JPH056206A - Teaching playback sequencer - Google Patents

Abstract

PURPOSE:To provide the teaching playback sequencer which can confirm the equipment of a teaching system and exactly and efficiently execute program registration depending on teaching playback by turning on a confirmation switch even when there are a lot of equipments such as actuators or the like connected to an output port. CONSTITUTION:This device is equipped with a confirmation switch 1, means to detect time for this confirmation switch 1 to be turned on, pulse generating means to generate a pulse signal successively prolonging the pulse width together with the passage of the time while the confirmation switch 1 is turned on, means to output the pulse signal to an output port 4, address switch 6 to switch the address of the output port, teaching switch 9 to apply teaching timing and program memory 8 to register taught I/O states in the order of steps.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a teaching / playback sequencer used for sequence control of an industrial machine or the like.

[0002]

2. Description of the Related Art A general procedure for operating a machine by a sequencer is as shown in the flowchart of FIG. In this conventional general procedure, after a program is input, an error in the program is discovered while actually operating the machine, and if there is an error, the program is corrected. However, there is a problem that such program correction work, that is, debugging work requires a lot of time and labor. Moreover, there is a problem that only the person who can assemble the program can perform this debugging work.

Therefore, in order to solve these problems,
Use a teaching / playback / sequencer that has the function of teaching / registering the I / O status while actually operating the machine little by little, without creating a sequence program in advance, and then playing this back. Is being attempted.

FIG. 10 shows a conventional example of such a teaching / playback sequencer. In this conventional example, the CPU 2, the output port 4, the output port switches 10, 11, ..., The input port 5, the input port display LEDs 14, 15, ..., The I / O states of the input port 5 and the output port 4 are shown. And a program memory 8 for registering the taught I / O state, and a teaching switch 9 for giving a teaching timing.

The output port switches 10, 11, ...
When any of the above is pressed, the corresponding output port 4
ON signal is output to, and based on this, various actuators and other devices operate. When a signal from a detection sensor or the like for detecting the operation of various devices is input to the input port 5, the corresponding input port display LEDs 14, 15,
... lights up.

The operator operates the output port switch 10,
By switching on any one of 11, ..., An ON signal is output to the corresponding output port 4, various devices connected thereto are actually operated, and then the teaching switch 9 is switched on. The I / O state of the I / O memory 7 is registered in the program memory 8 by.
The operator can sequentially register the I / O states in the program memory 8 by repeating such operations, and can create the sequence control program by teaching without creating the sequence control program in advance. ..

[0007]

According to the above-mentioned conventional example, when the number of output ports 4 increases, the number of output port switches 10, 11, ... There was a problem of easy occurrence. In an extreme case, if another output port switch is accidentally turned on without checking the correspondence with the output port 4, there is a risk of damaging the device.

Further, when the number of the output port switches 10, 11, ... Is large, the selection operation becomes complicated and the teaching work becomes inefficient.

[0009]

Means for Solving the Problems Teaching of the present invention
In order to solve the above problems, the playback sequencer uses a confirmation switch, a means for detecting the time during which the confirmation switch is on, and a pulse width that increases with the passage of time while the confirmation switch is on. A pulse generating means for generating a long pulse signal, a means for outputting the pulse signal to an output port, an address switch for switching the address of the output port, a teaching switch for giving a teaching timing, and a taught I / O state A program memory for registering in order of steps is provided.

[0010]

According to the present invention, when the confirmation switch is turned on,
During that time, a pulse signal is generated from the pulse generation means, and the pulse signal is sent from the output port to a device such as an actuator connected to the output port to operate it. For example, in the case of a relay, a slight noise is generated and gradually increases as the pulse width of the pulse signal increases. Also, if it is a cylinder, it will move for a moment, and it will gradually become a large movement.

The operator uses the slight noise to
It is possible to easily confirm what is the device corresponding to the one for which the confirmation switch is turned on.

After confirming the operation of the device to be taught in this way, by turning on the teaching switch, the I / O state at that time can be registered in the program memory.

Then, by operating the address switch, the address of the next output port is set, the target device is confirmed by the confirmation switch, and the teaching switch is turned on to set the next I / O state in the program memory. You can register. By repeating these operations, the I / O states are registered in the program memory in the order of steps.

There are various types of equipment that operate immediately after receiving a pulse signal and those that do not operate unless the pulse width of the pulse signal exceeds a predetermined value, but the on time of the confirmation switch is the minimum required. As a result, the confirmation operation can be safely performed on any device.

[0015]

1 is a block diagram of an embodiment of the present invention. Teaching playback shown in this embodiment
The sequencer includes a confirmation switch 1, a microprocessor (CPU) 2, a timer 3 for notifying the microprocessor 2 of a reference time, an output port 4, and an input port 5.
An address switch 6 for switching the address of the output port 4, an I / O memory 7 for storing and storing all I / O states, a program memory 8 for registering the taught I / O states in step order, and a confirmation A teaching switch 9 for giving an instruction to register the I / O state when the switch 1 is pressed in the program memory 8 is provided. The confirmation switch 1, the address switch 6 and the teaching switch 9 are connected to the input terminals of the microprocessor 2, and the output port 4 and the input port 5 are connected to the microprocessor 2 so as to be directly controlled thereby. Further, the microprocessor 2 is configured to detect the time when the confirmation switch 1 is switched on.

Devices such as valves, relays, and cylinders are connected to the output ports 4 at the addresses 1, 2, ... N. On the other hand, each address N + of the input port 5
Switch for detecting the operating state of each device, switch 2, ..., And a detection sensor are connected to the ports 1, N + 2, ..., N + M.

The microprocessor 2 includes a confirmation switch 1
When the switch is turned on, as shown in FIG. 2, for example, a pulse of 1 unit time is output to the output port 4 of the address 1 based on the clock output from the timer 3. Further, when the confirmation switch 1 is kept switched on, a pulse output for 2 unit time is performed. In this way, while the confirmation switch 1 continues to be switched on, output is performed while gradually increasing the pulse width. Once the confirmation switch 1 is switched off, the microprocessor 2 stops pulse output and does not output pulse until it is switched on again. Then, when the confirmation switch 1 is switched on again, pulse output for one unit time is performed again, and in the case of FIG. 2, the pulse width is increased until pulse output for five unit time is performed.

When the device connected to the predetermined address of the output port 4 of address 1 is a valve as shown in FIG. 1, there is an intermittent sound of air leak, and the sound gradually increases. Become. If the corresponding one is a relay,
A slight noise is generated, and the noise gradually increases. Also, if it is a cylinder, it shows a motion that is about to move for a moment,
It becomes a big movement gradually. Some devices do not operate with the first one unit time pulse or several subsequent unit time pulses, and some devices only operate with a certain unit time pulse.

The operator can know which device is actually going to be moved by these slight noises and slight movements. Further, by giving a certain amount of time for the confirmation switch 1 to be turned on, it is possible to operate a device that is difficult to operate, and it is possible to support all devices. Furthermore, depending on how the device is switched on, it is possible to confirm the compatible device by operating the device only slightly.

As the address switch 6, one capable of designating a predetermined address may be used, but in the present embodiment, an increment type one in which the address is incremented each time one ON operation is performed is used. When the address switch 6 is operated, the microprocessor 2
Sequentially switches the address of the output port 4. Then, when the confirmation switch 1 is switched on in the same manner as described above, the devices connected to the output port 4 of the address sequentially operate in the same manner as described above.

FIG. 3 shows a procedure for sequentially registering I / O states in the program memory 8 by this apparatus. In this embodiment, devices such as various actuators connected to the output port 4 are assigned to the input switches connected to the input port 5, that is, the switches 1, 2, ... The method of sequentially registering the I / O states of the output port 4 and the input port 5 in the program memory 8 is adopted.

The operator turns on the confirmation switch 1 and visually confirms the operation of a device such as an actuator connected to the output port 4 (steps # 1 to # 3). If it is a desired device, The input switch corresponding to this is turned on, and the teaching switch 9 is turned on (steps # 4 to #).
5). The microprocessor 2 repeatedly checks the input state of the I / O memory 7, and registers the changed input port address and the output port address currently operated in the program memory 8.

Next, it is judged whether or not the I / O status is registered for all the steps, and if not completed, it waits until the address switch 6 is turned on (step # 6).
By pressing the address switch 6, the output port 4
Address is switched and the next step is entered (step # 7). Then, similarly to the above, the operator registers the I / O state of the next step in the program memory 8. When the I / O statuses of all steps are registered, a series of teaching operations are completed (step # 6).

FIG. 4 shows a block diagram of another embodiment of the present invention. Teaching / playback of this embodiment
The sequencer includes an I / O collation circuit 18 and is configured to determine which output port can be moved to finely move a device that occupies consecutive addresses of the output port 19. There is. Other configurations are shown in FIG.
Since it is basically the same as the embodiment shown in FIG. 4, common reference numerals are given to FIG. 4, and description thereof will be omitted.

In FIG. 4, 19 is an output port, 18 is an I / O collation circuit, 20 is a master station, 21-24 are slave stations, 2
Reference numerals 5 and 26 are motor control modules connected to the slave stations 21 and 22, and 27 and 28 are D / A conversion modules connected to the slave stations 23 and 24.

In the above configuration, the output port is the master station 20.
In the case of serial conversion and transmission in loop form to each slave station 21 to 24, the motor control modules 25 and 26 attached to the slave stations 21 and 22 transmit the address and the module type to the master station 20 in advance. In the master station 20, the module contents are discriminated by the I / O collation circuit 18. For example, in the case of the motor control modules 25 and 26, the function shown in FIG. 5 is assigned to the output port 19.

As shown in FIG. 6, when the confirmation switch 1 is switched on, the microprocessor 2 alternately turns on and off the output ports of the 30th address and the 31st address, and the pulse width of the output port from the timer 3 is changed by the timer 3. Gradually lengthen based on the output clock. The actual slave station 21,
The motor connected to 22 repeats normal rotation and reverse rotation slightly, so that the actuator attached to the motor starts to vibrate.

Next, D / s attached to the slave stations 23 and 24
Explaining the case of the A conversion modules 27 and 28, the I / O collation circuit 18 can determine the digital values OH to FH assigned to the addresses 6 to 21 of the output port 19 shown in FIG.

As shown in FIG. 8, when the confirmation switch 1 is turned on, the microprocessor 2 oscillates the 16-bit digital value with 0 as a reference. The amount of amplitude is
Based on the clock output from the timer 3, it is increased by a fixed amount.

Meters, warning lamps and the like are attached to the D / A conversion modules 27 and 28.
When the A / A conversion modules 27 and 28 repeat minutely so as to gradually increase the amplitude of the analog value, meters, light sources such as warning lamps, sound sources, etc. start to vibrate, and the amplitude gradually increases.

After that, the program is registered by teaching playback in the same manner as in the embodiment shown in FIG.

[0032]

According to the present invention, even if there are many devices such as actuators connected to the output port, the device to be taught can be confirmed by turning on the confirmation switch, and the teaching / playback can be performed accurately and efficiently. Since the program can be registered by, and the device is finely operated by the pulse signal whose pulse width becomes longer with the on-time of the confirmation switch,
The safety of the device can be achieved, and the confirmation operation can be performed on any type of device.

[Brief description of drawings]

FIG. 1 is a block diagram of an embodiment of the present invention.

FIG. 2 is a timing diagram of an embodiment of the present invention.

FIG. 3 is a flowchart of an embodiment of the present invention.

FIG. 4 is a block diagram of another embodiment of the present invention.

FIG. 5 is a port assignment diagram of the motor control module.

FIG. 6 is a timing diagram of the output of the motor control module.

FIG. 7 is a port allocation diagram of the D / A conversion module.

FIG. 8 is a timing chart of the output of the D / A conversion module.

FIG. 9 is a flowchart of a first conventional example.

FIG. 10 is a block diagram of a second conventional example.

[Explanation of symbols]

 1 Confirmation switch 2 Microprocessor 4 Output port 6 Address switch 8 Program memory 9 Teaching switch

Claims (1)

Claim: What is claimed is: 1. A confirmation switch, a means for detecting the time during which the confirmation switch is on, and a pulse in which the pulse width gradually increases as the time elapses while the confirmation switch is on. A pulse generating means for generating a signal, a means for outputting the pulse signal to an output port, an address switch for switching an address of the output port, a teaching switch for giving a teaching timing, and a taught I / O state are registered in a step order. A teaching / playback sequencer characterized by having a program memory for