KR0154438B1 - Data communication apparatus and method for robot controller - Google Patents

Abstract

The present invention relates to a data exchange method of a robot controller that can exchange data in real time between the modules in the robot controller, the present invention is equipped with a dual port ram between the main controller, the joint controller, the force controller, respectively, and the dual port The RAM enables reading and writing in the direction of each controller, and when writing is completed, the signal output from the dual port RAM is configured to exchange data and commands in real time by connecting the interrupt signal to the controller in the transmission direction. .

Description

Data exchange device and method of robot controller

1 is a control block diagram of a conventional robot controller.

2 is a control block diagram of a data exchange apparatus applied to the present invention.

3 is a flowchart of a data exchange method applied to the present invention.

* Explanation of symbols for main parts of the drawings

1: Main controller 2,2 ': Dual port RAM

3: joint position controller 4: servo motor controller

6,6 ': Flag bit 7: Force controller

8,9,10,11: Interrupt signal terminal

The present invention relates to an apparatus and method for exchanging data of a robot controller, and more particularly, to an apparatus and method for exchanging data between robot modules in real time.

In recent years, as the use area of industrial robots gradually expands, the application technology of robots becomes more necessary. In the case of the conventional robot for position control, only the role of simple repetitive work is realized, and thus all human work contents cannot be realized. .

Therefore, in order to improve the function of the robot, a method using a force sensor, a visual sensor, etc., and a method of processing data according to the characteristics of the robot application process are also considered.

As the information that needs to be processed in the robot controller increases, the hardware of the controller adopts a plurality of microprocessors to execute parallel and distributed information at a high speed. In order to exchange information between the processors in real time, a dual port RAM ( DUAL PORT RAM).

However, in the conventional position control robot, as shown in FIG. 1, the main controller 1, the joint position controller 3, and the servo motor controller 4 are composed of the main controller 1 and the joint position controller. There is a dual port ram (2) between (3) and a part of the dual port ram (2) is used as a flag bit (FLAG BIT), so that the main controller 1 sends data and commands to the joint position controller (3). In case of data transfer, write data and corresponding command code to dual port RAM (2), and when write completes, signal generated by dual port RAM (2) is controlled by main controller (1) by calling interrupt routine. When the flag bit 6 is set, the joint position controller 3 periodically searches for a flag to perform a corresponding function.

That is, the joint position controller 3 only performs a function corresponding to the command of the main controller 1, but the joint position controller 3 did not act to give a command to the main controller 1.

Therefore, a number of microprocessors are additionally installed for additional functions such as a force control function, and a new method is required for an additional dual port RAM and a transfer method in order to exchange data and commands with each other in real time.

An object of the present invention is to enable real-time exchange processing of commands and data between a plurality of microprocessors added to perform additional functions in robot control by using a dual port RAM and an interrupt function. In the present invention, the dual port RAM is mounted between the main controller and the joint controller force controller, and the dual port ram enables reading and writing in the direction of each controller, and the signal output from the dual port ram is transmitted when the writing is completed. It is characterized in that the data and command are exchanged in real time by connecting the interrupt signal to the controller of the direction.

In addition, the present invention is a data exchange method of a robot controller for exchanging data and commands to a plurality of controllers in order to improve the function of the robot, when the data and commands from each controller to the other controller, Determining whether or not data transmission by searching the flag bits of the dual port RAM, and if possible, the data command transmission step (50) and the data command transmission step (50) of setting the corresponding command code flag bit after data transmission; When receiving the command from the receiving controller during data transmission, read the flag bit, analyze the transmitted command code, and in case of data transmission as a result of command analysis, read the data from the receiving controller and stop the interrupt, and then the received command should be executed immediately. If it is executed immediately, it executes the function and resets the flag bit after completion. Said, it is characterized by made of an instruction data receiving step (60) to set a flag bit, if not required, the immediate effect.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

2 is a block diagram of a robot control apparatus according to the present invention, which controls an input signal for robot operation by a predetermined program and outputs a controlled signal. A dual port ram (2) that receives and writes an output control signal, a joint position controller (3) for controlling the joint position of the robot shaft by an output signal from the dual port ram (2), and the joint position controller A robot control apparatus comprising a servo motor controller (4) which controls and drives by a control output signal of (3), wherein the main controller (1) is separate from the robot control apparatus and the dual port ram (2 ') is provided. And the dual port ram 2 'is connected to a force controller 7 for improving the function of the robot and a motor controller 4', and the dual port ram 2, 2 'is connected to the joint. Reading in the direction of the position controller (3) and the force controller (7) When the writing is completed, the signal output from the dual port RAM (2) (2 ') is configured to be connected to the interrupt signal terminals (8) (9) (10) (11) by the controller in the transmission direction. .

(A) and (b) of FIG. 3 are flow charts of data and command transmission and command reception according to the present invention. When the data and commands are transmitted from the main controller 1 to the joint position controller 3, A flag bit search step 30 for searching for flag bits in the fortram 2 and 2 ', and a transmission determination step 31 for determining whether flag bit transmission is possible in the flag bit search step 30; Data transfer step 32 for transferring data if transmission is possible in the transmission determination step 31, and flag bit set step 33 for setting a corresponding command code to a flag bit when transmission is completed in the data transmission step 32. A data command transmission step (50) comprising: a), a flag bit reading step (34) of reading a flag bit of the dual port RAM (2) upon receiving a command from the controller received in the data command transmission step (50), and Data read in the flag bit read step (34) A command code analysis step 35 for analyzing command codes, a data transmission determination step 36 for determining an analysis result data transmission in the command code analysis step 35, and a command received in the data transmission determination step 36 The flag bit set step 38 of setting a flag bit if it is not determined to be immediately executed in the immediate execution determination step 37 of determining whether it is immediately executed, and the immediate execution in the immediate execution determination step 37 If it is determined, the data performing the corresponding function performing step 39 for performing the corresponding function and the flag bit reset step 40 for resetting the flag bit after completing the corresponding function performing in the corresponding function performing step 39 and Command receiving step 60 is made.

Referring to the effects of the present invention made as described above are as follows.

When the user transmits data and command signals to the joint controller 3 and the force controller 7 to operate the robot through the main controller 1, the main controller 1 performs the data and command transmission step 50. Go to the flag bit search step 30, and search for the flag bits 6 and 6 'of the dual port RAM 2 and 2', and then go to the transmission judgment step 31 and the data of the retrieved flag bits. If it is determined that the transmission is possible, if the transmission is not possible, the flag bit is searched again. If the transmission is possible, the main controller 1 performs the joint position controller 3 through the interrupt signal terminals 10 and 11. And data are transmitted to the force controller 7, and the main controller 1 goes to the flag bit set step 33 to set the corresponding command code in the flag bits 6 and 6 '.

At this time, the generated interrupt signal goes to the data and command receiving step 60 for receiving the command by calling the interrupt routines of the joint position controller 3 and the force controller 7 which are transmitted. Go to) and read the flag bits of the flag bits (6) (6 ') transmitted from the joint position controller (3) and the force controller (7), go to the command code analysis step (35), and the joint position controller (3) ) And the command code transmitted from the force controller (7).

On the other hand, since the interrupt signal is generated even when data is transmitted from the joint position controller 3 and the force controller 7 to the dual port RAM 2, 2 ', the command code is analyzed in the command code analysis step 35. Will be analyzed.

After analyzing the command code in the command code analysis step 35, the main controller 1 goes to the data transmission determination step 36 to determine whether it is a data transmission. ) Ends the interrupt routine so that the joint position controller 3 and the force controller 7 to receive the data can be read when necessary.

If the data transfer determination step 36 is not a data transfer, the main controller 1 goes to the immediate execution determination step 37 to determine whether the command received after the command code analysis is to be implemented immediately, and the determination result, If the contents should be executed immediately, the main controller 1 goes to the function performing step 39 and performs the corresponding function. After the completion of the corresponding function, the flag reset step 40 goes to reset the flag bit. do.

On the other hand, if it does not need to be immediately executed, the main controller 1 goes to the flag bit set step 38 and sets the flag bit 6 of the dual port RAM 2 to receive the command, but periodically searches for the flag. To perform the corresponding function.

As described above, the present invention enables the real-time exchange process between the controllers by transmitting and receiving data and commands using the dual port RAM and the interrupt signal between the controllers added to improve the function of the robot. Will be provided.

Claims (2)

In order to improve the function of the robot controller, dual port rams 6, 6 'are mounted between the main controller 1, the joint controller 3, and the force controller 7, respectively, and the dual port rams 6, 6 ') Enables reading and writing in the direction of each controller. When writing is complete, the signal output from the dual port RAM (6) (6') is connected to the controller in the transmission direction. The data exchange method of the robot controller characterized by the above-mentioned. In the data exchange method of the robot controller for exchanging data and commands to a plurality of controllers in order to improve the function of the robot, when the data and commands are transmitted from each controller to another controller, Detect whether to transmit data by searching for flag bits, and if possible, transmit the data command in the data command transmission step 50 of setting the flag bit after data transmission, and transmitting the data in the data command transmission step 50 after the data transmission. When receiving the command of the receiving controller, it reads the flag bit, analyzes the transmitted command code, and in case of data transmission of the command analysis result, determines whether the received command should be executed immediately after reading data from the receiving controller and stopping the interrupt. When executing immediately, perform the corresponding function and reset the flag bit after completion of execution. Data exchange method of the robotic controller, characterized by made of an instruction data receiving step (60) to set a flag bit If you do not require a line.