JPH01240905A - Multicontrol panel - Google Patents

Abstract

PURPOSE:To perform the function of two control panels with one control panel by inputting both programming and a various kinds of commands of a robot controller and a programmable controller by using a touch panel, and performing the monitor of both the robot controller and the programmable controller by a display device. CONSTITUTION:A multicontrol panel 100 is connected to both the robot controller 30 to operate a robot and the programmable controller 26 to perform the control of an entire system for peripheral unit, etc. The programming and a various kinds of commands of both the robot controller 30 and the programmable controller 26 can be inputted by the input from the touch panel 120. In such a way, it is possible to perform two kinds of function of a robot control panel and a process control panel with one control panel, and also, since the display device 140 and the touch panel 120 are provided, it is possible to realize space saving and to improve operability and universality.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a multi-operation panel in a system including a robot, and particularly to improving its operability and versatility.

[Conventional technology] Traditionally, in assembly lines for various equipment such as automobiles,
Automatic machine systems that operate robots have been widely adopted.

Therefore, an example of an automatic machine system using a conventional robot will be explained based on FIG. 18.

In this automatic machine system, a robot 10 and peripheral devices 12 perform welding and assembly of products. In order to perform these controls, it has two operation panels: a process control panel 14 and a robot operation panel 16.

This process control panel 14 performs sequence control of the entire automatic machine system including jigs, peripheral devices 12, etc., and the robot control panel 16 controls the robot 10.

Here, the robot operation panel 16 is used to monitor the state of the robot and perform Ii'jr instructions regarding the operation of the robot, etc., and there are 2 types. That is,
1 t, tcRT screen 18 and keychain 20 all
It is a combined type and is provided at the -L section of the robot operation panel 16. The other is a teaching box 22, which is a small remote control device that can be held with both hands and is equipped with an LED or liquid crystal display and keys for teaching the robot, such as sheet keys.

In addition, the process operation panel 24 centrally arranges various push buttons, changeover switches, lamps, counters, timers, etc. for starting and stopping the robot and operating various jig peripheral devices, etc., and controls the entire system. Monitor and operate. Further, each device is connected to a programmable controller (PC) and a relay in the process control panel 14 through respective signal lines. Note that the process display panel 28 shows the operating status of various devices.

In such a conventional automatic machine system, the operation of the robot 10 is performed by the robot operation panel 18 belonging to the robot controller 30, and the operation of the entire robot 10 is performed by the robot controller 30. I control was performed by a programmable control panel 14 that controlled the L fuller and G.

Furthermore, Japanese Patent Application Laid-Open No. 58-191008 discloses that the numerical control device keyboard and display device that control the operation of the robot itself are used as means for inputting programs into the sequence control device that controls the peripheral devices of the robot. The following is proposed.

[Problems to be Solved by the Invention] In the conventional auto-ffl system as described above, since the process control panel 14 and the robot J/W production board 30 are provided separately, the following problems arise. there were.

(a) Since each new piece of equipment is designed and manufactured, a large number of man-hours are required each time.

(b) Incidental construction is required when adding or changing functions;
The man-hours and costs involved are large.

(c) The equipment status and information are only from the lamp output means,
The amount of information is small.

(d) There are many buttons, lamps, etc., and the operation panel itself becomes large. Also, the number of wire connections is large.

Furthermore, in the device described in JP-A-58-191008, (a) the input method is a keyboard or sheet keys;
Poor operability.

(b) The input of command words is usually in English, which requires human skill and time, which poses a problem.

This invention was made in order to solve these problems, and it is possible to perform the functions of two operation panels, a process operation panel and a robot operation panel, with a single device, and also allows simple input. The challenge is to provide a multi-operation panel.

[Means for Solving the Problems] The multi-operation panel 100 according to the present invention includes a display device 140.
, a touch panel 120 , and a computer 110 , and are connected to both a robot controller 30 that operates the robot and a programmable controller 26 that controls the entire system such as peripheral devices, and the touch panel 120 allows the robot controller to be controlled by the touch panel 120 . 30 and the programmable controller 26 and various commands can be inputted to the display device 40.
The robot controller 30 and the programmable controller 26 are both monitored by the robot controller 30 and the programmable controller 26.

[Operation] The multi-operation panel 100 is connected to both a robot controller 30 that operates the robot and a programmable controller 26 that controls the entire system including peripheral devices.

By inputting from the touch panel 120, programming and various commands for both the robot controller 30 and the programmable controller 26 can be input.1. Both the robot controller 30 and the programmable controller 26 can be monitored by the display device.

Therefore, two types of functions, a robot operation panel and a process control panel, can be performed in one device, and since it is equipped with a display device 140 and a touch panel 120, it is possible to save space, improve operability, and increase versatility. It is possible to aim for

[Embodiment] Next, an embodiment of the multi-operation panel according to the present invention will be described based on the drawings.

Basic configuration of multi-operation panel FIG. 2 is a block diagram showing the basic configuration of the multi-operation panel of this embodiment. The operation panel 100 is a computer 1
10, a touch panel 120, a touch panel controller 130, a CRT (display device) 140, a hard switch 150, and a lamp 152 are built in, and these have an integrated structure.

The computer 110 has a central processing unit 110.
aS storage element 110b, external parallel signal output section 110c, external serial signal input/output section 110d, 110
It consists of an eSCRT screen display control section 110f.

The multi-operation panel 100 is also connected to a printer 160 as an output means and a floppy disk 170 as an external storage means.

It is connected to the peripheral device 12 via a programmable controller 26 in order to function as a process operation panel, and connected to the robot 10 via a robot controller 30 in order to function as a robot operation panel. Note that instructions to the robot controller 30 can also be given from the teaching box 22.

Here, the memory element 110b is for storing programs, data, etc., and is used to store programs, data, etc.
10c is O from the hard switch 150 and the lamp 152
This is an interface circuit for taking in signals regarding N and OFF into or outputting them from the computer 110.

Further, the external serial signal input/output unit 110e includes the computer 110, the programmable controller 26, the robot controller 30. Touch panel controller 130
This is an interface circuit that communicates with the and,
This external serial signal input/output unit 110e allows serial signal communication with the robot 10, various peripheral devices 12, and the like.

Note that these communications can be performed simultaneously with both the robot controller 30 and the programmable controller 26 by performing multi-task processing in which the computer 110 always performs parallel processing.

For example, communication between the multi-operation panel 100 and the programmable controller 26 can be performed using a computer link module of the programmable controller used when performing data communication between a normal programmable controller and a computer. That is, the contacts and registers can be read and written by the computer link module of the programmable controller 26.

Also, a multi-operation panel 100 and a robot controller 30
Character codes and the like can be sent and received between the CRT and the robot controller using a serial communication line that has conventionally been used for communication between the CRT and the robot controller.

Furthermore, communication between the touch panel controller 130 and the multi-operation panel 100 can also be performed using a similar serial communication line.

Note that communication between the multi-operation panel 100, the printer 160, the floppy disk 170, and the CRT 140 is performed in the same manner as with a normal personal computer. Also, CRT 1
40 is a CRT screen display control unit 1 of the computer 110;
10f.

Further, signals are exchanged between the multi-control panel 100 and the programmable controller 26 by the operator touching a picture of a switch drawn on the screen of the CRTI 40. That is, by touching a picture drawn on the screen of the CRT 140, a signal is transmitted to the touch panel 1201, the touch panel controller 130, the computer 110 in this order, and the signal is sent to the programmable controller 26 via the signal line 200. In addition, multi-VT production board 10
When a predetermined display is to be performed on the CRT 140 of 0, the output signal of the programmable controller 26 is transmitted through the reverse route, that is, the programmable controller 26, the computer 110, and the CRTI 40 in this order.

Here, as a method of signal transmission, there is also a method using the hard switch 150, and there are the following two methods. That is, the signal from the hard switch 150 is sent to the computer 110 and transmitted to the programmable controller 26, and the lamp 15 is sent in the reverse route.
How to output to 2 and hard switch 1505 lamp 1
52 and the programmable controller 26 directly through the signal line 2.
There is a method of connecting with 10 and inputting and outputting signals. Note that this method of directly transmitting signals using the signal line 210 is not affected by abnormalities in the central processing unit 110a or the communication device, and is therefore preferably used when ensuring the safety of signal transmission.

In this way, signals can be exchanged between the multi-operation panel 100 and the programmable controller 26 in the three ways described above, and can be used appropriately depending on the type of signal and the purpose.

Next, the function of the programmable controller 26 will be explained. The programmable controller 26 performs sequence control in an automatic machine system using the robot 10. That is, the robot 10 is connected to peripheral devices 12 such as a conveyor for transporting a workpiece, a transfer machine, a clamper for clamping a workpiece, an opening/closing jig, and various sensors to control them.

The robot controller 30 is for controlling the operation of the robot nod 10, and is used to teach a program that stores the operations to be performed by the robot 10, to control the operation of the machine (13) according to the program, and to communicate with peripheral devices. It performs input/output control for transmitting and receiving information, displaying and diagnosing the status of the robot 10, and the like.

The robot controller 30 is operated using the multi-operation panel 100, but simple operations can also be performed using the teaching box 22. Further, the robot controller 30 is connected to the programmable controller 26 by a signal line, so that signals can be transmitted and received between the two.

Further, the floppy disk drive 170 stores programs, data, etc. of the multi-operation panel 100. The printer 160 is used to paste programs and data for the multi-operation panel 100.
A hard copy of the CRT 140 screen can also be made.

External appearance of multi-operation panel FIG. 3 is a perspective view showing the external appearance of a system using multi-operation panel 100. As shown in FIG. Programmable controller 26
is stored inside the process control panel 24. This process control panel 24 includes a programmable controller 26 shown here as well as a relay (not shown) and the like.

Moreover, FIG. 4 is an external view showing an example of the operation panel 100. In front of the screen of the multi-operation panel 100, a screen of a CRT 140, a touch panel 120 installed in the front of the CRT 140, a hard switch 150, and a lamp 152 are arranged. Further, a heat sink 180 is provided at the -L portion. This heat sink 180 has a CRTI 40 inside the multi-operation panel 100 and a computer 110 inside. It functions to release heat generated from the touch panel controller 130, power supply unit, etc. to the outside. For this reason, it is configured by, for example, a combination of heat dissipation fins and a heat dissipation fan. In addition, multi operation panel 1
The inside of 00 has a sealed structure and has excellent dust resistance.

Multi-L'-making board function Next, the functions of the multi-operation panel 100 will be explained.

Usually, the CRT 140 of the multi-l Eisaku board 100 has a
A picture like the one shown in the figure is displayed. That is, 5. The image of the push button switch 142, pilot lamp 144, etc. on a conventional operation panel is drawn as is on a graphic screen.

Therefore, when a picture 142 of a push button switch is displayed on the screen of the CRT l 40 in FIG.
0 to the computer 110. Computer 110 determines, in internal storage 110b and central processing unit 110a, signals to be sent to programmable controller 26 in response to touch information, and signals for contacts or register values are sent to programmable controller 26.

Further, when inputting signals from the touch panel 120, the signals sent to the programmable controller 26 can also be controlled in combination with a hard switch 150 placed next to the screen.

For example, a signal may be sent to the programmable controller 26 only when the hard switch 150 is pressed after touching the picture of the push button switch 142 on the CRT 1401. In this case, software for the computer 110 is created so that it operates only when two types of signals are received, and its contents are stored in the storage section 110b.

In this way, even if the operator accidentally touches the screen of the CRT 140, a signal will not be sent to the programmable controller 26 just by touching the screen, and erroneous operations can be prevented.

Furthermore, the combination of the touch panel 120 and the hard switch 150 allows the changeover switch to be operated. That is, by touching the picture of the changeover switch on the screen, the notches of the changeover switch are updated one by one, and after selecting the desired number of notches, the hard switch 150 is updated.
can be used to complete the selection and instruct the user to perform a switching operation.

Here, the lamp 144a indicates the ON/OFF state of the internal coil of the programmable controller 26. For example, when the internal fill corresponding to "operation preparation" is ON, the lamp 144a changes color from red to green. It's good to do this.

In this way, the color of the lamp 144a is turned on and off.
By setting the status to two colors, the display can be made similar to monitoring the ON/OFF status of a normal pilot lamp.

Incidentally, it is preferable to set a plurality of operation panel display screens as shown in FIG. 5, not just the - screen. In that case, the operation panel display screen can be selected by touching the menu keys "Screen ↑" and "Screen ↓" at the bottom right. Further, when the lamp 144a is turned off, it is preferable to display a small lighting color in the center of the lamp 144b, for example, so that the lighting color of the lamp 144a can be seen. In addition,
There are various operations and display parts on the operation panel display screen, and it is good to have several sizes and colors available. Furthermore, such a display should be the one that is easiest for the user to understand.

In addition, the multi-operation panel 100 has functions such as monitoring the internal coil of the programmable controller 26, countering the number of presses of the operation switch, providing guidance on operating conditions, and displaying messages for abnormal lamps.

Programmable Controller (PC) Internal Coil Monitor Screen A monitor screen for the internal coils of the programmable controller 26 is shown in FIG. This screen is a column table that displays the names of the operation switches and lamps, and the addresses of the corresponding PC coils. Then, the PC coil is turned on by changing the display color of the corresponding number depending on whether the coil state at that address is ON or OFF.

Displays OFF status. Therefore, the operator turns on the internal coil of the programmable controller 26.

The OFF state can be monitored at a glance. Furthermore, by setting a plurality of screens, it is possible to grasp the ON/OFF states of even more PC coils.

Further, a counter for the number of presses of the operation switch is displayed on the counter message screen. in this case,
The number of times to be stored is set in advance among the push button switches 142 shown in FIG. 5. and,
Count values such as the number of times this device is used, the number of good workpieces produced, the number of defective workpieces produced, and the number of times an abnormality occurs are displayed on the CRT 140.

Next, the operating acid 11 condition display function will be explained.

In this function, the programmable controller 26
The internal sequence circuit of is stored in the computer 110 in advance. Then, instruct the operator where the conditions are met and where they are not. For example, consider a case where switch A is in the a-effect sequence when both lamps A and B are in the ON state. In this case, the conditions are input into the computer 110 in advance. Then, if switch A is subsequently operated while lamp A is in the ON state and lamp B is in the OFF state, the lamp B, which is in the OFF state, flashes, for example, to indicate this to the operator.

This makes it possible to provide guidance to the operator regarding conditions that do not hold true.

Abnormal Lamp Message Next, the abnormal lamp message function will be explained based on FIG. First, on the CRT 140, the operation panel display screen shown in FIG. 5 is usually not displayed (step 30).
2). Here, if an abnormality occurs (step 304
), displays an abnormal message. That is, the normal screen is automatically changed to the abnormal lamp display screen, and the abnormal lamp corresponding to the abnormality that has occurred is lit (step 310). Note that at this time, a buzzer sound or the like can also be generated at the same time.

Here, recognition of an abnormality can be achieved by setting abnormality conditions in advance in the internal sequence circuit of the programmable controller 26, and by associating an internal coil that is turned ON when an abnormality occurs with an abnormality lamp. Then, the operator can determine that there is an abnormality by looking at the abnormality lamp screen, and can take necessary measures against the abnormality.

If you do not know how to deal with the problem, touch the lit abnormality lamp (step 320) to display a message regarding the abnormality (step 33).
0) I can do it.

The operation and display functions of the multi-operation panel 100 described in "From the beginning of the sword period setting,"
The PC coil monitoring function, counter display function, operation establishment condition display function, and abnormal lamp message function are the functions of the multi-operation panel according to the present invention, but the multi-operation panel 100 must be used in advance to execute these functions. It is necessary to make initial settings depending on the automatic machine system to be used. In the past, initial settings like this were made using computer software. However, with this method, only those with detailed knowledge of computer software can configure the settings.

Therefore, in the multi-operation panel 100 of the present invention, initial settings can be easily performed by selecting the screen]- touch panel 120 according to the message on the screen.

This initial setting method will be explained below.

The initial setting section [1] includes the following items.

(a) Layout design of the operation panel (b) Correlation between the address of the internal coil of the programmable controller 26 and each component such as push button switches and lamps on the operation panel (c) Input of operation failure conditions (d) Abnormal lamp message screen Creation (e) Counter message input operation geF (matrix setting) Here, the arrangement design of the multi-operation panel 100 in the operation panel setting mode will be explained. First, when the operation panel setting mode is set, the operation panel setting mode menu screen shown in FIG. 8 is displayed. First, it is necessary to decide on the individual sizes and vertical and horizontal sizes of the switches and lamps to be placed. Then select "Matrix Settings". When this matrix setting is selected, a matrix shape setting screen shown in FIG. 9 is displayed. Then, in this state, select either large, medium, or small on the screen, and then input the matrix number, .

After determining the matrix size in this manner, the screen automatically changes to the display shown in FIG. In the display shown in FIG. 9, both the currently set matrix and the already registered matrix are displayed. The currently set matrix can be moved by touching a desired location on the second screen. That is, for example, if you touch the upper left part indicated by the arrow → in the figure, the upper left end of 7 Trix will float to the position corresponding to 38. Through such operations, the arrangement of the switches and lamps z9 can be changed.

Operation panel setting mode (parts selection) Next, set parts such as switches and lamps in each framed part. To move to this part setting, first
This can be achieved by touching "Next operation" in Figure 0 or "Parts selection" in Figure 8. Then, the part can be set in the desired part by touching the desired part in FIG. 10 where the part is to be displayed and then touching the desired part on the part selection screen in FIG. 11. By repeatedly performing such operations, desired parts can be set within the designated frame.

Operation Panel Setting Mode (PC Coil Address Setting) Next, the case of setting the address of the internal coil (PC coil) of the programmable controller 26 will be described. In order to set the address number to be monitored for the internal coil of the programmable controller 26 and its meaning, write the coil name and coil address in the one-column table in FIG.

To write this, for example, first touch the desired lamp (7,
Next, touch Kana selection, touch the Kana key that appears on the screen, and enter the name. It is also possible to write alphabetic or kanji characters in the listener l by selecting alphabetic characters or kanji characters. Then, touch the address field and enter the address by touching the numeric keypad. By repeating such operations, the coil address can be set.

- Next, the coil address table set in this way is associated with each element of the parts matrix set previously. That is, when the name section in FIG. 12 is touched and a coil is selected, the screen automatically changes to the coil selection screen shown in FIG. 13. Then, touch the name section of the part corresponding to the designated coil on this screen. By doing this, the coil name in FIG. 12 is copied to the parts name section, and at the same time, the currently selected part is associated with the coil address corresponding to that part. By repeating such 1ffi operations, the internal coil of the programmable controller 26 and the individual parts of the multi-operation panel 100 can be associated with each other.

Further, when making such settings, it is also possible to set operation sequence numbers 146 indicating the operation procedure of each part and separation lines 148 separating each part as shown in FIG.

Control panel setting mode (other settings) Next, the setting of the operation failure condition will be explained.

Setting of the operation failure conditions is performed using the previously created operation panel screen (FIG. 5). In order to manually set the operation failure conditions, first touch the target part with 15 on the operation panel screen.

After that, manually touch the condition parts one after another in the same way. In this way, the condition parts and target parts can be set.

Next, the setting of the abnormal lamp message will be explained.

To input this abnormal lamp message, first select and touch the abnormal lamp for which you want to input the message on the operation panel display screen shown in FIG. After that, the screen changes to a manual display for abnormal lamp messages. Messages can then be created by touching the kana keys, numeric keys, etc. on this screen.

Note that the manual counting message can also be performed by touching a predetermined location on the manual counting message screen in the same way as the manual manual display of the abnormal lamp message.

As described above, in the multi-operation panel 100 of the present invention, initial settings can be performed only by touch operations. Therefore, even an operator with no knowledge of programming can easily perform initial settings.

Next, the function of the multi-operation panel 100 according to the present invention as a robot operation panel will be explained.

When operating the robot 10, use the multi-operation panel 100.
The CRT 140 displays the basic screen of the robot operation panel. At the bottom of this basic screen, menu keys are arranged that classify the operations of the robot 10 by the worker. A message from the robot controller 30 is displayed in the center of the screen. Further, the characters received from the robot 10 are not only displayed individually, but also their contents are interpreted character by character (t17). In particular, if the message from the robot controller 30 is related to an abnormality, it is displayed.

First, a method for issuing commands to the robot 10 will be described. Conventionally, commands to the robot 10 were given in the form of commands in 111 English words, which were inputted one letter at a time from a keyboard. However, in the multi-operation a100 of the present invention, the content to be commanded is selected by first touching the menu key on the basic screen.

Furthermore, if it is unclear which key of the menu keys a desired command is classified into, you can touch the "command list key" and refer to a list of robot command words. That is, by looking at this column table, the operator can recognize to which category the command he or she wants to select belongs.

Suppose, for example, that one of the command menu keys is selected in this way. Then, the screen changes to the robot command selection menu screen. This robot command selection menu screen includes zeroing parameters, data set conversion creation, status display program, program data management,
It displays a list of robot commands related to motion control (status settings, program control, independent motion), etc. Then, touch the desired command word from this robot command word selection menu screen.

The display on this robot command word selection menu screen consists of 111 English command words and Japanese explanations corresponding to the English command words. If you do not understand the meaning of the command even after looking at this Japanese explanation, or if you need a more detailed explanation, select the explanation display key and then touch the desired command word key to display the detailed explanation screen. Is displayed. In this way, by selecting the English word menu of the Japanese explanation key, accurate instructions can be given to the robot controller 30.

In addition, when instructing the robot controller 30 to input alphabetic characters, numbers, YES No., etc., the user manually displays a keyboard on the screen and touches it if necessary.

Execution of operation panel functions - Flowchart of internal processing when performing (operation panel) functions such as L! - are shown in FIGS. 14 to 17.

FIG. 14 is a flowchart when the process operation panel mode is executed. First, programmable controller 2
6 and monitors the status of internal coil contacts and registers (PC coil monitor). Here, this monitor always stores the previous state, extracts coils for which the previous state and current state do not match, rewrites and stores the data in the coil table. Next, it is checked whether the coil that does not match is the coil corresponding to the abnormal lamp (is the abnormal lamp ON?). If it is abnormal, abnormality processing is performed (abnormality processing). That is, the operator is notified of the abnormality by outputting a signal to an abnormality buzzer or the like. At the same time, the display screen of the abnormal lamp is shown. Further, if the operator instructs to display an abnormal lamp message, the abnormal lamp message will be displayed.

Next, the human touch input is displayed on the monitor (touch input monitor). If there is an input, the human element and content are determined and the data rewriting of the coil table is memorized. Further, it is determined whether the content is an unsatisfied driving condition (or not), and if the input is related to an unsatisfied driving condition, an unsatisfied driving condition process is performed (unsatisfied driving condition processing).

If the operation failure condition is satisfied, the data is not transmitted to the programmable controller 26. Further, if the input is related to counter registration (counter registration), counter registration is performed (counter processing).

In this way, data by touch input is output to the programmable controller 26 (touch data is output to the PC). Then, the memory of the display section of the screen corresponding to the mismatched coils and input data of the programmable controller 26 in the coil table stored in the process described in ``2'' is rewritten (output to the CRT). Then, if there is no mode switching (mode switching has occurred), the above process is repeated.

Execution of robot operation panel function FIG. 15 is a flowchart 1 when executing robot operation panel mode. First, the received signal from the robot 10 is monitored (is it received from the robot?).

If received, the characters corresponding to the received character code are displayed on the CRT 140 (reception (λ data display). At this time, if the input message is an error message (
error data) and perform error processing (error processing).

Next, monitor touch input (is there touch input?)
. Then, if there is any input, the robot 1
0 (send input data to robot).

When transmitting here, for example, if the worker touches rMOVEJ from the English word command menu, the robot will respond with "M", "o", and ■.

Transmission character strings corresponding to each command word are stored so as to sequentially transmit E''.Furthermore, the multi-operation panel 1 of the present invention
In 00, desired commands can be manually entered by touching a menu key screen in Japanese that is guided by a key touch. Then, the computer 110 transfers this touch human-powered command.
processes and analyzes what the command is. Then, depending on the result of this solution, the robot!・English to send to 10 (
1 is determined, and the English Il1 word string is stored in internal memory 1.
10b.

Then, it is determined whether the instruction word requires a parameter. For example, when specifying a moving destination or speed, it is necessary to input the value, so the computer 1
Register it as 0.

Based on the determination made by the computer 110, if parameters are required, a keyboard is displayed on the CRT 140 and the parameters are input.

In this way, alphabetic character data to be transmitted to the robot 10 is created and stored in the internal memory 110b. Then, by pressing the "Execute" button on the screen shown in FIG. 5, the command string is transmitted to the robot 10. and,
Such transmission and reception with the robot 10 is repeated as long as the mode is not switched (mode switching?).

Execution of Initial Settings Figure 16 is a flowchart for setting the IL1 stage setting conditions for multi (・■ production board 100!). Creation, Ward 1; 7J line table creation, operation failure condition input, abnormal lamp message input, counter message input, robot abnormal message input,
Perform in the order of robot command explanation input.

In creating the matrix table, further steps are taken to determine the individual sizes (large, medium, small), determine the vertical and horizontal sizes of the matrix (nXm), and determine the origin position of the matrix, as shown in Figure 17, which describes the contents. The operation method for (X, Y) is determined manually one by one. Then, the determined conditions are stored in the memory 110b (RAM).
), and the matrix shape that takes the decision conditions into consideration is displayed on the CRT 140. Then, the operator can confirm the set contents by this display.

Please repeat this operation (or create more) as necessary.

Further, the creation of the parts table is a process of determining incidental conditions such as the type, color, and operation sequence number of the parts to be placed at each location of the created seven trixes. The creation of the coil table is a step of inputting the determined parts and the corresponding pipes of the coil addresses of the programmable controller 26 and their names. Furthermore, creating a separator line table is a process of determining the position, width, and color of separator lines for classifying each part.

In addition, for the operation failure conditions human power, abnormal lamp message input, counter message input, robot abnormal message input, and robot command 1x explanation human power, each condition is manually input sequentially by touch input in the same way as the creation of the matrix table described above. The setting is performed by storing the condition result in the memory 110b and associating the screen corresponding to the condition result with the programmable controller 26.

Next, the display of data received from the robot 10 will be explained. Conventionally, received characters were simply displayed one after another on a CRT screen as they were.

However, the multi-operation panel 100 of the present invention has a function of analyzing received character types. That is, if the received character string is, for example, “l:′, “R”, “R”, 0”,
If it is "R", it is determined that it is an abnormal message using that as the key code.

This determination is made in the computer 110.

Furthermore, we created a screen that displays the error details and countermeasures corresponding to the error code in Japanese [1. I'll keep it. In this way, the characters received from the robot 10 can be solved ↑11 "E'"
, R”, “R”, “0”, R”, the characters or numbers following this string are analyzed.

Then, the screen corresponding to that abnormal code is automatically displayed.

Similarly, if the received character "?" is used as a key code, it can be determined that the received data is waiting for input. If this input is waiting, a picture of a numeric keypad or English letter key will be displayed on the second screen.
By running a program for manual touch on the touch panel 120, the input state can be automatically entered.
Operability can be improved.

In addition, when performing tasks where the robot 10 operates frequently, such as changing the position of the teaching point, changing the speed, or returning the origin position, a screen asking whether to perform the next step (1iI) should be displayed every time for each step. Furthermore, if you create a program that blinks and displays the part that should be manually touched next, the operability when touching manually can be greatly improved.

Effects of the Embodiment As explained above, the multi-operation panel 100 of this embodiment provides the following functions and effects.

(a) You can freely draw a picture of a push button or switch on the CRT screen, and when you touch it with your finger, you can turn on or off the internal coil contact of the programmable controller corresponding to that push button or switch. It is very easy to create and can reduce time costs.

(b) The internal coil contacts and registers of the programmable controller can be constantly monitored and their ON/OFF states or register values can be displayed. This display is -
Process progress can be monitored at a glance by expressing it as pictures of columns and operation panel lamps, or pictures of timers and counters.

(c) Turn on each switch and push button on the CRT screen,
By inputting the conditions for enabling the 0FFJ4# operation in advance, the operator can be informed of the conditions that are not met when the switch is operated, making the operation easier.

(d) Turn on each push button and switch on the CRT screen,
The number of OFF times can be counted and the counted value can be displayed in a one-column table. In addition, by resetting the value, information such as the number of startups, the number of productions, and the number of failures can be obtained.

(e) When a pre-registered abnormality lamp lights up on the CRT screen, the worker is instructed by a buzzer etc. and by touching the abnormality lamp with his/her finger, the details of the abnormality corresponding to the abnormality lamp are displayed. A screen with explanations and countermeasures will be displayed.

Therefore, the time required to respond to troubles can be shortened.

(f) Commands to the robot can be input by touch on a menu-type screen. Therefore, the number of investigation steps required for execution is reduced, and operability becomes easier.

(g) In addition, it is possible to input commands to the robot without looking at the display and explanation in Japanese, making it easy to create.

(11) Since error messages from the robot can be displayed in Japanese, troubleshooting can be done quickly.

(i) Since the robot and process control operations can be performed with a single device, it is possible to realize multiple functions with space saving and low cost.

[Effects of the Invention] As explained above, according to the multi-operation panel of the present invention, the process control panel that controls the entire system including the robot operation panel that controls the robot and the peripheral jigs that are conventionally used can be improved. Two types of functions can be performed on one operation panel, and since a CRT and a touch input type device are used, it is possible to save space, improve operability, and increase versatility.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing the configuration of this invention, FIG. 2 is a block diagram showing the configuration of an embodiment of this invention, FIG. 3 is a perspective view of the entire system to which the embodiment is applied, and FIG. 5 is an external view of the operation panel display screen, FIG. 6 is an external view of the PC coil monitor screen, FIG. 7 is a flowchart of the abnormal lamp message display function, Figure 8 is an external view of the operation panel setting mode menu screen, Figure 9 is an external view of the matrix shape setting screen, Figure 10 is an external view of the matrix position setting screen, Figure 11 is an external view of the parts selection screen, and Figure 12 is an external view of the matrix position setting screen. Figure 13 is an external view of the coil address setting screen, Figure 13 is an external view of the coil selection screen, Figure 14 is a flowchart of operation panel function execution, and Figure 15 is an external view of the coil address setting screen.
The figure is a flowchart of the robot operation panel function, Figure 16 is a flowchart of operation panel settings, Figure 17 is a matrix table creation flowchart 1, and Figure 18 is a configuration diagram of a conventional milling machine system. . 10... Robot 26... Programmable controller 30... Robot controller 100... Multi operation panel 110... Computer 120... Touch panel 140... Display device

Claims (1)

[Claims] (1) It has a built-in display device, a touch panel, and a computer, and is connected to both the robot controller that operates the robot and the programmable controller that controls the entire system such as peripheral devices. A multi-operation panel characterized in that both programming and various commands can be inputted, and both a robot controller and a programmable controller can be monitored by the display device.