Off-line control execution method

• US 4,912,650 A
• Filed: 03/07/1988
• Issued: 03/27/1990
• Est. Priority Date: 07/10/1986
• Status: Expired due to Fees

• Current Assignee: Fanuc Ltd (Fanuc Corporation)
• Original Assignee: Fanuc Ltd (Fanuc Corporation)
• Inventors: Nagatsuka, Yoshiharu, Tatsumi, Haruhiko, Tanaka, Kunio
• Primary Examiner(s): Ruggiero, Joseph
• Application Number:
  US07/186,490
• Time in Patent Office: 750 Days
• Field of Search: 364/513, 364/191-193, 364/188, 364/189, 364/474.22-474.27, 318/568, 318/568.11, 318/568.13, 318/568.14, 901/2-6, 414/730
• US Class Current: 700/264
• CPC Class Codes: G05B 19/406 characterised by monitoring or safety G05B19/19 takes precedence
• CPC Class Codes: G05B 19/425 Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector

Abstract

A correlation between numbers of input/output ports in a robot controller and F keys (F0-F15) provided on the off-line programming apparatus is preset and stored in a storage area (1c-2). In this state, off-line control is executed based on robot data stored in a storage area (1c-1). If input of a prescribed signal is being awaited, an F key corresponding to the port through which this signal is inputted is pressed to generate this signal artificially. As a result, since the conditions for executing the next command are satisfied, the next command is executed. If output of a prescribed signal is being awaited, an F key corresponding to the port through which this signal is outputted is pressed to generate this signal artificially. As a result, since the conditions for executing the next command are satisfied, the next command is executed.

Claims

1. An off-line control execution method for executing robot control off-line on the basis of robot data created by an off-line programming apparatus, comprising the steps of

storing a correlation between numbers of input/output ports in a robot controller, which actually controls a robot on the basis of said robot data, and function keys provided on the off line programming apparatus, and

generating predetermined input/output signals in off-line control by operating function keys corresponding to the ports through which said input/output signals pass.

2. An off-line control execution method according to claim 1, characterized in that said function keys lock in a depressed state and are equipped with lamps.

3. An off-line control execution method according to claim 1, further comprising the steps of:

when input of a prescribed signal is being awaited in off-line control, a number of a port through which said signal is inputted or a function key number is displayed, and

the next item of robot data is executed by pressing a function key conforming to said port number or said function key number.

4. An off-line control, execution method according to claim 1, further comprising the steps of:

when output of a prescribed signal is being awaited in off-line control, a number of a port through which said signal is outputted or a functin key number is displayed, and

the next item of robot data is executed by pressing a function key conforming to said port number or said function key number.