WO1987001476A1

WO1987001476A1 - Method of confirming a robot program

Info

Publication number: WO1987001476A1
Application number: PCT/JP1986/000459
Authority: WO
Inventors: Kunio Tanaka; Haruhiko Tatsumi
Original assignee: Fanuc Ltd
Priority date: 1985-09-10
Filing date: 1986-09-10
Publication date: 1987-03-12

Abstract

A motion file (MF) is formed to define the motion of a robot by translating a source program (SPR) prepared in a robot language by the use of the translation function (TRF) of an off-line programming unit (101), and a position variable file (PF) is formed to store a relationship between a position variable used in the motion file and a coordinate value of a practical position. Then, a motion sentence prepared from the motion file (MF) with predetermined codes is successively read out block by block. When a position variable is contained in the block, coordinate values of practical position of the position variable are found from the position variable file (PF), and a locus (TIM) of robot moving portion is displayed on the display screen of a graphic display device (101f) using the position coordinate values. At the same time, a source line number (SLN) of the present block, a position variable name (PNM) and a coordinate value (PD) thereof are displayed.

Description

Specification

How to check the robot program

Technical field

The present invention relates to a method for checking a robot program and a mouth program, and in particular, to position data of a robot program created by off-line programming. It relates to a method for confirming a robot program that is suitable for debugging of data and robot languages.

Background art

If the robot handles parts on the work station, move the robot to a strong point along any path. It is necessary to input such path data and data for defining the mouth-bottom operation to the robot controller. For this reason, usually, the robot is actually moved by operating the teaching operation panel, and the coordinate values of the necessary points, the operating speed to the point, and the straight line A robot type that teaches the type of movement, such as movement or arc movement, and the σ-bot service code at the point, etc. A robot is created, and the robot program is input to a robot controller to control the mouth robot.

The teaching operation is troublesome with the method of creating a robot program. For this reason, there has been proposed a method of creating a robot program by an offline programming operation.

This offline programming is a simple robotic language that defines the movement of the robot (each point is The source program created in the robot language is translated by an offline programming device. A motion file of a predetermined code, which can be translated by the function and executed by the robot controller, and a post file used in the motion file. This is done by creating a file of location variables and then identifying the location variables by keyboard or other means. The actual position coordinates of the position variables can also be specified during the source program creation stage.

According to such an off-line programming method, if a simple robot language is known, a source program for robot control is known. The source program can be easily created, and the offline programming device can be used as a robot controller by simply inputting the source program. It creates a motion file and a position variable file from a predetermined code executable by the controller. However, the position variable file is a file that indicates the correspondence between the position variable name and the actual position coordinate value, and (a) the source program If the actual position coordinate value of the position variable is specified at the time of creating the column, the position variable file at the time of completion of the translation will be replaced with the position variable name and the actual position value. This is a file that indicates the correspondence between the position coordinate values, and if the position coordinate value is not specified at the stage of creating the W source program, the position coordinate value at the time of completion of translation is undetermined. It will be. In the case of (b), the position coordinates and values of each position variable are specified by using a keyboard after the motion file is generated. However, in the conventional off-line programming, the position coordinates are input correctly or the source program is correct. It was difficult to check whether it was created well.

In addition, in an off-line system using a conventional robot language, when only a position variable (position coordinate value) is to be changed, the source level is changed. I had to go back and make some corrections.

As described above, an object of the present invention is to provide a robot π-gram confirming method capable of easily visually recognizing a position coordinate value and a mouth robot language.

Another object of the present invention is to be able to modify the value of a variable in a parallel program in parallel with the debugging process without returning to the source level. The purpose is to provide a method for verifying the bot program.

Disclosure of the invention

After creating the movement file MF and the position variable file PF, the movement file created by the predetermined code from the movement file is used as one block. When the block contains a position variable, the actual position coordinate value of the position variable is read in the position variable function. If the trajectory of the mouth-port movable part can be displayed on the display screen using the position coordinate value obtained from the file PF, the movement file MF and the position are visually displayed. Variable file PF can be downloaded 0 Therefore, according to the present invention, a source program SPR created in a robot language is translated into a translator (translation function) of an offline programming device. ) To generate a motion file MF that defines the motion of the robot, and the position variables and actual positions used in the motion file. Generate a position variable file PF that stores the correspondence between the coordinate values.

After that, the exercise sentence created by the predetermined code is sequentially read from the exercise file MF one block at a time, and the position variable is included in the block. If so, the actual position coordinate value of the position variable is obtained from the position variable file-PF, and the display screen is displayed using the position coordinate value. In addition to displaying the trajectory of the robot movable part in., The source line number of the current block, the position variable name, and the coordinate value are displayed.

Brief description of the drawings

FIG. 1 shows a pro, sock diagram, and a schematic diagram of an off-line machine for realizing the method of the present invention.

Fig. 2 is a robot operation diagram for explaining the source program, the motion file, and the position variable file.

FIG. 3 is a flowchart of the process of the method of the present invention,

FIG. 4 is a flowchart of another processing of the present invention,

Fig. 5 is an example of drawing a path trajectory.

Figure S is an example of a variable modification screen.

The best way to carry out your invention FIG. 1 is a block diagram of an offline pro- gramming apparatus for realizing the method of the present invention.

Reference numeral 101 denotes an offline programming device, which includes a processor 101a, a ROM 101b, a RAM 101c, and a floppy disk. Sk10ld, disk controller 101e, graphics display device (CRT) 101f, keyboard 101 g, data input devices such as tape readers, etc., and a source program tape 101 i.

SPR shown in the frame of R AMI01c is a source program, MF is a motion file, and PF is a position variable file.

In R0M101b, various processing function programs such as a translation function (TRF) and an inter- printer function (IPF) are described.

The source gel SPR was originally recorded on the source program tape 101i, and the tape was therefore stored on the data input device 10lh. The software program is transferred to the RAM 101c and stored in the memory by activating the software. Then, the motion file MF and the position variable file PF generated based on the source program SPR are also described in RAMI01c. It is done.

After the completion of generation of each of the files MF and PF, the graphic display device 101 has a motion file MF and a position variable file upon request. Robot movable using Il PF The locus of the part TI Μ, the source line 号 SL Ν, the position variable name Ν Ν Μ, and the position data PD are displayed.

The method for confirming the robot program according to the present invention will be described below with reference to the flowchart of FIG.

(1) The source program SPR created in the robot language is stored in the RAM 101c via the data input device 101h. As shown in Fig. 2,

(a) Move the mouth bottle directly from the initial position P0 to point P1 at speed 800.

(b) Open the hand at the point P 1,

(c) After that, the hand is moved at a speed of 200 to the point P2.

(d) The hand is closed at the point P2, and the work WK is grasped;

(e) Afterwards: Boy: along the path from P2 to P1 — P3 to P4. , P 4, and open the hand at the point P 4 to place the work on the table. Will be as follows

1 PROGRAM TEST

2 VAR P l, P 2, P 3, P4: POS I T I ON

3 BEG I

4 SPEED = 800. 0

5 MOVETYPE = L I NEAR

6 MOVE TO P I

7 OPEN HAND 8 SPEED = 200. 0

9 MOVE TO P 2

10 CLOSE HAND

11 MOVE TO PI

12 MOVE TO P 3

13 MOVE TO P4

1 OPEN HAND

15 END TEST

However, VAR means a variable, BEGIN means the beginning of a program, LINEAR means a linear movement (CIRCULAR means an arc movement), and OPENZCLOSE means opening and closing a hand. You

(2) When the source program is input, the translator (translation function TRF) of the offline programming device 101 is started.

Thus, the source program is translated by the translator TRF, and (a) the robot controller can execute the executable code. Generates the P-code motion file and (b) the position variable file used in the motion file and stores it in RAMI01c. At the same time, output to the floppy disk 101d. The motion file MF in the case of FIG. 2 is as follows.

L I NE 3

(LINE is the source line number, the robot language ability of the third subject; this indicates that it is a BEGIN command.) LI NE 4

LOADN 800. 0

STO 1 H (SPEED) ''

(This means that once the speed 800 • 0 is stored in the status register, it is stored in the speed storage area 1H.)

L I NE 5

LOADN 1 (LI NEAR)

STO 2 H (MOVETYPE)

(This means that after 1 indicating linear movement is stored in the sta- tus register, it is stored in the movement type storage area 2H.) L I E 6

LOADS 4 H (P I)

GO TYPE 0

(0 indicates a move type by MOVE TO. In addition, -1 indicates a move type by MOVE AWAY.)

L I NE 7

LOAD (OPEN)

LOADN (I 0 = HAND)

ST I O H

L I NE 8

LO AND 200, 0

STO 1 H (SPEED) LOADS 5 H (P 2)

GO TYPE 0

L I NE 0

LOADN 0 (CLOSE) LOADN 1 (I 0 = HAND) ST I 0 1 H

L I E 11

LOAD S 4 H (P I)

GO TYPE 0

L I E 12

LOAD 6 H (P 3)

GO TYPE 0

L I NE 13

LOADS 7 H (P4)

GO TYPE 0

L I NE 1

LOADN 0 (OPEN) LOAD 1 (I 0 = HAND) ST IO 1 H ^ _Q

L I NE 15

RET

Also, the position variable file PF is used when the position coordinate value of the position variable is not specified.

P 1: POS I T I ON

P 2: POS I T I ON

P3: POS I T I ON.

P4: POS I T I ON

Therefore, if the position coordinate value of the position variable is specified,

P 1: POS I T I ON 00 1000, 00 1000, 000 500,

000000, 000000, 000000

P 2: POS I T I ON 001000, 001000, 000000,

000000, 000000, 000000

P3: POS I T I ON 000500, 00 1500, 000500,

000000, 000000, .000000

P4: POS I T I O 000 500, 00 1500, 000000,

000000, o o o o o o, o o o o o o o

It becomes. However, in practice, each position variable has (i) the variable value, and (ii) the type of the variable (integer, vector, real, single-line, (S column, etc.) and (iii) when the type of variable is an array, etc., also includes data specifying the length of each. Also, the above-mentioned position variable feature In this case, the control axes are X, Y, Z, P, Q, and R.

(4) From the above, the motion file and the position variable file Once the is created, check the force>force> at which the actual position coordinates of the position variables are determined.

If the actual coordinate value of the position variable is not specified, enter the position coordinate value of each position variable using the keyboard 101g, and A position variable file PF indicating the correspondence between the position variables and the position coordinate values is generated by the processor 101a and stored in the RAMI01c. Let it go.

(6) As described above, if the motion file MF and the position variable file PF in which the position coordinate values are specified are generated, the keyboard is requested to display the trajectory by the keyboard. I do . Actually, the processing selection menu screen is displayed on the display screen of the graphic display device 101f, and the interface The trajectory display request is made by selecting the processing. In other words, the processing selection menu screen includes, for example, translation processing, interpreter processing, variable editing processing, and the like. Since the processing name and menu number of the program output processing etc. are displayed, operate the key on the keyboard 101g to display "Inter-processor processing". By selecting "", the offline programming function. The interface 101 IPF of the device 101 is activated.

(7) The processor 101a executes one block of an exercise sentence created by a predetermined code (for example, a P code) constituting the exercise file MF. Read.

(8) The processor stores the position data corresponding to the position variables included in the read one block motion statement in the position variable PF. Read from the path and CR ^ ₂

Draw on the display screen of the T10 IF, and display the source line identification SLN, position variable name PNM, and position data PD of the block. .

Note that the position variable may not be present in one block of motion sentence, so that the block in which the position variable exists is automatically searched. Then, display the passage trace, source line number, position variable name, and position data.

(9) Thereafter, the processor 101a checks whether or not the data indicating the end placed at the end of the motion file MF has been read. The above process is repeated until the data is read.

The above is an example in which the path traces of all blocks are automatically drawn on the display screen.However, one block is required and one block is required by the operator's operation. It can also be configured to draw the path of the passage while modifying the variables according to. FIG. 4 is a flowchart of the process in such a case, FIG. 5 is a drawing example of a path trajectory, and FIG. 6 is a variable correction screen. Note that in FIG. ⁴ , the processing up to step (6) is the same as the processing up to step (6) in FIG. The processing of will be described.

(7) Then, when the trajectory display is requested by the selection of the interpreter processing, the processor 101a transmits a predetermined motion to the motion file MF. Read one block of the exercise sentence created with the code (for example, P code).

(8) The processor checks whether the read block has a position variable and whether the position variable exists. If not, skip to step (1).

(9) If there is a position variable, the position data corresponding to the position variable is read from the position variable file PF. For example, if the point P is marked with an asterisk (*), it is drawn on the display screen of the graphics display device 101f, and the point P is displayed on the display screen. Displays the source line number of the jig SLN position variable name PNM and position data PD (see Fig. 5).

(10) Referring to the trajectory display, the operator determines whether the force required to correct the position variable is greater than a certain force.

(11) If there is no need to modify, the recorder is a keyboard. Press the NL key on 101'g. As a result, the processor and the processor connect the last point Q of the trajectory and the * point P by execution, and after that, perform the processing from step (15) onward. I do

(12) —If it is necessary to make corrections, the data should be obtained from the keyboard '101g force.

S T E P-V R E D I T

Key in and enter the correction request for the displayed position variable. “VREDIT” has the meaning of variable editing.

(13) As a result, the The mouth sensor 101a is used to display a variable correction image for correcting the position variables displayed along with the trajectory on the display screen. Display on the screen (see Fig. 6). The key area KIA displays the value of the variable pointed to by the power source. That is, the processor reads the variable data from the position variable file, and the variable value of the position variable name PNM displayed on the trajectory display screen. The groups are displayed in sequence so that they arrive in the first column.

In the variable data screen shown in FIG. 6, the R0 key provided on the keyboard 101g has a function of terminating the editing process. The key displays the previous screen of the variable data, the R3 key displays the next screen of the variable data, and the K2 key moves the cursor to the next higher variable name position. The K3 key moves the cursor to the next lower variable name position, the K0 key moves the cursor to the previous variable data position (to the left). However, the K1 key has the function of moving the cursor to the next variable data position (to the right).

(14) Operate the specified R and K keys to move the cursor to the position of the variable value (variable data) for which you want to modify, and then change the key value. If you do, the old variable value specified will be replaced with the new variable value.

After that, perform the same operation to correct the necessary position variables. Then, if the R0 key is depressed after the correction, the display returns to the locus display screen (the display is the corrected data), and then the NL key is depressed. Note that the corrected trajectory display screen is the one in which the path end point display position of the current work has been corrected based on the new variable values.

(15) After that, the processor 101a reads the next block from the motion file MF, and indicates the end of the program. — Check whether the data is correct, and if it is not the data indicating the end, execute the processing from step (8). If the data indicates the end, the process ends.

The above processing is performed when the position coordinate value of the position variable is specified by steps (4) to (5). However, the processing of (4) to (5) Is omitted, and instead, a judgment step for judging whether or not the position variable has been specified after step (8) is provided. If so, the process from step (9) onward is performed, and if not waiting, the process from step (9) will be specified. When

As described above, according to the present invention, the position coordinate values and the debugging of the robot language can be visually and easily performed. In parallel with the debugger process, it is possible to modify the variable values of the mouth control program, making the modification work simpler and faster. Wear .

Claims

The scope of the claims

1 * Translates a source program created in the spoken language into a motion file that defines the robot's motion. And a step for generating a position variable file that records the correspondence between the position variables used in the motion file and the actual position coordinate values. ,

Exercise sentences created with a predetermined code from an exercise file are sequentially read one block at a time, and if the block contains a position variable, Is a step in which the actual position coordinate value of the position variable is obtained from the position variable file.

The position coordinate values are used to display the trace of the movable part of the sigma bot on the display screen, as well as the source block number and position of the current block. Step to display the variable name and its coordinate value

Robot program confirmation method that has

2 ♦ A key is provided to advance the passage trajectory display one block at a time. Each time the key is depressed, the passage trajectory and the source line The π-bot program confirmation method according to claim 1, which is characterized by displaying a position variable name and a coordinate value.

3. On the display screen, the path end point of the current block is displayed with a predetermined mark, and when the key is pressed, the end of the block immediately before is pressed. Connects the end point of the passage to the end point of the passage of the current block, and connects the end point of the passage of the next block to the end point of the current block. The robot program confirmation method according to claim 2, which is characterized in that the path end point is displayed with a predetermined mark. 4. The path end point of the current block is When the variable correction processing request is generated in the state shown below with the mark displayed, the variable correction screen that corrects the variable value of the displayed position variable name is displayed. To display on the display screen,

After the variable value is corrected, the path end of the current π-track is corrected based on the new variable value.

Robot program confirmation method that waits for having