JPH0667709A - Method and device for generating sequence program and sequence controller - Google Patents

Abstract

PURPOSE:To facilitate generation and change of a sequence program by describ ing a control procedure in the column direction as a term being different at every control object apparatus so that the same step becomes the same row, encoding it at every term, adding an execution start condition to the code and generating the sequence program. CONSTITUTION:A program input means 30 describes a control procedure in the column direction as a term being different at every control object apparatus RB1-RB3, and a first sequence program of a table format described so that the same step of the control procedure of each term becomes the same row is displayed on a display device and inputted interactively. A converting means 21C encodes a first sequence program at every term, so that execution of a step of the same row of each term is started simultaneously. Therefore, an execution start condition of each step is added to the code, and a second sequence program consisting of programs PR1-PR3 being different at every term is generated.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a sequence program creating method and apparatus and a sequence control apparatus.

[0002]

2. Description of the Related Art FIG. 11 shows an assembly cell 10 to be controlled.
The outline of an example is shown.

The assembly cell 10 includes robots RB1 and R.
B2 and RB3 are provided for assembling the parts on the assembling location A according to the control signal. Robot R
B3 pulls out the tray on which the requested component, for example, the component P1 is placed, from the component storage position R to the component supply position S, and the robot RB1 uses the hand for gripping the component P1, for example, the hand H1 as a tool placement location. The part P1 is mounted on the tool T, is carried by the hand H1 to the assembly location A, and the robot RB2 mounts, for example, the screw driver SD on the tool placement location T, and the part P is mounted on the assembly location A.
Assemble by screwing 1. In the figure, 12 and 13 are the movement ranges of the robots RB1 and RB2, respectively, and E1
And E2 are retreat places for the robots RB1 and RB2, respectively.

The robots RB1, RB2 and RB3 are controlled by the assembly cell controller shown in FIG. This assembly cell control device includes a sequence control device 20, a console 30, and robot control devices 31 to 33. The sequence control device 20 includes a sequence program storage device 21, a processor 22, and an external signal input / output unit (I / O interface) 23.

The processor 22 reads the sequence program from the sequence program storage device 21 step by step, decodes it, and supplies it from the robot control devices 31 to 33 via the external signal input / output unit 23 based on the contents. Whether or not the operation start condition is satisfied is determined by the status signal, and if the condition is satisfied, a control signal is supplied to the robot control devices 31 to 33 via the external signal input / output unit 23 to operate the robots RB1 to RB3.

FIG. 13 shows robots RB1, RB2 and R.
A part of the sequence of the assembly work by B3 is shown. FIG. 14 shows a conventional sequence program created based on this sequence.

In FIG. 14, for example, step 1 is an instruction to attach the hand H1 to the robot RB1,
Step 2 is an instruction to supply the part P1 to the robot RB3, and step 3 is the robot R in step 1.
This is an instruction to wait for the end of the hand mounting work of B1, and step 4 is an instruction to cause the robot RB2 to retract to the place E2.

[0008]

Conventionally, since control instructions for a plurality of devices exist in one sequence program in this way, the sequence program becomes complicated and it takes a long time to create and change the program. I needed it. Further, if the model of the product to be assembled is changed, it takes a long time to change or recreate the program according to the change, which causes a decrease in the operating rate of the assembly cell 10.

In view of the above problems, it is an object of the present invention to provide a sequence program creating method and device and a sequence control device, in which a sequence program for controlling a plurality of devices can be easily created and changed. .

[0010]

A sequence program creating method and apparatus and a sequence control apparatus according to the present invention will be described with reference to the reference numerals of corresponding constituent elements in the embodiments. In the embodiment, the number n of control target devices is three.

In the sequence program creating method according to the first aspect of the present invention, for example, as shown in FIGS.
A first sequence program creating step in which the control procedure is described in the column direction as different items R1 to R3 for each of the items B1 to RB3, and the same steps of the control procedures of the respective items R1 to R3 are described in the same row, Execution start condition of each step for coding the first sequence program for each item R1 to R3 so that the steps of the same line of each item R1 to R3 of the first sequence program are simultaneously started Is added to the code to create a second sequence program including first to n-th programs PR1 to PR3 different for each of the terms R1 to R3.

In the sequence program creating apparatus according to the second aspect of the present invention, for example, as shown in FIGS.
A control procedure is described in the column direction as a different item for each of B1 to RB3, and the first sequence program in a tabular format in which the same step of the control procedure of each item is described in the same line is displayed on the display device. Program input means 30 for interactively inputting, first sequence program storage means 21A in which the first sequence program is stored, and the first sequence program are coded for each item R1 to R3, By adding to the code the execution start condition of each step so that the execution of the steps of the same line of each item R1 to R3 of the first sequence program is started at the same time, each item R1 to R3 is added. Conversion means 21C for creating a second sequence program composed of different first to nth programs PR1 to PR3, and the created second sequence program.
It has a second sequence program storage means 21B for storing a sequence program.

In the sequence control device according to the third invention,
For example, as shown in FIGS. 1 and 8, first to nth programs for executing the first to nth programs PR1 to PR3, respectively.
The multi-task processing means 22A includes the nth tasks T1 to T3 and the management task TC, and the first to nth tasks T are included.
1 to T3 are first to nth programs PR1 to PR, respectively
The management task TC is notified of the execution start condition and step progress status of each step of No. 3, and the management task TC determines whether the step execution start condition is satisfied based on the step execution start condition and the step progress status, and the step A task Ti that executes the step if the execution start condition is satisfied
(I = 1, 2 or 3) is notified, and the task Ti moves to the process of the next step in response to the notification of satisfaction of the step execution start condition.

According to the first to third aspects of the present invention, it is sufficient to describe the programs in the different columns of the table for each controlled device in the order of work to create the first sequence program in the table format, and to synchronize each row in the table. Is easily recognized, it is easy to create and change a sequence program for controlling a plurality of devices.

[0015]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 shows an assembly cell control device corresponding to FIG. The same components as those in FIG. 12 are designated by the same reference numerals.

This assembly cell control device comprises a sequence control device 20A, a console 30, and a robot control device 3.
1 to 33. Sequence control device 20A
Includes a first sequence program storage unit 21A, a second sequence program storage unit 21B, a conversion unit 21C that converts the first sequence program into a second sequence program, and a multitask processing unit 22A that executes the second sequence program. An external signal input / output unit 23 that sends and receives a signal between the multitask processing unit 22A and the robot control devices 31 to 33 at the time of this execution is provided.

The robot controller 31 has an external signal input / output section 31a for transmitting / receiving signals to / from the external signal input / output section 23.
And a command analysis section 31b for analyzing the command from the external signal input / output section 31a, and a program storage section 31c in which a robot operation program corresponding to each command is stored.
And a motion control unit 3 that outputs a control signal to execute a robot motion program corresponding to the analyzed command.
1d and a robot drive unit 31e that supplies a drive signal to the robot RB1 based on this control signal.
When the operation control section 31d finishes executing the robot operation program corresponding to one command, it supplies an execution end signal to the external signal input / output section 23 via the external signal input / output section 31a.

In this embodiment, a simple first sequence program as shown in FIG. 2 may be created for a complicated sequence program as shown in FIG.

In the first sequence program, the R1, R2 and R3 items for sequence controlling each of the robots RB1, RB2 and RB3 are arranged in the column direction (vertical direction).
It is described in. The same line has the same step and is processed in parallel. The process of each step is started after the process of the previous step is completed. Each item includes an F column, a work column, a parts column, a tool column, and a location column. The column F indicates whether or not there is a continuous process from the previous step. For example, when an arrow is described in the column F as shown in step 2 of the R3 item, the process of the previous step 1 is performed in step 2. Indicates that processing will continue. Work, parts,
The types of tools and places and their mnemonics are shown in FIG.

To create the first sequence program shown in FIG. 2, robots RB1 to
The work of RB3 is described in the columns of R1, R2, and R3, respectively, and the work of the robot in the standby state is not described and is blank. Next, it is judged for each row (step) whether or not it is necessary to synchronize among the R1, R2, and R3 terms, and for the terms that are not necessary, F of the next step is determined.
Just enter the arrow in the box. Such a program
It can be easily created interactively while watching the monitor screen using a table creation program.

The contents of the first sequence program of FIG. 2 will be described below. In the following, the numerical value in parentheses represents the step number in the figure.

(1) R1 item: MOV H1 T For the robot RB1, place the tool tip T at the arm tip.
Move it up and attach the hand H1.

Item R3: SUP P1 S The robot RB3 pulls out the tray on which the component P1 is placed to the component supply position S as shown in FIG.

(2) Item R2: MOV E2 With respect to the robot RB2, the arm is retracted to the place E2.

(3) Item R1: MOV P1 H1 Su The robot RB1 moves the hand H1 above the component P1 (u) on the component supply position S.

(4) Item R1: PCK P1 H1 S The robot RB1 is caused to lift the component P1 on the component supply position S by gripping it with the hand H1.

Item R2: MOV SD T For the robot RB2, the arm is moved onto the tool placement location T and the screw driver SD is attached.

(5) Item R1: PLC P1 H1 A The part P1 held by the hand H1 with respect to the robot RB1.
On assembly site A.

(6) Item R1: MOV H1 Tu The robot RB1 moves the hand H1 above the assembling place T.

Item R3: RST P1 R The robot RB3 stores the tray on which the component P1 is placed in the component storage position R.

(7) Item R1: CHG H2 T Robot RB1 is hand H on tool placement location T
1 is removed and the hand H2 is attached.

Item R2: DRV P1 Screw driver SD A On the assembly location A, the screw driver SD is used to screw and assemble the component P1 onto the robot RB2.

Item R3: SUP P2 S The robot RB3 is caused to pull out the tray on which the component P2 is placed to the component supply position S.

(8) Item R1: MOV P2 H2 Su With respect to the robot RB1, the hand H2 is moved above the component P2 on the component supply position S.

(9) Item R1: PCK P2 H2 S The robot RB1 is caused to grip the component P2 on the component supply position S with the hand H2 and lift it.

Item R2: CHG H3 T The robot RB2 is caused to remove the screw driver SD on the tool placement place T and attach the hand H3.

The first sequence program having the above contents is automatically converted into a coded version of the second sequence program as shown in FIG. 3 by the converter 21C shown in FIG. This second sequence program is the R of FIG.
It is composed of programs PR1, PR2 and PR3 corresponding to the first term, the R2 term and the R3 term, respectively, and is in a form executable by the multitask processing unit 22A of FIG.

FIG. 5 shows a conversion process from the first sequence program to the second sequence program, which will be described next.

(50) Substitute 0 for step Q. .

(51) Step Q is incremented.

(52) R1 of the first sequence program
Read the instruction word of step Q in the section. This command word is represented by a mnemonic.

(53) This instruction word is converted into a code as described later.

(54) The execution start condition of step Q is added to this code as described later.

(55-57) With respect to the item R2 of the first sequence program, the same processing as in steps 52-54 is performed.

(58-60) With respect to the R3 item of the first sequence program, the same processing as in steps 52-54 is performed.

(61) If step Q is not the final step, the process returns to step 51, and if it is the final step, the conversion process is terminated.

Next, the details of step 53 will be described with reference to FIG.

(70) It is judged whether or not there is a mnemonic in the work field. If yes, the process proceeds to step 71. If not, the process proceeds to step 72.

(71) Code the mnemonic in the work field and proceed to step 75.

(72-74) If there is no arrow in the F column, the work code is a NOP (no operation) code, and if there is an arrow in the F column, the work code is a CNT (continue) code.

(75) Code the mnemonics in the parts column, tool column and location column.

(76) The instruction code created as described above is stored in the second sequence program storage section 21B as an intermediate code of step Q of the program PR1.

Details of step 54 will be described below with reference to FIG.

(80) R2 of the first sequence program
Read the F column in step Q of item.

(81) If there is an arrow in this F column, proceed to the following step 90, and if not, proceed to the next step 82.

(82) Read step Q-1 of the R2 term.

(83, 84) When there is a mnemonic in the work column, or when there is no mnemonic in the work column and there is an arrow in the F column, the process proceeds to the next step 85, and there is no mnemonic in the work column and F If there is no arrow in the column, proceed to step 90 below.

(85) Q-1 is stored in the start condition PR1 column of step Q of the program PR1.

(90-95) In the same manner as in steps 81-85, the processing for writing data in the start condition PR2 column of step Q of the program PR1 is performed.

Program P converted as described above
R1, PR2, and PR3 are executed by device control tasks T1, T2, and T3 of the multitask processing unit 22A, respectively. As shown in FIGS. 1 and 8, the multi-task processing unit 22A also uses the communication task TC for transmitting / receiving data between the management task TM and the external signal input / output unit 23.
And each other task is multitasked in real time under the management task TM. In FIG. 8, only the task T1 among the tasks T1 to T3 is shown for simplification, but the tasks T2 and T3 are also included in the task T1.
Similarly to the management task TM and the communication task TC.

Details of the processing of task T1 in FIG. 8 are shown in FIG.
8 and the processing in FIG. 8 will be described based on this.

(100) Substitute 0 for step Q.

(101) Step Q is incremented.

(102) Step Q of program PR1
Load the code of.

(103) If the code is a NOP code, the process returns to step 101, and if not, the process proceeds to the next step 104.

(104) If the code is a CNT code, proceed to the following step 109, and otherwise proceed to the next step 105.

(105) The start condition in the code is written in the synchronous message area of the memory.

(106) As a result, the processing shifts to the management task TM shown in FIG. 8, and the task T1 is placed in a waiting state.

The management task TM reads this synchronous message, transcribes it in a predetermined area of the memory as described later, and resets the condition satisfaction flag of the event control block ECB1 described later. The synchronization message is shown in FIG.
As shown in, the source robot numbers 1 to 3 (robot RB
1 to RB3), a flag indicating whether the synchronization message is a start condition or an end step described later, and step numbers of the programs PR1 to PR3. For example, the synchronization message of the start condition of step 6 of the program PR1 of FIG. 3 is 10050. In this case, when the process of step 5 of the program PR2 is completed, the execution of step 6 of the program PR1 can be started.

When the management task TM determines that the synchronization message shown in FIG. 9 is the start condition, when the source robot number is 1, the PR2 step number and the PR3 step number in the synchronization message are set as the start conditions. It is transcribed as SS12 and SS13 in the PR2 column and PR3 column of the PR1 start condition of the data area, respectively, and when the synchronization message is the end step, when the source robot number is 1, the PR1 step number in the synchronization message is ES1.
Is transferred to the PR1 end step column in the end step data area. The same applies when the source robot number is 2 or 3. Next, the management task TM shifts the processing to another task in the READY state, if any.

When the synchronization message of the end step is received from any of the tasks T1 to T3, the processing moves to the management task TM, and the management task TM refers to the start condition data area and the end step data area and The step is compared with the corresponding end step.
If both steps match and the PRi start condition (i = 1, 2 or 3) is satisfied, a task satisfaction flag is set in the event control block ECBi to inform the task Ti that the start condition is satisfied, and Transfer the treatment to Ti.

(107) When the condition satisfaction flag is set in the event control block ECB1, the process is executed by the task T.
Moving to 1, the task T1 writes the code of step Q of the program PR1 excluding the start condition into the transmission message area, returns the processing to the management task TM, and returns to the WAI.
It becomes the T state.

By writing this transmission message, the communication task TC enters the READY state, and the process is executed by the management task T.
When the communication task TC moves from M to the communication task TC, the communication task TC sends the transmission message from the task T1 to the external signal input / output unit 23
Is supplied to the robot RB1 via the control task T
Return to M and enter the WAIT state. Whenever the management task TM finishes its own processing, it transfers the processing to another task in the READY state, if any. Communication task TC
When the robot RB1 receives a signal indicating that the command has been executed, it enters the READY state, and when the processing moves to the communication task TC, the robot RB1 writes data indicating that the command has been executed to the reception message area, The processing is returned to the management task TM to enter the WAIT state.

(108) By writing this received message, the task T1 enters the READY state, and the process moves from the management task TM to the task T1. In response to this received message, the task T1 executes the end step SE1 = Q in FIG. Write to the synchronization message area of.

As a result, the processing shifts to the management task TM, and the comparison processing by the management task TM and the processing for setting the flag of the event control block are performed.

(110) The task T1 returns to the above step 101 if the step Q is not the final step, and ends the processing of the task T1 if the step Q is the final step.

The processing of the tasks T2 and T3 is similar to that of the task T1. By such multitask processing, the programs PR1, PR2 and PR3 are processed in parallel in real time.

The present invention includes various modifications other than the above. For example, in the above embodiment, the sequence controller 2
The case where the first sequence program storage unit 21A and the conversion unit 21C are provided in 0A has been described, but the sequence control device 20A does not include the first sequence program storage unit 21A and the conversion unit 21C, and a separate sequence program creation device is provided. You may be prepared for. Further, in the above embodiment, the case where the management task TM resets the flag of the event control block ECBi and switches the task has been described, but the configuration may be performed by the OS as in the case of a normal computer. .

[0080]

As described above, according to the sequence program creating method and apparatus and the sequence control apparatus according to the present invention, the programs are described in different columns of the table for each control target device in the order of work, and the program is displayed in the table format. Only one sequence program needs to be created, and since the synchronization of each row in the table can be easily recognized, there is an excellent effect that a sequence program for controlling a plurality of devices can be easily created and changed. In addition, it greatly contributes to the saving of labor, cost and time required for the change and improvement of the operating rate of the controlled equipment.

[Brief description of drawings]

FIG. 1 is a block diagram of an assembly cell control device according to an embodiment of the present invention.

FIG. 2 is a diagram showing a first sequence program.

FIG. 3 is a diagram showing a second sequence program corresponding to the first sequence program of FIG.

FIG. 4 is a diagram showing types of mnemonic elements of commands and their mnemonics.

FIG. 5 is a flowchart showing a conversion process from a first sequence program to a second sequence program.

FIG. 6 is a detailed flowchart of the process of step 53 of FIG.

7 is a detailed flowchart of the process of step 54 of FIG.

FIG. 8 is an explanatory diagram of task processing.

FIG. 9 is a configuration diagram of a synchronization message and management task data.

FIG. 10 is a flowchart showing processing of task T1.

FIG. 11 is a schematic configuration diagram showing an example of an assembly cell to be controlled.

FIG. 12 is a configuration diagram of a conventional assembly control device.

FIG. 13 is a sequence diagram of an assembly work.

FIG. 14 is a diagram showing a conventional sequence program.

[Explanation of symbols]

 10 Assembly Cell 20, 20A Sequence Control Device 21 Sequence Program Storage Device 21A First Sequence Program Storage Unit 21B Second Sequence Program Storage Unit 21C Conversion Unit 22 Processor 22A Multitask Processing Unit 23 External Signal Input / Output Unit 30 Console 31-33 Robot Control device RB1 to RB3 Robot PR1 to PR3 Program T1 to T3 Device control task TM Management task TC communication task

Claims (3)

[Claims] 1. A control procedure is described in a column direction as a different term (R1 to R3) for each controlled device (RB1 to RB3), and the same steps of the control procedure of each term are described in the same row. 1 sequence program creation step, and each step for coding the first sequence program for each item so that execution of steps in the same line of each item of the first sequence program is started at the same time. A sequence program including a compile step of creating a second sequence program including first to nth programs (PR1 to PR3) different for each item by adding an execution start condition to the code. How to make. 2. A table-type first system in which a control procedure is described in a column direction as a different term for each control target device (RB1 to RB3) and the same steps of the control procedure of each term are described in the same row. A program input means (30) for displaying a can program on a display device and interactively inputting it.
A first sequence program storage means (21A) in which the first sequence program is stored, and the first sequence program is coded for each item and the same line of each item of the first sequence program The second sequence consisting of the first to nth programs (PR1 to PR3) different for each term by adding to the code the execution start condition of each step so that the execution of each step is started at the same time. Conversion means for creating programs (2
1C), and a second sequence program storage means (21B) for storing the created second sequence program, a sequence program creating device. 3. A first to a first program for executing each of the first to nth programs (PR1 to PR3) according to claim 1.
It has a multi-task processing means (22A) including an n-th task (T1 to T3) and a management task (TC), and each of the first to n-th tasks includes each step of the first to n-th programs. The management task is notified of the execution start condition and the step progress status, and the management task determines whether or not the step execution start condition is satisfied based on the step execution start condition and the step progress status, and the step execution start condition is satisfied. If so, the sequence controller is notified to the task that executes the step, and the task shifts to the process of the next step in response to the notification of satisfaction of the step execution start condition.