FR2646536A1 - Method and appliance for producing a control program - Google Patents

Abstract

A control program making it possible to control an object such as a machine tool, a robot, etc. is made up by an actuator program 26, a progression program 28, and a logic program 30. The actuator program defines the input/output relationships of each actuator of the object on the basis of a basic operating configuration. The progression program defines the step by step progression of the said actuator. The logic program defines logic conditions, for example an interlocking condition.

Description

 The present invention relates to a method and apparatus for producing a control program based on an actuator program which describes operating configurations relating to an actuator to be controlled, a progress program which describes the operation of step-by-step progression of the actuator, and of a logic program that describes logic conditions such as an interlock condition, to control the actuator based on the product control program, and to display states based on the control program and a status signal from the actuator.

 In general, automatic devices such as machine tools, industrial robots, etc., operate according to sequences described by control programs with the aim of reducing maintenance personnel and improving operating efficiency. A control program is executed by a programmable controller, which applies an instruction signal to the apparatus to be controlled. The device then operates on the basis of the instruction signal. After the apparatus has completed a process, it transmits to the program control device a detection signal from a limit switch, or the like. In response to the detection signal from the device, the programmable controller again executes the control program and gives the device the next instruction signal.

 A similar control program is usually produced in the following manner. Based on the specifications of the Equipment and on synchronization diagrams, or timing diagrams, the system designer establishes a scale diagram, or flow diagram, using relay symbols and others symbols, then supplies the contents of the flow diagram to the programmable controller, using a programming device of the programmable controller, for example, to produce a scale program, or of chain.

 The establishment of flow diagrams requires that the designer of the system has professional knowledge with regard to sequence control. The current devices to be controlled have a multiplicity of functions, and their control is very complex. Controlling the safety of the device, aimed at preventing accidents due to negligence or unforeseen causes, is also very complex. Thus, even an experienced designer must devote a lot of time and effort to the development of a flow diagram.

 It is often necessary to modify or correct the complex control prcgrams produced, as these tend to contain many programming errors. Such control programs which may contain errors cannot succeed in producing the desired control functions. For the modification or the correction of a control program, a current way of proceeding consisted in modifying or correcting directly the sequence program in the control device program trunk with the aid of the programming device, while watching a displayed flow diagram; therefore, the initial flow diagram does not accurately reflect changes or corrections to the flow program, so the flow diagram and flow program in the device are not identical to each other. It is extremely difficult to fully understand the whole program and to make suitable program modifications based on the displayed flow diagram. Problems are likely to arise due to the above-mentioned drawbacks.

 In an attempt to overcome the above drawbacks, there has been proposed, as described in the Japanese patent made available to the public under publication number 60 (1985) -41102, a sequence control apparatus which can efficiently produce a new control program by assembling an existing sequence in the form of a sub-program. In the proposed device, absolute addresses are assigned to the contacts, or others, of a configured sequence. If you have to use the same chain configuration, it is necessary to copy the chain and address the contacts of the chain. The operator must therefore carry out a tedious task, such as a program classification operation.

 A method has also been proposed for entering a synchronization diagram and producing directly.

a control program from the synchronization diagram.

Such a process is described in the Japanese patent made available to the public under the publication number 59 (1984) -158408. According to the method described, the operation of an object to be controlled is entered in the form of a synchronization time diagram, and the additional information, for example synchronization instructions, which is associated with the time sequence of the time diagram, is also entered in the form of a temporeL diagram. However, since the operation of the object to be ordered and the additional information are entered in the form of independent time diagrams, their process of entry is long and tedious. If time diagrams are used as specifications of a program of order; product, so these are not easy to understand.

 The Japanese patent made available to the public under publication number 58 (1983) -158704 describes a process in which the operation of an object to be ordered is entered in the form of a time diagram, then the input addresses and exit and the interlock conditions corresponding to the time diagram are added. The process described is highly complex, since several additional pieces of information are added to the time diagram, and the time diagram is not easy to understand.

 According to another proposed method, logical conditions are directly introduced according to an organization chart (see the Japanese patent made available to the public under publication number 60 (1985) -164838). Comments relating to the logical conditions cannot be indicated in relation to the organogram introduced. Thus, difficulties arise when it is necessary to decode the logic conditions introduced, and it is therefore difficult to modify or correct a control program which has been produced. When modifying the control program, the initial flowchart does not reflect your modifications to the control program and does not agree with the control program contained in the programmable controller.

 According to one embodiment, a flow diagram is displayed on a control monitor to indicate the operation of an object to be controlled. Since only the flow diagram is displayed, not everyone can immediately recognize which part of the object works and which operation of the object is indicated by observing the displayed flow diagram. This method is therefore not easy and convenient to use.

 Control Drograms vary with the different types of programmable control devices, and programs produced by different types of programmable control devices are not compatible with each other.

 Therefore, programmers must produce different control programs to control different types of programmable control devices to do the same operations. In addition, programmers must understand the instructions used by control programs corresponding to different types of programmable control devices.

Therefore, professional programmers who are specifically trained to produce these control programs must be used. If the programming devices used to assist in the production of control programs are specially designed for use with particular programmable control devices of different types, then these programming devices cannot be easily and conveniently used because their procedures for differ from each other.

 The Japanese patent made available to the public under publication number 62 (1987) -281005 describes a programming device which has a unified operating procedure suitable for different types of programmable control devices. However, even for this described programming device, it is necessary to produce different control programs consisting of instructions corresponding to the different types of programmable control devices, and the control programs thus produced are not compatible with each other.

 It is a main object of the invention to produce a method and an apparatus making it possible effectively to produce, to develop and to control a control program while allowing an easy understanding of the operating state of an object in front of be recommended.

 Another object of the invention is to produce a method for producing a control program, comprising The operations consisting in producing an actuator program which defines the input / output relationships of each actuator of an object to be commanded, on the basis of a basic operating configuration, to produce a progression program which defines the step-by-step progression operation of the actuator, and to produce a logic program which defines logic conditions such as a condition interlocking, the control program consisting of the actuator program, the progression program and the logic program.

 Another object of the invention is to provide a method for producing a control program, comprising the operations which consist in establishing basic operating configurations for actuators, in establishing, as definition parameters, attributes, or columns, including the names of labels, or names, of elements of basic operating configurations, to select one of the basic operating configurations for an actuator of an object to be controlled, then to establish, as parameters application, input / output addresses relative to the names of the elements of the basic operating configuration.

 Another object of the invention is to provide an apparatus making it possible to produce a control program, which comprises a storage means serving to store basic operating configurations for actuators and definition parameters as attributes, or columns, comprising the labels, or names, of elements of the basic operating configurations, a positioning means serving to establish the basic operating configurations and the definition parameters, selecting one of the basic operating configurations for an actuator of an object to be controlled and establishing, as application parameters, output addresses relative to the names of names of the elements of the basic operating configuration, and a program editing means for editing a control program based on the basic operating configuration, definition parameters and s application parameters.

 Another object of the invention is to provide an apparatus making it possible to produce a control program, which comprises a storage means serving to store basic operating configurations for actuators and definition parameters as attributes, or columns, comprising the labels, or names, of elements of the basic operating configurations, a positioning means serving to establish the basic operating configurations and the definition parameters, selecting one of the basic operating configurations for an actuator of an object to be controlled and establishing, as application parameters, input / output addresses relative to the names of names of the elements of the basic operating configuration, a program editing means serving to edit a program of control on the basis of the basic operating configuration, definition parameters and p application parameters, and monitoring means for monitoring the execution status of the control program relating to the object.

 Another object of the invention is to provide a method for producing a control program, which comprises the operations consisting in establishing a step configuration acting as an operating circuit which increments the steps of a control program, then to establish, as a time diagram, the step-by-step progression operation of each actuator of an object to be controlled, then to produce a control program on the basis of serial step-by-step progression operation data with respect to time which are obtained from the time diagram and the pitch configuration.

 Another object of the invention is to provide an apparatus making it possible to produce a control program, which comprises a storage means serving to store a configuration of steps acting as an operating circuit which increments the steps of a control program, a positioning means serving to establish the configuration of steps and also establishing, as a time diagram, the operation of stepwise progression of each actuator of an object to be controlled, and a program editing means serving to edit a control program based on the time diagram and the step configuration.

Another object of the invention is to provide an apparatus making it possible to produce a control program, which comprises a memorization means serving to store a configuration of steps acting as an operating circuit which increments
The steps of a control program, a positioning means serving to establish the configuration of steps and also to establish, as a time diagram, the operation of step-by-step progression of each actuator of an object to be controlled, a means of program editing for editing a control program based on the time diagram and the step configuration, and monitoring means for monitoring the execution status of the control program relating to the object.

 Another object of the invention is to provide a method for producing a control program, which comprises the operations consisting in establishing input conditions consisting of data comprising condition names, addresses, and data. state, then establishing logical expressions comprising interlocking expressions using the input conditions, and then producing a control program from the logical expressions.

 Another object of the invention is to provide this method, in which the input conditions are established in the form of an input / output table (I / O), and the logical expressions are established at L ' using the I / 0 table.

 An object of the invention is to provide an apparatus for producing a control program, which comprises positioning means for establishing input conditions consisting of data comprising condition names, addresses and status data and also establishing logical expressions comprising interlocking expressions using the input conditions, and program editing means for editing a control program from the logical expressions.

 Another object of the invention is to provide an apparatus allowing the production of a control program, which comprises a positioning means serving to establish input conditions made up of data comprising condition names, addresses and data of state and also establish logical expressions comprising interlocking expressions using input conditions, program editing means for editing a control program from the logical expressions, and monitoring means for to check The execution status of the control program relating to the object.

 Another object of the invention is to provide an apparatus for producing a control program, which comprises a positioning means serving to establish an operating sequence for an object to be controlled, a conversion means serving to convert the sequence of operating in a control program for controlling the object, a transmission means for transmitting the control program to a sequence control device for controlling the object, a reception means for receiving a status signal on the part of the object controlled by the control program, via the sequence control device, a display means serving to display the operating sequence in the form of an operating sequence diagram which includes the display, in series with respect to time, of each of the steps of the object which consists of several units and a relative display between the units, and serving to display the e operating state of the object on the operating sequence diagram, and an operating sequence diagram generating means for producing the operating sequence diagram from the operating sequence established by the positioning means.

 Another object of the invention is to provide this apparatus, in which the display means comprises a hierarchical display means serving to selectively or simultaneously display a first display comprising the steps existing in the units, a second display comprising the details existing operating steps, and a third display with the logical conditions / expressions found in the operating details.

 Another object of the invention is to provide this apparatus, in which the operating sequence diagram generating means comprises an operating sequence diagram data means for maintaining stepwise progress operating data for the units of the object, which are arranged in data areas as a function of interlocks existing between the units.

 Another object of the invention is to provide this apparatus, further comprising an editing means for editing the operating sequence diagram data and the stepwise progress operating data found in the holding means. operating sequence data according to the operating sequence diagram.

 Another object of the invention is to provide an apparatus for producing a control program, comprising program input means for entering a common control program with respect to several types of programmable control devices, holding means instructions for maintaining instructions relating to the types of programmable control devices, the instructions corresponding to instructions for preparing the control program, a selection means for selecting a type of programmable control device, a selection means for instructions for selecting the instructions in the instruction holding means, which instructions correspond to the selected type of programmable controller, and means for generating a control program for the selected type of programmable controller based on instructions selected by the means in selection of instructions.

 Another object of the invention is to provide this apparatus, in which the instruction holding means comprises a means serving to hold several instructions relating to a programmable control device which correspond to a macroinstruction (in the sense of macrocontrol) of the control program.

The following description, designed to illustrate the invention, aims to give a better understanding of its characteristics and advantages, it is based on the appended drawings, among which
- Figure 1 is a simplified flowchart showing a method of producing a control program according to the invention;
- Figure 2 is a block diagram of an apparatus for producing a control program according to the invention;
- Figure 3 is a diagram showing the sequence procedure of the method according to the invention;
- Figure 4 is a flow diagram of a process for producing an actuator program;
- Figure 5 is a diagram showing an actuator configuration used in the production of the actuator program;
- Figures 6A and 6B are tables of definition parameters used in the production of the actuator program;
- Figure 7 is a diagram showing an actuator list produced in the production of the actuator program;
- Figure 8 is a diagram showing an actuator program;
FIG. 9 is a flow diagram of a process for producing a progression program;
FIG. 10 is a diagram showing a sequence of detection bits used in the production of the progression program;
- Figure 11 is a diagram showing step data used in the production of the progression program;
- Figures 12A to 12D are tables of operating configurations used in the production of the progression program;
- Figure 13 is a flow diagram of a process for producing a logic program;
- Figure 14 is a diagram showing an input / output table (I / O) used in the production of the logic program;
FIG. 15 is a diagram showing a Logiaue diagram used in the production of the logic program;
FIG. 16 is a diagram showing a table of operating configurations produced in the progression program;
FIG. 17 is a diagram of operating sequence diagram data produced according to a program of production of operating sequence diagram;
FIG. 18 is a diagram of an operating sequence diagram which is displayed according to the operating sequence diagram production program; and
- Figures 19a to 19d are diagrams showing an operating sequence diagram, an operating detail diagram, an input / output detail diagram, and a schematic layout diagram, as displayed.

In FIG. 1, there is shown schematically the flow diagram of a method for producing a control program according to
The invention. The process generally includes four steps.

In the first step, an actuator program is produced based on a basic operating configuration of an actuator of an object to be controlled. In the second step, the step-by-step progression of the actuator is established in order to produce a progression program. In the third step, logic conditions such as interlock conditions are established to produce a logic program. In the fourth step, a program (object program, or executable program) applicable to different types of programmable control devices is produced based on scale symbols, or chaining; - and machine type data according to actuator, progression and logic programs (source programs).

 FIG. 2 represents, in the form of a block diagram, an apparatus 10 for producing a control program. The control program production apparatus 10 includes a main section 12, an interactive input / output section 14, and memories 16 and 18.

 The main section 12 comprises an arithmetic unit 20 and a memory 22. The arithmetic unit 20 controls the interactive input / output section 14 and the memories 16 and 18. The memory 22 stores a system program 24 used to control the operation of the arithmetic unit 20 and also stores an actuator program 26, a progression program 28 and a logic program 30, which are produced in the first three stages described above. The interactive input / output section 14 has a display 32 of the cathode ray tube (CRT) type having graphical information processing capacities, a keyboard 34, and a mouse 36 which controls the cursor and selects the functions of the cathode display 32. The interactive input / output section 14 is used to produce and correct the actuator program 26, the progression program 28 and the logic program 30, and also to control these programs during their operation, under control of the arithmetic unit 20.

 The memory 16 is used to store actuator configurations 38 in the form of sequences which define basic operating configurations for actuators of an object to be controlled, for example a machine tool or the like, and configuration of step 40 which are basic step-by-step operating configurations relating to the actuators. The memory 16 also serves as an instruction storage means for storing macro-commands which are individual instructions establishing common source programs, and one or more chaining symbols 43 which are minimum instructions for various types of programmable control devices, each of the macro-commands consisting of several chaining symbols. The configurations 38 40 can be produced by the arithmetic unit 20.

 The memory 18 stores a control program 42 which is produced using the chain symbols 43, from the actuator program 26, the progression program 28 and the logic program 30.

 Figure 3 shows the control program producing apparatus 10 in more detail, in combination with a program producing procedure. We will now describe, in relation to FIG. 3, a method for producing the control program 26.

Before the production of the control program, a programming language, applicable to the control program production apparatus 10, is recorded as part of a system program 24, and flow symbols 43 corresponding to more than one programming device. different programmable commands with which the command program to be produced is carried out by
The control program producing apparatus 10 are also registered. The chain symbols 43 corresponding to one of several different types of programmable control devices can correspond to one-to-one correspondence commands, although they can correspond to a single instruction. If several chaining symbols 43 correspond to a single instruction, this instruction can be recorded in the form of a macroinstruction.

 After the above-mentioned preparatory processing has been carried out, the designer of the control program then produces the control program using the control program production apparatus tu (see FIG. 4).

The designer of the control program selects, at
Using the keyboard 34, an actuator program production mode, and introduces the data necessary for the production of the actuator program 26 according to specifications and requirements of the object to be controlled, which are established by the system designer.

 Before the production of the actuator program 26, an actuator configuration 38 (see 5), which is a basic operating configuration relating to an actuator, and definition parameters 39a, 39b (see FIG. 6A and 6B) are established in steps 1A and 2A of FIG. 4. The actuator configuration 38 is in the form of a sequence program indicative of the basic operating configuration relating to the actuator, and includes labels, 'or names, represent the functions of contacts, coils, recorders, etc. The actuator configurations 38 thus produced and having actuator file names given to respective actuators are stored in the cabinet 16. If no actuator configuration 38 relating to the actuator to be controlled has been orepositioned , then the designer of the control program can produce a desired actuator configuration 38 through the interactive input / output section 14, using the flow editor 44 of the system program 24, and store your actuator configuration produced 38 in memory 16.

 The definition parameters 39a, 39b are parameters which define the relationships between the actuator configuration 38 and application parameters (described below). The definition parameters 39a, 39b are established as shown in FIGS. 6A and 6B and are stored in the memory 16. The definition parameters 39a are shared in common by the various actuator configurations 38, and are stored in the memory 16 under a COMMON configuration file name assigned to them. The definition parameters 39b are associated with the actuator configuration which is identified using the configuration file name ACT2-2. In FIGS. 6A and 6B, "type" indicates whether the data is a constant C, a address A, or a character string T. "Converted name" indicates the converted name of the name used by the actuator configuration 38. "Name conversion function" indicates a function allowing the name to be converted. a designation according to a prescribed rule and to automatically establish the name of the converted designation when the same actuator configuration 38 is used in establishing application parameters (hereinafter described). "Function for conversion to numerical value" indicates a function making it possible to convert a designation into a numerical value and to fix the numerical value according to a prescribed rule. If any definition parameter 39a, 39b has not been prepositioned relative to the configuration actuator 38, it is possible to produce it using a text editor 46 of the system program 24.

 Next, the designer of the control program enters implication parameters based on the text editor 46 of the system program 24 in step 3A. More specifically, the designer of the control program selects the actuator configurations 38 corresponding to the actuators of each unit to be controlled, and he establishes the input / output addresses of a sequence control device (described below) , using the interactive input / output section 14. FIG. 7 shows an actuator list 48 which is displayed on the cathode display 32 after the application parameters have been entered.

The actuator list 48 shows the relation existing between the actuators having prescribed operating configurations in a unit (TT-M / C) and the input / output addresses. Unity
(TT-M / C) has two actuators which each have an actuator configuration 38 whose configuration file name is ACT2-2
(see figure .5). bes input / output addresses 1001, 1002, etc.,
are given to each person's contacts, coils, recorders, etc.
actuators. The object to order constitutes a collection of
similar units, and the actuator list 48 is prepared for
each of the units.

Using your actuator configuration 38 (Figure 5),
definition parameters 39a, 39b (FIGS. 6A and 6B), and application parameters (FIG. 7), actuator programs 26
are produced in the form of logical expressions, for example,
based on a neural action chain production program 50 which serves as a program editing means of the system program 24, in step 4A.

FIG. 8 represents one of the actuator programs 26, which has the name of actuator CTT-M / C CLAMP13, as can be
See it in FIG. 7, the actuator program 26 being produced using the definition parameters 39a, 39b indicated in FIGS. 6A and 68 and the application parameters indicated in FIG. 7. At the contacts and at the coils indicated by the actuator program 26, are assigned names of names (upper numbers) established as application parameters, and addresses (lower numbers) determined by the definition parameters 39a, 39b. When no name conversion function is established with respect to the definition parameters 39a, 39b, the names of the names and the addresses are mutually identical.

The actuator program 26 whose actuator name is CTT-M / C
SWING17 is similarly produced using the application parameters shown in Figure 7.

In the illustrated embodiment, the actuator programs 26 can therefore be produced from the same actuator configuration 38 as re-listed in FIG. 5,
Using the definition parameters 39a, 39s (FIGS. 6A and 68) and the application parameters (FIG. 7).

 Since a basic actuator configuration 38 is given in advance, actuator programs 26 can therefore be produced easily and precisely in a short period of time. The addresses relating to the designations (LS-A, SOL-A, etc.) which are given to the elements of the actuator configuration 38 can be transferred by the definition parameters 39a, 39b and the application parameters, so that an actuator program 26 can easily be reproduced using several actuator configurations 38 of a certain type.

 The actuator program 26 thus produced is converted into an object program by a chain compiler 52 in step 5A, and the object program is transferred to a sequence control device 56 via an interface 54. The program actuator 26 can be loaded directly into the sequence control device 56 via a transmission line, but it can also be loaded into the sequence control device 56 from a programming control panel 58 via a FD diskette.

 We will describe below, in relation to the flow diagram of FIG. 9, a method of producing the progression program 28.

 Before the progress program 28 is produced, a step configuration 40 and a detection bit configuration 41 (see FIG. 10) are established in step 1B. The configuration of step 40 is equivalent to an operating circuit, established as a chain program, making it possible to increment the steps of a control program. For example, the configuration of step 40 comprises a chain of transfer making it possible to transfer the data contained in a step register and an interlocking register of the control device of the sequence 56 to a working register, a sequence of conditions comparison making it possible to compare the state of the detection bits and the interlocking conditions , a stepwise increment sequence serving to increment the steps, an external instruction output sequence serving to deliver an instruction signal When the data contained in the step register reaches a desired step, an interlocking sequence for writing interlock instruction data as a step instruction output signal to the work when an interlock signal is made operative, and an instruction output sequence making it possible to deliver instruction data contained in the work register to a coil subjected to this instruction. The configuration of detection bits 41 is a program used to replace the addresses at which input conditions of the object to be controlled are set by successive addresses of an internal register.

For example, input / output condition signals positioned at random addresses are assigned to detection bits located at successive addresses, as shown in FIG. 10. The configuration of step 40 and the configuration of detection bits 41 are stored in memory 16. However, the pitch configuration and the detection bit configuration 41 can be established using the flow editor 44, for example when the actuator configuration 38 is produced.

 The designer of the control program selects a step program production mode using the interactive input / output section 14, then enters step data 60, as shown in FIG. 11, via the keyboard 34, using a step editor 59 of the system program 24, during a step 28. More specifically, the designer of the control program introduces, using the graphical information function, the names of the configuration files (such as for example ACT2-2) has the actuator configurations 38 which are established when the actuator programs 26 of each unit of the object to be controlled are produced, the names of the actuators, the names of the LS names ( limit switches), etc., to determine the operating status of the actuators, the names of the solenoids, etc. used to drive the actuators, timing diagrams relating to the actuators, cond steps of incrementatic steps, and interlocking conditions, as shown in figure 11. It will be noted that the names of actuators "lift", "shift", "swing", "unload cyl" refer respectively to lifting actuators, this displacement, tilting and unloading cylinder.

 Next, the arithmetic unit 20 of the control program producing apparatus 10 produces a table of operating configurations based on a production sequence of steps 62 of the system program in step 38. The operating configuration table consists of the step data 60 entered as indicated in FIG. 11, which are organized into a table of step increment conditions 6Za (FIG. 12A), an output table of progression instructions 62b (Figure 128), an interlock input condition table 62c (Figure 12C), an interlock instruction output table 62d (Figure 12D), and an external output table (not shown). of step increment conditions 62a contains the data relating to the respective designations at the moment when the state of the actuators varies, as represented by the step data 60. The step instruction output table 62b contains the data used to provide operating instructions to actuators. The interlock input condition table 62c contains the interlock input conditions which are established by a logic program 30 (described below). The interlock instruction output table 62d contains the data used to issue interlock instructions to the logic program 30. The external instruction output table contains the data used to output the states of the actuators to an external device. The data contained in the external instruction output table corresponds to STO 216, which is indicated by the arrow in the step data 60 of FIG. 11.

 Then, on the basis of the data of the operating configuration table thus established, a detection sequence constituted by the configuration of detection bits 41 established in step 18 and a condition register are produced. The detection sequence is established so that the step data 60 are established as shown in FIG. 10 when the step data 60 are as shown in FIG. 11, during a step 4B. The data contained in the operating configuration table are established in an internal register of the preset step configuration 40, so that the progression program is ended in step 58.

In the embodiment shown above, as described above, the step data 60 is entered as shown in Figure 11, and the step by step program 28 is produced using the configuration of step 40 and the configuration of detection bits 41. The operator can produce the progress program by establishing s-implement the time diagram of each actuator on the basis of its relationship with the input / output addresses. Therefore, the progression program 28 can be produced easily and precisely in a brief
Time lapse. Since conditions such as the interlocking conditions between the actuators can be established when entering the step data 60, the progress program 28 is produced with greater ease.

 As for the actuator program 26, the progression program 28 is then converted into an object program by the chain compiler 52 during a step 68, and the object program is transferred via the interface 54 to the device for sequence command 56 (see Figure 3).

 We will describe below, in relation to the flowchart of FIG. 13, a method for producing the logic program 30.

The designer of the control program then selects a logic program production mode using the interactive input / output section 14.

 First, as shown in FIG. 14, the designer of the control program produces an input / output (I / O) table 66 which indicates the relationships existing between the names of the names of the limit switches and others which are introduced during the production of the progression program 28, their addresses, as well as comments indicating the details of the names of appellations, during a step îC. Then, using a logic diagram editor 69, the designer of the control program introduces a logic diagram 68 which indicates logical conditions, such as the interlock conditions, represented in FIG. 15, via the keyboard 34 .

 The logic diagram 68 comprises blocks 70a each comprising a comment area 72a, a naming area 72b, and an address area 72c. A comment such as a condition and a designation are established in the comment zone 72a and the designation zone 72b. Block 70a represents an output coil and is displayed in a coil output region 74a. The logic diagram 68 also includes blocks 76b each comprising a designation area 78a, an address area 78b and a status area 78c which indicates the closing / opening state of a limit switch, or the like. , corresponding to the designation contained in the designation area 78a. Block 76b represents an input condition such as an interlock condition and is displayed in a condition positioning region 74b. The logic diagram 68 further includes a message area 81 at the top. Blocks 70a, 76b are indicated by combinations of logic products connected in series in the downward direction on the display screen and of logical sums connected in parallel to the right on the screen of the display.

As a whole, the logic diagram 68 is established in the form of a descending diagram. Several logical expressions indicated by blocks 70a can be displayed on the screen.

During the introduction of blocks 70a and 76b, since the combinations of data of the designation areas 72b and of the data of the address areas 72c are determined by the I / O table 66 which was established in step îC, appellations only or addresses only can be entered.

 The logic diagram 68 thus introduced is converted into a logic program by a logic diagram conversion program 76 of the program of the system program 24, during a step 3C. After the Logic program 30 has been converted into an object program by the chain compiler 52 during a step 4C, it is transferred via the interface 54 to the sequence control device 56 in the same way as the program d actuator 26 and the progression program 28. The logic diagram 68 can also be converted into a logic program 30 in the form of logic expressions by the logic diagram conversion program 76 during Step 3C.

In the above embodiment, as shown in Fig. 15, logic expressions such as interlocking logic expressions are introduced through a flowchart, and they are converted to the program
Logic 30 using the logic diagram conversion program 76. The content of the logical expressions can be displayed in the form of comments in the comment zones 72a of the blocks 70a of the logic diagram 68 which is made up of expressions
Logics. In the designation areas 72a, 78a of the blocks 70a, 76b, it is possible to display desired designations corresponding to the names of the limit switches and the like; separately from the addresses displayed in the address fields 72c, 78b. Thus, the programmer can easily establish logical expressions based on these comments and names. The logic diagram 68 is designed so that its processing sequence goes down on the screen of the display. Therefore, logic diagram 68 can be produced more easily by a programmer who is used to producing flowchart type control programs.

 A desired control program 42, which is made up of object programs, is then stored in the sequence control device 56. Instead of independently transferring the actuator program 26, the progression program 28 and the logic program 30 to the sequence command 56 via the transmission line, they can be transmitted "en masse" to the sequence control device 56. During the above three stages of production of the actuator program 26, the progression program 28 and the logic program 30, source programs are first produced using the system program 24, and then converted to object programs. However, Object programs can be produced directly.

 The sequence control device 56 controls the operation of the object, for example an industrial robot, or the like, on the basis of the control program thus produced.

 Programs 26, 28 and 30 can be produced using instructions (commands) common to different types of programmable controllers 56. A method for producing programs in this way will be described below.

First, the designer of the control program enters the data relating to the type of the programmable control device 56 which is connected to the control program production apparatus 10, using the input section / interactive outing.

 The arithmetic unit 20 successively reads the source programs, i.e. the actuator program 26, the progression program 28 and the logic program 30, which are stored in the memory 22; and it also reads the programs sequence 43 corresponding to the instructions of the source programs in memory 16 based on the type data, and it converts the source programs into a sequence program which corresponds to the programmable controller 56. The program instructions source are macro-instructions (more precisely, macro-commands). A unit chaining program consisting of one or more instructions of the programmable controller 56 which correspond to the macro-instructions is selected, and the chaining program is produced according to the unit linking program. Then, the chain compiler 52 converts the chain program into an object program, which is then stored in the memory 18 in the form of a control program 42 corresponding to the programmable control device 56.

 The control program 42 can be loaded directly into the programmable control device 56 via a transmission line, or else be loaded from the FD diskette into the programmable control device 56 via the programming panel 58 .

 Based on the control program 42, the programmable control device 56 controls the operation of the object, for example an industrial robot or the like. The control program producing apparatus 10 detects the operating state of the object in the form of an input / output (I / O) state via the programmable control device 56 and The interface 54, and displays the operating state detected on the cathode display 32 via a monitor program 79 in real time. Thus, the operator can always check the operating state of the object on the cathode display 32.

For example, the actuator list 48 represented in FIG. 7 can be displayed on the cathode display 32, and
The name, or other, of the actuator element which is being executed can be made flashing on the basis of the data obtained from the sequence control device 56 via the interface 54. From this way, The operating state of the object can be continuously monitored. The operator can now determine whether or not the control program has an error based on the displayed operating state, and can correct the control program if necessary. A method of correcting the control program can easily be executed on the basis of the actuator list 48.

 When the step data 60 indicated in FIG. 11 is displayed on the cathode display 32 and the step number which is being executed is made flashing on the basis of the data obtained from the sequence control device 56 via the interface 54, the operating state of the object can be continuously monitored. The operator can then determine whether or not the control program has an error based on the displayed operating state, and can correct the control program if necessary. The correction method can also be easily executed on the basis of the displayed step data 60 as shown in FIG. 11.

When the logic diagram 68 of FIG. 15 is displayed on the cathode display 32 and that the blocks 70a, 76b which are being executed are made flashing on the basis of the data obtained from the sequence control device 56 via the interface 54, the operating state of the object can be continuously monitored. The operator can then determine if
The control program may or may not contain an error based on the displayed operating state, and iL can correct the control program if necessary. The correction method can also be easily executed on the basis of the logic diagram 68 displayed.

The status signal representing the operating state of
The object is processed by an operating sequence diagram production program 78, and it is controlled in the form of an operating sequence diagram on the cathode display 32 in real time.

 We will now describe a process for producing an operating sequence diagram. FIG. 16 shows a fragmentary view of an operating configuration table 80 of the progression program 28 relating to a unit of the object to be controlled, the operating configuration table 80 being produced on the basis of the established step data 60 as shown in FIG. 10. The operating configuration table 80 is stored in the memory Z2. For example, the operating configuration table 80 is established so that the confirmation of an interlocking indicated in the form "00250" at during a step 3 is established in the form "1", and, during a displacement of a step 2 to step 3, the actuator indicated by "lift", that is to say an actuator of only vement , varies ("1 <-> <->" O ') from an advance condition (ADV) to a withdrawal condition (RET).

 The operating sequence diagram production program 78 produces the operating sequence diagram data 82 as shown in FIG. 17 from the operating configuration table 80 of FIG. 16.

The data 82 of the operating sequence diagram has data areas 84 containing block data relative to the respective steps of the actuators. Each of the data areas 84 is divided into headings, such as, for example, interlocking instruction (command), interlocking confirmation between tasks, step number, initial instant, time interval, name, name, address, state, and configuration. a corresponding actuator. The name, the address and the state correspond respectively to the data which are established in the naming area 72b, the address area 72c and the status area 72d of the logic diagram 68. In step 3 of FIG. 16, for example, an instruction relating to the advanced condition (ADV) of an actuator designated by "lift" (lifting actuator) varies from "1" to "O", and an instruction relating to the retracted condition ( RET) varies from "O" to "1". Therefore, the data relating to "lift" is established in the third data area 84. The interlock data indicated by "00250" is also established in this data area 84. When the other data has also been established, the data 82 of the operating sequence diagram of Figure 17 are produced.

 Next, the operating sequence diagram producing program 78 produces an operating sequence diagram 86 as shown in Fig. 18 based on the operating sequence diagram data 82, and displays the operating sequence diagram 86 on the cathode display 32. The operating sequence diagram 86 represents the operations of a unit (TT-M / C) at respective steps arranged in series with respect to time. The respective steps display blocks 70a for example, which indicate the operating state of the logic diagram 68 (FIG. 15). Consequently, the operator can easily understand the running of the control program on the basis of the operating sequence diagram 86. The operating sequence diagram 86 shown in FIG. 18 only shows the progress of the command program with respect to a unit of the object to be ordered. However, the operating sequence diagram 86 can also simultaneously indicate the progress of the control program relating to another unit. Thus the operator can understand relatively well the sequence of control programs relating to different tests.

 The operator can also control the operating state of the object to be controlled, in real time, using the operating sequence diagram 86.

More specifically, the data relating to the operating state of the object has been transferred to the control program production apparatus 10 via the interface 54. The monitor program 79 updates the data "states" among the data 82 of the operating sequence diagram and displays the updated state of the operating sequence diagram 86 in real time using the operating sequence diagram production program 78. If the '' the step number, for example, which is currently running, is made flashing, so it is possible to constantly monitor the operating state of the object. On the basis of the displayed state,
The operator can determine if the control program has an error, and it can correct the control program if necessary.

 The operating sequence diagram production program 78 also functions as an editing means making it possible to edit the data relating to the operating sequence diagram data 82 and to the operating configuration table 80 (see FIG. 16). More specifically, the operator enters the data relating to a correction of an operating sequence via the keyboard 34 as a function of the operating sequence diagram 86 which is displayed on the cathode display 32. The program of operating diagram operating sequence 78 then edits the operating sequence diagram data 82 as a function of the data entered, which modifies the operating sequence diagram 86. The operating sequence diagram production program 78 repeats the data relating to the operating configuration table 80 as a function of the data entered. As a result, a new control program is produced based on the updated operating configuration table 80.

 The operating sequence diagram 86 can also be displayed in the following manner.

 FIG. 19a represents an operating sequence diagram 90 which only displays the steps of several spots 88a to 88d on the cathode display 32 as a function of their operating sequence, the step being executed being made flashing.

The spots 88a to 88d are control programs for controlling units of the object which is controlled by the sequence controller 56. The display of the spots 88a to 88d can be established on the basis of the diagram data. operating sequence 82 shown in Fig. 17. In the operating sequence diagram 90, the up and down arrows indicate interlocks between the spots 88a to 88d. These interlocking indications are displayed in the following manner. When establishing the operating sequence diagram data 82 relating to the tasks 88a to 88d, it is determined to which tasks 88a to 88d of the data relating to the "confirmation of 'interlocking between tasks' in data area 84 are linked. If the operation sequence diagram 90 is displayed, the operation sequence diagram data 82 is established so that the steps relating to the interlock are arranged vertically on the cathode display 32.

 Figure 19b shows the detail of the flashing step in Figure 19a, in the form of an operation detail diagram 92. The operation detail diagram 92 can be produced using the operation sequence diagram data 82 , which are not illustrated in Figure 19a. The operating detail diagram 92 allows the operator to confirm an actuator associated with the flashing step. So the operator can determine that! actuator is not in service, if its initial conditions are satisfied, and if there is an interlock signal applied.

 In order for the operator to confirm the details of the data which are made flashing in the diagram of the nene function detail diagram: 92, a logic conditions / logical expressions diagram 94 can be produced from the data relating to the display of the logical diagram 68, and it allows the operator to become aware of the cause of the failure of the object to be ordered.

 If necessary, the operator can display the position of a faulty LS limit switch, which can be found in the conditions / logic expressions diagram in Figure 19c, on a plot diagram 96, as shown in the figure 19d.

 According to the invention, as described above, the control program is produced as a function of the actuator program which describes an operating configuration relating to an actuator, of the progression program which describes the step-by-step progression of the actuator, and the logic program which describes the logic conditions, such as the interlocking situation, and the object is controlled according to the control program. Since the different functions of the control program are produced separately, the efficiency with which each of the programs which constitute the control program is produced is very high.

Therefore, even if a complex sequence control method is required, it can be executed with high precision. As the control program is divided into several functions, it can easily be developed, improved, modified and corrected. Insofar as each of the programs is produced according to the operating specifications of the object to be ordered, the operating specifications can directly reflect any modification of the program or programs.

 In addition, the control program is produced by establishing input / output address application parameters on the basis of the basic operating configuration of an actuator and definition parameters comprising names of designations d elements of the basic operating configuration. The programmer can produce a control program precisely and easily in a short period of time, using the basic operating configuration. Since this same basic operating configuration can be used repeatedly, the number of program design steps decreases when analog control programs are produced.

 The step-by-step progression operations are introduced in the form of a synchronization time diagram, and a control program is produced on the basis of a step configuration in the form of an operating circuit and data. step by step in series with respect to time, which are obtained from the time diagram. Thus, the programmer can produce a control program precisely and easily in a short period of time, using the time diagram. Since each program is produced according to the operating specifications of the object to be ordered, the operating characteristics can directly reflect any modification of the program or programs.

 In addition, logical expressions such as those relating to interlocks are established using input conditions consisting of condition names, addresses, status data, etc., and a control program is produced on the basis of logical expressions. Since the programmer establishes logical expressions while confirming their contents according to the names of the conditions, the control program can be produced with precision and easily. Since the control program is established from logical expressions to which the condition names are associated, it can easily be developed, improved, modified and corrected, Insofar as each of the programs is produced according to the operating specifications of the object to be ordered, The operating specifications can directly reflect any modification of the or programs.

 The steps of the object to be controlled, which consists of a plurality of units, are displayed in series with respect to time on the basis of a control program representing a sequence of operation of the object, and the relative relationships between the units of the Object are displayed. Consequently, the operator can understand the operation of the object as a whole on the display screen. The operator can thus efficiently design, develop and control the control program and can easily see the operating state of the object.

 In addition, a control program can be produced using instructions (commands) common to several types of programmable control devices. The operator must therefore not know the languages specific to instructions (commands) which are specific to different types of programmable control devices. There is no need for a specific operator for each programmable controller considered. As a result, the control program can be produced, analyzed and corrected significantly, easily and quickly. Thanks to the common language used for the control program, even when a different type of programmable control device is used, the existing control program should not be modified to adapt to the new programmable control device. Therefore, the product ordering program has great flexibility or compatibility. The control program producing apparatus itself is also used in common in relation to the language of the control programs it is to produce and, therefore, is economical and convenient to use.

 Of course, a person skilled in the art will be able to imagine, from the method and the apparatus, the description of which has just been given for illustrative purposes, various variants and modifications which do not go beyond the ambit of 'invention.

Claims (13)

 1. Method for producing an order program, characterized in that it comprises the following operations:  producing an actuator program which defines the input / output relationship of each actuator of an object to be controlled, based on a basic operating configuration;  producing a progression program which defines the stepwise progression of said actuator; and  producing a logic program which defines logic conditions such as an interlock condition, the control program consisting of said actuator program, said progression program and said logic program.  then establish, as application parameters, the input / output addresses relating to the names of the elements of said basic operating configuration.  selecting one of said basic operating configurations relating to an actuator of an object to be controlled; and  establishing, as definition parameters, attributes comprising the names of element names of said basic operating configurations;  establish basic operating configurations for actuators;  2. Method according to claim 1, characterized in that the production of the actuator program comprises the following operations:  3. Method according to claim 1 or 2, characterized in that the progression program comprises the following operations  establishing a step configuration acting as an operating circuit which is used to increment the steps of a control program;  then establish, as a synchronization timing diagram, the step-by-step progression of each actuator of an object to be controlled; and  producing, thereafter, a control program on the basis of serial stepwise progression over time data, which are obtained from said time diagram and said step configuration.  4. Method according to any one of claims 1 to 3, characterized in that the production of the logic program comprises the following operations  establish entry conditions consisting of data comprising condition names, addresses and status data;  then establishing logical expressions comprising interlocking expressions using said input conditions; and  after that produce a control program from said logical expressions  5. Method according to claim 4, characterized in that said input conditions are established in the form of an input / output table, and said logical expressions are established with the help of said input table / exit.  6. Apparatus for producing a control program, characterized in that it comprises:  storage means (16) for storing basic operating configurations relating to actuators and definition parameters as attributes including element names of said basic operating configurations;  positioning means (12) for establishing said basic operating configurations and said defining parameters (39a, 39b), for selecting one of said basic operating configurations, relating to an actuator of an object to be ordered, and to establish, as application parameters, the input / output addresses relating to the names of the elements of said basic operating configuration ;;  storage means (16, 40) for storing a step diagram functioning as an operating circuit for incrementing the steps of a control program;  positioning means (12, 28) for establishing said pitch configuration as well as for establishing, as a timing synchronization diagram, the stepwise progression of each actuator of an object to be controlled;  positioning means for establishing input conditions composed of data comprising condition names, addresses and status data, as well as for establishing logical expressions. comprising interlocking expressions using said conditions entry; and  program editing means (44, 46, 59, 69) for editing a control program on the basis of the basic operating configuration of a data set comprising parameters for defining application parameters, said time diagram, said step configuration and / or said logical expressions.  7. Apparatus according to claim 6, characterized in that it further comprises monitoring means (32, 79) used to control the execution state of the control program of said object.  8. Apparatus according to claim 6 or 7, characterized in that it further comprises:  positioning means for establishing an operating sequence for a subject to be controlled;  conversion means for converting said operating sequence into a control program which controls said object;  transmission means for transmitting said control program to a sequence control device for controlling said object;  receiving means for receiving a status signal from said object controlled by said control program, via said sequence control device ;;  display means (32) for displaying said operating sequence in the form of an operating sequence diagram which includes displaying, in series with respect to time, each of the progress steps of the object which is consisting of several units and a relative display between said units, and serving to display the operating state of said object on said operating sequence diagram; and  an operating sequence diagram means for producing said operating sequence diagram from said operating sequence established by said positioning means.  9. Apparatus according to claim 8, characterized in that said display means comprises a hierarchical display means serving to selectively or simultaneously display a first display comprising the steps of said units, a second display comprising details of operation of said steps, and a third display including the logical conditions / expressions found in said operating details.  10. Apparatus according to claim 8, characterized in that said operating sequence diagram producing means comprises an operating sequence diagram data means for maintaining stepwise progress data of the units of the object, which are arranged in data areas according to the interlocks existing between said units.  11. Apparatus according to claim 8, characterized in that it further comprises an editing means for editing the operating sequence diagram data and the step-by-step progress data found in said data holding means of operating sequence according to said operating sequence diagram.  12. Apparatus according to any one of claims 6 to 11, characterized in that it further comprises:  program input means for inputting a control program common to several types of programmable control devices;  instruction holding means, or commands, for holding instructions relating to the types of programmable control devices, said instructions corresponding to the instructions constituting said control program;  selection means for selecting a certain type of programmable controller; ;  instruction selection means for selecting instructions in said instruction holding means, which instructions correspond to the selected type of programmable controller; and  means for producing a control program relative to the selected type of programmable controller - based on the instructions selected by said means this selection of instructions.  13. Apparatus according to claim 12, characterized in that said instruction holding means comprises means for holding several instructions relating to a programmable control device which correspond to a macroinstruction, or macrocommand, of the command program.