JPS62134706A - Teaching input device for control equipment - Google Patents

Abstract

PURPOSE:To execute teaching by easily confirming a set value which has been inputted each time, by displaying the inputted set value, until an input of a teaching signal is released. CONSTITUTION:A positioning counter 10 compares a desired value which has been set in advance and the present value, outputs a signal for instructing an advance or a retreat, to a control object so that the present value becomes equal to the desired value, and executes positioning of the control object against the desired value. Also, this desired value can be inputted by teaching. That is to say, the control object is moved forward and backward manually, the present value at the time when this control object has moved to a target position is read, and this value can be set as a desired value. The manual input of this desired value and a set value required for other control, and the teaching input are inputted through an input interface 12 from an input operating part 11, and a control input part 16, respectively. The set value which has been inputted manually or by teaching is stored in a user area 14a of a RAM 14 in order of a designated step by a CPU 13.

Description

DETAILED DESCRIPTION OF THE INVENTION (A) Field of the Invention This invention relates to, for example, NC control 2-
11, such as a positioning counter for equipment or a robot arm, manually move the controlled object to the target position, take the current value of this movement position, and set it (II'I (
[]Relates to a teaching input device for a system 011 device equipped with a teaching function.

(B) Background of the Invention Conventionally, the teaching input operation of the positioning counter in the above example is performed by the knee IJ', but in this operation, when the movement position of the controlled object reaches the target position, the controlled object is Inputs the current fiQ of , uses this input as a trigger to read the current value as a set value to the specified step of the program, advances the step to the next step, and waits for input for this step. Place 11
1 was done at the same time.

Therefore, at the same time as the teaching input is performed, the current 1u'l display changes to the next step and the unit waits for the input of this step forward step, making it difficult to check whether the previously input setting value was input correctly. However, it was a problem that I could not confirm on the spot.

(c) Purpose of the Invention This invention displays the input set value until the input of the teaching signal is released, thereby making it possible to simultaneously use key sequences and teaching methods without making them more complicated than in the past. The teaching input H of the controller allows you to teach while easily checking the setting 11f1 input to the corner.
The purpose is to provide a location.

(D) Summary of the Invention This invention reads the current value of a controlled object as a set value into a storage device based on input of a teaching signal, displays the set value on a display unit, The present invention is characterized in that it is a teaching input device for an AIL+ controlled device, which is equipped with a control means for canceling the display of the setting value on the C1 display section when the input of the teaching instruction is cancelled.

(e) 'R, light effect According to this invention, for example, when inputting feeding 1Δpe using a registration key, etc., and pressing this key immediately
While the input state is being maintained, the input setting value will be displayed on the display, so the setting value that was just input can be corrected on the spot during this display. It is easy to check, and teaching can be performed while checking the setting value for each input.

Moreover, since the teaching operation is the only one that maintains the input of the trust, it can be easily performed without much difference from the conventional operation, and the key sequence and operation method are not complicated.

(f) Examples of the invention An embodiment of the present invention will be described below based on the drawings.

The drawing shows a positioning counter as an example of a RAM controller,
J3 in FIG. 2, this positioning counter 10 compares the preset lT1 mark 8 (current 16), and the current value is [
By outputting a signal 8 instructing the controlled object to move forward or backward so as to be equal to the target value, the controlled object is positioned relative to the target value.

Furthermore, the above-mentioned ['' target value can be input by teaching.

That is, by manually moving the controlled object forward or backward, and reading the current value when the controlled object moves to the stomach at the eyelid level, this value can be used as the target value.

Manual input of the above-mentioned target value J3 and other setting values necessary for the control I are inputted from the input operation section 11, and input of the deching angle is inputted from the υJ control input section 16 via the input interface 12, respectively.

The set value t inputted manually or through teaching is stored by the CPU 13 in the knee+J' area lla of RΔM 14 in the specified step order.

The current value of the controlled object is the work equipment of this controlled object (not shown)
For example, h from the [1-Tari encoder
The number 1 is input to the count input section 15, and the count 41"I R input via the input interface 12 is inputted to the count input section 15.
is calculated by the CPLJ13.

When the signal STAR 1 is input from the control input unit 16, the CIJJ13 compares the current value of the aill1211 object with the [1 mark (1r1)(It) of the step being executed, and if the current value is larger, Outputs backward movement (ij signal; if the current value is smaller, similarly outputs backward movement; μ signal 'r) to the output unit 18 via the output interface 17, and As it approaches, it outputs a deceleration signal in the same way, and when the current 41'J and 11 marks (1t1 and so on) change, a stop signal is output in the same way.

Further, the output from the output section 18 described above is input to the work equipment of the controlled object, and the work equipment is controlled by the signal.

Then, when one step of work on the work equipment is stopped,
The CPU 13 waits until the next star h (, i Q) is input.

Roughly speaking, the current value of the control object and [1 target value are displayed on display section 1]
9 will be displayed.

These processing operations are executed according to a program stored in the ROM 20.

FIG. 3 shows the configuration of a second program in which a set value is input via the manual input operation section 11 or the control input section 16 by teaching in order to position the controlled object. The user program is RΔM
14, the area 14a is loaded.

In this user program, the 1-1 target price can be set in steps O to 299, and in this step? ! By setting the start step and end step for each block, each time a start signal is received,
Execute the steps from the start step to the entrance depth in one step and position to each target value (
)cormorant.

On the knee 1f side, the following setting values can be input in addition to the above-mentioned target values.

In other words, a rotary encoder that controls the movement of a controlled object
A prescaler value that determines how many shots to count from the 4-number input from 9, and a correction input from the control input section 16 to match the movement position of the controlled object and the count value to which base point. When the control object moves forward, the backlash correction value for compensating for the backlash of the gear, the control object When the target flrl reaches the 11 mark (=J), the deceleration position setting (1r1) determines how far below and before the target flrl the deceleration is to be performed.

In each of the above-mentioned 1fff, the target value and the correction count value are set to 6 digits, and the prescaler value, backlash correction value, and deceleration position setting value are set to 4 digits.

FIG. 1 shows the input operation section 11 of the above-mentioned positioning counter 10.
and the display section 19, and when the processing mode is set to the teaching mode, the input section
It is converted into the function of the tit input section 16.

In the above-mentioned display section 19, this display section 19 is formed by vertical segments, and the front bar digit section includes display digit section areas 19a for 2-digit blocks, display digit section areas for 3-digit steps, etc. 19b and 6 digits excluding the 1 and - symbols [
The display digit area 19c that displays the 1st target value (Eng.
21b, and t-mode display lamps 22a to 22d which roughly indicate the currently used mode.

In the input input unit 11 described above, the t-1 key 23 sequentially switches between four 7-keys each time it is pressed.

The first mode is the self-8 operation mode, in which positioning is automatically performed based on the set target value.

The second mode is a manual operation mode, in which the left shift]-
By operating key 24 or 1 and right shift key 25,
Gives a direct forward or reverse signal.

The third mode is a teaching mode.
When the left and right shift keys 24.2 are set to
5, it directly outputs forward and reverse No. 15, and the σ record key 26, which will be described later, has a teaching input function.

'E, and by operating the keys 24 and 25 mentioned above, drive the working equipment of the controlled object to avoid moving the controlled object forward or backward, and when the aIII III object reaches the target position, 4--2
In step 6, the current ([vessel] is read as a setting value.

The fourth mode is a setting mode, in which various inputs to be described later are used to set and input "I" target price, etc.

Each time these modes are switched, the corresponding mode display lamps 22a to 22d on one display section are lit.

When the user selects a mode, the user operates the above-mentioned 7-key temporary key 23 to call up the desired mode, and presses the registration key 2.
By operating 6, that mode becomes available.

By pressing the display key 27 during automatic operation mode, the display can be switched between the target value and the current value displayed in the display digit area 19c''c, and the display lamp 211. 21b lights up and the switching display status can be confirmed.

Manually setting the target value, etc. (1 "Inputting 1 means the aforementioned left shift when the t-do is set to the setting mode] - Gear 24
, right shift 1-key 25, addition 02 1-28, reduction l'--29, ``-・-'' key 30, 31, J3
and 1j using the 0 record key 26 mentioned above.

When the setting mode is set, one of the digits on the display section 19 will be switched to a blinking display, indicating that there are 41 digits C that can be entered, and the right shift 1--24.2 will be displayed.
5, turn the blinking part [cock display material i part-L]
Move to rear l 9 a, adjust 04--2f3.29r
In the same way, move the flashing Ri section to the step table 75' By pressing 4-126, the set value is input.

13. The input setting (16 is stored in the specified block J5J of the knee 1f area 14a of [<ΔM171, 1 rear of the block I).

Teaching pano J of the positioning counter 10 configured in this way
The operation of inputting setting values by teaching in the apparatus will be explained with reference to the flowchart shown in FIG.

<K Oh, the control process is executed by C1) U13.

If the mode of the positioning counter 10 is other than the setting mode,
If the
The display digit area 19c is O-suppressed to eliminate unnecessary digits 1101+ display, making the display easier to read.

Teach processing mode to step 1.1, step 1
-23 to select the teaching mode of button 22G.1. : Then, by pressing the 0 record key 26, the teaching mode can be used.

When entering the teaching mode, the display digit section up 71 of the display section 15)
9c displays the current value (see first step 30).

In J3, FIG. 5A, the 27th knock and 7th knob are set to 'O' as the initial Iff.

Then, input the signal to avoid the 1-11 or backward movement of the controlled object by pressing the right shift key 24.2E).
f) JL, the control object is moved forward or backward.

For example, [゛]-
A signal from the encoder is inputted via the counting input section 15, and the current value of the controlled object is displayed on the display block 19c (second, third, fourth sub-tubs 32, 33, etc.). 34
).

When the movement of the mil control object reaches the position of the -1 mark, the σ record key 26 is pressed (second and fifth steps 32°;
35).

When the σ record key 26 is pressed, the teaching number 13 is input, the current value of the controlled object is read, and this is set to the set value (“
1 mark Ill'j) as RΔM14's 1F] rear 1
4a [see the same entry (5th)].

Preferably, while the 0 recording key 26 mentioned in -1 is held down ("), the setting 1+fl (target jlfi) that has just been input is displayed in the & digit display section 19G, and this ldj can be confirmed (
, it is possible to judge on the spot whether the input is 1/;v (see 6th and 7th steps 36 and 37).

l1JJ theory, during this time, while the movement of objects continues, the current state of controlled objects (1) is changing every moment.

When the confirmation of the setting room described in 1 is completed, the press of the registration unit 26 is released, and a teaching input is made to release the button and YR is removed.

The above-mentioned input cancellation C1) - The teaching step is advanced by one step and the display unit waits for the teaching input.
For the display of s i' 10 G, proceed to s C as shown in Figure 5 C? The current value of the item 1, II 011 which has been j is displayed (see the eighth step 38).

Therefore, in the conventional positioning counter, "250" to "
Since any 1-1 between '252' is displayed, the confirmation of the input setting 1st shift is 0■, but in the case of the above example, registration -1-- By continuing to press 26, it becomes easy to confirm the input setting values.

In the above-described embodiment, teaching was inputted using the σ record key 26, but the same effect can be obtained by holding the external teaching input and releasing it.

Further, in the above embodiment, the positioning counter was shown as an example of the control device, but it may also be a control device of (I).

Regarding the correspondence between this invention and the embodiments, the control device of the present invention corresponds to the positioning counter 10 of the embodiments,
In the same manner, the display section corresponds to the display section 19, and the control means corresponds to the 5th and 6. Although the processing corresponds to the seventh step 35, 36, and 37, the present invention is not limited to the configuration of the above-described embodiment.

[Brief explanation of drawings]

Drawing LL shows one embodiment of the present invention, FIG. 1 is a front view showing an input display image ('), and FIG.
1 Positioning counter control circuit configuration diagram, Figure 3 is -1-
1 Ab [1 gram configuration diagram, Figure 4 is the flowchart of the immobilization process I? 5A, 8A and 8B are TI explanatory diagrams showing the display state. 10...Positioning counter 13...CP (Jl
4 E'i...Two L-area 16...One control input section...Display section

Claims (1)

[Claims] 1. A control device with a teaching function, Based on the input of the teaching signal. The current value of the controlled object is stored as the set value. At the same time as reading into the device, the setting value is displayed on the display. will be displayed and the input of the teaching signal will be solved. The set value on the display is set based on the Equipped with a control means for canceling the display of Teaching input device for control equipment.