JPS60168207A - Controller of industrial machine - Google Patents

Abstract

PURPOSE:To continue the work before stop at a restart time though the work is stopped on the way, by storing processed instruction words in a processed word storage means and determining the execution start position of instruction words on a basis of stored contents. CONSTITUTION:A series of instruction words are stored in an instruction storage means (a) and are processed by a processing means (b) to perform a prescribed work in a working means (c). In this case, instruction words processed by the means (b) are stored in a processed word storage means (d), and an execution start means (e) determines the execution start position of instruction words on a basis of stored contents in the means (d). Thus, the work following the work before stop is operated at a work restart time though the work in the working means (c) is stopped on the way because of power failure or the like.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a control device K for an industrial machine that automatically performs work according to stored work contents.

[Prior art]

An industrial robot (hereinafter referred to as a robot) is an industrial machine that performs work based on memorized work contents. Such robots usually perform their work automatically in response to a signal from another mechanical device that is in charge of all the pre-process and post-process.

FIG. 1 shows a robot, which is a conventional industrial machine. In the figure, (1) is a compressor that fully presses the workpiece (2a), (r) is a feeder that transfers the workpiece (2a) in the direction of the arrow shown in the figure, (3) is a workpiece (2a)?r upper grip A robot that installs and removes the workpiece (2a) on the compressor (1).
a third joint (3da) that rotates this hand (3d), a second arm (3a), a second joint (3aa) that rotates this second arm (3a), and a first The arm (3b) and the first joint (3b) that can be moved up and down to fully rotate the first arm (6b).
! III (3c) and a robot body (5) that controls this vertical axis (30)' (41 is a control device that controls the robot (3), (5) is a compressor (1) , the feeder (2), the robot (31) and the control device (4) are fed with full force.

The above robot (3) has a pressing machine (1) made by Hachoya (+
- When finished, /X by a signal from the control device (41)
The workpiece (2a) is completely gripped by the gripper (3d), and the compressor (1
) to another location (not shown). Next, grab another workpiece (2a) on the feeder (2) and place it in the compressor (
Transfer IIK and compressor (Is the work in step 11 finished? Wait.

The robot (3) performs a series of tasks like this.

By the way, if the robot (3) stops mid-way, when the power is restored in the 9th time, the history of the work that the robot (3) has done up to that point will be erased, and the robot (3) will have to start working from the beginning again. Therefore, when the workpiece (2a) is completely gripped and the stop 1 is reached, when all 9 operations are started, the hand (3d) releases the workpiece (2a) and picks up another workpiece (2a) from the feeder (2). t=Top gripping.Therefore, there was a problem in that the workpiece (2a) that was being gripped at the time of a power outage would fall and be damaged.

[Outline of the invention]

The purpose of this invention is to perform KT in such a way that there is no problem even if the machine is stopped in the middle of 9 operations, and its configuration is shown in FIG. 2.

In other words, a series of 4P command words are stored in the cold word storage means (a), and the processing means (1) processes these command words to cause the work means (0) to perform a predetermined task. In a control device for industrial machinery, all processing words processed by the processing means (b) are stored in a storage means (ilK), and the execution start point of fr64 candy is determined based on the stored contents of this processing word storage means. By providing the starting means H, it is possible to continue the work even if the 9 working means (C) stops midway.

[Embodiments of the invention]

FIGS. 3 and 4 show an example of drinking water according to the present invention.

In Fig. 3, (5a) is an uninterruptible power supply that fully supplies power to the main CPU (to), each memory, and each control unit M (41). ■ is the main CPU, and (20a) is the next A block counter that stores the address of the program to be used for actual punching, and a block RAM (read/write memory) that stores the work program for all robots (3) to perform operations according to the work. ), ■ is a memory consisting of a RAM in which the movement position of the hand (3d) is stored, and (to) is a ROM (memory only for indulgence) in which a control block for decoding the work program is stored. memory, c141 is the pass line, and the plane is the signal from Pressure Jr + [N1) All pass lines (goods)
The interface (to) that communicates to the robot (3) is -
A trace memory consisting of a RAM having an answer i in which the address of a work program used when performing a round of work is stored.

-The address of the first program of the robot's work is memorized to the address of the program the robot is working on.-
It will be cleared when the cycle is completed. @ is 0RT (c) is the operation panel,
(28a) is a start switch that allows you to start from the first work;
(281)) is a restart switch that causes the program to be executed from the latest address stored in the trace memory (20), and (28) is a stop switch. A voltage drop detection circuit that operates when the voltage drops below a predetermined value, (to) a servo CPU that calculates detailed data such as rotation direction and speed based on rough information commanded from the main CPUm, and C1υ is this servo CPU This is a servo amplifier that amplifies the entire output.

Next, the operation will be described according to Ryo 4 diagram.

First, let's assume that the first task is performed.

The start switch (2B+!L) is pressed. If the determination is "Y" in step (10), the process moves to step (101) K and the trace memory (c) is cleared. Step (102) K
Transfer.

Main C
Program counter (20a) built into PU (a)
Set K. Step (103) Move to K, and after executing all the programs at the address of the program counter (20a), in step 9 (step 10), all addresses of the program counter (20a) are stored in the memory for tracing.

At step (105), it is checked whether a voltage drop signal is being output from the voltage drop detection circuit (2), and if no signal is being output, the process moves to step (106). In step (10), the address of the program counter (20a) is incremented and all addresses of the program to be stamped are set.Next, in step (107), it is checked whether the program has finished or not, and F : Completed, if not, it is judged as rNJ and goes to step (103) and is repeated again.If completed, step (108) clears K$ trace memory @kai and moves to Hand Jilt (109) K.

If the stop switch (28c) is pressed, it is judged as rYJ and the process ends. If it is not pressed, it is determined that rNJ has occurred, the process moves to step (102), and the same working force S is repeated 9 times.

If a voltage drop signal is issued in step (105), the determination is "Y" and the process moves to step (110), where the robot (3) is stopped midway through its work and the program is ended.

Next, a case will be described in which the work of the robot (3) which has stopped midway is restarted. When the start switch (28') and the decomposition switch (28b) are not pressed, the procedure (ioo) - procedure - (111 - step (100)) is repeated.The restart switch (28'b) is not pressed. If it is determined to be rYJ in step (111), proceed to step (112).
Move to. In step (112), all the latest addresses stored in the trace memory (a) are incremented to set the block counter (20a) f. Ding, that is,
The address next to the address corresponding to the stopped work is set, and the process moves to step (105). The operations after step (103) are as described above, and what is executed in one step (105) is the program following the program executed immediately before the stop.

Therefore, according to the above embodiment, even if the robot (3) stops midway due to a power outage in the commercial machine (51), the restart switch (2B'b) The hand (3d) can be moved to the workpiece (2
a) Even if the machine is stopped while holding the
When restarting work, the hand (5d) moves to the workpiece (2a).
There is no way to let go and let it fall.

In addition, if the hand (3d) stops due to a power outage, the memory dump in the trace memory (c) will output the address of the program that has been executed up to that point, so you can see if one task was performed here. Recognize.

Fumi K again. robots) (31'(i-The cause of the stop is not limited to voltage drop, but the emergency ejection button (
) is pressed and the robot (3)
By implementing this invention in order to stop the tortoise flow even when it is flowing, and then restart it, the objective of the second period can be achieved.

〔Effect of the invention〕

As described above, the present invention is provided in a control device Vc for an industrial machine in which a series of command words are stored in the command word storage means, and the command words are processed by the processing means to cause the work means to perform a predetermined work. The instruction word processed by the processing means is stored in the processing word storage means, and the execution start point of the instruction word is completely determined based on the memory contents of the processing word storage means, so that one work means is stopped midway. Even if the work is stopped, the work continues to be carried out before the stoppage. Therefore, even if the workpiece is gripped by the workpiece in the example 9, the workpiece will not fall.

[Brief explanation of the drawing]

Fig. 1 is a front view showing the entire industrial machine, Fig. 2 is an overall configuration diagram of the invention, Figs. 3 and 4 show an embodiment of the invention, and Fig. 3 is an electric circuit shown in blocks. FIG. 4 is a flowchart showing the operation. In the figure, (a) is a command word storage means, (b) is a processing means, (C) is a working means, and (d) is a processing word storage means.
is execution start means, ■ is main CPU (processing means), G1
1l is a memory (command word storage means), C'! A) is a hand (work means), and (A) is a trace memory (processed word storage means). Note that the same reference numerals in the figures indicate the same or similar parts. Agent Masuo Oiwa

Claims (1)

[Claims] A command word storage means in which a series of command words are stored, a processing means for executing all of the command words and causing the work means to perform all the work, and a processing word storage means for storing all of the command words executed by the processing means. , a control device for an industrial machine, comprising an execution start means for determining the execution start point of the command word according to the stored contents of the processing word storage means.