JP2003228418A - Control apparatus for industrial purpose robot, and display method for the apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a control apparatus for industrial purpose robot which needs no provision separately of a specific display part for displaying data on a robot control side, by allowing a user to easily switch data desired to be displayed by instruction data and by allowing the user to display the data on the robot control side, desired to be displayed by changing a sequence program by the user. <P>SOLUTION: A control apparatus for industrial purpose robot 10 comprises a storage part 22 for storing both of the instruction program 24a and a sequence program 44a, input and output devices 26 and 46 for controlling inputs and outputs, CPUs 21 and 41 for accessing and computing data, a DP-RAM (dual port random access memory) 28 for storing data needed by the CPUs 21 and 41, and a display part 47 for displaying either of above data. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a controller for an industrial robot equipped with a programmable logic controller and a data display method in the controller.

[0002]

2. Description of the Related Art A conventional technique will be described with reference to FIG. FIG. 6 is a diagram related to a conventional technique, and is a controller 10a (hereinafter, RC) for an industrial robot that externally includes a programmable logic controller 40a (hereinafter, PLC).
It means that). The outline of the role of control of the RC 10a and the PLC 40a will be described. The RC 10a gives a movement command to the movement axis of the industrial robot and feeds back the amount of movement to control the operation of the industrial robot. The PLC 40a controls sequences related to peripheral devices such as a supply device and a transfer device that supply and transfer works handled by the industrial robots and between the industrial robots. There are a wide variety of combinations of peripheral devices depending on users, and a wide variety of user needs. Therefore, the sequence of the PLC 40a can be changed by the user. On the other hand, since the system program for controlling the operation of the industrial robot according to the instruction given to the industrial robot cannot be disclosed to the user, the user cannot change the control content of the RC 10a by changing the system program.

The RC 10a is provided with an RC display section 27a, and the RC display section 27a shows whether the stored contents such as a teaching program stored in the RC RAM or the input / output of the RC input / output device is 1 or 0. The data on the RC side indicating the state (that is, for example, the state of DC5v or the state of DC0v) is displayed. Similarly, the PLC 40a also includes a display unit 27b for PLC, and whether the display unit 27b for PLC stores 1 or 0 of the stored contents such as the sequence program stored in the RAM for PLC and the input / output of the input / output device for PLC. Indicating the state of (i.e., DC5v state or DC0v state, for example)
Display the data on the C side.

The user operates the RC and the PLC and changes the sequence program of the PLC 40a as he gets used to it, thereby wondering whether the function of the PLC can be improved or the user can use it more easily.
In such a case, the user changes the conventionally displayed data to change the RC and PLC display units 27a and 27b.
It is necessary to change the sequence program while displaying or confirming new data other than the conventionally displayed data on the RC and PLC display units 27a and 27b.

[0005]

However, since the system program on the RC side is not disclosed to the user as described above, the user cannot change the system program on the RC side, and therefore it is conventionally displayed on the RC side. It is impossible to display new data on the RC side other than the existing data on the RC display unit. In addition, PLC CPU
However, because the data on the RC side cannot be accessed, PLC
Even if the user changes the side sequence program, the RC side data cannot be displayed on the PLC display unit.

The present invention is intended to solve the above problems, and an object thereof is to provide a control device for an industrial robot which enables the following three matters. 1
The second is to allow the user to display the RC side data from the PLC side by changing the PLC side sequence program. The second issue is that by indicating the data on the RC side and the PLC side using instruction data such as the display changeover switch or the display selection parameter, the display is limited to a large number of the display data. To be able to easily display the data you want to display by switching or selecting display. The third thing is that there is no need to separately prepare a dedicated display unit to display the RC side data.

[0007]

A control device for an industrial robot according to the present invention for solving the above problems is an industrial robot having a programmable logic controller (hereinafter referred to as PLC) for sequence control according to a sequence program. In the controller (hereinafter, referred to as RC) of the P.
LC storage unit and PLC for controlling input / output of the PLC
I / O device, the PLC I / O device, and the P
A central processing unit for PLC (hereinafter, referred to as a PLC CPU) that processes data in the storage unit for LC, an RC storage unit that stores a teaching program of an industrial robot, and an RC that controls input / output of the RC. I / O device, RC I / O device, and RC central processing unit (hereinafter referred to as RC CPU) that processes data in the RC storage unit, and both the RC CPU and the PLC CPU RC and PLC accessible from
Dual port random access memory (hereinafter referred to as DP-RAM) for storing data required on both the RC side and the PLC side of the data on the side, and the DP-R
Each of the data of the AM, the PLC input / output device, and the PLC storage unit and their data are stored in the PL.
The CPU for C includes a display unit for displaying according to instruction data for instructing which data of the operation result data generated by the arithmetic processing.

A display changeover switch is provided to generate the instruction data, and the instruction data is input to either the RC or PLC input / output device.

Further, a display selection parameter for generating the instruction data is provided in any one of the DP-RAM, the RC storage section and the PLC storage section.

Further, the display section is provided on the RC side, and the data of the RC storage section, the RC input / output device and the DP-RAM are stored in accordance with the instruction data from the PLC side stored in the DP-RAM. Either of the CPs for RC
It is displayed by the arithmetic processing of U.

Further, a display method in a control device for an industrial robot according to the present invention for solving the above-mentioned problems is an industrial robot equipped with a programmable logic controller (hereinafter referred to as PLC) for sequence control according to a sequence program. Control device (hereinafter R
C), a storage unit for PLC that stores the sequence program, an input / output device for PLC that controls the input / output of the PLC, and an arithmetic process for data in the input / output device for PLC and the storage unit for PLC. A central processing unit for PLC (hereinafter referred to as a CPU for PLC), a storage unit for RC that stores a teaching program of an industrial robot, an input / output device for RC that controls the input / output of the RC,
Central processing unit for RC (hereinafter, CP for RC) for processing data in the input / output device for RC and the storage unit for RC.
U), the RC CPU and the PLC C
A dual port random access memory (hereinafter referred to as DP-RAM) that is accessible from both the PU and stores the data required on both the RC and PLC sides of the data on the RC and PLC sides, and its DP- RAM, the input / output device for PLC, and the PL
An RC input / output process for inputting / outputting RC input / output and a PLC input / output are performed by using an RC including a display unit that displays each data in the C storage unit according to the arithmetic processing of the PLC CPU. Input / output process for PLC to perform input / output processing, the DP-RAM, input / output device for RC, and RC
Calculation result data generated by the RC CPU performing calculation processing on each data in the storage unit for DP-RA.
RC arithmetic processing step of writing in any of the M / RC input / output device and the RC storage section, and the DP-RAM, PL
The respective data of the C input / output device and the PLC storage unit and the calculation result data generated by the PLC CPU processing the data are the DP-RAM, PL.
PLC arithmetic processing step of writing in either the C input / output device or the PLC storage unit, and the DP-RAM, PLC
And a display step of displaying each of the data of the input / output device and the storage unit for PLC according to the instruction data for instructing which data of the operation result data generated by the CPU for the PLC is operated. Become.

In the display step, the calculation result data is displayed depending on the state of the display changeover switch.

In the displaying step, the calculation result data is displayed according to the state of the display selection parameter.

Further, in the displaying step, the PLC
According to the instruction data from, any one of the data in the RC storage unit, the RC input / output device, and the DP-RAM is displayed on the display unit on the RC side by the arithmetic processing of the RC CPU.

[0015]

[Function] RC input / output device, PLC input / output device, RC
The data required by both the RC and PLC CPUs out of the data in the storage unit and the PLC storage unit is stored in both CPs.
Store in DP-RAM accessible from both U.
Further, both of the CPU input / output device, the PLC input / output device, the RC storage unit, and the PLC storage unit are operated by the CPU for the RC and the PLC, and both of the operation result data are generated. Data required by D
Store in P-RAM. The data stored in the DP-RAM and the input / output device for RC, the input / output device for PLC, R
RC using the data in the C storage unit and the PLC storage unit
Result data generated by the CPU and PLC CPU performing the arithmetic processing is displayed on the display unit in accordance with the instruction data such as the display changeover switch and the display selection parameter. That is, since the data required on the PLC side among the data on the RC side is stored in the DP-RAM, P
Data on the RC side required on the LC side can be accessed through the DP-RAM, and R on the PLC side can be accessed from the PLC side.
It becomes possible to display the data on the C side as it is, or to display the calculation result data generated by the CPU for PLC processing the data stored in the DP-RAM.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a diagram of an industrial robot controller 10 (hereinafter referred to as RC) showing an embodiment of the present invention. The RC 10 has a built-in programmable logic controller 40 (hereinafter referred to as PLC). RC 10 is a central processing unit 21 for RC (hereinafter,
RC CPU), RC memory 22, RC bus 25
And RC input / output device 26 and RC 10 and PLC 40
Dual port random access memory 28 (hereinafter referred to as DP-RAM) and P
It is composed of LC 40.

Each item of the above construction will be described in order.
The RC CPU 21 has a read-only memory 23 for RC (hereinafter referred to as a ROM for RC) via an RC bus 25.
Random access memory 24 for RC (hereinafter RA for RC
(Referred to as M) and the input / output device 26 for RC to mutually transmit a signal, and the data stored in the RAM 24 for RC is processed according to the system program of RC 10. RC
The memory unit 22 is composed of an RC ROM 23 and an RC RAM 24, the RC ROM 23 stores the RC 10 system program, and the RC RAM 24 is a teaching program 24a for operating the industrial robot and the industrial robot. It stores parameters (not shown) for changing the operating conditions and the like. The RC input / output device 26 includes an RC input / output 26a.
To control. The RC bus 25 includes the RC CPU 21, RC
ROM 23, RC RAM 24, RC input / output device 26 and dual port random access memory 28 (hereinafter referred to as DP-RAM). R
The CPU 21 for C is connected to the RO for RC via the bus 25 for RC.
M 23, RC RAM 24, RC input / output device 26 and D
Signals are transmitted to and from the P-RAM 28 to process data according to the RC system program. DP-RA
M 28 is an RC bus 25 and a PL for storing and reading the data required by both RC 10 and PLC 40.
Combined with the C bus 45, the CPU 21 for RC and the C for PLC
RC 10 and PLC 40 send and receive data to and from each other, allowing access from both PUs 41.

The PLC 40 controls the sequence according to a sequence program input in advance, and includes a DP-RAM 28, a PLC CPU 41, a PLC storage unit 42, a PLC ROM 43, a PLC RAM 44, and a PLC which will be described later.
Bus 45, PLC input / output device 46, display 47 and RC
/ PLC-SW 55 and the like.

The items of the above configuration will be sequentially described. The PLC storage unit 42 includes a PLC ROM 43 that stores a system program for controlling the operation of the PLC 40 and a PLC RAM 44 that stores a sequence program 44a. The PLC input / output device 46 is a PLC input / output 50.
To control. The PLC bus 45 is a DP-RAM 28, P
LC CPU 41, PLC ROM 43, PLC RAM
44, a PLC input / output device 46 and a display unit 47. The PLC CPU 41 has a DP-RAM 28, a PLC ROM 43, and a PLC RA via the PLC bus 45.
Signals are transmitted to and from the M 44 and the PLC input / output device 46 to process data according to the PLC system program. The display unit 47 displays the data in the DP-RAM 28 as P
It is displayed via the PLC bus 45 by the arithmetic processing of the LC CPU 41. The instruction data indicates what kind of data is to be displayed. As an example of the instruction data, there is a display changeover switch RC / PLC- for switching and displaying the arithmetic processing data by the CPUs 21 and 41 for RC and PLC.
SW 55 and display selection parameter DSPPARA.

FIG. 2 shows the display method using RC 10.
Will be described with reference to. FIG. 2 shows C for RC and PLC.
It is a figure showing the process of displaying the calculation result data which PU21 and 41 performed the calculation processing, and is a figure explaining the method of displaying according to the above-mentioned instruction data.

In the RC input / output step shown in step S1 of FIG. 2, the RC input / output is input / output processed. Then, in step S2, in the PLC input / output step, the PLC input / output and display changeover switch RC / PLC-SW is input / output to / from the PLC input / output device. Continue to step S3, D
The DP-RAM, the RC input / output device, and the R-R input / output device
Write to any of the C storage units. Next step
Proceed to S4, and in the PLC calculation processing step, DP-RAM, PL
The calculation result data generated by the CPU for the calculation processing using the respective data of the C input / output device and the PLC storage unit is stored in any one of the DP-RAM, the PLC input / output device, and the PLC storage unit. Write. Then, in step S5, the DP-RAM, the RC input / output device, the PLC input / output device, the RC storage unit, and the PL are displayed in the display process.
Using the respective data in the C storage unit, RC and P
The calculation result data generated by the calculation by the LC CPU is displayed on the display unit according to the instruction data.

Details of the display step shown in step S5 will be further described with reference to FIGS. FIG. 3 is a diagram showing a method of switching the display. Step S1 in FIG.
Then, the display changeover switch RC / PLC-SW is read as instruction data. Next, in step S2, it is determined whether the display changeover switch RC / PLC-SW is "1". Y
If ES, go to step S3, if NO, step
Go to S4. In step S3, the DP-RAM data is displayed on the display unit.

For example, hexadecimal input data "F0BC" of the RC input / output device as shown in FIG. 5 (a).
(), “8421” () and logical operation (AND)
The calculated result data “8020” () is DP-RAM.
If stored in, the data shown in and are displayed.

In step S4, any one of the PLC input / output device accessed and calculated by the PLC CPU, the PLC storage unit, and the calculation result data is displayed on the display unit.

For example, a PLC as shown in FIG.
Output device "ABCD" in hexadecimal
When (), “8421” () and the operation result data “AFED” () obtained by the logical operation (OR) are stored in the DP-RAM, the data shown in and are displayed on the display unit. That is, one of the data accessed by the CPU for RC and the PLC and the operation result data subjected to the operation processing is displayed on the display changeover switch RC / PL.
The display is switched by the C-SW and displayed on the display unit.

Although not shown in the drawings,
The calculation result data generated by the calculation processing by the RC and PLC CPUs is switched by the display selection parameter which is the instruction data and displayed on the display unit.

In FIG. 4, a display switch provided to display the execution step of the teaching program and a display switch provided to display the execution step of the sequence program are used as instruction data for the RC and PLC CPUs.
Shows a step of switching the calculation result data generated by the calculation processing and displaying it on the display unit. That is, when the display switch provided for displaying the execution step of the teaching program is pressed, as shown in FIG. 5C, the execution step “S03” is surrounded by a frame and step S03 is being executed. The process of displaying is shown.

Similarly, when the display switch provided for displaying the execution step of the sequence program is depressed, the execution step "SQ002" is surrounded by a frame as shown in FIG. The process of displaying that it is under execution is shown.

As described above, either the data itself of the input / output device or the storage unit or the operation result data generated by the operation processing using these data is generated on the RC side according to the content of the instruction data. Display can be switched and displayed as data on the PLC side.

Further, the display section and the changeover switch RC /
Although the PLC-SW is provided on the PLC side as shown by reference numerals 47 and 55 in FIG. 1, it may be provided on the RC side as shown by reference numerals 47a and 55a in FIG.

Further, RC and PLC storage units 22, 42
Although the ROM is used in the above, the ROM may be replaced with the RAM.

Although the RC having the built-in PLC has been described as an example, the PLC may be attached to the outside of the RC and connected to the bus via the RC.

[0033]

The present invention has the following three effects. The first effect is that the sequence program on the PLC side can be changed by the user so that the user can display the data on the RC side desired to be displayed. The second effect is that the data desired by the user can be easily displayed by instructing the data on the RC side and the PLC side using instruction data such as the display changeover switch or the display selection parameter. The third effect is R
There is no need to separately prepare a dedicated display section for displaying the data on the C side.

[Brief description of drawings]

FIG. 1 is a diagram showing an industrial robot control device incorporating a programmable logic controller according to an embodiment of the present invention.

FIG. 2 is a diagram showing a process of displaying calculation processing result data by the RC and PLC CPUs according to the present invention.

FIG. 3 is a diagram illustrating an example of a display method using a display changeover switch in the display process of FIG.

FIG. 4 is a diagram illustrating an example of a display method for displaying execution steps of a teaching program and a sequence program in the display process of FIG.

5 is a diagram showing an example of display data related to the description of FIGS. 3 and 4. FIG.

FIG. 6 is a diagram showing a control device for an industrial robot that externally includes a programmable logic controller according to a conventional technique.

[Explanation of symbols]

10, 10a Industrial robot controller (abbreviation R
C) 21 RC CPU 22 RC memory 23 RC ROM 24 RC RAM 24a Teaching program 25 RC bus 26 RC input / output device 26a RC input / output 27a RC display 27b PLC display 28 dual port Random access memory (abbreviated as DP-RAM) 40, 40a Programmable logic controller (abbreviated as PLC) 41 CPU for PLC 42 Storage for PLC 43 PLC ROM 44 PLC RAM 44a Sequence program 45 PLC bus 46 PLC input / output device 47 , 47a Display unit 50 PLC input / output 55, 55a RC / PLC-SW

   ─────────────────────────────────────────────────── ─── Continued front page    F-term (reference) 3C007 JS05 JU01 LV15 MT03                 5H220 AA05 BB01 BB07 BB10 CC07                       CX06 CX08 EE09 EE10 EE15                       GG22 GG24 HH05 JJ12 JJ15                       JJ18 JJ27                 5H223 AA06 BB05 CC03 CC06 EE08                       EE18 EE19                 5H269 AB33 BB01 QB06 QC01 QD03                       QE18

Claims (8)

[Claims] 1. In a controller (hereinafter referred to as RC) of an industrial robot having a programmable logic controller (hereinafter referred to as PLC) attached for sequence control according to a sequence program, a PLC storage unit for storing the sequence program, and A PLC input / output device for controlling the input / output of the PLC, a PLC central processing unit (hereinafter referred to as a PLC CPU) for processing the data of the PLC input / output device and the PLC storage unit, and an industrial use RC storage unit for storing a robot teaching program, RC input / output device for controlling the input / output of the RC, RC central processing unit for processing data of the RC input / output device and the RC storage unit A device (hereinafter, referred to as RC CPU), and a CPU for the RC and a CPU for the PLC. A dual-port random access memory (hereinafter, referred to as DP-RAM) that enables access from one side and stores data required on both the RC side and the PLC side among the data on the RC side and the PLC side, and its DP-RAM, Instructions for instructing which data of the data of the PLC input / output device and the PLC storage unit and the calculation result data generated by the PLC CPU performing the arithmetic processing on the data are displayed. A control device for an industrial robot, comprising: a display unit for displaying according to data. 2. The industrial use according to claim 1, wherein a display changeover switch is provided for generating the instruction data, and is input to either the RC input / output device or the PLC input / output device. Robot controller. 3. The industrial use according to claim 1, wherein a display selection parameter for generating the instruction data is provided in any one of the DP-RAM, the RC storage unit and the PLC storage unit. Robot controller. 4. The DP is provided with the display unit on the RC side.
According to the instruction data from the PLC side stored in the RAM, any one of the RC storage unit, the RC input / output device and the DP-RAM data is displayed by the arithmetic processing of the RC CPU. The control device for an industrial robot according to any one of claims 1 to 3, wherein: 5. An industrial robot controller (hereinafter, referred to as RC) having a programmable logic controller (hereinafter, referred to as PLC) that performs sequence control according to a sequence program, and a PLC storage unit that stores the sequence program, A PLC input / output device for controlling the input / output of the PLC, a PLC central processing unit (hereinafter referred to as a PLC CPU) for processing the data of the PLC input / output device and the PLC storage unit, and an industrial use RC storage unit for storing a robot teaching program, RC input / output device for controlling the input / output of the RC, RC central processing unit for processing data of the RC input / output device and the RC storage unit A device (hereinafter, referred to as RC CPU), and a CPU for the RC and a CPU for the PLC. A dual-port random access memory (hereinafter, referred to as DP-RAM) that enables access from one side and stores data required on both the RC side and the PLC side among the data on the RC side and the PLC side, and its DP-RAM, Each data of the PLC input / output device and the PLC storage unit is stored in the P
RC for input / output processing of RC input / output using RC including a display unit for displaying according to arithmetic processing of LC CPU
Input / output process and PL for input / output processing for PLC
The input / output step for C and the operation result data generated by the CPU for RC processing the respective data of the DP-RAM, the input / output device for RC and the storage section for RC are used for the DP-RAM and RC. An RC operation processing step of writing in either the input / output device or the RC storage section; and the DP-R
Each data of the AM / PLC input / output device and the PLC storage unit and the calculation result data generated by the CPU for the PLC processing the data are the DP-R.
A PLC arithmetic processing step of writing in any of the AM / PLC input / output device and the PLC storage unit;
M, a display for displaying according to instruction data for instructing which data of the calculation result data generated by the CPU for PLC to process each data of the input / output device for PLC and the memory for PLC is displayed. And a display method in an industrial robot control device comprising a process. 6. The display method in a control device for an industrial robot according to claim 5, wherein the calculation result data is displayed according to the state of a display changeover switch in the display step. 7. The display method in a control device for an industrial robot according to claim 5, wherein the calculation result data is displayed according to the state of the display selection parameter in the display step. 8. In the display step, according to instruction data from the PLC, any one of the data in the RC storage unit, the RC input / output device and the DP-RAM is processed by an arithmetic process of the RC CPU, and the data is read from the RC side. The display method in a control device for an industrial robot according to claim 5, wherein the display is displayed on a display unit.