WO2024069880A1 - 携帯型操作装置、機械システムおよび携帯型操作装置のメモリ制御プログラム - Google Patents

携帯型操作装置、機械システムおよび携帯型操作装置のメモリ制御プログラム Download PDF

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Publication number
WO2024069880A1
WO2024069880A1 PCT/JP2022/036517 JP2022036517W WO2024069880A1 WO 2024069880 A1 WO2024069880 A1 WO 2024069880A1 JP 2022036517 W JP2022036517 W JP 2022036517W WO 2024069880 A1 WO2024069880 A1 WO 2024069880A1
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WIPO (PCT)
Prior art keywords
memory
data
operating device
error correction
unit
Prior art date
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Ceased
Application number
PCT/JP2022/036517
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English (en)
French (fr)
Japanese (ja)
Inventor
裕司 中島
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Fanuc Corp
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Fanuc Corp
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 Fanuc Corp filed Critical Fanuc Corp
Priority to JP2024548984A priority Critical patent/JPWO2024069880A1/ja
Priority to DE112022007556.2T priority patent/DE112022007556T5/de
Priority to CN202280100272.1A priority patent/CN119895343A/zh
Priority to PCT/JP2022/036517 priority patent/WO2024069880A1/ja
Priority to US18/992,567 priority patent/US20250256391A1/en
Priority to TW112132525A priority patent/TW202414133A/zh
Publication of WO2024069880A1 publication Critical patent/WO2024069880A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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—Program-controlled manipulators
    • B25J9/0081—Program-controlled manipulators with leader teach-in means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1669—Program controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form
    • G05B19/409—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form
    • G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
    • G05B19/4145—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by using same processor to execute programmable controller and numerical controller function [CNC] and PC controlled NC [PCNC]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the program is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36159—Detachable or portable programming unit, display, pc, pda

Definitions

  • This disclosure relates to a portable operating device, a mechanical system, and a memory control program for the portable operating device.
  • a portable operating device connected to machine control devices that control the machines are sometimes used.
  • An example of a portable operating device is a teaching operation panel that teaches an industrial robot how to perform certain operations. This teaching operation panel is used, for example, in a factory where the industrial robot is actually installed, to make the industrial robot perform a specified processing operation on a workpiece.
  • the teaching operation panel (portable operation device) is portable and is used, for example, in a factory where an industrial robot (machine) is installed, and is therefore exposed to electromagnetic noise and the like generated by the industrial robot itself or various surrounding machines.
  • an industrial robot machine
  • electromagnetic noise and the like generated by the industrial robot itself or various surrounding machines.
  • the teaching operation panel is often used in an environment where various noises, including electromagnetic noise, are present, there is a risk that errors will occur in the data stored in the memory of the teaching operation panel due to the effects of electromagnetic noise, etc.
  • the memory (main memory) in the teaching operation panel uses, for example, an error-correcting code (ECC: Error-Correcting Code/Error-Correction Code).
  • ECC Error-Correcting Code/Error-Correction Code
  • an error-correcting code is a code that is added, for example, when data is recorded (written) in memory, in order to allow the receiving side (reading side) to detect and correct data errors that occur in the memory.
  • This error-correcting code (ECC data) is, for example, generated from the original data based on a specified protocol, and the generated ECC data is added to the original data and recorded in the memory.
  • the ECC data is used, for example, on the receiving side to detect and correct errors in data read from memory.
  • the ECC data is generated, for example, by cutting the original data to a specified length and applying a specified protocol to the cut data.
  • the original data with the ECC data added is written to a main memory, for example, composed of a DRAM (Dynamic Random Access Memory) in a teaching operation panel.
  • DRAM Dynamic Random Access Memory
  • the ECC data added to the original data is used to detect and correct errors in the data read from memory. That is, on the reading side, when reading data, the ECC data is separated from the original data and a predetermined protocol is applied to check whether the original data contains any errors. Furthermore, if an error is detected on the reading side, the data is restored to the correct state based on the ECC data.
  • ECC error correcting codes
  • an error-correcting code is applied to increase the number of bits to be detected/corrected, the amount of data and processing time for the error-correcting code will increase accordingly. For this reason, an appropriate error-correcting code is selected taking into consideration the required number of bits to be detected/corrected, the available memory capacity, bandwidth, etc.
  • error-correcting codes such as Hamming codes, horizontal and vertical parity codes, Reed-Solomon codes, and BCH codes.
  • portable teaching operation panels are usually used in close proximity to the industrial robots, and are therefore exposed to electromagnetic noise and other noise generated by the industrial robot itself or various surrounding machines. This raises the risk of errors occurring in the data stored in the memory of the teaching operation panel, and error correction codes are therefore applied.
  • ECC data data for the error correction code
  • processing to perform error correction detection and correction
  • applying an error correction code to a teaching pendant increases memory usage in the teaching pendant and reduces processing speed.
  • the teaching pendant is not limited to one that teaches an industrial robot a specific operation for a workpiece, but may be a portable operation device that can operate various robots such as collaborative robots and various machines such as CNC machine tools.
  • the portable operation device in this specification is a portable (handheld) device that can operate various machines, including a teaching pendant.
  • a portable operating device for operating a machine, the portable operating device including a memory having a plurality of storage units, a code assignment unit, and an encoding area designation unit.
  • the code assignment unit assigns an error correction code to data in the memory
  • the encoding area designation unit designates an area for storing the data to which the error correction code has been assigned.
  • FIG. 1 is a diagram that illustrates an industrial robot system as an example of a mechanical system according to the present embodiment.
  • FIG. 2 is a block diagram showing a configuration of a main part of an example of the portable operating device according to this embodiment.
  • FIG. 3 is a flowchart for explaining an example of processing in an embodiment of a memory control program of the portable operating device according to this embodiment.
  • FIG. 1 is a diagram that shows an outline of an industrial robot system as an example of a mechanical system according to this embodiment.
  • an industrial robot system 100 as an example of a mechanical system according to this embodiment includes an industrial robot (machine) 1, an industrial robot control device (machine control device) 2, and a teaching operation panel (portable operation device) 3.
  • a hand unit (end effector) 11A is provided at the tip of the arm 11 of the industrial robot (robot) 1, and this hand unit 11A performs a predetermined process on a workpiece (object) 5 placed on a workbench 4, for example.
  • An industrial robot control device (robot control device) 2 controls the robot 1 based on, for example, a pre-installed program (software program) or the like.
  • a camera (not shown) for photographing the workpiece 5 etc. may be attached near the hand portion 11A of the arm 11, and an image including the workpiece 5 photographed by this camera may be output to the robot control device 2. Furthermore, it goes without saying that various modifications and variations are possible depending on the type of machine to be used and the processing required.
  • the teaching operation panel 3 has a display screen 31 and an operation unit 32, and is connected to the robot control device 2 by wire. This teaching operation panel 3 is used by an operator (instructor) to operate the operation unit 32 while checking the image on the display screen 31, thereby teaching the robot 1 a specified operation using the hand unit 11A via the robot control device 2.
  • the teaching pendant 3 is used near a robot 1 installed in an actual factory, for example, and is therefore exposed to electromagnetic noise and the like generated by the robot 1 itself or various surrounding machines.
  • the teaching pendant 3 is often used in an environment where various noises, including electromagnetic noise, are present, there is a risk that errors will occur in the data stored in the memory of the teaching pendant 3 due to the effects of electromagnetic noise, etc.
  • the teaching operation panel (portable operation device) 3 is connected to the robot control device 2 by a wire, but it may also be configured to be connected to the robot control device 2 wirelessly. Also, it goes without saying that the portable operation device 3 is not limited to a teaching operation panel as shown in FIG. 1, and may be, for example, a tablet (tablet computer) connected to the robot control device 2 by a wire or wirelessly. Furthermore, the portable operation device 3 is not limited to a teaching operation panel that operates robots such as industrial robots and collaborative robots, or CNC machine tools, and can be widely used as a portable operation device that controls various machines.
  • FIG. 2 is a block diagram showing the essential components of one embodiment of the portable operating device according to this embodiment, and functionally shows the essential components of the teaching operation panel 3 in the industrial robot system 100 shown in FIG. 1.
  • the teaching operation panel 3 has an arithmetic processing device (CPU (Central Processing Unit, MPU (Micro Processing Unit)) 310 and a memory (storage device) 320.
  • CPU Central Processing Unit, MPU (Micro Processing Unit)
  • memory storage device
  • the CPU 310 includes a code assignment unit 311, an encoding area designation unit 312, and a status grasp unit 313.
  • the code assignment unit 311 assigns an error correction code to data in the memory 320
  • the encoding area designation unit 312 designates an area for storing the data to which the error correction code has been assigned
  • the status grasp unit 313 grasps the status of the teaching pendant 3.
  • the memory 320 has, for example, N memory sections (a first memory section (memory block) 321, a second memory section 322, ..., an Nth memory section 32N).
  • the memory 320 is the main memory (for example, DRAM: Dynamic Random Access Memory) of the CPU 310 in the teaching operation panel 3, and it is possible to control whether or not to activate the error correction code for any of the memory sections 321 to 32N.
  • the status grasping unit 313 grasps the status of the application program (program) executed by the CPU 310 of the teaching pendant 3 according to, for example, a control command from the robot control device 2.
  • the coding area designation unit 312 designates, for example, an area among the multiple storage units 321 to 32N in which to store the data to which the error correction code has been assigned by the code assignment unit 311, based on the output of the status grasping unit 313.
  • the coding area designation unit 312 designates a storage unit for storing data with error correction codes among the multiple (e.g., N) storage units 321, 322, ..., 32N in the memory 320. That is, the coding area designation unit 312 switches the capacity of the area for storing data with error correction codes, which is important data in which errors caused by electromagnetic noise, etc., should not occur, based on the output of the state grasping unit 313.
  • the data stored in the area specified by the coding area specification unit 312, i.e., the data to which the error correction code has been added by the code addition unit 311, can be determined, for example, based on the state of the program grasped by the state grasp unit 313.
  • the code assignment unit 311 assigns an error correction code to data when the program executed by the CPU 310, as determined by the state determination unit 313, is directly related to the system, and does not assign an error correction code to data when the program is not directly related to the system.
  • the coding area designation unit 312 designates an area for storing data with an error correction code added to it when the program executed by the CPU 310, as recognized by the status recognition unit 313, is directly related to the system.
  • the coding area designation unit 312 designates an area for storing data without an error correction code added to it when the program executed by the CPU 310, as recognized by the status recognition unit 313, is not directly related to the system.
  • the coding area designation unit 312 switches the capacity of the area that stores the data with error correction code among the multiple storage units 321 to 32N based on the state of the program grasped by the state grasp unit 313.
  • the code assignment unit 311 can determine whether or not to assign an error correction code by having the status understanding unit 313 understand the program executed by the CPU 310. This understanding of the program by the status understanding unit 313 can also be confirmed, for example, by a control command from the robot control device 2 to the teaching operation panel 3. Furthermore, the determination of whether or not to assign an error correction code is not limited to being determined by whether or not the program executed by the CPU 310 described above is directly related to the system.
  • the status grasping unit 313 grasps the operation and usage status of the teaching pendant 3, or various other conditions, and based on the output of the status grasping unit 313, can determine whether the code assignment unit 311 should assign an error correction code.
  • the coding area designation unit 312 can designate an area among the multiple storage units 321 to 32N of the memory 320 in which to store the data to which an error correction code has been assigned, based on the output of the status grasping unit 313.
  • data to which the code assignment unit 311 assigns an error correction code can be considered to be, for example, important data that is directly related to a system that needs to be protected by applying an error correction code.
  • data to which the code assignment unit 311 does not assign an error correction code can be considered to be, for example, data that can tolerate a certain degree of errors and for which it is preferable to avoid an increase in memory usage and a decrease in processing speed due to the application of an error correction code. This makes it possible to suppress an increase in memory usage and a decrease in processing speed while maintaining the reliability of the operation of the teaching pendant 3 (industrial robot system 100).
  • FIG. 3 is a flow chart for explaining an example of processing in one embodiment of a memory control program for the portable operating device according to this embodiment, for example, for explaining the processing of a program executed by the arithmetic processing unit 310 of the teaching operation panel 3 shown in FIG. 2.
  • step ST1 when one embodiment of the memory control program for the teaching operation panel starts (START), in step ST1, the status grasper 313 grasps the status of the teaching operation panel 3 and determines which areas of the first memory unit to the Nth memory unit (memory blocks 321 to 32N) should have error correction codes added (areas that need to be protected by applying ECC).
  • step ST2 the coding area designation unit 312 designates an area to which an error correction code is to be added based on the determination result of the state grasp unit 313. That is, as described above, the coding area designation unit 312 designates an area among the multiple storage units 321 to 32N of the memory 320 in which to store the data to which an error correction code has been added based on the output of the state grasp unit 313.
  • the code assignment unit 311 assigns an error correction code to the data in the specified storage unit based on the designation by the coding area designation unit 312. That is, the code assignment unit 311 assigns an error correction code to the data in the area in the memory 320 designated by the coding area designation unit 312 that stores the data to which the error correction code has been assigned.
  • the memory control program of the portable operating device may be provided by recording it on a computer-readable non-transitory recording medium or a non-volatile semiconductor memory, or may be provided via a wired or wireless connection.
  • Examples of computer-readable non-transitory recording media include optical disks such as CD-ROMs (Compact Disc Read Only Memories) and DVD-ROMs, or hard disk devices.
  • Examples of non-volatile semiconductor memory include PROMs (Programmable Read Only Memories) and flash memories. Distribution from a server device may be via a wired or wireless WAN (Wide Area Network), LAN (Local Area Network), or the Internet.
  • the portable operating device, mechanical system, and memory control program for the portable operating device make it possible to suppress increases in memory usage and decreases in processing speed while maintaining the reliability of the portable operating device (mechanical system).
  • a portable operating device (3) for operating a machine (1) A memory (320) having a plurality of storage units (321 to 32N); a code adding unit (311) that adds an error correction code to the data in the memory (320); A portable operating device comprising: a coding area designation unit (312) that designates an area for storing the data to which the error correction code has been added.
  • a state grasping unit (313) for grasping a state of the portable operating device (3) The portable operating device described in Appendix 1, wherein the coding area designation unit (312) designates an area among the multiple memory units (321 to 32N) in which to store data to which the error correction code has been added, based on the output of the status understanding unit (313).
  • the portable operating device (3) includes a processor (310) that executes an application program,
  • the state grasping unit (313) grasps the state of an application program executed by the arithmetic processing device (310),
  • the portable operating device described in Appendix 2 wherein the coding area designation unit (312) switches the capacity of an area among the multiple memory units (321 to 32N) for storing data to which the error correction code has been added, based on the state of the application program grasped by the state grasping unit (313).
  • the code assignment unit (311) An error correction code is added to data in the case where the application program recognized by the status recognition unit (313) is directly related to the system, A portable controller according to claim 3, wherein no error correction code is added to data in a case where the application program recognized by the status recognition unit (313) is not directly related to the system.
  • the memory (320) is a main memory accessible to the arithmetic processing unit (310), and is a DRAM capable of controlling whether or not to activate the error correction code for any of the storage units (321 to 32N).
  • the machine (1) is a robot or a CNC machine tool, The portable operating device according to any one of claims 1 to 6, wherein the portable operating device (3) is a teaching operation panel that teaches an operation to the robot or the CNC machine tool.
  • Appendix 7 A portable operating device (3) according to any one of Supplementary Note 1 to Supplementary Note 6; A machine control device (2) connected to the portable operating device (3) via a communication line; A machine system comprising: the machine (1) connected to the machine control device (2) via a communication line and operated by the portable operating device (3) via the machine control device (2).
  • the arithmetic processing device (310) further comprises: Grasping the state of the portable operating device (3), A memory control program for a portable operating device as described in Appendix 8, which executes a process to switch the area in which the data to which the error correction code has been added is stored based on the grasped state of the portable operating device (3).
  • Industrial robots (machines, robots) 2.
  • Industrial robot control device (machine control device, control device) 3
  • Teaching operation panel (portable operation device) 4
  • Work table 5
  • Work 11
  • Arm 11A Hand part (end effector) 31
  • Display screen 32
  • Operation unit 100
  • Industrial robot system (machine system, system) 310
  • CPU Arimetic processing unit
  • Code assignment unit 312
  • Encoding area designation unit 313
  • Status grasp unit 320 Memory 321 to 32N Storage units (memory blocks)

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Techniques For Improving Reliability Of Storages (AREA)
PCT/JP2022/036517 2022-09-29 2022-09-29 携帯型操作装置、機械システムおよび携帯型操作装置のメモリ制御プログラム Ceased WO2024069880A1 (ja)

Priority Applications (6)

Application Number Priority Date Filing Date Title
JP2024548984A JPWO2024069880A1 (https=) 2022-09-29 2022-09-29
DE112022007556.2T DE112022007556T5 (de) 2022-09-29 2022-09-29 Mobile Bedienvorrichtung, Maschinensystem und Speichersteuerprogramm für mobile Bedienvorrichtung
CN202280100272.1A CN119895343A (zh) 2022-09-29 2022-09-29 便携式操作装置、机械系统以及便携式操作装置的存储器控制程序
PCT/JP2022/036517 WO2024069880A1 (ja) 2022-09-29 2022-09-29 携帯型操作装置、機械システムおよび携帯型操作装置のメモリ制御プログラム
US18/992,567 US20250256391A1 (en) 2022-09-29 2022-09-29 Mobile operation device, machine system, and memory control program for mobile operation device
TW112132525A TW202414133A (zh) 2022-09-29 2023-08-29 攜帶型操作裝置、機械系統及攜帶型操作裝置之記憶體控制程式

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2022/036517 WO2024069880A1 (ja) 2022-09-29 2022-09-29 携帯型操作装置、機械システムおよび携帯型操作装置のメモリ制御プログラム

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WO2024069880A1 true WO2024069880A1 (ja) 2024-04-04

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US (1) US20250256391A1 (https=)
JP (1) JPWO2024069880A1 (https=)
CN (1) CN119895343A (https=)
DE (1) DE112022007556T5 (https=)
TW (1) TW202414133A (https=)
WO (1) WO2024069880A1 (https=)

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