JP3460426B2 - Robot controller - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention
Synchronous control of each drive of a robot with multiple drives
Related to a robot control device. 2. Description of the Related Art Conventionally, this type of device has been
After outputting a start command to the driving means that drives the moving part,
An end notification indicating that the specified operation according to the command has been completed is issued.
Use the waiting time to receive from other
Operate moving parts in parallel to improve control efficiency
For example, Japanese Unexamined Patent Application Publication No. 7-497
JP-A-07-2007 discloses an XYZ table that performs three-dimensional positioning.
In the table, the process for controlling the X axis is defined as a main routine.
Then, the processing waiting time of this main routine, that is, the X-axis
Start the driver and move the X axis to the target position.
While the subroutine for controlling other Y-axis and Z-axis
Device that operates each axis in parallel
Have been. Also, Japanese Patent Application Laid-Open No. 7-129227 and
And Japanese Patent Application Laid-Open No. 7-14099 also describe an XYZ
In the cable, processing to control the X, Y, and Z axes is supported.
Each subroutine is prepared as
A device that is sequentially activated by an in-routine is disclosed.
You. [0003] However, these devices
Let's see if the subroutine is ready to execute
Is determined by the called subroutine
For example, after moving the X axis to a predetermined position,
When starting the movement of the axis, the sub
X-axis movement must be monitored in routine
won. Therefore, in such a control device,
Low independence of the routine, which subroutine to create
Also controls the operation of the drive unit driven by other subroutines.
Must understand the
Not only does it take time to create, but the more
Because the program becomes complicated and difficult to understand,
There was a problem that maintenance also required labor. Paraphrase
In the above-described device, the X-axis, Y-axis, and Z-axis components are
Control programs and those programs that operate in parallel.
And the program to make
Run programs in parallel in this program
Non-system developers who are familiar with the method
When using the system to modify the program
Is extremely difficult and lacks versatility.
there were. On the other hand, Japanese Patent Application Laid-Open No. 61-117605 discloses
Performs various arithmetic processing based on the input from the sensor.
To servo control the robot based on the results
Divided into modules that can be processed independently
And by passing data through tables
And an apparatus for processing each module in parallel is disclosed.
You. By applying this device, the control of each driving means is performed.
Control processing as a module, and process each module in parallel.
Data written to the table.
, Each module has its own
It must be determined whether or not the process is executable.
However, after all, there was a problem similar to the above-described device. The present invention has been made to solve the above problems.
Efficient control using the processing wait time can be realized.
Robot with simple processing procedure for driving and controlling each drive unit
It is an object to provide a control device. [0007] In order to achieve the above object,
According to the first aspect of the present invention, the control switching is performed.
The means comprises a plurality of drive control means and a synchronous control means.
In other words, control is sequentially performed for those in the standby state where processing can be executed.
By switching, these are controlled by a plurality of drive control means and
And the processes of the synchronization control means are executed in parallel. Then, the drive control means controls the drive means.
When a start command is output, the drive means drives according to the start command.
When the driving of the moving part is started, the first state transition means is activated.
Of the drive control means is interrupted. After that, start command
The end means is notified by the drive unit that has completed the predetermined operation corresponding to
When output, the first state transition means issues the start command.
Change the applied drive control means to the standby state.
It is possible to restart the processing of the drive control means. [0009] The drive control means may be a series of pre-divided sections.
When the response notification is output after the processing of
The state transition means interrupts the processing of the drive control means. So
After that, when an operation command is output from the synchronization control means, the second
The state transition means of the drive control specified in this operation command
The means are shifted to the standby state, and the drive control
Enables restarting the processing of the column. On the other hand, the synchronous control means outputs an operation command.
Occasionally, the third state transition means performs the processing of the synchronization control means.
Interrupt. After that, all specified drive control means
When the response notification is output from the
Transition and resume the suspended processing of the synchronization control means.
enable. That is, the synchronous control means controls the interrupted drive.
Output an operation command to restart the processing of the motion control means.
Processing is interrupted, and then a response from the specified drive control
Processing is resumed by the notification being output, and the next operation
Output command. On the other hand, the drive control means
When an operation command specifying itself is output from the stage, the process is restarted.
After executing a series of processes that are opened and separated in advance,
When the notification is output, the processing is interrupted again. As described above, the drive control means includes the
Each time a series of processing is completed, the processing is temporarily interrupted,
The timing for restarting the process depends on the operation command of the synchronous control means.
It is more externally provided. Therefore, the book
According to the robot control device of the invention, the processing of the drive control means
Determine whether the process can be executed by the procedure
Drive that is driven by other drive control means.
Since there is no need to be aware of the operating state of moving parts,
Can be simple and easy to create
You. Also, assuming that the number of drive units to be controlled has increased
Also, the processing procedure of the drive control means does not become complicated. According to the robot control device of the present invention,
For example, the processing procedure of the synchronization control means
The operation commands are listed in the order according to the introduction.
The stage collectively controls the operation timing of the drive control means
So that you can see the processing procedure of the synchronization control means.
If you can easily understand the flow of control of the entire device,
As a result, the maintainability of the device can be improved. Further, the drive control means activates the drive means.
When a command is output, an end notification is output from the driving unit.
The process is interrupted until another drive control means or synchronous
The control is switched to the control means
There is no unnecessary processing waiting time,
When multiple operation commands are output at the same time,
Since the moving parts operate at the same time, efficient control
realizable. Embodiments of the present invention will now be described with reference to the drawings.
Will be described. Fig. 1 shows the robot controller of the embodiment applied
FIG. 2 is a block diagram showing the overall configuration of the robot equipment.
FIG. 2 shows an XY table which is a movable part of the robot equipment.
FIG. 3 is a schematic configuration diagram of an assembly head. The robot equipment 2 includes various parts P
And as shown in FIGS. 1 and 2.
X for positioning the placed workpiece W two-dimensionally
A set including a Y table 4 and a holding mechanism for holding the component P
By driving the attaching head 6a, the wafer placed on the XY table 4 is moved.
An assembly device 6 for assembling the part P on the workpiece W;
Work input device 8 for inputting work W to bull 4 and assembly
A component supply device 10 for supplying a component P to the device 6;
Various types of operation states of the input device 8 and the component supply device 10
A signal is input to drive the XY table 4 and the assembling device 6
And a robot controller 12 that controls the robot. The XY table 4 includes a ball screw
By rotating the rod consisting of
Move the combined object linearly along the direction of rod placement
Circumference configured by combining two mechanisms
It is known, and is used to move in the predetermined X-axis direction.
The motor M that drives the rod to rotate, the rotational position of the motor M
Encoder E to detect, drive from robot controller 12
Motor M according to the motion signal and the position signal from the encoder.
-Axis drive consisting of a servo driver SD that servo-controls the
Motor M, encoder E, servo
Consists of a driver SD, and the Y-axis direction orthogonal to the X-axis direction
Axis drive to rotate the rod to move to
And a bar 16. Further, the assembling device 6 moves the XY table 4.
Rod consisting of a ball screw arranged parallel to the moving plane
L1 and the rod L1 are screwed to rotate the rod L1.
Then, the node N moves in the front-back direction along the rod L1.
And the moving plane of the XY table 4 are disposed vertically.
An assembling head 6a is rotatably attached to one end, and
Rod L2 consisting of a ball screw with which node N is screwed
To rotate the assembly head 6a about the rod L2.
A rotating mechanism (not shown), and a rod
L1 is rotated to move the assembly head 6a in the front-rear direction.
The front and rear driver section 18 to be rotated and the rod L2
Up and down driver section 2 for moving the attached head 6a in the up and down direction
0, driving the rotation mechanism to rotate the assembly head 6a itself
A rotation driver unit 22 is provided. In addition, assembly head
6a rotates only when driven by a rotation mechanism,
Be careful not to rotate by the rotation of the rod L2
Have been. Further, each of the driver sections 14 to 22 is constituted.
The servo driver SD receives a pulse for forward rotation or reverse rotation.
Forced, a predetermined angle in the rotation direction according to the input pulse
A pulse-driven drive that rotates the motor M
Iva. The XY table 4 is a work input device.
The loading position where the workpiece W can be loaded by the device 8 and the assembly equipment
And the assembling position which is an area where the parts P can be assembled by
Is movable, and especially in the area of the assembling position, X
Assembling coordinates for precisely specifying the position of Y table 4
Is defined. On the other hand, the assembling device 6 includes one end A of the rod L1.
(Hereinafter, referred to as a component supply position) is a component supply device 10
On the other hand, the other end B is an assembly position of the XY table 4 (hereinafter, a part
(Referred to as product assembling position).
You. Next, the robot control device 12 includes the CPU 24, the RO
A well-known microcomputer provided with an M / RAM 26 and an I / O port 30
It is composed mainly of a cross computer.
Stores programs and various data executed in U24
Mass storage device 28, a key for inputting various operations.
Board 34, a display device 3 for displaying an operation state and the like
2, each driver unit 14 of the XY table 4 and the assembling device 6
Pulse train as drive signal to servo driver SD
Positioning boards 36 and 3 as driving means for outputting
8, 40 are connected. Each of the positioning boards 36, 38 and 40 has a C
Driven from coordinate data input as start command from PU
The target value of the motor M to be operated is calculated, and the
Output the drive pulse train to the servo driver SD, and
When the output of the dynamic pulse train ends, the end indicating the end of the process
The notification is output to the I / O port 30.
One servo driver SD can be connected. Here, the positioning board 36
Are the front and rear driver section 18 and the upper and lower driver of the assembling device 6
Each servo driver SD of the section 20 is connected,
The module 38 has a circuit of the rotation driver 22 of the assembling device 6.
Driver SD is connected to the positioning board 40,
X-axis driver section 14 of XY table 4 and Y-axis driver
Each servo driver SD of the section 16 is connected. The robot controller 12 has an I / O
Through the port 30, the positioning board 3
In addition to input of end notification from 6, 38, 40, work
The loading of the workpiece W from the loading device 8 to the XY table 4 is completed.
Work input signals IN1 and XY tables that are turned on when completed
Work that is turned on when the work W is removed from the work 4
The removal signal IN3 and the condition of the component P from the component supply device 10
The component preparation completion signal IN2, which is turned on when the
On the other hand, and from the robot controller 12
Confirmation signals OUT1 and OUT3 (work
OUT2 (to the part supply device 10) is output
Is done. The work input device 8 is a robot control device.
When the confirmation signal OUT1 is turned on by the device 12, the work
The input signal IN1 is turned off, and the confirmation signal OUT1 is turned off.
Then, the work removal operation starts and the confirmation signal OUT3 turns on.
Then, the workpiece removal signal IN3 is turned off, and the confirmation signal OU is output.
When T3 is turned off, a workpiece W to be processed next is input.
The component supply device 1 is configured to start an operation.
0 is a component ready signal when the confirmation signal OUT2 is turned on.
Signal IN2 is turned off, and when the confirmation signal OUT2 is turned off,
For preparing the parts P to be supplied to the parts at a predetermined part supply position.
It is configured to start the work. Here, the robot controller 12 of the present embodiment
In the ROM of the ROM / RAM 26, a well-known operation
Operating system (hereinafter referred to as OS) and this O
Input / output basic program such as file access used by S
Is stored. Then, the OS stored in the ROM
Is activated when the power of the device 12 is turned on.
Input a program execution command from the keyboard 34
When the I / O basic program is executed,
Read the robot control system program from 28
Robot control stored in RAM
Start the system program. FIG. 3 shows the robot control system program.
It is explanatory drawing showing the structure of a ram. As shown in FIG.
The bot control system program is a well-known multi-task
The positioning boards 36 and 3 are configured using an OS.
Each positioning board 36, 38,
40 through the XY table 4 and the assembly device 6
Three servo control tasks for driving and controlling the servo units 14 to 22
Control the operation timing of these servo control tasks.
And a synchronization control task input through the I / O port 30.
Work input device 8, component supply device 10, positioning
I that monitors various input signals from the nodes 36, 38, and 40
/ O monitoring task is performed in parallel on this multitask OS
Be executed. Then, control switching between these tasks is performed.
Is a well-known function in multitasking OS.
This is done by the flag. That is, multitask OS
Specifies the task that executed the eventflag wait
Suspend processing until the event flag is turned on
At the same time, the condition for waiting for the event flag is satisfied,
Control is sequentially switched to a task in a standby state that can be executed
Because However, the I / O monitoring task is an event flag
Are started at a predetermined cycle without using the. In the servo control task, the same will be described later.
The process executed by the initial control task is the servo control during suspension.
Command signal B set to restart task processing
0, B1, C1 to C6, D1 to D4, and I / O monitoring status
End from the positioning boards 36, 38, 40
Notification is used as an event flag, and
In the control task, the processing executed in the servo control task
However, every time a series of predetermined processes are completed,
Response signals S1, S2, S3 to be set for notification;
Work input device 8 and components detected by I / O monitoring task
Input signals IN1, IN2, IN3 from the supply device 10 and
Is used as an event flag. Next, the robot control system program
When launched, the first initialization task executed is a synchronous
Control tasks and objects executed by each servo control task
Project program, that is, a synchronous control processing program described later.
Program, assembling head front / back / up / down processing program, assembling head
Rotation control processing program, XY table control processing program
And the coordinate data used in each processing program
Is read from the mass storage device 28 onto the RAM,
After that, by starting each task,
Start the program. Here, these tasks are executed.
Each program is a well-known editing program that runs on a well-known OS.
The source program created by the program
CPU is easy to interpret by compiler running on S
The format is used. This is for each task
When the program executes the program, the instruction interpretation time is shortened.
This is because the control is efficiently performed by reducing the size. The coordinate data is obtained by moving the assembly head up and down.
Movement amount, rotation amount of assembly head, X axis and Y of XY table
As a set of shaft mounting coordinates, set the number of parts
It is specified. Note that the servo control task of this embodiment is
Is synchronized with the drive control means described above, and the synchronous control task is synchronized
The multitask OS corresponds to the control switching means.
You. The function of the event flag by the end notification is the first.
Command signals B0, B1, C1 to C6,
The function of the event flag by D1 to D4 changes to the second state
The transfer means includes an event buffer based on the response signals S1, S2, S3.
The function of the lag corresponds to a third state transition unit. Next, each servo control task and synchronous control task
Explanation of the process executed in the disk along the flowchart
I do. FIG. 4 shows a servo system for controlling the positioning board 40.
The XY table control processing executed by the
FIG. At the start of this process,
The XY table is initialized by the initialization process executed before the process.
Numeral 4 is at the input position. When this processing is started, first, in step 11
At 0, the event flag wait is executed and the command signal B0 is
Suspends processing until turned on. Command signal B0 turns on
When the process is restarted, the position is determined in step 120.
The XY table 4 is moved to the
After outputting the start command to activate, wait for event flag
Until the end notification from the positioning board 40 is detected.
To stop the process. When the end notification is detected, the process is restarted.
And wait for the event flag at step 130.
Until the command signal B1 is turned on. Command
When the signal B1 is turned on and the process is restarted, step 1
At 40, whether or not the processing end command signal B2 is turned on
Judge, and if not turned on, continue processing
Then, the process proceeds to step 150. In step 150, the positioning board 40
XY table 4 is stored in the group specified in the coordinate data.
After outputting the start command to move to the attached coordinates, the event flag
Executes the wait and detects the end notification from the positioning board 40.
Suspend processing until issued. This process is restarted when the end notification is detected.
After turning on the response signal S1 in step 160,
Returning to step 130, the processing end command signal B2 is turned on.
Steps 130 to 160 are repeated until
And execute. On the other hand, in step 140, an end command
When it is determined that the signal B2 is turned on, this processing is terminated.
In step 170, the
The XY table 4 to the loading position
After outputting the start command to activate, wait for event flag
Until the end notification from the positioning board 40 is detected.
To stop the process. When the end notification is detected, the process is restarted.
In step 180, the response signal S1 is turned on to perform this processing.
To end. In other words, by this processing, first,
XY table 4 is assembled when command signal B0 is turned on.
Position and thereafter, every time the command signal B1 is turned on,
Move to the assembly coordinates specified in the marker data. And
When the processing end command signal B2 is turned on, the command signal B1 is turned off.
When it is pressed, it moves to the loading position. In addition,
When the movement is completed and when the movement to the
The signal S1 is turned on. In this processing, steps 120 and 15
The function of the event flag executed at 0, 170 is the first
Corresponding to the state transition means in steps 110 and 130
The function of the event flag to be executed is the second state transition means.
Is equivalent to Next, FIG.
Before and after the assembly head executed by the servo control task
It is a flowchart showing a vertical control process. The main office
At the start of processing, initialization processing executed before this processing
Thus, the assembling head 6a is at the component supply position and the rod L2
It is in the ascended position where it has risen the most. When this processing is started, first, at step 21
At 0, the event flag wait is executed and the command signal C1 is output.
Suspends processing until turned on. Command signal C1 turns on
When the present process is restarted, the process ends at step 220.
End command signal C2 is turned on,
If not, it is assumed that processing is continued
Move to 230. In step 230, an event flag is waited.
And suspend the processing until the command signal C3 is turned on.
You. When the command signal C3 is turned on and the process is restarted,
At step 240, assemble to positioning board 36
The head 6a is lowered by the movement amount specified in the coordinate data.
After outputting the start command to execute,
Processing until an end notification from the positioning board 36 is detected.
Interrupt the process. This process is restarted when the end notification is detected.
In step 250, the positioning board 36
Then, the assembling head 6a is lowered in the previous step 240.
After outputting a start command to raise the
Executes the wait and detects the end notification from the positioning board 36.
Suspend processing until issued. This processing is restarted when the end notification is detected.
In step 260, the response signal S2 is turned on, and
At step 270, an event flag wait is executed and the
The processing is suspended until the command signal C4 is turned on. Command signal
When C4 is turned on and the process is restarted, step 280 is executed.
At this time, the mounting head 6a is attached to the positioning board 36.
After outputting a start command to advance to the parts assembly position,
End from the positioning board 36
Suspend processing until notification is detected. This processing is resumed when the end notification is detected.
In step 290, the response signal S2 is turned on, and
In step 300, wait for the event flag
The processing is suspended until the command signal C5 is turned on. Command signal
When C5 is turned on and the process is restarted, the following step 3
Steps 10 to 330 are exactly the same as steps 240 to 260 above.
After the assembling head 6a is lowered and raised, the response signal
Turn on S2 and proceed to step 340 to set the event flag.
Wait until the command signal C6 is turned on.
Interrupt. The command signal C6 is turned on and the present processing is restarted.
Then, in Step 350, the positioning board 36 is
To move the assembly head 6a back to the component supply position
After outputting the command, set the event flag wait and position.
Suspend processing until end notification from board 36 is detected
I do. This process is restarted when the end notification is detected.
In step 360, the response signal S2 is turned on to
Then, the process end command signal C2 is turned on.
Until the process, steps 210 to 360 are repeated
And execute. On the other hand, in step 220, the process ends.
If it is determined that the command signal C2 is turned on, the step
The process proceeds to step 370, where the response signal S2 is turned on to end this processing.
Complete. That is, by this processing, first, the component supply position
And the assembling head 6a at the raised position outputs the command signal C3
When the is turned on, the component supply device
10 holds the parts P prepared by
When the signal C4 is turned on, it moves to the component assembling position. So
Then, when the command signal C5 is turned on, it descends and rises again.
As a result, the held component P is located at the component mounting position.
Assembled to the work W, and the command signal C6 is turned on.
Moves to the component supply position. In addition, the holding of the component P is completed.
At completion, when the movement to the part assembling position is completed, the assembly of the part P is completed
Time, when the movement to the parts supply position is completed, and when the
When the command signal C1 is turned on after the signal C2 is turned on
The response signal S2 is turned on. In this processing, steps 240 and 25 are executed.
0, 280, 310, 320
The function of the lag corresponds to the first state transition means, and step 2
Executed at 10, 230, 270, 300, 340
The function of the event flag corresponds to a second state transition unit.
You. Next, FIG. 6 shows a case where the positioning board 38 is controlled.
Head rotation performed by a servo control task
It is a flowchart showing a control process. Note that this process
During the operation, the initialization process executed before this process,
The assembling head 6a is the component P prepared in the component supply device 10.
Is in a holding angle position where can be held. When this processing is started, first, at step 41
At 0, the event flag wait is executed and the command signal D1 is output.
Suspends processing until turned on. Command signal D1 turns on
When this process is restarted, the process ends in step 420.
End command signal D2 is turned on,
If not, it is assumed that processing is continued
The process moves to 430. At step 430, an event flag is waited.
And suspend the processing until the command signal D3 is turned on.
You. When the command signal C3 is turned on and the process is restarted,
At step 440, assemble to positioning board 38
The head 6a is rotated by the rotation amount specified in the coordinate data.
After outputting the start command to execute,
The processing is performed until the end notification from the positioning board 38 is detected.
Interrupt the process. When the end notification is detected, the process is restarted.
In step 450, the response signal S3 is turned on, and
At step 460, an event flag wait is executed and the
The processing is suspended until the command signal D4 is turned on. Command signal
When D4 is turned on and the process is restarted, step 470 is executed.
At this time, the mounting head 6a is
Reverse rotation by the amount rotated in the previous step 440
After outputting the start signal, wait for the event flag and execute
The processing is performed until the end notification from the decision board 38 is detected.
Interrupt. When the end notification is detected, this processing is restarted.
After turning on the response signal S3 in step 480,
Returning to step 410, thereafter, the processing end command signal D2
Until it is turned on, the processing of steps 410 to 480
Execute repeatedly. On the other hand, in step 420,
When it is determined that the processing end command signal D2 is turned on,
The flow shifts to step 490, where the response signal S3 is turned on to execute this processing.
End the process. That is, according to this processing, first, the component supply device
To a holding angle position where the component P prepared in the device 10 can be held.
When the command signal D3 is turned on, a certain assembly head 6a
An angle position where the held part P can be assembled to the workpiece W.
And then, when the command signal D4 is turned on,
Turn to return to the holding angle position. Also, turn to the assembly angle position.
When rotation is completed, when reverse rotation to the holding angle position is completed, and when processing is completed
Command signal D1 is turned on after the end command signal D2 is turned on.
The response signal S3 is turned on. In this process, steps 440, 47
The function of the event flag executed at 0 is the first state transition
In steps 410, 430, and 460,
The function of the event flag to be executed is the second state transition means.
Is equivalent to Next, FIG. 7 is executed by the synchronization control task.
6 is a flowchart illustrating a synchronization control process performed. here
Then, in accordance with the flowchart shown in FIG.
Referring to the control flow shown in FIG.
The operation of the entire device 12 will be described. 10 is the same as FIG.
In the control flow of FIG.
From the flow, that is, from the servo control task to the positioning board 3
Control when a movement command is output to 6, 38, 40
This is a control flow representing the flow of control, and is an XY table control process.
Steps 120, 150, 170, before and after the assembly head
Steps 240, 250, 280, and 3 of the vertical control process
10, 320, 350, the status of the assembly head rotation control process
440 and 470. First, power is turned on and initialization processing is performed.
Immediately after the XY table 4 is in the loading position,
The assembling head 6a is at the component supply position, and is at the raised position.
And at the holding angle position. Note that the same
Before the start of the initial control task,
XY table control processing is instructed when the
Waiting for signal B0 to turn on, assembling head front-back, up-down control processing
Waiting for the command signal C1 to turn on, the assembly head rotation control
Waiting for command signal D1 to turn on, processing is interrupted
ing. As shown in FIG. 7, this processing is started.
First, execute the event flag wait in step 510
Processing is suspended until the work input signal IN1 is turned on.
I do. Then, the XY table 4 by the work input device 8
When the input of the workpiece W to the
When the signal IN1 is turned on and the process is restarted, the step
At 520, the confirmation signal OUT1 is turned on, and the subsequent step 5
At 30, the command signal B0 is turned on. That is, the command signal B
When 0 is turned on, the XY table control process performs
To move the cable 4 to the assembly position.
You. In the following step 540, the unprocessed coordinate data
By checking whether or not there is a data
Judge whether to end or not, there is unprocessed coordinate data
If it is determined that the process should not be terminated,
Shift to 550, turn on command signals B1, C1, and D1
Then, in the next step 560, an event flag wait is executed.
And a component preparation completion signal IN2 from the component supply device 10.
Processing is suspended until is turned on. That is, the command signals B1, C1, and D1 are turned on.
Then, in the XY table control processing, the XY table is assembled.
Processing to move to the attached coordinates becomes executable, and the assembly head
With front / back / up / down control processing and assembly head rotation control processing
Is in a state of waiting for the command signals C3 and D3 to turn on.
You. Then, the component P is
When the preparation is completed, the component preparation completion signal IN2 is output.
When this process is turned on and the process is resumed,
The acknowledgment signal OUT2 is turned on.
Command signal C3 is turned on, and at step 590,
After executing the vent flag wait, the response signal S2 is turned on.
Suspend processing until That is, when the command signal C3 is turned on, the assembling is performed.
In the head front / back / up / down control processing, the assembling head 6a is lowered.
Processing to raise and hold the component P on the assembly head 6a
Becomes executable. Then, the parts by the assembly head 6a
When the holding of P is completed, the response signal S2 is turned on.
When this process is restarted, at step 600,
Signals C4 and D3 are turned on, and in the next step 610, the event
Response flag S1, S2, S3
Suspends processing until turned on. That is, the command signals C4 and D3 are turned on.
And the assembling head 6a in the assembling head front / back and up / down control processing.
Can be executed to move the
In the assembly head rotation control process, the assembly head 6a is
To the assembly angle position where the part P can be assembled to the workpiece W
Processing can be performed. Then, to the part assembling position of the assembling head 6a.
Movement and rotation to the assembly angular position are both completed.
As a result, the response signals S1 and S2 are turned on, and the process is restarted.
Then, in step 620, the command signal C5 is turned on.
Then, in the following step 630, the event flag wait is executed.
The process is suspended until the response signal S2 is turned on. That is, when the command signal C5 is turned on,
Assembly head by front-back and up-down control processing
6a is lowered to assemble the part P on the work W
The process becomes executable. Then, the part P on the workpiece W
Is completed, the response signal S2 is turned on.
When this process is restarted, at step 640, a command signal
C6 and D4 are turned on.
Response signal S2 and S3 are turned on.
Suspend processing until That is, the command signals C6 and D4 are turned on.
And the assembling head 6 by the assembling head front / back and up / down control processing
a for retracting a to the component supply position, and assembling head
Return the assembly head 6a to the holding angle position by the rotation control process
For this purpose, a reverse rotation process can be executed. Then, to the component supply position of the assembling head 6a.
Movement and rotation to the holding angle position are both completed.
As a result, the response signals S2 and S3 are turned on and the process is restarted.
Then, in step 660, the process waits for an event flag.
Until the component ready signal IN2 is turned off.
To stop the process. The component preparation completion signal IN2 is
Detecting ON of confirmation signal OUT2 in previous step 570
Normally turned off by the component supply device 10
You. Then, the component ready signal IN2 is turned off.
When the processing is detected and the processing is restarted, it is confirmed in step 670.
The acknowledgment signal OUT2 is turned off, and the process returns to step 540. Less than
Thereafter, as long as unprocessed coordinate data exists, step 54 is executed.
The processes of 0 to 670 are repeatedly executed. On the other hand, in step 540, the unprocessed
There is no coordinate data and it is determined that the process should be terminated
If it has, the process proceeds to step 680, and the processing end command signal is sent.
After turning on the signals B2, C2 and D2, the following step 690
To turn on the command signals B1, C1, and D1, and
In step 700, the system waits for an event flag, and
The process is suspended until the signals S1, S2, and S3 are turned on. That is, when the command signal B1 is turned on,
In the XY table control processing, the XY table 4 is input.
After moving to the position, processing to turn on the response signal S1 can be executed
Also, assembling head front / back / up / down control processing and assembling
In the head rotation control process, the response signals S2, S3
Can be turned on. Then, the XY table control processing and the assembly
Front / back / up / down control and assembly head rotation control
Upon completion, the response signals S1, S2, and S3 are turned on.
When this processing is restarted, the event
Execute the job input signal IN1.
Suspends processing until it is turned off. Note that the work input signal IN1 is
In which the confirmation signal OUT1 is turned on in step 520.
Normally, it is already turned off by the input device 8. Soshi
The workpiece input signal IN1 is detected to be off, and the process is restarted.
When opened, the confirmation signal OUT1 is output at step 720.
Turns off and waits for an event flag in the following step 730
And processing until the workpiece removal signal IN3 is turned on.
Interrupt. That is, the OFF state of the work input signal IN1 is detected.
XY table at the loading position
The operation for removing the workpiece W from the step 4 is started. And X
The removal of the workpiece W from the Y table 4 is completed, and the workpiece is removed.
When the delete signal IN3 is turned on and this process is restarted,
In step 740, the confirmation signal OUT3 is turned on, and
In step 750, wait for the event flag and execute the work removal.
The processing is interrupted until the leaving signal IN3 is turned off. Thereafter, the OFF of the confirmation signal OUT3 is detected.
The workpiece removal signal IN3 by the workpiece input device 8
When the process is restarted and the process is restarted,
The signal OUT3 is turned off, and the process ends. The main office
In steps 590, 610, 630, 650, 7
The function of the event flag executed at 20 is in the third state
It corresponds to a transition means. As described above, the robot of this embodiment is
In the controller 12, this is executed by the servo control task.
Of each process is terminated in a series of processes separated in advance.
Each time, interrupt the processing and restart these interrupted processing
The timing of the change depends on the command signal set by the synchronous control processing.
On the basis of this information. Accordingly, the robot controller 12 of the present embodiment
According to each process executed in the servo control task
It is necessary to determine whether the process is
It is not necessary, and processing executed by other servo control tasks
Since there is no need to be aware of the operating state of the driving unit to be driven,
The processing procedure can be simplified. The result
As a result, processing programs can be created
No matter how the operation timing between moving parts is changed
Unless the operating procedure of the driving unit to be controlled is changed,
There is no need to change the management program at all. Further, the robot controller 12 of this embodiment
According to the synchronous control process executed by the synchronous control task
Is the operation type of each process executed in the servo control task.
Is controlled in a batch.
If you look at the procedure of the control process, you can simplify the control flow of the entire device.
Can be simply grasped and, as a result, improve the maintainability of the equipment.
Can be. Further, the processing executed by the servo control task
In this case, a start command is issued to the positioning boards 36, 38 and 40.
When output, the positioning board 36, 38, 40 exits
Interrupts the process until the information is output, and performs other servo control.
Task or synchronization control task to be executed.
No waiting time for processing
Command is output for the servo control task processing of
The multiple motors M operate simultaneously
Therefore, efficient control can be realized. Further, in this embodiment, the robot control system
When the system is started, the synchronous control task and servo control
The program executed by your task and the coordinate data
The XY table 4 and the set
Program for operating the attachment device 6 and these programs
Program (robot control system)
Stem program) is completely independent
You. Therefore, the movements of the XY table 4 and the assembling device 6 are changed.
If you need to change the program,
It is only necessary to modify the robot, such as the user of the system.
Non-system developers who do not know the contents of the control system
Even, the operation of the device can be easily changed,
The versatility of the device is high.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram illustrating an overall configuration of a robot facility to which a robot control device according to the present embodiment is applied. FIG. 2 is a schematic configuration diagram of an XY table and an assembling device used in robot equipment. FIG. 3 is an explanatory diagram illustrating a software configuration of the robot control device. FIG. 4 is a flowchart illustrating an XY table control process. FIG. 5 is a flowchart illustrating an assembling head front / rear / up / down control process. FIG. 6 is a flowchart illustrating an assembly head rotation control process. FIG. 7 is a flowchart illustrating a synchronization control process. FIG. 8 is an explanatory diagram illustrating a flow of control during normal processing. FIG. 9 is an explanatory diagram showing a flow of control at the time of ending the processing. FIG. 10 is an explanatory diagram showing a control flow when a start command is output to a positioning board. [Description of Signs] 2 ... Robot equipment 4 ... XY table 6 ... Assembling device 6a ... Assembling head 8 ... Work input device 10 ...
Component supply device 12 ... Robot control device 14 ... X-axis driver
16 Y-axis driver unit 18 Front-back driver unit 20 Vertical driver unit
22: rotation driver unit 24: CPU 26: ROM / RAM 28:
Mass storage device 30 I / O port 32 Display device 34
Keyboard 36, 38, 40 ... positioning board

──────────────────────────────────────────────────続 き Continued on the front page (58) Field 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 (1)

(57) [Claim 1] A robot control device for driving and controlling a robot having a plurality of independently operable drive units, provided corresponding to the drive unit, and provided from outside. A plurality of driving means for starting the driving of the driving unit in accordance with the start command and outputting an end notification when a predetermined operation in accordance with the start command is completed; and A drive control means for sequentially outputting a start command to the drive means and outputting a response notification each time a series of pre-divided processes is completed; and the drive control means to be operated according to a predetermined procedure A synchronous control means for sequentially outputting an operation command designating the following. When the drive control means outputs a start command, the processing of the drive control means is interrupted, and an end notification from the drive means is detected. Then, first state transition means for causing the drive control means to transition to a standby state in which processing can be restarted, and when the drive control means outputs a response notification, the processing of the drive control means is interrupted, and A second state transition means for causing the drive control means designated by the operation command to transition to a standby state upon detecting an operation command from the microcomputer; and interrupting processing of the synchronization control means when the synchronization control means outputs an operation command. And a third state transition means for causing the synchronous control means to transition to a standby state upon detecting a response notification from all designated drive control means; and one of the plurality of drive control means and the synchronous control means. And the driving control means or the synchronization control means in operation interrupts the processing by the first state transition means, the second state transition means, and the third state transition means. When, the robot control apparatus characterized by and a control switching means for switching a sequential control in addition to the drive control means or synchronization control means in the standby state.