JPS61255410A - Program transmission method in control system - Google Patents

Abstract

PURPOSE:To make it possible to correct and edit the operation program of a robot control device from an external computer by deleting index information in the robot control device. CONSTITUTION:When an operator gives command through an interaction section 17 in an external computer 3 to store a robot operation program in a robot operation program memory 4 in a robot control device 2, syntax information is deleted in a syntax information deleting section 18 and index information is deleted in an index information adding deleting section 10 in the robot controlling device 2. In the case of deletion of index information, a general processing section 7 stores positional information in a file 7 and returns speed information to speed number referring to a speed number/actual speed table 8, and when there is change in program number and name of program, rewrites tables 5, 6 and stores sent program in the memory 4.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention enables editing of a control device program on an external computer even when the language used by the control device and the language used by the external computer are different. Regarding the method.

Specifically, the present invention is applied to a robot control system, and particularly to a system in which a general-purpose computer, such as a personal computer, is connected to a robot control device as a host computer, and its operating program is managed by the personal computer.

(Prior art) Connecting a computer (personal computer) to a robot control device to perform various management is a known technology, as seen in the magazine "Automation" (June 1984 issue, p.31-p.35). be.

As shown in a schematic diagram in FIG. 2, this conventional example consists of a robot control all device 2 that controls a robot 1 by executing a stored operation program, and an external computer 3 ( For example, it consists of a computer).

"External" means external to the robot controller.

The robot control device 2 operates using 8 unique robot languages, and the external computer 3 operates using a general-purpose high-level language (for example, 8ASIC).

However, the robot 1 can be operated directly from the external computer 3 by directly transmitting one unit of command in the robot language from the external computer a3 to the robot control device.

[Problem that the invention seeks to solve]

However, in the above conventional example, the robot-based tIll device 2
Since the external computer 8I13 and the external computer 8I13 operate in different languages, the management that the external computer 3 can perform is limited.

For example, even if it is possible to call up the name of a robot's motion program or the current position of the robot, it is not possible to modify or edit the robot motion program itself because an error will occur if the motion program is used as is.

As mentioned above, the external total is 1! ! Since the robot control device 2 is an interpreter (sequential execution processing), the method of directly transmitting instructions in the robot language from the robot control device 2 executes them immediately after receiving them, and it is difficult to modify the robot operation program itself.
It cannot be used for editing.

Also, since this method can only transmit one unit of command,
It is impossible to command complex movements and it is impossible to make the robot move smoothly.

Therefore, in the conventional example, it is not possible to efficiently modify or edit the robot operation program according to the situation at the site, and the practical value is extremely low.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a method that allows the operation program of a robot control device to be freely modified and modified from an external computer.

[Means for solving problems]

In order to achieve the above object, the gist of the present invention is to perform the following operations.

When transmitting a robot operation program stored in the storage unit of the robot control device to an external computer, index information is added within the robot control W device, then transmitted to the external computer, and syntax information is added within the external computer. By doing this, it is converted into an instruction format that can be processed by an external computer.

Conversely, the robot motion program stored in the storage section of the external computer is called robot υJl! When transmitting to an IT device, delete the syntax information in the external computer, transmit it to the robot control device, and delete the index information in the robot control device to convert it into an instruction format that can be processed by the robot @ device. do.

The index information includes at least the following three pieces of information.

■Program number added to the beginning of robot operation program.

■Program name added to the next line of the program number.

■Robot position and speed information added to the end of the robot's movement command.

Syntax information includes at least the following two pieces of information.

■A statement number added to the left end of each line of the robot motion program.

■A comment symbol that is inserted between the statement number and each line of the robot motion program, and allows the character string to the right to be regarded as a mere message.

(Function) By the above means, the robot movement program written in the robot language is converted into a format that can be superficially processed by an external computer (in other words, it is just a collection of meaningless messages for the external computer), so the This allows you to add, delete, and rearrange instruction steps.

〔Example) Hereinafter, specific embodiments of the present invention will be described with reference to the drawings.

FIG. 1 shows the functions of the present invention in a block diagram, and FIG. 3 shows the format at each point in time when a robot operation program is transmitted.

Here, the robot operation program shown in FIG. 3(a) is transmitted from the robot tdJIl device 12 to the external computer 3, where it can be freely edited and reused by the robot control device. The case of returning to 2 will be explained.

First, let me explain what the program means.

JO9: Dummy instruction used at the beginning of the program.

Hoo/1100...The robot arm moves to the teaching point at speed number 1. (OO after jI means to follow the next command at that point without any conditions) ^00/3.0...The robot stops for 3.0 seconds.

Moo/1100...Same as above 901/1...Relay number 1 output relay O
Do N.

E(11... Indicates the end of the program.

It is now assumed that the program shown in FIG. 3(a) is stored in memory number N in the robot operation program memory 4, and that the operator is also aware of this fact.

Therefore, the operator issues a command to the general processing unit 7 in the robot III device 2 via the interaction unit 17 of the external computer 3 to read the contents of memory number IN.

The overall processing unit 7 executes the following commands from the robot operation program memory:
The designated memory number N is accessed and its contents are sequentially sent to the buffer 9.

In other words, the program stored in buffer 9 is shown in Figure 3 (
This is shown in a).

Next, the program stored in the buffer 9 is sent to an index information addition/deletion section 10, where index information is added.

The index information addition/deletion section 10 adds the program number and program name corresponding to the memory number of the sent program by referring to the memory number/program number table 5 and the memory number/program name table 6, respectively.

Furthermore, the location information is added by referring to the location file 7 corresponding to the memory number of the sent program.

Furthermore, the speed number in the sent program is converted into actual speed data with reference to the speed number/actual speed table 8.

The results are shown in FIG. 3(b).

r/JNO2J is the program number, r/JNAM
E' SAMPLEj is the program name. The program may not have a particular name.

The speed number (1) following rMOOJ is the actual speed i oo according to the speed number/actual speed table 8.

(1000 pulses per second). For example, if the speed can be commanded in about eight steps, there will be eight speed numbers, 1 to 8.

The O next to the speed number (1) was OO before conversion, but is converted to O for simplification.

The next /105210101010 is position information, which is read from the position file 7.

Note that this is an example of a 5-axis articulated robot, and the first
Only the axis is shown moving to the position of pulse 1052.

The style shown in Figure 3(b) is the transmission interface 1.
1 and placed on the transmission line.

The transmission itself is carried out using a predetermined known method defined by JIS or the like.

Now, in the external calculation 13, the syntax information adding section 13 adds a sentence number and a comment symbol to what is sent via the transmission interface 12.

However, the data may be temporarily stored in the external storage device 14 such as a floppy disk without being directly processed.

The statement numbers are 10.20.30, etc. for each instruction.
After automatically numbering in increments of 10, a comment symbol is inserted.

The reason for automatic numbering in increments of 10 is to facilitate insertion later.

The results are shown in FIG. 3(C).

Is this program a buff? Although the information is stored in the memory 16 via the computer 15, it can be accessed and manipulated by the general-purpose processing function of the external computer 3.

This is because statement numbers are added and comment symbols are attached to all of them, so for the external computer 3 it is just a meaningless list of messages, and no command errors will occur, so the operator can You can edit the program by adding, deleting, rearranging, etc.

The robot motion program edited in this way is
The data can be returned to the robot υ control device 2 by the reverse procedure described above.

That is, if the operator instructs the robot operation program to be stored in memory number @N via the interaction unit 17 in the external computer 3, the syntax information is deleted by the syntax information deletion unit 18, and the syntax information is stored in the robot control device 2. The index information is deleted by the index information addition/deletion section 10.

When the syntax information is deleted, it is a completely simple deletion, but when the index information is deleted, the position information is stored in the position file 7, and the speed information is also stored with reference to the speed number/actual speed table 8. The speed number is restored, and if the program number and program name have been changed, the memory number/program number table 5 and the memory number/program name table 6 are rewritten accordingly.

The overall processing unit 7 performs the above processing on the sent program, temporarily stores it in the buffer 9, and then stores it in the area of memory number N.

As a result, the robot operation program is transferred to the external computer 3.
This means that the data has been edited by the user and stored in the robot υllll1 device 2 again.

The case where a robot motion program is edited has been described above, but it goes without saying that a completely new robot motion program can be created on the external computer 3 and transmitted to the robot control device 2.

Furthermore, in this embodiment, the operator can check in advance in which memory number the desired robot operation program is stored. It is assumed that you are aware of the external computer 3.
If a program number/memory number table and a program name/memory number table are provided in the robot controller ff2, a desired robot operation program can be called from the robot ti control device ff2 simply by specifying the program number or program name.

Although an example of a robot control system has been described above, the present invention can also be applied to a control device in which processing is performed using a unique language, such as a programmable controller that uses a descriptive language system instead of a ladder system.

Therefore, it is not just a robot control system.
It can also be applied to program transmission between a higher-level computer and a lower-level control device in a factory automation (FA) system.

〔Effect of the invention〕

As described above, according to the present invention, the programs of the control device can be easily managed only by operating an external computer.

Furthermore, when applied to a 0-pot system, the robot operation program in the fortune-telling pot request system can be edited from an external computer, so changes in robot operation can be made extremely efficiently and in a short time.

Therefore, the present invention is very effective in cases where robot operations are frequently changed.

[Brief explanation of drawings]

Fig. 1 shows a specific embodiment of the present invention, Fig. 2 shows a conventional example, and Fig. 3 shows a conventional example.
The figure shows the format at each point in time when a robot operation program is transmitted according to the present invention. 10... Index information addition/deletion section 13... Syntax information addition section 18... Syntax information deletion section Fig. 2

Claims (7)

[Claims] (1) In a control system that connects a control device and an external computer that manages it via a transmission line, when transmitting a program stored in the storage section of the control device to the external computer, index information must be transmitted within the control device. After adding the command, it is transmitted to an external computer, and by adding syntax information within the external computer, it is converted into an instruction format that can be processed by the external computer, and the program stored in the storage section of the external computer is transmitted to the control device. A control system characterized in that when the syntax information is deleted in an external computer, the syntax information is transmitted to the control device, and the index information is deleted in the control device to convert it into an instruction format that can be processed by the control device. Program transmission method. (2) The method for transmitting a program in a control system according to claim 1, wherein the index information includes a program number, a program name, and control information of a control mechanism. (3) A program transmission method in a control system according to claim 1 or 2, wherein the index information corresponds to a memory number of a memory in which a desired program is stored. (4) Claims 1, 2, or 3, characterized in that the syntax information consists of a sentence number and a comment symbol that indicates that the character string after the sentence number is regarded as a mere message. Program transmission method in the described control system. (5) Program transmission in the control system according to claim 1, 2, 3, or 4, wherein the statement number is assigned a predetermined arithmetic series for each instruction. Method. (6) When deleting the index information, the relationship between the index information and the memory number is newly associated. A program transmission method in a control system according to item 4 or 5. (7) The external computer is equipped with an external storage device, and the transmitted program is temporarily stored in the external storage device. A method for transmitting a program in a control system according to item 5 or 6.