Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1990-08-21
1992-06-23
Ip, Paul
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
31856813, 318567, 364191, 901 8, 901 3, 395 1, G06F 1500
Patent
active
051246201
DESCRIPTION:
BRIEF SUMMARY
FIELD OF ART
The present invention relates to an execution method of a teaching program for a robot.
BACKGROUND OF THE INVENTION
A large number of execution methods of teaching programs for robots are called a sequential program method in which instructions are executed in the order of registration of instructions registered in a teaching program taught by an operator. During the execution of a teaching program, if a different teaching program is to be executed, a call instruction for calling the different teaching program will be registered in the teaching program and when the call instruction is executed the different program is executed.
In the prior art, when a different teaching program is to be executed during the execution of a teaching program, a call instruction has to be registered beforehand, and further instructions in the teaching program are executed in due order and when the call instruction is executed, the different teaching program is executed. Therefore, a different teaching program can be executed only in a position fixed in the execution of the teaching program, and a different teaching program is not capable of being executed in an optional position in the teaching program.
For example, when a robot is operated in a welding work operating a teaching program, it is impossible to make it retreat by urgently operating a different teaching program at an optional point.
Such necessity occurs when a plurality of robots are working in cooperation, one of the robots goes wrong, and the other robots are requested to stop operating.
The present invention of is directed to such circumstances and provides an execution method of a teaching program which can execute a different teaching program by the input of an interrupt input signal at an optional position during the execution of the teaching program.
SUMMARY OF THE INVENTION
To achieve the above-mentioned object, the control method of robots according to the present invention is constituted as shown in the following: in the execution of a teaching program for a robot, when the execution of a program being executed is interrupted by a signal input during the execution of a teaching program, the execution addresses of the program being executed are stored and a different program set beforehand is executed, and when the execution of the different program is terminated the execution of the interrupted teaching program is resumed referring to the stored addresses.
In the above-mentioned method, a plurality of different teaching programs can be selected by using different kinds of input signals.
BRIEF DESCRIPTION OF DRAWINGS
FIG. 1 is a block diagram showing the execution of an interrupt teaching program;
FIG. 2 is a flow chart showing an example of a deciding process program for an interrupt signal, which is a part of the process of an interrupt signal decision task shown in the execution block diagram of an interruption teaching program;
FIG. 3 is a block diagram showing an example of a hardware constitution in which the above-mentioned interrupt teaching program is operated.
DESCRIPTION OF THE PREFERRED EMBODIMENT
In the following, the present invention will be concretely explained based on an embodiment.
FIG. 1 is a block diagram showing an embodiment of the present invention. The present invention is constituted with software in fact, but in the present embodiment it is expressed as if it were constituted with hardware to facilitate understanding.
In FIG. 1, 1 is a clock pulse generator for starting an interrupt signal decision task 2 in a fixed cycle, 3 is an interrupt decision table for deciding an input signal to be allotted to the interruption of interrupt numbers 1 to i, 4 is a teaching program allotment portion for allotting a teaching program to each of the interruptions 1 to i decided by the interrupt signal decision task 2, 5 is a teaching program name allotment table in which teaching program names are allotted to interrupt numbers which are referred to by the teaching program allotment portion 4.
When a normal program is
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Fukunaga Tatsuya
Hidaka Osamu
Kuranaga Satoshi
Kurebayashi Toshiyuki
Ip Paul
Kabushiki Kaisha Yaskawa Denki Seisakusho
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