CN110362032A - A method of realizing that functional sequence programs PLC in order - Google Patents
A method of realizing that functional sequence programs PLC in order Download PDFInfo
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- CN110362032A CN110362032A CN201910714518.4A CN201910714518A CN110362032A CN 110362032 A CN110362032 A CN 110362032A CN 201910714518 A CN201910714518 A CN 201910714518A CN 110362032 A CN110362032 A CN 110362032A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/056—Programming the PLC
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Abstract
The PLC method that functional sequence programs in order is realized the present invention relates to a kind of.Be able to achieve functional sequence programming in order at present only has sequential function chart language (SFC).But not all PLC manufacturer all provides SFC Programming with Pascal Language function, and ununified SFC format program and environment.SFC Programming with Pascal Language is not widely applied.The present invention provides a kind of other programming languages such as trapezoid figure language (LD) realization PLC method that functional sequence programs in order, and feature includes three modules: 1) device state module corresponding with sequence functional sequence, for obtaining equipment current state step；2) step task execution command and and control module, for generate step task execution command and control automatic, single step, single cycle operation；3) task output module for the output of driving task, while realizing manual and interlock function.The present invention adapts to various PLC brands, and programming is easily understood, and shortens engineering design, and debugging and maintenance of equipment time, save the cost are improved benefit.
Description
Technical field
The PLC method that functional sequence programs in order is realized the present invention relates to a kind of.
Background technique
PLC is a kind of a kind of industrial control device that machinery equipment function is controlled by program, is led in industrial automation
It is used widely in domain.International Electrotechnical Commission (IEC) defines five kinds of PLC standard programming languages: trapezoid figure language (LD) refers to
Enable list language (IL), functional module graph-based language (FBD), sequence functional sequence graph-based language (SFC), structure text language (ST).
Wherein trapezoid figure language (LD) is programming language most basic, most widely used in PLC program design.Its advantage is that: with electrical original
Reason figure is corresponding, and intuitive, is easy to be grasped by electrical design personnel and equipment maintenance personnel.Sequence functional flow diagram
Language (SFC) is mainly to meet the PLC method of functional sequence programming and the programming language that designs in order.Functional sequence in order
The advantages of programming is: clear in structure, orderliness understands, program is it can be readily appreciated that can be by complicated system decomposition at multiple Simple Systems
System is programmed.Shorten programming, debugging and maintenance time, improves benefit.But there are it to lack for sequence functional sequence graph-based language (SFC)
Point.Be mainly manifested in: 1) not all PLC manufacturer all provides SFC Programming with Pascal Language function, and some, which then needs in addition to buy software, to be permitted
It can；2) there is no unified SFC format program and programmed environment between PLC manufacturer, without interchangeability, project planner then needs
Grasp the SFC programming of multiple format；3) the equipment maintenance personnel of grasp SFC language and few, some factories and enterprise's regulation
SFC Programming with Pascal Language is not received；4) SFC program is difficult to restore after fault interrupting, and majority of case can only be from after fault interrupting
One step restarts, if it is desired to start from fault interrupting or under other states, then need to increase it is attached help logical program, make program
It thickens hard to understand.
Summary of the invention
Goal of the invention: realize that functional sequence programs PLC in order, keeps function flow in order with other general programming languages
Journey program the advantages of, avoid sequence functional sequence graph-based language (SFC) program the shortcomings that and deficiency.Automatic, single step, hand are realized simultaneously
Fast quick-recovery function after dynamic operational mode and equipment fault interruption, shortens engineering design, debugging and maintenance of equipment time.It reduces
Cost is improved benefit.
Technical solution: the present invention provide it is a kind of realize PLC in order functional sequence programming method, feature include three
Module: (1) device state module corresponding with sequence functional sequence；(2) step task execution command and control module；(3) task
Output module.As shown in Figure 1.
The technical solution is described with trapezoid figure language (LD) herein.It similarly can be real with other general programming languages
The now technical solution.
It is actually equipment functional sequence in sequence that equipment is run under automatic or single-step mode, is sequentially executed each
The cyclic process of corresponding task in step.The execution of next step task is namely determined according to the result that previous step task is completed.
After equipment state meets switch condition of the functional sequence to next step, equipment is entered in next step, and what is performed the next step appoints
Business.The task definition executed in each step is step task.The command definition of task in each step is executed as step task execution command.
Fig. 2 show the sequence functional flow diagram made according to sequence functional sequence.Here only three steps are shown
Sequence functional flow diagram.Multistep sequence functional flow diagram makes of same method.
Fig. 3 show device state module corresponding with sequence functional sequence.The function of the module is that acquisition equipment is current
State in which, i.e. equipment are currently located in which step in sequence functional sequence；It is characterized in that in the device state module
Step is corresponded with the step in sequence functional sequence, the step task in step task and sequence functional sequence in device state module
It corresponds, the switch condition one in the switch condition and sequence functional sequence in device state module between step between step is a pair of
It answers；The module include between step and each step all in equipment sequence functional sequence the corresponding condition of switch condition patrol
Program is collected, further includes the variable for being presently in the logical program of step and the value of storage step for obtaining equipment.CON_1 table in Fig. 3
Show the switch condition of the sequence functional sequence first step, the switch condition of CON_2 order of representation functional sequence second step, with such
It pushes away；STEP is the variable for storing the value walked in equipment sequence functional sequence.STEP obtains one only after PLC executes the module
One value, the value indicate the state that equipment is presently in, i.e., which step in sequence functional sequence.Such as CON_1 etc.
It is set to 1 in 1, STEP, indicates that equipment is in the sequence functional sequence first step.2 are set to when CON_2 is equal to 1, STEP, is indicated
Equipment is in sequence functional sequence second step.And so on.
Step task execution command and control module shown in Fig. 4.The function of the module is the step in device state module
Value is converted to step task execution command；It is characterized in that the value of each step in device state module has a step task execution
Order correspond therewith, only generated in each scan period of PLC it is unique one step value and it is unique one with
The corresponding step task execution command of the step passes through the switch condition to the value walked in device state module to step task execution command
Control, realize automatically and single-step mode operation control；The module includes the value of all steps in device state module and owns
Walk task execution command variable, and step value to walk task execution command conversion logic program.It further include as step
It is worth the control variable of the automatic and single step run mode of the switch condition of step task execution command, equipment is in functional sequence
Corresponding step task is executed when different step, step task is driven by step task execution command；The step is generated with step STEP to appoint
The execution order of business, step task execution command are just corresponded with the step task in sequence functional sequence.CMD_n is indicated in Fig. 4
The step task execution command of the n-th step of sequence functional sequence.A step STEP is converted to step task execution command by realization can be by more
Kind form.Such as compare instruction, when STEP is equal to 1, only CMD_1 is set to 1, other step task execution commands are all 0, indicates
Equipment is in the sequence functional sequence first step, only generates the step task execution command of the first step.When STEP is equal to 2；Only CMD_2
It is set to 1, other step task execution commands are 0.It indicates that equipment is in sequence functional sequence second step, only generates the step of second step
Task execution command.And so on.It can be also described in more detail in specific embodiment example.
The conversion of STEP to step task execution command CMD-n is walked by control equipment state, also just controls the fortune of equipment
Row.
CTR_a is the operation control of automatic mode in Fig. 4.If equipment failure or emergency stop during automatic cycle
Equal other reasons cause CTR_a to reset, i.e. CTR_a is 0, and equipment state walks the conversion of STEP to step task execution command CMD-n
Condition is unsatisfactory for, and cannot also realize the conversion of step STEP to step task execution command, and step task execution command CMD_n is 0,
Mean not act output, that is, shuts down.If the same final step in automatic cycle, which issues a circulation, stops request handle
CTR_a resets, i.e. CTR_a is 0, and equipment will terminate operation after the final step for completing circulation, and which achieves equipment
Single cycle operational mode.If equipment stops a certain step in the circulating cycle because of failure and other reasons, after failure is excluded, as long as handle
Equipment puts back into automatic mode operation, i.e., CTR_a is set to 1, and if the switch condition of this time step meets, equipment can be direct
Start under from current state, without equipment is restored to behind original position again from new starting.
CTR_s is the operation control of single-step mode in Fig. 4.When equipment is run under single-step mode, equipment is every to have executed one
CTR_s is set to 1 after step, the switch condition that equipment state walks STEP to step task execution command CMD-n is unsatisfactory for, and also cannot
The value of step is realized to the conversion of step task execution command, step task execution command CMD_n is 0, it is meant that output is not acted,
The every i.e. shutdown after having executed a step of equipment in this way, after operator passes through HMI for CTR_s hand-reset, i.e., CTR_s is set to 0,
It just will continue to act in next step.One step of the every operation of equipment in this way, operator is primary by hand-reset, and equipment will be step by step
Operation realizes the single-step mode operation of equipment.
Task output module shown in Fig. 5.The function of the module is driving task output；It is characterized in that automatic mode,
Single-step mode and manual mode task execution command concentrate driving task output together；The module includes every in device state module
Step task execution command of one step under automatic mode, single-step mode, the task execution command under manual mode, manual mode
Interlocking condition and task export logical program.CMD_n is indicated automatically in Fig. 5 or the n-th step of equipment state is corresponding under single-step mode
Walk task execution command.Y_n indicates the corresponding task output of the n-th step.PB_n indicates task execution command under manual mode.IL_n
Indicate the interlocking condition of the task execution.The task output of each step is all programmed using same format.
In conclusion PLC is scanned in order executes Fig. 3, Fig. 4 and Fig. 5 module, again by sequence from top to bottom in each module
Scanning.From device state module, the value that STEP is walked locating for current device is obtained；Pass through step task execution command and control mould
Block obtains the corresponding step task execution command of current device state step, by turning to step STEP to step task execution command
The operation control of automatic and single-step mode is realized in the control changed；It is driven and is appointed with task execution command finally by task output module
Business output.Fig. 3 module realizes the programming of PLC functional sequence in order, program in structure and sequence functional flow diagram one by one
It is corresponding.Fig. 4 module not only realizes automatic cycling operating mode, while also achieving SFC language or other programmed methods are difficult to reality
Existing single step run mode, the fast quick-recovery after single cycle operational mode and equipment fault.Fig. 5 module realizes operation mould manually
Formula interlocks condition and unified task output.The programming of all steps format having the same, clear in structure in above three module,
Orderliness understands that program should be readily appreciated that.One complicated system may be divided into several subsystems and pass through function flow in the order
The method of journey programming is realized.Greatly shorten programming, debugging and maintenance time.The equipment control software program of complete set is also answered
Including operational mode, safety is diagnosed, simulation, man-machine interface (HHI) and other auxiliary control programs.
The utility model has the advantages that realizing that functional sequence programs PLC in order, maintains function in order with other general programming languages
Process program the advantages of, avoid sequence functional sequence graph-based language (SFC) program the shortcomings that and deficiency.Shorten engineering design, debugging
With the maintenance of equipment time.The present invention is applied in factory and enterprise and Automation Engineering Company as standardization PLC programming template, is saved
Time and cost, improve benefit.
Detailed description of the invention
Fig. 1 functional sequence programmed method characteristic module in order
The sequence functional flow diagram that Fig. 2 makes according to sequence functional sequence
Fig. 3 device state module corresponding with sequence functional sequence
Fig. 4 walks task execution command and control module
Fig. 5 task output module
The sequence functional flow diagram that Fig. 6 automatic glue spreaders make according to sequence functional sequence
Fig. 7 automatic glue spreaders device state module corresponding with sequence functional sequence
Fig. 8 automatic glue spreaders walk task execution command and control module
Fig. 9 automatic glue spreaders task output module
Specific embodiment
Below with being described in detail for an automatic glue spreaders to the specific embodiment of the invention.
Hypotheses: the sequence functional sequence of glue spreader are as follows: (1) robot workpiece is online, and the positioning of (2) workpiece, (3) apply
Glue, (4) workpiece position go back to original position, and (5) robot workpiece is offline.
PLC variable and instruction in Fig. 7, Fig. 8 and Fig. 9 is as follows:
X01 is that workpiece is inputted in level sensor
X02 is that positioning cylinder is inputted in position location sensor
X03 is that position sensor inputs positioning cylinder in situ
J01 is gluing task completion sign bit variable
STEP is the variable which step is equipment be in, and STEP is equal to 1, indicates that equipment is in the first step, and so on
MOVE is move
InCycle is automatic cycle mark bit variable, indicates that equipment is run in automatic mode
StepMode is single step circulation mark bit variable, indicates that equipment is run in single-step mode
CMP is compare instruction
CMD-1 is the step task execution command of the equipment first step.CMD-1 is equal to 1, indicates to issue the online request of workpiece to robot
Order
CMD-2 is the step task execution command of equipment second step.CMD-2 is equal to 1, indicates to issue positioning cylinder positioning command
PB-1 is the online request manual command of workpiece issued to robot
PB-2 is that positioning cylinder positions manual command
Y01 is that the online request output of workpiece, i.e. the step task of the first step are required to robot
Y02 is positioning cylinder positioning output, i.e. the step task of second step
Y03 is that positioning cylinder returns output in situ, i.e. the step task of the 4th step.
Scanning figure 7 in order PLC, the module in Fig. 8 and Fig. 9, again by sequential scan from top to bottom in each module.Below
Functional sequence explanation module working principle by taking the first and second steps as an example in order.Third step, the programming of the 4th step and the 5th step
And working principle is identical with the first and second steps.
Step 1: the online request of workpiece
Assuming that not having workpiece in equipment when starting, positioning cylinder is in home position.After equipment enters automatic cycle, from Fig. 7
In it can be seen that the switch condition of the only first step is satisfied, i.e. X01=0, X03=1.Execute Fig. 7 module the result is that STEP
It is set to 1.Indicate that equipment is in the first step.InCycle is 1, StepMode 0 under automatic cycle shown in Fig. 8, and CMP compares finger
Enable STEP meet equal to 1 condition, execute Fig. 8 module the result is that only CMD-1 is set to 1, other step task execution commands are all
0.As can be seen from Figure 9 it is just 1 that CMD-1, which is 1, Y01, and at this moment PLC just issues the online request of workpiece to robot.
Step 2: workpiece positions
After robot is connected to the online request of workpiece, workpiece is put into equipment, completes the online task of workpiece.It can be with from Fig. 7
Finding out at this moment only has the switch condition of second step to be satisfied, i.e. X01=1, X03=1.Execute Fig. 7 module the result is that STEP quilt
Set 2.Indicate that equipment is in second step.InCycle is 1, StepMode 0 under automatic cycle shown in Fig. 8.CMP compare instruction
STEP meets equal to 2 conditions, execute Fig. 8 module the result is that only CMD-2 is set to 1, other step task execution commands are all 0.
As can be seen from Figure 9 it is just 1 that CMD-2, which is 1, Y02, and at this moment positioning cylinder just positions workpiece.
And so on.Equipment executes third step, and the 4th step is returned to the first step after the 5th step, restarts next follow
Ring.
If equipment breaks down during automatic cycle or other reasons, the InCycle such as emergency stop are just reset, i.e.,
InCycle is 0.It can be seen that at this moment CMD_1, CMD_2 are that 0, Y01, Y02 is also just 0 from Fig. 8 and Fig. 9.Mean do not have
There is movement to export, i.e. equipment downtime.If issuing a circulation after the completion of final step task of automatic cycle stops request
InCycle is resetted, i.e. InCycle is 0, and equipment will be out of service after the final step for completing circulation, which achieves
The single cycle operational mode of equipment.Once failure is eliminated, after equipment is set to automatic cycle again, InCycle 1, if
If the switch condition of this time step meets, equipment can be continued to run directly under current state, without being restored to original
It is restarted again behind position.
After equipment is set to single-step mode, equipment is every have been executed StepMode is set to 1 after a step.From Fig. 8 and Fig. 9
It can be seen that at this moment InCycle is 1, StepMode 1, CMD_1, CMD_2 is that 0, Y01, Y02 is also just 0.This means that
Output, the every just shutdown after having executed a step of such equipment, until operator is manual by StepMode by HMI faceplate are not acted
After reset, i.e. StepMode is set to 0, just will continue to act in next step.One step of the every operation of equipment in this way, operator pass through multiple manually
Position is primary, and equipment is just run step by step, that is, realizes the single-step mode operation of equipment.
After equipment is set to manual mode, InCycle 0.It can be seen that at this moment CMD_1, CMD_2 from Fig. 8 and Fig. 9
It is all 0.At this moment Y01, Y02 can be exported by the order of drive actions under manual mode.Such as issued in Fig. 9 by HMI
Positioning cylinder positions manual command PB_2 driving Y02 output.
Fig. 8 and Fig. 9 only shows the program of the first step and second step.The program of third step, the 4th step and the 5th step has phase
Same format.By simply replicating and accordingly changing.It can be seen that the program of each step format all having the same,
Program structure is clear, and a complicated system can be decomposed into multiple single systems and pass through the side of the programming of functional sequence in order
Method is realized.Entire device control software program should also include operational mode, safety, diagnose, simulation, man-machine interface (HMI) with
And other auxiliary control programs.
It is the full content about present patent application specification above.
Claims (4)
1. a kind of realize the PLC method that functional sequence programs in order, it is characterised in that following three functional modules:
(1) device state module corresponding with sequence functional sequence, the module is for obtaining the state that equipment is presently in, PLC
The unique value for indicating equipment and being presently in state step is obtained after executing the module, it is suitable which indicates that equipment is currently at
Which step in sequence functional sequence；(2) step task execution command and control module, the module in above equipment block of state obtaining
The value of the step taken is converted to step task execution command, and the control of the switch condition by the value to step to step task execution command
System realizes the control of automatic and single-step mode operation；(3) task output module, the output of all tasks of the module drive.
2. it is according to claim 1 it is a kind of realize PLC in order functional sequence programming method, which is characterized in that it is described
The step in step and sequence functional sequence in device state module corresponding with sequence functional sequence corresponds, the equipment shape
The step task in step task and sequence functional sequence in morphotype block corresponds, and turns between step in the device state module
The switch condition in condition and sequence functional sequence between step is changed to correspond；The module includes owning with sequence functional sequence
Step and each step between the corresponding logical program of switch condition, further include the logic for being presently in step for obtaining equipment
The variable of the value of program and storage step.
3. it is according to claim 1 it is a kind of realize PLC in order functional sequence programming method, which is characterized in that it is described
The value of step each of task execution command and control module step has one uniquely to walk task execution command therewith one by one
It is corresponding；The module includes the value of all steps and the variable of all step task execution commands, and the value of step is ordered to step task execution
The conversion logic program of order, further include as step value to step task execution command switch condition automatic and single step run mode
Control variable；When switch condition meets, the conversion of value to the step task execution command of step is achieved, step task execution life
Enable just is 1, it is meant that executes the step task；When switch condition is unsatisfactory for, the value of step can not achieve to step task execution command
Conversion, step task execution command is just 0, it is meant that does not act output, that is, shuts down.
4. a kind of according to claim 1 realize the PLC method that functional sequence programs in order, which is characterized in that described
It is engaged in output module automatic mode, single-step mode and manual mode task execution command concentrate driving task output together；It should
Module includes step task execution command of each step under automatic mode, single-step mode in device state module, under manual mode
Task execution command, the interlocking condition and task of manual mode export logical program.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111352381A (en) * | 2019-12-16 | 2020-06-30 | 常州汇邦电子有限公司 | Programmable logic controller programming method, programmable logic controller and system |
| CN113485182A (en) * | 2021-06-30 | 2021-10-08 | 中冶华天工程技术有限公司 | Method for automatically generating material yard belt flow control program |
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