JP3944752B2 - Command input device of control device - Google Patents

Description

[0001]
[Industrial application fields]
The present invention relates to a command input device for an industrial control device such as a machine tool control device, a robot control device, or a sequence control device having a function of receiving a command from an external device.
[0002]
[Prior art]
As shown in the example of the robot control device 1 in FIG. 2, the conventional industrial control device has communication ports S1 to S4 with a plurality of external devices in the communication unit 2, but via a specific communication port. It has been common to receive commands from the host controller. In this example, the communication port S1 is connected to the host computer 4 using the serial communication line 3, and the communication port S4 is connected to the teach box 6 using the serial communication line 5. When a command such as a robot operation command is sent from the host computer 4, the command is fetched by the communication unit 2, the command is decoded by the command interpretation unit 7, and the actual operation of the robot 9 is executed by the command execution unit 8. Is done.
[0003]
[Problems to be solved by the invention]
Since conventional control devices can only receive commands via a specific communication port, they can only receive commands from specific external devices and cannot switch external devices that receive commands according to work. There was a problem. It is an object of the present invention to input commands from a plurality of external devices via different communication ports.
[0004]
[Means for Solving the Problems]
In order to solve the above problems, the present invention generates a plurality of command interpreting units as tasks , assigns the generated command interpreting unit to each communication port to which an external device is connected ,
The command interpreter assigned to the communication port is made to decode the command from the external device fetched from the communication port .
Moreover, Chi lifting permission or deny allocation permission table allocation instruction interpreting unit for each communication port of the communication unit, in accordance with the allocation permission table assignment only to authorized communication ports, the instruction interpreting unit Generation and assignment to a communication port are performed .
[0005]
[Action]
When a connection request is input to each communication port, the communication unit assigns a command interpretation unit to the communication port.
For a communication port that does not have a connection procedure, a command interpreter is assigned when the control device is activated. As a result, a command interpreter is assigned to each connected external device, and commands can be input and executed from a plurality of external devices. When issuing a command to an external device or communicating with a specific communication protocol, it is necessary not to assign a command interpreter to a communication port with such a device. The communication unit refers to the allocation permission table when allocating the command interpretation unit, and allocates the command interpretation unit only to the permitted communication port.
[0006]
【Example】
Hereinafter, the present invention will be specifically described based on examples. FIG. 1 shows a block diagram of a robot control apparatus 1 according to the present invention. As general-purpose communication ports, RS232C communication ports S1, S2, S3, and S4 are provided, and a TCP / IP protocol LAN interface (Ethernet) EI is provided. In this example, a host computer 4 that generates a robot operation command is connected to the S1 port, a hand control device 10 is connected to the S2 port, a teach box 6 is connected to the S3 port, and a monitor computer 11 is connected to the S4 port. Has been. Further, it can communicate with a plurality of external devices (computers) 12 via a LAN. FIG. 3 shows an example of the breakdown of the allocation permission table of the instruction interpretation unit in this embodiment. According to this breakdown, it is indicated that the assignment of the instruction interpretation units 7a to 7d other than the S2 port is permitted. When the control device starts up, after the initialization, the allocation permission table (not shown in FIG. 1) is examined.
Then, if the entry in the allocation permission table is permitted for the interface having no connection procedure, the command interpreting units 7a to 7d are allocated. In this example, since all communication ports of RS232C do not have a connection procedure, command interpreters 7a to 7d are assigned to each port except S2 at the time of startup. The instruction interpretation units 7a to 7d have an instruction to refer to or change the setting of the assignment permission table, and can assign and release the instruction interpretation unit to any port even when the control device is not started.
[0007]
Regarding the LAN interface, a connection is established in response to a connection request from the external device 12, and a command interpreter 7d is assigned to the established communication path. By this method, a command request from any device on the LAN can be accepted. The instruction interpreter 7 is assigned by starting the instruction interpreter as a separate task. At this time, the communication port descriptor that receives the command is passed as a parameter. The task of the instruction interpretation program is activated by the number of communication ports to which the instruction interpretation unit 7 is assigned. For this reason, it is also possible to simultaneously receive and execute commands from a plurality of external devices 12. Of course, the only commands that can be executed simultaneously are commands that do not interfere with each other, and the commands accompanying the actual operation of the robot, such as movement commands, are exclusively controlled. Further, the instruction interpreting units 7a to 7d not only execute basic instructions of the robot, but also load, save, and execute a plurality of robot operation programs. The instruction execution unit 8 is activated as a single task, and execution instruction messages are passed from the tasks of the plurality of instruction interpretation units 7. Such communication with a plurality of tasks can be easily realized by using a message communication function between tasks of a normal real-time OS.
[0008]
In the embodiment, the host computer 4 continuously outputs robot operation commands to constantly control the robot. The monitor computer 11 monitors the current posture and motion status, and edits, loads, and saves motion programs.
The teach box 6 performs robot teaching and simple editing of the robot program. The same command interpreting unit 7 is assigned to them, and any communication port can be used in an equivalent manner as long as the physical interface of the communication port is consistent.
The hand control device 10 controls the robot hand and receives a work command from the robot control device 1. For this reason, the assignment of the instruction interpreter 7 is prohibited in the assignment permission table. In addition, since an instruction can be received in the same manner from any external device 12 connected to the LAN, it is possible to monitor and control the robot from an unspecified device.
[0009]
In the present embodiment, the robot control device 1 is shown as an example, but the present invention can be applied to all control devices that input commands from the external device 2 such as a machine tool control device and a sequence control device. .
[0010]
【The invention's effect】
As described above, according to the present invention, it is possible to receive a command from an arbitrary external device connected to the control device, and while executing a command from a certain host device, an operation program from another device can be received. There is an effect that loading, monitoring of the current state, etc. can be easily realized. In addition, the system configuration can be easily corrected in that the external device can be connected to an arbitrary communication port without correcting the settings and programs in the control device.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a specific embodiment of the present invention. FIG. 2 is a block diagram of a conventional control apparatus. FIG. 3 is a diagram showing an example of a breakdown of an assignment permission table for controlling assignment of an instruction interpreter. Explanation of]
DESCRIPTION OF SYMBOLS 1 Robot control apparatus 2 Communication part 3 Serial communication line 4 High-order control apparatus 5 Serial communication line 6 Teach box 7 Instruction interpretation part 8 Instruction execution part 9 Robot 10 Hand control apparatus 11 Monitor computer 12 Computer S1, S2, S3, S4 General-purpose communication port EI TCP / IP protocol LAN interface (Ethernet)

Claims (2)

A communication unit that can be connected to a plurality of external devices via a plurality of communication ports;
A command interpreter that decodes a command of the external device captured by the communication unit according to a predetermined syntax ;
In a control device for industrial equipment consisting of an instruction execution unit for executing decoded instructions,
A plurality of the instruction interpretation units are generated as tasks,
Assign the generated command interpretation unit for each communication port to which an external device is connected ,
An instruction input device for a control device, wherein an instruction interpretation unit assigned to the communication port interprets an instruction from an external device fetched from the communication port . Has permission or deny allocation permission table allocation instruction interpreting unit for each communication port of the communication unit after the initialization standing up the control device, in accordance with the allocation permission table, to the communication port assignments is permitted 2. The command input device for a control device according to claim 1 , wherein the command interpreter is generated and assigned to a communication port .

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