JPH05150821A - Robot controller - Google Patents

Abstract

PURPOSE:To decode and execute other instruction and data than robot language defined in advance. CONSTITUTION:From robot language defined in advance, and command data (herein-after called a metacommand) outside a defined range of its robot language, a robot operating instruction is generated arbitrarily. At the time of executing the robot operating instruction generated arbitrarily, a language discriminating means 201 selects the robot language and the metacommand. The robot language is decoded by a robot language decoding part 26 and transferred to an operation control part 27. The matacommand is decoded by a metacommand decoding part 204 and transferred to the operation control part 27.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control system for an industrial robot, and more particularly to a robot language and a robot controller capable of executing a robot command exceeding a definition range of the robot language.

[0002]

2. Description of the Related Art FIG. 3 shows the configuration of a conventional robot controller. In this figure, 1 is a robot body, 2 is a robot controller, and 3 is an operation panel. Further, in the robot control device 2, 21 is a key input unit, 22 is a key input interpretation unit, 23 is a screen control unit, 24 is a file management unit, 2
5 is a file for storing a robot operation program (hereinafter referred to as a program), 26 is a robot language decoding unit,
27 is an operation control unit. The operation will be briefly described.
The key information such as “start operation”, which is input from the operation panel 3, is received and interpreted by the key input unit 21 and the key input interpretation unit 22 of the robot control device 2, and is input to the file management unit 24 and the robot language decoding unit 26. Reportedly. The file management unit 24 takes out the corresponding program from the file 25 and sends it to the robot language interpretation unit 26. The robot language decoding unit 26 decodes the robot language in the program, conveys it to the operation control unit 27, and drives the robot body 1. On the other hand, the screen control unit 23 displays the information of the key input interpretation unit 22 and the display information of the robot language decoding unit 26 on the operation panel 3
Tell to.

[0003]

The conventional robot controller can decode the robot language prepared in advance,
It was not possible to add a new robot command that is not included in the range defined in the robot language. Therefore, there is a problem that it is not possible to realize a function unique to the application or a user-specific function that depends on the user's know-how. On the other hand, Japanese Patent Application Laid-Open No. 59-172008 discloses a technique in which a user can perform programming by using NC language and high-level language at the same time.
The processing after the language discrimination section of the C language is completely separated, there is no mutual relation between the NC language interpretation section and the BASIC language interpretation section, and different languages cannot be freely combined. The present invention has been made in view of such a conventional situation, and an object of the present invention is to enable decoding and execution of a robot command that exceeds the definition range of the robot language.

[0004]

To achieve this object, the present invention is pre-defined in a robot controller having a motion control section for executing and controlling the motion of a robot based on a decoded robot motion command. A robot language and means for arbitrarily creating a robot operation instruction from command data (hereinafter referred to as a meta command) outside the definition range of the robot language, and when executing the robot operation instruction arbitrarily created by the means, A language discriminating means for discriminating between the robot language and the meta command, a robot language deciphering section for deciphering the robot language discriminated by the language discriminating means and transferring the robot language to the operation control section, and a meta discriminated by the language discriminating means. And a meta-command decoding unit that decodes a command and transfers it to the operation control unit.

[0005]

As a result, it becomes possible to decipher / execute a robot command that exceeds the definition range of the robot language, so that the user can realize a function peculiar to the application and a user-specific function depending on the user's know-how.

[0006]

The present invention will be described below. FIG. 1 shows the configuration of an embodiment of the present invention. 1, 2, 3 and 2 in the figure
1-27 is the same as that of FIG. In the figure, 201 is a language discriminating section for discriminating between a robot language and other commands (metacommands), and 202 is a metacommand discriminating section for discriminating a metacommand into a robot language and other programming languages or internal commands. Here, the C language will be described as an example of the programming language. Of course that is BAS
Whether it is IC or FORTRAN, a newly defined language or a robot language of another model (a language not defined by this control device) may be used. Furthermore, C
A case where a plurality of different languages such as a language and BASIC are mixed is also allowed. The instruction including such a meta command may be created by using an external data processing device (not shown) or by operating a key of an attached teaching box. Next, 203 is a C language decoding unit, 204 is a metacommand decoding unit, 205 is an internal command decoding unit that operates internal information of the robot, for example, parameter value, position information, key operation information, and the like, and 206 is the above information and command. It is a function conversion table for comparison.

FIG. 2 shows a specific command example. It is a program that repeatedly executes a program written in a robot language the number of times set by the parameters of the robot controller. 4 means substitution of the contents of the parameter 100 inside the robot controller into the C language variable “kaisu”. PARAM () is an instruction for reading parameters inside the robot controller. Reference numeral 5 is a loop instruction in C language, which executes instructions in {} by kaisu (number of times). Reference numeral 6 is an instruction to move the robot to a position designated by a position parameter inside the robot.
CPOS () is an instruction to read a position parameter inside the robot controller, and MOVE is a robot language for operating the robot to a designated position. Reference numeral 7 is a robot language, which means to call and execute a program named TEST.

When the program shown in FIG. 2 stored in the file 25 in FIG. 1 receives the "operation start" key information by the above-mentioned means, it is sent to the language discrimination section 201 through the file management section 24, and in turn the robot language. Or they are discriminated into metacommands. In the case of 4 in FIG. 2, since it is composed of the C language and the internal command instead of the robot language, it is processed by the metacommand discrimination unit 202. The right side is sent to the internal command decoding unit 205, and the function conversion table 20
6 and the value of the robot parameter 100 is read. On the other hand, the C language decoding unit 203 decodes the left side as an assignment statement, and the metacommand decoding unit 204 decodes it as one instruction. Reference numeral 5 in FIG. 2 is a loop sentence composed of C language, which is decoded by the C language decoding unit 203 and registered in the metacommand decoding unit 204. Unlike 6 in the robot language, 6 in FIG. 2 is composed of the robot language “MOVE” and the internal command “CPOS ()”, and therefore is processed by the metacommand discrimination unit 202. MOV, a robot language
E is decoded by the robot language decoding unit 26, the internal command CPOS () is processed in the same manner as the right side of 4 in FIG. Since 7 in FIG. 2 is a robot language, the language discrimination unit 2
At 01, the robot language decoding unit 26 is notified and processed,
It is decoded together with the information of the metacommand decoding unit 204. In this case, 6 and 7 of FIG. 2 are repeatedly executed until the condition of the loop statement in 5 of FIG. 2 is released. The command decoded by the metacommand decoding unit 204 is transmitted to the motion control unit 27, and the robot 1 operates.
That is, in the program of FIG. 2, a program for moving a robot described in a robot language to a designated position (however, the designated position is designated by a language other than the robot language).
The operation of repeating is repeated by the value of the parameter described in a language other than the robot language. In this way, it is possible to execute complicated operations, which were difficult to be realized only by the robot language, with relatively simple instructions.

[0009]

As described above, according to the present invention, it is possible to decode and execute a robot command that exceeds the definition range of a predefined robot language. It is possible to easily realize the function specific to the application or the unique function depending on the user's know-how. Therefore, the introduction of the robot to various uses is facilitated, which greatly contributes to labor saving in the industrial world.

[Brief description of drawings]

FIG. 1 Example of the present invention

FIG. 2 is an operation explanatory diagram of the present invention.

FIG. 3 Conventional example

[Explanation of symbols]

 2 Robot control device 201 Language discrimination unit 202 Meta command discrimination unit 203 C language decoding unit 204 Meta command decoding unit 205 Internal command decoding unit 206 Function conversion table

Claims (1)

[Claims] 1. A robot controller having a motion control unit for controlling execution of a robot motion based on a decoded robot motion command, wherein a robot language defined in advance and command data outside a defined range of the robot language ( (Hereinafter, referred to as meta command), means for arbitrarily creating a robot operation command, and language discrimination means for selecting the robot language and the meta command when executing the robot operation command arbitrarily created by the means, A robot language decoding unit that decodes the robot language selected by the language discrimination unit and transfers it to the motion control unit, and a meta command that decodes the meta command selected by the language discrimination unit and transfers it to the motion control unit Decoding section,
A robot controller, comprising: