JPS63269206A - Robot plotting method - Google Patents

Abstract

PURPOSE:To shorten the plotting time and make a picture easy to see by inputting the axis of a robot from which plotting of shaft operation should be started and plotting only the operation of the specified shaft. CONSTITUTION:If the robot consists of six axes and axis numbers are given to them in order from the base to the hand and motions of three axes, namely, fourth-sixth axes of the robot hand should be plotted, ten keys 4 on a keyboard 14 are depressed. Then, a processor 11 is set to plot motions of the fourth and following axes, namely, three axes of the hand of the robot. The processor 11 reads robot control data from a RAM 13 block by block in accordance with selection of simulation to control the robot and uses position data of three axes of the hand to display attitudes and positions of three axes of the hand on a CRT screen 15.

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to a robot drawing method, and more particularly to a robot drawing method in which a simulation is performed using a robot control program and the movements of the robot are drawn on a display device such as a CRT.

<Prior Art> When a robot handles parts on a workstation, it is necessary to create a robot control program and then perform a simulation using the robot control program to confirm the robot's operation.

Incidentally, the simulation is performed by executing the robot control program block by block (the robot does not move) and continuously drawing the robot's posture on a display screen such as a CRT.

<The problem that the invention is trying to solve> However,
In conventional robot drawing methods, simulations are performed by drawing all the axes of the robot at once, which takes a considerable amount of time and makes a single display screen very difficult to look at.

From the foregoing, it is an object of the present invention to provide a robot drawing method that is quick in drawing time and easy to see on the screen by drawing only specific axis motions.

〈Means for solving problems〉 FIG. 1 is a block diagram of the present invention.

11 is a processor, 12 is a ROM that stores various processing programs, and 13 is an R that stores a robot control program.
AM, 14 is a data input device such as a keyboard, 15 is C
It is a display device such as RT.

Operation> By inputting from the keyboard 14 the number of wheels of the robot's axis motion to be drawn, the robot's motion axis to be displayed on the CRT 15 is specified, and the CRT is displayed during simulation.
The motion of only a specific axis is drawn on the RT screen 15.

<Example> FIG. 1 is a block diagram of the present invention.

11 is a processor, 12 is a ROM that stores various processing programs, and 13 is an R that stores a robot control program.
AM, 14 is a data input device such as a keyboard, 15 is C
16 is a disk controller, 17 is a printer, FLP is a floppy disk, and PRP is a printing paper.

FIG. 2 is a flowchart of the process of the present invention. 6 From now on, the robot drawing process of the present invention will be explained according to the flowchart of FIG.

Note that the robot control program has already been created and is stored in RAM1.
3.

An "initial screen" is displayed on the CRT screen 15 (step 101).

The "Initial screen" displays "Ro execution tRI settings, R2 editing, etc.", so select the menu by operating the specified keys on the keyboard 14 (Ro key, Rl key + R2 key, etc.) (Step 102 ).

In addition, to run the simulation, press "R.

To set and input predetermined data, operate the rR1 key.

Here, it is assumed that the R1 key is operated to specify the control axis to be drawn during simulation.

When a key is operated, the processor 11 checks which key has been operated (step 1o3).

If the operated key is the R1 key, CR the "Settings screen"
It is displayed on the T screen 15 (step 104).

In addition, the menu number setting name of "1. Coordinate system display, 2° position mark, ..., lO, robot drawing, etc." is displayed on the "setting screen", so operate the numeric keys on the keyboard 14 and select " 10. Select "Robot Drawing" (step 105).

On the "Robot Drawing" screen, "Which wheel should I start drawing?"
There is a question (step 106).

The robot consists of six axes, and the axis numbers are numbered sequentially from the base to the hand. Second. ..., and the 6th axis, and if we want to draw the movement of the robot wrist in 3 axes of 4th, 5th and 6th axes, press the numeric key "4" on the keyboard 14 ( Step 107).

As a result, the processor 11 operates on the fourth and subsequent axes of the robot, that is, the fourth axis. ．． 5. Set to draw the movement of 6 axes (3 wrist axes) (Step LO8).

After that, return to the "Initial screen" by performing the specified operation (Step 1)
01).

R to run a simulation in this state.

Operate the keys and select “Execute” (Step 1゜2)
.

The processor 11 recognizes that the Ro key has been operated (step 103), and displays an "r execution screen" on the CRT screen 5 (step 109).

In addition, the "execution screen" has [1, translation, 2. Simulation, 3. The menu number 1 execution name of ``GS code output, etc.'' will be displayed, so operate the numeric keys on the keyboard 14 and select ``
2. Select simulation J (step 110)
.

By selecting “Simulation”, the processor 11
The robot control data is read one block at a time from AM13 and the robot is controlled (step 11).
1) Using the position data of the three axes of the robot wrist, the posture and position of the three axes of the wrist are displayed on the CRT screen 15 (step 112).

FIG. 3 is a drawing example of the robot wrist three axes 21 drawn on the CRT screen 15 according to the robot control program through the above process. Note that XYZ represents the robot coordinate system, P represents the origin of the coordinate system, and PT represents the locus of the tip of the three axes 21 of the robot wrist.

<Effects of the Invention> According to the present invention, since only a specific axis motion is drawn, the drawing time becomes faster.

The screen is also easier to see.

[Brief explanation of drawings]

FIG. 1 is a block diagram of the present invention, FIG. 2 is a flowchart of processing of the present invention, and FIG. 3 is a drawing example according to the present invention. 11... Processor. 12...ROM, 13...RAM, 14...data input device such as keyboard, 15...CR
T etc. display device patent applicant Fanuc Co., Ltd. agent Patent attorney Chiki Saito Figure 2

Claims (1)

[Claims] In a robot drawing method that performs a simulation using a robot control program and draws the motion of the robot, input the number of the axis motion of the robot to be drawn from and draw only the axis motion of the specified axis. A robot drawing method characterized by: