KR100221487B1 - Method for input program to robot controller - Google Patents

Abstract

The present invention relates to a data input method of an industrial robot controller.

Conventionally, since a user program and a data input to a peripheral device are sequentially processed, a problem that takes a lot of time is generated after checking the completion of the transfer of the position increment after the calculation of the movement path. According to the main loop, instead of only checking the completion of the position increment transfer, the position increment is calculated, the result is stored in the buffer, and the following command is executed. That is, the parallel processing is used for user program and robot operation. It is an invention that reduces the time and allows more work at the same time.

Description

Program input method of industrial robot controller

1 is a schematic block diagram of the present invention.

Figure 2a, b is a flow chart of the present invention, Figure 2a is a flow diagram of the execution of the user program, Figure 2b is a flow chart of the execution routine of the H / W interrupt that occurs every time.

3 is a flow chart of operation according to the prior art.

* Explanation of symbols for main parts of the drawings

10: main control unit 20: auxiliary control unit

30: motor 11: ROM

12: RAM 13: Terminal

14: external input / output signal unit

The present invention relates to a program input method of the industrial robot controller, and more particularly, to a program input method of the industrial robot controller to reduce the time required for the robot operation by processing the execution of the user program and the data transfer to the peripheral device in parallel. It's about.

In the conventional case, the execution of the user program and the data transfer to the peripheral device were sequentially processed.

That is, as shown in FIG. 3, the controller spends time checking that only the transfer of the position increment is finished after the trajectory planning is completed in the main loop. .

Therefore, the present invention has been made to improve the problems of the prior art as described above, by causing the controller to process the following instruction in the part that checks that the transfer of the position increment in the main loop is finished, that is, parallel processing The purpose is to provide a data input method of the industrial robot controller to improve the performance of the robot by reducing the execution time of the user program.

Hereinafter, with reference to the accompanying drawings will be described in detail the technical configuration and effect for achieving the object of the present invention.

Around the ROM 11 in which programs for various controls and interfaces of the robot are embedded, the RAM 12 having various data such as location data user program, and the terminal unit 13 for setting various data such as programs to be used by the user. The external input / output signal unit 14, which is a signal transmission contact point with the device, and the auxiliary controller 20 configured to control the motor 30 by receiving data from the control unit 10.

Referring to the operation and effects of the present invention configured as described above are as follows.

As shown in FIG. 2A, the command of the user program is interpreted (101) and the robot is an operation command (102). In the case of the operation command, the movement path to the target position is calculated (103).

Subsequently, the position increment amount to be delivered for each interrupt is calculated 104 based on the data of the movement route calculation, the position increment amount calculated value is stored 105 in the buffer, and the content is present in the buffer.

In the above process, if it is not the operation command of the robot, execute the corresponding command (106) and check whether the execution of the user program is finished (107), and if it is finished, terminate the execution of the program, or return to the step of command interpretation (101). Try to do it again.

In addition, the operation in the interrupt routine as shown in FIG. 1B is performed by checking the state of the auxiliary controller 20 and the motor 30 (201) and checking the state of the filter (202). In step 105 of storing the data in the buffer, it is checked whether the buffer is empty (203), and if there is content, the content of the buffer is transmitted to the peripheral device (204).

If the auxiliary controller 20 has an abnormal state or the buffer is empty, execution of the interrupt routine is immediately terminated (205).

As described above, the present invention deviates from the conventional method of checking only the completion of the position increment transfer in the main rope, calculates the position increment amount, stores the result in the buffer, and executes the following command to execute the execution time of the user program. It is a way to shorten and improve the performance of the robot.

Claims (1)

In the robot controller, the main controller 10 receives an external input / output signal, calculates and stores a position increment in a buffer, executes a new command, and checks the state of the auxiliary controller 20 in an interrupt routine. Data input method of the industrial robot controller, characterized in that it can reduce the time required by the robot operation by using the parallel processing method to transfer the contents of the information to the peripheral device.