JPH0651826A - Teaching device for robot - Google Patents

Abstract

PURPOSE:To activate the system software of the teaching device corresponding to a program or a position data format provided for the system software of a controller only by connecting the teaching device to the different type of the controller. CONSTITUTION:This device is provided with a software discrimination part 5 for discriminating the system and data format of the system software for the controller of the connected robot and a correspondent software activation part 6 for activating the correspondent system software for the teaching device corresponding to the discriminated results, and the system software of a teaching device 1 corresponding to the program or position data format provided for the system software of controllers 2 and 3 only by connecting the teaching device 1 to the controllers 2 and 3 for the robot.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a teaching device for inputting operation programs and position data to a robot control device.

[0002]

2. Description of the Related Art In recent years, teaching devices for robots have been improved in operability and functions. Referring to the drawings below,
An example of a conventional teaching device will be described. FIG. 6 shows the configuration of a conventional robot teaching device. In FIG. 6, reference numeral 51 is a teaching device for inputting operation programs and position data to the robot controller, 52 is the first controller of the robot, and 53 is system software having a program data and position data format different from that of the first controller 52. Is a memory card (or ROM) for starting the system software (teaching system A or teaching system B) of the teaching device 51.

The operation of each of the above components will be described. In the above-mentioned configuration, when the teaching device 51 is connected to the second control device 53 to input the operation program and the position data, the teaching device 51 of the data format which is included in the system software of the second control device 53 is used. System software (memory card 54
Or ROM) is selected, the system software is started, and the operation program and position data are input using the teaching device 51.

[0004]

However, in the above-mentioned conventional teaching device for robots, the system of the teaching device 51 is used and replaced every time according to the data format of the system software of the control devices 52 and 53 to be connected. Had the problem of having to do.

The present invention solves the above problems and provides a teaching device for a robot which can activate the teaching device system software suitable for the target control device by simply connecting the teaching device to the control device. That is the purpose.

[0006]

In order to solve the above-mentioned problems, the teaching apparatus of the present invention discriminates what kind of system and what data format the system software of the controller of the connected robot is. And a corresponding software starting unit that starts the corresponding teaching device system software according to the judgment result.

[0007]

With the above structure, when the teaching device is connected to the control device of the robot, the system of the control device is judged from the program and the position data format of the system software of the control device. The corresponding teaching device system software is activated according to the determination result.

[0008]

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 a teaching device and various robot control devices, and FIG. 2 is a flowchart showing the processing of the software of the robot teaching device in the first embodiment of the present invention. The function and operation will be described below with reference to FIGS. 1 and 2.

In FIG. 1, 1 is a robot teaching device,
Reference numeral 2 is a first controller of the robot which uses an input in the NC programming language as an operation program, 3 is a second controller of the robot which uses an input in the high-level robot language as an operation program, and 4 is the teaching apparatus 1 and the first and the first. 2 controller 2,
3 is a communication cable for connecting the three. As shown in Figure 1,
In the teaching device 1 of the robot, a software discriminating unit that discriminates the system software of the teaching device 1 to be activated according to an operation program or position data format which is information from the control device of the robot before the system software of the teaching device 1 is activated. 5 and a corresponding software starting unit 6 that starts the corresponding teaching device system software based on the determination result.

The software processing of the teaching device in each of the above components will be described below with reference to FIG. First,
In step 11, as shown in FIG. 2, for example, the teaching device 1 is switched and connected from the second control device 3 to the first control device 2. By turning on these power sources, the processing of the teaching apparatus 1 is executed, and in step 12, the teaching apparatus 1 executes the system software discrimination response by the software discriminating unit 5 to determine what the connected control apparatus 2 is. Enter the information on whether the program is a type of operation program or system software with position data format. Next, in step 13, the corresponding software starting unit 6 of the teaching device 1 selects the teaching device system to be started up of the teaching device 1 from the operation program and the information of the position data format, and the first control device 2 is connected. If so, in step 14, the teaching system software A suitable for the programming language and data input format of the first controller 2 is started. If the second control device 3 is connected, the teaching system software B in the second control device 3 is started in step 15. If none of the control devices 2 and 3 is applicable, the system software discrimination response of step 12 is executed again at step 16.

As described above, according to this embodiment, the control devices 2, 3 are activated before the actual activation of the teaching system software.
Since the software discriminating unit 5 discriminates the system software of the teaching apparatus 1 to be activated from the program language or the data input format of the teaching system 1 and the corresponding software starting unit 6 activates the corresponding teaching system software, Appropriate teaching system software is started up by simply connecting the teaching device 1 to the control devices 2 and 3 without replacing the software in advance.

A second embodiment of the present invention will be described below with reference to FIG.
-It demonstrates, referring FIG. FIG. 3 is a diagram showing the entire configuration of a robot teaching device and a control device according to a second embodiment of the present invention. In FIG. 3, reference numeral 21 is a robot teaching device, 22 is a first control device for a robot that uses NC programming language as an operation program, and 23 is a second robot that uses high-level robot language as an operation program.
A control device, 24 is a communication cable connecting the teaching device 21 and the first and second control devices 22 and 23, and 25 is an I / I connecting the teaching device 21 and the first and second control devices 22 and 23. It is a cable for O. As shown in FIG. 3, a robot teaching device
21 includes a software discriminating unit 26 that discriminates the system software of the teaching device 21 to be activated based on an operation program and position data format which are information from the robot controller before the system software of the teaching device 21 is activated. Corresponding software starting unit that starts the corresponding teaching device system software from the result
27 and are equipped.

Here, FIG. 4 is a diagram showing a concrete hardware configuration relating to the connection between the teaching apparatus and the control apparatus in the second embodiment. In FIG. 4, 31 is a C of the teaching device 21.
PU, 32 is the CPU of the first control device 22, 33 is the communication circuit of the teaching device 21, 34 is the communication circuit of the first control device 22, 35 is the I / O input circuit of the teaching device 21, and 36 is the first control device. 22 is an I / O input circuit, and 37 is a storage device of the teaching device 30 in which startup software information and the like are stored. Although not shown, the second control device
23 also has a hardware configuration similar to that of the first control device 22. 1 and 2 are different from those shown in FIGS.
In FIG. 3, information for discriminating the system of the control unit 2 is input by communication data, whereas in FIG. 3 and FIG. 4, information for discriminating the system of the control unit 22 is input by the I / O input circuits 35, 36. It is designed to be input with data from.

The operation of the teaching device configured as described above will be described below with reference to the flowchart of FIG. At step 41 in FIG. 5, as shown in FIGS. 3 and 4, the second controller 23 to the first controller 22 of the robot are
The teaching device 21 is connected to. By turning on these power supplies, the processing of the teaching device 21 is executed, and in step 42, the teaching device 21 outputs the operation program of the connected control device 22 and the information of the position data format from the I / O input circuit 35. Input,
The software determination unit 26 determines which control device 22 is connected. Next, in step 43, the corresponding software starting unit 27
Then, the system software for the teaching device to be activated of the teaching device 21 is selected from the information, and when the first control device 22 is connected, the program language and the data input format of the first control device 22 are found in step 44. System software A for teaching
To start. If the second control device 23 is connected, the teaching system software B in the second control device 23 is started in step 45. If none of the control devices 22 and 23 is applicable, in step 46, step 42 is repeated.
Enter the system software discrimination information of.

In the step 12 of the first embodiment,
The information input from the control device was used as communication data.
O data may be used as the input information. Further, in step 42 of the second embodiment, the information input from the control device is I
Although / O data is used, communication data may be used as input information. Further, the software discriminating unit may be configured not to judge based on both information of the operation program and position data format, but to judge based on only one of them (operation program or position data format).

[0016]

As described above, according to the present invention, the software discriminating unit for discriminating the system software of the teaching apparatus to be activated is provided based on the information from the robot controller before the system software of the teaching apparatus is activated. , A teaching device which has been provided in the case where the data format of the system software of the robot controller is different so far by providing the corresponding teaching device system software for starting the corresponding teaching device system software according to the determination result. There is no need to replace the system software, and just by connecting the control device, the appropriate system software for the teaching device will start up.

[Brief description of drawings]

FIG. 1 is a diagram showing an overall configuration of a teaching device and various robot control devices according to a first embodiment.

FIG. 2 is a flowchart showing a process of software of the teaching device.

FIG. 3 is a diagram showing an overall configuration of a teaching device and a control device for various robots according to a second embodiment.

FIG. 4 is a diagram showing a hardware configuration relating to a connection between a teaching device and a control device according to a second embodiment.

FIG. 5 is a flowchart showing a process of software of the teaching device.

FIG. 6 is a diagram showing a configuration of a conventional teaching device.

[Explanation of symbols]

 1,21 Teaching device 2,22 First control device 3,23 Second control device 4,24 Communication cable 5,26 Software discriminating unit 6,27 Compatible software starting unit 25 I / O cable

Claims (2)

[Claims] 1. In a teaching device for inputting program data and position data to a robot control device, the system software of the teaching device to be activated is determined from information from the robot control device before the system software of the teaching device is activated. A robot teaching device having a software discriminating unit. 2. A corresponding software starting unit for starting corresponding teaching device system software from a discrimination result.
The robot teaching device described.