JP3347758B2 - Industrial robot control system and control method thereof - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control system and a control method for an industrial robot, and more particularly , to a robot teaching device (hereinafter abbreviated as a teaching device) and a robot control panel (hereinafter referred to as a control panel and a control panel) for changing a robot operation program. The present invention relates to a robot control system and a control method thereof capable of preventing malfunction due to mismatch with the robot.

[0002]

2. Description of the Related Art FIG. 3 is a block diagram showing a hardware configuration of a conventional robot control system . 3, the teaching device A is provided with a non-writable storage medium 21 and a writable storage medium 22, and the non-writable storage medium 21 includes a robot operation program and a display module 23 of the teaching device A. , Input module 2
4 and the like are stored. Also,
The writable storage medium 22 is used as a working area for the robot operation program. By executing the program stored in the non-writable storage medium 21 by the central processing unit (hereinafter abbreviated as CPU) 20, teaching data of the robot can be created. Similarly to the teaching device A, the control panel B is provided with a non-writable storage medium 27, a writable storage medium 28, and a CPU 26. A common robot operation program is stored. The control panel B is provided with a serial interface 29, and the control panel B and the teaching device A are connected by the serial interface 25 provided on the teaching device A, so that data can be transmitted and received. The control panel B receives the supply of teaching data based on the robot operation program from the teaching device A via the serial interfaces 25 and 29, and controls the operation of reproducing the teaching data by the industrial robot.

[0003]

In the conventional industrial robot control system configured as described above, the robot operation program is stored in the non-writable storage medium 21 of the teaching device A. Therefore, when the robot operation program of the control panel B is changed or the version is upgraded by changing the robot data of the industrial robot, the robot is operated while the robot operation programs of the control panel B and the teaching device A are different. It may cause the robot to move, causing a malfunction of the robot. Therefore,
At the same time as the robot operation program stored in the non-writable storage medium 27 of the control panel B must be changed, the robot operation program in the teaching device A needs to be changed. There has been a problem that the operation of replacing the impossible storage medium 21 has to be performed. In the memory configuration of the conventional teaching device A,
Since all program data must be stored in a non-writable storage medium, it is impossible to add functions and the like beyond the limit of the memory section. The present invention has been made to solve the problems of the conventional device as described above, and when the robot operation program is changed or upgraded in the control panel, the robot operation program of the teaching device is easily changed. It is an object of the present invention to make it possible to easily implement change and addition of functions.

[0004]

SUMMARY OF THE INVENTION The present invention for achieving the above object has a first operation program storage medium in which a robot operation program is stored and which is not writable, and the first operation program storage medium is stored in the first operation program storage medium. using the stored the robot operation program, the robot control board for controlling the thus industrial robot to a predetermined teaching data, the robot
A second operation program storage medium connected to the control panel via an interface circuit and capable of writing the robot operation program, and an industrial robot according to the robot operation program stored in the second operation program storage medium A robot teaching device for performing a teaching operation for creating teaching data for a robot.
The above teaching data created by the above teaching device
A control system for an industrial robot to perform playback operations, the robot teaching the robot operation program prior to the teaching operation is stored in the first operation program storage medium of the robot control panel side of the robot teaching device wherein the second operation program storage medium of the device side is stored via an interface circuit, said
There rows <br/> teaching work in the robot teaching apparatus according to the robot <br/> preparative operation program stored in the second operation program storage medium, in the robot control panel, the second
The robot stored in the operation program storage medium of Item 1.
Created by the teaching device using the operation program
The present invention is configured as a control system for an industrial robot, wherein the teaching data is reproduced . The industrial robot according to claim 1.
Of the robot operation program applied to the control system
By considering it as a control method that has features in memory processing,
In the present invention, a robot operation program is stored and written.
Using a first operation program storage medium that cannot be read only.
Robot motion stored in the operation program storage medium
Industrial program according to the specified teaching data
A robot control panel for controlling the robot, and the robot control
Connected to the board via an interface circuit
Second operation program capable of writing a reset operation program
A program storage medium , wherein the second operation program storage medium is provided.
According to the robot operation program stored in the body
Teaching work to create teaching data for industrial robots
Using a robot teaching device to perform
Of the teaching data created by the teaching device
In the control method of the industrial robot to perform the work,
Prior to the teaching operation in the robot teaching device,
In the first operation program storage medium on the bot control panel side
Transferring the stored robot operation program to the robot
The second operation program storage medium on the teaching device side
Storing the data via the interface circuit;
The robot operation program stored in a program storage medium
Teaching work in the robot teaching device according to the
Then, the first operation program is performed on the robot control panel.
The robot operation program stored in a program storage medium.
The above teaching data created by the teaching device using a ram
The feature is that the reproduction work is performed according to the data
Can be considered as a control method for industrial robots.
You.

[0005]

According to the present invention, a storage area for a robot operation program transferred from a control panel is provided in a writable second operation program storage medium provided in a teaching device, and a change or version of the robot operation program is provided in the control panel. The first operation of the control panel that cannot be written due to
When the robot operation program stored in the operation program storage medium is changed, this new robot operation program is transferred to the teaching device via the interface circuit,
A new robot operation program is stored in a writable second operation program storage medium of the teaching device. Therefore, rewriting of the robot operation program due to the change of the robot data is the first operation of the control panel that cannot be written .
The operation can be performed only by changing the program storage medium. Therefore, the robot operation program of the teaching device and the robot operation program of the control panel can always be matched, and the robot malfunctions due to the operation of the robot despite the different versions of the robot operation program Can be prevented. Also, by transferring necessary programs and data groups according to the required functions from the control panel to the teaching device, the functions can be easily changed or added in a limited memory space.

[0006]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the accompanying drawings to provide an understanding of the present invention. still,
The following embodiments are examples embodying the present invention and do not limit the technical scope of the present invention. Here, Figure 1
FIG. 2 is a block diagram showing a hardware configuration of a teaching device and a control panel constituting a control system of an industrial robot according to one embodiment of the present invention, and FIG. In FIG. 1, the teaching device C includes a CPU 3
And a non-writable storage medium 1 and a storage medium 2 which is an example of a writable second operation program storage medium
And a display module 4 such as a display, an input module 5 such as a keyboard, and a serial interface 6 which is an example of an interface circuit for exchanging data with the control panel D. It is configured. The control panel D includes a CPU 8 and a storage medium 1 that is an example of a non-writable first operation program storage medium.
0, a writable storage medium 9, and a serial interface 7 for exchanging data with the teaching device C.
Are provided. The non-writable storage medium 1 of the teaching device C stores an initialization program of the teaching device C and a communication program with the control panel D. The writable storage medium 2 has an area used as a working area and an area for storing a robot operation program transferred from the control panel D. The area can store a system program and display data transferred from the control panel D. In the above configuration, when the teaching device C is operated, C
The PU 3 operates to execute the program stored in the non-writable storage medium 1 to initialize the teaching device C and initialize the communication with the control panel D. Therefore, when the operation program of the robot is changed or upgraded in the control panel D, the new robot operation program stored in the non-writable storage medium 10 of the control panel D is transmitted to the teaching device C through the serial interface 7.
The teaching device C stores the robot operation program from the control panel D transferred through the serial interface 6 in a predetermined area of the writable storage medium 2. The robot operation program transferred from the control panel D and stored in the writable storage medium 2 is transferred to the CPU 3.
Is executed, the teaching device C can operate with the same function even when the robot operation program of the control panel D is changed or upgraded. The procedure for updating the function of the teaching device C will be described with reference to the flowchart shown in FIG. First, when the power of the control panel D is turned on, both the control panel D and the teaching device C operate to perform initialization such as checking of each storage medium (step 1). Then,
Initialization for communication between the control panel D and the teaching device C is performed (step 2). When a data reception request is issued by the teaching device C (step 3), data is transferred from the control panel D to the teaching device C (step 4). In the subsequent processing, the functions of the teaching device C are updated by performing the processing of steps 3 and 4 as necessary. In the above configuration,
By providing a write-inhibit function in the writable storage medium 2 of the teaching device C and making it function as needed, it is possible to prevent the program from being destroyed during operation and the teaching device C and the robot from malfunctioning.

[0007]

According to the present invention, as described above, according to the present invention, a writable second operation program provided in the teaching device is provided with a storage area for the robot operation program transferred from the control panel in the storage medium. When the robot operation program stored in the non-writable first operation program storage medium of the control panel is changed due to a change or version upgrade of the robot operation program in the control panel, the new robot operation program is transferred via the interface circuit. To the teaching device, and the writing of the teaching device is possible.
A new robot operation program is stored in the second operation program storage medium. Therefore, rewriting of the robot operation program by changing the robot data can be performed only by replacing and changing the non-writable first operation program storage medium of the control panel. Therefore, the robot operation program of the teaching device and the robot operation program of the control panel can always be matched, and the robot malfunctions due to the operation of the robot despite the different versions of the robot operation program Can be prevented. Also, by transferring necessary programs and data groups according to the required functions from the control panel to the teaching device, the functions can be easily changed or added in a limited memory space.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a hardware configuration of a control system for an industrial robot according to one embodiment of the present invention.

FIG. 2 is a flowchart showing a processing procedure of data transfer from the robot control panel to the teaching device in the embodiment.

FIG. 3 is a block diagram showing a hardware configuration of a control system for an industrial robot according to a conventional example.

[Explanation of symbols]

C ... Teaching device D ... Robot control panel 1 ... Writable storage medium 2 ... Writable storage medium 3 ... Central processing unit (CPU) 6 ... Serial interface ( Interface circuit)

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-2-42554 (JP, A) JP-A-3-31903 (JP, A) JP-A-4-315204 (JP, A) JP-A-63-1988 285607 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) G05B 19/18-19/46 B23Q 15/00-15/28 B25J 3/00-3/04 B25J 9/10 -9/22 B25J 13/00-13/08 B25J 19/02-19/06

Claims (2)

(57) [Claims] A first operation program storage medium on which a robot operation program is stored and which is not writable;
Using the robot operation program stored in the first operation program storage medium, a robot control board for controlling the thus industrial robot to a predetermined teaching data, connected through the robot control panel and interface circuitry
It is to create teaching data for the industrial robot according to the robot operation program comprises a second operation program storage medium writable, the robot operation program stored in the second operation program storage medium
; And a robot teaching apparatus for performing teaching operation to the industrial
Created by the above teaching device for the robot
A control system for an industrial robot to perform the playback operations of taught data, the said robot operation program prior to the teaching operation is stored in the first operation program storage medium of the robot control panel side of the robot teaching device Before the second operation program storage medium on the robot teaching device side
The second operation is stored through the interface circuit .
There line teaching work in the robot teaching apparatus according to the robot operation program stored in the work program storage medium, in the robot control panel, the first operation
The robot operation program stored in a program storage medium.
The above teachings created by the teaching device using
A control system for an industrial robot, wherein a reproduction operation according to data is performed . 2. A robot operation program is stored, and
A first operation program storage medium that is not writable,
The robot stored in the first operation program storage medium
According to the specified teaching data
A robot control panel for controlling industrial robots, Connected to the robot control panel via interface circuit
The robot operation program
And a second operation program storage medium.
The robot operation program stored in the program storage medium
Create teaching data for industrial robots according to the ram
Using a robot teaching device that performs teaching work
The above teaching created by the above teaching device for the robot
Data To control an industrial robot to perform a regenerative operation
In the law, Prior to the teaching operation in the robot teaching device,
The first operation program storage medium on the robot control panel side
The robot operation program stored in the
Before the second operation program storage medium of the teaching device side.
The second operation is stored through the interface circuit.
The robot operation program stored in the operation program storage medium.
Teaching work in the robot teaching device according to the program
Do In the robot control panel, the first operation program
The robot operation program stored in the program storage medium.
Using the teaching data created by the teaching device
It is characterized by performing the following reproduction work
Control method for industrial robots.