Robot
A robot capable of substituting a plurality of parameter candidates in a point by a single-kind instruction sequence in accordance with the point is provided. A robot stores a main program, a sub program referred when the main program is executed, and a plurality of parameters. The sub program contains an instruction sequence containing a variable, and defines control details. The parameters are substitution candidates for the single kind of variable. The parameter to be substituted in the single kind of variable is determined, and one of the memory areas where the parameter is stored is interlinked with the variable in accordance with a determination result.
1. A robot comprising:
a work tool executing a work on a plurality of points on a work-piece;
a moving mechanism moving the work tool to the point; and
a controller controlling the work tool and the moving mechanism in accordance with a program,
wherein:
the controller comprises:
a processor;
a first memory storing a first program, the first program containing statements arranged in sequence for each of the points, the statement containing kind information indicating control details by the controller, and coordinate information on the plurality of points;
a second memory storing a second program, the second program identified by the kind information, comprising an instruction sequence containing a variable, and defining the control details; and
a third memory storing a plurality of parameters, the plurality of parameters being a substitution candidate for a single kind of the variable;
wherein the controller determines the plurality of parameters to be substituted in the single kind of the variable for each of the statements, and interlinks one of memory areas where the parameters are stored with the variable for each of the statements in accordance with a determination result.
2. The robot according to claim 1 , wherein:
work details for the plurality of points are consistent except the plurality of parameters;
each of the statements contains the same kind information; and
the controller refers to the same second program when executing each of the statements.
3. The robot according to claim 2 , further comprising a programming tool creating and editing the first program in accordance with a user manipulation, wherein:
the programming tool is capable of associating the statement with identification information of the plurality of parameters in accordance with the user manipulation; and
the controller determines whether or not there is the associated identification information, and interlinks the memory area for the plurality of parameters indicated by the identification information with the variable when there is the associated identification information.
4. The robot according to claim 3 , wherein the controller interlinks the memory area for the plurality of parameters applied when there is not the identification information with the variable.
5. The robot according to claim 4 , wherein:
one of the plurality of parameters applied when there is not the identification information is associated with a flag indicating an applicability; and
the controller determines whether there is not the identification information and the flag indicates the applicability, and interlinks the memory area for the parameter applied when there is not the identification information and the flag indicates the applicability with the variable.
6. The robot according to claim 5 , wherein:
the controller determines whether there is not the identification information and the flag indicates a non-applicability, and interlinks the memory area for the parameter applied when there is not the identification information and the flag indicates the non-applicability with the variable.
7. The robot according to claim 1 , further comprising a programming tool creating and editing the first program in accordance with a user manipulation, wherein:
the programming tool is capable of associating the statement with identification information of the plurality of parameters in accordance with the user manipulation; and
the controller determines whether or not there is the associated identification information, and interlinks the memory area for the plurality of parameters indicated by the identification information with the variable when there is the associated identification information.
8. The robot according to claim 7 , wherein the controller interlinks the memory area for the plurality of parameters applied when there is not the identification information with the variable.
9. The robot according to claim 8 , wherein:
one of the plurality of parameters applied when there is not the identification information is associated with a flag indicating an applicability; and
the controller determines whether there is not the identification information and the flag indicates the applicability, and interlinks the memory area for the parameter applied when there is not the identification information and the flag indicates the applicability with the variable.
10. The robot according to claim 9 , wherein:
the controller determines whether there is not the identification information and the flag indicates a non-applicability, and interlinks the memory area for the parameter applied when there is not the identification information and the flag indicates the non-applicability with the variable.
11. The robot according to claim 1 , wherein:
the work tool is an electric screw driver fastening a screw with a different screw length for each of the points; and
the variable is contained in the instruction sequence in such a way that the screw length is substituted in the variable.