JPH0283184A - Control method for industrial robot - Google Patents

Abstract

PURPOSE:To facilitate the program development accompanied by a cooperation motion, to disuse an information transmission means of between control devices for cooperation motion and to make the system inexpensive by using a master control device and plural slave control devices. CONSTITUTION:Positional data are input by a teaching unit 3. The program moving a robot is then input to the input positional data. Thereafter, after transferring a moving order to a slave control device 1, the order is received by the slave control device 1, moving control is performed to move the robot and the movement completion is advised to a master control device. After confirming this movement completion, the robot of the slave control device 2 is moved similarly.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a system for controlling a plurality of industrial robots using a program within one control device.

[Prior Art] Conventionally, when a plurality of robots try to perform cooperative operations with each other, the following problems arise.

All control devices have duplicate functions, resulting in poor cost performance.

each! IJil devices must be connected through communication.

A program is required for each control device, making the program complex.

There are points like this.

[Problems to be solved by the invention] The present invention solves the above problems,
The purpose of the present invention is to provide a robot control device that allows easy program development and has good cost performance when controlling a plurality of robots.

[Means for Solving the Problems] The industrial robot control method of the present invention combines the functions of storing programs and storing position data with the functions of a first control device (hereinafter referred to as mask control device). The function of performing movement control based on position data is the function of a second control device (hereinafter referred to as a slave control device), and a plurality of slave control devices and a mask control device are connected in a many-to-one manner.
By connecting through communication with the communication function of
A feature is that a plurality of robots can be controlled by a program in one control device.

[Operation] According to the above configuration of the present invention, it is possible to control a plurality of robots by a program in one control device.

[Example] FIG. 1 is a system configuration diagram showing an embodiment of the present invention.

In the figure, 1 is a central processing unit which is responsible for executing programs. 2 is a memory for system programs, a working area, and a program area.

3 is a teaching unit, which is used for program input and teaching.

4 is a serial unit having a many-to-one communication function, and a plurality of slave control devices can be connected to the mask control device by this unit. This can be done not only with a serial unit but also with a parallel unit as long as it has a many-to-one communication function.

5a, . . . , 5n are central processing units of the slave control devices, which control the movement of the robot.

6a, ..., 6n are robot control systems.
Memory for programs, working areas, and table areas.

7a, . . . 7n are servo control units, which control the servo motors 8a, . . . , 8n.

Next, the operation of this apparatus having the above configuration will be explained with reference to the flowchart shown in FIG.

First, in step S1, position data is input by the teaching unit. In step S2, step S1
Enter the program to move the robot to the position data entered in . Note that the input position data and program are stored in the memory 2 shown in FIG.

In step S3, the movement command is transferred to slave control device 1, and in step S4, the movement is expected to be completed next winter. In the slave control device 1, the movement command from step S3 is transferred to step S7.
It is received at 59a, the robot is moved by performing movement control in S8a, and the end of movement is notified to the mask control device at 59a.

After confirming the completion of movement in S4, proceed to step S5 in the same manner as above.
and S6. The robot of the slave control device 2 is moved in S7b, S8b, and S9b.

Although this example is a cooperative operation, an asynchronous operation is of course also possible by replacing steps S4 and 85.

Since cooperative operations can be easily programmed in this way, program development is easy, and since duplicate functions are shared, cost performance is good.

[Effects of the Invention] As explained above, the present invention uses a mask control device and a plurality of slave control devices as a method for controlling a plurality of robots, which facilitates the development of programs involving cooperative operations. Since there is no need for information transmission means between control devices for cooperative operation, the system can now be constructed at low cost.

Moreover, since redundant functions are shared, it is possible to provide a robot control device with good cost performance.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing an embodiment of the present invention, and FIG. 2 is a flowchart showing an example of program execution. 1, central processing unit 2, memory 3, teaching unit 4,
Serial unit 5a...5n Central processing unit of slave control device 6a...6n Memory of slave control device 7a...7n Servo control unit 8a...8n Servo motor and above Applicant: Seiko Epson Corporation

Claims (1)

[Claims] A control device for an industrial robot having a means for storing a program, a means for storing position data, and a means for controlling movement based on the position data, the function for storing a program and the function for storing position data. and a function of the first control device, a function of controlling movement based on position data as a function of the second control device, and a plurality of the second control devices and the first control device are connected in multiple pairs. 1
By connecting through communication with the communication function of
A control method for industrial robots, characterized in that multiple robots can be controlled by a program in one control device.