JPH07200046A - I / O controller - Google Patents

Abstract

(57) [Summary] (Modified) [Purpose] Safely and completely confirm the operation in order from the external device that was assembled first by giving the input / output device a function that enables debug operation independently of the main controller. Provide an input / output control device. [Configuration] The control unit 6 creates a drive signal for each device that constitutes an external device based on the simulated drive communication information, stores the drive signal in the temporary storage unit 8 and outputs the drive signal to the parallel input / output circuit 10 for a predetermined time. Each time, the confirmation signal of the operating state of each device, which is input to the parallel input / output circuit 10, is read and stored in the temporary storage unit 8 together with the confirmation communication information created based on the confirmation signal. These transmission commands are transmitted to the debug communication means 13 when the communication information changes.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an input / output control device for assisting a main control device installed independently of an industrial robot main body and for inputting and outputting sensors, solenoid valves and the like.

[0002]

2. Description of the Related Art In recent years, the use of industrial robots, which are highly versatile in the work of inserting and assembling parts in high-mix low-volume production, has been increasing. The main controller of this robot is often a self-supporting type that is arranged independently of the robot body, and in many cases the external equipment attached to the robot body is also composed of multiple independent parts. In that case, the wiring connecting the main control device and the external device becomes enormous, and as a result, the wiring process increases, so in order to avoid this, various input / output control devices (hereinafter referred to as input / output devices) can be connected. ) Is attached to each independent external device, each input / output device and the main control device are connected by a communication cable, and input / output information is exchanged with the main control device.

[0003]

However, as shown in FIG. 5, the conventional input / output device 1 reads a program for controlling input / output from a program memory 7 in which various programs are stored and executes the program. When the communication unit 9 has a control unit 6 and receives an operation command for an external device from a main control unit (not shown), the communication information for driving included in the operation command is stored in the temporary storage unit 8 and the driving is performed. A drive signal for each device that constitutes an external device (not shown) is created according to the communication information for use, and is output to the parallel input / output circuit 10.
It is only configured to supply a drive signal having a voltage level of 0 to drive an external device to each device to drive the external device. Therefore, even if some of the external devices are assembled first, unless all the external devices have been assembled and wiring is completed, the operation of the external devices cannot be confirmed using the main control unit, and the external device confirmation Has to wait until all the external devices are completed and assembled, which causes a drawback such as a longer period of time for assembling the machine. In order to solve this problem, when a part of the external device is completed, the on / off switch (not shown) provided in the external device is used to drive the external device 4 each time to check the operation. However, it is necessary to approach the external device each time, and it is not only dangerous, but it is not possible to check the operation of the sensors and wiring of the external device, and it is not possible to completely check the operation of the external device. Has occurred.

The present invention was completed before by eliminating the above-mentioned drawbacks and providing an input / output device with a function capable of performing a debug operation independently of the main controller even if the entire external equipment is not assembled. It is an object of the present invention to provide an input / output control device capable of performing safe and complete operation confirmation sequentially from an external device.

[0005]

An input / output control device is a main communication means for storing communication information for driving an external device included in an operation command of the external device from the main control device in a temporary storage unit, Create a drive signal for each device that makes up an external device based on communication information, store it in a temporary storage unit, output it to the parallel input / output circuit, and check the operating status of each device that inputs it to the parallel input / output circuit. The control unit that reads the confirmation signal and stores it in the temporary storage unit together with the confirmation communication information created based on the confirmation signal, drives the external device according to the drive signal of each device from the control unit, and operates the external device. It is composed of a parallel input / output circuit to which a confirmation signal for confirming is input.

Further, the input / output control device has a communication connector to which a personal computer is connected, and has a function of transmitting a debug command including communication information for simulating driving of an external device from the personal computer to the control section. There is provided a debug communication means having a confirmation signal for confirming the operation state of the external device transmitted from the unit, and a function for transmitting the confirmation communication information to be generated to the personal computer.

Further, the control unit creates a drive signal for each device constituting the external device based on the simulated drive communication information included in the debug command, stores the drive signal in the temporary storage unit, and stores it in the parallel input / output circuit. The confirmation signal of the operating state of each device that is output and input to the parallel input / output circuit at a fixed time is read and stored in the temporary storage unit together with the confirmation communication information created based on this signal immediately or It is configured to send them to the debug communication means upon change.

[0008]

[Operation] In the input / output control device of the present invention, a plurality of input / output control devices are respectively connected to the main control device, and each external device is connected to each input / output device. This time,
When one of the external devices is assembled earlier than the other external devices and wiring is completed, a personal computer is connected to the input / output control device to which the external device is connected. When the debug mode command is transmitted from this personal computer, the debug communication means waits for the debug command including the simulated drive communication information from the personal computer. Upon receipt of the debug command, a drive signal for each device constituting the external device is created based on the simulated drive communication information and stored in the temporary storage unit,
This is output to the parallel input / output circuit. Therefore, the parallel input / output circuit outputs a drive signal of a voltage level capable of being driven to each device, and a desired device forming the external device is driven. After that, a confirmation signal that confirms the operating state of each device to be connected to the parallel input / output circuit is stored in the temporary storage unit at regular intervals, and this confirmation signal and the confirmation communication information created from this confirmation signal immediately or when the confirmation signal changes. Sent to the debug communication means. The debug communication means immediately sends the confirmation signal and the confirmation communication information to the personal computer. As a result, a confirmation signal for confirming the operation state of the external device according to the operation command from the personal computer and confirmation information can be confirmed on the screen of the VasoCon at regular intervals or when the confirmation signal changes, and the external device is configured. It is possible to check the presence or absence of abnormal operation of various drive sources and sensors and the wiring of these.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. 1 and 2, reference numeral 1 denotes a plurality of input / output control devices (hereinafter, input / output devices) connected in parallel to a main control device 2 of an industrial robot (not shown) via a communication cable 5. That is, each of the input / output devices 1 is connected to various devices (not shown) constituting the external device 4 via the input / output terminal block 3. The main controller 2 is
The normal input / output mode command and the operation command including the communication information for driving each device of the external device 4 are configured to be transmitted to the input / output device 1, and after the power of the input / output device 1 is turned on, a debug mode command to be described later. The normal input / output mode command is transmitted before the operation command is transmitted.

The input / output device 1 has the same structure, and the input / output terminal block 3 is provided with an LED display section 3a for displaying the operating state of the input terminal to which the device is connected.
A program memory 7 for storing a normal input / output program and a debug program, a control unit 6 for executing these programs, a temporary storage unit 8 for temporarily storing various information,
It is composed of a high speed communication means 9 having a communication connector 9a which is an example of the main communication means, a parallel input / output circuit 10, and a power supply circuit 11 which supplies a voltage of 5 V to each part.

The high-speed communication means 9 incorporates a receiver driver IC and a serial controller IC, performs serial-to-parallel conversion of communication information, and uses the RS422A communication standard for performing communication at a communication speed of 640 Kbps.
Is configured to communicate with. When the high-speed communication means 9 receives the operation command of the external device 4,
The drive communication information included in this is DMA (direct
A memory access controller (not shown) is used to temporarily store the data in the temporary storage unit 8 and send a read completion command to the control unit 6. Further, the high-speed communication means 9 waits for a transmission command from the control section 6 and causes the DMA controller to drive communication information for each device, a drive signal, and a confirmation signal for confirming the operating state of each device, which will be described later, from the temporary storage section 8. Main communication unit 2 reads the communication information for confirmation
Configured to send to.

The control unit 6 is a main control unit 2 after the power is turned on.
After waiting for a normal input / output mode command from the computer or a debug mode command from the personal computer 12 to be described later, the normal input / output program and the debug program to be described later are read from the program memory 7 and executed. A switch (not shown) may be added to the input / output device 1 for the normal input / output mode command and the debug mode command so that the input / output device 1 can recognize each command.

The program memory 7 stores a normal input / output program and a monitor program, although other explanations are omitted. The normal input / output program, as shown in FIG. 3, 1) waits for a read completion command from the high speed communication means (as an interrupt command). 2) Read the driving communication information from the temporary storage unit, create a driving signal for driving each device constituting the external device based on this, store it in the temporary storage unit, and further output it to the parallel input / output circuit. . 3) A confirmation signal for confirming the operation state of each device is read from the parallel input / output circuit, stored in the temporary storage unit, and the confirmation communication information is created from the confirmation signal and stored in the temporary storage unit. To do. 4) The confirmation signal in the temporary storage unit and the transmission command of the confirmation communication information are transmitted to the high-speed communication means, and the process returns to 1). Is configured.

The temporary storage unit 8 is configured to temporarily store the driving communication information, the driving signal, the confirmation signal of the external device 4 and the confirmation communication information included in the operation command transmitted from the main controller 2. ing.

The parallel input / output circuit 10 converts a drive signal of the external device 4 from the control unit 6 into a drive signal of a voltage level capable of driving a plurality of devices forming the external device 4, and each device converts the drive signal. It outputs to the output terminal of the connected input / output terminal block 3 and receives a confirmation signal for confirming the operating state from each device from the input terminal of the input / output terminal block 3 and uses this as a control level confirmation signal. It is configured to convert. Further, the parallel input / output circuit 10 is configured to temporarily store the drive signal in a buffer circuit (not shown) so as to be synchronized when the signal is transferred to the external device 4.

LED display section 3a of the input / output terminal block 3
Is lit by using a 5 volt power supply, and, for example, when a signal from a sensor of an example of various devices is input to the input / output terminal block 3, the LED corresponding to the sensor is lit by the signal. .

Further, the input / output device 1 has a debug communication means 13 having a communication connector 13a to which the personal computer 12 can be connected, and a communication cable 14 using the RS232C communication standard for performing communication at a communication speed of 9600 bps.
The input / output information can be communicated with the personal computer 12 via the. This debugging communication means 13
Has a built-in receiver IC and serial controller IC, and is configured to perform serial-to-parallel conversion of communication information. The debug command, the debug end command, and the simulated drive communication information from the external device 4 are transmitted from the personal computer. A function of transmitting a debug command to be described later to the control unit 6 including a confirmation signal for confirming the operating state of the external device transmitted from the control unit 6,
It has a function of transmitting the confirmation communication information to be created to the personal computer 12. The personal computer 12 is of a general-purpose type and operates with a debugging program to be described later, and transmits a debug mode command, a debug end command or a debug command to the input / output device 1 in response to an input instruction of a pointing device such as a keyboard or a mouse.
When the predetermined information is received from the debug communication means 13, the predetermined information is displayed in a predetermined format, or the display is stopped by a display stop command.

Further, a debug program is stored in the program memory 7, and the debug program, as shown in FIG. 4, 1) reads a confirmation signal in the temporary memory. 2) Determine whether there is a change in the confirmation signal, and when there is no change,
Jump to 4). 3) Read the confirmation signal, create confirmation communication information from this, and transmit the confirmation signal and the confirmation communication information to the debug communication means. 4) Judging whether or not the debug communication means has received a command from the personal computer, and when no command has been received,
Return to 1). 5) Judge whether it is a debug end command, and when it is a debug end command, jump to 8). 6) The simulated driving communication information included in the debug command is stored in the temporary storage unit, and the driving signal of each device that constitutes the external device is created based on the simulated driving communication information and stored in the temporary storage unit, Further, this is output to the parallel input / output circuit. 7) The confirmation signal for confirming the operating state of the external device received by the parallel input / output circuit is read, this is stored in the temporary storage unit, and the process returns to 1). 8) It is configured to be the end. The confirmation signal and the confirmation communication information may be transmitted to the debug communication means at regular intervals.

The above-mentioned input / output devices are added according to the number of independent external devices and are connected in parallel to the main control device 2, respectively, but when all the external devices 4 are assembled and wiring is completed, the power supply is turned on. When turned on, the input / output device 1 becomes the main controller 2
Wait for a normal input / output mode command from the computer or a debug mode command from the personal computer 12. When the normal input / output mode command is transmitted from the main control device 2 first, the control unit 6 waits for the read completion command from the high speed communication means 9. During this period, when the high-speed communication means 9 receives an operation command having drive communication information according to the drive content of the external device 4 from the main controller 2, D
The communication information for driving is temporarily stored by the MA controller 8
The read completion command is transmitted to the control unit 6 as well as being stored. The control unit 6 operates in response to the read completion command, a drive signal of a control level is created from the drive communication information, stored in the temporary storage unit 8, and the parallel input / output circuit 10 is operated.
Is output to. The drive signal is converted into a drive signal of a voltage level capable of driving each device constituting the external device 4 by the parallel input / output circuit 10 and output to the output terminal of the input / output terminal block 3 to configure the external device 4. Each device is driven. At this time, a confirmation signal for confirming the operation state from each device is input to the parallel input / output circuit 10 through the input terminal of the input terminal block 3,
This is converted into a control level confirmation signal for confirming the operation state of the external device 4 and stored in the temporary storage unit 8. At the same time, communication information for confirmation is created from the confirmation signal and stored in the temporary storage unit 8. Further, the confirmation signal and the confirmation communication information are transmitted to the high-speed communication means 9 and further to the main control device 2, so that the main control device 2 can know the operating state of the external device 4.

The external device 4 connected to one of the input / output devices 1 is assembled faster than the external device 4 connected to another input / output device 1 and wiring is completed.
When confirming the operation of, the personal computer 12 is connected to the communication connector 13a of the debug communication means 13 through the communication cable 14, and immediately after the power of the input / output device 1 is turned on, the debug mode command is issued from the personal computer 12 for debugging. It is transmitted to the communication means 13. Therefore, the control unit 6 reads a confirmation signal for confirming the operation state of the external device 4 in the temporary storage unit 8 and determines whether or not there is a change. When the confirmation signal does not change, the debug communication unit 13 further determines. It is determined whether or not any command is received from the personal computer 12. At this time, if the debug communication unit 13 has not received any command, the change of the confirmation signal is determined again.

If the debug communication means receives any command, if this is a debug end command,
Although all the operations are finished, if it is not a debug end command, this is used as a debug command and drive signals for the respective devices configuring the external device 4 are created based on the simulated drive communication information included therein and temporarily stored. The data is stored in the unit 8 and is output to the parallel input / output circuit 10. Therefore, the parallel input / output circuit 10 outputs a drive signal of a voltage level capable of being driven to each device, and the desired device is driven.
At this time, a confirmation signal for confirming the operating state of each device is input to the parallel input / output circuit 10, which is read by the control unit 6 and stored in the temporary storage unit 8.

After that, the confirmation signal in the temporary storage section 8 is read again and the above-mentioned operation is repeated to judge whether or not the confirmation signal has changed. When the confirmation signal has changed, confirmation communication information is created from this, and the confirmation signal and the confirmation communication means are transmitted to the debug communication means 13. Therefore, the debug communication means 13 transmits a confirmation signal for confirming the operating state of each device and confirmation communication information to the personal computer 12, and as a result, the personal computer 1
The confirmation signal for confirming the operation state of the external device 4 according to the operation command from 2 and the confirmation communication information can be confirmed on the screen of the personal computer 12 at regular intervals or when the confirmation signal changes, and the abnormal operation of the external device 4 can be confirmed. You can check the existence.

[0023]

As described above, according to the present invention, since the external device can be controlled from the personal computer regardless of the main control device, a plurality of external devices are provided and each external device is controlled for input / output. Even when manufacturing a machine that is connected to a device, it is possible to perform an operation test and correct inconvenient parts in order from an assembled external device. Therefore, it is possible to test the operation and correct inconvenient parts without waiting for all the external devices to be assembled, and not only can the time required for assembling the machine be greatly reduced, but the operation confirmation of the external devices can also be checked by the sensor. It is possible to include not only external equipment such as the above, but also these wirings, and it is possible to perform a complete operation check. Moreover, since it is not necessary to approach the external device, the operation can be confirmed safely.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of an input / output device according to the present invention.

FIG. 2 is a schematic explanatory diagram showing an overall configuration of the present invention.

FIG. 3 is a flowchart showing a normal input / output program according to the present invention.

FIG. 4 is a flowchart showing a debugging program according to the present invention.

FIG. 5 is a block diagram showing a schematic configuration of a conventional example.

[Explanation of symbols]

 1 Input / output control device 2 Main control device 3 Input / output terminal block 3a LED display unit 4 External device 5 Communication cable 6 Control unit 7 Program memory 8 Temporary storage unit 9 High-speed communication means 9a Communication connector 10 Parallel input / output circuit 11 Power supply circuit 12 Personal computer 13 Monitor communication circuit 13a Communication connector 14 Communication cable

Claims (2)

[Claims] 1. A main communication unit for storing, in a temporary storage unit, drive communication information of an external device included in an operation command of the external device from a main control device, and each of the external devices configured based on the drive communication information. Create a drive signal for a device, store it in a temporary storage unit, output it to the parallel input / output circuit, and read the confirmation signal of the operating state of each device, which is input to the parallel input / output circuit, and create it based on this. From the parallel input / output circuit that receives the confirmation signal that drives the external device according to the drive signal of each device from the control unit and the control unit that stores the confirmation communication information in the temporary storage unit and that confirms the operating state of the external device. The input / output control device has a communication connector to which a personal computer is connected, and the function to send a debug command from the personal computer to the control unit including communication information for simulated drive of external equipment. A debug communication means equipped with a confirmation signal for confirming the operating status of the external device sent from the control unit and a function for sending the confirmation communication information created from now on to the personal computer is provided, while the simulated drive included in the debug command is provided. Each device that creates a drive signal for each device that makes up an external device based on the communication information for use, stores this in the temporary storage unit, outputs it to the parallel input / output circuit, and inputs it to the parallel input / output circuit at regular intervals. Is provided with a control unit for reading a confirmation signal of the operating state of the device, storing it in the temporary storage unit together with the confirmation communication information created based on the confirmation signal, and immediately transmitting these to the debug communication unit. Output control device. 2. The control unit is configured to transmit the confirmation signal and the confirmation communication information generated from the confirmation signal to the debug communication unit when the confirmation signal of the operating state of each device input to the parallel input / output circuit changes. Claim 1 characterized in that
The input / output control device described in 1.