Robot control device

Abstract

The present invention provides a robot control device capable of adding new functions more easily. The robot control device comprises: a storage unit storing an address table, the address table storing a plurality of starting addresses for adding system software files, the additional system software files being used to add functions to the system software of the robot control device; and a function adding unit for adding functions to the system software based on the additional function files stored in an external storage device (4), wherein the function adding unit uses an index value for the address table to obtain the starting address of the additional system software file, and the system software and the program included in the additional system software file use position-independent code using relative addressing.

Description

Technical Field

[0001] The invention relates to a robot control device. Background Art

[0002] Conventionally, robot control devices use system software to control robots. The system software is stored in a storage unit such as a memory in the robot control device (see, for example, Patent Document 1).

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 2015-150636 Summary of the Invention

[0006] Problems to be solved by the invention

[0007] When adding a new function to the system software of an existing robot controller, it is necessary to delete the existing system software and add the system software having the new function to the robot controller.

[0008] However, when newly adding system software, created data such as robot programs and setting data are stored separately in an external storage device or the like, and are read again into the storage unit of the robot controller after the system software is added.

[0009] System software with new functions like this requires time to install the entire system software and read the created data. Therefore, a robot control device that can easily add new functions is needed.

[0010] Solutions for solving problems

[0011] A robot control device involved in one embodiment of the present invention is used to control a robot, and the robot control device comprises: a storage unit, which stores an address table, which stores multiple starting addresses for adding system software files, and the additional system software files are used to add functions to the system software of the robot control device; and a function adding unit, which adds functions to the system software based on the additional function files stored in an external storage device, wherein the function adding unit uses an index value for the address table to obtain the starting address of the additional system software file, and the system software and the program included in the additional system software file use position-independent code using relative addressing.

[0012] Effects of the Invention

[0013] According to the present invention, new functions can be added more easily. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a block diagram showing the structure of a robot control device.

[0015] Figure 2 is a diagram showing the structure of an archive file.

[0016] Figure 3 This is a diagram showing a GUI setting screen and an example of setting an additional device.

[0017] Description of Reference Numerals

[0018] 1: Robot control device; 2: Robot; 3: Teaching operation panel; 4: External storage device; 5: Additional device; 11: Control unit; 12: Storage unit; 41: Additional function file; 111: Function addition unit; 112: Screen addition unit; 113: Setting change unit; 114: Deletion unit. DETAILED DESCRIPTION

[0019] Next, an example of an embodiment of the present invention will be described.

[0020] The robot control device 1 is connected to the robot 3 and executes various processes to control the robot 3 .

[0021] The teaching operation panel 2 is a display input device equipped with a display, hardware keys, etc. The teaching operation panel 2 is connected to the robot control unit 1. The operator operates the teaching operation panel 2 to create, modify, register robot programs, and set various parameters. In addition, the operator can also perform functions such as replaying a taught robot program and manually adjusting the robot's position.

[0022] The robot 3 is connected to the robot control device 1 and operates according to the control from the robot control device 1 .

[0023] The external storage device 4 is, for example, a storage device such as a USB memory or a CF card that can be connected to the robot controller 1. The external storage device 4 includes, for example, an additional function file 41.

[0024] The additional device 5 is hardware for adding functions to the robot 3, such as a robot hand. The additional device 5 corresponds to the additional function file 41 in the external storage device 4. New functions are added to the robot control device 1 and the robot 3 using the additional function file 41 and the additional device 5.

[0025] The robot control device 1 includes a control unit 11 and a storage unit 12 .

[0026] The control unit 11 is a processor such as a CPU (Central Processing Unit). The control unit 11 executes programs stored in the storage unit 12 to function as a function adding unit 111 , a screen adding unit 112 , a setting changing unit 113 , and a deleting unit 114 .

[0027] The storage unit 12 is composed of a ROM (read only memory), a RAM (random access memory), a nonvolatile memory, a hard disk drive, and the like, and stores various data.

[0028] For example, system software for controlling the robot 3 and system software for image processing are stored in the ROM of the storage unit 12. Furthermore, robot programs that teach the robot the tasks to be performed according to the application, and setting data associated with the robot programs, are stored in the nonvolatile memory of the storage unit 12. The RAM of the storage unit 12 is used as a storage area for temporarily storing data used in various computations performed by the control unit 11.

[0029] Furthermore, the storage unit 12 stores system software 121 , a robot program 122 , and an address table 123 .

[0030] The system software 121 is system software for controlling the robot 3 .

[0031] The robot program 122 is a program for causing the robot 3 to execute various operations.

[0032] The address table 123 stores multiple starting addresses (entry points) for additional system software files, which are used to add functionality to the system software 121 of the robot controller 1. Each entry point value can be accessed using an index value into the address table. Furthermore, since each additional system software file is assigned a unique index value, the robot controller 1 can use this index value to call the newly added system software.

[0033] The additional function files 41 stored in the external storage device 4 include files for adding functions to the system software 121 and are composed of archive files in which a plurality of programs and a plurality of data files are combined into one file.

[0034] The additional function file 41 includes a function definition information file 411 , an additional system software file 412 , an operation screen configuration file 413 , an operation screen control file 414 , a user program command file 415 , a setting data file 416 , and a command file 417 .

[0035] Function definition information file 411 contains definition information (name, version number, ID name, function description, etc.). Function definition information file 411 is registered as an entry in the additional function database in storage unit 12. For example, function adding unit 111 of control unit 11 displays a list of additional functions on teaching pendant 2 of robot controller 1 based on the data in the additional function database.

[0036] Furthermore, the additional function file 41 includes identification information of the added function, thereby enabling the control unit 11 to distinguish the added function from other functions.

[0037] The additional system software file 412 is a file including a machine language executable by the control unit 11 of the robot controller 1 .

[0038] Here, the programs included in the system software 121 and the additional system software file 412 use position-independent code that utilizes relative addressing. Relative addressing refers to a method of specifying an address using a relative distance from a specific address. This allows the robot controller 1 to load and execute programs at any address in the storage unit 12.

[0039] The operation screen configuration file 413 and the operation screen control file 414 are files for adding an operation screen to the teaching operation panel 2 of the robot controller 1 . The operation screen configuration file 413 and the operation screen control file 414 are registered in a screen control database added to the storage unit 12 .

[0040] The user program command file 415 is a file for adding new robot commands.

[0041] The setting data file 416 is a file used by the robot controller 1 to change the settings of the robot 3 .

[0042] The command file 417 is a file including commands for the robot controller 1 to perform various processes (file operations, system setting operations, etc.).

[0043] Next, the control performed by the control unit 11 will be described.

[0044] The function adding unit 111 adds functions to the system software 121 based on the additional function file 41 stored in the external storage device 4 .

[0045] For example, the function adding unit 111 may selectively add functions to the system software based on the additional function file 41 .

[0046] Specifically, when the external storage device 4 is connected to the robot controller 1 , the function adding unit 111 displays a list of added functions on the teaching operation panel 2 of the robot controller 1 based on the function definition information file 411 .

[0047] When an additional function is selected by operating the teaching operation panel 2 , the function adding unit 111 imports the selected additional function from the additional function file 41 into the robot controller 1 .

[0048] For example, the introduction of the additional function is performed by the following processing.

[0049] (a) The function adding unit 111 expands the files in the additional function file 41 into the RAM of the storage unit 12 .

[0050] (b) The function adding unit 111 reads the function information (ID name, version number, etc.) from the function definition information file 411 and reserves an area (function import area) for storing the added function in the non-volatile memory of the storage unit 12. Furthermore, the function adding unit 111 uses the ID name of the added function as the name of the function import area.

[0051] (c) The function adding unit 111 copies all the files developed in the storage unit 12 to the reserved function introduction area, and then deletes the developed files.

[0052] (d) The control unit 11 executes processing corresponding to each file included in the additional function file 41 .

[0053] (e) When the robot controller 1 is restarted after all the processing is completed, the robot controller 1 can execute the added function.

[0054] The screen adding unit 112 adds a new graphical user interface (GUI) screen to the system software 121 based on the operation screen configuration file 413 and the operation screen control file 414. For example, the screen adding unit 112 adds a new GUI screen for operating the additional device 5 to the system software 121 based on the operation screen configuration file 413 and the operation screen control file 414. This allows the user to operate the additional device 5 using the teaching operation panel 2.

[0055] The configuration change unit 113 changes the system configuration of the system software 121 based on the configuration data file 416 and the command file 417. For example, the configuration change unit 113 changes the system configuration of the system software 121 related to the operation of the additional device 5 based on the configuration data file 416 and the command file 417.

[0056] The deleting unit 114 selectively deletes the functions added by the function adding unit 111. Specifically, the deleting unit 114 deletes the selected specific function by selecting a specific function from the list of added functions displayed on the teaching operation panel 2.

[0057] Figure 3 It is a diagram showing a GUI setting screen and a setting example of the additional device 5. Figure 3 The example of FIG. 5 shows a GUI setting screen for DI / DO (digital input and output) points for controlling the additional device 5.

[0058] Access DI / DO points through index values.

[0059] The index values ​​set on the GUI setup screen are internally set as shared variables in non-volatile memory and stored there. Each shared variable corresponds to a specific setting item and becomes active dynamically and instantly as the setting changes.

[0060] Furthermore, the robot program 122, which performs operations for inputting and outputting signals to and from DI / DO points, can access the DI / DO points by referencing shared variables that hold index values. By inserting index values ​​(shared variables) in this way, the GUI setting screen and the robot program are associated via the index values.

[0061] Then, the robot program 122 corresponding to the GUI setting screen sends a DI / DO control signal to the additional device 5. Thus, the additional device 5 can be controlled by operating the newly added GUI setting screen.

[0062] According to this embodiment, the robot control device 1 includes: a storage unit 12, which stores an address table 123, which stores multiple starting addresses for adding system software files 412, and the additional system software files 412 are used to add functions to the system software 121 of the robot control device 1; and a function adding unit 111, which adds functions to the system software 121 based on the additional function file 41 stored in the external storage device 4, wherein the function adding unit 111 uses the index value for the address table 123 to obtain the starting address of the additional system software file 412, and the programs included in the system software 121 and the additional system software file 412 use position-independent code using relative addressing.

[0063] Thus, after installing the system software 121, the robot controller 1 can introduce new additional functions without reinstalling the system software 121. Thus, for example, while conventional robot controllers could only use predetermined menus and screens, the robot controller 1 according to this embodiment can use newly added menus and screens.

[0064] Furthermore, the additional function file 41 is composed of an archive file in which a plurality of programs and a plurality of data files are combined into one file. This allows the robot controller 1 to preferably import files having additional functions.

[0065] Furthermore, the function adding unit 111 selectively adds functions to the system software 121 based on the additional function file 41 . This allows the user to appropriately introduce desired additional functions into the robot controller 1 .

[0066] Furthermore, the additional function file 41 includes identification information of the added function, thereby enabling the robot controller 1 to distinguish the added function from other functions.

[0067] Furthermore, the additional function file 41 includes a file that configures a new graphical user interface screen corresponding to the additional system software file. The robot controller 1 further includes a screen adding unit 112 that adds a new graphical user interface screen to the system software 121. Thus, the robot controller 1 can add a new GUI screen corresponding to the additional function to the system software 121.

[0068] Furthermore, the additional function file 41 includes a configuration data file 416 and a command file 417 for changing the system settings of the system software 121. The robot controller 1 further includes a configuration change unit 113 that changes the system settings of the system software 121 based on the configuration data file 416 and the command file 417. Thus, the robot controller 1 can effectively change the system settings of the system software 121 having the new additional function.

[0069] Furthermore, the robot controller 1 further includes a deleting unit 114 that selectively deletes the functions added by the function adding unit 111. Thus, the robot controller 1 can preferably delete the added functions that are not required by the user.

[0070] The embodiments of the present invention have been described above, but the present invention is not limited to the above embodiments. In addition, the effects described in the embodiments are merely the best effects produced by the present invention, and the effects of the present invention are not limited to the effects described in the embodiments.

Claims

1. A robot control device for controlling a robot, the robot control device comprising: a storage unit storing an address table storing a plurality of start addresses for adding system software files, the additional system software files being used to add functions to the system software of the robot control device; and a function adding unit for adding functions to the system software based on the function adding file stored in the external storage device; in, The function adding unit uses the index value of the address table to obtain the starting address of the additional system software file. The system software and the programs included in the supplemental system software files use position-independent code that utilizes relative addressing. The storage unit secures an area for shared variables corresponding to functions added to the system software. The additional system software file is assigned a unique index value for the address table. The additional function file controls the functions added to the system software via the shared variables.

2. The robot control device according to claim 1, wherein: The additional function file is composed of an archive file in which a plurality of programs and a plurality of data files are combined into one file.

3. The robot control device according to claim 1 or 2, wherein: The function adding unit selectively adds a function to the system software based on the additional function file.

4. The robot control device according to claim 1 or 2, wherein: The additional function file includes identification information of a function to be added.

5. The robot control device according to claim 1 or 2, wherein: The additional function file includes a file that constitutes a new graphical user interface screen corresponding to the additional system software file. The robot control device further includes a screen adding unit configured to add the new graphical user interface screen to the system software.

6. The robot control device according to claim 1 or 2, wherein: The additional function file includes a setting data file and a command file for changing the system setting of the system software. The robot control device further includes a setting change unit that changes system settings of the system software based on the setting data file and the command file.

7. The robot control device according to claim 1 or 2, wherein: The system further includes a deleting unit that selectively deletes the function added by the function adding unit.

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