JPS6341910A - Robot controller - Google Patents

Abstract

PURPOSE:To reduce the load of program preparation on a user by detecting an error that a control command contains and controlling a robot with a corrected robot command when the specification condition of the robot control command is only satisfied roughly. CONSTITUTION:A robot controller 10 is so constituted that if an error occurred during the execution of teaching data, a signal for selecting whether robot operation is stopped or carried on is inputted on a teaching console panel TB. Service operation is taught on the teaching console panel TB and its teaching contents are read out successively as a series of robot control commands every time there is a service request from a machine side. Consequently, when the specification condition of the robot control command is only satisfied roughly in a robot application program prepared by a user, the robot can be controlled with the corrected robot command without stopping the robot operation, so the load on the user is reduced greatly.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a robot control device having one run of a program evaluation machine.

(Prior art) In order to make the Industrial Kawaguchi bot run smoothly according to the desired purpose, a teaching machine that teaches the industrial Kawaguchi bot the work in advance, a memory that stores the work data, and a memory that stores the work data are required. A playback function is required to operate the robot hand at a predetermined speed while controlling its trajectory.

With these current teach-and-play robots, users can run their own application programs under the control program, which is the basic software provided by the system, to make the robot faithfully perform predetermined actions. .

(Problem that H1Gl attempts to solve) In this way, with conventional robot control devices, it is possible to drive and control a taught Ilf-type robot under conditions specified by the user's application program. is executed in dependence on the control program, which is general-purpose software used to manage the operation of the entire system, so if the conditions specified by the user are not satisfied by the robot control device during execution, an error will occur. This would be displayed to the operator as follows, and the program would need to be modified each time.

However, the conventional method of stopping the robot's operation and correcting the program when an error occurs even when exact values are not required, such as command speed.
Since the robot control command is deemed to exceed the speed limit of the robot system and is interrupted with an error, the user is burdened with creating a program.

The present invention has been made in view of the above-mentioned circumstances, and is capable of executing robot control commands in a robot application program created by a user without stopping the robot operation when the specified conditions of robot control commands only need to be generally satisfied. [1] It is an object of the present invention to provide a robot control device that controls a robot with robot commands that are corrected by evaluating the results.
I'm on target.

(Means for Solving the Problems) The robot control device of the present invention is a robot control device that executes an application program created by a user under a control program to cause a robot to perform a predetermined operation. 1, a processing means for decoding and outputting a robot control command; a display means for detecting and displaying an error included in the decoded robot control command using the control program; The apparatus is equipped with a selection means for selecting whether to continue the robot operation, and a modification means for modifying the robot control command to an optimal robot control command within the limits specified by the control program when the robot operation is continued.

(effect) That is, in the robot control device of the present invention.

If the user determines that there is no need to modify based on the part where the error occurred and the actual execution state of that part, the user can make the spawning robot perform one ton according to the desired purpose without modifying the program. can.

(Example) Hereinafter, one embodiment of the invention will be described with reference to the drawings.

FIG. 1 is a flow diagram showing an embodiment of a robot control device 10 of the present invention. The robot control device 10 includes:
The processing unit 1 is connected to a control program memory 2, and the application program created by the user is decoded by the processing unit 1 using teaching data from the teaching memory 3 which stores taught robot commands, other data, parameters, etc. hand,
Robot control commands are output under the control program stored in the control program memory 2. The processing unit 1 further includes a work memory 4 that stores the decoded robot control commands, and a control program that specifies error criteria for the robot control commands caused by mechanical, hardware, and software constraints of the system. A correspondence table 5 to be stored, a digital input/output circuit 6, etc. are connected.

The robot control device 211 includes a teaching operation iTB for reading teaching data into the teaching memory 3 in the teaching operation described later, an operation command display panel OPP having a power on/off switch, an automatic/manual changeover switch, etc.
A well-known servo control system (SVC) having a pulse distribution circuit, acceleration/deceleration circuit, servo circuit, etc. is connected to each drive axis of the robot RBT, and the drive H, t, etc. of each axis motor is connected from the robot RBT. , various limit switches, sensors, etc., are input to the processing section l via the digital input/output circuit 6. The operation panel OPP can display an error to the operator when the decoded robot control command contains an error, and can also display the cause and the corrected execution status at the same time. There is.

From the teaching operation aTB, it is possible to input a signal for selecting whether to stop or continue the robot operation when an error occurs during execution of the teaching data.

In the robot control device 10 configured in this way, a service operation is taught in advance by the teaching pendant TB, and the teaching content (that is, robot command data) is transmitted to a series of robots every time there is a service request from the machine side. They are read out sequentially as control commands. At this time, the robot command data includes the position information of the point to be serviced, the speed of movement to that point, the posture of the hand or the torch attached to it in the void, and a service code that instructs the content of the work.

FIG. 2 is an operation flowchart showing an example of the program evaluation function in the apparatus of the embodiment.

Moving the hand from point A to point B as a robot movement program
If there is command data to move at a speed of 1000 m/Sec while controlling the route, if the L robot control command decoded in step a contains an error, it will be rejected (step b). , In step C, an error is displayed on the operation e-display panel OPP, and at the same time a warning message is displayed to the effect that the error content exceeds the maximum operating speed of 900 mm/sec specified by the speed limit of each axis of the robot, and the operator The user is requested to confirm the error details and select whether to execute the robot operation within a limited speed range or to stop it.

If the operator determines to continue the operation in response to this warning display (step d), in step e, the speed data is corrected and output to 900 gyr/sec, which is the optimum speed within the limited range, and the robot hand If the operator determines in step d that operation at the corrected speed is inconvenient, the robot moves to step f, where the robot movement is conventionally stopped.

In this way, according to the robot control bag 2210, if the user is satisfied that the initial programmed operation speed is sufficient, a series of operations can be performed without any particular modification of the program. Smoothly, without any hindrance, where it can be stopped as it is! ! It can be executed continuously.

In addition, in the above embodiment, errors in F code commands related to operating speed in application programs created by users have been explained, but other errors may occur during normal program execution, such as return-to-origin errors, parameter setting errors, and torch posture errors. It can also be applied in the same way to program evaluation regarding errors that occur, and has great effects.

(Effects of the Invention) As described above, according to the present invention, in a robot control device that executes an application program created by a user under a control program to cause a robot to perform a predetermined operation, In a robot application program, if the specified conditions of the robot control commands are generally satisfied, the execution results are evaluated without stopping the robot operation and the robot commands are modified to control the robot. Therefore, the burden on the user can be significantly reduced.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing an embodiment of the present invention, and FIG. 2 is a diagram showing an example of a program evaluation function by the apparatus of the embodiment. l...processing unit, 2...control program memory, 3.
...Teaching memory, 5...Compatible table, TB...Teaching operation panel, OPP...Operation/display panel.

Claims (2)

[Claims] (1) In a robot control device that executes an application program created by a user under a control program to cause the robot to perform a predetermined operation, a processing means that decodes the application program and outputs a robot control command; a display means for detecting and displaying an error included in the robot control command by the control program; a selection means for selecting whether to stop or continue the robot operation when an error is displayed; and a selection means for selecting whether to stop or continue the robot operation when the error is displayed; 1. A robot control device comprising: modifying means for modifying robot control commands to an optimal robot control command within the limits specified by the robot controller. (2) The display means is configured to simultaneously display the error in the robot control command as well as its cause and corrected execution state.
) The robot control device described in item 2.