JPH0519841A - Instructing control panel connection device - Google Patents

Abstract

PURPOSE:To connect plural instructing control panels to the device which connects the instructing control panels to a controller and to enable only one instructing control panels to communicate with the controller. CONSTITUTION:A priority order determining circuit 23 determines the priority order of the instructing control panels 30a-30c which are physically connected to connection ports 25a-25c, with connection signals L1-L3 of the instructing control panels 30a-30c. For example, the instructing console panel 30a has top priority. Then, a connection switching circuit 24 connects the control panel 30a to the 1st transmitting and receiving circuit 21a of a transmission and reception part 21 with select signals L4-L6 based on the determined order. Consequently, since the instructing control panel 30a physically connected to the selected 1st transmitting and receiving circuit 21a is logically connected to the controller 10 through a transmission and reception part 22, only the instructing control panel 30a can communicate with the controller 10.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for connecting a teaching operation panel to a control device, and more particularly to a teaching operation panel connection device having a connection port for connecting a plurality of teaching operation panels, and more particularly to a robot control device. The present invention relates to a teaching operation panel connecting device that is used by connecting to.

[0002]

2. Description of the Related Art In order for a robot to realize a motion intended by a human, it is necessary to teach the robot the contents of work, the amount of motion, the procedure, etc. by some method. Generally, for industrial robots, there are a teaching method and a robot language method. Further, the teaching method includes a direct teaching method in which a person directly teaches by picking up the robot's hand and an indirect teaching method in which a person teaches by using a teaching operation panel or the like. Currently, the most popular method among them is the indirect teaching method.

[0003] Conventionally, there has been a great demand for a teaching operation panel connected to a robot controller to be a removable operation panel. The teaching operation panel is connected using a signal cable. This signal cable is not limited to one cable,
It is also possible to connect using a plurality of signal cables and connectors. The reason why such a method is adopted is that the operator who performs the teaching performs the teaching operation from the position where the teaching can be performed most easily to the robot.

Generally, for example, in order to connect a teaching operation panel to a robot control device, it is not allowed to use a signal cable which is connected in parallel with the robot control device. Must be used. Further, the teaching operation panel connected to one robot control device is limited to one.

The reason is as follows. That is,
If a plurality of teaching operation panels can be connected to one robot controller, a plurality of operators can operate one robot. While this is convenient, if one operator is approaching the robot and another operator performs an incorrect teaching operation, there is a high possibility that the operator approaching the robot will be harmed. Therefore, since such a situation should not occur, the number of teaching operation panels connected to one robot control device is limited to one.

[0006]

However, when a plurality of signal cables are connected to a series using connectors and there is one teaching operation panel connected to the robot controller using these signal cables. In spite of using the teaching operation panel, another operator mistakenly removed the connector in the middle of connecting the signal cable and instead connected the other teaching operation panel to the removed connector. Sometimes connected to the robot controller.
In such a case, the instruction input from this teaching operation panel is invalid because the teaching operation panel that was in use before disconnecting the connector in the middle of connecting the signal cable is disconnected from the control device. become. In addition, there is a problem that the robot controller may malfunction in some cases.

Further, since a plurality of signal cables are connected in parallel using connectors and it is not permitted to connect to the robot controller using these signal cables, it is possible to connect them at the same time. Since there is only one teaching operation panel, there is a problem that a plurality of teaching operation panels cannot be held in a connected state.

Further, even in a normal connector connecting operation,
Since the teaching operation panel has to be connected to the connector after removing the currently connected connector, there is a problem that the operation is complicated.

The present invention has been made in view of the above circumstances, and provides a teaching operation panel connection device for preventing the teaching operation panel currently in use from being interrupted in communication with the control device.
The purpose is to provide.

Still another object of the present invention is that the connecting operation is simple, a plurality of teaching operation panels can be kept connected to the control device, and only one teaching operation panel communicates with the control device. It is to provide a teaching operation panel connecting device capable of performing.

[0011]

In order to solve the above problems, the present invention is a device for connecting a teaching operation panel to a control device, comprising a plurality of connection ports for connecting the teaching operation panels. In the teaching operation panel connection device described above, a communication signal is transmitted between the control device and the operation panel side transmitting / receiving means for transmitting / receiving a communication signal between each of the teaching operation panels physically connected to the plurality of connection ports. Based on the priority order decided by the priority order decision means, and the priority order decision means for deciding the priority order of each of the teaching operation boards by a connection signal of the control device side transmission / reception means for transmitting / receiving The teaching operation is characterized in that the teaching operation panel is switched to one of the teaching operation panels according to a selection signal, and the switching operation is logically connected to the control device via the control device side transmitting / receiving means. Board connecting device is provided.

[0012]

Function: The teaching pendant connection device is provided with a plurality of connection ports. Then, the priority order determining means determines the priority order of each teaching operation panel according to the connection signal of each teaching operation panel physically connected to the connection port. Next, the switching connection means is switched to one of the teaching operation panels connected to the operation panel side transmitting / receiving means by the selection signal from the priority order determining means based on the determined priority order, and the control device side transmitting / receiving means. Through a logical connection with the control device. Therefore, of the plurality of teaching operation panels, only one teaching operation panel can communicate with the control device.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram showing the overall configuration of the present invention. In the figure, a teaching operation panel connection device 20 is a device that connects the teaching operation panels 30 a to 30 c to the control device 10. Also,
The teaching operation panel connection device 20 includes teaching operation panels 30a to 30c.
Side operation panel side transmission / reception unit 21, transmission / reception unit 22 as the control device side transmission / reception unit, priority order determination circuit 2
3, switching connection circuit 24 and connection ports 25a to 25c
It consists of

The connection ports 25a to 25c are ports provided for connecting the teaching operation panels 30a to 30c to the teaching operation panel connecting device 20, respectively. Transmitter / receiver 21
Is a first transmission / reception circuit 21a and a second transmission / reception circuit 21b.
And a third transmitting / receiving circuit 21c. Further, the teaching operation panels 30a to 30c are physically connected to the respective connection ports 25a to 25c, and send and receive communication signals to and from the transmitting / receiving unit 21.

The transmission / reception unit 22 transmits / receives a communication signal to / from the control device 10. The priority order determination circuit 23 determines the priority order of each teaching operation panel according to the connection signals L1 to L3 of the teaching operation panels 30a to 30c. The switching connection circuit 24 is composed of a logic circuit or a switch circuit, and the selection signal L4 from the priority order determination circuit 23 based on the determined priority order.
~ L6 teach operation panel 3 connected to the transmitter / receiver 21
Any one of 0a to 30c is logically connected to the control device 10 via the transmission / reception unit 22.

Next, the operation of the present invention will be described. Here, as shown in the figure, it is assumed that the teaching operation panels 30a to 30c are connected to the connection ports 25a to 25c, respectively. In addition, the priority determination circuit 23 uses the connection port 25.
a has the highest priority, and then connection ports 25b and 25c
It is assumed that the priority is lowered in the order of.

Connection signals L1 to L3 of the teaching operation panels 30a to 30c physically connected to the connection ports 25a to 25c.
Thus, the priority order determination circuit 23 determines the priority order of the teaching operation panels 30a to 30c logically connected to the control device 10. In this case, the teaching operation panel 30 is connected to the connection port 25a.
If "a" is connected, the connection signal L1 indicates that the priority determination circuit 2
3 and the teaching operation panel 30a is logically connected to the control device 10. That is, the selection signal L4 from the priority determination circuit 23 based on the determined priority.
Thus, the switching connection circuit 24 is connected to the first transmission / reception circuit 21a of the transmission / reception unit 21. As a result, the teaching operation panel 30a physically connected to the selected first transmission / reception circuit 21a is logically connected to the control device 10 via the transmission / reception unit 22. Therefore, the other teaching operation panel 30b,
Even when 30c is physically connected to the connection ports 25b and 25c, respectively, only the teaching operation panel 30a can communicate with the control device 10.

The teaching operation panels 30b and 30c are connected to the connection ports 25b and 25c, respectively.
In the state where the teaching operation panel 30a is not connected to 5a,
Teaching operation panel 3 connected to the second transmitting / receiving circuit 21b
0b logically connects to the control device 10 via the transmission / reception unit 22. In this case, only the teaching operation panel 30b has the control device 1
Can communicate with 0.

Similarly, when the teaching operation panel 30c is connected only to the connection port 25c and the teaching operation panels 30b and 30c are not connected to the connection ports 25a and 25b, respectively, the teaching operation panel 30c is connected to the third transmission / reception circuit 21c. The teaching operation panel 30c is logically connected to the control device 10 via the transmission / reception unit 22. In this case, only the teaching operation panel 30c can communicate with the control device 10.

FIG. 2 is a diagram showing the priority order determining circuit 23 formed of a logic circuit. In the figure, the priority determination circuit 23 is composed of connection signals L1 to L3 as input signals, an OR circuit 41, AND circuits 42 and 43, and selection signals L4 to L6 as output signals. Here, the logical values shown below are represented by positive logic. That is, a signal indicating "true" is represented by "1" and a signal indicating "false" is represented by "0".

For the connection signals L1 to L3, the teaching operation panel 30 is used.
"0" is sent when a to 30c are physically connected to the connection ports 25a to 25c, respectively, and "1" is sent when they are not connected. The OR circuit 41 has a connection signal L1.
And a signal of + Vcc (that is, always "1"), and outputs the result to the selection signal L4. The logical product circuit 42 is a circuit that performs a logical product of the connection signal L2 and the selection signal L4, and outputs the result to the selection signal L5. The logical product circuit 43 is a circuit that performs a logical product of the connection signal L3 and the selection signal L5, and outputs the result to the selection signal L6.
Here, each of the logical sum circuit 41 and the logical product circuits 42 and 43 has a negative logic input and a positive logic output. The selection signals L4 to L6 are selection signals sent to the switching connection circuit 24, and one of the selection signals becomes "1", and the other two selection signals become "0".

Next, the operation of the logic circuit of FIG. 2 will be described. First, the logical sum circuit 41 logically sums the connection signal L1 and the + Vcc signal, and outputs the result to the selection signal L4. For example, if the connection signal L1 is "1", the selection signal L4
Is "0", and if the connection signal L1 is "0", the selection signal L4
Becomes "1".

Further, the logical product circuit 42 carries out a logical product of the connection signal L2 and the selection signal L4, and outputs the result to the selection signal L5. The selection signal L5 becomes "1" only when both the connection signal L2 and the selection signal L4 are "0", and becomes "0" in the other combinations of the connection signal L2 and the selection signal L4.

Then, the logical product circuit 43 outputs the connection signal L3.
And the selection signal L5 are ANDed and the result is selected signal L6.
Output to. The selection signal L6 becomes "1" only when both the connection signal L3 and the selection signal L5 are a combination of "0", and becomes "0" in other combinations of the connection signal L3 and the selection signal L5.

FIG. 3 is a flowchart showing a procedure in which the priority order determining circuit 23 determines the priority order. The numerical value following S indicates a step number. [S1] Whether or not the teaching operation panel 30a is physically connected to the connection port 25a is determined by the logical sum of the connection signal L1 and the + Vcc signal. If it is connected, proceed to step S4, and if not connected, step S4
Go to 2.

[S2] The teaching operation panel 3 is connected to the connection port 25b.
0b is physically connected to determine whether the connection signal L2
And the selection signal L4. If it is connected, the process proceeds to step S5, and if it is not connected, the process proceeds to step S3. [S3] Whether the teaching operation panel 30c is physically connected to the connection port 25c is determined by a connection signal L3 and a selection signal L.
It is judged by the logical product with 5. If it is connected, proceed to step S6, and if not connected, step S6.
Proceed to 7.

[S4] A signal for selecting the first transmission / reception circuit 21a is transmitted to the switching connection circuit 24, and the process ends. That is, the selection signal L4 is the signal "1", and the selection signal L5 is
A signal of "0" is transmitted to each of L6. [S5] A signal for selecting the second transmission / reception circuit 21b is transmitted to the switching connection circuit 24, and the process ends. That is, a signal of "1" is transmitted to the selection signal L5, and a signal of "0" is transmitted to each of the selection signals L4 and L6.

[S6] A signal for selecting the third transmission / reception circuit 21c is transmitted to the switching connection circuit 24, and the processing is terminated. That is, a signal of "1" is selected as the selection signal L6.
A signal of "0" is transmitted to 4 and L5, respectively. [S7] A signal not selected by any of the transmission / reception circuits is transmitted to the switching connection circuit 24, and the process ends. That is, a signal of "0" is transmitted to each of the selection signals L4 to L6.

Therefore, a plurality of teaching operation panels 30a to 30c can be connected to the teaching operation panel connecting device 20. Also,
Even if the teaching operation panel is connected to a certain connection port, if the teaching operation panel is connected to another connection port with a high priority, the teaching operation panel that is connected later can take priority and communicate with the control device.
For example, a controlled object such as a robot can be safely operated.

In the above description, the teaching operation panel connecting device is provided with three connection ports, but any number may be provided as necessary. Further, although the priority order determining means is composed of a logic circuit, a CPU (central processing unit), a ROM
Alternatively, a RAM or the like may be provided, and the priority order may be determined by a software program. In this case, the priority order of each teaching operation panel can be changed at any time.

[0031]

As described above, according to the present invention, a plurality of connection ports are provided, the priority order is determined based on the connection signal of each teaching operation panel physically connected to the connection ports, and the determined priority is given. Since the switching connection means is switched to any one of the teaching operation panels by a selection signal based on the order and is logically connected to the control device via the transmitting / receiving means on the control device side, a plurality of teaching operation panels are provided. Can be physically connected.
Moreover, only one teaching operation panel can communicate with the control device according to the priority order. Therefore, even if another teaching operation panel is connected to the connection port by connecting the teaching operation panel that performs important teaching operation to the connection port with high priority,
The command you entered is no longer invalid. Further, since the communication between the teaching operation panel and the control device will not be interrupted, malfunction can be prevented especially by connecting to the robot control device for use.

Further, since the teaching operation panel connecting device is provided with a plurality of connection ports, it is not necessary to remove the connector in advance, and it is possible to easily hold the plurality of teaching operation panels in a connected state.

[Brief description of drawings]

FIG. 1 is a diagram showing an overall configuration of the present invention.

FIG. 2 is a diagram showing a priority order determination unit configured by a logic circuit.

FIG. 3 is a flowchart showing a procedure for determining a priority order.

[Explanation of symbols]

20 Teaching operation panel connection device 21 Transmitter / receiver (transmission / reception means on the operation panel side) 22 Transmission / reception unit (transmission / reception means on the control device side) 23 Priority decision circuit 24 Switching connection circuit 25 connection ports

Claims (4)

[Claims] 1. A teaching operation panel connecting device for connecting a teaching operation panel to a control device, comprising: a plurality of connection ports for connecting each teaching operation panel, wherein the plurality of connection ports and a physical unit are provided. Operation panel side transmitting / receiving means for transmitting / receiving a communication signal to / from each of the teaching operation panels connected electrically, a control device side transmitting / receiving means for transmitting / receiving a communication signal to / from the control apparatus, and each teaching operation panel To one of the teaching operation panels by a priority order determining means for determining the priority order of each of the teaching operation panels by a connection signal and a selection signal based on the priority order determined by the priority order determining means. And a switching connection means for switching and logically connecting to the control device via the control device side transmitting / receiving means. 2. The teaching pendant connection device according to claim 1, wherein the control device is a robot control device. 3. The teaching pendant connecting device according to claim 1, wherein the priority order determining means is composed of a logic circuit. 4. The teaching pendant connecting apparatus according to claim 1, wherein the priority order determining means determines the priority order by a software program.