JPH05108112A - Controller of robot - Google Patents

Abstract

PURPOSE:To perform the prescribed temporary stopping processing for each control equipment by providing a means to set the temporary stopping processing for plural control equipments and performing the temporary stopping processing based on the setting. CONSTITUTION:A signal processing setting means 5 sets the signal processing at the time of the temporary stop and an instruction stopping processing setting means 6 sets the processing of an instruction at the time of the temporary stop. When a temporary stop request is performed during automatic operation, a parameter set beforehand is read by the signal setting means 5 and is analyzed in a main controller 1, and then a signal processing type is decided. Next, by the decided processing type, the prescribed signal condition is changed for respective pieces control equipment 3 and 4, and the condition of the temporary stop is introduced. Even concerning the instruction during the execution, by registering beforehand the instruction which cannot be instantaneously stopped, the temporary stop is performed after the instruction execution is completed concerning the instruction.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a robot capable of performing a temporary stop process according to a temporary stop type of each control device.

[0002]

2. Description of the Related Art FIG. 5 is a diagram showing a conventional robot controller. In the figure, 1 is a main controller for controlling the control device, 2 is an external I / O controller for controlling a control signal from the outside, and 3 and 4 are control devices to be controlled.

A conventional robot control device has the above-mentioned configuration, and when the main controller 1 carries out a temporary stop process, an external I / O having a built-in sequence program for performing a predetermined process for each control device. The operation is performed via the controller 2, and it is stopped immediately depending on the instruction of the program.

[0004]

The conventional robot controller requires the external I / O controller 2 as described above, and requires not only stopping the control equipment but also processing according to the state of the control signal. If there is a control device to be controlled, a sequence program for it must be created for each target control device. Further, there is a problem in that depending on the instruction of the program, it may not be possible to immediately stop the suspension request.

The present invention has been made in order to solve the above-mentioned problems, does not require an external I / O controller, can perform a predetermined temporary stop process for each control device, and can execute a program. It is an object of the present invention to obtain a robot controller capable of performing a temporary stop process after the completion of the command.

[0006]

A robot controller according to the present invention includes a main controller for controlling a plurality of control devices, and a control signal processing for controlling each control device to a predetermined temporary stop state in response to a temporary stop request. Is provided with a signal processing setting means.

[0007]

In the present invention, the main controller controls each control device to a predetermined temporary stop state in response to the temporary stop request based on the setting of the state of the control signal at the time of temporary stop by the signal processing setting means.

[0008]

EXAMPLES Example 1. FIG. 1 is a block diagram showing an embodiment of a robot controller according to the present invention. In the figure, 1 is a main controller for controlling control equipment, 5 is signal processing setting means for setting signal processing at the time of suspension, 6 is instruction stop processing setting means for setting processing of instructions at the time of suspension, and 7 is a program. And programming devices 3 and 4 for controlling the creation of data and rewriting data.

Next, the operation of the first embodiment will be described with reference to the flowchart of FIG. First, when a pause request is generated during automatic operation (S1), a parameter preset by the signal processing setting means 5 at the time of pause is read and analyzed in the main controller 1 to determine a signal processing type. .. Next, depending on the determined processing type, each control device is changed to a predetermined signal state, and a transition is made to a suspended state (S2 to S6). As for the instruction being executed, the instruction that cannot be immediately stopped is registered in advance, so that the instruction is temporarily stopped after the instruction execution is completed (S2, S5, S6).

Each parameter setting means will be described with reference to FIGS. 3 and 4. The signal processing setting means 5 can set the state of the control signal at the time of temporary stop, as shown in FIG. Further, as shown in FIG. 4, the instruction stop processing setting means 6 can register an instruction that needs to be temporarily stopped after the instruction execution is completed, and sets the temporary stop processing for each instruction of the program in the robot controller. By performing the temporary stop processing based on the setting of the instruction stop processing setting means, it is possible to give the control of the control device a wide range of selection.

Embodiment 2. Although the above-described first embodiment is the control device of the robot that sets the state at the time of temporary stop by the parameter, it is possible to perform different processing by providing a plurality of terminals to be connected depending on the nature of the temporary stop.

[0012]

As described above, according to the present invention, the controller of the robot is provided with means for setting the suspension process for each controller, and the suspension process is performed based on the setting. Therefore, the need for an external I / O controller is eliminated, and the control of the control device can be given a wide range of choices.

[Brief description of drawings]

FIG. 1 is a configuration diagram showing an embodiment of a robot controller according to the present invention.

FIG. 2 is a flowchart showing the operation of the robot controller according to the present invention.

FIG. 3 is an explanatory view showing a parameter setting screen for setting a control signal at the time of suspension according to the present invention.

FIG. 4 is an explanatory diagram showing a registration screen for registering an instruction that needs to be temporarily stopped after completion of instruction execution according to the present invention.

FIG. 5 is a block diagram showing an example of a conventional robot controller.

[Explanation of symbols]

 1 Main Controller 3 Control Equipment 4 Control Equipment 5 Signal Processing Setting Means 6 Command Stop Processing Setting Means

Claims (1)

[Claims] 1. A robot controller comprising a main controller for controlling a plurality of control devices, and a signal processing setting means for setting control signal processing for controlling each control device to a predetermined temporary stop state in response to a temporary stop request. ..