JP2522047B2 - Programmable controller for device control - Google Patents

Description

TECHNICAL FIELD The present invention relates to an improvement of a programmable controller that performs control that requires a large amount of data, such as positioning control.

[Prior Art] Generally, when performing positioning control using a programmable controller, an important issue is what kind of interface the programmable controller and the servo controller have.

FIG. 8 is a block diagram showing a conventional device controlling programmable controller having a programmable controller main body and a sabot controller unit. In the figure, (1) shows a programmable controller main body (hereinafter referred to as a PC main body), (1-1) a microprocessor (CPU), (1-2) a control memory, and (1-3) an input / output interface. , (1-4) is a peripheral device interface, (1-5) is a device information storage memory for storing device information at the time of sequence control,
(2) is a servo controller unit, (3) is an input unit, (4) is an output unit, and (6) is a bus.
In the servo controller unit (2), (2-
1) is a microprocessor (CPU), (2-2) is a control memory, (2-3) is a programmable controller interface, (2-4) is a servo interface,
(2-5) is a common memory, and (5) is a servo system connected to the servo controller unit (2).

Next, the operation will be described. In the microprocessor (1-1) of the PC body (1), the input information from the control target (not shown) input via the input unit (3), internal information, and output information to the control target are device names. , A sequence program described by variables such as register numbers is scan-executed and the operation of updating the output information and the internal information is repeated to sequence-control the controlled object via the output information and the output unit (4). Then, via the input / output interface (1-3), commands such as positioning start of the microprocessor (2-1) and como memory (2-5) of the servo controller unit (2) and data necessary for servo control are sent. . The microprocessor (2-1) operates the servo system (5) via the servo interface (2-4) according to information such as commands and data given to the common memory (2-5) from the PC body (1) side. Take control.

The control memories (1-2) and (2-2) are for operating the respective microprocessors (1-1) and (2-1), and the device information storage memory (1-5) is an input. It is a memory for storing the input information from the unit (3) and the calculation result of the microprocessor (1-1) of the PC body (1), that is, the internal information and the output information which are the calculation results in the sequence processing.

The common memory (2-5) is connected to the servo controller unit (2) from the microprocessor (1-1) of the PC body (1) through the input / output interface (1-3).
Is a memory which is accessed from the microprocessor (2-1) and read / write data necessary for positioning control.

When performing positioning control with this type of conventional device and processing a work, etc., information is exchanged between the PC body (1) and the servo controller unit (2) by the input unit (3) and output. A bus (6) used for connection between an external input / output device such as a unit (4) and the PC body (1), that is, an input / output interface (1-3)
And programmable controller interface (2-
It was done via a bus (6) connecting to 3).

FIG. 9 is an explanatory diagram showing an example of the exchange of information between the PC main body (1) and the servo controller unit (2) performed using the bus (6).

As shown in this figure, first, the CPU (1
-1) to CPU of servo controller unit (2)
For (2-1), interfaces (1-3), (2-
3) When an interrupt signal requesting read / write is sent via (a), the common memory (2-5) of the servo controller unit (2) receiving this interrupt signal is directly connected to the bus (6). The switching operation is performed as described above, and a direct connection completion signal is sent to the PC body (1) (b).

The PC main body (1) transfers data to the common memory (2-5) of the servo controller unit (2), and predetermined data is written in the common memory (2-5) (c). For example, in the case of circular interpolation positioning operation with auxiliary point designation, a large number of data such as the operation command code end point address, auxiliary point address and speed are sent to the common memory (2-5). When this data transfer is completed, the PC body (1) sends a completion interrupt signal to the servo controller unit (2) (d).

In response to this, the servo controller unit (2) disconnects the connection (e) between the common memory (2-5) and the bus (6) and performs servo control based on the contents of the common memory (2-5).

[Problems to be Solved by the Invention]

The conventional programmable controller for device control is configured as described above despite performing control that requires a large amount of data, such as positioning control. The PC body (1) side and the servo controller unit (2) side Since the bus (6) relies on the bus (6) for exchanging signals, the amount of information (data) that can be exchanged at one time is small, and it takes time to transfer data due to noise countermeasures, etc., resulting in a slow response speed. there were.

In addition, the conventional programmable controller for controlling equipment shown in FIG.
Timing adjustment between both units is required, such as interrupting each write and switching the bus.

Due to this timing alignment problem, if the PC body (1) is set to perform processing with the highest priority, the servo controller unit (2) will perform servo control in order to communicate with the PC body (1) during servo control. You have to stop,
When the servo controller unit (2) is set to perform the processing with the highest priority, there is a problem that the PC body (1) side needs to interrupt the sequence processing.

Therefore, for example, when the PC main body (1) performs processing with the highest priority, even if high machining accuracy can be obtained if machining is performed at a constant speed, irregular interruptions occur, resulting in only low machining accuracy. I couldn't get it.

PC, especially when performing complex movements with multi-axis control
This problem was remarkable when machining was performed while exchanging a large amount of position data, speed data, etc. between the main body (1) and the servo controller unit (2).

Furthermore, in the case of the configuration shown in FIG. 8, since the number of positioning data is limited by the capacity of the common memory (2-5), for example, to improve the system or change the target product or processing content. If you want to change the positioning conditions or add or change the positioning pattern,
There is a problem in that a program must be added or modified based on the problem of the capacity of the common memory (2-5).

Moreover, the program for setting the positioning data is complicated and cumbersome, and it is difficult to increase the number of data.

Further, when a plurality of positioning patterns and the like are selectively used, there is a problem that a large memory capacity is required to store them.

The present invention has been made in order to solve such a problem, and can prevent a decrease in positioning accuracy due to occurrence of irregular interruption of operation and a decrease in response speed of sequence control due to occurrence of interruption of sequence processing. At the same time, it is an object of the present invention to provide a programmable controller for device control which can easily set or change positioning data by a sequence program and can prevent an increase in required memory capacity when a plurality of positioning patterns and the like are selectively used.

[Means for solving the problem]

The device control programmable controller according to the present invention includes a servo control unit that servo-controls a control target, and device information such as input information from the control target, internal information, and output information to the control target as a device name and a register number. And a sequence control unit for performing sequence control of the controlled object through the output information by repeating the operation of scanning the sequence program described by variables and updating the output information and the internal information, and the activation area and control And a dual port memory having an information area, wherein the sequence control unit writes a value of the predetermined device information in the device information area by executing the sequence program and also writes predetermined activation information in the activation area, The servo controller monitors the activation area Said the activation information is written reads the value of the device information from the device information area This value is obtained so as to servo-control.

Further, the servo control section has a servo program memory in which a servo program in which positioning data is described by variables is stored, and based on the servo program in which this variable is replaced by the value of the device information read from the device information area. The control target is servo-controlled.

[Action]

In the programmable controller for device control according to the present invention, the sequence control unit writes the value of the predetermined device information in the device information area of the dual port memory by executing the sequence program and also writes the predetermined activation information in the activation area of the dual port memory,
The servo control unit monitors the activation area, and when the activation information is written, the value of the device information is read from the device information area and servo control is performed based on this value.

In addition, the servo control section is provided with a servo program memory that stores the servo program in which the positioning data is described by variables, and the control target is based on the servo program in which this variable is replaced by the value of the device information read from the device information area. Servo control.

〔Example〕

An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram of a programmable controller for controlling equipment according to an embodiment of the present invention. In this embodiment, a sequence control unit for performing sequence processing, for example, a sequence control calculation unit and a servo control unit for servo control are provided in the PC body (1).

In the figure, (1-1) is a microprocessor (CP
U) and (1-2) are control memories, (1-3) is an input / output interface, (1-4) is a peripheral device interface, (3) is an input unit, and (4) is an output unit. The sequence control calculation unit is composed of a microprocessor (1-1), a control memory (1-2), an input / output interface (1-3), and a peripheral device interface (1-4). (1-6) is a microprocessor (CPU), (1-7) is a control memory, (1-
8) is a servo interface, and (5) is a servo system. A servo controller is composed of the microprocessor (1-6), the control memory (1-7) and the servo interface (1-8). Reference numeral (7) is a common memory, such as a dual port memory, for passing information between the sequence control calculation unit and the servo control unit.

Device information at the time of sequence processing is stored in the common memory (7). Positioning information for servo control is also stored in the common memory (7).

FIG. 2 is a diagram for explaining the contents of the common memory (7).

As shown in the figure, the common memory (7) has an activation area (7b), a control information area, for example, a positioning data area (7a), and a monitor area (7c).

Next, the operation of this embodiment will be described with reference to FIGS. Normally, information such as a control pattern is sent to the control memory (1-) via the peripheral device interface (1-4).
It is previously input by the user of 2). And CPU
(1-1) executes the sequence program stored in the control memory (1-2), and the positioning data obtained as a result is stored in the positioning data area (7a) of the common memory (7). When a predetermined input signal is given from the input unit (3), the CPU (1-1) starts up information,
For example, the positioning command is written in the activation area (7b) of the common memory (7).

The microprocessor (1-6) of the servo control unit monitors the writing of this positioning command by sampling the starting area (7b), and when this command is written, the data is read from the positioning data area (7a). Is read out and sent to the servo system (5) through the servo interface (1-8) to perform positioning control. When the positioning is completed, the information indicating that the positioning is completed is stored in the monitor area of the common memory (7). Further, data in the middle of positioning and error information are also stored in the monitor area (7c) of the common memory (7) as needed.

With this configuration, each of the microprocessors (1-1) and (1-6) has only to perform their respective control completely independently, so that the sequence control calculation unit and the servo control unit can be controlled. The waiting time for interface processing can be eliminated. Moreover, high-speed and highly-accurate processing is possible, and the program structure is easy and simple.

Next, the configuration of this embodiment described above will be described. The microprocessor (1-1) writes positioning data such as a positioning address, a positioning high speed torque limit value, and a positioning method in the positioning data area (7a), and then writes a positioning command in the activation area (7b).

The microprocessor (1-6) constantly monitors whether or not a positioning command is written in the activation area (7b), and if it is written, it takes out data from the positioning data area (7a) and starts positioning control.

By providing one starting area (7b) for each axis, positioning can be performed easily in the case of multi-axis positioning. Further, by providing information indicating the interpolation operation, the circular interpolation operation, the increment operation, etc. in the information of the positioning data area (7a), it is possible to easily perform a complicated operation of multiple axes.

In addition, the sequence control calculation unit can easily access the data of the servo control unit by accessing the monitor area (7c).
For example, it is possible to monitor the current value, the number of revolutions, the operating state, and the like.

As described above, according to this embodiment, it is not necessary to set the operation timing of both when transferring information, and continuous positioning control is possible.

In this embodiment, all the positioning information is passed from the sequence control calculation unit to the servo control unit via the common memory (7), but a peripheral device interface is provided on the servo control unit side. By storing the positioning information in the control memory (1-7) in advance via the peripheral device interface, writing from the sequence control calculation unit to the common memory (7) becomes simple, and the sequence program can be stored more easily. Can be easy.

Further, although the positioning control has been described in this embodiment, the present invention is not limited to this, and can be applied to a case where a control other than the positioning control is performed.

Next, another embodiment of the present invention will be described with reference to FIGS. . In FIG. 3, a difference from the configuration of FIG. 1 is that a servo program memory (8) is added,
That is, the common memory (7) is replaced with the common memory (9). Like the common memory (7), the common memory (9) is a dual port memory common memory, and this common memory (9) is a device information area (9a), a boot area (9b), a monitor as shown in FIG. It has an area (9c).

FIG. 5 shows the device information area (9
It is a figure which shows an example of the kind and specification of the device information stored in a). In the device information area (9a), devices required for servo control are written as each device information. Further, the data from the control memory (1-2) is also written in the device information area (9a).

In this embodiment, as shown in FIG. 5, there are 1000 internal relays, which are respectively assigned register numbers M0 to M999. The internal relay stores the calculation condition of the sequence program or the calculation result information (ON or OFF information).

In addition, there are 1024 data registers, which are assigned register numbers D0 to D1023, respectively. This data register stores the information of the operation result of the sequence program, and has a storage capacity of 16 bits each.

As described above, there are two types of device information: 1-bit device information having ON / OFF information and device information having 16-bit devices.

Next, the operation of this embodiment will be described with reference to FIGS. The microprocessor (1-1) executes the sequence processing by the sequence program based on the device increase input to the control memory (1-2) through the input / output interface (1-3). Then, the device information necessary for the servo control obtained at that time is stored in the device information area (9a) of the common memory (9). Microprocessor for servo controller (1-
6) executes positioning control by the servo program stored in the servo program memory 8 via the peripheral device interface (1-4).

Then, by the microprocessor for servo controller (1-6), the positioning control state (current value, etc.),
The error information is stored in the monitor area (9c) of the common memory (9) at any time.

Next, the above-mentioned operation will be described in detail by taking the operation of "circular interpolation positioning with auxiliary point designation" shown in FIG. 6 (a) as an example. Sixth
In the operation of the locus A shown in FIG. 6A, FIG.
As shown in, the device information required for the locus A is designated, and the sequence control computing unit stores the designated device information data in the device information area (9a) of the common memory (9).

In the servo program stored in the servo program memory (8), as shown in FIG. 6 (b), the information necessary for controlling the end point address, speed, etc. is used as the device information register number, that is, the address and speed itself. It is indirectly specified as a variable instead of a numerical value indicating. In addition, in FIG. 6 (b) Is a symbol indicating auxiliary point-designated circular interpolation positioning.

Next, the positioning data stored in the device information area (9a) of the common memory (9) by executing the sequence program is read by the microprocessor (1-6).

FIG. 7 shows an example of writing the positioning data in the common memory (9) by the sequence program of the sequence control operation unit in the positioning control by the indirect designation.

The sequence program shown in FIG. 7 (a) sets the locus A to the device 1 when the input is turned on, sets the locus B to the device 1 when the input is turned on, and sets the locus when the input is turned on. Positioning is performed by the device 1 when C is set in the device 1 and any one of input and ON is turned on.

Here, the device 1 is, for example, as shown in FIG. 6B, the devices D ₀ and D ₁ that specify the end point address of the servo program and the devices D ₃ and D that specify the auxiliary point address.
₄ and the device D ₂ that specifies the speed (D _{0 of} the trajectory A,
For example, 1000, 500, 200, 180 are set as D ₁ , D ₃ , D ₄ . Then, the locus can be changed by selecting the input condition ,.

An example of a simple sequence program for setting device information is shown in FIG. If device M0 is on, set device D0 to constant 100 and turn on device M1.
Means to

If the device M0 is OFF, this process is not executed. The above-mentioned inputs and the designation of turning ON M0 are designated by the user's input in advance or designated by the execution of the sequence program stored in the control memory (1-2).

As described above, when a predetermined input signal is given by the input unit (3), the PC microprocessor (1-1)
Stores a positioning command in the activation area (9b) of the common memory (9), and the microprocessor (1-6) monitors the writing of this command. When this command is written, it is specified by the servo program. The microprocessor (1-6) obtains data from the device information area (9a) of the common memory (9) based on the indirect device information.
Positioning control is performed by executing the positioning control by the. When changing the pattern of the positioning control (changing the positioning data), it is only necessary to rewrite the contents of the device information by the sequence program, and there is no need to change the servo program. When the positioning command is input after changing the contents of the device information, the positioning control is performed based on the changed contents.

In this embodiment, since the positioning data can be designated by the device information handled by the sequence program, the following effects can be obtained.

Positioning data (speed, positioning address, etc.) in the servo program of the servo program memory (8)
If is specified by the indirect device information, the positioning data can be changed only by changing the contents of the device information by the sequence program. Therefore, when the positioning address or the like is calculated by the sequence program, the target positioning can be achieved simply by setting the calculation result as the content of the device information.

Also, since positioning data can be designated by indirect designation in this way, and one servo program for controlling many patterns can be executed by changing the contents of device information, you can create servo programs for each of many patterns. It becomes necessary to memorize.

〔The invention's effect〕

As described above, according to the present invention, the sequence control unit writes the value of the predetermined device information in the device information area of the dual port memory by executing the sequence program and also writes the predetermined activation information in the activation area of the dual port memory. , The servo control unit monitors the boot area and reads the device information value from the device information area when the boot information is written to perform servo control based on this value. Therefore, the data amount is limited during data transfer and the data transfer speed. It is possible to prevent deterioration of positioning accuracy due to occurrence of irregular interruption of operation and deterioration of response speed of sequence control due to occurrence of interruption of sequence processing, and to easily set and change positioning data by a sequence program. There is an effect that can be done.

In addition, the servo control section is provided with a servo program memory that stores the servo program in which the positioning data is described by variables, and the control target is based on the servo program in which this variable is replaced by the value of the device information read from the device information area. Since the servo control is performed, it is possible to prevent an increase in the data transfer amount, prevent a decrease in the processing speed due to the data transfer, and increase the required memory capacity when selecting and using multiple positioning patterns. There is an effect that can be prevented.

[Brief description of drawings]

FIG. 1 is a block diagram of a programmable controller which is an embodiment of the present invention, FIG. 2 is an explanatory diagram of a common memory of the present invention, and FIG. 3 is a block diagram of a programmable controller which is an embodiment of the present invention. 4 is an explanatory view of the common memory in FIG. 3, FIG. 5 is an explanatory view of the device, FIG. 6 (a) is an explanatory view showing the locus of the positioning operation, and FIG. 6 (b) is FIG. 6 (a). ) Is an explanatory view showing an example of device information regarding the locus shown in FIG. 7, FIGS. 7A and 7B are explanatory views showing an example of a sequence program, and FIG. 8 is a configuration of a positioning control device used in a conventional programmable controller. 9 and 9 are explanatory views of a conventional exchange method. (1) is a programmable controller, (1-1) is a microprocessor of a sequential processing operation unit, (1-
6) is the microprocessor of the servo controller, (7)
(9) is a common memory, and (8) is a servo program memory. In the drawings, the same reference numerals indicate the same or corresponding parts.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-53-16176 (JP, A) JP-A-59-174916 (JP, A)

Claims (2)

(57) [Claims] 1. A servo control unit for servo-controlling a control target, and device information such as input information from the control target, internal information, and output information to the control target are described by variables such as a device name and a register number. Having a sequence control unit for performing sequence control of the controlled object via the output information by repeating the operation of scanning the sequence program and updating the output information and the internal information, and a dual area having a start area and a control information area. A port memory, and the sequence control section writes predetermined device information values in the device information area and predetermined start information in the start area by executing the sequence program, and the servo control section When the boot area is monitored and the boot information is written, the device Programmable controller device control, characterized in that the servo-controlled by the value read the value of the device information from the broadcast area. 2. The servo control unit has a servo program memory in which a servo program in which positioning data is described by variables is stored, and the variable is replaced by a value of device information read from a device information area. 2. The programmable controller for controlling equipment according to claim 1, wherein the controlled object is servo-controlled based on a program.