JP3379988B2 - Robot control state display method and display control device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention displays control information such as motor current, motor speed, tool tip position and posture of a robot in a digital controller of a robot manipulator which drives a plurality of joint axes with a plurality of motors. The present invention relates to a control state display method for a robot and a display control device.

[0002]

[Prior art]

[Prior Art 1] FIG. 1 is a block diagram for explaining a prior art 1 entitled "Method and apparatus for confirming operation capability of industrial robot" disclosed in Japanese Patent Laid-Open No. 1-183394.
With reference to FIG. 1, a method of displaying a motor control state of one joint axis among a plurality of motors of the robot of the related art 1 will be described. In the figure, 1a is a motor control circuit, which is formed by a CPU 10, a program memory 11, a data memory 12, a motor current value detection circuit 20, and a motor drive circuit 21. 2 is, for example, FIG.
The six-joint axis robot shown in FIG. 3 includes six motors 5 for driving six joint axes, and 3 is a display circuit.

FIG. 2 shows a six-joint axis robot including a base portion, a swing joint axis, a body portion, a first vertical joint axis, a first arm,
It is composed of a second vertical joint shaft, a second arm, a first wrist joint shaft, a third arm, a second wrist joint shaft, a wrist part, a third wrist joint shaft and a tool, and each joint shaft is driven by a motor. The angle and angular velocity of each joint shaft are determined by the rotational position of the motor and the speed of the motor.

FIG. 3 is a flowchart of the operation of the circuit of FIG. 1, and the overall operation will be described below with reference to this flowchart. In the motor control circuit 1a, roughly divided into two processes, that is, a motor control process and a real-time display process for displaying the current control state.

First, the motor control process will be described.
The CPU 10 controls the motor drive circuit 21 according to the control program stored in the program memory 11 to control the drive of the motor 5 (step A in FIG. 3).
2).

Next, the real-time display processing will be described. The motor current value detection circuit 20 detects the current value for driving the motor 5, and according to the processing program in the program memory 11, the CPU 10 calculates the ratio value between this current value and the rated current value of the motor, and the display circuit 3 (Steps A3 to A5 in FIG. 3). The operator can evaluate the robot operation capability and confirm the robot operation by looking at the display of the ratio value between the current value and the rated current value of the motor.

[Prior Art 2] FIG.
FIG. 7 is a block diagram illustrating a circuit configuration of a conventional technique 2 entitled “robot control device” disclosed in Japanese Patent No. 710 publication.
In the figure, 1b is a motor control circuit, which is a CPU
10, a program memory 11, a data memory 12, a motor drive circuit 21, a rotational position detection circuit 22, and a timing signal generation circuit 23 described later with reference to FIG.
Is, for example, a 6-axis articulated robot shown in FIG.
Six motors 5 for driving one joint shaft and each motor 5
Is provided with each encoder 6, and 3 is a display circuit.

Here, the functional structure which changes with time when operated by the circuit structure of FIG. 4 is replaced with the block diagram shown in FIG. Of these, the display method of the motor control state of one joint axis will be described.

In the figure, reference numeral 40 is a drive characteristic calculation circuit, which is realized by the CPU 10 and the program in the program memory 11 in FIG. 41 is a current speed calculation circuit (hereinafter, referred to as current speed calculation circuit), 42
Is a target speed calculation circuit (hereinafter referred to as a target speed calculation circuit), which is realized by the CPU 10 and the program in the program memory 11 in FIG.

FIG. 7 is a flow chart for explaining the function of the whole circuit of FIG. 5, and the whole function will be explained according to this flow chart.

In the motor control circuit 1b, similar to the prior art 1, two processes are roughly divided, that is, a motor control process (step B20) and a real-time display process (step B30) for displaying the current control state. .

FIG. 8 is a flow chart for explaining the motor control processing in FIG. 7. First, the motor control processing will be described according to this flow chart. As shown in FIG. 5, the timing signal generation circuit 23 generates and outputs the timing signal TS23 to the CPU 10 at a specific cycle. Each time this timing signal TS23 is input (step B
22), the CPU 10 calculates the target rotation position signal S10 of the motor (step B23), and the drive characteristic calculation circuit 40 calculates from the current rotation position signal S22 and the target rotation position signal S10 obtained from the encoder 6 through the rotation position detection circuit 22. The drive signal S40 is supplied to the motor drive circuit 21 to drive the motor 5 (steps B24 to B26).

FIG. 9 is a flow chart for explaining the real-time display processing in FIG. 7, and the real-time display processing will be described next according to this flow chart. As shown in FIG. 7, the CPU 10 starts the real-time display process after finishing the motor control process. The target speed calculation circuit 42 outputs the target speed signal S42 according to the target rotation position signal S10, and the current speed calculation circuit 41 outputs the current speed signal S41 according to the current rotation position signal S22 (step B32). The target speed signal S42 and the current speed signal S
The display circuit 3 displays 41, the target rotational position signal S10 and the current rotational position signal S22 (step B33).

The flow of these processing operations is shown in the timing chart of two processes in the motor control circuit 1b of FIG. The operator evaluates and confirms the control capability by looking at the target rotation position, the current rotation position, the target speed, and the current speed of the motor of each joint axis displayed in real time during the display processing shown in FIG. It can be carried out.

The difference from the prior art 1 is that the motor control process is executed in synchronization with the timing signal TS23, and the next timing signal is input after the motor control process is completed for one timing signal TS23. The point is that real-time display processing is performed during the free time until the end.

[Prior Art 3] FIG.
It is a block diagram explaining the circuit structure of the prior art 3 which is titled "digital servo system" disclosed by the 3508 publication.

In the figure, reference numeral 1c denotes a motor control circuit, which includes a CPU 10, a program memory 11, a data memory 12, an axis state quantity memory 13, and a motor current value detection circuit 2.
0, a motor drive circuit 21 and a rotational position detection circuit 22, and 2 is, for example, a 6-axis articulated robot shown in FIG. 2, which has 6 motors 5 for driving 6 joint axes.
And each encoder 6 attached to each motor 5, 3 is a display circuit, and 4 is a high-order CPU.

Here, the functional configuration which changes with time when operated by the circuit configuration of FIG. 10 is replaced with the block diagram shown in FIG. 11, and a plurality of motors of the robot of the prior art 3 are replaced. Of these, the display method of the motor control state of one joint axis will be described. In the figure, 40 is a drive characteristic calculation circuit, which is a circuit realized by the CPU 10 and the program in the program memory 11 in FIG. 10, and 41 and 42 are the current speed calculation circuit and the target speed calculation circuit, respectively. That is, the circuit is realized by the CPU 10 and the program in the program memory 11 in FIG.

FIG. 12 shows the functions of the entire circuit of FIG.
FIG. 14 is a flowchart illustrating a motor control process and an axis state amount storage process, and FIG. 13 is a flowchart illustrating a log data display process among the functions of the entire circuit of FIG. To do.

The upper CPU 4 is the CP of the motor control circuit 1c
A tool movement command signal S4 for controlling the tool tip position TP, tool posture and tool tip speed is output to U10,
The signal S4 causes the CPU 10 to perform a motor control process described later. In the motor control circuit 1c, a motor control process (step C20) and a shaft state quantity storage process (step C30) are performed. Unlike the prior arts 1 and 2, the prior art 3 does not perform display processing in the motor control circuit 1c, but instead performs display processing in the upper CPU 4. In the conventional technique 3, the display procedure is not the real-time display of the conventional techniques 1 and 2, but the axis state quantity of the drive shaft of each motor stored by the axis state quantity storing process in the motor control circuit 1a or 1b is extracted and displayed. The log data to be described later is displayed (step C60).

FIG. 14 is a flow chart for explaining the motor control processing in FIG. 12, and according to this, first,
The motor control process will be described. The upper CPU 4 outputs a tool movement command signal S4 to the CPU 10. In response to this tool movement command signal S4, the CPU 10 outputs the target rotation position signal S10 of each motor of each joint axis (step C22). The rotational position detection circuit 22 outputs the current rotational position signal S22 in response to the signal from the encoder 6 (step C23). The target rotation speed signal S10 causes the target speed calculation circuit 42 to output the target speed signal S42, and the current rotation position signal S22 causes the current speed calculation circuit 41 to output the current speed signal S41 (step C24). The drive characteristic calculation circuit 40 drives the drive signal S40 from the target rotation position signal S10, the current rotation position signal S22, the target speed signal S42, the current speed signal S41, and the detected current value signal S20 output by the motor current value detection circuit 20. It is supplied to the circuit 21 to drive the motor 5 (step C25 and step C26).

FIG. 15 is a flow chart for explaining the axial state quantity storage processing in FIG. 12, and the axial state quantity storage processing will be described next according to this. At the same time as the motor control processing, the target rotation position signal S10 and the current rotation position signal S22
, A target speed signal S42, a current speed signal S41 and a detected current value signal S20, and an axis state signal S12 representing an axis state quantity are sequentially stored in the axis state quantity memory 13 (step C3).
2). As a result, the time-series data of the axis state signal S12 is stored in the axis state amount memory 13.

FIG. 16 is a flow chart for explaining the log data display process of FIG.
The log data display process in PU4 will be described. The upper CPU 4 takes out the time-series data of the axis state signal S12 in the axis state amount memory 13 at a processing cycle slower than the motor control processing (step C62), outputs it to the display circuit 3 (step C63), and outputs all the data. Extraction and display are repeated until the display is completed (step C64). Even if the display processing speed is low, it is possible to display the change in the high-speed axis state amount without delaying the motor control processing speed.

[0024]

Since the current control of the motor for controlling the joint axis of the robot requires numerical calculation processing of a cycle of several hundreds of microseconds, in the real-time display processing in the prior art 1 or 2, If the processing speed is not sufficiently high, there is a problem that the display of a short cycle processed at high speed is not performed or the motor control processing is delayed.

On the other hand, since the conventional technique 3 performs the log data display process, the current value of the short cycle controlled at high speed is sufficiently displayed without delaying the control process. The problems of cases 2 and 2 are solved. However, in the prior art 3, only the axis state signal S12 such as the individual current value and rotational position of each motor that drives the joint axis of the robot is displayed. To see the general state quantity of the end effector (EF), that is, the overall tool state quantity such as the tool tip position TP mounted as one of the end effectors, the angle (posture) of the tool with respect to each coordinate, and the tool tip speed. There was a problem that I could not do.

[0026]

A robot control state display method and a display control device according to the present invention include an axis state signal existing during a motor control process, that is, a current of each motor for driving each joint axis of a robot, a motor. Target rotation position, current rotation position of motor, target speed of motor, and current speed of motor are supervised by the higher-level processing, and the tool state quantity in which the driving state of each joint axis is superimposed by the forward conversion processing. The display method and the display control device display a change in the tool state quantity that is superimposed at high speed without giving a burden to the motor control process by converting the values into, sequentially storing them, and displaying them.

The control state display method for a robot according to claim 1 is, except for a part of the configuration of the claim correspondence diagram of FIG. 25, a tool movement for instructing a tool tip position, a tool posture, and a tool tip speed of an articulated arm of the robot. In the robot control state display method of the control device that controls the plurality of motors 5 that drive each joint axis by the command signal S4, a tool command value output step D2 that outputs the tool command value S4.
And an axis command value output step D3 for converting the tool command value S4 into an axis command value S45 for each axis by inverse conversion processing.
And the first CPU (C
PU10) drives the motor by a motor driving step D4, current rotation position signal S22, current speed signal S41 and target rotation position signal S obtained by driving the motor.
10, the target speed signal S42, and the detected current value signal S20 are temporarily stored in the data memory 12 as the shaft state quantity S12 , and the axis state quantity temporary storage step D72 (FIG. 22) is read out from the data memory 12. From the shaft state quantity S12 to the present
Rotational position signal S22, current speed signal S41, target rotational position
A tool state quantity output step D6 of extracting the position signal S10 and the target speed signal S42 and converting them into a tool state quantity S46 by a forward conversion process of the second CPU (CPU4), the tool state quantity S46 and the shaft state quantity S12. To store the state quantity storing step D7 and a log data display processing step D100 (FIG. 19) that sequentially extracts and displays the stored shaft state quantity S12 and tool state quantity S46 . First C to do
The second CPU without burdening the PU (CPU 10)
A smooth movement of the articulated arm is displayed by displaying the change in the detected motor current value in addition to the change in the tool state quantity converted at a speed according to the processing speed of the (CPU 4) or the tool state quantity in which the tool state quantity is superimposed. This is a control state display method for determining the presence or absence of.

According to a second aspect of the present invention, the method for displaying the robot control state is, as shown in the block diagram of the control device according to the present invention in FIG. 24 and the claim correspondence diagram in FIG. 2), the tool command signal S4 is output in the method of displaying the control state of the robot of the controller that controls the plurality of motors 5 that drive each joint axis by the tool movement command signal S4 that commands the tool posture and the tool tip speed. Tool command value output step D
2, an axis command value output step D3 for converting the tool command signal S4 into an axis command signal S45 for each axis by an inverse conversion process, and the axis command signal S45 for the first CPU (CPU).
10) to output the target rotational position signal S10 to the target rotational position output step, and the target rotational position signal S1 described above.
The target speed output step of outputting the target speed signal S42 from 0, the current speed output step of outputting the current speed signal S41 from the current rotation position signal S22 obtained by driving the motor, the target rotation position signal S10 and the current rotation A motor drive step D4 for driving a motor by the position signal S22, the target speed signal S42, and the current speed signal S41, the target rotation position signal S10, the current rotation position signal S22, the target speed signal S42, and the current speed. Axis state quantity temporary storage step D72 in which the signal S41 and the detected current value signal S20 obtained by driving the motor are temporarily stored in the data memory 12 as axis state quantities.
(FIG. 22) and the current rotational position signal S22 and the current speed signal from the axis state quantity S12 read from the data memory 12 described above.
No. S41, target rotational position signal S10, and target speed signal S4
2 and take the tool state quantity output step D6 for converting into the tool state quantity S46 by the forward conversion process of the second CPU (CPU4), and sequentially storing the axis state quantity S12 in the axis state quantity memory 13, and Tool state quantity S46
Is stored in the tool state memory 32 sequentially, and the state quantity S12 stored in the axis state memory 13 and the tool state quantity S46 stored in the tool state memory 32 are sequentially taken out. A first CPU (CPU 10) that controls the motor by including the log data display processing step D100 for displaying.
Processing speed of the second CPU (CPU4) without imposing a burden on
It is a control state display method for displaying a change in the tool state quantity converted at a speed according to the degree or a change in the state quantity in which the above state quantity is superimposed.

The display control device for a robot according to claim 3 is
As shown in the block diagram of the control device of the present invention in FIG. 24,
Tool movement command signal S4 for commanding the tool tip position, tool posture, and tool tip speed of the robot's articulated arm
In the display controller of the robot, which is a controller for controlling a plurality of motors that drive each joint axis, the host CPU 4 (second CP) that outputs the tool movement command signal S4 is used.
U) and an inverse conversion circuit 45 for converting the tool movement command signal S4 into an axis command signal S45 for each axis by an inverse conversion process.
A CPU 10 (first CPU) that inputs the axis command signal S45 and outputs a target rotational position signal S10 that controls the motor; and a rotational position detection circuit 22 that outputs a current rotational position signal S22 obtained by driving the motor. And the target rotational position signal S10 and the target rotational position signal S10
The target drive speed signal S42 obtained from the above, the present rotational position signal S22, and the current drive speed signal S41 obtained from the present rotational position signal S22 are input, the motor drive circuit 21 for driving the motor, the target rotational position signal S10 and the above A data memory 12 that temporarily stores the current rotational position signal S22, the target speed signal S42, the current speed signal S41, and the detected current value signal S20 obtained by driving the motor as the axis state signal 12 , and read from the data memory 12. From the shaft state signal S12 to the current rotational position signal S2
2, current speed signal S41, target rotational position signal S10, and
The second CPU (CPU fetches a target speed signal S42
A forward conversion circuit 46 for converting into a tool status signal S46 by the forward conversion processing of 4) and a tool status signal S46 indicating at least one of the tool tip position, tool attitude and tool tip speed, and the axis status signal S12. And a shaft state amount memory 13 and a tool state amount memory 32 that sequentially store the tool state signal S46, and a display circuit that sequentially extracts and displays the axis state signal S12 or the tool state signal S46 stored in the state amount memory. 3 is a display control device of the robot, which is composed of 3 and 3.

[0030]

24 is a block diagram of an embodiment of a robot display control device for carrying out the method for displaying the tool state quantity according to the present invention.

Reference numeral 1d in FIG. 24 is a motor control circuit for driving one joint axis.
This is a circuit obtained by removing the axis state quantity memory 13 from c, and there are a plurality of circuits 1d corresponding to the number of joint axes of the robot.
Reference numeral 7 denotes an upper processing circuit, which is composed of the upper CPU 4, the inverse conversion circuit 45, the forward conversion circuit 46, the axis state quantity memory 13, and the tool state quantity memory 32. 2 is, for example, the 6-axis articulated robot shown in FIG. 2, which has 6 motors for driving 6 joint axes, and 3 is a display circuit.

FIG. 17 is a flow chart for explaining the function of the motor control circuit among the functions of the entire circuit of the embodiment of the present invention, and FIG. 18 is the function of the upper processing circuit 7 among the functions of the entire circuit. 19 is a flowchart for explaining FIG.
3 is a flowchart for explaining the function of the display processing circuit among the functions of the entire circuit, and the entire function will be described according to these.

In the motor control circuit 1d, motor control processing (step D20) and axis state quantity temporary storage processing (step D30) are performed, and tool control processing (step D60) and state quantity storage processing (step D60) in the upper CPU 4. D70) is performed, and the log data display process (step D100) of FIG. 19 is performed in the display circuit 3.

First, the motor control process is a process for driving the motor 5 by the axis command signal S45 and is the same as the control process described in the prior art 3, and therefore the description thereof is omitted.

FIG. 20 is a flow chart for explaining the axial state quantity temporary storage processing in FIG. 17, and according to this,
Next, the axial state quantity temporary storage processing will be described.

The target rotational speed signal S10 output from the CPU 10 causes the target speed calculation circuit 42 to output the target speed signal S.
Output 42. The current speed calculation circuit 41 outputs the current speed signal S41 according to the current rotation position signal S22 output from the rotation position detection circuit 22 (step D32). Target rotation position signal S10, current rotation position signal S22, target speed signal S42, current speed signal S41, and motor current value detection circuit 20
And the detected current value signal S20 output by the same are temporarily stored in the data memory 12 as the axis state signal S12 (step D3).
3). The contents of the data memory 12 can be freely read by the upper CPU 4.

FIG. 21 is a flowchart for explaining the tool control processing in FIG. 18, and the tool control processing will be described next according to this. The upper CPU 4 outputs a tool movement command signal S4 for controlling the tool tip position, tool posture and tool tip speed (step D6).
2). By this tool movement command signal S4, the inverse conversion circuit 45 sends to each motor control circuit 1d the axis command signal S of each joint axis.
45 is output (step D63).

FIG. 22 is a flow chart for explaining the state quantity storage processing in FIG. 18, and the tool state quantity storage processing will be described next in accordance with this. In the axis state quantity temporary storage process, the axis state signal S12 temporarily stored in the data memory 12 is sequentially stored in the axis state quantity memory 13 (steps D72 and D73). The forward conversion circuit 46 uses the target rotation position signal S10, the current rotation position signal S22, the target speed signal S42, and the current speed signal S41 among the axis state signals S12 to cause the target tool position / orientation signal, the current tool position / orientation signal, and the target tool. The speed signal and the current tool speed signal are output, and these signals are forward conversion circuit 4 which will be described later.
After being converted into the tool status signal S46 by 6, the data is sequentially stored in the tool status memory 32 (step D7).
4). As a result, the time series data of the axis state signal S12 is stored in the axis state amount memory 13, and the time series data of the tool state signal S46 is stored in the tool state amount memory 32.

FIG. 23 is a flow chart for explaining the log data display process of FIG. 19, and the log data display process will be described accordingly. The upper CPU 4 uses the tool state memory 3 at a processing cycle slower than the motor control processing.
The time series data of the tool status signal S46 in 2 and the axis status signal S12 in the axis status memory 13 is read (step D
102) and outputs it to the display circuit 3 (step D103),
Extraction and display are repeated until display of all data is completed (step D104).

The position TP of the tool tip, the tool posture, and the tool tip speed of the 6-axis robot shown in FIG. 2 are as follows: the body connecting the joint axes, the first arm, the second arm, and the third.
It is determined by the joint length of each arm, wrist and tool, and the angle and angular velocity of each joint axis. The method of calculating the tool state amount S46 from the axis state amount S12 is the forward conversion, and the method of calculating each axis command value S45 from the tool instruction value S4 is the reverse conversion. Is complicated and is omitted in the description of the present invention.

[0041]

The robot control state display method according to the first and second aspects of the present invention is not limited to the axial state quantities such as the current value and the rotational position of each motor of the robot, but also the tool tip position which is the end effector EF. TP, tool posture, and tool tip speed are not as high as the motor control processing speed without delaying the tool control processing speed and the motor control processing speed even if the display processing speed is low, but the processing speed of the upper CPU It is possible to display the changes in the axial state quantity and the tool state quantity of the speed according to.

A robot display control device according to a third aspect of the present invention is a display control device for implementing the control state display method according to the first aspect, wherein the tool control circuit and the motor control circuit are provided even if the processing of the display circuit is low. It is possible to display the change in the axial state quantity and the tool state quantity at a speed according to the processing speed of the host processing circuit, although the processing speed is not slow and the processing speed is not as high as the processing of the motor control circuit.

[Brief description of drawings]

FIG. 1 is a block diagram illustrating a function of Prior Art 1.

FIG. 2 is a diagram showing a configuration of an example of a 6-axis robot.

FIG. 3 is a flowchart illustrating the same function as FIG.

FIG. 4 is a block diagram illustrating a circuit configuration of a conventional technique 2.

5 is a block diagram illustrating a functional configuration that changes with time when the circuit configuration of FIG. 4 is operated.

FIG. 6 is a timing chart illustrating a relationship between a timing signal and a temporal change in processing content.

FIG. 7 is a flowchart illustrating the functions of the entire circuit of FIG.

FIG. 8 is a flowchart illustrating a motor control process in FIG. 7.

FIG. 9 is a flowchart illustrating a real-time display process in FIG. 7.

FIG. 10 is a block diagram illustrating a circuit configuration of Prior Art 3.

11 is a block diagram illustrating a functional configuration that changes with time when operated in the circuit configuration of FIG.

12 is a flowchart illustrating a motor control process and a shaft state quantity storage process, which are included in the functions of the entire circuit of FIG.

FIG. 13 is a flowchart illustrating a log data display process of the functions of the entire circuit of FIG. 11.

FIG. 14 is a flowchart illustrating a motor control process in FIG. 12.

FIG. 15 is a flowchart illustrating an axial state amount storage process in FIG. 12.

16 is a flowchart illustrating the log data display process of FIG.

FIG. 17 is a flowchart illustrating a motor control process of the functions of the entire circuit according to the embodiment of the present invention.

FIG. 18 is a flowchart illustrating a function of a higher-level processing circuit among the functions of the entire circuit.

FIG. 19 is a flowchart illustrating a function of the display processing circuit among the functions of the entire circuit.

FIG. 20 is a flowchart for explaining the axial state quantity temporary storage processing in FIG. 17.

FIG. 21 is a flowchart illustrating a tool control process in FIG. 18.

FIG. 22 is a flowchart illustrating a state quantity storage process in FIG. 18.

23 is a flowchart illustrating the log data display processing of FIG.

FIG. 24 is a block diagram of a control device that implements the control status display method of the present invention.

FIG. 25 is a claim correspondence diagram for explaining the overall processing of the control state display method of the present invention.

[Explanation of symbols]

(FIG. 24) 1a, 1b, 1c, 1d Motor control circuit 2 Articulated robot 3 Display circuit 4 Upper CPU 5 Motor 6 Encoder 7 Upper processing circuit (4, 13, 32, 45 and 46)
10 CPU 11 program memory 12 data memory 13 axis state amount memory 20 motor current value detection circuit 21 motor drive circuit 22 rotational position detection circuit 23 timing signal generation circuit 32 tool state amount memory 40 drive characteristic calculation circuit 41 current speed Calculation circuit 42 Target speed calculation circuit 45 Inverse conversion circuit 46 Forward conversion circuit TS23 Timing signal S4 Tool movement command signal (tool command value) S10 Target rotation position signal S12 Axis state signal (S10, S20, S22, S41, S42 signal consisting of S42 , Axis state quantity) S20 Detected current value signal S22 Current rotation position signal S40 Drive signal (motor control command value) S41 Current speed signal S42 Target speed signal S45 Axis command signal (axis command value) S46 Tool status signal (tool status amount) EF End effector TP Tool tip position

Front page continuation (58) Fields surveyed (Int.Cl. ⁷ , DB name) G05B 19/18-19/46 B25J 3/00-3/04 B25J 9/10-9/22 B25J 13/00-13 / 08 B25J 19/02-19/06

Claims (3)

(57) [Claims] 1. A method for displaying a control state of a robot of a control device for controlling a plurality of motors for driving respective joint axes according to a tool movement command signal which commands a tool tip position, a tool posture, and a tool tip speed of a multi-joint arm of a robot. In, a tool command value output step of outputting the tool command value, an axis command value output step of converting the tool command value into an axis command value of each axis by an inverse conversion process, and a step of inputting the axis command value a motor driving step of driving the motor by one of the CPU, a current rotation position signal obtained by the driving of the motor
Current speed signal, target rotation position signal, target speed signal and detection
A step of temporarily storing the current state signal and the current state signal in the data memory as the axis state quantity; and the current state from the axis state quantity read from the data memory.
Rotational position signal, the current speed signal, and the target rotational position signal
No. and the target speed signal, and a tool state quantity output step of converting the tool state quantity into a tool state quantity by a second CPU forward conversion process; and a state quantity storing step of sequentially storing the tool state quantity and the axis state quantity. , And a log data display processing step for sequentially extracting and displaying the stored axis state quantity and tool state quantity , without imposing a burden on the first CPU for controlling the motor,
In addition to the change in the tool state quantity converted at a speed according to the processing speed of the second CPU or the change in the tool state quantity in which the tool state quantity is superimposed, the change in the detected motor current value is displayed to smoothly move the articulated arm. A method for displaying the control status of a robot that determines whether or not there is a motion. 2. A method for displaying a control state of a robot of a control device for controlling a plurality of motors for driving each joint axis by a tool movement command signal which commands a tool tip position, a tool posture, and a tool tip speed of a multi-joint arm of a robot. In a tool command value output step of outputting the tool command signal, an axis command value output step of converting the tool command signal into an axis command signal of each axis by an inverse conversion process, and the axis command signal of the first CPU To the target rotational position output step for outputting a target rotational position signal, a target speed output step for outputting a target speed signal from the target rotational position signal, and a current rotational position signal obtained by driving the motor. A current speed output step for outputting the target rotation position signal, the current rotation position signal, and the target speed signal And a motor driving step of driving a motor by the current speed signal, the target rotation position signal, the current rotation position signal, the target speed signal, the current speed signal, and a detection current value signal obtained by driving the motor. The step of temporarily saving the axis state quantity as an axis state quantity in the data memory, and the current state from the axis state quantity read from the data memory.
Rotational position signal, the current speed signal, and the target rotational position signal
No. and the target speed signal, and a tool state quantity output step of converting into a tool state quantity by a forward conversion process of the second CPU; and sequentially storing the axis state quantity in an axis state quantity memory,
A state quantity storing step of sequentially storing the tool state quantity in a tool state quantity memory, and sequentially extracting and displaying the axis state quantity stored in the axis state quantity memory and the tool state quantity stored in the tool state quantity memory. By providing the log data display processing step, without burdening the first CPU that controls the motor,
A control state display method for a robot, which displays a tool state quantity converted at a speed according to the processing speed of a second CPU or a change in the state quantity in which the state quantity is superimposed. 3. A display control device for a robot, which is a control device for controlling a plurality of motors for driving each joint axis by a tool movement command signal that commands a tool tip position, a tool posture, and a tool tip speed of a multi-joint arm of a robot. A host CPU that outputs the tool movement command signal, an inverse conversion circuit that converts the tool movement command signal into an axis command signal for each axis by an inverse conversion process, and a target that controls the motor by inputting the axis command signal A CPU that outputs a rotational position signal, a rotational position detection circuit that outputs a current rotational position signal obtained by driving a motor, a target rotational position signal, a target speed signal obtained from the target rotational position signal, and the current rotational position signal And a motor drive circuit that drives a motor by inputting a current speed signal obtained from the current rotational position signal, A data memory for temporarily storing the detected current value signal obtained target rotational position signal and the current rotational position signal the target speed signal and the driving of the current speed signal and a motor as axis state signal, read out from the data memory wherein the axial state signal current
Current rotational position signal, current speed signal, and target rotational position
A signal and the target speed signal are extracted and converted into a tool state signal by a forward conversion process of the second CPU, and at least one of the tool tip position, tool attitude, and tool tip speed.
Forward conversion circuit for converting into a tool state signal indicating two states, an axis state amount memory and a tool state amount memory for sequentially storing the axis state signal and the tool state signal, and the axis state stored in the state amount memory A display control device for a robot, comprising a display circuit for sequentially extracting and displaying a signal or the tool status signal.