DE2000167A1 - Machine control - Google Patents

Description

Dipl.-Phys. Fritz Finally. . Unterpfaffenhofen b. Monks January 2nd, 1970 Blumenstrasse 5 Ebb / a

My file: D-25%?

Applicant: Digital Equipment Corporation »

146 Main Street, Maynard, Massachusetts, USA

Machine control

The invention relates to the control of machine operations. In particular, it relates to the start and the termination the various operations of a machine tool to produce a large number of identical parts.

So far, two types of systems have generally been used for the automatic electrical control of machine tools: One of these systems is numerical control »in the Successive commands for processing a workpiece are stored on a punched tape or a magnetic tape are. These commands are processed by a data processor. decoding device that decodes the various machine opera-r> controls. This system is very adaptable and ™ It is thus possible to give a workpiece almost any shape according to the stored program. This The system therefore largely has the manual machine control When machining complex workpieces, it replaces »Especially where a small number of workpieces is required will.

Because of the high cost of numerical control, a another, less versatile arrangement used when a finished part needs to be duplicated multiple times. Instead of the relatively expensive components for precise and permanent monitoring of the position of the various elements in one In the numerically controlled machine, a number of condition sensors are used in this device, for example limit switches, which are used during the various operations the arrival of various elements at their limits of movement. fix. The outputs of these switches operate a group of relays with multiple contacts, their contacts accordingly the different ones that apply to the respective machine operations logical functions are wired.

Different combinations of energized or de-energized relays correspond to a given machine operation. Ss a switch is therefore operated in each case, so that a relay is energized or de-energized. The resulting new combination energized and de-energized relays result in a new operation or a new sequence of operations.

The relays used in the latter system are less expensive than the data processing equipment in the numerical one Steering. Even so, it's still pretty expensive. If the shape of the manufactured part is significantly changed, ^ o the relay network must be changed frequently and replaced by a completely rewired one.

The object of the present invention is therefore to create an electrical unit control system in which the retrofitting costs are reduced, which works reliably and thus requires relatively low maintenance costs, and the overall costs of which are relatively low. The invention management system is also intended to provide a precise check and the resulting modification of the logisical situation before it actually occurs

OOftiaO / 1221

Wiring must be suitable.

The present invention is based on the fact that the beginning or the end of a given machine operation can be derived from a complicated boolean control equation, the related such action to the conditions of a number of condition sensors (e.g. limit switches) puts. The control function can always be sequential the respective sensor conditions are compared, d. H. Letter by letter to determine if the terms overall fulfill the control function or not. This sequential operation can be independent of the form or Complexity of the control function can be applied. The principle used should be based on a strictly sequential Control function are described in more detail, for example in the form of a "sum of products":

^{a =} ( ¹ 1.1 * ^X 1.2 * ^X 1.3 - ¹ Ln ₁ ^{1 + (x} 2.1 * ^X 2.2 * · • ^X 2, n ₂ ⁾ * or the form of a "product of Sums " ι

owns. There are x ^ 1 » ^x i 2 '^ l 1 * ^ l 2 * ^{UBW #} » ^d * ^e conditions or states of the respective sensors (for example "On" or "Off");

ä, b 'represent the states (e.g. "Bin" or "Off") of the controlling devices according to the control functions.

(.) and {+) represent the logical UHD-baw. Or link represent.

The letters (* j j »3 ^ j» etc.) generally stand for an independent variable and represent one of two possible output voltages of a given probe. ' The sensors are usually in the form of conditional containers that are either closed or open. In closed A switch has a certain state ("On")

Output voltage to the control device of the machine. in the open state ("Off"), the output signal is at zero volts

Let it be For example, it is assumed that each letter in punctures (1) and (1a) represents the on-state of a sensor, and that a device to be controlled of the machine is switched on when the corresponding control function is fulfilled by the conditions or states of the sensors . With the "sum of the products" (function P)) the puncture is fulfilled if one of its V antennas is fulfilled. Accordingly, the control device successively checks the states of the sensors corresponding to the letters of the first term (X ₁ , · X _{1 o} .... x. _). If a sensor is switched off, so

the device stores this in a status register. The status register is checked at the end of the first term to determine if any of the probes under test were turned off. If none of the sensors was switched off, i. H., that all sensors were switched on, the control function is fulfilled at this point and the device can perform the operation determined by the puncture.

However, if the control function was not fulfilled, si) shows that Status register indicates that one or more of the checked punctures were switched off. The device then goes to the second term of the control function (1) and checks the states of the corresponding letters of this term! Probe. If none of these sensors is switched off, this is due to the condition of the status register after the check all sensors are displayed, the device can perform the operation determined by the puncture. If the puncture is not met, the device advances to the letters of the next term of the control function

009830/1229

over, etc., until it reaches the end of the puncture.

If a single term of control function (1) is fulfilled, then the device will skip the rest of the function and immediately perform the required operation. She then goes to a Control function of another device of the controlled machine. An embodiment of the machine control according to the invention works that way. In another embodiment of the machine control according to the invention, the Fact stored that the control function is fulfilled. the The device then checks the remaining terms of the puncture and, at the end, performs the required operation.

Amn writes the control function in the form of the product of a Sum (puncture 1a), the puncture is not fulfilled if one of its factors is not met. The device is therefore programmed to check each factor term by term. It saves the fulfillment of the "on" condition for each term within the pactor in the status register. At the end every paktors the status register is checked, it shows indicates that none of the tested sensors was switched on, the control function (1a) cannot be fulfilled as a whole. the The device can then perform an appropriate operation. Depending on the embodiment of the machine control according to the invention she can either skip the remaining factors and go to Override control function for another machine operation, " or store the fact that the control function is not fulfilled, check the remaining terms of the control function and then prevent the device controlled by this puncture from being switched on. On the other hand, at least it was one of the tested sensors is switched on, the device goes to the next factor in the control function and checks the sensors corresponding to the terms of this factor.

009830/122

The control functions for the various operations of the controlled machine are stored in a control unit, which also checks the status of the machine's sensors, which makes decisions determined by the sensor states and the various controllable elements of the machine supplies the appropriate control signals. The structure of the control unit is similar to that of a digital computer. In particular it has a stored program. The control functions are in the form of individual commands of this program stored, each letter being the subject of an individual Command is.

Its type of command causes the control unit to set the status of a individual sensor determined by the command and depending on the corresponding value in the control function either the value of the sensor output or its Save complement. With another type of command, the control unit brings a controllable element of the machine into one given condition, d. H. it excites or de-excites the element, depending on whether the corresponding control function is fulfilled or not.

In other words, each letter representing an independent variable in the control function is at a special one Space of the memory stored in the form of a command to a certain sensor to a certain state check. The device searches these commands one by one from the memory and thus tests the sensors one after the other to determine whether the control function through the status function, which reflects the actual conditions of the sensors of the machine is met or not. Fulfills the status function the criteria determined by the control function, the device carries out those determined by the latter function Operation through,

oogiao / m

With the devices currently available, this step-by-step comparison can be made as quickly as the required Time is insignificant when controlling machine tools. · An electronic data processing device can Tearme the control function for all machine operations with the corresponding definition of the status functions within of an insignificant amount of time. This arrangement is preferred with the data processing device continuously searches all control functions cyclically.

The machine control according to the invention, the required Wiring effort significantly reduced. There are no complicated and non-adaptable decoding and coding circuits are necessary, as they are with parallel connections | are required in the same way as the known relay matrices and equivalent plague body circuits. In addition, can the device much easier for different Groups of machine operations are changed. Need it for this purpose, only the control functions stored in the data processing device need to be modified. The connections of the sensors of the machine to the data processing device and from the data processing device to the machine motors and actuators of the machine do not need to be changed. This leads to a great saving of material for every new part that is produced with the controlled machine shall be.

The memory for storing the control functions is preferred a pure output memory, the content of which is determined by various fixed wirings within the memory is. A known embodiment has, for example, a number of transmitter cores, each of which has one

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digit parts in the word searched from memory. Each storage space consists of a wire threaded through individual cores, depending on whether the respective digits of the word placed in this place is equal to "1" or "O". If the memory is used to output a stored in it Word is addressed, a pulse is sent to the corresponding wire. Secondary turns on the cores through which the wire runs, generate output voltages (or it will no output voltage generated), which indicate the states "one" or "zero" in the respective digits.

Wired memory is generally less expensive than read / write memory such as magnetic core memory and, moreover, is generally considerably more reliable. Its overall cost is lower, although the entire memory must be replaced if the control function stored in the device is to be changed. The exchange is made easier by using plug-in units, whereby the storage registers of a memory can easily be pulled out and the replacement unit can be reinserted. The arrangement described below further contributes to the reliability and low costs in the manufacture of memories.

Illustrated with reference to the accompanying drawings in the exemplary embodiments, the invention is hereinafter explained in more detail. Show it

1 shows the circuit diagram of a control device according to the invention)

Flg. 2 a part of a circuit diagram of a second embodiment of the control device used in the device and

3 shows the circuit diagram of a third embodiment of the invented

001110/111

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proper control unit.

Figures 1 and 2 show two basic embodiments of the Invention. The device of the pig. 1 works according to a Boolean control function of any form, with any Number of variables and with any arrangement of the logical linking the individual variables or groups of variables Operations. This versatility is achieved by means of certain jump instructions, which are described in more detail below be practiced.

In the device shown in FIG. 1, a machine tool 10 is controlled by a programmable control device 12. The machine tool 10 has a number of control input terminals Ha, 14b US ₁ W. which are fed to carry out the various machine operations. These operations include, for example, various linear and rotational movements of the machined workpiece, the positioning, supply and return of the tools machining the workpiece, and the rotation of the tool spindles. The voltages applied to the terminals 14 feed, for example, motors and clutches and actuate electromagnets and thus generate the mechanical force for the individual machine operations.

The machine tool 10 also has a number of not shown Sensors that together indicate the condition of the Masohlne. In general, the whole result, in individual stages split positions of the various moving elements of the machine, d. i.e., depending on whether this element has certain, have reached predetermined positions or not, the state of the machine. For example, has a drilling tool the end of its movement when drilling a Loohes In the workpiece is either reached or not. The measuring sensors

~ 10 -

are generally in the form of switches arranged to be operated by the movable elements, When they reach predetermined positions. Thus, each sensor gives an "on" or "off" signal, i.e. an "on" or "off" signal. i.e., he gives either tension or no tension, depending on whether it is actuated or not by the movable element whose position it is sensing. The output signals from the sensors appear on a group of output terminals 16A, 16B, etc. The Respective tax inputs 14 are according to the state the machine is fed by the control unit 12, the voltages appearing at the sensor output terminals 16 is pictured.

The basic structure of the control unit 12 is similar to that of a conventional digital computer. It has a memory 18 and an intermediate memory 20, into which the content of the respective addresses in memory 18 is transmitted. An instruction memory 22 receives the from memory 18 in the intermediate memory * - rather 20 transmitted commands and decoded Bie for control the various operations of the control unit. A program counter 24, which works like an address memory, contains the Addresses of the location in memory 18, the content of which is to be transferred to buffer memory 20.

The timing of the various control unit operations is determined by a clock 26. In this context it should be noted that for the sake of better clarity in the drawing shows only the information paths and control inputs. For the output signal from the clock generator 26 The clock control used is not shown. This part of the device can be identical to the conventional digital computer are executed.

ooaaao / 1aai

The control device 12 also has an input selector 28 and an output selector 30 which again operate in the same way as the analog parts of conventional computers that are used by Receive input signals from a variety of sources and deliver output signals to a number of different devices. Of the Input selector 28 controls the signal at a selected input terminal 29 in accordance with one contained in the buffer 20 Code number for a single output terminal 31 · Vice versa speaks the output selector 30 to a KennzaÜL in the buffer 20 and feeds a single output terminal 32, whereby a single flip-flop of a flip-flop group 34 to a terminal 35 or 36 receives a signal. The flip-flop output terminals 34a, 34b, etc. are connected to the corresponding control " er input terminals 14 of the machine tool connected. In order to the output flip-flops 34 generate the control signals for the machine tool 10.

The output of the input selector 28 is passed to an input test device 38, the output of which is in turn connected to the “1” input terminal of a status flip-flop 40. In some cases an input terminal must be checked to determine whether the signal applied to it is at the "1" level. For this purpose, a gate 42 is enabled by a signal TBT1 from the command memory 22, so that the input selector 28 feeds an output signal to the “1” input terminals of the flip-flop 40. This sets * the flip-flop 4Θ, ie it goes into the "1" state when the selected input signal is "1". If the input signal is "0", the status of the fllp-flop remains unchanged.

Conversely , if a selected input terminal 29 is to be checked to determine whether the signal on it is "0", a gate 44 will give uirlfre ige through a signal TST0 so that the '

00Ö830 / 122I

Output signal of an inverter 46, which is connected to the output terminal 31 of the input selector 28, is passed. If the selected signal is "0", the flip-flop 40 is set. If the signal is "1", the state of the flip-flop remains unchanged.

The flip-flop 40 thus stores the status of the respective person input signals received from the sensors of the machine tool. As will be described in more detail below should, the control unit 12 checks the state of the flip-flop 40 to determine when to set or reset the various outputs of the flip-flops 34 so that the corresponding control input terminals of the machine tool are energized or de-energized.

For example, the basic embodiment of the control device shown in FIG. 1 can execute seven different commands . Accordingly, the first seven bits in each memory location determine an instruction. The remainder of the word is an address field, the bits of which determine a memory address, a selected input terminal 29 or a selected output terminal 35. The commands are as follows:

TST1 - Set the flip-flop 40 if, and only if, the input terminal identified by the number in the address field 29 is "1";

TST0 - Setting the flip-flop 40 if, and only if, the input terminal 29 identified by the number in the address field is "0";

JF1 - Jump to the address in the address field if, and only if, the flip-flop 40 is in the "1"state; These and other jump commands are carried out by transferring the new address from the buffer 20 to the program counter

000830 / $ 122

- 13 - 20.0σΐ67

24; if a jump is made on this instruction, the status flip-flop 40 is reset (i.e. in brought the state "0");

JF0 - Jump to the address in the address field, if, and only if, state flip-flop 40 is "0" (i.e., reset); unconditional deletion of flip-flop 40j

JMP - unconditional jump to the address in the address field;

S01 - Set the output flip-flop marked in the address field 34;

SO0 - Deletion of the output flip-flop marked in the address field 34.

To further explain the mode of operation of the control device 12, a few examples will be given. In any case the flip-flop 40 is initially in the "0" state. This state of the flip-flop results automatically when the control unit is initially switched on. Thereafter, the flip-flop 40 is activated by each command JFl or JF0 in each The sequence in which it was set is reset. The device thus always begins a sequence of control functions with the flip-flop in the "0" state.

Example I.

First of all, it is assumed that the control input terminal 14a energized or energized when one of the sensor terminals -

16A or 16b is "1". This can be done in Boolean notation ™ can be expressed as follows:

A + B = c (2)

The memory 18 contains at location N and at the following Places the following command sequence:

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Place ^r command 4WViWf

1) N TSH (A) - set the flip-flop 40,

when A is "1".

2) N + 1 TST1 (B) - set the flip-flop 40,

when B is "1".

3) N + 2 JF0 (N + <5) - jump to location N + 5, if

the flip-flop 40 is not set.

4) N + 3 S01 (c) - turn on the flip-flop

34 for supplying control terminal I4 (a)

5) N + 4 JMP (N + 6) - jump to place N + 6

6) N + 5 SO0 (c) - turn off the flip-flop

34 for de-energizing control terminal 14 (a)

7) N + 6 beginning of through the next tax

function specific operation.

According to equation (2), the flip-flop 40 is set by the first two commands when the sensor terminal ΐβΑ or 16b is "1". If both are "1", then with the next command (3), which causes a jump, happens when the flip-flop is not set, nothing. During the following storage cycle (4), terminal 14a is activated according to the setting condition of the flip-flop 40 is energized. In response to the following command (5), the control unit jumps to location N + 6 and begins an opaation accordingly the next control function. If there is none of the test input terminals to "1", the control unit sends the status "0" to input terminal 14a of the machine tool. In particular the flip-flop is not set after the second command and accordingly the control unit speaks to the deleted one State of this flip-flop by skipping the next two commands to place N + 5. This place contains a command by which the terminal is de-energized by clearing the corresponding flip-flop 34. The program counter

oostao / mi

then indexes the place Έ + 6 in the normal sequence for the operation determined by the next control function.

Example II

First it is assumed that an operation is determined by a logical AND operation between two inputs will. For example, the control terminal 14c should be energized, when both sensor terminals 16A and 16B are "1". The control function is with it

C = AB O)

According to DeMorgan, equation (2) can be converted into the equivalent equation

C = I ₊ B "(4)

being transformed. The following command sequence results in a machine control according to this expression:

Place command

TS0 (A) TS0 (B) JP1 (N + 5) SO1 (c) JMP (N + 6) SO0 (c) Start of the operation corresponding to the next Control function.

As you would expect, this is the inversion of that given by the OR equation (2) specific operation. With the first two commands, the flip-flop 40 is set if one of the terminals 16A or 16B is "O". If both terminals are "0", then control terminal 14c is not energized. As a result, with the third command, the control unit jumps to location ΪΓ + 5, which contains the Command (6) contains to switch off terminal 14c.

D. N 2} N + 1 3) N + 2 4) N + 3 5) N + 4 6) N + 5 7) N + 6

009830/1228

-ie- 2000187

On the other hand, if both terminals 16A and 16B are at "1", then the flip-flop 40 is activated during the first two commands not set and there is no jump to the third command. The device thus carries out the next command (4) so that the flip-flop 34, which feeds the terminal 16O, is switched on. On the following command the control unit jumps over place N + 5 and goes to the first command of the next control function.

Example III

Another logical operation is the logical NOR, i. i.e. if neither terminal 16A nor terminal 16B is at "O", so the control terminal 14c is fed. In the Boolean Notation this can be expressed as follows:

ΓΠ3 = c (5)

The following command sequence can be used for this operation:

Place command

TS1 (A) TS1 (B) JF1 (N + 5) S01 (c) JMP (N + 6) SO0 (c) First command for the next Tax expression.

Example IV

Next, assume an exclusive OR; H. probe terminal 16A or 16B is "1", but not both "1", the control terminal 14c is fed. In the Boolean This can be expressed as follows:

A B + I B = c (6)

This operation results from the following command sequence:

009130/1221

1) N 2) N + 1 3) N + 2 4) N + 3 5) N + 4 6) N + 5 7) N + 6

-ι? - 2000187

Plat z command

1) N 2) Ν + 1 3) Ν + 2 4) Ν + 3 5) Ν + 4 β) Ν + 5 7) Ν + 6 8th) Ν + 7 9) Ν + 8 10) Ν + 9

(A)

TS1 (B) JF0 (H + 8) TS1 (A) TSjZi (B) 'JF0 (N + 8) SOj2f (c) JMP (N + 9) SO1 (c) Beginning of the next control function corresponding to | the operation.

Example . IV shows the main purpose of the JF1 and JF0 conditional jump instructions. For example, consider the probe terminal 16A "1" and terminal 16B "0", the sensor states meet thus the first term of the control function (6). Since they fulfill the first term, they fulfill the function as a whole. Therefore, when the control device 12 reaches the third command, the flip-flop 40 is in the "0" state and is the conditional Jump JF0 with this command switches the corresponding one Output flip-flop 34 on (commands ^).

The case will now be considered if no conditional f

The jump command (3) would exist and the control unit would only switch to the next two test commands. With the presupposed states of the terminals 16A and 16B that would; Flip-flop 40 is set and anaeigen due to these commands, that the sensor states did not meet the second term of the control function. If, therefore, the control device had to decide at this point whether the control function is fulfilled or not, it would give the status "0" to the controlled device in accordance with the status of the flip-flop 40.

009830/1221

instead of "1" output. This difficulty would be avoided by that the second term of the control function is skipped if the first term is fulfilled. The conditional jump 'The command (6) also serves a second purpose, namely the suppression of the command (7) by which the device the Controlled device is de-energized if the conditions for the excitation or supply are not met. In this context it should be noted that control functions were used in all examples that control the output of the control unit 12 completely determine. In other words, after processing a control function, the control unit brings the controlled one Device in the machine tool 10 either to "1" or "0". The control device 12 can be switched on or off the controlled device can be programmed with separate control functions. In general, however, storage capacity is used (and operating time) saved if the two functions for switching the control unit on and off can be combined into a single, composite control function.

The above examples are relatively illustrative simple logical functions, all of which are strictly sequential. The control unit 12 of FIG. 1 can, however, likewise process complex functions with its sequential operation. This should be done using the following example explained:

Example V

Ss Assumed the following control function:

(A.B-O + D-S). F + G + H = c (7)

The control device 12 can be programmed with the following command sequence so that it works according to this function:

009830/1221

place

command

η N 2) N + l 3) N + 2 4) N + 3 5) N + 4 β) N + 5 7) H + 6 8th) N + 7 9) N + 8 10) .N + 9 11) N + 10 12) U + l 1 13) N + 12 14) N + 13 15) N + 14 16) N + 15 17) N + 16

TS 0 (A) (F) (N + 15) 1S0 (B) (N + 10) (first element and (G) 1Q0 (C-) F not waht) (H) JF0 (N + 7) (A, B, 0 "1") (N + 15) TS0 (D) (c) TS1 (E) (Η + Ί6) JF1 (N + 10) (first element (c) Is not it) TS0 JF1 JMP TS1 TS1 JFl S 00 JMP S01

Beginning of the next tax function corresponding operation.

Example Y explains the way in which the device uses conditional jump instructions to process Boolean expressions of any form. The first element of the control function (7)> ie the part in brackets, consists of the sum of two products. The conditional jump instruction (4) therefore serves the same purpose as in example IV. The second term of this sum is skipped if the first term is fulfilled. In this case, however, it jumps to the end of the sum to the letter F (command (8)). That letter is a factor in one

009830/1228

Product whose other factor is the first element of the control function is.

On the other hand, if the first term (A · B. 0) is not satisfied, then the control unit goes through the conditional jump at command (4 ·) and executes the tests according to the product (D · E). Fulfill the corresponding sensor states just this term * if not, then the entire product cannot be fulfilled and the control unit therefore performs a conditional jump to place (N + 10) to test the term (G) d, urch for command (7).

In other words, neither of the two levels of the first element in the control function (7) is due to the states of corresponding sensor is met, the device tests the state of the sensor corresponding to the letter (P) (Command (8)). If the condition of this sensor fulfills this If the test fails, the product (A · B · C + D · I) · Ρ is not fulfilled and the device jumps (command (9)) to the location (N + 10) to test the sensor corresponding to the letter (G).

The size (A * B ■ 0 + 0 * D ") can be used as a single variable (P) which forms the product (P · P) with the variable (P). This product is made in the same way treated like a product in the sum product (1a). Satisfy the conditions of the sensors corresponding to the factor (P) If the prescribed tests fail, the entire product can not be fulfilled and the device should therefore skip the factor (P) at the end of the product. There in in this case there is another threshing floor in the puncture are, d. H. (G) and (H), by testing the control function can be fulfilled, the jump command brings the control unit to these tests.

009830/1228

• 2000187

Sa the product (Λ. B O + D ϊ)? ale product (PP) can be considered as a sum of products (P ·? i G + H), the entire control function can be fulfilled by fulfilling the product (P · f). If the product (P · T) is therefore fulfilled according to dtm fixed by the letter (?), A jump command (10) brings the control unit to the end of the control function.

The remaining jump commands (13 and 15) in example Y result in the input and reading hold operations of control device 12.

Therefore, while certain control commands used in a complex control function jump to intermediate points in the function instead of going through all points to the end, (they serve essentially the same purpose as feedlttgtti / ~ jump commands in strictly sequential control functions that jump to the end of the function Parts of the control function can be regarded as sub-functions in so far as the remaining parts of the sub-function are skipped if the tests corresponding to a part of a sub-function indicate that either the sub-function is fulfilled or cannot be fulfilled. The purpose thereby fulfilled is the same, as described in connection with the jump instructions in example IV.

The memory 18, which is usually a fixed memory or an optional read-out memory, stores all control functions for the machine tool 10. The device can then continuously check all control functions in turn and carry out the operation that is determined by comparing the respective functions with the corresponding state functions of the machine tool 10. The internal The speed of the control device 12 is a little higher than the speeds, the different meohanieohen and electromechanical elements of the machine tool 10, so that £,

009830/1228

2ΘΘΘ1§7

vat di · machine tool concerns, dl · commands practical Eugenblloklioh after the occurrence of the sensor-feeler-states, react to dl dl commands, transfer to machine tool -

be genes. 01 ·· let the case even if the control unit 12 repeatedly checks all tax functions.

The sensors in the machine tool 10 are not limited to simple holders. Other devices can also be used are used, the output signals old two states generate. For example, a position transmitter with a continuously variable output signal can be connected to a Quantlslerelnrlohtung that generates a signal that indicates whether the measured position is greater or less than a predetermined value. The controller 12 can determine these conditions in the same way as the states * lln * or "Aus" der Qrenzsohalter. On similar catfish can Any other continuously variable parameter can be electrically quantified so that a signal with two levels is generated is that duroh the device In the above described Wave is processed.

In some cases one of the debit points is with a Inteo report as to whether a controllable element of the Masohlne 10 is or maintained (i.e. energized or de-energized), the state of this element or some other controllable element, i. i.e., whether the element is currently on or off. In order to avoid anti-reports of this Type are the luegangeklemmmn 34 "etc. of the fllp-flop 34 closed certain 1Ingangeklemmeη 29 of the input selector 28 out. Thus, some of the clamps 29 are on the machine tool 10 and the best of the same to the output terminals 34a and the like. aneohloeβen.

009130/122

With this structure, the status of a flip-flop 34 can be checked by means of a command TSH or XST) Zi with the corresponding Key figure can be determined in the address index. To this end: the flip-flops 34 serve as additional status sensors for the machine tool 10.

Alternatively, separate commands can also be used to determine the States of the flip-flops 34 are used. These commands are:

TSTO1 - Set flip-flop 40 if, and only if that flip-flop 34 identified in the address field is switched on; and

TSIO) Zf - Set the flip-flop 40 if and only if the flip-flop 34 marked a in the address field is switched off.

Fig. 2 shows an arrangement in which no jump instructions are required. In this embodiment, the Boolean Control function be strictly sequential, d. H. exist either as the sum of products or the product of sums · However, this is not an obstacle to universal applicability, since all. Boolean expressions can be converted into a strictly sequential form. Pas control unit 1st designed in such a way that it works in a correspondingly strictly sequential manner, with all commands in each sequence executes.

As stated above, jump commands are necessary in the device of FIG. 1, even if the control function in strictly sequential form in order to avoid having to make a correct one before checking all the factors or Tenne of the state function of the machine tool taken Decision is revoked or reversed. The device of FIG. 2 takes this difficulty into account by

009830/1228

that an intermediate flip-flop is set at each point whenever the preceding tests indicate that a control function is fulfilled or cannot be fulfilled. This flip-flop is checked after all levels in the control function have been compared with the corresponding levels in the status function. Las flip-flop is in state ^M 1 "when one of the levels of the control function is fulfilled. In this case, the device carries out the operation determined by the control function.

As shown in FIG. 2, the output of the status flip-flop 40 is connected to a status checker 48, the output of which in turn sets an intermediate flip-flop 50. The state checker 46 has a gate 52, which is activated by means of a control signal SN1, and the signal at the "1" output terminal of the flip-flop 40 to the flip-flop 50 and thereby the flip-flop 50 sows when the flip -Flop 40 in state "1" 1st. In the same way, a gate 54 is turned on by a signal SN0, so that the flip-flop 50 is set when the flip-flop 40 is in the "0 ^lf " state.

The device of Flg. 2 works with the following commands: TST1 As in Fig. 1;

TSTJi As in Figure 1; SNI setting of the intermediate fill-flop 50,

if, and only if the state flip-flop 40 is in the state "1"} then reset the flip-flop 40;

SN0 setting the intermediate flip-flop 50,

if and only if the state flip-flop 40 is in the state ^M 0 "; then reset the flip-flop 40;

SON Set the flagged in the address field

nth output flip-flop 34 in the state of the intermediate flip-flop B 50; then Kicking the two flip-flop 50;

SONO Set the flagged in the address field

drew exit flops 34 on the complement of the state of the ZwiBchen-Fllp-Flop 50 | then reset the intermediate flip-flop 50 *

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- 25 - - ■ 200D167

The following examples are intended to explain the operation of a device with the above instructions .

Example VI

The h'orm has a control function

A. B + 0. D = ο (8)

The following commands control the machine tool 10 in accordance with this function:

Space command

TST0 (A)

IST0 (B) SN0

TST0 (0)

TSTfif (D) SN0 SON (c)

1) N 2) N + 1 3) N + 2 4) N + 3 5) N + 4 6) N + 5 7) N + 6 Example VII Have the control function

I B + ö D = c (9)

The following commands control the machine tool according to this function!

command

Storage space D. N 2) N + 1 3) N + 2 4) N + 3 5) 1 + 4 6) 1 + 5 7) N + 6

TSTI (A)

TST0 (B) f

TSTj * (0) TST0 (D) SNI SONO (o)

009830/1228

Example VIII

This example explains the working environment according to • a control function in the form of a sum product:

(1 + B) (O + D) = ο (10)

Place command

D. H 2) N + 1 3) N + 2 4) N + 3 5) N + 4 6) N + 5 7) N + 6

TSTI (A) TST1 (B) SN0 TSTI (σ) TST1 (D) SN0 SOHC ic)

At the In Flg. 2, the setting proceeds dee Zwlsohen flip-flops 50 analogous to the conditional jump commands in the device of Flg. 1. This means that the control unit checks each term of the control function at the end of the period Flip-flop 40 when the form of expression (1) is used and at the end of each factor when the control function is the Has the form of expression (1a). This determines whether the mid-flop should be set for this tent or not.

This means that access to the Speloher 1Ö is strictly sequential and the control unit goes to each memory location in turn, i. H. In a fixed sequence, regardless of whether the control functions are fulfilled and independent of the Results of the previous comparisons. This uniform sequential flow allows use of a Speloher whose logic effort is greatly reduced A self-addressing drum or disk memory can therefore be used.

009830/1228

3 shows a further embodiment of the machine control according to the invention, which has various additional features. The first of these features is a structure for using subroutines that are common to various control functions. When the program calls a subroutine, the device jumps to the first storage location of the subroutine and indexes the remaining storage locations of the same. When the subroutine has ended, the device must return to the point where it left the original command sequence. Since the memory 18 is hard-wired memory, this address is stored in additional memory. Like in Pig. 3, a memory 24a for transferring the memory addresses is connected to the program counter 24 { . (The control of the command sequence is always held in the program counter.) The control unit is designed in such a way that it executes the following commands during these transmissions:

JMS - indexing of the program counter 24 and then transferring the contents of the same to the memory 24a; then jump to the addresses in the address field in the Woil of the buffer 20. This sets the program to the first address of a subroutine, after first the next Storage space in the original sequence of commands is stored in memory 24a.

JMR - transferring the contents of the memory 24a

to program counter 24. This is the last instruction of the subroutine; he brings the program back to the point where it left the main command sequence.

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In some cases it is desirable to connect the controller 12 to an external device, for example a general purpose data processing device to connect and to let work together with it. For example, it is a program for the control unit programmed for the first time so it may be desirable to test the same thing before storing it in hardwired memory is executed for the control unit.

For this purpose, the machine control according to the invention has a structure in which one envisaged for the controller 12 Program is initially stored in the magnetic core memory of a normal data processing device. The commands will then individually transferred to the buffer 20 of the control unit 12 and the control unit works with these as if they would be queried from the control unit's own memory 18. If the program requires any changes, this is in the Storage of the external data processing device easily possible. Finally, a satisfactory program is worked out and checked, it can be accessed by the external data processing device Punch cards, punched strips, etc. are transferred. This card or this punched tape can then be used to control a machine used, which wired the wired memory of the type described above. This is an economic and reliable method of manufacturing the memory for the control unit.

In the event of a malfunction, a diagnostic program can be entered into an external data processing device with which the data processing device checks the contents of the various control device memories and transfers between these memories in order to determine the causes of these malfunctions.

009830/1228

• 2000117

The device of the pig. 5 therefore has an input memory 53, which is connected in such a way that it transfers the data from an external data processing device 55 to other memories in the Control unit 12 transmits. There is also an output memory 56 intended for data transmission in the opposite direction, d. i.e., from the control device 12 to the data processing device 55 · The device also has an operating mode switch 58. In one position of this switch, the control device 12 operates internally, i. H. according to the contents of the memory 18 in the catfish described above. In the other position of the switch 58, the control device 12 operates externally, i. H. the memory 18 is replaced by the data processing device 55, so that the buffer 20 receives the commands from the data | processing device 55 receives .. In this external mode of operation the indexing of the program counter 24 can be interrupted so that the control unit continues where it does its internal Has exited the command sequence when it returns to the internal mode of operation.

In addition to the commands for the control device 12 in FIG. 1, the control device in FIG. 3 has the following command

TRR - transfer of the content from the indicated _g marked by the last three bits in the address field to the Speioher by the second last three bits in the address field recorded memory.

The device can also be shared with the digital Data processing device have further commands, for example "Stop", "Luschen all outputs", etc.

The device of FIG. 3 can be equipped with the flexibility of a general-purpose data processing device if it, if this is for troubleshooting or program development and -review is required, in the external working method

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20ÖÖ167

is working. Even so, the cost is as low as one special data processing device with hardwired Memory, if it is used to control machine functions, what it is designed for, is operated in the internal operating system. Its large number of control units can be connected to a single multipurpose data processing device can be connected, so that the costs of this device are also relatively low if they are distributed to the individual control devices. Because of the above Plug-in structure is the arrangement of the pig. 3 also suitable for the use of an internal diagnostic program, which can be put in place of the Masohinen control program usually used in the control unit.

Although the device of FIG. 3 has been specifically described as a modification of the device of FIG applied principles also to the execution form of the Fig. 2 applicable.

The Mas quinone teisrung according to the invention switches different Working elements of a device according to the states of various sensors on and off. This is because of this Errelohts that -the -e various control functions for the controlled elements are stored and dl · control functions with the state functions, dl «dl · states of the sensors in serial fora, d. H. Factor by factor, represent, be compared. Although many of these comparisons are sequential are carried out, the device according to the invention works so quickly that all comparisons can be carried out in a time that is insignificant compared to the operation of the controlled alignment.

009830/1228

The simple and uncomplicated Brun & construction of the invention Control unit is another important factor. Compared to most digital computers, it possesses proportionately few elements, especially in the embodiments shown in FIGS. This brings them together with the small number of commands and the hardwired Memory, at a low total cost and high reliability. The last property is particularly important in machine tools where downtime is expensive.

In addition to the arrangements described in detail above, other constructions can operate in accordance with the invention. In particular, for the implementation of the serial d comparisons, .on which the Erfinimg biruht, other groups of instructions are used.

Claims

009830/1228

Claims (1)

PATENT CLAIM M *! Control device with a device with several Condition sensors and several controllable elements to be excited and de-excited, and with one Control device for energizing and de-energizing the controllable elements corresponding to control functions which relate the operations of the elements to the output signals of the sensors, characterized by means (18) for storing the Control functions in a form that allows the functions to be queried letter by letter by means (20, 22, 24, 28) for sequential comparison of the values represented by the respective letters for independent variables in each control function with the corresponding values of the measurement outputs which relates to the control function, and by means (34) for energizing or de-energizing the controllable elements in accordance with the comparisons between the control functions and condition functions. 2. Control device according to claim 1, characterized in that the comparison device is designed so that the values in all control functions with the corresponding values of the state functions can be compared cyclically in turn. 3 * control device according to claim 1, characterized in that each stands for an independent variable. Letter a state of a certain Sensor corresponds to the fact that each sensor emits an output signal with two levels, and that each letter represents one of the two output levels of the corresponding sensor. 00 9 830/1228 4. Control device according to claim 3, characterized by a state memory (40), and by means (42, 44), which on each comparison between a value of a control function and the output signal of the sensor corresponding to this (40) put in a given state when the output of the sensor has a given level. 5. Control device according to claim 4, characterized by means for checking the status memory (40) for tents when the status of the same can determine whether a control function or sub-function 1st or not satisfied by the corresponding sensor output signals, and by devices which, in response to the state of the state memory (40), the Skip the remaining letters of the control function or sub-function if the status of the status ape! (40) determines whether the control function or sub-function is or was fulfilled by the sensor output signals, or cannot be met. 6. Control device according to claim 5, characterized in that it is designed so that the given state is deleted from the state memory (40), if the test facility tests it. 7. Control device according to claim 4, characterized by an intermediate memory (50) and by means for checking the state memory (40) for the Times when the status indicates the same whether the control function or a sub-function by the corresponding Sensor output signals fulfilled 1st or not fulfilled which the buffer (50) depending on the state of the state · store (40) at these times in bring a given state, and the state dee 009830/1229 Check intermediate memory (50) after all comparisons between the values of the control function and the corresponding sensor states and perform an operation accordingly cause the state of the buffer (50). 8. Control device according to claim 1, characterized in that the memory (18) is a digital memory, each value of the independent variable being part of an input word is in a single memory location and the input word is also the value corresponding to that value Indicates sensor and that facilities are provided which select the sensor marked in it according to each word and the status of the sensor with compare to the wart contained in the word so as to perform each sequential YerglelOh. 9 · Control device according to claim 8, characterized in that each value of a dependent variable is part of an output word in a single memory location, the output word also corresponding to the dependent variables identifies a controllable element, and that means (94) for exciting the controllable Element are provided when the output word from the memory depending on whether the control function by the corresponding status function is fulfilled, is retrieved. 1o. Control device according to claim 1, characterized by a digital memory (18) for storing the Control functions in a lorm, in the separate letters correspond to the same words in separate memory locations, duroh an access memory for the memory, duroh unriohtungen for storing a word sequence stored in the memory (18) in the access memory, duroh one StateBspeioher (40), duroh bodies that refer to the im Access memory sensor words contained in the memory 009830/1228 select the sensors identified by the words and for each sensor word the state memory (40) in Depending on whether the condition of the selected sensor fulfills a criterion contained in the word, in bring a given state, and by output devices corresponding to one or more output words from the memory, which are successively contained in the access memory, check the status of the status stacker (40) and changing the state of a controllable element identified by one of the output words as a function of the state of the state spinner (40). 11. Control device according to claim 10, characterized by devices which respond to conditional jump words in the access memory depending on the assignment between the state of the state tray (40) and a for this purpose, skip the selected memory addresses in each conditional jump word contained in the criterion. 12. Control device according to claim 10, characterized in that the output device has a buffer, devices that respond to certain words in the Access memory depending on the assignment between the state of the state memory and the criteria contained in the words the buffer In a given Bring state, and contains facilities that respond to certain other words in the accessibility of the state of the Check the buffer and the states of the controllable elements marked in these values as a function change the state of the buffer. 00983Q / 1228 13. Control device for a control device according to at least one of the preceding claims, characterized by a device (18) for storing the control functions in a form that allows a query of the functions letter by letter by means (2O ₁ 22, 24, 28) for sequential comparison of the values represented by the respective letters for independent variables in each control function with the corresponding values of the sensor outputs to which the control function relates, and by means (34) for energizing or de-energizing the controllable elements according to the comparisons between the control functions and condition functions. 14. Control device according to claim 13, characterized in that the comparison device is designed in such a way that the values in all control functions with the corresponding values of the status functions can be compared cyclically in turn. 15 · Control device according to claim 13 »marked by means of a state pelcher (40), and by means (42, 44) which respond to any comparison between a Value of a control function and the output signal of the Bring the state sparger (40) of this corresponding sensor into a given state when the output signal of the sensor has a given level. 16. Control device according to claim 15, characterized in Auroh facilities on the verification of the state spinner (40 ') Ku times when its state can determine * b a control function or sub-function by which the corresponding M · BfUhIβr output is suitably fulfilled or nloht, uaA duroh facilities that su these tents on tem Euetaa * des Zuetandtepelohere (40) towards the holy ones Btto & staben the control function or sub-function 009830/1229 jump when the state of the state memory (40) determines that the control function or sub-function by the Sensor output signals is or was fulfilled, or not can be met. 17. Control device according to claim 16, characterized in that it is designed so that the given state is deleted from the state memory (40) when the Test facility checks this. 18. Control device according to claim 15 ». Marked through a buffer (50) and through devices for checking the status memory (407 to the Camp when the state of it indicates whether the control function or a sub-function by the corresponding one Sensor output signals is met or not met can be that the buffer (50) depending on the state of the state memory (40) at these times in bring a given state, and the state of the buffer (50) after all comparisons between Check the values of the control function and the corresponding measuring sensor states and perform an operation accordingly cause the state of the buffer (50,). 19. Control device according to claim 13 *, characterized in that the storage device (1S) is a digital memory 1st, each value of the independent variable being part of an input word in a single memory location and that The input word also corresponds to this value »sensor indicates, and that facilities are provided, dl corresponding to each word select the sensor marked in it and the status of the sensor with the compare the value contained in the word to perform each sequential comparison. 009830/1228 20. Control device according to claim 19 »characterized in that each value of a dependent variable Part of an output word in a single memory location is, the output word further identifying a controllable element in accordance with the dependent variable, and that devices (34) are provided for exciting the controllable element when the output word from the memory is called depending on whether the control function is fulfilled. 21. Control device according to claim 13, characterized by a digital memory (1b) for storing the control functions in a form in which separate letters correspond to the same words in separate memory locations, by means of an access memory for the memory, by means for storing a word sequence stored in the memory (18) in the access memory, duroh one Zuetandsspeioher (40), through bodies that rely on the im Access memory contained sensor words of the memory Select the measuring sensors identified by the words and the status indicator (40) in for each measuring word Depending on whether the condition of the selected sensor fulfills a criterion contained in the word, in bring a given state, and through output units that correspond to one or more output words from the memory, which are contained one after the other in the access memory, check the state of the state memory and depending on the state of the state spool (40) change the status of a controllable element marked by one of the input words. 009830/1228 Blank page