting means and the command storage means. Providing effective command display means for displaying the group on a display on the teaching operation panel,
The teaching operation and programming work can be performed by properly selecting a command that matches the application program selected at that time.

Furthermore, a control method of the operation of the robot and / or
Or control type storage means for storing operation parameters affecting operation corresponding to each application program, means for storing a plurality of application programs, and an execution target from among the stored plurality of application programs. Program selection means for selecting an application program to be used, and operation control to be used in the currently selected application program based on the application program selected by the program selection means and the control type storage means. By providing a control type designating means for designating a method and / or an operation parameter, an optimal operation control method and / or operation parameter corresponding to an application program to be executed can be used.

[0014]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing a main part of one embodiment of a robot control device to which the present invention is applied.
In FIG. 1, the robot control device indicated by reference numeral 10 is provided with a processor board 11, which is a central processing unit (hereinafter, referred to as a CPU) 11a including a microprocessor and a ROM 11.
b and a RAM 11c as a work memory.

The CPU 11a controls the entire robot controller according to a system program stored in the ROM 11b. The RAM 11c stores a teaching operation program, various set values, and the like. A part of the RAM 11c is used for temporary data storage for calculation processing executed by the CPU 11a. The processor board 11 has a bus 17
To the robot controller 1 via this bus connection.
Instructions and data are exchanged with other parts in 0.

A plurality of application programs, including an application program for spot welding and an application program for sealing, are RO
M11b is stored together with the system program. The digital servo control circuit 12 is a processor board 1
1, which performs position and speed feedback control based on a movement command from the CPU 11a and a feedback signal from a position / speed detector attached to each of the servomotors 21 to 26, via the servo amplifier 13. Then, the servo motors 21 to 26 are driven and controlled. The servo motors 21 to 26 for operating the respective axes are built in the mechanism of each axis of the robot RB.

The serial port 14 is connected to a bus 17 and is connected to a teaching operation panel 27 with a display and an RS232C device (communication interface) 28.
The teaching operation panel 27 is used for inputting a program such as an operation program, position data, and other necessary setting values. In addition, an input / output device for digital signals (digital I / O) 15 and an input / output device for analog signals (analog I / O) 16 are coupled to the bus 17.

FIG. 2 is a conceptual diagram showing the teaching operation panel 27. The teaching operation panel 27 has an application switching key 19 constituting an operation section of a program selection means for switching an application, and a selection status of an application program. Status display lamps L1 to L4 and command input keys A1 to
In addition to A4, equipment similar to the conventional one required for the teaching operation panel 27, that is, a liquid crystal display 27a constituting a part of a man-machine interface, various numeric keys, and the like are provided.

FIG. 16 shows the ROM 1 when the control device 10 is started up.
9 is a flowchart showing an outline of a system startup process executed by the CPU 11a in accordance with the system program of FIG. 1b.
The operator can freely select an application program to be resident in the computer.

The CP which detects that power is supplied to the control device 10
U11a first determines whether or not the Boot mode has been selected by the operator (step b1).
If the auto mode is not selected, the normal system start-up processing including various initialization processings is executed in the same manner as in the related art, and the system start-up processing ends (step b1).
9) Enter a standby state waiting for the next processing operation by the operator.

If the Boot mode has been selected, the CPU 11a performs processing that can be selected in the Boot mode, for example, system shokika, group change,
The processing items such as application change are displayed on the display 27a of the teaching operation panel 27 as shown in FIG. 6 (step b2), and the operation of selecting the processing item by the operator is awaited.

The operation of selecting the processing item is achieved by inputting a numerical value from the numeric keypad. Here, the processing when the application change for selecting the application program to be resident in the RAM 11c is selected, that is, the processing of the third key is performed by the numeric keypad. Only processing when a numerical value is input will be described, and processing of system shokika and group change will be performed by conventional processing (step b2).
0) and the description is omitted.

The CPU 11a that has detected the operation of selecting the processing item of the application change by the determination processing of step b3,
A list of names of application programs that can change the setting of execution / non-execution of Boot in the application change process is displayed on the display 27a of the teaching operation panel 27 as shown in FIG. 7 (step b4).

Next, the CPU 11a sets the initial value 1 in the register n (step b5), and determines whether the down arrow key or the up arrow key is operated by the operator (step b6, step b9). If the key is not operated, the spot column shown in FIG. 7 is highlighted by the cursor according to the value of the initial value 1 set in the register n (step b13), and the spot welding application program is set to Boot. Select as an execution / non-execution switching target.

Next, the CPU 11a determines whether or not the operator has operated the function key F3 for selecting the application program selected by the currently highlighted display as the object to be booted (step b14). The application program selected in the highlighted display of Bo
Function key F4 for removing from ot execution target
Is operated by the operator (step b16) and whether the function key F5 for storing the setting state of execution / non-execution of Boot for each application program is operated by the operator. (Step b18),
If no key operation is detected, the processing of step b5, step b6, step b9, step b13, step b14, step b16, and step b18 is repeatedly executed in the same manner as described above.

During this time, if it is necessary to change the application name to be selected as the target of switching between execution and non-execution of Boot, the operator presses the down arrow key to sequentially change the name of the next lower item on the screen of FIG. The name of the application to be highlighted is changed by moving the cursor or pressing the up arrow key to sequentially move the cursor to the name of the item immediately above.

The operation of the down arrow key is detected by the discriminating process of step b6, and upon detecting this, the CPU 11a increments the value of the register n by 1 (step b7).
The current value of the register n is the total number n of application names
_max. (In the example of FIG. 7 n _max. = 5) to determine whether exceeds (Step b8). If the current value of the register n does not exceed the total number of application names n _max. , The CPU 11a sets the name of the application program corresponding to the value n set in the register n to Bo.
If the current value of the register n exceeds the total number n _max. of application names, C is highlighted _.
The PU 11a resets the value of the register n to the initial value 1 again (step b5), and highlights the name of the application program corresponding to the value 1 as a target for switching between execution and non-execution of Boot (step b1).
3).

The operation of the up arrow key is detected by the determination processing of step b9, and the CPU 11 detecting this operation
a decrements the value of the register n by 1 (step b)
10) It is determined whether or not the current value of the register n is smaller than 1 (step b11). If the current value of the register n is not smaller than 1, the CPU 11
“a” highlights the name of the application program corresponding to the value “n” set in the register “n” as a target for switching between execution and non-execution of Boot (step b1).
3) If the current value of the register n is smaller than 1, the CPU 11a resets the value of the register n to the value of the total number of application names n _max (step b12), and The name of the application program corresponding to _max is highlighted as a target for switching between execution and non-execution of Boot (step b13).

With the above processing, the operator can use the Boo
Select the name of the application to be switched between execution and non-execution of t. Then, in a state where the name of any application program is selected, that is, in a state where the name of any application program is highlighted, the operator presses the function key F3.
Is operated, the CPU 11a detects this operation in the determination processing of step b14, and sets the application program corresponding to the current value of the register n, that is, the highlighted application program as a Boot target, as shown in FIG. When the operator operates the function key F4, the CPU 11a detects this operation in the determination processing of step b16, and stores the selected application program corresponding to the current value of the register n in Boot mode. It is deleted from the Configuration table as shown in FIG. 3 as an execution target (step b17).

As an example, the display state of the display 27a when the arc welding application program is removed from the execution target of the Boot by operating the function key F4 in a state where the arc welding application program is selected and highlighted is shown in FIG. FIG. The operator sequentially selects, as necessary, applications to be switched between execution and non-execution of Boot by the above-described processing, and sets one of execution and non-execution of Boot for each of the applications. F
5 is operated (step b18), and the system start-up process is started in the same manner as in the prior art (step b19).

The configuration table is R
Since the data is nonvolatilely stored in the AM 11c, it is necessary to perform a setting change operation in the above-described processing of Steps b6 to b17 because of the configuration.
This is only for rewriting the n-table itself, without changing the resident application.
This processing is unnecessary when the settings of the uration file are used as they are.

When the system start-up process is started, C
The PU 11a reads the Configuration table in accordance with the system program in the ROM 11b, checks the name of the application program and the used memory capacity stored as Boot execution items in this table, and secures a heap in the RAM 11c for resident them in the RAM 11c. , The application programs to be executed by the Boot are sequentially stored in the ROM 11b from the RAM 1b.
1c and make it resident (step b1
9).

Depending on the number of application programs to be booted and the order in which they are read,
Although the position of the storage area occupied in the RAM 11c by each of the application programs varies in various ways, step b
Each time the boot process is executed, a new memory management index table that stores the start address of each application program is generated in the RAM 11c, and the CPU 11a refers to this index table according to the process requested by the system. Since the processing is performed by using the above-mentioned method, there is no problem in memory control such as a system error and a bus error.

FIG. 15 is a flowchart showing an outline of a program selecting process for designating an application program used in an actual teaching operation from the teaching operation panel 27. This processing routine is executed by the application switching key 19 on the teaching operation panel 27 serving as a program selection means.
Is activated by an operator. Upon detecting the operation of the application switching key 19 by the operator in the determination processing of step a1, the CPU 11a reads the number of the currently selected application program from the RAM 11c, and sets the value as an initial value in the register n ( Step a2).

Since the number of the selected application program is a value that is held in the RAM 11c in a nonvolatile manner even after the power is turned off, the number of the application program immediately after the start-up of the system is the same as the number of the previous power supply. This is the number of the application program selected immediately before the disconnection processing.

Next, the CPU 11a, based on the value of the register n, configures as shown in FIG.
By referring to the number of the (n + 1) th application program in the on table, it is determined whether or not the application program has been read into the RAM 11c, that is, whether or not Boot has been executed when the system is started (step a3). ), The (n + 1) th application program is stored in the RAM 11c as a Boot.
If it is read, the (n + 1) th application program is started as an application program to be executed, and its name is displayed on the display 27a of the teaching operation panel 27 as shown in FIG. a7).

If the result of the determination in step a3 is false, the (n + 1) th application program is not booted in the RAM 11c;
That is, since it means that it cannot be selected as an execution target, the CPU 11a increments the value of the register n by 1 (step a4) and determines whether or not the current value of the register n exceeds the total number n _{max. Of} application names _. (Step a5).

If the current value of the register n does not exceed the total number of application names n _max.
11a is the register n updated in the process of step a4
Configura based on the current value of
With reference to the (n + 1) th application program number in the Tion table, it is determined whether or not the application program has been read into the RAM 11c (step a3). If the (n + 1) th application program has been booted in the RAM 11c, the CPU 11a activates the (n + 1) th application program as an application program to be executed and displays it on the display 27a (step a7). Is not booted in the RAM 11c, the register n
Is incremented by one again (step a4).

If the result of the determination in step a5 is false and the current value of the register n exceeds the total number of application names n _max. , The CPU 11a initializes the value of the register n to 0, and proceeds to step a3. In the process (1), it is determined whether or not the application program can be selected in the same manner as described above in order from the (n + 1) th application program, that is, the application program with the program number 1.

Therefore, every time the operator operates the application switching key 19, the Boot 11 is stored in the RAM 11c.
The application programs being executed are cyclically selected as new execution targets one after another, and the name of the application program to be executed at that time is displayed on the display 27 a of the teaching operation panel 27. That is, if the configuration table is set as shown in FIG. 3, the application program names are cyclically selected and displayed in the order of spot → ceiling → arc → handling → spot on the display 27a. Will be.

If the teaching operation panel 27 is not provided with the application switching key 19, the application program to be used may be selected using the function keys. For example, by operating a function key corresponding to the function of the application switching key 19 on the initial screen of the display 27a as shown in FIG. 4, the same processing as in FIG. 15 can be performed. Also, the names of application programs booted in the RAM 11c are displayed in a pop-up menu on the display 27a by a certain key operation, and a desired application program is designated and selected by ten key input, cursor movement keys, trackpad operation or the like. You may make it.

An application program to be used is resident in the RAM 11c in advance, and an application program to be actually used is started from the resident application program. ROM11b to R
Unlike the conventional method of reading a program into the AM 11c and starting a program, it eliminates memory control problems such as occurrence of conflict due to memory contention, failure of application startup due to insufficient memory, and occurrence of fragmentation of a memory storage area. be able to. Further, since only the application programs to be used are made to reside in the RAM 11c, no useless application programs are read, and the storage area of the RAM 11c can be effectively used without waste.

FIG. 17 is a flowchart showing an outline of a process for switching the functions of the command input keys A1 to A4 on the teaching operation panel 27 in accordance with the application program selected as the execution target in this manner. 18 is a flowchart showing an outline of a process for switching the functions of the status display lamps L1 to L4 according to the selected application program. The routine for the switching process shown in FIG.
This is an interrupt process that is repeatedly executed by the U11a at predetermined intervals.

First, upon detecting any key operation by the operator, the CPU 11a determines whether or not the operated key is a command input key (step c1). Keys other than the command input keys A1 to A4, such as numeric keys and function keys, are assigned certain functions irrespective of the selection state of the application program, so that it is not necessary to switch functions according to the application program. .

On the other hand, if any one of the command input keys is operated and the result of determination at step c1 becomes true, the CP
U11a first reads the number of the currently selected application program from the RAM 11c and stores the value in the register n (step c2),
The function assignment table for the command input key corresponding to the program number n is accessed, and the address of the RAM 11c storing the processing corresponding to the command input key operated this time is searched from the function assignment table (step c3). The processing of the routine indicated by the address is executed (step c4).

FIG. 9 is a conceptual diagram showing an example of a function assignment table for command input keys. In the function assignment table 1 for command input keys, the command input key A1 is selected when the spot welding of program number 1 is selected. ~ A
The address of the processing routine to be executed by the operation 4 is stored in the function assignment table 2 for the command input key.
In the state where the sealing work of the program number 2 is selected, the address of the processing routine to be executed by operating the command input keys A1 to A4 is similarly set,
Processing to be executed by operating the command input keys A1 to A4 in a state where the arc welding, handling, and deburring work of the program numbers 3, 4, and 5 are selected in the function assignment tables 3, 4, and 5 for the command input keys. Each address of the routine is stored.

For example, if the command input key A1 is operated in a state where the spot welding of the program number 1 is selected, the CPU 11a accesses the function assignment table 1 for the command input key and responds to the operation of the command input key A1. If the command input key A1 is operated in a state where the sealing work of the program number 2 is selected, the CPU 11a accesses the function assignment table 2 for the command input key. Since the process starting from the head address 1201000H corresponding to the operation of the command input key A1 is executed, even if the same command input key A1 is operated, the process according to the difference of the selected application program is performed. Operations can be performed. .

In the case of this embodiment, all of the contents of the processing routine corresponding to the operation of the command input key (the hatched portion of the memory map shown in FIG. 9) are set at the initial stage of the Boot process in step b19. Since it is read in the RAM 11c collectively independently of the application program, the value of the address 1200000H or 1201000H for designating the jump destination does not change, but the contents of the processing routine corresponding to the operation of the command input key are different from the application program. Bo together with the program
In the case of the configuration in which the application program is booted, the start address of the contents of each processing routine corresponding to the operation of the command input key also changes variously in the RAM 11c as in the case of booting the application program. At the boot processing stage b19, it is necessary to confirm the start position of each processing routine in the RAM 11c and to automatically reconstruct the jump destination addresses of the function allocation tables 1 to 5 accordingly.

Next, FIG. 18 shows a process for switching the functions of the status display lamps L1 to L4 on the teaching operation panel 27 in accordance with the application program selected to be executed. Since the lighting, blinking, and extinguishing of the status display lamps L1 to L4 depend on a command from inside the system, the switching process shown in FIG. 18 is an interrupt process at a predetermined cycle, for example, an interrupt of about 4 milliseconds. It must be executed repeatedly as a process. The CPU 11a that has started the status display lamp switching process first sets the index i for specifying the status display lamp to be controlled to the initial value 1 and selects the status display lamp L1 as the first control target lamp. (Step d1).

Next, the CPU 11a changes the number of the application program currently selected to RA
M11c, the value is stored in the register n (step d2), and the function assignment table for the status display lamp corresponding to the program number n is accessed,
From this function assignment table, the address of the RAM 11c storing the process corresponding to the status display lamp L1 currently selected as the control target is searched (step d).
3), execute the processing of the routine indicated by the address (step d4). The logical structure of the function assignment table for the status display lamp is substantially the same as the function assignment table for the command input key shown in FIG.
The jump destination address specification is different.

The processing in step d4 is performed by the routine itself such that the CPU 11a blinks, lights or turns off the lamp by referring to the value of a flag or the like set by the system according to the processing situation. Therefore, even if the same application program is used, the status display lamp L1 is included.
The operation itself changes variously, such as blinking, turning on or off, according to the processing state of the system.
Naturally, the processing routine used is the same as long as the application selected as the execution target and the designation of the lamp by the index i do not change.

As in the case of the command input key described above,
Since the function assignment table for each program number is provided, even with the same status display lamp L1, a processing operation can be performed according to the difference between the selected application programs. Next, the CPU 11a determines that the value of the index i is the total number i _max of the status display lamps (in the example of FIG _.
max. = 4) is determined (step d).
5) If not reached, it means that there is another status display lamp to be selected as a control target.
11a increments the value of the index i by 1 (step d).
6) In the same manner as described above, the processing after step d3 is repeatedly executed, and the processing for the status display lamp corresponding to the value of the index i updated in the processing of step d6 is performed.

Finally, when the result of the determination at step d5 becomes true and a series of processing for the status display lamps from i = 1 to i _max. Is completed, the CPU 11a terminates the current interrupt processing. . As in the case of the above-described function assignment table for the command input key, the function assignment table for the status display lamp is completely independent of each application program in the first stage of the Boot process in step b19.
Since the data is read all at once, the value of the address specifying the jump destination does not change. However, in the case where the contents of the processing routine related to the display of the status display lamp are booted integrally with each application program, the start address of the contents of each processing routine also changes variously in the RAM 11c. ,
At the stage of the boot process in step b19, the RAM 11c
It is necessary to confirm the start position of each processing routine in and to reconstruct the jump destination address accordingly.

As described above, in this embodiment, the functions of the command input keys A1 to A4 and the status display lamps L1 to L4 change variously according to the number of the selected application program. By operating a key operation, for example, a help key constituted by a function key or the like, a function corresponding to the command input keys A1 to A4 and the status display lamps L1 to L4 in the currently selected application program is displayed. Since the information is explicitly displayed on the display 27a, the operator is not confused by operating the command input key or checking the status display lamp.

As an example, FIG. 14 shows a display example of the help screen when the spot welding application 1 is selected. There are as many files storing data to be displayed on the help screen as the number of applications, and one of them is displayed on the display 27a according to the selection status of the application.

Further, in order to eliminate the trouble of inputting a complicated command line at the stage of the teaching operation, the teaching operation panel 2 is provided.
7, a list of command options that can be input is displayed on a display 27a, and a robot control device that allows the operator to freely select a command from among them to create a teaching program is known. In the case of using the application program, there is a problem that since there are commands unique to each application, if these are collectively displayed, the display of options on the display 27a becomes too complicated.

Therefore, in the present embodiment, in order to solve such a problem, the options of the command displayed on the display 27a in the teaching mode in accordance with the application being used are limited. FIG.
9 is a flowchart showing an outline of an input assisting process for displaying a choice of a command in accordance with the use status of the application.

CPU 11a detecting start of teaching operation
First, a key to execute the auxiliary input of the command,
For example, it is determined whether or not [Melay] of the function key F1 is operated by the operator (step e1) (see FIG. 10).
If any other key, for example, a numeric keypad, is operated, the input data is directly taken into the teaching program as in the conventional case (step e9).

On the other hand, when the function key F1 is operated and the result of the determination in step e1 becomes true, the CPU 1
1a secures an area for displaying a sub-window on the display area of the teaching program displayed on the display 27a of the teaching operation panel 27 (step e2).

Next, the CPU 11a changes the number of the application program currently selected to RA
M11c, the value is stored in the register n (step e3), and a command reference table as shown in FIG. 12 is accessed, and the command reference table is used by the currently selected application program n from this command reference table. R that stores the commands that can be performed
The address of the AM 11c is searched (step e4), and a list of selectable commands stored at the address,
That is, a list of the contents of the command storage table storing the commands usable in the application of the number n is displayed on the sub-window of the display 27a as shown in FIG. 11A (step e5).

FIG. 11A shows a display state when spot welding of application number 1 is selected as an example. Selection of a command from the sub-window is performed by an operator operating a numeric keypad corresponding to a desired command, as in the related art. For example, in the display state shown in FIG. Is input, the CPU 11a detects this operation in the process of step e6, a third line is added to the teaching program shown in FIG. 11A, and the command of the spot [] is taught on that line. When the schedule number of the spot command is input from the numeric keypad, for example, when 1 is input as the schedule number, spot [] is automatically replaced with spot [1].

When the selection operation by the operator is completed,
The CPU 11a closes the sub window (step e).
6) Only the teaching program screen as shown in FIG. 11B is displayed. Then, it is determined whether or not the teaching end key of the teaching operation panel 27, for example, the function key F2 has been operated (step e8). If the teaching end key has not been operated, the process returns to the determination processing of step e1. Then, after determining whether the function key F1 for executing the auxiliary input of the command has been operated or whether any other key has been operated, in the same manner as described above, the processing of step e2 to step e7 or The processing of e9 is repeatedly executed.

When all the teaching operations are finally completed, the operator operates the teaching end key F2 to end the teaching operation. Since only the commands used in the currently selected application program are displayed on the display 27a in the process of step e5, the options of the commands displayed in the sub-window do not become complicated. The operator can easily select a command to perform a teaching operation, and also prevent mistakes such as erroneously inputting a command used in another application.

FIG. 20 is a flow chart showing the outline of the operation control method or operation parameter use processing executed by the CPU 11a when playing back the taught program. Here, an example of selection of an acceleration / deceleration processing method is shown as an example of the operation control method. First, the CPU 11a that has started the playback process reads one block from the beginning of the program (step f1), and determines whether or not the block indicates the end of the program (step f2).

If it does not indicate the end of the program, the CPU 11a reads the 1
For the block, general analysis processing relating to linear interpolation, circular interpolation and the like (step f3) and analysis processing relating to a command portion unique to each application (step f4)
Is executed to generate an operation command, and based on the analysis result of step f4, the number of the application that created the program is temporarily stored (step f5), and the path calculation of the robot is performed in the same manner as in the related art (step f6). And the calculation of the interpolation point (step f7).

Next, the CPU 11a uses the application number obtained in the processing of step f5 as the number of the application program to be used in the register n.
Is switched to the application program of application number n (step f8).

That is, if the block read in step f1 is generated by the application program for spot welding, the application program for spot welding is used for playback, and the block read in step f1. Is generated by a sealing work application program, the sealing work application program is also used for playback. Next, the CPU 11a accesses the control type storage table as shown in FIG. 13 and refers to the acceleration / deceleration control type corresponding to the application program n, and determines whether the type name is 0 or 1 ( Step f9).

As shown in FIG. 13, in the control type storage table of this embodiment, a type name 0 is set for the applications of spot welding 1 and handling 4 where a short cycle time is important, and The type name 1 is set for the applications for sealing 2, arc welding 3, and deburring 5 where trajectory accuracy is important, and the control type is determined to be 0 by the determination processing in step f9. in case of,
The shortest time control method for high-speed control is selected as the method for acceleration / deceleration control (step f10). If the control type is determined to be 1, the acceleration / deceleration time constant for high precision control is fixed. The control method is selected (step f11). In step f12, operation parameters are selected for each application. The reason why the parameters for arc welding 3 and deburring 5 are the same is that the required operating characteristics are the same.

Next, the CPU 11a determines the data of the robot path and the interpolation point obtained in the processing of step f6 and step f7 and the data of step f10 or step f7.
Based on the values of the acceleration / deceleration control parameters selected in the process of step 11, the distribution calculation of the movement amount in each axis direction is executed (step f13) in the same manner as in the related art. A movement command is obtained (step f14) and the movement command of the program for one block is executed (step f14).
15). Then, the processing shifts to the processing of step f1 again to read the next one block. Finally, until the block indicating the program end is read, the movement command for each block constituting the program is issued in the same manner as described above. It will be executed in order.

According to this embodiment, the optimum acceleration / deceleration control can be performed according to the type of the taught program. This eliminates the problem that high-speed acceleration / deceleration control with low positioning accuracy is applied to a program in which trajectory accuracy is important, or a program in which trajectory accuracy is important. In the example of the control type storage table shown in FIG. 13, one of the two types of acceleration / deceleration control types is set. However, three or more types of acceleration / deceleration control types are set and parameters are selected. It is also possible to do so.

[0071]

According to the present invention, various application programs to be executed are arbitrarily selected, and the teaching operation and the state checking operation for each of them can be accurately performed by a single robot controller and a teaching operation panel. Can be implemented. In addition, since the functions of the command input keys and the status display lamps used for the teaching operation of the selected application program are displayed on the display on the teaching operation panel, the command input keys and status display lamps can be used for multiple applications. Even when the application program is used repeatedly, the roles of the command input key and the status display lamp corresponding to the application program selected at that time can be easily grasped.

Further, on the display of the teaching operation panel,
Only commands that match the currently selected application program are displayed selectively, so if you select an application program to be executed from among multiple application programs, you will not be bothered by the troublesome display. In addition, a command that can be executed at that time can be appropriately selected and input, and a mistake in command input can be eliminated.

Further, an optimum operation control method and / or an optimum operation control method are selected according to the application program selected at that time.
Or, since the operation parameters can be implemented, the positioning accuracy is respected during the execution of the program requiring high-speed operation, and the operation is slowed down. The contradiction that the high-speed performance is respected and the positioning accuracy is reduced is also solved.

Further, since the application program to be resident in the work memory can be freely selected at the time of starting the system, the capacity of the work memory can be saved, and the occurrence of a system error due to unnecessary reading of the application program. Is prevented beforehand,
In addition, the application to be executed can be freely switched without restarting the control device. Further, since the operation unit of the means for selecting an application program to be executed is provided on the teaching operation panel, the operator can freely switch the application selection without leaving the robot.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a main part of an embodiment of a robot control device to which the present invention is applied.

FIG. 2 is a diagram showing a display example of an application selection screen displayed on a display of a teaching operation panel.

FIG. 3 is a conceptual diagram showing a setting example of a configuration table.

FIG. 4 is a diagram showing a display example of an application selection screen using function keys.

FIG. 5 is a diagram showing a display example of a function selection screen displayed on a teaching operation panel in a Boot mode.

FIG. 6 is a diagram showing a display example of a selection screen displayed on a teaching operation panel in a Boot mode.

FIG. 7 is a diagram showing a display example of an application program list displayed on a teaching operation panel.

FIG. 8: Boot execution of application program /
FIG. 9 is a diagram illustrating an example of non-execution switching.

FIG. 9 is a conceptual diagram illustrating an example of a function assignment table for command input keys.

FIG. 10 is a diagram showing an example of a switching display displayed on the teaching operation panel.

FIG. 11 is a conceptual diagram illustrating an example of a command selection screen.

FIG. 12 is a conceptual diagram illustrating an example of a command reference table.

FIG. 13 is a conceptual diagram illustrating an example of a control type storage table.

FIG. 14 is a conceptual diagram illustrating an example of a help screen.

FIG. 15 is a flowchart illustrating an outline of a program selection process.

FIG. 16 is a flowchart illustrating an outline of a system activation process performed by the robot control device.

FIG. 17 is a flowchart illustrating an outline of a process for switching a function of a key on a teaching operation panel according to a selected application program.

FIG. 18 is a flowchart showing an outline of a process for switching a function of a status display lamp on a teaching operation panel according to a selected application program.

FIG. 19 is a flowchart illustrating an outline of an input assisting process in which a choice of a command is displayed according to a use state of an application.

FIG. 20 is a flowchart showing an outline of acceleration / deceleration processing when playing back a program.

[Explanation of symbols]

 Reference Signs List 10 robot controller 11 processor board 11a CPU 11b ROM 11c RAM 12 digital servo control circuit 13 servo amplifier 14 serial port 15 digital I / O 16 analog I / O 17 bus 19 application switching key 21-26 servo motor 27 teaching operation panel 27a Display 28 Communication interface RB Robot F1 to F5 Function keys L1 to L4 Status display lamps A1 to A4 Command input keys

Continued on the front page F-term (reference) 3F059 AA05 AA07 BA02 BA10 BC07 BC09 CA05 CA06 DA02 DA05 DA08 DC02 DD01 DE05 EA05 FA03 FB01 FB05 FB15 FB29 FC02 FC04 FC07 FC13 FC14 5B076 AA12 AB17 5H269 AB12 AB33 BB03 Q03 Q03 BB09 Q01E QC SA03

Claims (4)

[Claims] 1. A controller for a robot which performs work corresponding to a plurality of applications, wherein function assignments of command input keys and status display lamps on a teaching operation panel connected to the robot controller correspond to each application program. A function allocation storage unit that stores the plurality of application programs; a program selection unit that selects an application program to be executed from the stored plurality of application programs; A robot control device comprising: switching means for switching functions of a command input key and a status display lamp based on an application program selected by a program selection means and the function assignment storage means. 2. The robot according to claim 1, wherein a command input key corresponding to the selected application program and a function assignment of a status display lamp are displayed on a display on the teaching operation panel. Control device. 3. A control device for a robot which performs a work corresponding to a plurality of applications, a command storage means for storing a group of commands used for programming a user program corresponding to each application program, and a plurality of application programs. Means for storing, a program selecting means for selecting an application program to be executed from the plurality of stored application programs, an application program selected by the program selecting means, and the command storing means A command control means for displaying a command group corresponding to a currently selected application program on a display on a teaching operation panel based on the command program. 4. A control device for a robot which performs work corresponding to a plurality of applications, wherein a control type storage means for storing a robot operation control method and / or an operation parameter affecting the operation corresponding to each application program. Means for storing a plurality of application programs, program selection means for selecting an application program to be executed from among the stored plurality of application programs, and an application selected by the program selection means A control type designating means for designating an operation control method and / or an operation parameter to be used in an application program currently selected based on the application program and the control type storage means. Control device.