JP2003288113A - Simulation method of equipment and simulation program of equipment - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a simulation method and a simulation program of equipment which reduces manpower of programming of an operation program which makes 3D-structure model to be executed. <P>SOLUTION: On a simulation device 20, in a simulation of equipment which simulates the operation of the equipment controlled by PLC 30 by a computer, an operator selects one of a plurality of equipment devices, which compose the equipment as a target device, the operator inputs the operation program 24d1 which indicates the operation of the target device on the simulation, and the operation of the target device is singly simulated, based on the operation program 24d1. <P>COPYRIGHT: (C)2004,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a simulation method and a simulation program for computer-simulating the operation mode of a mechanism that constitutes an equipment device.

[0002]

2. Description of the Related Art Conventionally, by constructing a three-dimensional mechanical model in a computer by software, a movable part of the equipment is displayed on the computer display by the three-dimensional mechanical model without using an actual equipment. Computer simulation that can be operated by
D simulation ”. ). According to such a 3D simulation, generally, by causing a movable mechanism of a facility device to perform a desired operation on a display of a computer, each component constituting the movable mechanism or the like performs a predetermined operation without interfering with each other. It is possible to confirm whether or not the operation can be performed, the operation of the movable mechanism, and the like. Therefore, various advantages such as shortening the development time of the equipment and reducing the development cost can be obtained.

Here, in such a 3D simulation, a mechanism model that is moved as a three-dimensional mechanism model (hereinafter referred to as "3D mechanism model") is executed by a predetermined operation program prepared for each movable mechanism. Is common. Therefore, when a plurality of movable mechanisms or a plurality of equipment devices are linked to perform a predetermined operation, each operation program for each 3D mechanism model is executed according to the operation sequence and the operation content described in a predetermined sequence chart. Will work together.

Therefore, in general, the 3D mechanism models have mutual activation timings in accordance with the specifications of the predetermined operation sequence according to the sequence chart, and therefore, for example, operation command waiting processing and operation end output processing are performed for each operation. Programming work such as appropriately adding or deleting to a program by command description is performed as a preliminary preparation for 3D simulation.

[0005]

However, according to such a 3D simulation, as described above,
When operating multiple 3D mechanism models according to the specifications of the planned operation sequence, it is necessary to incorporate operation command waiting processing, etc., as instruction description in each operation program to mutually activate the start timings according to the specifications of the predetermined operation sequence. There is. Therefore, each time the configuration of the equipment or the like that is the target of the 3D simulation is changed,
The setting must be changed by such an instruction description.

Also in the sequence chart describing the operation sequence and operation contents of each operation program, the description for setting the operation sequence and operation contents is changed every time the operation sequence is changed or equipment is added. There is a need. Therefore, if the creator of the sequence chart is not familiar with the predetermined operation mode defined for each equipment device (for example, “clamp” and “unclamp” for a clamp device), change the target It is necessary to describe the predetermined operation mode of the equipment in the sequence chart while separately referring to the materials related to the equipment.

That is, in the conventional 3D simulation, the complicated operation and work as described above are forced every time the configuration, operation sequence, operation content, etc. of the target equipment are changed. There is a problem that it takes time to develop the operation program and create a sequence chart, and also causes an increase in cost due to an increase in the number of work steps. Also, since it relies on human labor, errors, that is, bugs, are likely to occur.

The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a facility simulation method and a facility simulation method capable of reducing the programming man-hours of an operation program for executing a 3D mechanism model. To provide a simulation program. Another object of the present invention is to provide a facility simulation method and a facility simulation program that can reduce the number of steps for creating a sequence chart for executing a 3D mechanism model.

[0009]

[Means for Solving the Problems and Actions and Effects of the Invention]
In order to achieve the above object, according to the invention described in claims 1 and 5, in a facility simulation in which a computer simulates an operation of a facility controlled by a control device, one of a plurality of facility devices constituting the facility is provided. One of the technical features is that the operator selects one of them as a target device, the operator inputs an operation program indicating a simulation operation of the target device, and performs a single simulation of the operation of the target device based on the operation program. .

Thus, the operator can input an operation program for each operation of the selected target device and immediately perform a single simulation based on the operation program. In other words, immediately after the operator inputs the operation program, the operator clearly understands the content of the operation program, so that if there is any problem as a result of the unit simulation, appropriate correction can be promptly made. As a result, the operating program development efficiency can be improved.

Further, in the inventions according to claims 2 and 7, it is determined whether or not there is a problem in the result of the unit simulation, and when it is determined that there is a problem in the result of the unit simulation, the operator corrects the operation program. When it is determined that there is no problem, the technical feature is that the operating program and related information are registered as mechanism attribute information.

This allows the operator to immediately correct any problem in the result of the unit simulation. In addition, for an operation program that has been executed without any problem, the operation program and related information are registered as mechanism attribute information, so the problem operation program is mistakenly registered.
It is possible to suppress the need for correction later. That is, if an operation program is created for all equipment to be simulated, and a problem is found in the operation of the equipment at the stage of simulating continuous operation of these equipment, the operation program is corrected and the continuous operation is performed again. However, if you perform a single simulation in advance and register only those that have no problems in operation, you can reduce the frequency of problems found during continuous operation and improve development efficiency. You can do it.

Further, in the inventions according to claims 3 and 8, when designating the operation sequence of each equipment during continuous operation in the equipment offline simulation, the operator sequentially selects the equipment and the operation performed by the equipment. Then, the technical feature is to automatically edit the operation program so that the offline simulation is executed based on the selected order.

Thus, conventionally, an operator had to write a command for controlling the timing of an operation performed by the equipment into the operation program of each equipment, but according to the present invention, the equipment and Since the operation sequence can be set by sequentially selecting the operations performed by the equipment device, it is possible to perform the work in a short time and with few errors.

Further, in the inventions according to claims 4 and 9, an operation command signal for operating the equipment device and an operation result of the equipment device, which are exchanged with a control device for actually controlling the equipment. Is associated with the operation program based on the correspondence information received from the operator, the operation program is executed based on the operation command signal, and the operation result signal is output according to the execution result of the operation program. This is a technical feature.

Thus, if the operator sets an operation command signal which is an execution condition of an operation in the operation program and an operation result signal indicating an operation result in the operation program by, for example, a list or the like, the information is incorporated into the operation program. Since online simulation can be performed, work can be performed in a short time and with few errors.

Further, in the inventions according to claims 5 and 10, the simulation operation in the online simulation is compared with the simulation operation in the offline simulation, and the comparison result is displayed.

Usually, in the equipment design stage, it is first confirmed by offline simulation that each equipment operates without interference, and after that, a controller is connected and an online simulation is performed to make a separately created control. Check the operation of the device control program.
According to the present invention, since it is possible to compare the simulation result of the offline simulation with the result of the online simulation, it is possible to easily and surely determine whether or not the control program of the control device operates according to the intended specifications. can do.

[0019]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments in which the simulation method and simulation program of the present invention are applied to a simulation apparatus will be described below with reference to the drawings. First, the configuration of the simulation apparatus 20 according to the present embodiment will be described based on FIG.

As shown in FIG. 1, the simulation apparatus 20 has a function of performing a computer simulation of an operation mode of an equipment device (3D mechanism model) virtually configured by software, and mainly comprises CPUs 21 and R.
AM22, ROM23, hard disk device (hereinafter "H
It is called DD. ) 24, input / output interface 25, input device 26, display 27, communication interface 2
8 and the like, and is connected to a programmable logic controller (hereinafter referred to as “PLC”) 30. As will be described later, the PLC 30 is used not in the offline simulation process but in the online simulation process, and therefore is connected to the simulation device 20 in the attribute information creation / registration process or the offline simulation process. You don't have to.

The CPU 21 is the simulation device 20.
It is a central processing unit for controlling, and is connected to the RAM 22, the ROM 23, the HDD 24, the input / output interface 25 and the like via the system bus. The system program for controlling the CPU 21 and each control program are RO
The programs are stored in the M23, and the CPU 21 reads these programs from the ROM 23 and expands them in a work area of the RAM 22 or the like, whereby the CPU 21 can sequentially execute these programmings.

The RAM 22 constitutes a part of the main storage space used by the CPU 21, and is a readable / writable volatile storage device connected to the system bus.
For example, DRAM (Dynamic RAM) is used.

The ROM 23 is also a read-only storage device connected to the system bus and constitutes a part of the main storage space used by the CPU 21. This ROM
23, a system program, an input function unit program 23a, a 3D operation program execution unit program 23b,
Automatic programming processing function program 23c, I /
Since the O processing unit program 23d, the offline simulation executing unit 23e, etc. are written in advance, the CPU
21 can execute a predetermined process by reading out the system program and the like written in the ROM 23 via the system bus. The input function unit program 23a, the 3D operation program execution unit program 23
b, automatic programming processing function program 23c,
The I / O processing unit program 23d, the offline simulation executing unit 23e, and the like may be stored in the HDD 24.

The HDD 24 constitutes an auxiliary storage space used by the CPU 21, and is a so-called hard disk device. That is, the HDD 24 is an auxiliary storage device that can read data from and write data to a magnetic disk, and in the present embodiment, a database (hereinafter referred to as “DB”) that stores various information.
Say. ) Is mainly used as. Therefore, HD
D24 includes 3D model information DBs 24a and 3D described later.
Model attribute information DB 24b, sequence chart DB 2
4c, various data used as the operation program DB 24d, and the like, as well as graphic data of the facility device based on the 3D mechanism model displayed on the display 27 are also stored.

The 3D model information DB 24a stores parameters relating to the operation form of the mechanism that constitutes the equipment. For example, as the motion definition, the origin position, the number of coordinate systems, gravity, the friction coefficient, and the motion attribute. , Movable range, moving speed, acceleration, etc. are stored for each equipment.

The 3D model attribute information DB 24b is composed of an operation program name table 24b1 and an operation-specific I / O status table 24b2. The operation program name table 24b1 is a file name of an operation program corresponding to a predetermined equipment device, which is created by attribute information creation / registration processing described later, and a comment of an operation form of a mechanism configuring the equipment device. The configuration information (mechanism attribute information) is registered for each equipment device. In addition, the I / O status table for each operation 24b2 registers the I / O status information for each operation based on the I / O status setting table that is performed by the online simulation process described later for each predetermined equipment.

The sequence chart DB 24c stores a sequence chart for determining the operation sequence of the equipment when a plurality of equipments execute a predetermined sequence process in cooperation with each other, and is used for offline simulation or online simulation. A sequence chart to be stored is stored for each sequence process. In this specification, the online simulation refers to performing simulation based on the I / O state information converted with the control device in a state of being connected to the control device that actually controls the equipment, and offline. Simulation means performing a simulation by a simulation device alone.

The operation program DB 24d stores a program for executing a predetermined series of operations by controlling the equipment, and is created and stored for each operation of each equipment.

The input / output interface 25 is the input device 2
6, an input / output device such as the display 27 and the communication interface 28, and a device that mediates the exchange of data between the CPU 21 and the like, and is connected to the system bus.

The input device 26 is the input function unit program 2
3a etc. allows you to enter certain information as needed,
It is connected to the system bus via the input / output interface 25. A keyboard in which a predetermined number of pressing switches are arranged, a pointing device such as a so-called mouse or trackball, or a display 2
There is also a touch panel provided on the surface of 7.

The display 27 is a display device capable of outputting output information from each program, that is, a graphic display showing a facility device to be a computer simulation target, a display of a list of operation types of the selected facility device, and the like. It is connected to the system bus via the output interface 25. For example, there is one that is configured by a CRT or a liquid crystal display and has a touch panel that constitutes the input device 26 on the display surface.

The communication interface 28 is a device that mediates data communication between the PLC 30 and the CPU 21, and is connected to the system bus via the input / output interface 25. For example, a configuration is possible in which data communication is possible by serial data transmission by RS-232C as the physical layer and BSC procedure as the data link layer. This gives C
Transmission of control data from the PU 21 to the PLC 30 and PL
Various data can be received from C30 to CPU21. The simulation device 20 and the PLC 30
The electrical connection form with is not limited to a serial connection, and may be a VME bus or a parallel connection conforming to IEEE488, for example.

The PLC 30 is mainly composed of a CP (not shown).
It is composed of a U, a ROM, a RAM, an input / output control circuit, and the like. The PLC 30 is originally a device having a function of issuing an operation instruction to equipment devices such as various actuators connected to the PLC 30 and acquiring detection information from various sensors of the equipment device, but in the present embodiment, PLC
The reference numeral 30 serves as a control device of an equipment device virtually configured by software in the simulation device 20. Therefore, the PLC 30 in the present embodiment
Although the actual equipment is not connected to, the equipment virtually configured in the simulation device 20 is configured to perform the same behavior as the actual equipment.

The PLC 30 is separately provided outside the simulation device 20 as in the present embodiment, and the CPU 2 of the simulation device 20 is also provided.
1, a virtual PLC 3 by software in the simulation device 20 using the RAM 22, the ROM 23, etc.
You may build 0.

Here, the input function program 23a, 3
The functional outlines of the D operation program execution unit program 23b, the automatic programming processing function unit program 23c, the I / O processing unit program 23d, and the offline simulation execution unit 23e will be described with reference to FIGS. 2 is a block diagram showing a functional configuration relating to the offline simulation in the case where the facility device which is the 3D mechanism model is a single unit, and FIG. 3 is a functional configuration relating to the offline simulation in the case where the facility device is plural. FIG. 4 is a block diagram showing the functional configuration of the online simulation.

As shown in FIGS. 2 to 4, the input function program 23a is used in both offline and online simulations. This program edits each piece of input information input via the input device 26 as necessary to create an operation program or sequence chart, and edits the edited operation program or sequence chart to the operation program DB 24d or It has a function of storing it in the sequence chart DB 24c.

As shown in FIGS. 2 to 4, the 3D operation program execution unit program 23b is also a program used in both offline and online simulations, and is an operation program for a single simulation stored in the operation program DB 24d. 24d1 and the operation program 24d2 for off-line simulation are developed, and the virtual facility device based on the 3D mechanism model is sequentially operated according to the description of the developed operation program.

As shown in FIGS. 3 and 4, the automatic programming processing function program 23c is a program used by the equipment for a plurality of offline simulations and online simulations, and operates based on a sequence chart as described later. It has a function of generating start information and operation end information.

As shown in FIGS. 3 and 4, the I / O processing section program 23d includes a 3D operation program execution section program 23b and an offline simulation execution section 23.
e or a program capable of switching a data transmission / reception path to / from the PLC 30 and having a function of determining whether the simulation is offline or online before the simulation and appropriately switching.

As shown in FIG. 3, the off-line simulation executing section 23e is a program used for off-line simulation, and replaces the PLC 30 with three-dimensional operation commands according to the description of the sequence chart.
PL having a function of outputting to the D operation program execution unit program 23b and receiving operation completion information and the like from the 3D operation program execution unit program 23b
It is a C30 simulator.

An input / output unit 23f interposed between the PLC 30 and the 3D operation program execution unit program 23b.
Is a program such as driver software that mediates between them.

Next, the operation of the simulation apparatus 20 according to this embodiment will be described with reference to FIGS. The simulation device 20 is controlled by the input function unit program 23a, the 3D operation program execution unit program 23b, and the like stored in the ROM 23, and the following three processes are performed: (1) Attribute information creation / registration Processing, (2) offline simulation processing and (3)
Perform online simulation processing. Hereinafter, the flow of each of these processes will be described in order.

(1) Attribute information creation / registration processing (FIGS. 2 and 5)
(See FIG. 7) As shown in FIG. 5, in the attribute information creation / registration processing, first, a predetermined display control program in step S101 is used to arrange an equipment device, which is a 3D mechanism model, at a predetermined display position and display it on the screen. Perform processing. That is, in this processing step, the predetermined display control program sets the 3D mechanism model of the facility device at a predetermined position on the screen of the display 27 based on the graphic data of the facility device (3D mechanism model) stored in the HDD 24. Perform the process of placing and displaying. As a result, for example, as shown in FIG. 6, the clamp device CL-1, the clamp device CL-2, the welding device WL-1, the welding device WL-2, the work W and the like are graphically displayed on the display 27.

Next, in step S103, the operator of the simulation apparatus 20 (the developer of the operation program) displays on the display 27 the equipment apparatus (hereinafter referred to as "target apparatus") for which the operation program for offline simulation is to be developed. Is selected from the graphic display of and various parameters are input and set. This processing is performed by the input function unit program 23a described above, and is represented as "3D model information input function" in FIG.

For example, in the screen display shown in FIG.
Since the pointer P selects the clamp device CL-1 as the target device by operating the mouse or the like by the operator,
With the 3D model information input function of the input function unit program 23a, processing for inputting necessary parameters to the clamp device CL-1 is performed. Specific examples of the parameters include an origin position, the number of coordinate systems, gravity, and a friction coefficient as the motion definition, and a movable range, a moving speed, an acceleration, and the like as the motion attributes.

In the next step S105, the operator performs a process of creating and storing the operation program of the target device by the input function unit program 23a. That is, by using the “3D operation program input function” (input function program 23a) shown in FIG.
A process in which an operator writes a command to operate as a mechanism model as an operation program, and an arbitrary file name (for example, “CLAMP1”) is given to the created operation program, and the operation program 24d1 for unit simulation is given.
Is stored.

For example, when the clamp device CL-1 is selected on the screen display shown in FIG. 6, the operator creates an operation program as shown in FIG. 7 (A). This operation program has the program name "CLAMP1" on the first line.
And the processing start instruction "BEGIN" on the second line,
On the 3rd line, the fact that the current position is moved to the point of W [1] by the "MOVES" command, and on the 4th line, the processing end command "END" is described.

When the creation of the operation program by the operator is completed in step S105, step S10
7, the processing for simulating the created operation program independently and offline (single offline simulation processing) is performed. The process by this step is
This is performed by the 3D operation program execution unit program 23b described above, and as shown in FIG. 2, the operation program created in the previous step S105 is loaded into the 3D operation program execution unit program 23b and executed.

Then, in step S109, the operator determines whether or not the simulation result in step S107 has a problem, and if there is no problem (S10).
If Yes, the process proceeds to step S111. If there is a problem in the simulation result by the operator's judgment (No in S109), the process proceeds to step S103, and the process of setting various parameters is performed again.

In step S111, the file name of the operation program for which the simulation result is good and the operation name for commenting the operation form of the mechanism constituting the target device are set as the operation type (machine configuration information (mechanism attribute information)). Is registered in the operation program name table 24b1 of the 3D model attribute information DB 24b. The processing by this step is performed by the input function unit program 23a, and is represented as "3D model information input information function" in FIG. This operation program name table 24
b1 is the "operation program name" area for registering the file name of the operation program, the "device name" area for registering the name of the target device, and the comment of the operation mode of the mechanism configuring the target device (operation (Name) is registered in the "comment (action name)" area and the like. A plurality of operation types can be registered for one target device.

For example, when the clamp device CL-1 is selected and an operation program is created as shown in the screen display of FIG. 6, the contents as shown in FIG. It is registered in the table 24b1. That is,
The operation program name “CLAMP1” is stored in the “operation program name” area of the operation program name table 24b1, the “clamp device 1” is displayed in the “device name” area, and the “clamp (operation name)” area is displayed in the “clamp device” area. Are registered respectively.

When the operator refers to the operation type (mechanism configuration information) stored in the 3D model attribute information, 3
The contents are read from the D model attribute information DB 24b,
Display on the display 27. Thereby, the operator can easily refer to the operation type of the target device.

(2) Off-line simulation processing (see FIGS. 3 and 8 to 13) As shown in FIG. 8, even in the off-line simulation processing, step S10 of the attribute information creation / registration processing described above is performed.
Similar to step 1, first, the predetermined display control program in step S201 performs a process of displaying equipment devices such as the clamp devices CL-1 and CL-2 on the display 27 as a 3D mechanism model (see FIG. 11 (A)). .

In the next step S203, the operator (sequence chart creator) of the simulation device 20 performs a process of selecting the target device to be described in the sequence chart from the graphic display on the display 27. This processing is performed by the input function unit program 23a described above, and is represented as a "sequence chart data input function" in FIG.

For example, in the screen display shown in FIG. 11 (A), the operator uses the mouse or the like to operate the clamp device CL-1.
When the pointer P is moved to and clicked,
As shown in (B), the display color of the clamp device CL-1 is changed to clearly indicate that the clamp device CL-1 has been selected. Thereby, the clamp device CL-1 is selected.

In a succeeding step S205, the operation type of the selected target device is read from the operation program name table 24b1 of the 3D model attribute information DB 24b.
This processing is also performed by the "sequence chart data input function" (input function unit program 23a) shown in FIG. 3, and all the operation types related to the selected target device are selected from the operation program name table 24b1 via the RAM 22. Read out. As a result, the next step S207
It is possible to display the operation type of the target device by.

In step S207, step S205
The operation type relating to the target device read by is edited in a list display format by a predetermined display control program and displayed on the screen. In this process, as shown in FIG. 11B, another window Wd-a is provided below the screen of the 3D mechanism model displayed in step S201, and the list is displayed on the window Wd-a. In the example of the screen display shown in FIG. 11B, the operation program name “CLAMP1” which is the operation type of the clamp device CL-1 and its comment “Clamp”, and the operation program name “UNCLAMP1” and its comment “Ann "Clamp" is listed.

Next, in step S209, the operator performs a process of selecting the operation of the target device to be described in the sequence chart from the list of operation types. This processing is also performed by the input function unit program 23a described above, and is represented as a "sequence chart data input function" in FIG. In the example of the screen display shown in FIG. 11 (B), the operator uses a mouse or the like to move the pointer P '(the broken line shown in the figure) to the display portion of the operation program name "CLAMP1" in the operation type list.
By moving and clicking, the display color of the "CLAMP1" line changes, indicating that it has been selected.

In the processing after step S211, the sequence chart creating processing and the timing information setting processing, which are one of the features of the present invention, are performed. In step S211, a process of writing information on the operation of the selected target device in the sequence chart is performed. This processing is also performed by the input function unit program 23a, and the processing of adding or inserting the selected operation to a predetermined sequence chart is performed. For example, in the screen display shown in FIG. 11B, since the clamp operation is selected, if the operator selects, for example, “CLAMP1” as the operation program corresponding to it, the first step (step number 10) of the sequence chart The operation is written in the line. Next, when "UNCLAMP1" is selected, the operation is written in the row of the next step (step number 20) in the sequence chart. FIG. 12 shows an example of a sequence chart in which the clamp operation is written in the row of step number 10 by this processing step.

In this sequence chart, there is a previous step number column in addition to the step number indicating the processing order. This is a step number to be described for execution order control in which the processing of the previous step number is completed and then the processing is performed. Also, a simple action name is written in the comment (action name) field, and the name of the target device is written in the device name field. In the operation program name column, the program name of the operation program is added, and in the operation order column, an arrow is provided so that the order of the operations can be visually recognized.

In the next step S213, the operator performs a process of judging whether or not the sequence chart is completed. If it is determined that the sequence chart is completed (Yes in S213), the process is moved to the timing information setting process in the next step S215. If it cannot be determined that the sequence chart is completed (No in S213), the process returns to step S203. A process of selecting the next target device to be described in the sequence chart is performed.

When the sequence chart is completed, next the timing information setting process in step S215 is performed.
This processing is performed by the automatic programming processing function program 23c, the details of which are shown in FIG. As shown in FIG. 9, in the timing information setting process in the offline simulation process, first, in step S301, a process of reading character string data for one line from the sequence chart is performed. Then, the character string data read in this step S301 is analyzed in step S303, and processing for extracting the step number (operation end information) and the previous step number (operation start information) is performed. Further, in step S305, the analysis is advanced to extract the operation program name, and the automatic programming process 1 of the extracted operation program is performed in step S3.
07.

The details of the automatic programming process 1 in step S307 are shown in FIG. This FIG.
The automatic programming process 1 of the operation program shown in
This is a process performed on an operation program stored in the operation program DB 24d (for example, the operation program shown in FIG. 7 (A)), and here, a single object stored in the operation program DB 24d by the attribute information creation / registration processing described above. The operation program 24d1 for simulation is targeted.

Therefore, the automatic programming process 1
First, in step S401, the operation program D
A process of reading the operation program 24d1 for unit simulation from B24d is performed. Then, step S40
According to 3, the processing for reading the character string data for one line from the read operation program is performed, and the processing for extracting the command word is performed by analyzing the read character string data in step S405.

In a succeeding step S407, it is determined whether or not the extracted instruction word is an operation instruction, and if it is an operation instruction (S
(Yes in 407), in the next step S409, an instruction to wait for the completion of the process of the previous step number is inserted one line before the operation instruction, and in the next step S411, the operation instruction is completed one line after the operation instruction. The instruction to notify is inserted, and the process proceeds to step S413. On the other hand, if the extracted command word is not a motion command (N in S407)
o), the process proceeds to step S413.

In step S413, it is determined whether or not there is an instruction word in the next line. If it is determined that the instruction word is in the next line (Yes in S413), the process returns to step S403 and one line of the next line is returned. Perform processing to read character string data. On the other hand, if it cannot be determined that there is an instruction word in the next line (S41
No in 3), since there is no other operation command in the operation program, the operation program automatically programmed in step S415 is used as the operation program D.
The process of storing in B24d is performed. As a result, the series of automatic programming processes 1 ends, and the process moves to step S309 shown in FIG.

Returning to FIG. 9, in step S309, processing for determining whether or not there is character string data at the next step number in the sequence chart is performed. If it is determined that the next step number has character string data (S30
(Yes in step 9), the process returns to step S301 to perform a process of reading the character string data for one line of the next step number from the sequence chart. On the other hand, if it cannot be determined that there is an instruction word in the next line (No in S309), it is determined that the processing of all the character string data in the sequence chart has been completed, and the series of timing information shown in FIG. The setting process ends, and the process proceeds to step S217 shown in FIG.

Here, the timing information setting process in step S215 described above will be described with reference to FIG.
It should be noted that here, the case of the example of the screen display shown in FIG. As shown in FIG. 13, step number 1 is displayed on the sequence chart screen shown in the upper part of the figure.
Each line of 0, 20, and 30 is displayed. Here, when the character string data for one line of step number 20 of the sequence chart is read by the timing information setting process shown in FIG. 9 (S301), the step number “2
0 ”, previous step number“ 10 ”, comment (action name)
It contains the character strings "Clamp", device name "Clamp device 2", and operation program name "CLAMP2". for that reason,
By analyzing these character strings, the step number "20" and the previous step number "10" are extracted (S30
3) Further, the operating program name "CLAMP2" is extracted (S305). As a result, the step number “20” is used as the operation start information and the step number “1” is used as the operation end information.
Since "0" and "CLAMP2" as the operation program name can be obtained, the automatic programming process 1 (FIG. 10) is called with these pieces of information as parameters.

Then, in the called automatic programming processing 1, the operation program DB2 is obtained by using the operation program name "CLAMP2" received as a parameter as a clue.
Operation program 24 for unit simulation from 4d
The operation program "CLAMP2" stored as d1 is read (S401). The read operation program "CL
As shown in the middle part of Fig. 13, "AMP2" is "PR" in the first line.
OGRAM CLAMP2 ", the second line" BEGIN ", the third line" MOVES W [1] ", and the fourth line" END ".

The operation program “CL
AMP2 ”, the character string data for one line is sequentially read from the first line (S403), the command word is extracted from the character string data for the one line (S405), and the extracted command word operates. Whether or not it is a command is determined (S407), and these processes are repeated until an operation command is found (S40).
7, S413).

The operation program "CLAMP" shown in the middle part of FIG.
In the example of “2”, the character string “MOVES” corresponds to the operation command, so when this “MOVES” is found (Yes at S407).
s), an instruction to wait for the completion of the processing of the previous step number one line before this operation instruction (“MOVES”), for example, “WaitStepNo (1
0) ”command is inserted (S409). That is, based on the step number "10" as the operation start information of the parameters received when called as the subroutine, the step number "10" is added to the n of the "WaitStepNo (n)" command.
Is set, and the set one is inserted before the "MOVES" command. Accordingly, the clamp device 2 executes the clamp operation after waiting for the completion of the clamp operation by the clamp device 1 described in step number 10.

The operation command is a command for changing the operation mode of the mechanism constituting the equipment. In this embodiment, "MOVES" corresponds to the operation command.
In addition to commands, for example, "MOVEC" to move in an arc motion
There are commands, "MOVE" commands that move according to a specified route, and "DRAW" commands that move a specified amount from the current position.

Then, one line after the operation instruction, an instruction for notifying the completion of the operation instruction, for example, "EndStepNo (20)" instruction is inserted (S411). This is also based on the step number "20" as the operation end information of the parameters received when it is called as a subroutine, and "EndSte
Set step number "20" to n of "pNo (n)" command,
Insert it after the "MOVES" command. Note that such operation end information is the same as when the clamp device 2 waits for the completion of the clamp operation by the clamp device 1 of step number 10 by the "WaitStepNo (10)" command.
It is used to notify the completion of a predetermined operation by another equipment device to the equipment device.
Instead of the instruction for notifying the completion of the operation instruction or the instruction for waiting the completion of the operation instruction, a method of directly referring to the variable indicating the operation state may be used.

When the operation start information and the operation end information are automatically programmed by the automatic programming process 1 as described above, an operation program "CLAMP2" (after automatic programming) as shown in the lower part of FIG. 13 is generated.
That is, the operation program "CLAMP
"MOVES W" on the 3rd line of "2" (before automatic programming)
Since "WaitStepNo (10)" command is described before the first line of "[1]" and "EndStepNo (20)" command is described after the first line, after automatic programming, "PROGRAM CLAMP2" is displayed on the first line. , "BEGIN" on the second line, "WaitStepNo (10)" on the third line, "MOVES W [1]" on the fourth line,
The command word “EndStepNo (20)” is described on the fifth line, and the command word “END” is described on the sixth line.

Now, return to FIG. 8 again. Step S215
When the timing information setting process is completed, the process of simulating the completed operation program off-line is performed in step S217. That is, the 3D operation program execution unit program 23b and I / O shown in FIG.
The processing section program 23d and the off-line simulation execution section 23e perform processing for off-line simulation of the operation program. In this process, first, the I / O processing unit program 23d performs a process of switching to the I / O for offline simulation, thereby disconnecting the connection between the simulation device 20 and the PLC 30. Then, the offline simulation execution unit 23e sequentially issues an instruction to each operation program according to the completed sequence chart.

For example, in the example of the sequence chart shown in the upper part of FIG. 13, the offline simulation execution unit 2 is used to execute the clamp operation by the operation program “CLAMP1” described in the row of step number 10.
The 3e outputs an execution command of the operation program to the 3D operation program execution section program 23b via the I / O processing section program 23d. Then, the 3D operation program execution unit program 23b that has received this operation instruction executes the clamp operation according to the operation program “CLAMP1” that is waiting in advance so that the operation completion information is sent to the offline simulation execution unit when the operation is completed. 23
Output to e (EndStepNo (10)). As a result, the operation program “CLAMP2” described in the next line of step number 20 can execute the clamp operation (WaitStepNo (10)), and the 3D operation program execution unit program 23b operates next. The clamp operation is executed according to the program “CLAMP2” (see the lower part of FIG. 13).

When the simulation process in step S217 is completed in this way, the operator determines in next step S219 whether or not there is a problem in the simulation result in step S217, and if there is no problem (Yes in S219), A series of this offline simulation process ends. If there is a problem in the simulation result by the operator's judgment (N in S219,
o), the process proceeds to step S203, and the target device to be the target of the offline simulation is selected again.

As described above, in the off-line simulation processing shown in FIG. 8, the target device is selected from the 3D mechanism model displayed on the display 27 in step S201 in step S203, and the operation type (machine) of the selected target device is selected. The configuration information (mechanism attribute information) is read from the 3D model attribute information DB 24b in step S205, and the read operation types are displayed as a list on the display 27 in step S207. This makes it possible to easily refer to, for example, the operation type of the target device whose setting is to be changed. Therefore, even if the creator of the sequence chart is not familiar with the operation type of the target device, It is possible to easily refer to the operation mode of the mechanism configuring the target device from the operation types listed in 27, and it is possible to save the trouble of separately referring to materials and the like related to the target device. Therefore, 3D
This has the effect of reducing the number of steps required to create a sequence chart for executing the mechanism model.

In the off-line simulation processing shown in FIG. 8, when the operation type displayed in step S207 is the target device alone, the operation type displayed on the display 27 is selected in step S209, and the step In step S211, the selected operation type is incorporated into the sequence chart. This allows
The creator of the sequence chart selects the target device desired to be simulated from the equipment displayed on the display 27, and the selected target device is automatically incorporated in the sequence chart. The sequence chart can be easily created regardless of whether or not the person has knowledge of the operation type of the selected target device. Therefore, there is an effect that the number of steps for creating a sequence chart for executing the 3D mechanism model can be reduced.

Further, in the timing information setting process (FIG. 9) of the off-line simulation process shown in FIG. 8, when a plurality of existing facility devices cooperate with each other to execute a predetermined sequence operation, the target device is configured by step S303. The operation start information and / or the operation end information of the mechanism to be operated are generated based on the sequence chart, and in step S307, the operation start information and / or the operation end information are incorporated into the operation program of the target device to be subjected to the offline simulation. Thus, if the operation type listed on the display 27 is selected, not only the selected operation type is incorporated into the sequence chart, but also the operation start information and operation end information of the mechanism are incorporated into the operation program of the target device. Therefore, the developer of the operation program can easily change the operation program by selecting the operation type displayed on the display 27. Therefore, there is an effect that the programming man-hours of the operation program for executing the 3D mechanism model can be reduced.

In the above-described off-line simulation processing, an instruction to wait for the completion of the processing of the previous step number is inserted in the operation program in step S409, and an instruction to notify the completion of the operation instruction is inserted in the operation program in step S411. However, the processing flow may be configured such that one of the two instructions is inserted into the operation program.

(3) Online simulation processing (see FIGS. 4, 11, and 14 to 20) As shown in FIG. 14, in the online simulation processing as well as the above-described attribute information creation / registration processing and offline simulation processing. First, the clamp device CL- is set by the predetermined display control program in step S501.
1, equipment such as CL-2 is placed at a predetermined display position as a 3D mechanism model, and a process of displaying a screen on the display 27 is performed (see FIG. 11 (A)).

At the next step S503, the operator of the simulation apparatus 20 (the developer of the operation program).
Performs a process of selecting a target device for which an online simulation operation program is to be developed from the graphic display on the display 27. This processing is performed by the input function unit program 23a described above, and is represented as "3D model information input function" in FIG. This target device may be selected from the screen display of the sequence chart for offline simulation shown in FIG.

In a succeeding step S505, a process of displaying a screen for setting I / O state information (operation control information) for each operation of the selected target device is performed. This processing is performed by the input function program 23a, and the I / O state setting information corresponding to the target device is searched, and the screen as shown in the upper part of FIG. 17 is displayed. An example of this screen display is
On the I / O status setting screen corresponding to the clamp device 1 (clamp device CL-1) displayed graphically in FIG. 11 (B), "operation command information" is shown in the upper row, "output information during operation" in the middle row, The "output information at the operating end" is displayed in the bottom row.

In this I / O status setting screen, "PL
The "symbol name indicating the I / O signal on the C side" refers to the names of solenoids, solenoid valves, position sensors, etc. attached to the mechanism that constitutes the equipment device (clamp device 1), and is shown in FIG. 17, for example. "SOL_A" is solenoid A, "SOL_B
"Is the solenoid B," LS_A "is the position sensor A," LS_
"B" means position sensor B, respectively.

On the same screen, the "signal state" is
It is displayed as "ON" when it is operating or with sensor output, and as "OFF" when it is stopped or without sensor output. “Symbol name comment” is a simple expression of the meaning of “symbol name indicating I / O signal on PLC side”. For example, “SOL_A” shown in FIG. 17 is output corresponding to a clamp instruction. It is a signal that is
"Clamp command" is displayed. Similarly, “SOL_B” shown in FIG. 17 is a signal output corresponding to the unclamp command, and is therefore displayed as “unclamp command”.

On the other hand, the comment of the output information "LS_A" at the operation end and the operation end shown on the same screen is displayed as "clamp end" because it is the sensor signal at the clamp end, and similarly, the output at the operation end during the operation is displayed. The comment of the information “LS_B” is displayed as “unclamp end” because it is a sensor signal at the unclamp end.

In this processing step, the I / O state information for each operation of the target device is set by the operator performing a process of inputting each signal state on the I / O state setting screen thus displayed. It is a thing. For example, from the device configuration data prepared as the I / O device specifications as shown in the lower part of FIG. 17, the corresponding solenoid, solenoid valve,
The I / O specifications regarding the sensor are input to the I / O state setting information according to each of the start state, the intermediate state, and the end state.

In the case of the clamp device 1, since the two solenoids A and B and the two position sensors A and B are provided, the operator turns ON the start state, the intermediate state, and the end state corresponding to each. I / OFF information (ON or OFF surrounded by a broken line shown in the lower part of FIG. 17)
Sequentially input the O state setting information.

The I / O device specification is the HDD 24
It may be stored in advance as a DB (database) configured as described above, and similar to the I / O status setting screen in step S505, a target device may be searched and displayed on the screen. As a result, it is possible to save the trouble of separately searching for device configuration data, and thus it is possible to further reduce the number of steps for creating the operation program and the sequence chart.

When the I / O status information for each operation of the target device is set in step S505, the I / O status information for each operation set in step S507 is stored in the 3D model attribute information DB.
The processing for registering in the I / O status table 24b2 for each operation of 24b is performed. This processing is also performed by the input function program 23a.

In a succeeding step S509, timing information setting processing is performed. This processing is performed by the automatic programming processing function unit program 23c, the details of which are shown in FIG. As shown in FIG. 15, in the timing information setting process in the online simulation process, first, in step S601, the timing information setting process shown in FIG.
A process of reading the character string data for one line from the sequence chart as shown in 2 is performed. And this step S
The one-line character string data read by 601 is analyzed in step S603 to perform a process of extracting an operation program name, and it is determined in step S605 whether or not the extracted operation program has already been automatically set. (The automatic setting will be described later).

The determination process in step S605 is performed by determining whether or not the ON / OFF information is included in the character string data for one line read from the sequence chart. That is, when the extracted operation program has already been automatically set, a sequence chart in which operation command information and the like are inserted is created as shown in FIG. 19, so that ON / OFF information corresponding to this is created. By determining whether or not the presence / absence is included in the character string data, it is possible to determine whether or not the automatic setting has already been performed.

When it is determined in step S605 that the operation program has already been automatically set, the automatic programming process 2 in step S609 or the like is not necessary for the operation program, and thus step S6 is performed.
Then, the processing is moved to 13 to judge whether or not there is character string data at the next step number. On the other hand, if it cannot be determined in step S605 that the operation program has already been automatically set, it can be determined that the operation program has not been automatically set, and the next step S607 is performed.
Transfer processing to.

In step S607, the I / O status information for each operation registered in the operation I / O status table 24b2 is set to 3
Processing for reading from the D model attribute information DB 24b is performed.
The I / O status information for each operation is obtained in step S50 described above.
5, it is created and registered in S507, and the I / O status information for each operation related to the target device can be obtained by this reading.

In the next step S609, step S6
At 07, the automatic programming process 2 (FIG. 16) is called with the I / O state information for each operation and the operation program name relating to the target device as parameters. For example, in the examples of the I / O status setting screens shown in FIGS. 12 and 17, the parameter of the operation program name is “CLAMP1”.

Then, in the called automatic programming process 2, in step S701, the operation program name "CLAMP1" received as a parameter is used as a clue from the operation program DB 24d as the operation program 24d2 for offline simulation. Read "CLAMP1". The read operation program "CLAMP1" is "PROGRAM CLAMP1" on the first line and "BEGI
"N", "MOVES W [1]" on the third line, "END" on the fourth line
Each instruction word is described.

Then, in the next step S703, the character string data for one line is read in order from the first line for the operation program "CLAMP1" described above,
In step S705, a command word is extracted from the character string data for the one line, and it is determined whether or not the command word extracted in step S707 is an operation command. This determination repeats these processes until the operation command is found (S707, S715).

The operation program "CLAMP" shown in the middle part of FIG.
In the example of "1", the character string of "MOVES" corresponds to the operation command, so if this "MOVES" is found (Yes in S707).
s), the operation command (“MOVE
S ") command to output a signal of operation command information one line before,
For example, insert a "WaitSignal (" SOL_A = ON, SOL_B = OFF ")" command. That is, among the parameters received when called as a subroutine, the operation command information "PL
Using the "symbol name indicating the I / O signal on the C side" and "signal state" as operation control information, an instruction to wait for an operation command signal is generated based on this, and inserted one line before the operation instruction "MOVES". Perform processing. Thereby, the clamp device 1
(Clamp device CL-1) is ON information from solenoid A,
The clamp operation can be executed after the OFF information is sent from the solenoid B, that is, the activation timing can be set. The operation command information corresponds to the input information.

Then, in step S711, an instruction for outputting a signal after the operation is started is inserted one line after the operation instruction. Normally, both the clamp end and unclamp end signals are turned off during the operation of the clamper.
nal ("LS_A = OFF, LS_B = OFF") "command is inserted. This is also
Of the parameters received when called as a subroutine, output information during operation "symbol name indicating I / O signal on PLC side" and "signal state" are used as operation control information, and based on this, the operation The process of generating a command for outputting a signal and inserting it one line after the operation command “MOVES” is performed. As a result, the clamp device 1 immediately notifies the other equipment device that the clamp device 1 is in operation after executing the operation command, so that the other equipment device receiving the notification notifies the other equipment device. Know that is running. The output information during this operation corresponds to the output information.

Further, also in the next step S713,
Two lines after the same operation command, that is, one line after the command that outputs the signal after the start of the operation inserted in step S709, the command that outputs the operation end signal, for example, "EndSignal (" LS_A = O
N, LS_B = OFF ")" command is inserted. This is also the output information “symbol name indicating I / O signal on PLC side” and “signal state” of the operating end among the parameters received when called as a subroutine as the operation control information,
Generate an instruction to output the signal of the operating end based on this,
A process of inserting two lines after the operation command “MOVES” is performed. As a result, the clamp device 1 executes the operation command, and further executes the command for outputting the signal after the operation is started, and immediately after that, the clamp device 1 notifies the other equipment device that the operation end, that is, the operation is completed. Notice. Therefore, other equipment devices that receive the operation end signal from the clamp device 1 are
The operation end timing of the clamp device 1 can be used as the activation timing. The output information at the operating end corresponds to the output information.

When the operation start signal and the like are automatically programmed by the automatic programming process 2 as described above,
An operation program “CLAMP1” (after automatic programming) as shown in the lower part of FIG. 18 is generated. That is, "Wa" is displayed before the line "MOVES W [1]" on the third line of the operation program "CLAMP1" (before automatic programming) shown in the middle part of the figure.
itSignal ("SOL_A = ON, SOL_B = OFF") "command, one line later" BetweenSignal ("LS_A = OFF, LS_B = OFF") "command, one more line" EndSignal ("LS_A = ON, LS_B = OFF") ", Each is described, so in the case after automatic programming, the first line is" PROGRAM CLAMP1 "and the second line is" BEGI
N ”, on the 3rd line“ WaitSignal ("SOL_A = ON, SOL_B = OF
F ")", the fourth line "MOVES W [1]", the fifth line "Betwe
enSignal ("LS_A = OFF, LS_B = OFF") ", 6th line" EndSi
gnal ("LS_A = ON, LS_B = OFF") ", and on the 7th line" END
The instruction word of "" is described respectively.

When the processing in step S713 is completed, it is determined in step S715 whether or not there is an instruction word in the next line. Then, if it is determined by this determination process that there is an instruction word in the next line (Yes in S715).
s), the process proceeds to step S703, and 1 is set in the next line.
A process for reading out character string data for a row is performed, and a process similar to the above is performed. If it is not determined by the determination process that there is an instruction word in the next line (No in S715), the operation program automatically programmed in the next step S717 is stored in the operation program DB 24d. As a result, the series of automatic programming processes 2
Ends, the process moves to step S611 shown in FIG.

Returning to FIG. 15, in step S611,
The operation command information, the output information during operation, and the output information at the operation end are written in the sequence chart. This processing is performed by the input function unit program 23a, and the processing of inserting the operation command information and the like into the sequence chart for offline simulation is performed. For example, in the case of the sequence chart shown in the upper part of FIG. 13, as shown in FIG. 19, the columns of “operation command information”, “operating output information” and “operating end output information” are inserted, and the clamp device 1 or ON / OFF information corresponding to the clamp device 2 is added.

In the next step S613, a process of determining whether or not there is character string data at the next step number in the sequence chart is performed. If it is determined that there is character string data at the next step number (Yes in S613).
s), returning to step S601, a process of reading the character string data for one line of the next step number from the sequence chart is performed. On the other hand, if it cannot be determined that there is an instruction word in the next line (No in S613), it is determined that the processing of all the character strings in the sequence chart has been completed, and FIG.
The series of timing information setting processing shown in FIG.
The process moves to step S511 shown in.

Here, returning to FIG. 14 again. Step S50
When the timing information setting process of 9 is completed, in a succeeding step S511, a process of simulating the completed operation program online is performed. That is, the 3D operation program execution section program 23b, I / I shown in FIG.
With the O processing unit program 23d and the PLC 30,
The process of performing online simulation of the operation program is performed. In this process, the simulation device 20 and the PLC 30 are connected by first performing a process of switching to the online simulation I / O by the I / O processing unit program 23d. And PLC3
0 sequentially issues an instruction to each operation program according to a separately created sequence program. The online simulation I / O of the I / O processing program 23d
Is provided with an I / O signal table in which signal states corresponding to symbol names indicating I / O signals on the PLC side are set as shown in FIG.

For example, in the example of the sequence chart shown in the upper part of FIG. 19, first, in order to cause the operation program “CLAMP1” described in the row of step number 10 to execute the clamp operation, the PLC 30 uses the I / O processing unit program. Two
3D operation program execution unit program 23 via 3d
The execution instruction of the operation program is output to b. At this time, in the I / O signal table of the I / O processing unit program 23d, for example, as shown in FIG.
The signal states of B, C, D and position sensors A, B, C, D are set.

The 3D operation program execution unit program 23b which has received the operation command executes according to the operation program "CLAMP1" which is waiting in advance so that the operation program may display "WaitSignal (" SOL_A = ON, SOL_B = OFF ". ) ”Command is described, the execution of the“ MOVES W [1] ”command, that is, the clamp operation is waited until the solenoid A is turned on and the solenoid B is turned off by referring to the I / O signal table. Then, when the WaitSignal conditions are met, the clamp operation is performed and "BetweenSignal (" LS_A = OFF, LS_B = OF
F ")" command and "EndSignal (" LS_A = ON, LS_B = OFF ")" command are sequentially executed, that is, the status signals of the position sensors A and B are output to the I / O processing unit program 23d. As a result, the signal states of the position sensors A and B in the I / O signal table are rewritten, so that the PLC 30 and other equipment devices can be notified of the state of the clamp device 1 in real time. Similarly, the operation program “CLAMP2” described in the next line of step number 20 executes the clamp operation after waiting for the solenoid C to be in the ON state and the solenoid D to be in the OFF state.

When the simulation process in step S513 is completed in this way, in the next step S513, the operator determines whether or not there is a problem in the simulation result in step S511, and if there is no problem (Yes in S513), A series of this online simulation process is completed. If there is a problem in the simulation result by the operator's judgment (N in S513,
o), the process shifts to step S511, and the simulation process of the operation program is performed again.

As described above, in the online simulation process shown in FIG. 14, the target device is selected from the 3D mechanism model displayed on the display 27 in step S501 in step S503, and the I / O for each operation of the selected target device is selected. The O state information (motion control information (mechanism attribute information)) is read from the 3D model attribute information DB 24b and displayed on the display 27 in step S505.
Thereby, the output information sent from the target device to the PLC 30 or the input information received by the target device from the PLC 30 can be easily referred to. That is, even when the creator of the sequence chart or the developer of the operation program is not familiar with the output information and the input information of the I / O state information for each operation used for controlling the target device,
If the target device is selected from the 3D mechanism model displayed on the display 27, the output information and the input information of the I / O state information for each operation are displayed on the display 27, which can be easily referred to. It is possible to save the trouble of separately referring to the materials related to the target device. Therefore, there is an effect that the man-hours for creating a sequence chart for executing the 3D mechanism model and the man-hours for programming the operation program can be reduced.

Further, in the timing information setting process (FIG. 15) of the online simulation process shown in FIG.
When a plurality of existing equipment devices cooperate with each other to execute a predetermined sequence operation, operation command information is obtained based on the operation-specific I / O state information (operation control information (mechanism attribute information)) of the target device in step S607. , The operating output information and the operating end output information are generated, and in step S609, the operating command information, the operating output information, and the operating end output information are incorporated into the operating program of the target device for online simulation. With this, operation command information,
Since the operating output information and the operating end output information are automatically incorporated into the operation program of the target device, the developer of the operation program can easily change the operation program. Therefore, there is an effect that the programming man-hours of the operation program for executing the 3D mechanism model can be reduced.

(4) Simulation result comparison processing (see FIG. 2)
1 to FIG. 23) The simulation result comparison process compares the simulation operation in the online simulation with the simulation operation in the offline simulation,
This is a process of displaying the comparison result. Hereinafter, an example of an embodiment of this processing will be described.

FIG. 21 is a flow chart showing an example of the simulation result comparison processing procedure. Step S8
In 01, the execution sequence of the operation program executed in the online simulation process performed in step S511 of FIG. 14 is monitored. In step S803, the monitor result is analyzed, and when the execution start of the operation program is detected,
The processing moves to step S805. Step S805
Then, the execution order of the operation programs is stored as shown in FIG. This process is repeated until the end of the online simulation is detected in step S807.

When the end of the online simulation is detected in step S807, the execution sequence of the operation program in the online simulation is compared with the execution sequence of the operation program in the offline simulation in step S809. For the operation program execution sequence during the off-line simulation, refer to that stored in the sequence chart data storage unit as shown in FIG.

At step 811, the comparison result is displayed on the display 27. As a result of the comparison, if there is no difference in the execution order of the two, the fact is displayed, and if there is a difference, that part is displayed on the display 27. For example, I /
"CLAMP1" and "CLAMP2" due to incorrect setting of O status information
If the operation sequence is reversed, the operator is informed of the contents by displaying a screen as shown in FIG. From this screen display, the operator can know that there is a setting error in the I / O status information and can correct it. Such an operation sequence error may not be noticed even if the operator sees the simulation execution status on the screen display that graphically displays it. The debugging of the control program of the control device can be performed easily and surely. Note that the above step S
The processing of 801 to S811 is performed independently and in parallel with the processing of online simulation.

In the above-described embodiments of the invention, the case where the control device is configured as a device separate from the simulation device has been described. However, the control device is configured as software operating on a computer, and the simulation device The software may be concurrently executed by the same computer together with the software for realizing the above function. That is, in the online simulation, the control program for controlling the equipment executed by the control device is virtually executed on the computer, and the simulation operation is performed based on the I / O state information obtained as the execution result. But it's okay.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a simulation apparatus according to an embodiment of the present invention.

FIG. 2 is a block diagram showing a functional configuration relating to an offline simulation when the facility device is a single unit.

FIG. 3 is a block diagram showing a functional configuration relating to an offline simulation when there are a plurality of equipment devices.

FIG. 4 is a block diagram showing a functional configuration related to online simulation.

FIG. 5 is a flowchart showing a flow of attribute information creation / registration processing relating to offline simulation in the case where the facility device is a single unit.

6 is an explanatory diagram showing a screen display example by a screen display process of the 3D mechanism model shown in FIG.

7 is an explanatory diagram supplementing the description of the attribute information creation / registration process shown in FIG. 5, FIG. 7 (A) shows an example of an operation program, and FIG. 7 (B) is an example of operation program registration. It is shown.

FIG. 8 is a flowchart showing a flow of an offline simulation process when there are a plurality of equipment devices.

9 is a flowchart showing a flow of timing information setting processing shown in FIG.

10 is a flowchart showing a flow of automatic programming processing 1 shown in FIG.

11 is an explanatory diagram showing a screen display example by the offline simulation processing shown in FIG. 8, FIG. 11 (A) shows a display example of a 3D mechanism model, and FIG. 11 (B) shows an operation of the selected target device. It shows an example of a display of a list of types.

12 is an explanatory diagram showing an example of a sequence chart created by the off-line simulation processing shown in FIG.

FIG. 13 is an explanatory diagram supplementing the description of the offline simulation process shown in FIG. 8.

FIG. 14 is a flowchart showing the flow of online simulation processing.

15 is a flowchart showing a flow of timing information setting processing shown in FIG.

16 is a flowchart showing a flow of automatic programming processing 2 shown in FIG.

FIG. 17 is an explanatory diagram supplementing the description of the online simulation process shown in FIG. 14.

FIG. 18 is an explanatory diagram supplementing the description of the online simulation process shown in FIG. 14.

19 is an explanatory diagram showing an example of a sequence chart created by the online simulation process shown in FIG.

FIG. 20 is a list showing I / O signal states on the PLC side.

FIG. 21 is a flowchart showing the flow of simulation result comparison processing.

FIG. 22 is an explanatory diagram supplementing the description of the simulation result comparison process shown in FIG. 21.

[Explanation of symbols]

20 Simulation device 21 CPU 22 RAM 23 ROM 23a Input function program 23b 3D operation program execution unit program 23c Automatic programming processing function program 23d I / O processing unit program 23e Offline simulation execution unit 24 HDD (information recording medium) 24a 3D model information DB 24b 3D model attribute information DB 24b1 Operation program name table 24b2 I / O status table for each operation 24c Sequence chart DB 24d operation program DB 26 Input device 27 Display (display device) 30 PLC (control device) CL-1 Clamp device 1 (equipment) CL-2 Clamp device 2 (equipment) WL-1 Welding equipment 1 (equipment equipment) WL-2 Welding equipment 2 (equipment equipment) W work

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Yukihiro Yoshida             1-1 Asahi-cho, Kariya city, Aichi             Machine Co., Ltd. F-term (reference) 5B046 JA07                 5H219 AA08 BB06 CC17 FF01 HH28                 5H223 AA06 BB05 CC03 EE19 FF05                 5H269 AB19 BB12 NN16 QD03 QE01                       QE03

Claims (10)

[Claims] 1. A method of simulating equipment, in which the operation of equipment controlled by a control device is simulated by a computer, in which an operator selects one of a plurality of equipment constituting the equipment as a target apparatus. An operation program input step in which an operator inputs an operation program indicating a simulation operation of the target device; and a single simulation step of performing a single simulation of the operation of the target device based on the operation program. A method for simulating characteristic equipment. 2. The method for simulating equipment according to claim 1, wherein a determination step of determining whether or not there is a problem in the result of the single simulation, and a problem in the result of the single simulation in the determination step. When it is determined that the operation program correction step that prompts the operator to correct the operation program, and that the result of the unit simulation is not problematic in the determination step, the operation program and related information as mechanism attribute information. And a step of registering attribute information to be registered. 3. The facility simulation method according to claim 1, wherein the operator selects an operation performed by the equipment and the equipment constituting the equipment according to an order in which the simulation operation should be performed. A step, an order storage step of storing the order selected in the operation selection step, an operation program order edit step of incorporating the order stored in the order storage step into the operation program, and an operation program order edit step incorporated into the operation program An off-line simulation execution step of performing off-line simulation of the equipment according to an order, and a method for simulating equipment. 4. The facility simulation method according to claim 1, wherein an operation command signal for operating the facility device with a control device that actually controls the facility and an operation result of the facility device. And an I / O state information exchanging step for exchanging an operation result signal indicating that the operation command signal and an operation information input step for an operator to input correspondence information for associating the operation command signal and the operation result signal with the operation program. An online simulation execution step of executing the operation program based on the operation command signal and outputting the associated operation result signal according to the execution result of the operation program. 5. The facility simulation method according to claim 3, wherein a simulation operation monitoring step of monitoring a simulation operation in the online simulation, a simulation operation in the monitored online simulation, and the offline simulation. And a comparison result display step of displaying a result of the comparison, and a simulation method of equipment. 6. In a facility simulation program for simulating an operation of a facility controlled by a control device by a computer, a target device selection in which an operator selects one of a plurality of facility devices constituting the facility as a target device. Means, an operation program input means for an operator to input an operation program indicating a simulation operation of the target apparatus, and a simple simulation means for performing a simple simulation of the operation of the target apparatus based on the operation program. A simulation program for characteristic equipment. 7. The facility simulation program according to claim 6, wherein the determining unit determines whether or not there is a problem in the result of the unit simulation, and the determining unit has a problem in the result of the unit simulation. When it is determined that the operation program correction means for prompting the operator to correct the operation program, and when the determination means determines that there is no problem in the result of the unit simulation, the operation program and related information as mechanism attribute information. A facility simulation program comprising: an attribute information registration means for registering. 8. The facility simulation program according to claim 6 or 7, wherein an operator selects an operation performed by the equipment that constitutes the equipment and the equipment according to an order in which the simulation operation should be performed. Selecting means, order storing means for storing the order selected in the operation selecting step, operation program order editing means for incorporating the order stored in the order storing step into the operation program, and incorporated in the operation program Offline simulation execution means for performing offline simulation of the equipment in accordance with the order described above. 9. The equipment simulation program according to claim 6 or 7, wherein an operation command signal for operating an equipment device with a control device that actually controls the equipment and an operation result of the equipment device. I / O state information exchanging means for exchanging the operation result signal indicating the operation instruction signal, correspondence information input means for receiving correspondence information for associating the operation command signal and the operation result signal with the operation program from an operator, and the associated operation An online simulation executing means for executing an operation program based on a command signal and outputting the associated operation result signal according to an execution result of the operation program, a facility simulation program. 10. The equipment simulation program according to claim 8, wherein the simulation operation monitoring means monitors the simulation operation in the online simulation, the monitored online simulation operation and the offline simulation. And a comparison result display means for displaying the result of the comparison, and a facility simulation program.