JPH0452833A - robot control device - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a robot control device into which a robot control program for controlling the operation of a robot is input.

[Prior Art] In conventional robot control devices, when there is a limit to the program storage capacity, the robot program is stored in a fixed length format, and the user is informed in advance that programming can be done within a number of cycles, or the storage format is changed. When the length is variable and a program is input arbitrarily, when the capacity becomes low,
Alternatively, the method is to notify the user when the capacity is used up.

[Problems to be Solved by the Invention] In conventional robot control devices, when the program storage format is set to a fixed length, the length of the program storage format is adjusted to the longest one, resulting in a considerable waste of storage area. As an improvement, there is a method of making the storage format variable length and notifying the user when the remaining amount is low or insufficient, but in this case, the number of lines that can be input varies depending on the user, and the number of lines that can be input varies depending on the user. It has the disadvantage that it cannot be programmed in a planned manner as it cannot be said to allow repeated input.

In addition, in the past, it was not possible to know how much spare memory was available for later program modifications, and the memory could not be used effectively, so it was necessary to reserve a large amount of memory. There is a problem with this.

[Means for Solving the Problems] The robot control device of the present invention that solves the above problems is provided with an output means for determining the remaining input capacity and notifying the programmer of it, so that the user can save the robot program in the memory. It is characterized by being able to input data without waste.

In particular, the present invention is further characterized in that the number of lines that can be input is determined from the number of characters per line to the memory, and this is output.

[Embodiment] FIG. 1 is a block diagram showing a robot control device of the present invention, and FIG. 2 is an operation flowchart showing control executed by the robot control device of FIG. 1.

The engineer is a keyboard for inputting the source program, 2
is a storage area that temporarily stores the input program,
Alternatively, it is a RAM used as a working area of the CPU 4. A part of the RAM 2 includes a soft key counter 2c that stores a count value of the number of return key presses each time the programmer inputs each step of the program.

3 is a ROM that stores a program that calculates the number of input lines that can be input from now on according to the formula shown in Figure 3.
It is. 4 is a CPU that executes actual control according to the embodiment, and 5 is a display that displays the results.

In the above configuration, when inputting the program shown in FIG. 4 from the keyboard 1, the programmer presses the return key after inputting each step.

The number of times the return key is pressed is multiplied by the counter 2C.
is stored as the number of input rows. The program can be stored in various formats, such as ASCII or intermediate code, but any variable-length format may be used, so for the sake of clarity, we will store the program in ASCII.

Now, while the user is writing a program with comment statements as shown in Figure 4, if the user presses a specified key on the keyboard to request memory, control is transferred to the subroutine shown in Figure 2, and Sl. Find the input capacity from the total number of characters of the program input in . In S2, the number of input lines is read from the counter 2c, and in S3, the number of lines that can be further input is calculated according to FIG. 3(A). The calculated number of lines is displayed on the display 5.

In addition, in the above calculation, the number of lines that can be input was determined from the average value of the number of input lines, but if you subtract the input capacity from the total capacity and divide this by the number of characters in the line with the maximum number of characters, the input The possible number of lines can be calculated with a margin. This calculation formula is shown in FIG. 3(B).

Now, the input program in Figure 4 has a total of 90 bytes (1
), and if the total capacity of the memory that stores this program is 1000 bytes, then the calculation is performed according to Figure 3 (A), and the 5th character is displayed on the display.
As shown in the figure, 50 lines of remaining capacity will be displayed.

Similarly, if user 2 writes the program shown in FIG. 4 without comments, it will require a total of 49 bytes, and the remaining capacity will be displayed as 97 lines. As described above, even if similar programs are created, the number of lines that can be stored in the program varies considerably depending on the user.

[Other Embodiments] When the user requests the remaining memory, instead of inputting a predetermined key, the calculation and display can be performed automatically each time the return key is pressed when inputting one line. Further, instead of using the input possible line number estimating means, the desired effect can be obtained by simply calculating and displaying the remaining number of bytes.

Similar effects can be obtained not only with programs but also with variables, teaching points, etc.

Further, in the embodiment, the storage format of each line of the program is shown as a variable length, or even if it is a fixed length, it is effective to simply display the number of lines that can be input remaining.

[Effects of the Invention] As described above, by providing the possible input amount estimating means and its display means: l) When inputting a program, the remaining input possible amount can be accurately grasped for each user.

2) Free capacity can be secured in a planned manner for later corrections.

3) It is possible to reduce waste in the program area and reduce memory costs.

In particular, if the remaining input possible number is displayed in terms of the number of lines as in the embodiment, it becomes very easy for the programmer to grasp the remaining memory capacity.

[Brief explanation of the drawing]

Fig. 1 is a block diagram showing a robot control device according to an embodiment of the present invention; Fig. 2 is an operation flowchart showing the control executed by the robot control device of Fig. 1; and Fig. 3 is a line in which input is possible. FIG. 4 is a diagram showing an example of an input program, and FIG. 5 is a diagram showing an example of a screen displaying remaining capacity. Patent applicant Canon Co., Ltd. Agent Patent attorney Yasunori Otsuka (and 1 other person) Figure 3 (A) Figure 3 (B) Figure 4 Figure 2

Claims (3)

[Claims] (1) A robot control device capable of creating and inputting a robot control program, which includes a memory for storing the input control program, and an output means for outputting the number of possible inputs to the memory based on the amount stored in the memory. A robot control device comprising: (2) The bot control device according to claim 1, wherein the number of lines that can be input is determined from the average number of characters per line, and this number of lines is output. (3) The robot control device according to claim 2, wherein the number of lines that can be input is determined from the maximum number of characters per line, and this number of lines is output.