JPH0610767B2 - Robot language execution method - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a language execution device (interpreter) essential for robot language processing, and in particular, flexibly controls instruction execution online (during robot operation). The present invention relates to a robot language execution method that makes it possible.

[Background of the Invention] Unlike the instruction execution processing of a general-purpose computer, execution control of a robot language has the following specific items.

First, the operation command of the robot (for example, the command to move from a certain point to another certain point) and the execution of the input / output command need to be synchronized. That is, when input / output processing should be performed after the robot operation is completed (for example, after confirming whether the limit switch of the conveyor is turned on after the robot reaches the target position), input / output during the robot operation. When to do something (for example,
If you open the hand while the robot is operating).

Second, the operation of the robot is realized by creating data required for the operation by the execution routine and then servo-processing the data.

The servo processing is activated at regular intervals, and the processing time is very short, so that the CPU (processing device) has an idle time during the robot operation.

Therefore, it is possible to interpret and execute the next instruction during the robot operation by utilizing this idle time. In this case as well, the executable instruction (program branch, assignment statement) can be executed during the robot operation. Etc.) and instructions that are not.

As described above, when interpreting and executing the robot language, it is necessary to control the execution form of each instruction centering on the synchronous processing of the operation instruction and other instructions. In particular, in the case of a robot, there is a demand for changing the execution form of each instruction or controlling the execution form of the instruction online according to the application target.

In response to such a demand, the conventional technique has the following problems as an example.

First, the execution form of each instruction of the robot is fixed and described by an execution program that executes the instruction. Therefore, in order to change the execution form of the instruction, it is necessary to change the execution program, compile the program, and link with the entire system, which requires a lot of change man-hours.

Next, during robot control (during program execution), the instruction execution format could not be changed according to the target work.

[Object of the Invention]

It is an object of the present invention to provide a robot language execution method that eliminates the above-mentioned drawbacks of the prior art and can flexibly change and control various execution formats of the robot language online.

[Outline of Invention]

A robot language execution method according to the present invention is a robot language execution method in which a processing device executes a desired execution routine based on a control program stored in a memory and an operation program in a robot language also stored in the memory. In a device, an instruction execution control table that defines an instruction execution format that includes at least an execution timing rule for a predetermined instruction in a robot language including a robot control instruction is provided in a memory, and an execution routine for a certain robot control instruction is provided. After the processing is completed, the robot is controlled based on the result of the completed processing, the second instruction to be executed next is read in parallel with the control, and the second instruction is stored in the instruction execution control table. An instruction execution form is referred to, and an execution routine for the second instruction at a time suitable for the instruction execution form It is obtained to perform the execution.

In addition, it is as follows supplementing this.

Generally, the main function of a language execution device (interpreter) is to repeatedly read an instruction and start an execution routine corresponding to the instruction.

In the above-mentioned conventional method, the synchronous processing of instruction execution after the completion of the processing in the execution routine until the instruction is read is entirely described in the program.

The present invention describes this synchronization processing rule as table data so that it can be managed independently of the control program of the interpreter.

Example of Invention

 Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is an explanatory diagram of an example of an operation program in a robot language of an embodiment of a robot language execution apparatus according to the present invention, which shows an operation sequence of a robot and a robot language used to describe the operation sequence. Combined with the command,
It is shown in a flow chart.

Similarly, FIG. 2 is an explanatory diagram of the instruction execution control table, in which the names of instructions in the robot language and the correspondence of the execution format of each instruction are described.

Similarly, FIG. 3 is a block diagram showing the interpretation of instructions.
It describes the configuration of hardware for execution, the configuration of control software data in the memory, and the data flow.

Here, 10 is a memory, 11 is a control program stored therein, 12 is an operation program (robot language data), 13 is an instruction execution control table (see FIG. 2), and 14 to 16 are , Various execution routines (control software for performing processing corresponding to each instruction of the robot language), 17 is an operation instruction execution routine, 18 is a servo processing routine, 2
0 is a processing unit (CPU), 21A is a program read command corresponding to the CPU 20 from the control program 11, 21B is a command execution format data read command, 21C is an execution routine read command, 22
A is an operation end command from the CPU 20 to the control program 11, 22B is an execution end command, and 23 is C.
A read signal from the PU 20 to the operation program 12, 24 is the execution routines 14 to 18 from the CPU 20.
Is a start command for the execution routine, and 25 is each execution routine 14-15.
From CPU to the execution end command, 26 is the CPU
20 is an instruction execution format data read signal from the instruction execution control table 13, and 27 is an operation end command from the servo processing execution routine 18 to the CPU 20.

In particular, the present invention reads the next operation program after completion of execution of the program for each operation program, reads the instruction execution form of the instruction execution control table 13 for the instruction indicated thereby, and executes the next instruction based on this. It is characteristic in terms. Next, these operations are
This is specifically shown in the figure.

FIG. 4 is a flowchart of the interpretation / execution of instructions related to these operations.

When the execution of the program is instructed, the interpretation / execution of the program proceeds in the following procedure.

(1) Command read command 21A from the control program 11
As a result, the CPU 20 outputs the read signal 23 to the operation program 12, and as a result, the data PD for one statement of the operation program is read. (Corresponding to step 101 in FIG. 4).

(2) The control program 11 determines whether the read instruction indicates the end of the operation program 12 (corresponding to step 102 in FIG. 4), and if the instruction is completed, the execution of the operation program is ended.

(3) Otherwise, in order to find the execution form of the instruction, CP
An instruction execution format data read command 21A is given to U20. The CPU 20 outputs the read signal 26 to the instruction execution control table 13, and as a result, the instruction execution format data OD is read (corresponding to step 103 in FIG. 4).

(4) The control program 11 determines whether the read instruction execution format is an immediate execution instruction (corresponding to step 104 in FIG. 4), and if the instruction execution format is an operation end wait instruction, the CPU 20 Waits for the operation end command 22A from (corresponding to step 105 in FIG. 4). In the case of an immediate execution command, the CPU 20 issues an execution routine read command 21C.

(5) When the CPU 20 receives the execution routine read command 21C, the execution routine start signal 2 corresponding to each instruction.
4 is output and each of the execution routines 14 to 18 is activated (corresponding to step 106 in FIG. 4).

(6) Each of the execution routines 14 to 16 returns the execution end instruction 25 to the CPU 20 after the completion of each processing. Particularly in the operation command execution routine 17, the servo process execution routine 18 returns an operation end command 27 to the CPU 20 after the servo process is completed.

(7) CPU 20 has operation end command 22A and execution end command 2
2B is returned to the control program (step 107 in FIG. 4).
Corresponding to).

(8) Upon receiving the execution end command 22B, the control program 11 returns to the above (1) and continues to read the operation program 12.

As described above, in the present embodiment, the execution format of each instruction in the robot language is defined only by the data in the instruction execution control table 13, and each instruction execution routine 14 is executed.
Do not depend on ~ 18.

Therefore, in the present embodiment, when it is desired to change the instruction execution format, only the data in the instruction execution control table 13 needs to be changed.
There is no need to modify 18 program bodies.

In the above description of the embodiments, the method of defining the execution format of each instruction in the robot language using the data of the instruction execution control table has been described.

In the following, a case will be described in which the data in the instruction execution control table is changed online (during the robot program execution) to control the instruction execution format.

FIG. 5 shows an explanatory diagram of another example of the operation program in the robot language. The configuration of the execution control table and the flow of instruction interpretation / execution are the same as those described above.

In FIG. 5, an ATTR instruction represents an instruction execution type change instruction instruction.

That is, "ATTR CLOSE, 1" means that the instruction execution form of the CLOSE instruction should be 1.

In the initial state, the execution format of the CLOSE instruction is 0
Since it is the (operation end wait instruction), the hand is closed after the operation executed before the CLOSE instruction ends.

However, when the CLOSE command is executed after the execution format is changed to 1 (immediate execution command) by the ATTR command, the hand is closed before the previous robot operation is completed.

That is, in the example of FIG. 5, the hand is closed while the robot is moving to the position P002 with MOVE P002.

By providing an instruction to change the execution format of each instruction in the robot language, it becomes possible to freely change the execution format of each instruction online.

〔The invention's effect〕

As described above in detail, according to the present invention, in the robot language execution apparatus, the instruction execution control table is provided in the memory of the robot language execution apparatus. It is possible to easily change it only by rewriting the data of.

Further, by changing the data of the instruction execution control table online, it becomes possible to change the execution format of each instruction in the robot language online.

Therefore, remarkable effects can be obtained in improving the function of robot work, improving efficiency, and facilitating operation.

[Brief description of drawings]

FIG. 1 is an explanatory view of an example of a robot language operation program of an embodiment of a robot language execution method according to the present invention, FIG. 2 is an explanatory view of an instruction execution control table, and FIG. Similarly, FIG. 4 is a block diagram, FIG. 4 is a flow chart of instruction interpretation / execution, and FIG. 5 is an explanatory diagram of another example of an operation program in the robot language. 10 ... Memory, 11 ... Control program, 12 ... Operation program, 13 ... Instruction execution control table, 14, 15, 1
6 ... Execution routine, 17 ... Operation instruction execution routine, 18
... Servo processing execution routine, 20 ... CPU.

Claims (3)

[Claims] 1. A robot language execution device in which a processing device executes each desired execution routine based on a control program stored in a memory and based on an operation program in the robot language also stored in the memory,
An instruction execution control table that defines the instruction execution format that includes at least the execution timing for a predetermined instruction in the robot language including the robot control instruction is provided in the memory, and the processing of the execution routine for a certain robot control instruction ends. After that, the robot is controlled based on the result of the completed processing, the second command to be executed next is read in parallel with the control, and the command execution format of the command execution control table for the second command is read. And executing an execution routine for the second instruction at a time suitable for the instruction execution format. 2. The robot language execution method according to claim 1, wherein the instruction execution control table is changed prior to referring to the instruction execution format. 3. The instruction execution format defined in the instruction execution table defines whether the instruction is executed during a certain operation of the robot or after the certain operation of the robot. The robot language execution method according to claim 1, wherein the method is executed.