JP3824555B2 - Welding parameter setting method for resistance welding machine control device - Google Patents

Description

[0001]
[Field of use belonging to the invention]
The present invention integrates a robot controller for controlling the operation of the robot and a welding control device (hereinafter referred to as a welding timer) including a timer and a contactor for controlling the welding current and energizing time. Writing, monitoring, etc. also relate to a welding parameter setting method using an integrated control system for centrally managing welding parameters with a teaching pendant.
[0002]
[Prior art]
Conventionally, a control system in which a robot controller of a resistance spot welder and a welding timer are integrated includes, for example, a control method disclosed in JP-A-7-144283 and a control method disclosed in JP-A-10-58157. Are known.
[0003]
The former uses a pressurization actuator that uses a servomotor as the electrode drive source of the spot welder, starts the pressurization operation with a welding start signal from the robot controller, and receives a welding completion signal from the actuator control device to control the robot control device. Is a method of starting the robot movement, and during the welding period from electrode pressurization to electrode opening of the spot welder, welding by a welding timer that controls the electrode pressurization by the actuator control device and the switch of the welding power source The current is synchronized with the current.
[0004]
In the latter, the spot welding timer and pressurizing controller are connected by a system bus and controlled in synchronization by the robot controller. The robot controller controls the pressurizing force and welding current in multiple stages according to the stored welding parameter values. It is to change in synchronization with.
[0005]
[Problems to be solved by the invention]
When teaching welding sequence data using the above-described conventional control method, for example, as shown in FIGS. 5 and 6, a welding timer and a robot controller are connected by a field bus, and a field is transmitted from a teaching device connected to the robot controller. A control method is known in which welding sequence data is set in a welding timer via a bus.
[0006]
In this case, the setting screen depends on the program on the robot side. For example, the setting items “squeeze (cycle)” “slope (cycle)” “energization 1 (cycle)” “current 1 (amp)” and the like “1” “2” “3” …… “n” is a fixed format at the time of program creation, and the welding control system generally transmits a welding parameter value “30” “ 3 ” “10”… “8000”. (See JP-A-2001-58275). For this reason, when welding parameters are added or changed due to changes in the specifications of the welding control device, etc., it is necessary to change the welding parameter editing screen (item name, arrangement order) and screen format on the robot side. Therefore, the software is forced to change, and the cause of the cost increase is a problem.
[0007]
[Means for solving problems]
Therefore, the present invention takes the following technical means in order to solve the above problems. That is, the robot controller and the welding timer are coupled by a dual port RAM connected to each data bus, and welding parameter item character strings to be displayed on the robot teaching pendant, such as “squeeze”, “ current "," energization time ", etc. is stored, likewise the welding timer of ROM the value itself which is determined as an initial value before adapting the initial reference value, that the welding condition of the welding parameters to be welded welding It is stored so as to correspond to the item string in the same order of parameters, and connect the welding timer and the robot initially, the item string and the initial of the welding parameters to the robot from the welding timer when the power is turned transfer the reference value as the welding parameters values with are stored in RAM of said robot The Teichingu pendant serial robot, the item string and the welding parameter values the transfer of the welding parameters displayed side by side so as to correspond to at the same order, the welding parameters are transferred to the robot Teichingu pendant of the robot The welding parameter value corresponding to the item character string is arbitrarily changed to match the welding condition of the workpiece to be applied and stored in the RAM of the robot, and also in the RAM of the welding timer via the dual port RAM. transferred and stored, and later gives welding command via Deyuarupoto RAM to said welding controller from the robot, the welding timer on the basis of the welding command, RAM of the welding timer is edited in Teichingu pendant of the robot Welding based on the welding parameters stored in Providing welding parameters setting method for resistance welder control apparatus subject to a Ukoto.
[0008]
BEST MODE FOR CARRYING OUT THE INVENTION
FIG. 1 is a block diagram showing an example of a connection circuit of the resistance welding machine control device of the present invention. FIG. 2 is an explanatory view showing an embodiment of the welding parameter setting display of the present invention. In FIG. The welding timer time-controls mechanical and electrical operations by a sequence program and controller of a spot welder, and is built in the same main body as the robot controller of the welding robot.
[0009]
The welding timer and the robot controller are directly connected by a dual port RAM using an internal bus on the timer side and an expansion bus on the robot side. The dual port RAM is divided into a command area and a data area. The transmission data from the robot controller to the welding timer is set to any data to be transmitted to the data area, and then a transmission command is set to the command area. To do. The timer controller constantly polls (monitors) the command area, and processes the specified command when it reads a command from the robot controller.
[0010]
FIG. 3 shows a basic command flow according to the present invention.
In this case, when arbitrary data is set in the data area from the timer controller and a command is set in the command area, the robot controller also reads the command from the command area and executes processing.
[0011]
When the welding timer is first connected to the robot, the robot controller receives a setting item character string and an initial reference value in the same order as the setting item from the welding timer when the power is first turned on. It is stored in the backup RAM of the robot. At this time, the welding timer sets the number of valid items of the welding condition data in the data area of the dual port RAM. The robot controller can read the welding parameter item character strings and the initial reference values as many times as there are valid items.
[0012]
FIG. 4 shows an initial welding parameter readout flow.
In this case, the robot is displayed in the robot teaching pendant simultaneously with being stored in the backup RAM. Item character strings of the read welding parameters such as “squeeze (cycle)”, “slope (cycle)”, “energization 1 (cycle)”, “current 1 (amp)”, etc. and welding parameter values “30” “ 3 ” “10” “8000” is arranged in the same order “1” “2” “3”... “N”, and the robot controller displays the item character string of the welding parameter and the welding parameter value in FIG. Are displayed on the teaching pendant of the robot in the same arrangement order as shown in FIG. Thus, if the welding parameter value of an arbitrary line is edited, data corresponding to the item character string of the welding parameter of that line is edited. The robot controller is not particularly aware of the meaning of the data in each row, and can edit each welding parameter corresponding to each row.
[0013]
After the initial connection, the robot controller sends the welding parameters stored in the backup memory in the robot using the dual port RAM when the power is turned on. At this time, the welding parameter item character string is read from the welding timer. Reads the number of valid items and sends welding parameters to the welding timer according to the number of valid items. At the same time, the robot teaching pendant sends the welding parameter item string and welding parameter value in the same order according to the number of valid items. To display.
[0014]
When the number of items in the welding timer changes, the number of valid items is set in the dual port RAM when the power is turned on. Therefore, the robot controller compares the number of items with the internally backed up data. The initial reference value newly increased from the welding timer and the item character string of the welding parameter can be read from the dual port RAM and stored in the backup RAM in the robot, and at the same time to the robot teaching pendant in the same order. It is possible to automatically respond to data changes by displaying.
[0015]
【The invention's effect】
As described above, according to the present invention, in the robot welding integrated timer in which the robot controller and the welding timer are coupled by the dual port RAM connected to each data bus, the control is performed to change the function of the welding timer. Even if a new welding parameter is added to the software or the item content is changed, the robot teaching can be maintained by always maintaining the correspondence between the welding character item string and the welding parameter value. It is possible to freely change the function of the welding timer without making any changes to the pendant software, thereby reducing costs.
[Brief description of the drawings]
FIG. 1 is a block diagram showing an example of a connection circuit for carrying out a welding parameter setting method of the present invention.
FIG. 2 is an explanatory diagram showing an embodiment of a welding parameter setting display according to the present invention.
FIG. 3 is a flowchart of basic commands of the welding parameter setting method of the present invention.
FIG. 4 is a flowchart for reading an initial reference value in the welding parameter setting method of the present invention.
FIG. 5 is a block diagram showing an example of a conventional welding sequence data teaching method.
FIG. 6 is an explanatory view showing an example of a welding parameter setting display of a conventional method.

Claims (1)

The robot controller and the welding timer are combined by a dual port RAM connected to each data bus, and the welding timer ROM stores the character strings of the welding parameters to be displayed on the teaching pendant of the robot. The initial reference value of the welding parameter is stored in the ROM so as to correspond in the same order as the item character string of the welding parameter . When the robot and the welding timer are first connected and the power is turned on, the welding timer is stored. The robot transmits the welding parameter item character string and the initial reference value as welding parameter values and stores them in the robot RAM, and the robot teaching pendant includes the welding parameter item character string and the transferred data . Arrange the welding parameter values to correspond in the same order Displayed, the welding parameter value corresponding to the item string of the welding parameters transferred to the robot Teichingu pendant of said robot, to change arbitrarily to meet the welding conditions of the welding subject to the application of the robot In addition to being stored in RAM and transferred to and stored in the welding timer RAM via the dual port RAM, the robot then gives a welding command to the welding timer via the dual port RAM. A welding parameter setting method for a resistance welding machine control device, wherein welding is performed based on a welding parameter edited by a teaching pendant of the robot and stored in a RAM of the welding timer based on a command.

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