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KR960031070A - Interrupt Handling Method in Robot Control System - Google Patents

Interrupt Handling Method in Robot Control System Download PDF

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Publication number
KR960031070A
KR960031070A KR1019950003147A KR19950003147A KR960031070A KR 960031070 A KR960031070 A KR 960031070A KR 1019950003147 A KR1019950003147 A KR 1019950003147A KR 19950003147 A KR19950003147 A KR 19950003147A KR 960031070 A KR960031070 A KR 960031070A
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South Korea
Prior art keywords
bsc
interrupt
main controller
interrupts
control system
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KR1019950003147A
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Korean (ko)
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KR0160675B1 (en
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김용원
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김광호
삼성전자 주식회사
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Publication of KR960031070A publication Critical patent/KR960031070A/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
  • Inverter Devices (AREA)

Abstract

본 발명은 로봇 제어 시스템에서의 인터럽트 처리방법에 관한 것이다.The present invention relates to an interrupt processing method in a robot control system.

본 발명의 방법은 모터를 구동하는 인버터 모듈을 제어하는 복수의 BSC가 주제어 장치와의 통신시 발생하는 인터럽트를 OR논리연산처리하는 단계 : 상기 처리된 결과의 출력을 상기 주제어장치에서 인식하는 단계 : 상기 복수의 BSC에서 발생된 인터럽트를 래치시키고, 그 데이터를 주제어장치가 판독하여 어느 BSC가 인터럽트를 발생시켰는지 검색하는 단계 : 및 상기 검색단계에 의해 검색된 해당 BSC의 메모리장치의 소정 번지의 내용을 읽고 인터럽트를 오프시키는 단계를 포함하고 있다.In the method of the present invention, a plurality of BSCs controlling an inverter module for driving a motor perform an OR logic operation on an interrupt generated when communicating with a main controller: Recognizing the output of the processed result in the main controller; Latching the interrupts generated in the plurality of BSCs, and reading the data by the main controller to search for which BSC caused an interrupt; and contents of a predetermined address of the memory device of the corresponding BSC retrieved by the searching step. Reading and turning off interrupts.

따라서, 다수의 로봇을 능률적으로 동시에 제어하기 위한 BSC의 인터럽트를 효과적으로 처리할 수 있고, 그에 따라 한 대의 제어기로 여러대의 로봇을 제어하는 다중제어가 가능해 진다.Therefore, it is possible to effectively handle the interrupt of the BSC for efficiently controlling a plurality of robots at the same time, thereby enabling multiple control of controlling several robots with one controller.

Description

로봇 제어 시스템에서의 인터럽트 처리방법Interrupt Handling Method in Robot Control System

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음Since this is an open matter, no full text was included.

제1도는 본 발명의 로봇 제어 시스템에서의 인터럽트 처리방법에 의해 인터럽트를 처리하는 과정의 개략적인 설명도.1 is a schematic illustration of a process of processing an interrupt by an interrupt processing method in the robot control system of the present invention.

제2도는 제1도에서의 과정을 수행하기 위한 구체적 루틴을 나타내 보인 소프트웨어 구성도.2 is a software diagram showing a specific routine for performing the process in FIG.

Claims (4)

모터를 구동하는 인버터 모듈을 제어하는 복수의 BSC가 주제어장치와의 통신시 발생하는 인터럽트를 OR논리연산처리하는 단계 ; 상기 처리된 결과의 출력을 상기 주제어장치에 인식하는 단계 ; 상기 복수의 BSC에서 발생된 인터럽트를 래치시키고, 그 데이터를 주제어장치가 판독하여 어느 BSC가 인터럽트를 발생시켰는지 검색하는 단계 ; 및 상기 검색단계에 의해 검색된 해당 BSC의 메모리장치의 소정 번지의 내용을 읽고 인터럽트를 오프(off)시키는 단계를 포함하여 된 것을 특징으로 하는 로봇 제어 시스템에서의 인터럽트 처리방법.OR logic operation processing of interrupts generated during communication with a main controller by a plurality of BSCs controlling an inverter module for driving a motor; Recognizing the output of the processed result to the main controller; Latching interrupts generated in the plurality of BSCs, and reading the data by the main controller to retrieve which BSC caused the interrupts; And reading off the contents of a predetermined address of the memory device of the corresponding BSC searched by the searching step and turning off the interrupt. 제1항에 있어서, 상기 해당 BSC의 인터럽트 처리를 마친 후 상기 제단계를 반복 수행하는 단계를 더 포함하여 된 것을 특징으로 하는 로봇 제어 시스템에서의 인터럽트 처리방법.The method according to claim 1, further comprising repeating the step after the interrupt processing of the corresponding BSC. 제1항에 있어서, 상기 OR논리연산처리를 위해 주제어장치는 선택한 BSC의 메모리장치에 소정 데이터를 써주는 한편, 해당 BSC의 소정 번지에 인터럽트처리를 위한 지령을 내리는 것을 특징으로 하는 로봇 제어 시스템에서의 인터럽트 처리방법.2. The robot control system according to claim 1, wherein the main controller writes predetermined data to the memory device of the selected BSC for the OR logic operation, and gives an interrupt processing instruction to a predetermined address of the BSC. How to handle interrupts. 제1항에 있어서, 상기 어느 BSC가 인터럽트를 발생시켰는지의 검색은 주제어장치의 인터럽트 서비스 루틴에 의해 래치회로에서 어느 BSC의 인터럽트가 들어왔는지를 읽고 나서 버퍼에 저장한 후, 응답한 해당 BSC를 검색하는 것을 특징으로 하는 로봇 제어 시스템에서의 인터럽트 처리방법.2. The method of claim 1, wherein the searching for which BSC caused an interrupt reads which interrupt of which BSC has entered the latch circuit by an interrupt service routine of the main controller, stores the result in a buffer, and stores the corresponding BSC in response. An interrupt processing method in a robot control system, characterized by searching. ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: The disclosure is based on the initial application.
KR1019950003147A 1995-02-18 1995-02-18 Interrupt Handling Method in Robot Control System Expired - Fee Related KR0160675B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1019950003147A KR0160675B1 (en) 1995-02-18 1995-02-18 Interrupt Handling Method in Robot Control System

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1019950003147A KR0160675B1 (en) 1995-02-18 1995-02-18 Interrupt Handling Method in Robot Control System

Publications (2)

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KR960031070A true KR960031070A (en) 1996-09-17
KR0160675B1 KR0160675B1 (en) 1999-01-15

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100854662B1 (en) * 2007-06-07 2008-08-28 삼성중공업 주식회사 Process connection method of robot control module

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100854662B1 (en) * 2007-06-07 2008-08-28 삼성중공업 주식회사 Process connection method of robot control module

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