Robot Program Simulation via Separate Signal Status Files
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Solution Overview
Problem
Existing simulation methods for robot programs require defining virtual peripheral equipment and PLCs, which is cumbersome and often results in inaccurate simulations due to the absence of feedback signals, necessitating manual operations and changes to the program, making precise and repeatable simulations difficult.
Innovation Solution
A simulation device that uses separate files to set signal and data register statuses in synchronization with the robot program, allowing for realistic simulations without modifying the program, by specifying signal states, data register values, and delay times, enabling automatic detection and association of logic commands with program lines.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If virtual peripheral equipment and PLC are defined to simulate robot programs, then the simulation can include feedback signals, but the preparation becomes troublesome and complex
Solution Approach 1:
The invention extracts the signal status setting function from the robot program itself and places it in a separate separate file. This allows the robot program to remain unchanged while still achieving accurate simulations with feedback signals, thereby reducing preparation complexity while maintaining simulation reliability
Solution Approach 2:
The separate file acts as an intermediary between the robot program and the simulation execution. It contains the signal status setting commands that correspond to specific lines in the robot program, enabling feedback simulation without requiring virtual peripheral equipment or PLC definitions
2Device complexity
If the robot program is modified to delete or comment out unnecessary parts, then the simulation can be simplified, but precise simulation cannot be performed
Solution Approach 1:
The invention segments the simulation control into two separate components: the original robot program remains intact for precise simulation, while a separate file contains the signal status setting commands. This segmentation allows the robot program to be executed as-is without modification, maintaining simulation precision while simplifying the overall setup
3Reliability
If virtual peripheral equipment and PLC are prepared to simulate operation time, then feedback signals can be transmitted, but man-hours are required and results cannot be repeated
Solution Approach 1:
The separate file automatically generates and transmits feedback signals based on the execution progress of the robot program. The system serves itself by automatically detecting when signal status should be changed according to the program lines executed, eliminating the need for manual setup and ensuring repeatable results without requiring virtual peripheral equipment or PLC
Data Source
AI summary
A simulation device capable of executing a proper simulation without changing a program, while the definition of virtual peripheral equipment and/or a PLC is not necessary. A signal status setting file, which is separated from a robot program, can be executed in parallel with the program, and includes a command for setting or changing a signal status described corresponding to a line in execution of the program, wherein the status is referenced by executing the line of the program. For example, a command of the file, described corresponding to a fifth line of the robot program, commands inputting a signal which indicates that the opening motion of a door is completed. Therefore, when the simulation is executed, in synchronization with the line in execution of the program, the setting or changing of the signal status, described corresponding to the line in execution, is performed.