JPS6260005A - Confirming method for robot program - Google Patents

Abstract

PURPOSE:To facilitate debugging by displaying the track, source number, position variable name, coordinate values of a robot movable part on the screen of a display device. CONSTITUTION:A tape 101i where a source program SPR is perforated is set on a data input device 101h, which is started to transfer and store the source program SPR in a RAM 101c. Then, an operation file MF and a position variable file PF generated on the basis of the source program SPR are also stored in the RAM 101c. Then, motion statements are read out of the motion file MF and when a block contains a position variable, the actual position coordinate values of the position variable are calculated from the position variable file PF and the instruction and coordinate values of the block are used to display the track TIM of the robot movable part and also display the source line number SLN, position variable name PNW, and position data PD.

Description

[Detailed description of the invention]

<Industrial Application Field> The present invention relates to a robot program confirmation method, and in particular, a robot program confirmation method suitable for application to debugging position data and robot language of a robot program created by offline programming. Regarding. <Prior art> When a robot handles parts on a workstation, it is necessary to provide the robot controller with data on the path along which path and to what point the robot should move, as well as data that defines the robot's movements. 3. For this reason, usually, the robot is actually moved by operating the teaching operation control, and the coordinate values of the required point, the movement speed to the point, whether it is moving in a straight line or in an arc, etc. are indicated. Please tell me the mobile type, the service code, etc. for the mobile type >1.

[1 Bot Control]
−? The robot is controlled by creating a robot 1 program and inputting the robot 1 control program to the robot controller. However, in this method of creating a robot control program, teaching operations become troublesome. For this reason, methods have been proposed for creating robot control programs using offline programming operations. In this offline programming, the motion of the robot is defined in a simple robot language (each point is expressed as a position variable, for example Pi), and the source program created in the robot language is translated into φ8 by the translation function of the offline programming device. ．． 'T: This is performed by creating a motion file of a predetermined code executable by the robot controller and a file of position variables used in the motion file, and then specifying the position variable using a keyboard or other means. Note that the actual position coordinate values of the position variables can also be specified at the source program creation stage. According to such an offline programming method, it is possible to easily create a source program for robot control even if one knows a simple robot language, and by simply inputting the source program, the offline programming device can create a predetermined program that can be executed by the robot controller. It will create a motion file and a position variable file consisting of the code. If the actual position coordinate values of the position variables are specified at the stage of creating the (al source program), the position variable file will be a file that shows the correspondence between the position variable names and the actual position coordinate values, and (bl-, /- If the position coordinate values are not specified at the stage of creating the program, the file will have undetermined position coordinate values.In the case of (bl), the position coordinate values of each position variable can be determined by using the keyboard or It should be specified by teaching using a teaching pendant. <Problems to be solved by the invention> However, in conventional offline programming, it is difficult to determine whether the position coordinate values are input correctly or whether the source program is created correctly. Therefore, it is an object of the present invention to provide a method for confirming robot and software programs that can visually and easily depack position coordinate values and robot language. Means for Solving> Fig. 1 is a block diagram of an offline programming device that implements the method of the present invention. 101 is an offline programming device, which includes a processor 101 a, a ROM 10 l b, a RAM],
01c, a floppy disk 101d, a floppy disk device 101e, a CRTlolf, a keyboard 101g, and a data input device 101h such as a tape league. SPR is source program, MF is linked file, PF
is a position variable file ◇The CRT 101f contains the trajectory TIM of the robot movable part, source line number SLN, position variable name PNM, and position data using the motion file MF and position variable file PF upon request after each file MF and PF generation is completed. PD is displayed. After creating a motion file MF and a position variable file PF, read the motion sentences created with a predetermined code from the motion file one block at a time, and if the block contains a position variable, If the actual position coordinate value of the position variable can be obtained from the position variable file PF and the locus TIM of the robot movable part can be displayed on the display screen using the position coordinate value, the movement file MF and the position variable file PF can be visually depacked. can. Therefore, in the present invention, the source program SPR created in the robot language is translated by the translator (translation function) of the offline programming device 101 to generate a motion file MF that defines the motion of the robot, and is used in the motion file. A position variable file PF is generated that stores the correspondence between position variables and actual position coordinate values. After that, the motion sentences created with a predetermined code are read one block at a time from the motion file MF, and if the block contains a position variable, the actual position coordinate value of the position variable is read into the position variable file PF.
Using the position coordinate values, the locus TIM of the robot movable part is displayed on the display screen of CRTlolf, and the source line number SLN, position variable name PNM, and coordinate value PD of the current block are displayed. <Embodiment> FIG. 1 is a block diagram of an offline programming device that implements the method of the present invention. 101 is an offline programming device, which includes a processor, a processor 101 aXROMI O1bXRAMl, 0
1c, floppy disk 101d1 floppy disk unit 51101G, CRTlolf, keyboard 1
01g, data input device 101h such as tape league,
It has a source program tape 101i. SPR is source program, MF is motion file, PF
is a position variable file. The ROM 101b stores various processing function programs such as a translation function and an ink leak function. Source program SPR is source program tape 10
Therefore, when the tape is set in the data input device 101h and activated, the source program is transferred to and stored in the RAM 101c. and,
The motion file MF and position variable file PF generated based on the source program SPR are also stored in the RAM 10.
1c+C is stored. After the generation of each file MF and PF is completed, CRTlolf displays the locus TTM of the robot movable part, source line number SLN, position variable name PNM, and position data PD using the interlocking file MF and position variable file PF upon request. The robot program confirmation method according to the present invention will be explained in the third section below.
The explanation will be given according to the flowchart in the figure. (1) Source program SP created in robot language
R to the RAM 101 via the data input device 11101h.
Store in c. As shown in Fig. 2, move the robot hand linearly from the initial position to point P1 at a speed of 800, (bl open the hand at the point P1, and (C) move the hand backward at a speed of 200. Move to point P2, fd) Close the hand at point P2 and grip the workpiece WK, (from e+ point l-P 2-" P 1- P 3-
Assuming that the hand is positioned at point P4 along the path of hP4, the hand is opened at point P4, and a workpiece is placed on the table, the source program will be as follows. I PROGRAM TEST 2 VARPI, P2. P3. P4: PO3I
TION38EGIN 4 5PEED=800.0 5 MOVETYPE=LINEAR 6MOVE To Pi 70PEN HAND 8 5PEED=200.0 9 MOVE To P2 10 CLO3E HAND 11 MOVE T”OPi 12 MOVE To P3 13 MOVE To P4 14 0PEN HAND 15 END TEST However, VAR means variable, BEGIN means the beginning of the program, LINEAR means straight line movement, CIRCULAR means arc movement), 0PEN/CLO3
E means open/close hand. (2) When the source program is input, the translator (translation function) of the offline programming device 101 is activated. (3) As a result, the source program is translated by the translator (code executable by the al robot controller, for example, the P code motion file and tb), and a position variable file used in the motion file is generated and stored in the RAM 101c. At the same time, it is output to the floppy disk 101d. Incidentally, the motion file MF in the case of FIG. 2 is as follows. LINE 3 (LINE is the source line number, and the third robot H word indicates that there is a BEGIN command) LINE 4 0ADN 80Q, Q STOIH (SPEED) (Speed soo, o once in the stack register LINE 5 LOADN 1 (LINEAR) STO2H (M
OVETYPE) (After storing 1 indicating linear movement in the stack register,
LINE 6 LOADS 4H (Pi) Go TYPE Q (0 indicates the movement type by MOVE To. Note that 1 indicates the movement type by MOVE AWAY)
LINE 7 LOADN 1 (OPEN) LOADN 1 (IO=HAND) STTOIH LINE 8 LOAND 200. Q STOIH (SPEED) LINE 9 LOADS 5H Go TYPE 0 LINE 10 LOADN O (CLO3E) LOADN 1 (IO=HAND) STIOIH LINE 11 LOADS 4H Go TYPE 0 LINE 12 LOAD 6H (P3) GOTYPE LINE 13 LOADS 7H (P4) Go TYPE 0 LINE 14 L, 0ADN O(OPEN) LOADN 1 (IO=HAND)STIOI
H LINE 15 ET Also, in the position variable file PF, if the position coordinate value of the position variable is not specified, PI: PO3
ITION P2: PO3TTION P3: PO3ITION P4: PO3ITION, and if the position coordinate value of the position variable is specified, PI: PO8ITION 001000.00100
0.000500゜oooooo, ooooooo,
ooooo. P2: PO3ITION 001000.00100
0.000000゜oooooo, ooooooo,
ooooo. P3: PO8ITION 000500.00150
0.000500゜oooooo, ooooooo,
ooooo. P4: PO3ITION 000500.00150
0.000000゜oooooo, ooooooo,
ooooo. becomes. However, the control axes are X, Y, Z, P, and Q. This is the 6th axis of R. (4) Once the motion file and position variable file have been created as described above, it is checked whether the actual position coordinate values of the position variables have been specified. (5) If the actual coordinate values of the position variables are not specified, input the position coordinate values of each position variable from the keyboard 101g, and transfer the position variable file PF indicating the correspondence between the position variables and the position coordinate values to the processor 101a. is generated and stored in the RAM 101c. It is also possible to input the motion file MF and the position variable file PF whose position coordinate values are undetermined to a robot controller (not shown), and teach the actual coordinate values using the teaching function of the robot controller. (6) If the motion file MF and the position variable file PF in which the position coordinate values are specified are not generated as described above, a trajectory display request is made from the keyboard. As a result, the inkpleter function of the offline programming device 10 is activated. (7) The processor 101a reads one block of exercise sentences created with a predetermined code (for example, P code) constituting the exercise file MF. (8) The gorocessor reads the position data corresponding to the position variables included in the read block from the position variable file PF and creates the path trajectory TIMJeCRT 1
01 Draw on the display screen of F and the source line number SLN of the block. Display position variable name PNM and position data PD. Furthermore, since there are no position variables in all blocks,
Automatically searches for a block where a position variable exists and displays the path locus, source line number, position variable name, and position data. (9) Thereafter, the processor 101a checks whether the data indicating the end placed at the end of the motion file MF has been read, and repeats the above processing until it has been read. <Effects of the Invention> According to the present invention, a source program created in a robot language is translated by a translator to generate a motion file that defines the motion of the robot, and position variables used in the motion file and actual Generates a positive variable file that stores the correspondence with the position coordinate values of The actual position coordinate values of the variables are obtained from the position variable file, and the locus of the robot/soto moving part is displayed on the display screen using the block command and position coordinate values, and the source line number and position variable name of the current block are displayed. Since the system was configured to display the coordinate values, it became easy to visually check the position data and robot language, and to check the lines and programs easily.

[Brief explanation of the drawing]

Figure 1 is a block diagram of an offline programming device that implements the method of the present invention. Figure 2 is a robot operation diagram for explaining the source program, motion file, and position variable file. Figure 3 is a flowchart of the processing of the method of the present invention. It is. 101...offline programming device, 101 f
・ ・ CRT. SPR...source program, MF...movement file, PF...position variable file TIM...trajectory, SLN...source line number, PNM
...Position variable name, PD...Position data

Claims (1)

[Claims] A source program created in a robot language is translated by a translator to generate a motion file that defines the motion of the robot, and the position variables used in the motion file and the actual position coordinate values are Generate a position variable file that stores the correspondence relationship, and convert the motion statement created with the specified code from the motion file into 1
Read each block sequentially, and if the block contains a position variable, find the actual position coordinate value of the position variable from the position variable file, and use the position coordinate value to show the trajectory of the robot movable part on the display screen. A robot program confirmation method characterized by displaying the current block's source line number, position variable name, and its coordinate value.