JPS5829005A - Controller for robot - Google Patents

Abstract

PURPOSE:To perform a minute trace control, by providing a coordinate storage at the outside of an address space of a CPU and storing much and highly accurate coordinate. CONSTITUTION:A robot controller consists of a CPU 1, a control program storage section 2, a job area storage section 3 for control program, an input interface 5, an input switch 6, a display 7, a robot main body 8, an external jig 9, a sequence control program storage section 10, a directory storage section 11, an execution buffer storage section 12, a direct memory access control 13, and a coordinate storage memory 14 provided at the outside of an address space. A memory 14 is connected to the storage section 12 through the control of the control section 13, and the content of the storage section 10 and the coordinate of the memory 14 are connected and stored in the storage 11. Thus, much and highly accurate coordinate is to be stored in the memory 14, and since the number at each point of the sequence control program is not limited, more delicate trace control can be performed.

Description

[Detailed Description of the Invention] The present invention provides a control device for a robot, particularly a robot having a central processing section.
- This relates to expanding the capacity and improving the accuracy of the position coordinate storage unit and sequence control program storage unit of a programmable robot.

FIG. 1 is a configuration diagram showing a conventional robot control device. In the figure, (1) is a central processing unit (hereinafter referred to as CPU), (2) is a control program storage unit, and (3) is a work area storage unit. , (4) is a position/order program storage section, (5)
is an input/output interface section, (6) is a group of input switches, (7) is a display section, (8) is a robot body, and (9) is an external jig. The conventional robot control device, which has two degrees of self-confidence, is configured as described above. For example, from the input switch (6), the coordinates of the passing point of the movement trajectory that you want the robot to work on, and the coordinates Enter the contents of the sequence control you want to operate at point E 1.7, position/sequence program memory 1u
(4) Once the input for the entire process is completed, the contents of the position/order storage unit (4) are read out, the robot body (8) and the external jig (9) are controlled, and the operation is performed. I was letting it happen.

[However, in order to improve the storage accuracy of position coordinates, the conventional device configured as described above has changed from 16 bits to 82 bits.
When the data length is increased to bits, it is not possible to store a large amount of position information within the CPU's address space (usually 65,586 bytes for 8-bit type), and the minimum possible point and point of the stored position coordinates are The disadvantages were that the intervals were rough and fine-grained trajectory control was not possible.

The present invention was made in order to eliminate the above-mentioned drawbacks of the conventional device, and it separates the position coordinate storage section from the sequence control program storage section, and separates the position coordinate storage section from the address space of the CPU. It is an object of the present invention to provide a control device for a robot that can program position coordinates of multiple points having a data length of 82 bits by being placed outside the robot.

Hereinafter, one embodiment of the present invention will be explained with reference to the drawings.
In the figure, (1) is a central processing unit (hereinafter referred to as CPIJ), (2) is a control program storage unit, (3) is a work area storage unit for control programs, (5) is an input interface unit, (6) is an input switch li, (7) is a display section, (8) is a robot main body, and (9) is an external jig.

Also, QQ is the order control program storage section, (b) is the directory storage section, (2) is the execution buffer storage section, (to) is the direct memory access (hereinafter referred to as DMA) control section, and α is the position coordinate. This is an external memory for storage.

Figure 4 shows the contents of the external memo IJQ4 for storing position coordinates.1. Therefore, the data for one point is X, Y, Z, B.

Regarding the s-axis, each point is composed of a data length of 82 bits, and one point is composed of 82 bytes. The case of the first point is shown as [7].
(EXEAL) and execution buffer 2 (E-XBA2)
Figure 6 shows the contents of the sequential control program storage section, and the first number 6 is the first one. The number of memory required for sequence control at point (step l) is 6 bytes, and data is input from the jig 20 sequentially (JIGINA2
0), 1.5 seconds, timer count 1 (TIMER1,s
), shows an example of being programmed with an out-of-order path (EOB) at this point. Naturally, these (
JIGIN%EOB...) is coded [7, stored as a numerical value. Figure 7 shows the contents of the directory storage section, starting with the starting address (8QAD) of the sequential program.
, the address (D8TP
), the number of position coordinate values in the program, etc. are stored in the robot control device configured as described above.
! J Write the first address (8QAD) of the currently vacant sequential program into the memory ISα1), then from the input switch (6), X, Y, Z, B, Bcnl
ll mark; It rX=0.001. Y=105.0
08-...J, etc., and transfer the numerical value to the position coordinate storage unit α through the DMA control unit (to). If order control is required in that respect, define Input from the input switch (6) according to the symbol given, and store it in the sequential order control program memory IB (10). When the order control at that point is completed, write the end symbol (EOB) and input the necessary information at that point. Write several pieces of memory at the beginning. If you do not need complete order control, transfer 2 bytes of 2 and the EOB symbol. Set L7. At the final point of the position coordinates, set the JI completion (EOP) flag of the program. In order to connect these stored programs into one, a directory storage section as shown in Figure 7 is provided.As described above, 7. Memory 1. Toki, who executes the program, should transfer the position coordinates of the next point (step 2) from the external memory to the execution buffer 1, assuming that the robot's hand is already on the starting point (step l). , the corresponding address of the external memory, that is, D8'l'P+82, the address of the execution buffer 11 in FIG.
Command the control unit and wait for data transfer. When the data transfer is complete, start moving from the starting point (Step 1) to the next point (Step 2) [1, and at the same time the next point (Step 8) A command is issued to the DMA control unit to transfer the data of Repeat the procedure until the end point is reached. Also, for the order side m, add the number of order control bytes at that point to 8QAD of the directory-yen! , and (due to this deficiency, the order control at that point can know the first address of the locoum, and execute the contents of that address sequentially 1
1. Execute until the end symbol (EOB) is reached and end the order control at that point.

Note that in the above embodiment, the position coordinates are input from the input switch (as shown in the example below), but as in the teaching/playback method, the hand of the robot is actually moved by commands from the hand control box, etc. As described above, according to the present invention (1ζ), it is possible to store a large number of highly accurate positions by providing a position coordinate memory outside the address space of the 3PU. It is possible to memorize coordinates, more precise trajectory control is possible, and the number of sequential control programs at each point is not limited, so it has the effect of enabling a more diverse range of applications.

[Brief explanation of drawings]

Figure 1 is a configuration diagram showing a conventional robot control device;
The figure is a configuration diagram showing the control device of the position/sequence control program storage robot, FIG. 4 is a detailed view of the position coordinate storage section, FIG. 5 is a detailed view of the execution buffer, and FIG. 6 is the sequence control program storage section. Figure 7 is a detailed diagram of the directory-storage unit, (1) is the central processing unit, (g) is the sequential control program storage unit, (b) is the directory-storage unit, and (b) is the execution unit. The buffer storage section (to) is the direct memory access control section, and the external storage section for storing Q pull J position coordinates. In the figure, the same reference numerals indicate the same or equivalent parts.
Nobu Kuzuno - Figure 4 Te °'-Tata Palm CM Figure 6 Figure Procedure Amendment (Method) % Formula % 1. Indication of Tenancy Patent Application No. 126457/1988 2
, Name of the invention: Control device for four bots 3, supplementary iE -4- Be3)
T! z(+, :coMf#-1!t2+t3.311,
−)' Address 2-2 Marunouchi, Chiyoda-ku, Tokyo
No. 3 Name (601) Mitsubishi Electric Corporation Representative Hitoshi Katayama 4, Agent Address 2-2-3 Strand 6, Marunouchi 2-2-3, Chiyoda-ku, Tokyo, Japan Vow + 21 Details II! ：Full text (3: Inner whole ward 7, Fill the correct self-answer 1. Take a vow of book a as shown in the attached sheet. (No change to the self-answer.) (No earthquake disaster) (All 31 times are listed in the attached sheet. (No content VCT history) 8 Coldness 41: Type 1 Green 111 Joshoha 7 1 Trace (21 Jokku Seisai 11 Melon 131 Purification drawing 1 or more

Claims (1)

[Claims] The position coordinate storage section is located outside the address space of the central processing section 11, and this position coordinate storage section is coupled to the execution buffer within the address space of the central processing section by a direct memory access control section. A robot control device comprising, in an address space, an order control block diagram storage section and a directory storage section that represents the relationship between the contents of this storage section and the position coordinates of a position coordinate storage section.