JPH0774966B2 - Robot controller editing device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot operating device editing apparatus for editing instructions to a robot taught by operating a key on an operation panel.

[0002]

2. Description of the Related Art In this type of operating device, for example, as shown in FIG. 1, by operating a key 2 on an operation panel 1, various operation commands are input to a robot and teaching is performed. Then, the teaching data is sequentially displayed in a predetermined area on the display screen 3 in correspondence with the step number indicating the teaching position and the statement number indicating the execution order of the instructions (see FIG. 2). The predetermined area is 4 lines
Only within a relatively narrow range of about 20 lines, all instructions are displayed arranged in order of statement number. In this case, when a plurality of commands are executed at the same teaching position, the same numerical value will be written as the step number. Then, the display contents on the display screen 3 can be sequentially incremented by a key operation, and can be changed and edited.

[0003]

However, in the conventional operation device as described above, when the contents are to be changed to the OFF state in step number 3 in relation to the spray command (see FIG. 2) in the painting work, for example. , Two instructions that are OFF at step number 3 and ON at step number 4 must be added (see FIG. 7). For the above-mentioned work, an operator unfamiliar with the so-called robot language may find it difficult to grasp the command system and make a mistake in the key operation.

Therefore, an object of the present invention is to automatically edit only the contents of an instruction to be changed into the contents suitable for the instruction system by simply inputting the corresponding key to the corresponding step number. An object of the present invention is to provide an editing device of a robot operating device having a function capable of performing.

[0005]

In order to achieve the above object, the main means adopted by the present invention is to provide a command to a robot taught by operating a key on the operation panel. In the editing device of the robot operating device, which is adapted to sequentially display and edit in a predetermined area on the display screen in correspondence with the step number indicating the teaching position and the statement number indicating the execution order of instructions,
Only the contents of the predetermined instruction retrieved by the retrieval means are made to correspond to all step numbers, among the plurality of instructions input by operating the keys, the retrieval means for retrieving the designated predetermined instruction. Display means for displaying on the display screen together with all the step numbers of the lever, and changing means for changing the content of the instruction corresponding to the specified predetermined step number among all the content displayed by the display means. , The content of the instruction corresponding to the predetermined step number changed by the changing means and the content of the instruction respectively corresponding to the step numbers before and after the predetermined step number are compared, and the above-mentioned predetermined based on the relationship before and after the comparison. And an editing means for editing the contents of the command of 1.

[0006]

In the editing apparatus according to the present invention, first, of the plurality of commands input by the key operation, only the contents of the designated predetermined command are displayed corresponding to all the step numbers together with all the step numbers. Displayed on the screen. Subsequently, when the content of the instruction corresponding to the specified predetermined step number is changed, the content of the instruction corresponding to the changed predetermined step number and the step numbers before and after the predetermined step number are respectively corresponded. The content of the command is compared and the content of the predetermined command is edited based on the relationship before and after the comparison.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments embodying the present invention will be described below with reference to the accompanying drawings for the understanding of the present invention. The following embodiments are examples of embodying the present invention and are not intended to limit the technical scope of the present invention.

FIG. 1 is a front view of a robot manipulator according to an embodiment of the present invention, and FIGS. 2 to 7 are explanatory views showing an example of contents displayed on the display screen of the robot manipulator. FIG. 8 is a flow chart showing an example of a processing procedure when the content of the instruction is edited by the robot operating device.

In the operating device according to this embodiment, as shown in FIG. 1, commands to the robot are input and taught by appropriately operating the keys 2 on the operation panel 1. And
In the normal display state similar to that of the conventional apparatus, this teaching data is associated with a step number indicating the teaching position and a statement number indicating the execution order of instructions, as shown in FIG. 2, in a predetermined area on the display screen 3. Are sequentially displayed inside.
Subsequently, the characteristic function of the operation device, that is, the content of the instruction corresponding to the desired step number is changed and edited from among a large number of types in which the instructions input by the procedure described above are mixed About the processing procedure in the case,
A description will be given based on FIGS. 7 and 8. In this case, S1, S2, ... In FIG. 8 indicate processing steps.

For example, regarding the spray command in FIG. 2, when the content is changed to OFF in step number 3 and is to be edited, first in S1, the operator presses the key 2 on the operation panel 1 (see FIG. 1). When a spray is designated by operating, this signal is sent from the human interface to the controller. Then, the option-set value of the transmitted parameters is referred to, and the corresponding command (spray) is searched from the teaching program in the memory (S2, searching means). In this case, the search is performed with the spray ON and OFF shown in FIG. 2 as one set (see FIG. 3).

Then, this information is transmitted to the ON / OFF information storage buffer, all bits in the buffer are initialized and transmitted by the default value determined by the spray (spray number is 2 in this embodiment). Based on the information provided, the ON / OFF state of the spray at each step number is represented by setting or resetting in each bit (S
3). That is, in the above S3, spray No. 2 is ON
All the bits corresponding to the step number in the state are set to 1, and all the bits corresponding to the step number in which the spray No. 2 is in the OFF state are reset to 0.
Then, in S4, based on the contents of the ON / OFF information storage buffer, only the information on spray No. 2 is displayed on the display screen 3 together with all step numbers (display means). An example of this display form is shown in FIG.
Subsequently, in S5, when the content of the instruction in step number 3 is changed from ON to OFF (see FIG. 5), the corresponding bit of the ON / OFF information storage buffer is set to 1
Is rewritten from 0 to 0 (change means).

Then, in S6, the contents of the instruction corresponding to the step number 3 changed as described above are compared with the contents of the instructions corresponding to the step numbers 2 and 4 before and after the step number. The content of the command relating to spray No. 2 is edited based on the front-back relationship (editing means). That is, in the ON / OFF information storage buffer, the changed bit is compared with the previous bit. Then, if both are in the same ON / OFF state, a command is transmitted to the control panel so as to delete the output ON / OFF command of the step corresponding to the changed bit.

On the other hand, if the ON / OFF states are different, a command is sent to the control panel to insert the output ON / OFF command into the bit corresponding to the bit that has changed. Subsequently, the changed bit and the next bit are compared. If both are in the same ON / OFF state, output ON / OFF of the step corresponding to the next bit
A command is sent to the control board to delete the command.

On the other hand, if the ON / OFF states are different, the output ON / O is sent to the step corresponding to the next bit.
A command is sent to the control board to insert an FF command.
The result edited as described above is shown in FIG. That is,
In response to changing spray No. 2 to OFF in step No. 3, the spray No.
Editing is automatically performed to turn on the contents of the numbered command. And the contents about all the commands after editing are
It is displayed on the display screen 3 in a form as shown in FIG. 7 (corresponding to FIG. 2).

[0015]

As described above, according to the present invention, the instruction to the robot taught by operating the key on the operation panel corresponds to the step number indicating the teaching position and the statement number indicating the execution order of the instruction. Then, in the editing device of the robot operating device which is sequentially displayed in a predetermined area on the display screen for editing, a specified predetermined command among a plurality of commands input by operating the above keys is selected. Search means for searching, display means for displaying only the contents of the predetermined instruction searched by the search means on all the step numbers and displaying them on the display screen together with all the step numbers, and displaying by the display means Of all the contents given, the changing means for changing the contents of the instruction corresponding to the specified predetermined step number, and the place changed by the changing means Editing means for comparing the content of the instruction corresponding to the step number with the content of the instruction corresponding to the step numbers before and after the predetermined step number, and for editing the content of the predetermined instruction based on the relationship before and after the comparison. Since it is a robot operating device editing device characterized by being equipped with, only the command to be changed can be input by key operation corresponding to the step number Can be edited.

[Brief description of drawings]

FIG. 1 is a front view of a robot manipulator according to an embodiment of the present invention.

FIG. 2 is an explanatory diagram showing an example of contents displayed on a display screen of the robot manipulator.

FIG. 3 is an explanatory diagram showing an example of contents displayed on a display screen of the robot manipulator.

FIG. 4 is an explanatory diagram showing an example of contents displayed on a display screen of the robot manipulator.

FIG. 5 is an explanatory diagram showing an example of contents displayed on a display screen of the robot manipulator.

FIG. 6 is an explanatory diagram showing an example of contents displayed on a display screen of the robot manipulator.

FIG. 7 is an explanatory diagram showing an example of contents displayed on a display screen of the robot manipulator.

FIG. 8 is a flowchart showing an example of a processing procedure when the content of the instruction is edited by the robot operation device.

[Explanation of symbols]

 1 ... Operation panel 2 ... Key 3 ... Display screen S1 to S6 ... Processing steps

Claims (1)

[Claims] 1. A command for a robot taught by operating a key on a control panel is associated with a step number indicating the teaching position and a statement number indicating the execution order of the command within a predetermined area on the display screen. In the editing device of the robot operating device, which is sequentially displayed on the screen for editing, a searching means for searching a specified predetermined command from a plurality of commands input by operating the keys, and the searching means. The display means for displaying only the content of the predetermined instruction retrieved by the above on the display screen together with all the step numbers and specifying all the content displayed by the display means. Changing means for changing the content of the instruction corresponding to the specified step number, and the command corresponding to the specified step number changed by the changing means. And a means for comparing the content of the instruction with the content of the instruction corresponding to the step numbers before and after the predetermined step number and for editing the content of the predetermined instruction based on the relationship before and after the instruction number. An editing device for a robot operating device, which is characterized in that