JP3229078B2 - Data analysis processing method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a data analysis processing method suitable for communication processing between a peripheral device such as an industrial robot and a microcomputer used for controlling the peripheral device.

[0002]

2. Description of the Related Art Conventionally, when a control command is transmitted from a commander such as a keyboard or a sequencer to a microcomputer for controlling a peripheral device, control command data usually composed of n bits (n is an integer) is transmitted and received in a serial form. .

In the case of serial data transmission, after receiving all n-bit serial data,
They collectively analyze those data and process the corresponding instructions.

For example, when a microcomputer controls an industrial robot and the control command is composed of 4 bits, as shown in FIG. 4, the serial data of the control command has a certain meaning with the entire 4 bits. I'm making it.

For example, in order to instruct an industrial robot to loosen or tighten two kinds of screws at four points P, Q, R and O as shown in FIG. 5, an instruction as shown in FIG. A form can be adopted. Then, for example, when the received serial data is “1111” as shown in the figure, it means that a process of “tightening a screw having a diameter φ of 3.0 mm at the position R” has been instructed.

[0006] The screw tightening process is performed at a specified position.
Since it is nothing but instructing the control motor mounted on the robot to rotate rightward, in this case, the robot selects a designated screw (this is called A operation) and moves the X-axis as shown in FIG. The position R specified by the operation and the Y-axis movement operation is specified (B and C operations), and the rotation direction of the control motor is selected at that position (D operation), and a series of processing ends.

FIG. 6 is a time chart showing CPU processing and robot operation on the receiving side when serial data having a 4-bit configuration is transmitted at a transmission speed of 9600 bps. In this example, a case is shown where a CPU is used in which a clock of 4 MHz is used and one instruction cycle is executed in three machine cycles (2.25 μs).

In the conventional data analysis processing method, as shown in FIG. 6B, data analysis and processing associated with the analysis are not performed at all until all 4-bit serial data is received. Data analysis (“0000” to “1111”) by all data combinations is performed collectively from the time point a. afterwards,
Corresponding processes A to D are performed.

As a result, the data analysis time is 36 μsec,
Assuming that 2.25 μsec is spent in each of the instruction processing times A to D, the total time b for processing the 4-bit instruction by the CPU is 359.75 μsec (= 104.2 μsec)
× 3 bits + 2.25 μsec + 36 μsec + 2,25 μse
c × 4 processing).

For this purpose, as shown in FIG. 1C, the operations A to D of the robot start from a time point c when the processing A by the first command is completed, and a predetermined operation time (when one operation takes 1 second, 1 second) A series of processing ends only after elapse of (× 4 operation = 4 sec). Therefore, the total time d for performing the 4-bit instruction is 400.353 m
sec (= 4 sec + 353 μsec).

[0011]

In such a conventional data analysis processing method, a standby state is established until the data of the least significant bit (LSB), which is the last bit of the n-bit configuration, is completely received, and no processing is started. Since it cannot be performed, the time delays the CPU processing time and the peripheral device operation time. This delay further increases as the bit length of one instruction is extended.

Therefore, the present invention solves such a conventional problem, meanings are given for each bit of an instruction or for each predetermined bit group, and the received data is sequentially analyzed for each bit or each bit group.・
By performing the processing, the total instruction processing time can be reduced.

[0013]

This invention SUMMARY OF THE INVENTION is to <br/> receive n bits constructing one cohesive instruction as serial data, a predetermined instruction by analyzing and processing the received serial data has been a data analysis method to be executed, on
Serial n-bit meaning has crack lines for processing instructions for each grouped bit groups in a plurality of bits is young properly for each bit, bit young <br/> properly constituting the n-bit bit whenever receiving a group, the bit Wakashi Ku
Performs analysis processing on a bit group .

[0014]

According to the present invention, as shown in FIG.
Instruction n bits configured to be serially transmitted, meaning each grouped bit groups for each bit or for a plurality of bits are crack line.

[0015] On the receiving side, bit young <br/> properly configuring the n bits each time it receives a bit group sequentially analyzes process the data.

Since the instructions are processed one by one in this manner, the pre-processing of the instructions can be performed within the period of the conventional standby as shown in FIG. 3B, so that the CPU processing time can be reduced. . The instruction preprocessed in this way is
Are transmitted early through the I / O interface 6 and executed, so that the operation waiting time of the robot is also reduced, and the total command processing time can be shortened.

[0017]

Next, an embodiment according to the present invention will be described in detail with reference to FIGS. FIG. 1 is a configuration diagram of an embodiment of a processing system to which the present invention is applied. This example also illustrates a case where a control process for tightening or loosening a specific screw at a specific position is performed on an industrial robot.
For convenience of explanation, a series of instructions has a 4-bit configuration.

As shown in FIG. 1, a microcomputer 10 is connected to a commander 1 such as a keyboard and a sequencer by a cable 8.
It is connected to the. A command for controlling the robot 11 is transmitted from the commander 1 to the microcomputer 10.

The command from the commander 1 is composed of 4-bit serial data and transmitted to the CPU 2 provided in the microcomputer 10 at a transmission speed of, for example, 9600 bps. C
The data received by PU2 is temporarily stored in RAM5,
According to the control program stored in the OM 4, analysis processing of received data and processing of instructions are performed.

The controlled part 7 of the robot 11 is controlled via the I / O interface 6 and the cable 9 by the command data processed by the CPU 2. Controlled part 7 of this example
Is 2 at four different positions O, P, Q, R as described above.
One of the two types of screws (2.6 mmφ or 3.0 mmφ) is selected, and the operation of tightening or loosening the selected screw is performed. Therefore, the controlled unit 7 is configured by the operation control motors M1 to M4 of the industrial robot and the electromagnet Mg that sucks (pickups) the screw.

The 4-bit microcomputer 10 includes the crystal oscillator 1
In this example, the frequency of 4 MHz generated by the clock generator 3 based on the oscillation frequency of 2 is used as the basic clock CK of the CPU 2. One machine cycle is for three clocks (0.25 ns × 3 = 0.75 μs), and one instruction cycle is for three machine cycles (0.75 ns × 3 =
2.25 μs).

In the processing system configured as described above, according to the present invention, in the 4-bit instruction data transmitted from the commander 1 to the microcomputer 10, each bit or each bit group in which a plurality of bits are grouped. Is given meaning. When the bit length is short, the meaning is given in units of bits. When the bit length is long, the groups are grouped in units of a plurality of bits, such as 2 bits or 4 bits. In this example, since the bit length is as short as 4 bits, meaning is provided for each bit.

In the case of the above-mentioned control mode, meaning is given as shown in FIG. In this example, the most-significant bit MSB selects the loose tightening of the screw, the third bit selects the screw type, the second bit specifies the X-axis movement, and the least-significant bit LSB specifies the Y-axis movement. It is specified. The second bit and the least significant bit LSB determine the coordinate position O ~.
R is specified.

FIG. 3 is a time chart showing the CPU processing and robot operation of this embodiment.

As shown in FIG. 3A, a 4-bit instruction is serially transmitted at a transmission speed of 9600 bps. As shown in FIG. 2B, the CPU 2 sequentially analyzes the received data at each reception end stage a 'for each bit of the received data, and sends a corresponding command as an analysis result to the robot 11 each time. The corresponding processing is performed.

When the meaning is given as shown in FIG. 2, the operation (loose tightening operation) of the robot corresponding to the most significant bit MSB itself becomes necessary at the final stage. In this case, the robot enters the standby state as shown in FIG. 3B. Become. When the screw tightening operation is selected and the screw selection operation is performed with the third bit, the electromagnet Mg operates at the stage c ′ where the command processing of the third bit is completed, and the specific screw is attracted (see FIG.
A operation in the figure) .

Next, by receiving the second bit and the LSB, the position is specified by the X-axis movement command and the Y-axis movement command (B and C operations in the figure), and the control motor already analyzed Select the rotation direction of (D in the figure, D
Operation) A series of loosening operation is completed.

When the control command is analyzed and processed for each bit in this manner, the operation A has already been completed before the least significant bit LSB is received, and the processing time b 'in the CPU 2 is shown in FIG. 3B. Becomes 330.50 μsec,
CPU processing time by conventional instruction processing 359.75 μse
Compared with c (see FIG. 6B), it can be reduced by approximately 29.25 nsec.

As shown in FIG. 3C, the operations A to D of the industrial robot according to the present embodiment are started from the time point c 'immediately after analyzing the data content of the third bit, so that the final operation D is completed. The time d 'until the process is completed is 4000.111 msec, which can be reduced by approximately 242 μsec as compared with the processing time 4000.353 msec (see FIG. 6C) according to the conventional example.

Since the processing time can be shortened even with the bit length of the 4-bit configuration, it is easy to understand that the processing time can be further reduced by using an instruction form having a longer bit length.

In the embodiment described above, the present invention
Although the processing of an instruction having a bit configuration has been described, it is apparent that the present invention can be applied to an instruction having a longer bit length. In this case, as described above, a group having a plurality of bits as a unit according to the bit length is used. Is performed for each bit group, and the analysis and processing are performed for each bit group having the meaning. The frequency of the clock CK and the machine cycle time described above are examples.

[0032]

According to this invention, according to the present invention, the n-bit configuration that is serially transmitted instruction, meaning each grouped bit groups for each bit or for a plurality of bits is
The bits or bits that make up the n bits
Each time it receives a door group, successively the data is a solution 析処 management
Also of the is is.

According to this, it is not necessary to wait until all the number of bits of one command form are received,
Since the bit contents can be analyzed and processed for each meaningful bit, pre-processing of instructions becomes possible, and accordingly, CPU processing time and peripheral device operation time are reduced, and the overall instruction processing speed is improved. It has a remarkable effect. Therefore, the present invention is extremely suitable for application to a processing system employing an instruction format having a long bit length.

[Brief description of the drawings]

FIG. 1 is a diagram showing a configuration of an embodiment according to the present invention.

FIG. 2 is a diagram showing an instruction format of the present invention.

FIG. 3 is a time chart of the instruction processing of the embodiment.

FIG. 4 is a diagram showing a conventional instruction format.

FIG. 5 is a diagram illustrating a manner in which four points O, P, Q, and R are specified by an X axis and a Y axis.

FIG. 6 is a time chart of conventional instruction processing.

[Explanation of symbols]

 1 Commander 2 CPU 3 Clock generator 7 Controlled part 10 Microcomputer 11 Robot 12 Crystal oscillator

Continuation of the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) G05B 11/36 505 G06F 9/32 360 B25J 13/00 G06F 15/78 510

Claims (1)

(57) [Claims] 1. An n-bit processor for constructing a single instruction.
Receiving the bets as serial data, data solutions for executing a predetermined instruction by analyzing and processing the serial data with the received
A analysis processing method, the n bits are we meaning the line for processing instructions for each grouped bit groups in a plurality of bits is young properly for each bit, young bits constituting the n bits Or bit group
Each time a bit is received,
A data analysis processing method characterized by performing analysis processing.