JPS6142009A - Robot controller - Google Patents

Robot controller

Info

Publication number
JPS6142009A
JPS6142009A JP16398884A JP16398884A JPS6142009A JP S6142009 A JPS6142009 A JP S6142009A JP 16398884 A JP16398884 A JP 16398884A JP 16398884 A JP16398884 A JP 16398884A JP S6142009 A JPS6142009 A JP S6142009A
Authority
JP
Japan
Prior art keywords
program
robot
section
instruction
test
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP16398884A
Other languages
Japanese (ja)
Inventor
Masayuki Yamaguchi
山口　雅行
Norihiko Kawashima
川島　伯彦
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Meidensha Electric Manufacturing Co Ltd
Original Assignee
Meidensha Electric Manufacturing Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Meidensha Electric Manufacturing Co Ltd filed Critical Meidensha Electric Manufacturing Co Ltd
Priority to JP16398884A priority Critical patent/JPS6142009A/en
Publication of JPS6142009A publication Critical patent/JPS6142009A/en
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
    • G05B19/4068—Verifying part programme on screen, by drawing or other means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35286—Run tape without machining, tape proving, dry run, test run
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45083—Manipulators, robot

Landscapes

  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)

Abstract

PURPOSE:To simplify the test of a program and to omit the arm operation time of a robot to execute only the sequence of the program by providing a robot controller with the function which sets automatically conditions in case of execution of the test of the program. CONSTITUTION:A system control part takes in the operating program of the robot from a large-capacity storage device or a program input device of an external system or this robot controller, and a program storing part 2 preserves the program in the controller in an executable form, and a program decoding part 3 decodes and executes steps of the preserved program one by one. In case of an instruction which drives a robot arm, data of the objective position, the speed, etc. are transferred to an operating part 4, and the distance between the objective position and the present position is divided finely, and the rotation number of each motor of the robot is operated for each point and is transferred to a servo processing part 5. The program decoding part 3 has the fast forwarding function and discriminates whether the instruction outputs a signal which operates the robot or not; and if the instruction does not output this signal, a false signal is outputted to the robot, and a command is not issued from the servo processing part to a succeeding servo driving part 6. Thus, the movement is regarded as immediately completed though each rotating part 7 is not moved, and the next program step is executed.

Description

【発明の詳細な説明】 産業上の利用分野 本発尉はロボット制御装置に係シ、特に産業用ロボツ）
Ｋステップ早送シ機能を持たせたロボット制御装置に関
する。[Detailed description of the invention] Industrial application field This invention is related to robot control devices, especially industrial robots)
This invention relates to a robot control device equipped with a K-step fast forwarding function.

従来の技術 従来の産業ロボット用制御プログラムはロボットの目標
点への移動の仕方、Ｗｒ定の移動した点での動作等が中
心で、外部条件による判断分岐ｆ１変数によるシーケン
スの流れ制御郷の機能は極めて貧弱なものであった。こ
のため、プログラムの途中から起動しても特に問題は生
じなかった。しかし、ロボット言語が高級化し、コンピ
ュータプログラムに近づいてロボットの動作の流れ制御
命令が充実してくると、プログラム起動時のシステムの
状態によってロボットは思いもよらない動きをする可能
性があシ、必らずイニシャライズをする必要があった。Conventional technology Conventional control programs for industrial robots mainly focus on how the robot moves to the target point, the operation at the point where the Wr constant is moved, etc., and the function of flow control of the sequence using the f1 variable for judgment branching based on external conditions. was extremely poor. Therefore, no particular problem occurred even if the program was started from the middle of the program. However, as robot languages become more sophisticated and become more similar to computer programs, and instructions to control the flow of robot movements become more comprehensive, the robot may move in unexpected ways depending on the state of the system when the program is started. It was necessary to initialize it.

発明が解決しようとする問題点 本発明は上述の点に鑑みて、プログラム実行時にロボッ
トの周囲の状況や、内部でそれぞれ演算した結果を変数
という形で取扱い、その変数の値を参照してプログラム
を分岐し九シ、動きを制御したシすることができる。故
に、この変数の値によって、同じプログラムでもロボッ
トの動作は全く別なものになる。Problems to be Solved by the Invention In view of the above-mentioned points, the present invention handles the surrounding situation of the robot and the results of internal calculations in the form of variables when executing a program, and executes the program by referring to the values of the variables. It is possible to branch out and control movement. Therefore, depending on the value of this variable, the robot's behavior will be completely different even with the same program.

しかるに、ロボットのユーザは、自分が書いたロボット
の動作プログラムの試験をする時、毎回プログラムの先
頭から走らせるのは多大の問題を必要とし面倒であるた
め、プ覧グラムの途中から走らせて試験をし丸いという
要望がでてくる。However, when robot users test robot movement programs that they have written, it is troublesome to run the program from the beginning each time, so they run it from the middle of the program and test it. There is a demand for a round shape.

問題点を解決するための手段と作用 ロボットの動作プログラムを取）込むシステム管理部と
、該管理部に取り込まれたプログラム記憶部と、該プロ
グラム記憶部を解釈するプログラム解釈部と、該プログ
ラム解釈部のプログラムに基づいてロボットの動作要件
を演算する演算部とからな）、前記プログラム解釈部に
、前記プログラムを解釈して実行し変数を操作すると共
に％該操作され九変数に基づいてサーボ駆動部には指令
を出さずロボットの動作が完了したかのようにみなし、
試験を始めたいステップまでを、ロボットが動く時間を
省略して実行する機能を持たせたものである。a system management section that takes in a means for solving a problem and an operation program for the action robot; a program storage section that is taken into the management section; a program interpretation section that interprets the program storage section; and a program interpretation section that interprets the program storage section. a calculation section that calculates the operating requirements of the robot based on the program of the section; The robot is assumed to have completed its operation without issuing any commands to the robot.
It has a function that allows the robot to execute the steps up to the desired start of the test without requiring the robot to move.

実施例 以下に本発明の実施例を第１図〜第２図を参照して説明
する。Embodiments Below, embodiments of the present invention will be described with reference to FIGS. 1 and 2.

第１図は本発明の実施例に係るロボット制御装置の構成
を示し、ｌＦｉシステム管理部で大容量記憶装置、外部
システム又は当制御装置のプログラム入力装置からロボ
ットの動作プログラムを取り込む、コはプログラム記憶
部で、システム管理部／で取り込まれ九プログラムを実
行できる形で制御装置内に保管する。３はプログラム解
釈部で、プログラム記憶部コで保管されたプログラムを
１ステツプ毎に解釈し実行する。また、プログラム解釈
部３はこのプログラムがロボットアームを駆動する命令
の時は目的位置、速度等のデータを演算部ダに渡す。演
算部参はロボットアームの目的位置と現在位置との間を
細かく分割して、その点毎にロボットの各モータの回転
数を演算してサーボ処理部５に渡す。サーボ処理部ｊは
演算部ダから与えられた指令値と、モータの現在位置と
の差を求め、その値に応じた速度指令をサーボ駆動部６
の各サーボドライバ（ａ−１）〜（ぶ−ｎ）に渡す。サ
ーボ駆動部６は与えられた速度指令に応じて作動部７の
各回転部（７−１）〜（クーｎ）を駆動する。また、第
１図で（ｒ−１）〜（、ｒ−ｎ）は関節、（Ｆ−１）〜
（？−ｎ）はアームである。FIG. 1 shows the configuration of a robot control device according to an embodiment of the present invention, in which an IFi system management section imports a robot operation program from a mass storage device, an external system, or a program input device of the control device. The system management section stores the program in the storage section in a form that allows it to be executed in the control device. 3 is a program interpreting section which interprets and executes the program stored in the program storage section step by step. Furthermore, when the program is a command to drive a robot arm, the program interpreter 3 passes data such as the target position and speed to the arithmetic unit DA. The arithmetic unit divides the area between the target position and the current position of the robot arm finely, calculates the number of rotations of each motor of the robot for each point, and sends the result to the servo processing unit 5. The servo processing unit j calculates the difference between the command value given from the calculation unit da and the current position of the motor, and issues a speed command according to that value to the servo drive unit 6.
are passed to each servo driver (a-1) to (b-n). The servo drive section 6 drives each of the rotating sections (7-1) to (7-n) of the operating section 7 in accordance with a given speed command. Also, in Fig. 1, (r-1) to (, r-n) are joints, (F-1) to
(?-n) is an arm.

上記構成のロボット制御装置において、簡易ロボット言
語によシ書かれたロボット動作プログラム（以下プログ
ラムと称する）を試験するモードにおいて、プログラム
の途中から試験を開始したい時に、プログラムの始めか
らそのステップまでを、ロボットのアームを動かさずに
実行し、外部入力の職込みや、出力の実行、変数の設定
等プログラムの流れ制御に関連する条件を実行時と同じ
くする機能を、早送シ機能として制御装置に設ける。In the robot control device with the above configuration, in the mode of testing a robot operation program (hereinafter referred to as a program) written in a simple robot language, when you want to start a test from the middle of the program, you can test the robot operation program from the beginning of the program to that step. , a control device that executes without moving the robot's arm and keeps conditions related to program flow control, such as inputting external inputs, executing outputs, and setting variables, the same as during execution, as a fast forward function. Provided for.

すなわち、プログラム解釈部Ｊは早送シ機能として第２
図に示すような動作を実行する。第２のステップＢＴ−
２に示すように、ロボットプログラムの開始行番号を取
り込む。ロボット行番号を取り込むと、ステップ＋３７
−７３でロボットプログラムを最初の行から動作させる
。ステップＢＴ−４で実行する行番号が開始行番号よυ
後か否かを判断し、後のときはステップＩＩＩ？−５に
移行し、前のときはステップＳτ−７に示すように命令
を実行する。ステップ８Ｔ−５では実行する命令はロボ
ットを動作させる信号を出力する命令か否かを判断し、
命令であるときはステップＢＴ−６に移行し、否のとき
はステップＳ〒−７に移行する。In other words, the program interpreter J performs the second function as a fast-forward function.
Perform the actions shown in the diagram. Second step BT-
2, import the starting line number of the robot program. After importing the robot line number, step +37
-73 starts the robot program from the first line. The line number executed in step BT-4 is the starting line number υ
Determine whether it is later or not, and if it is later, proceed to step III? -5, and in the previous case, the instruction is executed as shown in step S.tau.-7. In step 8T-5, it is determined whether the command to be executed is a command to output a signal to operate the robot,
If it is a command, the process moves to step BT-6, and if not, the process moves to step S-7.

ステップＢＴ−（５ではロボッ）Ｋ擬似信号を出力スル
、ステップＢＴ−８では命令実行又はロボットへの擬似
信号出力が終了するとステップ８丁−９に移行し、次の
命令の実行を行なうためにステップ８　’ｌ’−４に戻
る。In step BT-8, the robot K pseudo signal is output. In step BT-8, when the command execution or the pseudo signal output to the robot is completed, the process moves to step 8-9 to execute the next command. Return to step 8 'l'-4.

このようにプログラム解釈部Ｊはプログラムを解釈して
実行し変数を操作するが、サーボ処理部から次のサーボ
駆動部４には指令を出さない。したがって、各回転部（
７−１）〜（７−ｎ）が動かないにも拘らず、直ちに移
動が完了したかのようＫみなし、試験を始めたいステッ
プまでを、ロボットが動く時間を省略して実行する機能
を有する。In this way, the program interpreter J interprets and executes the program and manipulates variables, but does not issue commands from the servo processor to the next servo drive unit 4. Therefore, each rotating part (
Even though 7-1) to (7-n) do not move, it is assumed that the movement has been completed immediately, and the test is executed up to the step where you want to start the test, omitting the time required for the robot to move. .

発明の詳細 な説明したように本発明は流れ制御機能を有するロボッ
ト言語によるロボットの動作を記述するプログラムを試
験する機能を有するロボット制御装置にプログラムの試
験を実行する場合の条件整備を自動的に実施できる機能
を持たせたから、プログラムの試験が極めて簡便化され
ると共Ｋ。DETAILED DESCRIPTION OF THE INVENTION As described in detail, the present invention automatically prepares the conditions for testing a program in a robot control device that has the function of testing a program that describes the motion of a robot using a robot language that has a flow control function. Since it has a function that can be executed, program testing becomes extremely simple.

ロボットのアームが動く時間を省略してプログラムのシ
ーケンスのみ実行することができるロボット制御装置を
得ることができるものでその効果は大である。It is possible to obtain a robot control device that can omit the time required for the robot arm to move and execute only the program sequence, which is highly effective.

【図面の簡単な説明】[Brief explanation of the drawing]

第１図は本発明の一実施例によるロボット制御装置のブ
ロック図、第２図は第１図に示すロボット制御装置のプ
ログラム解釈部の動作を示す７０−図である。 ／・・・ＶＸｆム管理部、Ｊ・・・プログラム記憶部、
Ｊ・・・プログラム解釈部、ダ・・・演算部、ｊ・・・
サーボ駆動部、４・・・サーボ駆動部、７・・・作動部
。FIG. 1 is a block diagram of a robot control device according to an embodiment of the present invention, and FIG. 2 is a diagram 70 showing the operation of a program interpretation section of the robot control device shown in FIG. /...VXf program management section, J...program storage section,
J...Program interpretation section, D...Arithmetic section, j...
Servo drive section, 4... Servo drive section, 7... Actuation section.

Claims (1)

【特許請求の範囲】[Claims] ロボットの動作プログラムを取り込むシステム管理部と
、該管理部に取り込まれたプログラム記憶部と、該プロ
グラム記憶部を解釈するプログラム解釈部と、該プログ
ラム解釈部のプログラム解釈に基づいてロボットの動作
要素を演算する演算部とからなり、前記プログラム解釈
部が、前記プログラムを解釈して実行して変数を操作す
ると共に、該操作された変数に基づいて所定の試験すべ
きプログラムのみを実行する機能を有することを特徴と
するロボット制御装置。a system management section that imports the robot's operation program; a program storage section that is loaded into the management section; a program interpretation section that interprets the program storage section; and a calculation unit that performs calculations, and the program interpretation unit has the function of interpreting and executing the program, manipulating variables, and executing only a predetermined program to be tested based on the manipulated variables. A robot control device characterized by:
JP16398884A 1984-08-03 1984-08-03 Robot controller Pending JPS6142009A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP16398884A JPS6142009A (en) 1984-08-03 1984-08-03 Robot controller

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP16398884A JPS6142009A (en) 1984-08-03 1984-08-03 Robot controller

Publications (1)

Publication Number Publication Date
JPS6142009A true JPS6142009A (en) 1986-02-28

Family

ID=15784623

Family Applications (1)

Application Number Title Priority Date Filing Date
JP16398884A Pending JPS6142009A (en) 1984-08-03 1984-08-03 Robot controller

Country Status (1)

Country Link
JP (1) JPS6142009A (en)

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