KR950000312A - How to control the robot - Google Patents

How to control the robot Download PDF

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Publication number
KR950000312A
KR950000312A KR1019930012217A KR930012217A KR950000312A KR 950000312 A KR950000312 A KR 950000312A KR 1019930012217 A KR1019930012217 A KR 1019930012217A KR 930012217 A KR930012217 A KR 930012217A KR 950000312 A KR950000312 A KR 950000312A
Authority
KR
South Korea
Prior art keywords
robot
plc
dpr
area
write
Prior art date
Application number
KR1019930012217A
Other languages
Korean (ko)
Other versions
KR0157457B1 (en
Inventor
안준태
Original Assignee
김광호
삼성전자 주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 김광호, 삼성전자 주식회사 filed Critical 김광호
Priority to KR1019930012217A priority Critical patent/KR0157457B1/en
Publication of KR950000312A publication Critical patent/KR950000312A/en
Application granted granted Critical
Publication of KR0157457B1 publication Critical patent/KR0157457B1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Programmable Controllers (AREA)

Abstract

본 발명은 로보트의 제어방법에 관한 것으로, 로보트와 PLC가 하나의 DPR을 공유하되, 기입영역과 독출영역이 구분된 DPR을 PLC의 프로그램에 의해 제어하도록 함으로써 로보트가 독출영역이나 기입영역을 액세스하는 외의 다른 동작을 수행하고 있을 때 PLC에서 로보트에게 독출영역 또는 기입영역을 액세스하겠다는 인터럽트를 발생하고, PLC에서 독출영역에 독출하거나 기입영역에 기입한 후 종료하였다는 인터럽트를 발생하는 단계에 의해 수행하도록 함으로써 실시간 제어가 가능하도록 한 것이다.The present invention relates to a method of controlling a robot, wherein the robot and the PLC share a single DPR, but the robot accesses the read area or the write area by controlling a DPR in which the write area and the read area are divided by a PLC program. When the controller is performing other operations, the PLC generates an interrupt to access the read area or the write area to the robot, and generates an interrupt that the PLC reads from the read area or writes to the write area and then terminates. In this way, real-time control is possible.

Description

로보트의 제어 방법How to control the robot

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음Since this is an open matter, no full text was included.

제2도는 본 발명의 블럭도, 제4도는 본 발명의 PLC에서 특정 데이타를 독출하는 과정을 나타낸 플로우챠트.2 is a block diagram of the present invention, and FIG. 4 is a flowchart showing a process of reading specific data from the PLC of the present invention.

Claims (3)

PLC(11)가 로보트(10)에 내장된 자동화시스템에 있어서, PLC(11)와 로보트(10)가 독출영역(READ AREA)과 기입영역(WRITE AREA)들이 구비된 DPR(12)을 공유하면서 PLC 프로그램에 의해 정보교환이 이루어지도록 한 로보트 제어방법.In the automation system in which the PLC 11 is embedded in the robot 10, the PLC 11 and the robot 10 share a DPR 12 provided with a read area READ AREA and a write area WRITE AREA. Robot control method to exchange information by PLC program. 제1항에 있어서, PLC(11)가 DPR(12)에서 특정 데이타를 독출할 경우에는 PLC(11)에서 로보트(10)에 독출요구 인터럽트를 발생하는 단계와, 로브트(10)에서 독출영역을 액세스하고 있지 않은 때에만 특정의 데이타를 PLC(11)의 내부 메모리에 가져가는 단계와, DPR(12)에서의 독출을 끝냈다는 종료 인터럽트를 PLC(11)에서 로보트(10)에 발생하는 단계들에 의해 수행되도록 한 로보트 제어방법.The method according to claim 1, wherein when the PLC 11 reads specific data from the DPR 12, the PLC 11 generates a read request interrupt to the robot 10, and the read area at the robot 10. The step of bringing specific data into the internal memory of the PLC 11 only when the data is not being accessed, and generating a termination interrupt from the PLC 11 to the robot 10 indicating that the reading from the DPR 12 has been completed. Robot control method to be carried out by them. 제1항에 있어서, PLC(11)에서 DPR(12)에 기입할 경우에는, PLC(11)에서 로보트(10)에 기입요구 인터럽트를 발생하는 단계와, 로보트(10)에서 기입영역을 액세스하고 있지 않은 경우에만 PLC(11)에서 내부 메모리의 정보를 DPR(12)의 기입영역에 저장하는 단계와, DPR(12)에 기입을 끝냈다는 종료 인터럽트를 PLC(11)에서 로보트(10)에 발생하는 단계들에 의해 수행되도록 한 로보트의 제어방법.The method of claim 1, wherein when the PLC 11 writes to the DPR 12, the PLC 11 generates a write request interrupt to the robot 10, and the robot 10 accesses the write area. Only when it does not exist, the PLC 11 stores the information of the internal memory in the write area of the DPR 12, and the termination interrupt indicating that the writing is completed in the DPR 12 occurs in the robot 10 in the PLC 11; The control method of the robot to be performed by the steps. ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: The disclosure is based on the initial application.
KR1019930012217A 1993-06-30 1993-06-30 Control method of robot KR0157457B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1019930012217A KR0157457B1 (en) 1993-06-30 1993-06-30 Control method of robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1019930012217A KR0157457B1 (en) 1993-06-30 1993-06-30 Control method of robot

Publications (2)

Publication Number Publication Date
KR950000312A true KR950000312A (en) 1995-01-03
KR0157457B1 KR0157457B1 (en) 1998-12-15

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Application Number Title Priority Date Filing Date
KR1019930012217A KR0157457B1 (en) 1993-06-30 1993-06-30 Control method of robot

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KR (1) KR0157457B1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100296687B1 (en) * 1996-12-12 2001-10-24 이구택 Chromate solution with superior corrosion/blackening resistance for hot dipped galvanized steel sheet
KR100438977B1 (en) * 1997-10-18 2004-09-08 엘지산전 주식회사 Inverter control apparatus including programmable sequence controller processor

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100296687B1 (en) * 1996-12-12 2001-10-24 이구택 Chromate solution with superior corrosion/blackening resistance for hot dipped galvanized steel sheet
KR100438977B1 (en) * 1997-10-18 2004-09-08 엘지산전 주식회사 Inverter control apparatus including programmable sequence controller processor

Also Published As

Publication number Publication date
KR0157457B1 (en) 1998-12-15

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