JPH0546231A - Controller of robot - Google Patents

Abstract

PURPOSE:To provide the controller of a robot which can automatically generate and store a parameter corresponding to the machine type of the robot. CONSTITUTION:From a machine type code output means 9 incorporated into a robot 1 controlled by the prescribed control signal sent from a control panel 2 through a servo amplifier 8, a machine type code in accordance with the robot 1 is outputted to the control panel 2, and by a parameter generating means 11 incorporated into the control panel 2, the parameter corresponding to the machine type code from the machine type code output means 9 is generated and it is stored in a parameter storing part 6.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot controller, and more particularly to a robot controller capable of automatically creating parameters according to the robot model.

[0002]

2. Description of the Related Art At present, commercially available robots include different types such as a horizontal articulated type, a cylindrical coordinate type, and a vertical articulated type. In addition, for the horizontal articulated type, the standard type,
There are a ceiling suspension type and a traveling type, a cylindrical coordinate type includes a standard type and a traveling type, and a vertical articulated type includes a standard type and a shelf type. The robot type is different between the standard type and the ceiling-mounted, traveling, or shelf-mounted type, but the control panel is the same. Since each type of robot has different parameters for setting its operating range, operating speed, etc., the parameters on the control panel side are changed according to the type of robot to realize its proper operation.

As a conventional controller for this type of robot, there is a technique disclosed in Japanese Patent Laid-Open No. 1-124001. FIG. 3 is a block diagram showing a conventional robot controller, which is disclosed in the above publication.

In the figure, 1 is a robot controlled by a predetermined control command, 2 is a control panel for controlling the robot 1, and the control panel 2 is a CPU 3 and a program ROM.
4, a RAM 5, a parameter storage unit 6 for storing parameters corresponding to the model, and a servo control unit 7. Reference numeral 8 denotes a servo amplifier that connects the servo control unit 7 of the control panel 2 and the robot 1. The control signal is given from the control panel 2 to the robot 1 via the servo amplifier 8, so that the robot 1 can be appropriately operated. Controlled.

[0005]

In the conventional robot controller as described above, the parameters in the parameter storage unit 6 are created using a software development environment such as a personal computer or EWS, and a floppy disk or the like is used as a medium. It was transferred to the parameter storage unit 6.

Therefore, parameters corresponding to each model of the robot 1 are created and the parameter storage unit 6
Had to remember. For this reason, it is necessary to perform these operations for each robot 1 at the time of shipping, which is extremely troublesome.

[0007] Therefore, an object of the present invention is to provide a robot controller capable of automatically creating and storing parameters corresponding to the robot model.

[0008]

A robot controller according to the present invention comprises a model code output means for outputting a model code corresponding to the robot to a control side, and a parameter corresponding to the model code from the model code output means. Is provided on the control side.

[0009]

In the robot controller of the present invention, the model code corresponding to the robot is output to the control side, and the parameter corresponding to this model code is created on the control side. Parameters are automatically created, and there is no need to create parameters for each model on a personal computer or EWS.

[0010]

EXAMPLES Examples of the present invention will be described below.

FIG. 1 is a block diagram showing a robot controller according to an embodiment of the present invention. In the figure, the same reference numerals and symbols as those of the above-mentioned conventional example indicate the same or corresponding components as those of the above-mentioned conventional example.

In the figure, 9 is a model code output means such as a model code setting switch provided on the robot 1 side, and outputs a model code corresponding to the robot 1 to the control side. Reference numeral 10 is an external I / O for taking in the model code sent from the model code output means 9, and 11 is a parameter creating means for automatically creating parameters.

In the robot controller having this structure, the model code output means 9 on the robot 1 side outputs a model code corresponding to the robot 1 in response to a start signal given from the control panel 2 via the servo amplifier 8. Then, this model code is sent to the parameter creating means 11 via the external I / O 10.
The parameter creating means 11 creates parameters according to the flowchart of FIG.

The operation of the parameter creating means 11 will be described below. FIG. 2 is a flowchart showing the operation of the parameter creating means of the robot controller according to the embodiment of the present invention.

In the figure, first, in step S1, the model of the robot 1 is determined. This judgment is made based on the model code sent from the model code output means 9. Then, a parameter corresponding to the model is created in step S2, and the created parameter is transferred to the parameter storage unit 6 in step S3. The parameter creating operation is executed according to a predetermined program stored in the program ROM 4.

The operation of controlling the robot 1 by the parameters stored in the parameter storage unit 6 is the same as the conventional one.

As described above, the robot controller according to the present embodiment uses the model code output means 9 provided in the robot 1 which is controlled by a predetermined control signal sent from the control panel 2 through the servo amplifier 8 to the robot. The model code corresponding to 1 is output to the control panel 2, the parameter creating means 11 provided in the control panel 2 creates a parameter corresponding to the model code from the model code output means 9, and the parameter storage section 6 To be stored in.

Therefore, in the robot control apparatus of this embodiment, the parameters corresponding to the model code corresponding to the robot 1 are automatically created by connecting the robot 1 and the control panel 2 and supplying power. , Is transferred to a specified storage area, so you can use a personal computer or E
It is not necessary to separately create parameters using a software development environment such as WS, and it is not necessary to transfer the parameters thus created to the parameter storage unit 6 using a floppy disk or the like as a medium. Therefore, it is not necessary to perform these troublesome operations for each robot at the time of shipment, and the operations at the time of shipment can be extremely simplified.

[0019]

As described above, the robot controller of the present invention comprises the model code output means and the parameter creating means, and outputs the model code corresponding to the robot from the model code output means to the control side. , The parameter corresponding to each model is created automatically by the parameter creating means on the control side, and the parameter corresponding to each model is automatically created, and it is necessary to create the parameter for each model with a personal computer or EWS. Since there is no need to perform these troublesome operations for each robot, the operations at the time of shipping can be simplified.

[Brief description of drawings]

FIG. 1 is a block configuration diagram showing a robot controller according to an embodiment of the present invention.

FIG. 2 is a flow chart showing an operation of a parameter creating means of a robot controller according to an embodiment of the present invention.

FIG. 3 is a block configuration diagram showing a conventional robot controller.

[Explanation of symbols]

 1 Robot 2 Control Panel 3 CPU 4 Program ROM 5 RAM 6 Parameter Storage 7 Servo Controller 8 Servo Amplifier 9 Model Code Output Means 10 External I / O 11 Parameter Creation Means

Claims (1)

[Claims] 1. A model code output means for outputting a model code corresponding to a robot to a control side, and a parameter creating means for creating a parameter corresponding to the model code from the model code output means on the control side. A control device for a robot characterized by the above.