1996-09-16
1999-03-30
Hafiz, Tariq R.
B25J 916
Patent
active
058899243
DESCRIPTION:
BRIEF SUMMARY
BACKGROUND OF THE INVENTION
The present invention relates to a controller for industrial robots and more particularly to a machine controller which is applicable when a control object (a mechanism comprising a robot(s) and one or a plurality of external axes) is commonly used for performing a plurality of jobs.
As disclosed in Japanese Unexamined Patent Publication No. Hei 4-252304, a known method exists for controlling a robot and a turntable comprising a plurality of axes and, as disclosed in Japanese Unexamined Patent Publication No. Sho 63-216689, it also causes a cooperative operation to be performed by a single robot and a plurality of positioners.
Further, as shown in FIG. 1, there exists a method by which three control objects (two robots (B) and (C) and a single station (A) comprising a plurality of axes) are controlled by a single controller. In this case, all the control objects (A) - (B) - (C) are controlled synchronously with one another or in such a manner that a cooperative operation is first performed between (A) and (B) and after that, a cooperative operation is performed between (A) and (C).
However, where all the control objects (A) - (B) - (C) are synchronously controlled, since the control objects are controlled in a simultaneous start/stop mode, they can not be controlled individually at separate speeds. Further, where a cooperative operation is performed between (A) and (C) after the completion of a cooperative operation between (A) and (B), the control object (C) can work independently during the cooperative operation between (A) and (B) and the control object (B) can work independently during the cooperative operation between (A) and (C). However, a problem exists in that control objects (C) or (B) cannot both perform a cooperative operation with (A) at the same time, thus lowering working efficiency.
SUMMARY OF THE INVENTION
Accordingly, the present invention has been developed to eliminate the above problem, and an object of the present invention is to provide a machine controller which is capable of controlling a machine asynchronously and simultaneously even when control objects compete in a plurality of jobs.
In order to solve the above problem, the present invention provides a machine controller for controlling a plurality of control objects such as robots, external axes and etc. The machine controller is characterized by the provision of: of a plurality of control objects as a first cooperative job and for executing it; of any one of the plurality of control objects and operation of at least one control object other than the plurality of control objects governed by the first system execution means as a second cooperative job and for executing it; and system execution means and the second system execution means and for executing them asynchronously and simultaneously.
It should be noted in this connection that the third system execution means is a specific system execution means governing the starting of the first and second system execution means, and has the function of regulating the master/slave relationship between the first and second system execution means. The execution system designated as the slave corrects its own command by referring to the output of the other as the master.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a perspective view of a system to which the present invention is applicable; FIG. 2 is a conceptual diagram illustrating one embodiment of the present invention; FIG. 3 is an illustration of the operation of a machine controller according to the present invention; FIG. 4 is a view showing an example of a job of bilateral symmetry; FIG. 5 is an illustration of a position data reversing axis where a job according to the present invention is bisymmetrical; and FIG. 6 is an illustration of an operation when the job is bisymmetrical.
DETAILED DESCRIPTION OF THE INVENTION
One embodiment of the present invention will now be described with reference to the accompanying drawings.
FIG. 2 shows one embodiment of the present invention wherein a machine
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Okabayashi Kazuo
Sakanashi Kouji
Hafiz Tariq R.
Kabushiki Kaisha Yaskawa Denki
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