JPS59167751A - Controller for robot - Google Patents

Abstract

PURPOSE:To perform easily and accurately adding, correcting, and clearing processings of a control program by securing or keeping automatically the are of a positional variable when the control program is added, corrected, or cleared. CONSTITUTION:Adding, correcting, clearing instructions of the control program which are inputted from a key input means are applied to a key input acceptance processing part 1, and adding, correcting, and clearing processings of instructions and positional variables are indicated there. An editing processing part 2 receives this indicating signal to edit instructions, and edited instructions are compared with contents of an instruction code storage part 3 and are confirmed. After editing of instructions, positional variable names are edited, and signal communication with an editing storage part 4 is performed to add, correct, and clear instruction codes stored in an instruction storage part of the editing storage part 4 and positional variable names stored in a variable storage part of the part 4. In case of these addition, correction, and deletion of the program, instructions and positional variable data to be processed are displayed on a display device 6.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a robot control device incorporating a control section that facilitates the addition, correction, and deletion of variables, particularly in the data structure and graphics editing of a 1°-bot control program. It is something.

When creating a control module for a single cobot using a single cocomputer or the like, conventionally, a command to secure the area, such as Declar (DECLAR-E), is used.
It was necessary to declare xyz and secure the area. For this reason, creating a 1-cogram becomes complicated,
Not only is it easy to make errors when creating a program, but also
It was also easy for the user of the robot to add and correct programs.

The present invention automatically adds a movement command and a position variable name as an argument of the movement command, or a command using a position variable as an argument, to the control language group (gram 13) when additionally correcting or deleting the control program of the robot. When correcting the name and value of a position variable that has already been registered in the position variable area, the position variable name of the movement command that references that position variable in the control language group. and numerical values are also automatically corrected: Furthermore, when a positional variable already registered in the positional variable area is deleted, if there is an instruction that refers to that positional variable, only the numerical value of the positional variable is deleted. To provide a control device for a robot, which has a control unit in which the position variable name and area remain as they are, and can easily and accurately perform addition, correction, and deletion processing of a control program for one robot. It is intended for the purpose of

Next, the configuration of the robot control device of the present invention will be explained.

FIG. 1 is an overall configuration diagram of a robot control device according to the present invention.

The robot control device of the present invention has a key human power reception processing section (1).
, an editing processing section 12), an instruction code table storage section (31), an editing storage section (41) consisting of an instruction storage section and a variable storage section, a data processing storage section (7), a program execution means +51, and a display device (6). I'm here.

Editing storage unit (41 is an instruction storage unit storing the instruction code, argument part, or address of the argument, and position variable storage.
It consists of a variable storage section.

The key human power reception processing unit (1) receives a signal from the key human power means, switches the command, □ position variable editing mode, instructs the command and position variable, further adds the command and position variable,
The editing processing unit (2) instructs each process of correction and deletion, edits the command based on the signal from the key manual reception processing unit tl+, and compares and confirms the edited command with the instruction code table storage unit (:31). After editing the command, the position variable name is edited, and a good signal is sent and received to the editing storage unit 151, and the instruction code, etc. stored in the command storage unit 41 and the variable storage unit are stored in the editing storage unit (41). Add, correct, or delete position variable names, etc.

The data processing storage section (7) supplies data to the variable storage section of the editing memory m (41) by an input signal from the outside.

The program execution means (5) has a CPU, a positioning control section, etc., sends and receives signals to and from the editing storage section (4), and controls the operation of the Ifbot (8).
When adding, correcting, or deleting cograds, display the instructions, position variables, and data that are subject to these processes.

Next, the present invention will be explained with examples.

The pcogram is stored in the editing storage section (41) in the structure described below.

Figure 2 shows the data structure of the edit storage section (41 variable storage sections).The area of one argument section consists of variable names, references, counters, defined flags, 6 other flags, and data. , the area of n arguments is included.The reference counter indicates the number of times a variable name is referenced by an instruction.For example, variable name ABC is changed to 2 by instruction MOV.
When it has been referenced twice, the reference counter becomes 2. Data 1 to data N indicate positioning numbers including rotation, and this data is stored in the data processing storage unit (7)
I will give it to you. The defined flag indicates how many of cheater 1 to data N are defined.

FIG. 6 shows the data structure of the instruction storage unit for 100 million copies (4) of edits. The storage of one instruction consists of an instruction code and an argument or an address of the argument, and m instructions are stored.
reactor.

If the argument name is insufficient, the variable name in the variable storage section, for example, if the variable name is ABC, ABC is stored.

The address of the argument indicates where in the variable storage unit this variable name is stored.

FIG. 4 shows a block diagram of the configuration of the key manual reception processing section +[+.

When adding a command, etc., set the edit mode to a command, and then perform a key operation; when adding a variable, etc., set the edit mode to a variable, and then perform a key operation.

Arbitrary alphabets or numbers are input from the keyboard one character at a time to the key manual reception processing unit (ll).

This human power 'L' character is written to the buffer ◇CharactersFor example, the processing is not known just by inputting the six characters M, O, V, but by pressing the code confirmation key on the keyboard next time, the input signal is written. becomes a command signal, and furthermore, the command flag for determining the code is turned ON, and a command signal such as MOV is sent to the editing processing section (2).

FIG. 5 shows a block diagram of command editing processing by the editing processing section (2).

A command signal issued manually to the editing processing section (2), for example, M.O.
V is stored in the instruction code table storage section 31 in the instruction check section and compared with the instruction code 7, and it is determined whether it is correct or incorrect.If it is incorrect, an error is displayed on the display device (6).
If the value is positive, an argument display appears on the display device (6).

Table 7J of the display device (6) when the correct command signal is manually input to the 7th AI, 14, and the argument display is 1t.
For example, if NOV is positive, the display section (this MOV and parentheses will be displayed, and the operator will see the information in parentheses;
Prompt the key input of the positional variable name, which is the argument part of this command.

Figure 713 shows the display (i) when the variable name in the 1st place is entered manually. When the positional variable name is entered manually, the positional variable name ABC is displayed in parentheses on the display. is,
At the same time, the data processing storage unit (7) (the numeric value of the position variable name, which is the main point in this article, or Dn) is displayed in the lower column of the display C device (f3).After inputting the position variable name, add it. The correction and deletion processes are performed manually.When the key manual input for these processes is completed 41., the processing mode is switched and each process is started.

FIG. 9A shows the processing procedure for adding a program to the editing storage unit (41).

When an instruction is to be added, the command, position variable name, and addition are entered manually, and the variable storage section in the editing storage section (41) is scanned to check whether the area for the argument section has already been secured.

If the area of this argument part is not reserved, it is checked whether the variable storage part is full or not, and if the variable storage part is full, the construction status is displayed. If the variable storage section is not full, the argument section area of the variable storage section is secured, the position variable name is recorded, and the reference counter is set to 1. Note that if the reference counter is zero and the defined flag is zero, the argument area will be empty.

If the area of the argument section of the variable storage section has been secured, the reference counter of the corresponding variable name is incremented by one.

After securing the variable area in the variable storage section, the addresses of the arguments on all the corresponding codes a are combined and stored in the instruction storage section, and the blockogram addition process is completed.

FIG. 6 shows a block diagram of variable editing processing of the editing processing section (21).

FIG. 9B shows the procedure for adding variables in the editing processing section (2).

The mode switching of the key manual means is set as a variable, and the variable, for example, BC
If you press the D key and operate the add key, the variable editing process will be added, and the variable will be discarded (it will be checked to see if it has been defined and if it has been defined, an error will be displayed).

If it has not been defined, it is checked whether the variable storage section is full or not, and an error is displayed even if the variable storage section is full.

If the variable storage section is not full, a variable area is secured, the variable name is registered, and the defined flag is set to 0N (=1). In this case, the reference counter in the variable storage remains at zero.

Figure 7C shows the display on the display device (6) when variables are added.

FIG. 70C shows the case where the variable BCD is added where the instruction MOV ABC is programmed. Variable B
When a CD is added, BCD is displayed in the lower column of the display device (6), and numerical values DI to D are displayed from the data processing storage unit.
n is recorded.

Figure 8A, Figure 8B
Where C' is located, the display on the display device (6) is shown when the \commands MOV and BCD are added. Instruction MOV, BC
When D is added, the cursor moves and commands MOV, AB
The instructions MOV and BCD are displayed at the bottom of c.

Next, the procedure for deleting a program will be described.

FIG. 10 shows the blockogram deletion processing procedure of the editing storage section (4). When the command, position variable name, and delete key are operated, it is checked whether the argument part area of the edit storage part (variable storage part 41) is secured, and if the argument part area' is not secured, the command memory Delete the relevant part of ゛・
If the area for the argument part is secured, the reference counter of the corresponding position variable is set to zero, and the corresponding part of the instruction storage part of the editing storage part (41) is deleted.

If you want to delete only the numerical value of a variable, set the defined plug of the relevant variable to zero.

FIG. 11 shows the procedure for correction processing of this program.

The program correction process is performed by performing the above-mentioned deletion and addition □.

The block diagram that has been added, corrected, deleted, etc. from the above procedure ζ is stored in the editing storage section (4), and this content is transferred to the graphics Ifdram execution means +51, where one block control is performed. do.

As described above, according to the present invention, if only the variable name is defined, the robot control program can be added by adding only the command and variable name.Also, the control program can be corrected or deleted. It can also be done easily. Furthermore, when changing the robot control program, errors in the program can be easily confirmed, and production line stagnation caused by correcting errors after actually operating the If pot can be prevented.

[Brief explanation of the drawing]

FIG. 1 is an overall configuration diagram of a one-cobot control device of the present invention, FIG. 2 is a data structure diagram of a variable storage section in an editing storage section, and FIG. 6 is a data structure diagram of an instruction storage section in an editing storage section. Figure 4 is a block diagram of the configuration of the key manual reception processing section, and Figure 5
The figure is a block diagram of command editing processing in the editing processing section, No. 6
The figure shows block diagram of variable editing processing in the editing processing section, No. 7.
Figures A and 7B show commands being input.1. Figure 7C is a diagram of the display when a variable is added, Figures 8A and 8B are diagrams of the display when instructions are added, and Figure 9A is a diagram of the display when a command is added. FIG. 9B shows a procedure diagram for adding an instruction, FIG. 9B shows a procedure diagram for adding a variable, FIG. 10 shows a procedure diagram for deleting an instruction, and FIG. 11 shows a procedure diagram for correcting an instruction. 1... Key human power commercial processing department, 2... Editing processing department, 6
... Instruction code table storage section, 4... Edit storage section, 5.
...G1cogram execution means, 6...Display device, 7...
・Data processing storage unit, 8...1 Cobosoto・ Agent Makoto Kazuno - Figure 2 Figure 3 Figure 9B Figure 7 Books etc. Amendment; 7 (Method) 1985 7 pQ, Q-day 1 '1 Mr. Commissioner], ! ICfl display Patent application No. 58-405
No. 89 No. 2 Name of the invention Robot control device: 3 Right representative piece for correction 11. +Jinhachi Part 5, Date of Procedural Amendment Order June 8, 19806,
Drawings subject to correction. 7. Contents of correction 1) Figures 7A, 7B, and 9B of the drawings will be corrected according to the attached corrected drawings. Patent j) Mr. Director 1 Indication of matter fl ``'l'='+19 (i 1982
-40389 No. 2, 2nd title of invention Yupot. Control device: 3. 'f+1iiF Name of person (601) Wangling Electric Co., Ltd. Representative piece 11+
f-', Part C 5, "Detailed Description of the Invention" column of the specification to be amended. 6. Contents of the amendment (1) Amend "No" in line 7 on page 9 of the specification to "No".

Claims (1)

[Claims] A key human power reception processing unit which instructs an instruction code and a position variable by the output of the key human power means, and instructs addition of the command, position, variable, and correction/deletion processing; An editing processing section that edits the positional variables, compares and confirms the instructions with the instruction code table storage section, and further processes the addition, correction, and deletion of the instructions and positional variables; an editing storage unit comprising an instruction storage unit that stores addresses of position variables, and a variable storage unit that stores position variable names, reference counters, data, etc. based on outputs from the editing processing unit and outputs from the data processing storage unit; C4'T for displaying the contents of commands and position variables during addition, correction, and deletion processing based on the output from the editing storage;
．． The IJ robot control device is comprised of a IfDram execution means for controlling the robot using a program.