JPH0534684B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to the data structure and program editing of a robot control program, particularly the addition of variables,
The present invention relates to a robot control device incorporating a control unit that facilitates correction and deletion.

When creating a robot control program using a microcomputer or the like, it has conventionally been necessary to declare a command to secure the area, such as DECLARE XYZ, to secure the area. For this reason, creating a program is complicated, and not only is it easy for errors to occur when creating a program, but it is also difficult for the robot user to add to, correct, etc. the program.

When adding, correcting, or deleting a robot control program, the present invention automatically adds a position variable name or a command that takes a position variable as an argument to the control language group (program) as a movement command and a movement command argument. When correcting the name and value of a position variable that has already been registered in the position variable area, the position variable name and value of the movement command that references that position variable in the control language group will also be automatically updated. Furthermore, when a position variable that has already been registered in the position variable area is deleted, if there is an instruction that references that position variable, only the numerical value of the position variable is deleted and the position It has a control section that allows the variable name and area to remain as they are.
The object of the present invention is to provide a robot control device that can easily and accurately add, correct, and delete robot control programs. Next, the configuration of the robot control device of the present invention will be explained. FIG. 1 is an overall configuration diagram of a robot control device according to the present invention.

The robot control device of the present invention includes a key input reception processing section 1, an editing processing section 2, an instruction code display storage section 3,
It includes an editing storage section 4 consisting of an instruction storage section and a variable storage section, a data processing storage section 7, a program execution means 5, and a display device 6.

The editing storage section 4 includes an instruction storage section that stores instruction codes, argument names, or argument addresses, and a variable storage section that stores position variable name reference counters, defined flags, and data.

The key input reception processing unit 1 receives a signal from the key input means, switches the editing mode of commands and position variables, instructs commands and position variables, and further processes adding, correcting, and deleting commands and position variables. Instruct.

The editing processing section 2 edits the command based on the signal from the key input reception processing section 1, and compares and confirms the edited command with the instruction code table storage section 3. After editing the command, the position variable name is edited, and signals are exchanged with the editing storage section 4, and the instruction code, etc. stored in the instruction storage section of the editing storage section 4 and stored in the variable storage section are stored. Add, correct, or delete existing position variable names, etc.

The data processing storage unit 7 provides data to the variable storage unit of the editing storage unit 4 by input signals from the outside.

The program execution means 5 includes a CPU, a positioning control section, etc., and sends and receives signals to and from the editing storage section 4 to control the operation of the robot 8. The display device 6 displays instructions, position variables, and data to be processed when adding, correcting, or deleting a program.

Next, the present invention will be explained with examples.

The program is stored in the editing storage section 4 in the structure described below.

FIG. 2 shows the data structure of the variable storage section of the editing storage section 4. One argument part area is composed of variable names, reference counters, defined flags, other flags, and data, and includes n argument part areas. A reference counter indicates the number of times a variable name is referenced by an instruction. For example, variable name
If ABC is referenced twice by instruction MOV, the reference counter will be 2. Data 1 to data N indicate positioning numbers including rotation,
This data is given from the data processing storage section 7. Defined flags are data 1 to data N.
Indicates how many have been defined.

FIG. 3 shows the data structure of the instruction storage section of the editing storage section 4. Storage of one instruction is made up of an instruction code and an argument or the address of the argument, and m instructions are stored.

As the argument name, if the variable name in the variable storage section is ABC, for example, ABC is stored. The address of the argument indicates where in the variable storage unit this variable name is stored.

FIG. 4 shows a block diagram of the configuration of the key input reception processing section 1. As shown in FIG.

When adding a command, etc., set the edit mode to a command, and then perform a key operation; when adding a variable, etc., set the edit mode to a variable, and then perform a key operation.

Arbitrary alphanumeric characters or numbers are inputted one character at a time into the key input reception processing section 1 from the keyboard. This input character is written into the buffer. If only three characters, for example M, O, and V, are input, the processing cannot be determined, but by pressing the code confirmation key on the keyboard, the input signal becomes a command signal, and the code confirmation command flag turns ON. , a command signal such as MOV is sent to the editing processing section 2.

FIG. 5 shows a block diagram of command editing processing by the editing processing section 2. As shown in FIG.

For example, the command signal input to the editing processing section 2
MOV is an instruction check section and an instruction code table storage section 3.
It is compared with the instruction code stored in , and it is determined whether it is correct or incorrect. If it is incorrect, an error is displayed on the display device 6, and if it is positive, an argument is displayed on the display device 6. FIG. 7A shows the display of the display signal 6 when a correct command signal is keyed in and an argument is displayed. Key input For example, if MOV is positive, MOV and parentheses are displayed on the display, prompting the operator to key in the name of the positional variable that will be the argument of the command in the parentheses.

FIG. 7B shows the display on the display device 6 when the position variable name is entered by key. When the position variable name is entered by key, the position variable name ABC is displayed in parentheses on the display section, and at the same time, the numerical values D ₁ to D _o of the position variable name stored in the data processing storage section 7 are displayed at the bottom of the display device 6. displayed in the field. After key-in the position variable name, key-in the addition, correction, and deletion processing. When a key input for one of these processes is made, the processing mode is switched and each process is entered.

FIG. 9A shows a processing procedure for adding a program to the editing storage section 4.

When an instruction is to be added, the instruction, position variable name, and add are keyed in, and the variable storage section of the editing storage section 4 is viewed to check whether the area for the argument section has already been reserved.

If the area for this argument part is not secured, it is checked whether the variable storage part is full or not, and if the variable storage part is full, an error message is displayed. If the variable storage section is not full, the argument section area of the variable storage section is secured, the position variable name is recorded, and the reference counter is set to 1. Note that if the reference counter is zero and the defined flag is zero, the argument area will be empty.

If the area for the argument section of the variable storage section has been secured, the reference counter for the corresponding variable name is incremented by one. After securing the variable area of the variable storage section, the instruction corresponding code and the address of the argument are combined and stored in the instruction storage section, and the program addition process is completed.

FIG. 6 shows a block diagram of variable editing processing by the editing processing section 2.

FIG. 9B shows the procedure for adding variables in the editing processing section 2.

If the mode switching of the key input means is set as a variable, and a variable such as BCD is input by key, and the add key is operated, the variable editing process becomes an addition.It is checked whether the variable has already been defined or not, and an error message is displayed if the variable has already been defined.

If it has not been defined, it is checked whether the variable storage section is full or not, and an error is displayed even if the variable storage section is full.

If the variable storage is not full, reserve a variable area, register the variable name, and turn on the defined flag (=
1). In this case, the reference counter in the variable storage remains at zero.

FIG. 7C shows the display on the display device 6 when variables are added.

FIG. 7C shows the case where the variable BCD is added to the place where the instruction MOV ABC is programmed. When the variable BCD is added, the BCD is displayed in the lower column of the display device 6, and the numerical values D ₁ to D _o are stored from the data processing storage section.

For example, instructions MOV, ABC are shown in FIGS. 8A and 8B.
The display on the display device 6 is shown when the commands MOV and BCD are added to the location where the command MOV and BCD are added. Instruction MOV, BCD
The cursor moves when the command MOV is added,
Instructions MOV and BCD are displayed below ABC.

Next, the procedure for erasing a program will be described.

FIG. 10 shows the program deletion processing procedure of the editing storage section 4. When the command, position variable name, and delete key are operated, it is checked whether the argument part area of the variable storage part of the edit storage part 4 is secured, and if the argument part area is not secured, the corresponding instruction memory is Delete that part. If the area for the argument section is secured, the reference counter of the corresponding position variable is set to zero, and the corresponding section of the instruction storage section of the editing storage section 4 is deleted.

If you want to delete only the numerical value of a variable, set the defined plug of the relevant variable to zero.

FIG. 11 shows the procedure of program correction processing.

Program correction processing is performed by performing the deletion and addition described above.

The program that has been added, corrected, deleted, etc. through the above procedure is stored in the editing storage section 4, and its contents are transferred to the program execution means 5 to control the robot.

As described above, according to the present invention, if only variable names are defined, robot control programs can be added by adding only commands and variable names, and control programs can be easily corrected and deleted. can be done. Furthermore, when changing the robot control program, errors in the program can be easily confirmed, and production line stagnation caused by correcting errors after actually operating the robot can be prevented.

[Brief explanation of drawings]

FIG. 1 is an overall configuration diagram of a robot control device of the present invention, FIG. 2 is a data configuration diagram of a variable storage section in an editing storage section, FIG. 3 is a data structure diagram of an instruction storage section in an editing storage section, and FIG. Figure 4 is a block diagram of the configuration of the key input reception processing unit, Figure 5 is a block diagram of command editing processing during editing processing, Figure 6 is a block diagram of variable editing processing in the editing processing unit, and Figures 7A and 7A. Figure 7B is a display diagram of the display device when a command is input.
Figure C is the display diagram of the display device when variables are added.
Figures 8A and 8B are diagrams of the display device when an instruction is added, Figure 9A is a procedure diagram of the instruction addition process, Figure 9B is a procedure diagram of the variable addition process, and Figure 10 is a diagram of the instruction deletion process procedure. , FIG. 11 shows a procedure diagram of the instruction correction process. DESCRIPTION OF SYMBOLS 1...Key input acceptance processing unit, 2...Editing processing unit, 3...Instruction code table storage unit, 4...Editing storage unit, 5...Program execution means, 6...Display device, 7...Data processing Memory department, 8...Robot.

Claims (1)

[Scope of Claims] 1. A key input reception processing unit that switches the command/position variable editing mode according to the output from the key input means and instructs addition, correction, and deletion of commands and position variables; an editing processing section that processes addition, correction, and deletion of commands and positional variables based on output from the reception processing section; a data processing section that processes positional variable data input from the outside; output from the editing processing section; According to the instruction code,
an instruction storage unit that stores the address of the position variable; and a position variable name, a flag indicating that the position variable has been defined, and a flag indicating that the position variable has been defined, based on the output from the editing processing unit and the output from the data processing unit. an editing storage section that stores data and the number of times a name is referenced by an instruction; and an editing storage section that stores data and the number of times the name is referenced by an instruction; a display means for displaying contents; and a program execution means for controlling the robot by a program transferred from the editing storage section; and the editing processing section is configured to perform addition, correction (deletion + addition),
A robot control device characterized in that erasure is performed so as to satisfy the following conditions A to D. (A) When adding an instruction, it is checked whether an area for a position variable is secured in the variable storage section, and if it is not secured, it is further checked whether the variable storage section is full. If it is full, an error is displayed, and if it is not full, an area for the position variable is secured and the number of references is increased by +1. (B) When deleting an instruction, check whether a position variable area is secured in the variable storage section,
If the position variable area is not secured, delete the corresponding part of the instruction storage unit, and if the position variable area is secured, set the reference count of the position variable name to zero and delete the corresponding part of the command storage unit. Delete. (C) When adding a variable, check to see if the variable has already been defined, and if so, display an error message. If it is undefined, check whether the variable storage is full or not. If it is full, display an error message. If it is not full, reserve the variable area, register the variable name, and turn on the defined flag (= 1). ). (D) When deleting a variable, if an instruction that references the variable exists, only the numerical value of the positional variable is deleted, the positional variable name and area are retained, and the defined flag is Let be zero.