JPS61114308A - Robot controller - Google Patents

Abstract

PURPOSE:To change freely the original position of a robot in accordance with various types of tools by writing the present position data on the robot to a nonvolatile memory as the original position data in a manual operation mode. CONSTITUTION:Each shaft of a robot main body mechanism part 1 contains a motor 2 for each driving shaft and an encoder 3 of a position detector. A robot controller 4 delivers a drive command to the motor 2 and consists of a motor command output part 5, a position detecting signal processing part 6, a motor command arithmetic part 7, etc. A teaching pendant 13 and a terminal equipment 14 are connected to interface adaptors 11 and 12 of the controller 4. when the original position of the robot is changed, the part 1 is reset to the original position in the posture of the old original position and then set in the posture of the new original position via the pendant 13. Thus the equipment 14 is operated to read the present position data out of a RAM8 for storage of present position data as the original position data. Than this position data is stored to a nonvolatile memory 10 with rewriting.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a robot control device that can freely change the original position of the robot.

[Conventional technology]

Most of the robots currently in wide use use, for example, the mechanical end position of each axis of the robot or a position near the mechanical end position as the original position unique to the robot, and this original position is used as a reference for position control.

If you want the robot to perform the required work,
The required work location was determined depending on the work to be performed.

[Problem that the invention seeks to solve]

However, when a fixed original position such as a mechanical end position is used as a reference for position control as in the past, there is a first-order problem.

In other words, whether you are teaching the robot or playpacking it, when operating the robot,
After turning on the power to the control device and starting up the robot, it is necessary to first return the robot to its home position and then move it to the set work home position. If various work jigs, etc. are placed within the robot's movement range between the home position and the home position, use the teaching pendant to manually operate the robot to a position where it will not interfere with the various work jigs. It is necessary to move it and then return it to its original position, which poses a problem that makes the operation extremely complicated.

This invention attempts to solve such problems.

[Means for solving problems]

The robot control device according to the present invention includes (1) a manually operable robot control device that includes a data-rewritable non-volatile memory, and the current position data of the robot when the robot is manually operated to a desired home position as the home position data. The robot is returned to the original position written in the nonvolatile memory by providing a reading means for reading the original position data and a writing means for writing the original position data read by the reading means into a nonvolatile memory.

[For production]

In this way, the conventionally fixed original position can be freely changed according to the arrangement position of interfering objects such as various working jigs.

〔Example〕

Embodiments of the present invention will be described below with reference to FIGS. 1 to 3 of the accompanying drawings.

FIG. 1 is a block diagram showing an embodiment of the present invention.

In the figure, reference numeral 1 denotes a robot body mechanism section, and each axis (not shown) of this robot body mechanism section 1 is a motor 2 for each axis drive shaft, and an encoder as a position detector connected to the motor shaft. 3.

4 is a robot control device, and includes a motor command output section 5 which outputs a drive command (drive current) to the motor 2 for driving each axis in the robot body mechanism section 1. Position detection signal processing unit 6° that detects the current position of each axis of the robot based on pulse signals from the encoder 3 of each unit connected to the motor shaft of the motor 2 of each unit. Calculates the command output by the motor command output unit 5. Current position data storage R for storing the current position data detected by the motor command calculation unit 72 and the position detection signal processing unit 6
AM8. Target position data storage RAM 9 for storing movement target position data of each axis of the robot. *Writable non-volatile memory for storing original position data in which position data is written 10. and two interface adapters 11.12
It is made up of.

13 is a teaching pendant connected to the interface adapter 11 of the robot control device W4, and by operating this teaching pendant 13, the robot main body mechanism section 1 can be operated manually.

14 is a terminal device that is connected to the interface adapter 12 of the robot control device 4 as necessary, and when the robot mechanism section 1 is manually operated using the teaching pendant 13 and moved to the desired original position, the robot control device It has the function of reading the current position data for each unit stored in the current position data storage RAM 5 in E4 as original position data, and the function of writing the read original position data into the nonvolatile memory 10.

Note that a known robot programming device or the like can be used as this terminal device [14].

Next, the operation of this embodiment will be explained by taking as an example the case where the original position is changed from the posture of the heat source position shown in FIG. 2(a) to the new man position shown in FIG. 2(b).

First, the robot body mechanism 1 is returned to its original position to the position of the heat source shown in FIG. 2(A).

Next, by manually operating the robot main body mechanism 1 using the teaching pendant 13,
Get into the new original position shown to Ron.

And the terminal device! 14 to the interface adapter 12 of the robot control device 4, and by operating the device 14, the current position of each axis of the robot detected by the position detection signal processing unit 6 and stored at any time in the current position data storage RAM 8. Read the data as the original position data of the new original position.

Next, by operating the terminal device 14 again, the ten-man position data corresponding to the temperature source position shown in FIG. Rewrite the current position data to correspond to the new original position shown in Figure 2 (b).

In this way, the original position of the robot body mechanism section 1 is changed as necessary.

Note that the original position data corresponding to the above-mentioned Ichihara position was also written to the nonvolatile memory 10 in the same manner.

To briefly explain the home position return process based on the home position data corresponding to the new position written in the non-volatile memory 10 as described above, as shown in FIG. Signal processing section 6
The current position data is detected by processing the
R for storing the detected current position data
Store in AM9.

However, if the robot body mechanism section 1 is stopped before the return process, these processes are not performed.

Next, the original position data is read from the nonvolatile memory 10 for storing original position data, and the RAM 9 for storing target position data is read out.
Transfer to.

Then, the motor command calculation unit 7 calculates an output command to each motor 2 based on the data in the RAM 9 for storing current position data and the data in the RAM 9 for storing target position data, and the motor command output unit 5 outputs the calculation result. A motor command corresponding to the motor command is output to each motor 2.

As a result, the robot body mechanism section 1 can be returned to the new position shown in FIG. 2(b).

According to this embodiment, the original position of the robot body mechanism section 1 can be changed freely, so even if various work jigs are arranged within the operating range of the robot body mechanism section 1, the A desired home position can be set by using the method, and thereby the home position return process can be performed automatically and quickly.

Further, if this original position can be shared with the work original position for the work to be performed by the robot, one work source position W setting work becomes unnecessary.

Note that since the original position data is written in the nonvolatile memory 10 for storing original position data, it can be used the next time the robot is started up even if the control power is cut off.

〔Effect of the invention〕

As explained above, according to the present invention.

Since the robot's original position can be changed freely,
Even if various work jigs and the like are installed within the robot's operating range, the robot can be easily returned to its original position.

Also, if the original position can be changed freely, the robot's 12m
Even if the operating range is restricted due to a limited area, the robot can now return to its original position, expanding the scope of use of the robot.

Further, if the original position is set so that it can be shared with the work original position, it is possible to omit the work of setting one work source position.

[Brief explanation of drawings]

FIG. 1 is a block configuration diagram showing an embodiment of the present invention. FIG. 2 is a robot posture diagram showing different examples of the original position. FIG. 3 is a flow diagram showing an example of the yX position return processing procedure. It is. 1...Robot main body mechanism part 2...Motor 3...
・Encoder 4...Robot control device 5...
・Motor command output section 6...Position detection signal processing section 7...Motor command calculation section

Claims (1)

[Claims] 1. In a manually operable robot control device, a data-rewritable non-volatile memory, a reading means for reading the current position data of the robot as the original position data when the robot is manually operated to a desired original position, and a reading means for reading the current position data of the robot as the original position data, and writing means for writing the original position data read by the means into the non-volatile memory, and the robot is returned to the position indicated by the original position data written to the non-volatile memory. Robot control device.