JPH0973311A - Numerical controller provided with teaching operation panel for robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To transmit and receive a large amount of data between the teaching operation panel for a robot and a numerical controller body concurrently with the real-time transmission and reception of a small amount of data. SOLUTION: The numerical controller main body 1 and robot teaching operation panel 2 have direct memory access means (13 for the numerical controller body 1 and 23 for the robot teaching operation panel 2), real-time data transmission and reception interfaces (14 and 24) and massive data transmission and reception interfaces (15 and 25). The numerical controller having the robot teaching operation board is so constituted that the real-time data transmission and reception and massive data transmission and reception are performed concurrently while a 1st central processing means it and the 1st direct memory access means 13 use a 1st bus, 19 on a time-sharing basis and a 2nd central arithmetic processing means 21 and the 2nd direct memory access means 23 use a 2nd bus 29 on a time-sharing basis.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a numerical control device having a robot teaching operation panel for transmitting and receiving data between a robot teaching operation panel and a numerical control device body. In particular, not only the small amount of data such as teaching that is normally sent and received is transmitted and received in real time, but in parallel with this real time transmission and reception, a large amount of data is displayed for the purpose of graphically displaying the machining state on the robot teaching pendant. An improvement that enables the transmission and reception of data.

[0002]

2. Description of the Related Art When a robot is controlled using a numerical control device body, a robot teaching operation panel having a man-machine interface for a person operating the robot is used together with the numerical control device body. The data transmitted / received between the robot teaching pendant and the numerical control apparatus main body has a small amount of data, such as teaching data for teaching a route along which the robot moves,
Since it is necessary to send and receive in real time, a real time data sending and receiving means having a transfer protocol for sending and receiving a small amount of data in real time is installed between the numerical controller main body and the teaching operation panel for robots, and this real time data sending and receiving means is used Sending and receiving.

That is, the first central processing unit, the first memory means and the first central processing unit installed in the main body of the numerical controller.
Real-time data transmission / reception interface, second central processing unit, second memory unit, second real-time data transmission / reception interface, first real-time data transmission / reception interface, and second central processing unit installed on the robot teaching pendant. The real-time data transmission / reception means is constituted by the cable connecting with the real-time data transmission / reception interface.

When transferring data requiring real-time processing, when a real-time data transfer command is issued from the manual command means of the robot teaching pendant, the second central processing unit is recorded in the second memory means. The first central processing unit operates according to the real-time transfer protocol recorded in the first memory means, and the data requiring real-time processing in the first memory means is recorded. According to the contents of the real-time data transfer command between the area where the real-time processing is required and the area where the data requiring real-time processing is recorded in the second memory means.
Data requiring real-time processing such as teaching data in each area is transferred in real time.

[0005]

By the way, there is an increasing demand for improving the functions of the teaching operation panel for robots, and it is required to graphically display the machining state. These processing state data are recorded in the memory means of the numerical control apparatus main body. Especially, since the data for displaying graphically has a large amount of data, it is necessary to use the real-time data transmitting / receiving means to process a large amount of data. When the status data is transmitted / received, there arises a drawback that the data requiring real-time processing such as teaching data cannot be transmitted / received in real time.

An object of the present invention is to eliminate this drawback, and to provide a numerical controller having a teaching operation panel for a robot capable of simultaneously transmitting and receiving a small amount of data and a large amount of data requiring real-time processing. To do.

[0007]

In order to achieve the above object, a numerical controller having a teaching operation panel for a robot according to the present invention comprises a first direct memory access means 13.
And the first mass data transmission / reception interface 15 and the second direct memory access means 23 and the second mass data transmission / reception interface 25 are used, and the first central processing unit 11 and the second central processing unit 11 are used. It is configured to be able to transmit and receive a large amount of data without being used with the central processing unit 21. Therefore, real-time data transmission / reception that is performed using the first central processing unit 11 and the second central processing unit 21 and the first direct memory access unit 13 and the second direct memory access unit 23 are performed. With the large-volume data transmission / reception that is transmitted / received using, it is possible to transmit / receive at the same time.

More specifically, the numerical controller having the teaching operation panel for a robot according to the present invention has a first central processing means 11, a first memory means 12, and a first direct memory access means 13. The numerical controller main body 1 in which the first real-time data transmission / reception interface 14 and the first large-volume data transmission / reception interface 15 are mutually connected via the first bus 19, and the first numerical control device main body 1 described above.
A second real-time data transmission / reception interface 24 connected to the real-time data transmission / reception interface 14, a second large-volume data transmission / reception interface 25 connected to the first large-volume data transmission / reception interface 15, and a second central portion. Arithmetic processing means 21 and second
Of the robot teaching operation panel 2 in which the memory means 22, the second direct memory access means 23, and the manual command means 26 are connected to each other via the second bus 29. In response to a real-time data transfer command issued by 26, the first central processing unit 11 operates on the first real-time data transmission / reception interface 14 and the second real-time data transmission / reception interface 24 operates on the second real-time data transmission / reception interface 24. The second central processing means 21 operates to transfer the small amount data in real time between the first memory means 12 and the second memory means 22 and to execute the manual command. Means 26
In response to a large-volume data transfer command issued by the above, the first direct memory access means 13 operates in the first large-volume data transmission / reception interface 15, and the second large-volume data transmission / reception interface 25 operates in the second state. The direct memory access means 23 operates to transfer a large amount of data between the first memory means 12 and the second memory means 22, and the manual command means 2
In response to the real-time data transfer command and the large-volume data transfer command issued by 6, the above-mentioned first central processing means 1
1 and the first direct memory access means 13 use the first bus 19 in a time-shared manner, and the second central processing means 21 and the second direct memory access means 23 are the second The bus 29 is used for time sharing, and real-time data transmission / reception and large-volume data transmission / reception can be simultaneously transmitted / received in parallel.

[0009]

BEST MODE FOR CARRYING OUT THE INVENTION An example of an embodiment of the present invention will be further described below with reference to the drawings.

FIG. 1 is a block diagram of a numerical controller having a teaching operation panel for a robot according to the present invention. In FIG. 1, reference numeral 1 is a numerical control device main body, and 11 and 12, 13 and 14 and 15 are provided.
And 19 are the first in the numerical controller main body 1, respectively.
The central processing unit, the first memory means, the first direct memory access means, the first real-time data transmission / reception interface, the first large-volume data transmission / reception interface, and the first bus. The first memory means 12 has an area in which data that requires real-time processing is recorded, an area in which a large amount of data that does not require real-time processing is recorded, and an area in which software is recorded. Data and software at that time are recorded in the respective areas.

Reference numeral 2 is a teaching operation panel for a robot, and 21 and 22, 23, 24, 25, 26 and 29 are respectively
The second central processing unit of the robot teaching pendant 2, the second memory means, the second direct memory access means, the second real-time data transmission / reception interface, the second mass data transmission / reception interface, the manual command means, and the second instruction means. Two buses. The second memory means 22 also has an area in which data that requires real-time processing is recorded, an area in which a large amount of data that does not require real-time processing is recorded, and an area in which software is recorded. In each area, data and software at that time are recorded.

The first real-time data transmitting / receiving interface 14 and the second real-time data transmitting / receiving interface 24 are connected to each other, and the first mass data transmitting / receiving interface 15 and the second mass data transmitting / receiving interface 25 are mutually connected. It is connected.

When transferring a large amount of data that does not require real-time processing, if a large amount of data transfer command is issued from the manual command means 26 of the robot teaching pendant 2,
Real-time data transmission / reception interface 14 and second
A large-volume data transfer command is transferred in real time to the numerical controller 1 main body via the real-time data transmission / reception interface 24. In the numerical controller main body 1, the first direct memory access means 13 is activated in response to the large-volume data transfer command. The first direct memory access means 13 sends a large amount of data stored in the first memory means 12 of the numerical controller 1 to the first large-volume data transmission / reception interface 15. In the robot teaching operation panel 2, the second direct memory access means 23 is provided.
Is activated and a large amount of data transferred via the first large-volume data transmission / reception interface 15 and the second large-volume data transmission / reception interface 25 is transferred to the second memory means 22.
To complete the transfer of large amounts of data.

When transferring data such as teaching data that requires real-time processing, when the real-time data transfer command is issued from the manual commanding means 24 of the robot teaching operation panel 2, the teaching instruction panel for robot is transmitted in the same manner as in the conventional case. Data requiring real-time processing is transmitted and received in real time between the second memory means 22 of No. 2 and the first memory means 12 of the numerical controller main body 1.

When transferring data requiring real-time processing during transfer of a large amount of data, in the robot teaching pendant 2, the second central processing unit 21 and the second central processing unit 21 are provided.
The direct memory access means 23 uses the bus 29 in a time-shared manner. Similarly, on the side of the numerical controller main body 1, the first central processing unit 11 and the first direct memory access means 13 use the bus 19 in a time-sharing manner with each other, and data that requires real-time processing is used. A large amount of data flows through the buses 19 and 29 in a time-shared manner, and is simultaneously transmitted / received in parallel.

It should be noted that a LAN (Local Area Network) such as Ethernet is used for a large-volume data transmission / reception line, and the first large-volume data transmission / reception interface 15 and the second large-volume data transmission / reception interface 25 are adapted to the LAN. On the LAN, from the teaching operation panel 2 for robots
Since a large amount of data can be transmitted via, it becomes easy to construct a system such as process management.

[0017]

As described above, the numerical control device having the robot teaching pendant according to the present invention has a route for transmitting / receiving data in real time and a route for transmitting / receiving a large amount of data. The route shares the respective buses with both the teaching pendant for robots and the numerical controller main unit, but since each central processing unit and direct memory access operate by sharing the bus in real time, And a large amount of data can be simultaneously transmitted and received in parallel. Therefore, the movement of the robot can be graphically displayed on the teaching operation panel for the robot, and the movement of the robot can be taught. Furthermore, if large-volume data transmission / reception is adapted to the LAN, the LAN is used to connect the numerical control device main body with another numerical control device main body, a host computer, or the like, thereby providing a system for process management or the like. Easy to build.

[Brief description of drawings]

FIG. 1 is a block diagram of a numerical controller having a teaching operation panel for a robot according to the present invention.

[Explanation of symbols]

1 Numerical Control Device Main Body 11 First Central Processing Unit 12 First Memory Means 13 First Direct Memory Access Means 14 First Real Time Data Transmission / Reception Interface 15 First Mass Data Transmission / Reception Interface 19 First Bus 2 Robot Teaching operation panel 21 second central processing unit 22 second memory means 23 second direct memory access means 24 second real-time data transmission / reception interface 25 second mass data transmission / reception interface 26 manual command means 29 second bus

Claims (1)

[Claims] 1. A first central processing unit (11) and a first central processing unit (11).
The memory means (12), the first direct memory access means (13), the first real-time data transmission / reception interface (14), and the first large-volume data transmission / reception interface (15) are connected via the first bus (19). A numerical control device body (1) interconnected with each other, a second real-time data transmission / reception interface (24) connected to the first real-time data transmission / reception interface (14), and the first large-volume data. A second mass data transmission / reception interface (25) connected to the transmission / reception interface (15), a second central processing unit (21), a second memory unit (22), and a second direct memory access unit ( 23) and the manual instruction means (26) are connected to each other via the second bus (29) And a control panel (2), and corresponding to the real-time data transfer command issued by the manual command means (26), the first central processing unit (11) is connected to the first real-time data transmission / reception interface (14). ) Operates, and the second central processing means (21) operates on the second real-time data transmission / reception interface (24) to operate the first memory means (1).
A small amount data transfer process is executed in real time between 2) and the second memory means (22), and in response to a large amount data transfer instruction issued by the manual instruction means (26), the first The first direct memory access means (13) operates on the large-volume data transmission / reception interface (15), and the second direct memory access means (23) operates on the second large-volume data transmission / reception interface (25). The first memory means (12)
Transfer processing of a large amount of data is performed between the second memory means (22) and the second memory means (22), and the first instruction is transmitted in response to the real-time data transfer instruction and the large-volume data transfer instruction issued by the manual instruction means (26).
The central processing unit (11) and the first direct memory access unit (13) of the second central processing unit (2) use the first bus (19) in a time-shared manner.
1) and the second direct memory access means (23) use the second bus (29) in a time-shared manner so that real-time data transmission / reception and large-volume data transmission / reception can be transmitted / received simultaneously in parallel. A numerical control device having a teaching operation panel for a robot, which is configured as follows.