JPS62187910A - Robot control device - Google Patents

Abstract

PURPOSE:To obtain a robot control device corresponding to various retilization formats by forming a means for defining and storing the functions of I/O terminals of interfaces. CONSTITUTION:When the robot control device is started, a picture requesting the assignment of the functions of I/O terminals is displayed on a CRT 2. An operator inputs an interface function to an interface terminal number column on the screen by a code through a keyboard 1 in accordance with the using formats to define the function of the terminal. The inputted code is stored in a memory device 3. A CPU 4 executes processing corresponding to a signal inputted through the defined terminal on the basis of the definition of the function stored in the memory device 3 and outputs a signal corresponding to the definition through the defined terminal to control a robot and its peripheral devices.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a robot control device, and more particularly to a robot control device equipped with an interface function that meets the various demands of users.

[Conventional technology]

The robot control device controls the robot and peripheral devices by exchanging signals with the robot and peripheral devices. In the case of Party B, the robot control device sends and receives signals to and from the robot and peripheral devices via an interface built into the robot control device.

FIG. 3 is a schematic diagram of a terminal block as an interface constituting a conventional robot control device.

In Figure 3, (31) is the input connection terminal block, (32)
is the output connecting terminal block, (33) is the relay coil that receives the input signal, (34) is the relay contact that outputs the output signal, (
35) is the meaning of the function of the interface of the input connection terminal block (31) defined in advance, (301 is the meaning of the function of the interface of the output connection terminal block (32) defined in advance, and (37) is the meaning of the function of the interface of the input connection terminal block (31) defined in advance. 8-doware for the output of the robot or external peripheral device (not shown), (3g) is the hardware for the input of the robot or external peripheral device (not shown). 3
The meaning of 6) is sometimes written on the terminal block, but it is illustrated conceptually.

At the initial stage, the operator manually operates the startup button and program selection on the robot control device.
I was trying to control the robot. As automation progresses,
The robot is controlled by peripheral devices, a control device that controls the peripheral devices, a sequencer, a factory computer, etc.

In this case, the control mode varies greatly depending on the scale and system configuration of the business using the robot.

For example, a first user requests that the robot be operated entirely by external input, and a second user requests that an indicator light be attached to the outside to display all the robot's status.
This is a case where a third user requests to call all programs in the robot by inputting a signal from the outside.

[Problem that the invention seeks to solve]

In this way, if we were to configure the interface assuming all possible usage modes in order to meet the diverse needs of users, the hardware configuration within the robot ν1 and control device would become larger, and a larger scale would be needed accordingly. A robot control device is required. Moreover, the cost is also very high.

However, from the robot user's perspective, not all of these interfaces are necessary. Currently, the necessary interface is selected and used according to the scale of the peripheral device and system configuration.

The present invention has been made in view of the above two circumstances, and an object of the present invention is to provide a robot control device that can cope with all manner of use by users with a minimum necessary hardware configuration.

[Means for solving problems]

Therefore, in the present invention, for each of a plurality of terminals, a definition means for defining the function of the interface, a storage means for storing the definition by the definition means, and a defined terminal based on the definition stored by the definition means are provided. A robot control device is constituted by a control means that performs processing according to a signal inputted through the robot controller and outputs a signal according to the definition through a defined terminal.

[For production]

In the robot control device having the above configuration, the definition means defines the function of the interface for each of the plurality of terminals, the storage means stores the defined interface function, and the control means is based on the definition stored in the definition means. The terminal performs processing according to the signal input through the defined terminal, and outputs the signal according to the definition through the defined terminal.

〔Example〕

Hereinafter, one embodiment of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a configuration diagram of a robot control device according to the present invention. In Figure 1, (1) is the keyboard, (2) is the CR
T display device, (3) is a storage device, (4) is a central processing unit (hereinafter referred to as CPU), +51 is an interface, (6) is an input connection terminal block, (7) is an output connection terminal block,
(8) is the relay coil that receives the input signal, (9) is the relay contact that outputs the output signal, 001 is the interface function of the undefined input connection terminal block (6), and (11) is the undefined output connection. This is the function of the interface of the mating terminal block (7). In addition, the interface functions (35), (3
Although the meaning of G) may be written on the terminal block, it is conceptually illustrated in this embodiment.

The keyboard (11) and the CRT display (2) constitute definition means for defining the functionality of the interface.

The keyboard (1) is a J-shaped keyboard for inputting symbols corresponding to the functions of the interface for each of the plurality of input terminal blocks (6) and output terminal blocks (7) of the interface (5). , the CRT display device (2) displays input symbols together with interface functions corresponding to the symbols. Figure 2 shows the relevant C It
It is a figure showing a display screen (20) of a T display device (2). In FIG. 2, (21) and (22) are parameters for inputting interface functions to be defined according to the input/output menu shown in the table below.

By adopting such a configuration, it is possible to configure various interfaces according to the user's requirements using the minimum necessary hardware.

Next, the overall operation of the robot control device according to the present invention will be explained. First, when the robot control device starts up, C
[Give interface parameters] as shown in FIG. 2 are displayed on the R and T display devices (2). Next, when the operator selects the desired interface function from the interface input/output menu shown in the table and inputs the symbol from the keyboard (1), the storage device (3) stores the symbol input from the keyboard (1). Remember. For example, if the first user assigns input terminal 1 to 801, the 81 basket of that interface will be defined as general-purpose input 1. Further, if the second user assigns input terminal 1 to EOI, the function of the interface becomes servo 0Nfi operation using an external input signal. In this way, interfaces are defined according to each usage mode.

Next, the CPU (4) performs processing according to the signal input via the defined terminal based on the definition stored in the storage device (3), and also processes the signal input via the defined terminal. The robot and peripheral devices are controlled by outputting a corresponding signal.

It goes without saying that the robot control device according to the present invention can be applied to any robot control device, and can be made into an inexpensive robot control device that can meet the user's requirements with the minimum necessary hardware.

〔Effect of the invention〕

As explained above, according to the present invention, the definition means for defining the function of the interface is provided, and the control means performs processing according to the signal inputted through the defined terminal based on the definition by the definition means. At the same time, a signal according to the definition is output via the defined terminal.This allows for a minimum hardware configuration and a high level of flexibility! A robot control device having an ink face function can be obtained.

Furthermore, since it is configured with a minimum amount of hardware, an inexpensive robot control device can be obtained.

[Brief explanation of drawings]

FIG. 1 is a schematic diagram of a robot control device according to the present invention, and FIG.
The figure shows a CTtT that constitutes a robot control device according to the present invention.
FIG. 3 is an explanatory diagram showing both display screens of a display device, and is a schematic diagram of a terminal block constituting a conventional robot control device. In each figure, 1 is a keyboard, 2 is a CRT display device, 3 is a storage device, 4 is a central processing unit 1 (CPU), 5 is an interface, 6 is an input connection terminal block, 7 is an output connection terminal block, 8 9 is a relay coil, 9 is a relay contact, and 10.11 is an interface function. In each figure, the same reference numerals indicate the same or equivalent parts.

Claims (2)

[Claims] (1) In a robot control device that controls a robot or a peripheral device by inputting/outputting signals via an interface composed of a plurality of terminals, a definition means for defining a function of the interface for each of the plurality of terminals; storage means for storing the definition by the definition means; and processing according to the signal input via the defined terminal based on the definition stored by the definition means, and A robot control device comprising: a control means for outputting a signal according to the definition via the robot control device. (2) A patent claim in which the defining means comprises a keyboard for inputting a symbol corresponding to the function of the interface, and a CRT display device for displaying the input symbol together with the function of the interface corresponding to the symbol. The robot control device according to item 1.