JP2854608B2 - Control devices for industrial machines - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to an improvement in a device for controlling an industrial machine such as an industrial robot or an NC device of a machine tool.

[Conventional technology]

This main industrial machine automatically performs necessary movements, machining operations, and the like according to a control program of a dedicated control device.

Conventionally, such a control program is stored in a control device.
It is written in the ROM in advance. When power is turned on, the CPU
Executes the control of the industrial robot and the like based on the control program.

In the case of such a method, when updating the control program, a plurality of ROMs are exchanged, or a board on which the ROM is attached is exchanged, or a dedicated ROM writer is prepared and connected to the control device, Work such as storing the update program in ROM is required. A lot of time is spent writing ROMs for replacing this update, and when this replacement is complicated, contact between the sockets of the ROM pins or between the ROM board and the motherboard Failure occurs and the connection becomes electrically unstable. Further, in order to update a plurality of control devices, a plurality of sets of ROMs are required, and the management thereof becomes complicated.

[Object of the invention]

Therefore, an object of the present invention is to make it possible to easily update a control program without replacing a ROM in a control device for an industrial machine of this kind, to shorten the time required for the update work, and to achieve an electrical connection between the ROM and the board. An object of the present invention is to eliminate poor connection of a contact portion or the like and improve the above-mentioned disadvantages of the conventional technology.

[Solution of the Invention]

Therefore, according to the present invention, a normal control program is stored in a hard disk, and when the power is turned on, the control program is read from the hard disk based on a bootstrap ROM load program and stored in the RAM. In addition, the movement of the industrial machine should be controlled by the CPU.
Read the update program from the hard disk or floppy disk based on the load program of, and read the new update program from the floppy disk with a simple operation such as keyboard while interacting with the CRT, and store the control program on the hard disk So that it can be updated easily.

〔Example〕

FIG. 1 shows a system configuration of a bootstrap control device 1 for an industrial machine such as an industrial robot or an NC device.

The control device 1 executes a control program to execute the control program.
Built-in U2. The CPU 2 includes a RAM 3, a ROM 4 for bootstrap, and the like, via a bus 5, an interface 6, 7, 8, 9 and an input / output port 10 for a teaching box 11, a disk drive 12, a CRT 13, a keyboard 14, and a servo system position control unit. 15 and a program update switch 16 as input means. The disk drive 12 reads and writes data from a hard disk 17 or a floppy disk 18.

Next, FIG. 2 shows an operation program of the CPU 2.

When the power is turned on, the program execution part of CPU2 is based on the load program of ROM4 for bootstrap,
The on / off state of the program update switch 16 is checked, and when the switch is in the off state, it is determined that the control operation is a normal control operation.The disk drive 12 is driven, the control program stored in the hard disk 17 is read, and the RAM 3 is read. Store,
It waits for the next command as a state in which the control program can be executed. The CPU 2 executes the control program when receiving the operation command, and drives and controls the position control unit 15 of the servo system of the industrial machine.

On the other hand, at the time of updating the control program, the operator turns on the program update switch 16 and turns on the power of the control device 1.

At this time, the CPU 2 confirms the update operation from the ON state of the program update switch 16, drives the disk drive 12 based on the load program stored in the ROM 4, and is recorded on the hard disk 17 or the floppy disk 18. The update work program is read out and transferred to the RAM 3 so that the update work program can be used to perform the update work. Next, the floppy disk 18 of the new update program is mounted on the disk drive 12.

By operating the CRT 13 or the keyboard 14, the operator reads a new update program to be updated from the floppy disk 18, rewrites and updates the data of the control program, and stores it in the hard disk 17. In this way,
The updated new control program is ready to be executed for controlling an industrial machine.

In this way, the RAM 3 and the ROM 4 for bootstrap are prepared in the control device 1 and a new update program is stored in the disk drive based on the load program.
12, the floppy disk 18 to the hard disk 17
Since it is in a state where it can be loaded into, it is not necessary to replace the hardware part, that is, RAM or ROM,
The contents of the control program can be changed or updated.

When the update of the program is completed, the normal control operation can be performed by turning off the program update switch 16.

〔The invention's effect〕

In the present invention, by providing a hard disk in a motion control unit such as an industrial robot, the control program is read from the hard disk to the RAM by the load program of the ROM, and the ROM is updated when the control program is updated.
The new update program is loaded from the floppy disk to the hard disk by the load program, and this enables the control program to be updated. And the time required for the update operation can be shortened. This makes it possible to flexibly respond to changes in the control program contents, version upgrades, and the like in accordance with the correspondence of various types of motion control and processing contents, thereby enabling appropriate motion control.

In particular, the provision of the input means for designating the update operation enables the distinction between the normal control operation and the update operation when the power is turned on, that is, at the start of use of the control device. An update work program during operation is unnecessary, the structure of the control program is simplified, and the update work is facilitated.

[Brief description of the drawings]

FIG. 1 is a block diagram of the control device, and FIG. 2 is a flowchart of a program at the time of operation. 1 ... Control device, 2 ... CPU, 3 ... RAM, 4 ... ROM, 1
1 Teaching box, 12 Disk drive, 13 CRT, 14 Keyboard, 15 Position control unit, 16 Program update switch, 17 Hard disk, 18 Floppy disk.

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁶ , DB name) G05B 19/18 G05B 15/02 B23Q 15/00

Claims (2)

(57) [Claims] 1. A CPU that controls an industrial machine based on a control program, a RAM that stores various data and programs, a hard disk that stores a control program, and a read / write from / to a floppy disk that stores an update program. And a drive for driving the disk drive when the power is turned on to read the control program from the hard disk and load it into the RAM, or to read the update program from the floppy disk by the update work program and load it into the hard disk. An industrial system comprising: a bootstrap ROM storing a load program; and input means for specifying whether to load the control program into the RAM or the update program into the hard disk. for The control device of 械. 2. The method according to claim 1, wherein when the input means specifies that the update program is stored in the hard disk, the update program is stored in the hard disk from the floppy disk by an update work program stored in the hard disk in advance. The control device for an industrial machine according to claim 1, wherein: