JPH08328793A - Machine controller - Google Patents

Abstract

PURPOSE: To easily perform a told processing by setting which operation equipment is to be operated, selecting and setting a detection means as conditions of operation for advancing to the next stage, and preparing told data required for an actual operation under the setting in the case of telling the working procedure of the operation equipment. CONSTITUTION: At the time of a told operation, told contents set by an operation pattern setting part 1 are converted to data for operating respective equipments by a told data computing part 2 and stored in a told data storage part 8 by a told data read/write part 3. On the other hand, at the time of a working operation, the output of the told data in the stage is performed by the instruction of the told data computing part 2 and a told data comparison part 4 judges whether or not signals entering an input control part 6 and the contents of the told data match. When they match, the told data computing part 2 advances a working step, the told data of the advanced step are read from the told data storage part 8 and an operation instruction is outputted from an output control part 7.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an operation teaching of a machine and a machine controller for controlling the operation.

[0002]

2. Description of the Related Art A machine controller called a sequencer or a programmable controller is often used as a machine control device for machine equipment in a factory, and the operation of the machine control device is roughly classified into those constituting the machine equipment. A process of teaching what kind of work procedure the operating device is operated,
According to the teaching contents, it can be divided into a process of controlling each device and actually operating it.

Conventionally, the work procedure is taught by operating the work procedure at a plurality of steps in order to operate a plurality of operating devices such as an actuator and a work transfer device.
In each step, ON / OFF of the actuator etc. that operates at that step, setting of interlock for linking with other equipment, and timer operation such as stop and operation start after a certain period of time This is done by programming the settings, etc. By executing this program, each actuator etc. is actually performing a work operation.

[0004]

Therefore, the teaching of the conventional machine control device is not completed by merely showing the operation sequence of the equipment, but is not limited to those who design the work sequence of the operation of each machine. However, there is a problem that a dedicated programmer is required, and a designer of a work procedure or a worker on site cannot easily teach or change the work procedure.

Therefore, the present invention is to provide a machine control device capable of easily performing a teaching process.

[0006]

The present invention for achieving the above object provides a machine control device for controlling a plurality of operating devices in accordance with a work procedure consisting of a plurality of taught steps. Detecting means for detecting that the operating device of FIG. 1 has actually operated, and which operating device of the plurality of operating devices is to be operated at each stage of the work procedure, and , The operation pattern setting means for setting as an operation condition which signal of the detecting means advances to the next stage of the work procedure, and the teaching data of each stage of the work procedure based on the setting of the operation pattern setting means Teaching data creating means and a teaching data ratio for judging whether or not the signal from the detecting means matches the operating condition of the teaching data created by the teaching data creating means. And a work procedure advancing means for advancing the step of the work procedure to the next step when the judgment result of the teaching data comparing means coincides with the operation condition. is there.

Further, according to the present invention, the operation pattern setting means has a group setting means for grouping an arbitrarily specified number of operation devices out of the plurality of operation devices. The machine control device is characterized in that, when setting whether or not to operate an operating device, the group of setting devices sets the operating devices collectively as one operating device.

[0008]

According to the present invention having the above-mentioned structure, the operation pattern setting means sets which operating device to operate when teaching the operating procedure of the operating device. The detection means serving as an operation condition for advancing to the stage is selected and set, and the teaching data creation means creates teaching data necessary for the actual operation based on this setting.

On the other hand, when the operating device is actually operated, it is determined whether the operating condition in the teaching data created by the teaching data creating means matches the signal of each operating device input from the detecting means. The teaching data comparing means makes a comparison, and as a result, if they match, the work procedure advancing means advances the work procedure to the next stage.

Further, according to the present invention as set forth in claim 2, the group setting means arbitrarily sets some of the plurality of operating devices as a group, and sets the operation as one operating device. To do.

[0011]

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

FIG. 1 is a block diagram for explaining a programmable controller (hereinafter referred to as a PC) to which the machine control device of the present invention is applied.

This PC includes an operation pattern setting means for setting teaching contents and an operation pattern setting unit 1 which is a group setting means for grouping, teaching data creating means for converting input teaching contents into data, and step progress. Teaching data group step computing unit (hereinafter referred to as teaching data computing unit) that is a work procedure progression unit for managing
2, a teaching data storage unit 8 for storing teaching data, a teaching data reading / writing unit 3 for reading and writing data from the teaching data storage unit 8, teaching contents and facility equipment 10 and other equipment 11 when performing work. Teaching data comparing unit 3 which is teaching data comparing means for comparing with actual operation, internal relay controlling unit 5 for controlling relays, switches, timers, etc. inside the PC, and equipment controlled by this PC The input control unit 6 receives signals from the other equipment 10 and the equipment 10, and the output controller 7 receives signals from the equipment 10 and other equipment 11 controlled by the PC.

The PC of this embodiment constructed as described above
In the teaching operation, the teaching data set by the operation pattern setting unit 1 is converted by the teaching data calculation unit 2 into data for operating each equipment, and the teaching data read / write unit 3 teaches. The data is stored in the data storage unit 8.

On the other hand, in the work operation, the teaching data at that stage is output in accordance with the instruction from the teaching data computing unit 2, and the teaching data comparing unit 4 causes the input control unit 4 to proceed to the next step. It is determined whether the signal entered in 6 and the contents of the teaching data match, and if it is okay to proceed to the next step, the teaching data calculation unit 2 advances the work step and teaches the teaching data of the advanced step. Is instructed to the teaching data read / write unit 3 and read from the teaching data storage unit 8 and the operation instruction is output from the output control unit 7 via the teaching data comparison unit 4.

The functional operation of each part of the PC will be described in detail below.

The operation pattern setting unit 1 is composed of a touch panel, and teaches a work procedure by appropriately inputting a switch of a graphic image displayed on the touch panel screen. The displayed screen is, for example, as shown in FIG.
o, the step number to teach, the output instruction (output, return) to be operated in this step, the input from the limit switch (detection means) which is the operating condition (return limit, output limit), etc. are displayed as graphic switches ing.

By pressing these switches, the operation of the work, the condition of the progress, etc. are input step by step.

The setting contents shown in FIG. 2 are as follows: the chuck A is "out", the rotation B is "return", the timer is started (the switch on the "out" side is turned on) as operation outputs, and the input signals are as follows. , As the operating condition to proceed to the next step,
The limit of chuck A and the limit of rotation B are set.

The teaching data calculation unit 2 creates teaching data in the step from turning on / off of each graphic switch set in the operation pattern setting unit 1, and also performs step progress processing when executing work. To do. For example, when the above-described setting is performed, the data created at the time of teaching is, as shown in FIG. 3, as the output command, the “out” of the bit indicating the chuck A is “1” and the rotation B is The "return" of the bit indicating "1" is set, the "return limit" of the bit indicating chuck A waiting for input is "1", and the "return limit" of the bit indicating rotation B is "1". In this step, since there is no timer waiting, the bit "T" indicating the input waiting timer is "0".

The setting of the chuck A is shown in a ladder circuit in FIG. As shown in the figure, in this setting, when the output of the chuck A is on and the output of the chuck A is off, the output is output to the chuck A.

The teaching data is prepared by preparing a basic program in advance. For example, in the ladder circuit shown in FIG. 4, only switches that can be assigned to the chuck A are prepared as the basic program. Teaching data is created by changing, adding, or deleting ON or OFF according to the above setting.

The teaching data writing / reading unit 3 writes or reads teaching data to or from the teaching data storage unit 8 according to an instruction from the teaching data calculation unit 2.

The teaching data comparing section 4 controls the input of the teaching data read at the current step when the work operation of the equipment is executed and the actual operation of the equipment. The state of the signal input from the unit 6 is compared, and when the conditions match, the result is transmitted to the teaching data calculation unit 2.

As a result, the teaching data calculation unit 2 advances the step, reads the teaching data of the next step, and causes the operation of the next step to be performed according to the operation output in the read teaching data.

The control unit 5 such as an internal relay controls a relay for turning on and off a lamp indicating the on / off state of the equipment operating under the control in the PC, and the timer setting is required. If not, set the timer and count.

The input control unit 6 is a part to which signals from the equipment 10 and other equipment 11 are input, and has as many input ports as the number of signals from the equipment. It is determined which equipment the signal is from.

The output control section 7 is a part for outputting signals to the equipment 10 and other equipment 11, and has output ports as many as the equipment, and signals to each equipment are the addresses of the output ports. Signal is output to the equipment to be operated.

The equipment 10 is an actuator or the like whose operation is controlled by the PC, and the output controller 7
Further, each actuator is provided with a detection means such as a limit switch indicating that the actuator has actually operated, and inputs a signal to the input control section 6.

The other equipment 11 is, for example, a work transfer device or another equipment that operates in cooperation with the equipment 10 described above, and exchanges signals with the input control section 6 and the output control section 7, for example, an interlock signal. For example, the operation is stopped or started.

Next, the operation of the PC will be described separately for teaching processing and operation control processing. First, in the flow of the teaching process, as in the flowchart shown in FIG. 5, it is judged whether or not a group is designated (S1), and when the group is designated, the group designation is set (S10).
This group designation means that there are many devices to be operated and some of them are operated by one operation command (however, there are as many output ports as there are operating devices).
This is a process of setting which devices are to be operated at the same time, and arbitrarily sets this group during teaching work. This makes it possible to set the operation output by regarding the plurality of grouped operating devices as one operating device.

Then, it is judged whether or not a teaching step is designated (S2), and if designated, the teaching step is designated (S11).

Then, the teaching data of the designated group and step is read (S3). However, in the case of the first teaching at all, there is no teaching data, so this reading is not performed.

Next, the device to be operated in the designated step is set (output), and the input waiting is set as the operating condition (input / output setting, S4). And
Determine whether to write the set teaching contents (S
5) In the case of writing, it is written as teaching data of the designated group and step (S12).

Finally, when the teaching of all groups and steps is completed (when there is no other teaching step) (S6), the teaching process is terminated, and if there are other teaching steps, the process returns to S1. , Other steps are taught.

As a result, each step (step) of the work procedure
Teaching data is created. Further, by designating and reading a specific step number, the step can be changed.

Next, the operation control process will be described. In the operation control process, first, as in the flowchart shown in FIG. 6, the teaching data at the current stage is read (S2
1) It is judged whether or not there is an output setting in the teaching data (S22), and if there is an output setting, this is output (S31).

When the output (S31) ends or there is no output setting, it is judged whether there is an input waiting setting (S23), and the input waiting is performed until the set input is received (32). ). Then, if the input signal matches the set operating condition (S33), step No is advanced (increment).

Next, if the work of all steps is completed (S25), the work is completed, and if the work of all steps is not completed, the work of the next step is started from S21. As a result, the work is sequentially performed step by step until the set work is completed.

[0040]

As described above, according to the present invention, the present invention according to claim 1 is based on the operation of the plurality of operating devices set by the operation pattern setting means and the operating condition for advancing the work procedure. Since the teaching data creating means creates the teaching data, it is possible to easily teach the work procedure of the operating device without requiring a dedicated programmer or the like.

Further, according to the present invention as set forth in claim 2, some of a plurality of operating devices are grouped together and the operation is set as one operating device. Therefore, when there are many operating devices. If some of them may operate at the same time in the same work procedure, the setting of this group allows the operation devices that may operate at the same time to be set as one operation device. Therefore, the operation setting work becomes easy.

[Brief description of drawings]

FIG. 1 is a block diagram for explaining a machine control device (programmable controller) of an embodiment to which the present invention is applied.

FIG. 2 is a diagram showing an example of a teaching content setting screen in the above-described embodiment.

FIG. 3 is a drawing showing an example of teaching data in the above-mentioned embodiment.

FIG. 4 is a diagram showing teaching data as a ladder circuit in the one embodiment.

FIG. 5 is a flow chart showing a flow of teaching processing of the above-described embodiment.

FIG. 6 is a flowchart showing a flow of operation control processing of the above-described embodiment.

[Explanation of symbols]

 1 ... Operation pattern setting unit, 2 ... Teaching data group step computing unit, 3 ... Teaching data reading / writing unit, 4 ... Teaching data comparing unit, 5 ... Internal relay control unit, 6 ... Input control unit, 7 ... Output control unit, 8 ... Teaching data storage unit.

Claims (2)

[Claims] 1. A machine control device for controlling a plurality of operating devices according to a work procedure consisting of a plurality of taught steps, and a detection means for detecting that the plurality of operating devices actually operate. , Of the plurality of operating devices for each stage of the work procedure,
An operation pattern setting means for setting which operation device is to be operated, and for setting, as an operation condition, a signal of which detection means of the detection means to proceed to the next stage of the work procedure; Teaching data creating means for creating teaching data at each stage of the work procedure based on the setting of the setting means, and a signal from the detecting means coincide with the operation condition of the teaching data created by the teaching data creating means. Teaching data comparing means for deciding whether or not to carry out, and work procedure advancing means for advancing the step of the work procedure to the next step when the judgment result of the teaching data comparing means matches the operating condition. A machine control device characterized by the above. 2. The operation pattern setting means has a group setting means for grouping an arbitrarily specified number of operation devices out of the plurality of operation devices, and which operation device is set by the operation pattern setting means. 2. The machine control device according to claim 1, wherein when setting whether or not to operate, the group setting means sets the collective operating devices as one operating device.