JPS62163110A - Industrial robot controller - Google Patents

Abstract

PURPOSE:To shorten the memory exchanging work by securing an easy exchange only for the memory storing the control programs of robots for each type in case the type of the robot is changed. CONSTITUTION:A controller control program memory 33 stores a control pro gram for a robot controller. While a robot main body control program memory 35 stores only the control programs proper to various types of robots like as the axis number based robots like 4-axis, 6-axis control robots, etc., and the coordinate form-based robots like orthogonal, cylindrical robots, etc. Then the memory 35 is converted independently into a cassette and can be attached to and detached from a controller 20 via a connector.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a control device for controlling an industrial robot, and particularly to a ROM memory of a control circuit.

[Conventional technology]

FIG. 2 schematically shows the control system of a conventional industrial robot. In this figure, reference number 10 represents a robot body, and reference number 20 represents a control device. Inside the control device 20, there is a control circuit 30 consisting of, for example, a microcomputer, and the circuit 30 is connected to a CPU 32.
, a control program memory 34 consisting of ROM, a data memory 36 consisting of RAM, and an I1038.

A control program memory 34 consisting of a ROM stores together a program for controlling the robot body and other programs for controlling the control device 20 itself, for example. In this type of robot control device, when changing the model of the robot main body connected to the control device, it is necessary to change the robot robot 1 to the control program according to the model.

[Problem that the invention seeks to solve]

However, as mentioned above, in conventional robot control devices, the program for controlling the control device etc. and the program for controlling the robot body are stored together in the ROM, so the robot model When replacing the controller, the entire control program memory 34 consisting of ROM must be replaced accordingly. This replacement work takes a lot of time, and also involves replacing parts that do not originally need to be replaced, which is very wasteful in terms of cost.

Therefore, in order to solve such problems, the present invention provides a ROM
An object of the present invention is to provide a control device for an industrial robot in which a memory portion of a program for controlling a robot body is separated from a control program memory consisting of a control program memory and is made into a removable cassette.

[Means for solving problems]

In view of the above-mentioned object of the invention, the present invention provides an industrial robot control device equipped with a control program storage means, wherein the control program storage means includes a first memory storing a robot operation control program specific to each model of robot. Department and
An industry characterized in that the second part is separated into a second part 1 and a ninth part storing control programs necessary for other controls, and the first part is formed so as to be independently attachable and detachable from the control device. Provides a robot control device for use in robots.

[For production]

According to the above means according to the present invention, when the robot model is replaced, it becomes possible to easily replace only the first storage unit that stores a control program specific to the robot model.

〔Example〕

Hereinafter, the present invention will be explained in detail with reference to FIG.

This figure shows four independent operations: axis R direction, axis Z direction,
A four-axis robot main body 10 that independently operates in a total of four directions, that is, a rotation θ direction and a rotation α direction, and a control device (controller) 20 for controlling the robot main body 10 are shown. Further, in the controller 20, there is a control circuit 30 consisting of, for example, a microcomputer, and the circuit 30 includes a CPU 32, a controller control program memory 33 (second storage section) consisting of a ROM, and another ROM.
The robot main body control program memory 35 (first
storage unit), a data memory 36 consisting of RAM, and l
1038 etc.

Controller control program memory 33 consisting of ROM
and another I? The program stored in the robot main body control program memory 35 consisting of OM acts on the robot main body 10 via the l1038 while being controlled by the CPU 32, and rotates in the R axis direction, Z axis direction, θ direction, and α direction. give.

Among the programs necessary at this time, the controller control program memory 33 stores the programs necessary to control the controller, and the robot main body control program memory 35 stores various types of robots (for example, 4-axis control robots, Only control programs unique to robots with each number of axes, such as a six-axis control robot, or to each coordinate robot, such as a Cartesian coordinate robot, a cylindrical coordinate robot, etc., are stored. One of the robot-specific control programs is an initial value setting program for each variable value for each model, and in this embodiment, constants and variable values related to R1θ, Z, and α, a total of 4 degrees of freedom, are set. The other is a coordinate conversion program between the general coordinates and the coordinates specific to each variable of the robot by model, that is, the general coordinates to represent the position of the object targeted by each robot, and the coordinates of each part of the robot body. This is a coordinate conversion program that expresses the relationship with unique coordinates to express movement. The controller control program memory 33 stores various control programs other than the two programs specific to each type of robot. Path control that controls the paths of each part, servo control that sends commands to servo amplifiers, external input/output control, operation system control, external communication control, external device control that accesses external microcontrollers, sensor system control, program sequence control, applications There are programs such as program development functions and offline programming functions.

- The Roposo I main body control program memory 35 described in (g) is formed into an independent cassette and is detachably attached to the controller 1-roller 20 by means of a connector.

〔Effect of the invention〕

As is clear from the above description, according to the present invention, when the robot model is changed, only the memory that stores the control program for each robot type can be easily replaced, saving time for replacement work, and This increases operating efficiency and minimizes replacement costs. Therefore, a highly versatile industrial robot control device is provided.

[Brief explanation of drawings]

FIG. 1 is a diagram partially schematically showing a controller including a control program memory for an industrial robot according to the present invention and a robot body, and FIG. 2 is a partial schematic diagram of a controller including a control program memory for a conventional industrial robot. FIG. 2 is a diagram partially schematically showing the robot body. DESCRIPTION OF SYMBOLS 10... Robot body, 20... Controller (control device), 30... Control circuit, 32... CPU, 33... Controller control program memory, 34... Control program memory, 35. ...Robot main body control program memory, 36.
...Data memory, 38...Ilo.

Claims (1)

[Claims] 1. In an industrial robot control device equipped with a control program storage means, the control program storage means includes a first storage section storing a robot operation control program specific to each model of robot, and other controls necessary for control. An industrial robot control device, characterized in that the device is separated from a second storage section storing a program, and the first storage section is configured to be independently attachable to and detachable from the control device.