JP4242681B2 - Teaching device - Google Patents

Description

[0001]
[Technical field to which the invention belongs]
The present invention relates to a teaching apparatus connected to a host controller that controls a machine such as a robot.
[0002]
[Prior art]
There exists patent document 1 as a conventional teaching apparatus.
[0003]
[Patent Document 1]
JP-A-9-198122 [0004]
Patent Document 1 discloses a technique for transmitting data to a controller each time a key or a manual pulse generator (knob) provided in a teaching device is operated.
[0005]
[Problems to be solved by the invention]
As described above, the conventional teaching device transmits the information to the controller each time a key is pressed, so that there is a problem that communication takes time. In addition, when a graphic is displayed on the display unit of the teaching apparatus, there is a conventional technique in which graphic data is sent from the controller. In this case as well, there is a problem that communication takes time.
[0006]
The present invention has been made to solve the above-described problems, and an object thereof is to obtain a teaching device having a short communication time with a controller.
[0007]
[Means for Solving the Problems]
A means for solving the problem described in claim 1 is a teaching device that communicates with a controller that controls a machine, a storage unit that stores data , and a numeric key that receives an operation of an operator An input unit having a plurality of keys including an edit key and an edit confirmation key, a processing unit for editing the data based on the operation of the operator, and data edited by the processing unit are displayed. The processing unit has a first type mode for editing and a second type mode other than the first type mode as processing modes, and is in the second type mode when the teaching device is activated. When a character graphic display command is received from the controller in the initial setting and in the second type mode, the character graphic corresponding to the character graphic display command is displayed on the display unit, and the operation is performed when the operator performs a key operation. Key Sends against was key number to the controller, in the second type mode in, set in the numeric input receives the instructions first type mode from the controller, in a first type mode, the operator numeric keys and editing keys When a numeric editing input operation is performed, the editing data is stored in the storage unit, and when the operator operates the editing confirmation key , the editing data stored in the storage unit is collectively stored in the controller. Then, the second type mode is transmitted, and the second type mode is set when an edit cancel command is received from the controller during the first type mode .
[0010]
DETAILED DESCRIPTION OF THE INVENTION
FIG. 1 is a conceptual diagram showing a system according to an embodiment of the present invention. The system according to the embodiment includes a host controller 2 that controls a machine such as a robot, and a teaching device 1 that communicates with the host controller 2. The teaching device 1 includes a display unit (LCD) 1b such as liquid crystal, a key (input unit) 1c, a central processing unit (CPU) 1d, a ROM (storage unit) 1e for storing a system program and graphic data of the teaching device, a key RAM (storage unit) 1f and host controller 2 for storing an information setting table, communication command frame data, data (character code and graphic data) to be displayed on the display unit 1b, programs for processing the flowcharts of FIGS. The communication interface (I / F) 1g for performing communication with is included. The central processing unit 1d and the communication interface 1g constitute a processing unit.
[0011]
FIG. 2 is a front view showing the teaching device 1 according to the embodiment of the present invention. The teaching device 1 according to the embodiment is arranged in a matrix in a housing 1a that can be held by hand, for example, a liquid crystal display unit 1b that is disposed in the upper front of the housing 1a, and in the lower front of the housing 1a. And a plurality of keys 1c.
[0012]
Next, the operation will be described. The host controller 2 controls a machine (not shown) such as a robot. The teaching device 1 communicates with the host controller 2. The key 1c of the teaching device 1 receives an operation of an operator (not shown). Various programs and data described above are stored in the ROM 1e and the RAM 1f. The communication interface 1g communicates with the host controller 2. The central processing unit 1d controls the display unit 1b, the ROM 1e, the RAM 1f, and the communication interface 1g by a program stored in the ROM 1e or the RAM 1f. 8 to 10 are processed based on the program stored in FIG. 8, and the processing result is stored in the RAM 1f, displayed on the display unit 1b, or transmitted to the host controller 2 via the communication interface 1g. Or
[0013]
Next, a description will be given using the flowchart of FIG. First, when the teaching apparatus 1 is activated, the central processing unit 1d initializes the system program (step S10). The initialization is, for example, a key scan timer interrupt or a transmission / reception communication interrupt.
[0014]
Next, the central processing unit 1d refers to the key information table stored in the ROM 1e (or RAM 1f) and sets a key label for each key 1c (step S11). For example, when the key information table is FIG. 3, the key label shown in FIG. 4 is set for each key 1c, or when the key information table is FIG. 5, the key shown in FIG. A label is set. A unique number (key number) is assigned to each key 1c. A key number is virtually written on each key 1c in FIG. For example, when the key information table is FIG. 3, the key label “7” is set to the key 1c having the key number 21 in FIG. For the SHIFT value in FIG. 5, the central processing unit 1d preferentially checks the shift key, and when the shift key and another key are pressed, the key number of this other key is changed to SHIFT key. The value (here, 40) is set to the added value. For example, when the shift key and the key 1c having the key number 21 in FIG. 2 are pressed, the key number of the key 1c is 61.
[0015]
Next, the central processing unit 1d scans each key 1c by a timer interrupt (step S12), and determines whether or not the key 1c is pressed (step S13). If it is determined that the key 1c is pressed, the key number of the pressed key 1c is transmitted to the host controller 2 (step S14), and the process returns to step S12. On the other hand, if it is determined that the key 1c has not been pressed, it is determined whether there is a reception command from the host controller 2 due to a communication interrupt (step S15). If it is determined that there is no reception command, the process returns to step S12. If it is determined that there is a reception command, processing corresponding to the reception command is performed in steps after step S17.
[0016]
That is, in step S17, the central processing unit 1d determines whether the received command is a cursor position setting command, and if it is a cursor position setting command, sets the current cursor position on the display unit 1b (step S18). Returning to step S12, if it is not a cursor position setting command, the process proceeds to step S19.
[0017]
In step S19, the central processing unit 1d determines whether or not the received command is a character graphic display command, and if it is a character graphic display command, displays the character code and graphic data received from the host controller 2 at the current cursor position. Displayed on the part 1b (step S20), the process returns to step S12, and if it is not a character graphic display command, the process proceeds to step S21. Here, the display of graphic data in step S20 will be described with reference to FIG. In the ROM 1e (or RAM 1f), m pieces of screen (graphic) data as shown in FIG. 7 are stored in advance. The screen data is stored by connecting the teaching device 1 to a maintenance personal computer (not shown) and registering screen data from the personal computer. When the display command of the character graphic from the host controller 2 is a graphic selection command, the central processing unit 1d selects the screen data having the number indicated by the graphic selection command from the m graphic data in the ROM 1e (or RAM 1f). Is displayed at the cursor position of the display unit 1b. Alternatively, each of the screen data may be further divided into, for example, n parts, and the divided parts may be displayed by a graphic selection command. As described above, since the screen data is stored in the storage unit of the teaching apparatus 1 in advance, the host controller 2 does not have to have the screen data. Further, it is not necessary to send screen data from the host controller 2 to the teaching device 1, and it is not necessary to repeatedly send the same screen data from the host controller 2 to the teaching device 1 to display the same graphic. Communication time is short.
[0018]
In step S21 in FIG. 8, the central processing unit 1d determines whether or not the received command is a numerical value input command. If the received command is a numerical value input command, for example, a numerical value input process for inputting teaching data to the machine is performed. (Step S22), the process returns to step S12, and if it is not a numerical value input command, the process proceeds to step S23.
[0019]
In step S23, the central processing unit 1d determines whether or not the received command is a numerical input cancel command, and if it is a numerical input cancel command, cancels the numerical input processing and invalidates the numerical value being input (step S24). ), The process returns to step S12, and if it is not a numerical value input release command, the process simply returns to step S12.
[0020]
The contents of the numerical value input process (edit) in step S22 are shown in FIG. While the procedure shown in the flowchart of FIG. 9 is being performed is referred to as a first type mode, and during a procedure other than the first type mode (the step other than step S22 in FIG. ).
[0021]
When the central processing unit 1d receives the numerical value input command, it sets the first type mode (numerical value input mode) (step S30). Next, the central processing unit 1d checks the reception command by communication interruption (step S31). If the reception command is a numerical value input cancel command (edit cancel command), the numerical value input process is canceled and the numerical value being input is determined. The second type mode is set by disabling (step S41), and for example, preferential processing such as displaying an alarm message on the display unit 1b is executed in real time. The process moves to S33.
[0022]
In step S33, the central processing unit 1d scans each key 1c by a timer interruption (step S33), and performs processing corresponding to the pressed key 1c (steps S34, S36, S38, S40).
[0023]
First, in step S34, the central processing unit 1d determines whether the pressed key 1c is a key (numerical key) corresponding to “1”, “2”, or the like based on the key information table. If the central processing unit 1d is a numeric key, the numeric value corresponding to this numeric key is displayed at the current cursor position on the display unit 1b (step S35), and the process returns to step S31. If not, the process proceeds to step S36. .
[0024]
In step S36, the central processing unit 1d determines whether the pressed key 1c is an edit key based on the key information table. If the central processing unit 1d is an editing key (for example, '→', '←', 'INC', 'DEL', 'BS', 'CLR'), it performs numerical editing described later (step S37). Returning to step S31, if it is not an edit key, the process proceeds to step S38.
[0025]
In step S38, the central processing unit 1d determines whether or not the pressed key 1c is a confirmation key (for example, “ENT”) based on the key information table. If the central processing unit 1d is a confirmation key, the input numerical value stored in the RAM 1f is transmitted to the host controller 2 (step S39), the numerical value input processing is canceled (step S41). Move on to S40.
[0026]
In step S40, the central processing unit 1d determines whether the pressed key 1c is a cancel key (for example, “ESC”) based on the key information table. If the central processing unit 1d is a cancel key, the numerical value input process is canceled to invalidate the numerical value being input (step S41), and if it is not the cancel key, the process returns to step S31.
[0027]
Next, the contents of step S37 are shown in FIG. If the central processing unit 1d is the cursor right movement key ('→') (step S50), the cursor position is moved to the right numerical value (step S51), the numerical value editing is terminated, and the cursor right movement key is used. If not, the process proceeds to step S52.
[0028]
In step S52, if the central processing unit 1d is the cursor left movement key ('←'), the cursor position is moved to the left numerical value (step S53), the numerical value editing is terminated, and the cursor left movement key must be used. If yes, the process proceeds to step S54.
[0029]
In step S54, if the central processing unit 1d is an insert key ('INC'), it sets a state (insert mode) in which the next input numerical value is inserted at the current cursor position (step S55), and numerical editing is performed. If it is not an insert key, the process proceeds to step S56. In the insertion mode, the numerical value is inserted and displayed at the current cursor position on the display unit 1b in step S35. The insertion mode is released after the process of step S35 is completed, for example.
[0030]
In step S56, if the central processing unit 1d is the delete key ('DEL'), the numerical value at the current cursor position is deleted (step S57), the numerical value editing is terminated, and if it is not the delete key, the process proceeds to step S58.
[0031]
In step S58, if the central processing unit 1d is the left delete key ('BS'), it deletes the numerical value to the left of the current cursor position (step S59), ends the numerical editing, and must be the left delete key. If yes, the process proceeds to step S60.
[0032]
In step S60, if the central processing unit 1d is a clear key ('CLS'), all numerical values input so far are deleted (step S61). Finish editing.
[0033]
By repeating the loop starting from step S31 of FIG. 9 and returning to step S31, the operator edits the numerical value displayed on the display unit 1b while looking at the display unit 1b, and the edited data is stored in the RAM 1f. Is done. If the enter key is pressed, the edited numerical values stored in the RAM 1f are transmitted to the host controller 2 at a time in step S39. As a result, the communication time is short. Further, since the host controller 2 does not need to edit numerical values, the processing load is reduced.
[0034]
The present invention is not limited to the description of the embodiment. For example, although an example of editing a numerical value has been shown, characters may be edited in addition to the numerical value.
[0035]
【The invention's effect】
According to the first aspect of the present invention, since the data stored in the storage unit is collectively transmitted to the controller, the communication time is short. Also, editing can be forcibly interrupted from the controller.
[Brief description of the drawings]
FIG. 1 is a conceptual diagram showing a system according to an embodiment of the present invention.
FIG. 2 is a front view showing a teaching device according to an embodiment of the present invention.
FIG. 3 is a data structure diagram illustrating a key information table according to the embodiment of this invention.
FIG. 4 is a diagram showing a key arrangement of the teaching device according to the embodiment of the present invention.
FIG. 5 is a data structure diagram illustrating a key information table according to the embodiment of this invention.
FIG. 6 is a diagram showing a key arrangement of the teaching device according to the embodiment of the present invention.
FIG. 7 is a data structure diagram showing screen data according to the embodiment of the present invention.
FIG. 8 is a flowchart showing the operation of the teaching device according to the embodiment of the present invention.
FIG. 9 is a flowchart showing the operation of the teaching device according to the embodiment of the present invention.
FIG. 10 is a flowchart showing the operation of the teaching device according to the embodiment of the present invention.
[Explanation of symbols]
1 Teaching device, 1b Display section, 1c key.

Claims (1)

A teaching device that communicates with a controller that controls a machine,
A storage unit for storing data;
An input unit having a plurality of keys including a numeric key, an edit key, and an edit confirmation key, which receives an operation of the operator;
A processing unit for editing the data based on the operation of the operator;
A display unit for displaying data edited by the processing unit;
With
The processing unit has, as processing modes, a first type mode for editing and a second type mode other than the first type mode,
When starting the teaching device, initialize the type 2 mode,
In the second type mode, when a character / graphic display command is received from the controller, a character / graphic corresponding to the character / graphic display command is displayed on the display unit, and assigned to the operated key when the operator performs a key operation. Sent the key number to the controller,
When the numerical input command from the controller is received during the second type mode, the first type mode is set.
In the first type mode, when the operator performs numerical value editing input operation using the numerical key and the editing key, the editing data is stored in the storage unit, and when the operator operates the editing confirmation key, Edit data stored in the storage unit is collectively transmitted to the controller, and then set to the second type mode,
Further, in the first type mode, upon receiving an edit cancel command from the controller, the teaching device is set to the second type mode.

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