KR0160691B1 - Detecting method of communication error data in robot control system - Google Patents

Abstract

The present invention relates to a method of detecting communication error data in a robot control system.

The present invention comprises the steps of inputting a command through the teach pendant key; Interpreting the command of the input key and reading KEY_DATA1; Transmitting the KEY_DATA1 to a robot controller; Inverting each bit of transmitted one-byte data; Transmitting KEY_DATA2 generated by the conversion to a robot controller; Reading and storing the received KEY_DATA1; Reading and storing the received KEY_DATA2; AND-operating the KEY_DATA1 and KEY_DATA2; Determining whether the result of the AND operation is 0; If the result of the determination is 0, interpreting only the first key data of the actual key data and performing a corresponding service routine; And if the result of the determination is not 0, ignoring the transmission data while discarding the first received data and continuing to check the second and the next transmitted data to detect valid key data.

Therefore, error data generated by external factors during data communication can be detected and appropriately processed, thereby further improving the stability and reliability of the operation of the robot control system.

Description

Communication error data detection method in robot control system

1 is a schematic configuration diagram of a conventional robot control system.

2 is a system flowchart showing a communication relationship between a robot control unit and a teach pendant unit in a conventional robot control system.

3 is a schematic block diagram of a robot control system for explaining a communication error data detection method in the robot control system according to the present invention.

4 is a system flowchart showing a communication relationship between the robot control unit and the teach pendant unit through error data detection according to the method of the present invention.

* Explanation of symbols for main parts of the drawings

11, 31: robot control unit 11c, 12c, 31c, 32c: communication port

11a, 31a: control program of the robot controller

11b, 31b, 40b: key data receiving routine of the robot controller

12, 32: teach pendant portion 13, 33: control target robot

12a, 32a: control program of teach pendant

12b, 32b, 40a: key data transmission routine of the Riti pendant

The present invention relates to a method for detecting communication error data in a robot control system, and in particular, by detecting and appropriately processing error data transmitted and received during data communication between a main controller and a peripheral device, the stability and reliability of the robot control system can be improved. The present invention relates to a communication error data detection method in a robot control system.

Today, as the assembly and manufacture of products by robots in the industrial field is gradually increasing, the functions of the robot control system are gradually diversified and advanced. This phenomenon requires a multi-robot control system through multitasking, and in response to such demands, a multi-robot control that simultaneously controls multiple robots with a single control system using a high-performance microprocessor. The system has emerged.

1 of the accompanying drawings schematically shows an example of a conventional robot control system.

Referring to this, the conventional robot control system 10 is a system for operating a robot using a teach pendant, and is largely composed of a robot control unit 11 and a teach pendant unit 12.

The robot control unit 11 is a part that collectively controls the robot control system, and a control program 11a of the robot controller that interprets and processes external commands, and a key data reception routine ROUTINE 11b of the robot controller. ) Is built in. And the communication port 11c for transmitting and receiving data with the teach pendant part 12 is provided.

The teach pendant unit 12 includes a teach pendant control program 12a and a key pendant data transmission routine 12b for the teach pendant, and a communication port 12c for communicating with the robot control unit 11 is provided. Reference numeral 3 denotes a robot to be controlled, 14 denotes a display device for outputting received data from the robot controller, and 15 denotes a key for receiving an instruction of a user.

Then, the operation of the conventional robot control system having such a configuration will be briefly described with reference to FIGS. 1 and 2.

2 is a system flow chart showing a communication relationship between the robot control unit and the teach pendant unit in the conventional robot control system.

Initially, the user enters a predetermined command via the input key 15 (21). Then, the teach pendant control program 12a interprets the command of the input key to read KEY_DATA1 (22), and transmits the KEY_DATA1 to the robot controller 11 through the key data transmission routine 12b and the communication port 12c of the teach pendant. (23).

Meanwhile, the robot controller 11 interprets, reads, and stores KEY_DATA1 received through the communication port 11c and the key data receiving routine 11b of the robot controller (24). Thereafter, while obtaining information for controlling the robot 13 to be controlled, the service routine is performed (25). And the processed result is transmitted to the teach pendant part 12 via the communication port 11c. Then, the control unit of the teach pendant unit outputs the received data to the LCD (Liquid Crystal Display) screen, which is the display device 14, so that the user can see the result.

However, the above-described conventional robot control system uses the frequent data transmission / reception of the robot control unit and the teach pendant unit to control the robot as described above. Therefore, it is pointed out as a problem that error data is likely to occur due to external factors such as poor connection of a connector during communication, and that abnormal operation of the robot can be caused by such error data.

The present invention has been made in view of the above problems, and the communication in the robot control system capable of preventing malfunction of the robot control system by appropriately detecting error data transmitted and received during data communication between the main controller and the peripheral device. Its purpose is to provide an error data detection method.

In order to achieve the above object, a communication error data detection method in a robot control system according to the present invention includes: inputting a command through a teach pendant key; Interpreting the command of the input key and reading KEY_DATA1; Transmitting the KEY_DATA1 to a robot controller; Inverting each bit (BIT) of 1 byte of transmitted data; Transmitting KEY_DATA2 generated by the conversion to a robot controller; Reading and storing the received KEY_DATA1; Reading and storing the received KEY_DATA2; AND-operating the KEY_DATA1 and KEY_DATA2; Determining whether the result of the AND operation is zero; If the result of the determination is 0, interpreting only the first key data of the actual key data and performing a corresponding service routine; And if the result of the determination is not zero, ignoring the transmission data while discarding the first received data and continuously checking the second and the next transmitted data to detect valid key data.

As such, there is an advantage that the stability and reliability of the operation of the robot control system can be further improved by detecting and appropriately dealing with error data generated by external factors during data communication.

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

FIG. 3 is a schematic structural diagram of a robot control system for explaining a communication error data detection method in a robot control system according to the present invention. FIG. 4 is a view illustrating a communication relationship between a robot control unit and a teach pendant unit through error data detection. System flow chart shown.

Referring to Figures 3 and 4 will be described the process of performing the method of the present invention.

Referring to FIGS. 3 and 4, reference numeral 40a denotes a teach pendant unit 32 which transmits a modified key data from 1 byte BYTE to 2 bytes so that the robot control unit 31 can detect the transmitted error data. The sending routine on the Reference numeral 40b is a reception routine of the robot control unit 31 for detecting normal key data among key data transmitted from the teach pendant unit 32 and error data generated by external factors.

When the input key 35 of the teach pendant unit 32 is first pressed by the user (41), the teach pendant control program 32a interprets the command of the input key and reads KEY_DATA1 of 1 byte of the corresponding key ( 42) KEY_DATA1 is transmitted to the robot control unit 31 via the key data transmission routine 32b of the teach pendant and the communication port 32c. At this time, the key data is changed to 2 bytes and transmitted. In addition, each bit of one-byte data is converted in reverse. That is, an exclusive logical OR (excluslve OR) operation of the key data and OxFF is performed (44). This is for making a pair (2BYTE) of data used for detecting the presence or absence of damage to key data on the robot control unit 31 and useless data generated when a connector is not connected. The KEY_DATA2 thus processed is transmitted to the robot control unit 31 (45).

On the other hand, the robot controller 31 interprets, reads and stores KEY_DATA1 and KEY_DATA2 received through the communication port 31c and the key data receiving routine 31b of the robot controller (46, 47). Then, the read KEY_DATA1 and KEY_DATA2 are ANDed (48), and it is determined whether the result is zero (49). This is because the AND operation result of each bit of the first and second data must be all zero if the pair of data transmitted from the teach pendant section 32 is not damaged.

If the result of the operation in the determination step 49 is 0, only the first key data, which is the actual key data, is interpreted to perform the corresponding service routine (50). If the operation result is not 0, the transmission data is ignored because it is corrupted data or meaningless data generated by poor connection (51). In addition, according to the characteristic that a pair of normal key data is transmitted continuously, the first received data is discarded and the second and subsequent transmitted data are continuously checked to detect valid key data.

As described above, the method for detecting communication error data in the robot control system according to the present invention further improves the stability and reliability of the robot control system by detecting and appropriately processing error data generated by external factors during data communication. There is an advantage to this.

Claims (2)

Inputting a command through the teach pendant key; Interpreting the command of the input key and reading KEY_DATA1; Transmitting the KEY_DATA1 to a robot controller; Inverting each bit of transmitted one-byte data; Transmitting KEY_DATA2 generated by the conversion to a robot controller; Reading and storing the received KEY_DATA1; Reading and storing the received KEY_DATA2; AND-operating the KEY_DATA1 and KEY_DATA2; Determining whether the result of the AND operation is zero; If the result of the determination is 0, interpreting only the first key data of the actual key data and performing a corresponding service routine; And if the result of the determination is not 0, ignoring the transmission data while discarding the first received data and continuously checking the second and the next transmitted data to detect valid key data. Method of detecting communication error data in the system. The method of claim 1, wherein the reverse conversion of each bit of the 1-byte data is performed by an exclusive OR operation of key data and OxFF.