JP2000267706A - Sequence control method and its device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a sequence control method and device therefor capable of confirming the operation of software related with the operation of an actuator or an interlock operation between facilities without actually operating the actuator or the like. SOLUTION: In this sequence controller, a machine lock setting for inhibiting the operations of whole facilities or each of actuators 4-10 is operated by a control board 18. Then, a machine lock program is executed by a facility controller 2A so that the pseudo preparation of the signal state of a coming limit or returning limit when the actuator whose machine-lock is set is originally operated can be executed, and the operations of the other actuators or facilities can be realized based on this signal. Thus, it is possible to confirm the operation of software including the interlock operation between facilities without actually operating the actuators 4-10.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a sequence control method and apparatus, and more particularly, to a sequence control method and apparatus capable of easily confirming operation of control software.

[0002]

2. Description of the Related Art The operation of equipment such as robots is often controlled based on software such as control programs. Therefore, a device for controlling equipment such as a robot is not limited to hardware such as an actual control mechanism,
Software such as a control program is required, and it is necessary to confirm the operation of the software before actually operating the actual equipment, and to correct any defects in advance.

In practice, an actuator as an operating means,
In a control device that controls a robot or the like by controlling a limit switch, an electromagnetic valve or the like (hereinafter, referred to as an “actuator or the like”), it is necessary that the control software function normally. It is extremely important for operation.

[0004] An interlock is provided between an actuator or the like and another actuator or the like or between a facility having a plurality of actuators or the like and another facility to prevent malfunction of the facility. Therefore, in many cases, the operation of another actuator or the like is not started until the operation of one actuator or the like is completed. If such interlocks work properly,
This is based on whether the control software functions normally.

Therefore, when new control software is installed in the control device, the software functions normally, that is, the control for moving each operating means and the interlock between the actuators are performed. It is necessary to confirm that control can be performed well. For this purpose, for example, in the case of a device for controlling a product production machine, before a product is actually produced, it is idled for a certain period of time without any product (hereinafter referred to as "dry run"), Checking the operation of software is being performed.

[0006] In order to confirm the operation of such software,
In many cases, an actuator or the like controlled by the control device is actually operated.

[0007]

However, in order to confirm the operation of software, in order to actually operate an actuator or the like to perform a dry run, it is necessary to use an actuator or the like, in other words, an actuator such as a robot or a welding machine. Must be ready by the time of the dry run. Further, depending on the type of the actuator and the like, there are the following problems.

One is that, depending on the type of the actuator and its accessories, the wear may progress during a long-term dry run and may become unusable before the actual operation of the equipment. In this case, during actual operation of the equipment, it is necessary to newly replace the worn actuator and its accessories, which is costly.

For example, considering a welding robot, when checking the software, if the welding gun is actually moved about 2500 cycles in a continuous dry run, the electrode tip at the tip of the welding gun may be worn.

Another problem is that when an actuator or the like, that is, a facility in which a plurality of actuators or the like are gathered, is actually moved to check interlock between the facilities, interference between the facilities occurs at the operation confirmation stage. May cause.

The present invention has been made to solve such a problem of the conventional sequence control device as much as possible. It is an object of the present invention to provide a sequence control method and apparatus capable of confirming the operation of control software relating to the interlock operation and the like of the present invention.

[0012]

The present invention for achieving the above object is constituted as follows.

According to a first aspect of the present invention, in the sequence control method for controlling the operating means, a signal forming step for forming a signal similar to a case where the operating means is operated is formed by the signal forming step. An operation control step of controlling other operation means based on the signal.

According to a second aspect of the present invention, in the sequence control method for controlling the operation means, an operation prohibition setting step of selecting the operation means and setting the operation prohibition, and performing the operation by the operation prohibition setting step. A signal forming step of forming the same signal as when the operating means is operated with respect to the prohibited operating means, and an operation controlling step of controlling other operating means based on the signal formed by the signal forming step. It is characterized by having.

According to a third aspect of the present invention, in the sequence control device for controlling the operation means, an operation inhibition setting means for selecting the operation means and setting the operation inhibition, and controlling the operation by the operation inhibition setting means. Signal forming means for forming a signal similar to the case of operating the operating means with respect to the prohibited operating means, and control means for controlling other operating means based on the signal formed by the signal forming means. It is characterized by having.

According to a fourth aspect of the present invention, in the sequence control apparatus for controlling the operation means, an operation inhibition setting means for selecting the operation means and setting the operation inhibition, and controlling the operation by the operation inhibition setting means. Signal forming means for forming a signal similar to the case of operating the operating means with respect to the prohibited operating means, and control means for controlling other operating means based on the signal formed by the signal forming means. It is characterized by having.

According to a fifth aspect of the present invention, in the sequence control device according to the fourth aspect, a signal output for outputting a signal formed by the signal forming means to a control means for controlling other equipment. It is characterized by further comprising means.

According to a sixth aspect of the present invention, in the sequence control device according to the fourth or fifth aspect, the signal forming means includes an operation means related to the operation means whose operation inhibition is set by the operation inhibition setting means. Means for taking in information, means for taking in a program for performing control when the operation prohibition is set, and operation start information of the operation means accompanying the start of operation of the operation means based on the operation means information based on the program information. An operation start signal forming means for virtually forming a signal change; a time measuring means for measuring a time since the signal change is virtually formed by the operation start signal forming means; and a predetermined operation by the time measuring means. Operation end signal forming means for virtually forming a signal change of the operation limit information accompanying the end of the operation of the operation means when time has elapsed. The features.

[0019]

According to the sequence control method described in the first aspect, a signal forming step for forming a signal similar to that when the operating means is operated is provided, so that the operating means is actually operated. In addition, it is possible to confirm the presence or absence of a defect in the operation control stage, to prevent the operation means and the like from being worn at the time of this confirmation, and to prevent interference between the facilities beforehand. .

According to a second aspect of the present invention, there is provided an operation prohibition setting step of selecting the operation means and setting operation prohibition, and the operation means for which the operation is prohibited by the operation prohibition setting step. And a signal forming step of forming a signal similar to the case of operating the means. It is possible to confirm the presence or absence of a defect at the stage, and it is possible to prevent the operating means from being worn before actual operation.

According to the third aspect of the present invention, since the sequence control device includes the signal forming means for forming the same signal as when the operating means is operated, the operation is performed without actually operating the operating means. It is possible to confirm the operation of the control means, to prevent the operation means from being worn when confirming the operation control means, and to prevent interference between the equipment.

According to a fourth aspect of the present invention, there is provided the sequence control device, wherein the operation prohibition setting means for selecting the operation means and setting the operation prohibition, and the operation means for which the operation is prohibited by the operation prohibition setting means. And a signal forming means for forming the same signal as when the means is operated. It is possible to check the operation of the means and prevent the operating means from being worn before the actual operation.

According to the sequence control device described in claim 5, in the sequence control device described in claim 4, the signal formed by the signal forming unit is transmitted to a control unit for controlling other equipment. Since there is further provided a signal output means for outputting, it is possible to confirm the interlock between a plurality of facilities while first setting the operation means to the operation prohibited state, and to prevent interference between the facilities.

According to the sequence control device described in claim 6, in the sequence control device according to claim 4 or 5, the signal forming unit is configured to perform an operation in which the operation inhibition is set by the operation inhibition setting unit. Means for taking in operation means information on the means, means for taking in a program for performing control when the operation prohibition is set, and starting of the program to start the operation of the operation means based on the operation means information Operation start signal forming means for virtually forming a signal change of operation limit information, time measuring means for measuring a time since a signal change is virtually formed by the operation start signal forming means, and the time measuring means An operation end signal for virtually forming a signal change of operation limit information accompanying the end of operation of the operation means when a predetermined operation time elapses Since to have a forming means, it is possible to carry out freely the operation prohibition setting operation unit,
Further, it is possible to confirm the operation of the operation control means in accordance with the return limit and limit signal change in the operation means.

[0025]

DESCRIPTION OF THE PREFERRED EMBODIMENTS In the sequence control device of the present invention, a setting (hereinafter referred to as "machine lock setting") for prohibiting actual operation of the whole equipment or individual actuators or the like can be made by an operation panel. Then, a signal state of an end limit or return limit when the actuator in which the machine lock is set performs an original operation is simulated, and other actuators and equipment are operated based on this signal. With this configuration, it is possible to confirm the operation of the software including the confirmation of the interlock between the facilities without actually operating the actuator or the like by setting the machine lock.

Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.

FIG. 1 is a schematic configuration diagram of a sequence control device according to the present invention.

The equipment controller 2A actually controls operation means such as an actuator. For example, an electromagnetic valve 4, a limit switch 6, a motor 8, and a lamp 10 are conceivable as actuators and the like as actual operation means. A plurality of such operation means are assembled to form one facility.

With such a configuration, an outgoing command and a return command are issued from the equipment controller 2A to the electromagnetic valve 4, the limit switch 6, the motor 8, and the like, and the electromagnetic valve 4, the limit switch 6, and the like operate based on these commands. Will be done.

The other equipment controllers 2B and 2C operate similarly to the equipment controller 2A. Taking the controller for controlling the welding robot as an example, the equipment controllers 2B and 2C control the equipment such as the welding timer 12 having a plurality of actuators and the robot 14, and the like.

The equipment controller 2A is provided with a control program (not shown; hereinafter, referred to as an "actuator operation program") for operating an actuator or the like.

The operation panel 18 performs various settings of the equipment controller 2A. In the sequence control device of the present invention, machine lock can be set by the operation panel 18. Further, it is possible to input various types of actuator information relating to the machine lock setting, and to input a machine lock program which is a program for performing control when the machine lock is set.

The operation panel 18 can be configured to have an operation panel section and a display section (not shown). On this display unit, which actuator among the actuators and the like is set to machine lock can be displayed at any time. Further, an actuator to be newly machine-locked can be set or an actuator to be machine-locked can be changed by the operation panel unit.

Therefore, when performing a dry run for confirming the operation of the completed software, in particular, the actuator operation program, the setting range of the actuator to be machine-locked can be appropriately changed according to the situation. Is also possible. For example, a machine lock can be set for an actuator that may be worn out when actually operated in a dry run, and the operation can be prohibited.

The machine lock can be set for the entire equipment, or can be set for only a part of the operation means.

The setting information such as the machine lock setting information set by the operation panel 18, the actuator operation program and the machine lock program are stored in the equipment controller 2A.

FIG. 2 is a block diagram showing a schematic configuration of the equipment controller 2A. Other equipment controller 2B,
The same applies to 2C.

The control unit 19 controls the entire sequence controller of the present invention, such as activating and executing an actuator operation program and a machine lock program, and setting various data such as actuator information. It has a CPU.

The operation panel input I / F section 20 is an interface for inputting machine lock setting information, actuator information, a machine lock program, and the like input from the operation panel 18. The operation panel output I / F unit 22 is an interface used to output a machine lock setting state to the operation panel 18 and display the machine lock setting state on the display unit of the operation panel 18.

The actuator input I / F unit 24 is an interface for receiving operation limit information such as limit information and return limit information from each actuator or the like. This is an interface for outputting operation commands such as an output command and a return command to the operation means.

In order to exchange data with the other equipment controllers 2B and 2C, another controller input I / F unit 23 and another controller output I / F unit 25 are provided.

Actuator operation program storage unit 27
Is a memory for storing the actuator operation program, which is a control program for operating an actuator or the like. The actuator operation program can be installed for each of the equipment controllers 2A, 2B, and 2C so as to operate the actuator and the like for each individual equipment.

With such a configuration, at normal time,
The actuator operation program stored in the actuator operation program storage unit 27 is activated and executed, and the actuator output I /
An output command from the F unit 26 to a predetermined actuator or the like,
An operation command such as a return command is issued, and a predetermined actuator or the like actually operates. In addition, limit information and return limit information are input from the actuator input I / F unit 24. Further, in order to perform control over a plurality of equipment controllers 2A, 2B, and 2C, it is necessary to communicate with the other equipment controllers 2B and 2C via the other controller input I / F unit 23 and the other controller output I / F unit 25. Information and return limit information are exchanged.

At this time, the actuator input I / F
In consideration of the interlock based on the limit information and return limit information input from the unit 24 and the limit information and return limit information of other equipment input from the other controller input I / F unit 23, the actuators are sequentially turned on. Etc. will be operated.

The actuator operation program storage section 27 in which the actuator operation program is stored as described above.
Functions together with the control unit 19 as operation control means for controlling the operation of the actuator and the like.

The setting information storage unit 28 is a memory for storing machine lock setting information and actuator information accompanying the machine lock setting.

The machine lock program storage section 30 is a memory for storing a machine lock program for performing a process when a machine lock is set by the operation panel 18.

Therefore, at a stage before an operation command is issued from the actuator output I / F unit 26 in accordance with the actuator operation program, the setting information storage unit 28 is referred to to determine whether the machine lock setting has been performed. If it is determined that the lock is set, the machine lock program stored in the machine lock program storage unit 30 is activated.

In this case, an actual operation command is not output to the actuator or the like that is machine-locked. Instead, for example, the data inside the RAM memory 32 or the like is simulated based on the actuator information. Set as if the operation command output was turned on.

Originally, when the actuator or the like actually operates, return limit information, limit information, and the like change accordingly, and are input via the actuator input I / F unit 24. In such a case, the actuator and the like do not actually operate, so that the return limit and the limit information do not change.

Therefore, in this case, based on the actuator information stored in the setting information storage unit 28, a RAM memory storing return limit information and limit information as if the actuator actually operated. Change the internal data such as 32. That is, the interior of the equipment controller 2A is in a state where the actuator is actually operated. Therefore, in the controller 2A of the same equipment, the operation of another actuator can be continued without being restricted by the interlock.

On the other hand, the interlock of the other equipment controllers 2B and 2C is released on condition that the return limit information and the limit information are output to the other equipment controllers 2B and 2C, and the other equipment operates. Sometimes you can get started. In this case, return limit information and limit information as if the actuator actually operated are output to the other equipment controller. This allows other equipment to continue operating.

As described above, when the machine lock is set, the data in the RAM memory 32 is set on the basis of the actuator information as if the actuator or the like has operated, and the other equipment controllers 2B and 2C are set. On the other hand, the lock program storage unit 30 in which the lock program for actually outputting the return limit information and the limit information in a pseudo manner is stored together with the control unit 19, outputs the same signal as when the operating unit is operated. It functions as a signal forming means.

The schematic configuration of the equipment controller 2A has been described mainly for the case where a plurality of equipments are controlled by the equipment controllers 2A, 2B, and 2C. However, the other equipment controllers 2B and 2C can be similarly configured. .

Further, a plurality of equipment controllers 2A, 2A,
In order to centrally manage B and 2C, a general controller 16 may be provided so as to be connected to each of the equipment controllers 2A, 2B and 2C. FIG. 3 shows a schematic configuration diagram in this case.

The operation panel 18 for making various settings of the equipment controllers 2A, 2B, 2C is provided by the general controller 1
6 can be connected.

Further, the actuator operation program for controlling each facility includes the facility controllers 2A, 2A and 2B.
B and 2C are installed in the actuator operation program storage unit 27 provided respectively. Machine lock setting information, actuator information, and a machine lock function such as a machine lock program are set in the general controller 16. It is also possible to configure so that the information is stored in the information storage unit 28 and the machine lock program storage unit 30.

The operation panel input I / F section 20 and the operation panel output I / F section 22 are provided in the general controller 16 and the display section of one operation panel 18 displays the machine lock setting status of all actuators and the like. It is also possible to change the machine lock setting while checking.

According to such a configuration, in the case of a control device having many equipment controllers, unified management becomes possible and there is an advantage that management becomes easy.

When the machine lock is set, the command of the actuator and the addresses of the return limit and the limit are input as "actuator information" by the operation panel 18 or the like as described above, and are stored in the setting information storage section. 28. Hereinafter, an example of this actuator information is shown in FIG.

FIG. 4 shows an example of actuator information when there are n actuators.

The actuator information includes the actuator No. 1 to the actuator No. Numbers are assigned to each actuator up to n, and the output destination address of the output command and return command, the address to which limit information and return limit information are input, and the original position state are associated with each actuator. Has been entered. In addition, it is also possible to configure such that data such as time from when there is an output command to when the limit is reached (hereinafter referred to as “operation time”) is input beforehand due to the characteristics of each actuator. It is possible.

Based on such actuator information, the processing destination and the output destination to the equipment controller of another equipment are determined when the machine lock is set.

The sequence control device of the present invention having the above-described structure operates as follows. This operation will be described with reference to the flowchart of FIG. 5 showing the processing of the sequence control device.

First, if the dry run is not selected by the operation panel 18, the control of the normal operation is performed. For example,
In the case of a control device for a production processing machine, normal processing is performed so as to actually produce and process a work (S1, S2). In this case, it is not necessary to set the machine lock, and according to the actuator operation program stored in the actuator operation program storage unit 27, the actuator output I / F unit 26 sends each actuator, such as the electromagnetic valve 4, the limit, and the like. An operation command is issued to the switch 6, the motor 8, the lamp 10, and the like, and the operation is performed one after another.

On the other hand, when the dry run is selected by the operation panel 18, that is, when the dry run is continuously performed to confirm the operation of the software and the interlock between the facilities accompanying the dry run, the wear may occur. The machine lock can be set by selecting an actuator or the like whose actual operation is to be prohibited for the reason such as easy operation using the operation panel 18 or the like. The machine lock setting information input by the operation panel 18 is transmitted to the operation panel input I / F unit 2.
0 and is input into the controller and stored in the setting information storage unit 28. The setting status of the machine lock is output from the operation panel output I / F unit 22 and can be displayed on the display unit of the operation panel 18 at any time. Machine lock settings can be easily added or changed.

Then, the above-described actuator information necessary for setting the machine lock is input from the operation panel 18 or the like. Actuator information can also be easily input from the operation unit of the operation panel 18, and is stored in the setting information storage unit 28 (S1, S3).

If the machine lock is not set for any of the actuators, the actuator operation program stored in the actuator operation program storage unit 27 is executed as in the case of the normal operation. The actuator and the like actually operate (S4, S5). That is, as in the case where the dry run is not selected in step 1, the actual operation command is transmitted to the actuator output I / F unit 2
6, each actuator and the like perform an actual operation.
In addition, due to the actual operation of the actuator and the like,
The return limit signal is input from the actuator input I / F unit 24 into the equipment controller 2A. Further, the output limit and return limit signals and the like are transmitted to the other controller input I / F unit 2.
5. Other equipment controller 2 via the same output I / F 23
B and 2C. As a result, the actual operation proceeds while considering the interlock between the actuators and the like and between the facilities.

On the other hand, when the machine lock is set, the processing enters the processing mode under the machine lock setting. In the processing mode under the machine lock setting, not only the actuator operation program but also the machine lock program stored in the machine lock program storage unit 30 is started (S6).

That is, when the control unit 19 determines that the outgoing command and the returning command to the actuator for which the machine lock is set are issued when the actuator operation program is executed, the machine lock program storing unit The machine lock program stored in 30 is executed. The machine lock program changes the state of data in the RAM memory 32 as if the actuator actually operated, based on the actuator information stored in the setting information storage unit 28, It outputs pseudo limit information and return limit information to the equipment controllers 2A, 2B, and 2C via the other controller output I / F 25. by this,
Even if there is an interlock between a plurality of facilities controlled respectively by different facility controllers 2A, 2B, and 2C, the interlock is normally released by the pseudo limit information and return limit information and the subsequent Can be performed. In other words, it is possible to confirm the operation of the software as to whether the interlock functions normally.

Processing under Machine Lock Setting (S6)
Will be described with reference to the flowchart shown in FIG.

Actuator No. Consider the case where the processing is sequentially performed from 1 to the final actuator.
First, during execution of the actuator operation program,
Actuator No. There is a part of the operation command for 1. The operation command may be an output command or a return command. Let us consider a case where an outgoing command is issued when 1 is in the return limit (S7).

As described above, the actuator No. When there is an operation command for the actuator No. 1, 1
Is determined based on the contents stored in the setting information storage unit 28 (S8).

As a result, the actuator No. If no machine lock has been set for 1,
From the actuator output I / F unit 26 to the actuator N
o. An output command is output to the output solenoid of the actuator No. 1 based on the output command. 1 performs the actual operation. In the case of an actuator of a type in which the return limit and the limit state are detected by a sensor (not shown) or the like, the return limit is turned off when the actuator operation starts, and after a while the actuator is released. When the limit is reached, the limit is turned ON.

Actuator No. When the limit of 1 is turned on, the next actuator receives an operation command. That is, the actuator No. Upon receiving the limit signal of 1, the interlock of the next actuator is released (S10, S11).

On the other hand, the actuator No. When the machine lock is set for 1, the machine lock program stored in the machine lock program storage unit 30 performs the following operation. The machine lock program stores the actuator No. in the actuator information stored in the setting information storage unit 28. 1 based on the data of the actuator No. 1 creates the same situation as when it works.

Actually, the actuator output I / F section 26
, No operation command is issued, and the output solenoid is not energized. 1 does not work. Therefore, the actuator No. No. 1 remains stopped near the return limit, and the return limit information and the output limit information do not change according to the operation.

Therefore, the machine lock program forcibly turns off the return limit and sets the actuator No. by a timer (not shown). 1 is measured, and then the limit is forcibly turned ON (S12, S13, S1).
4). Actually, for the other equipment controllers 2B and 2C, the return limit is forcibly turned off, and after a lapse of the operation time by the timer, a signal is sent to the other controller output I / F unit so that the limit is turned on. Output from 25. Thereby, the interlock operation of each actuator controlled by the other equipment controllers 2B and 2C can also be confirmed, and if the interlock is operating normally, the operation of each actuator controlled by the other equipment controller can be checked. It will be done sequentially.

In the controller 2A for controlling the same equipment, not the other equipment, it is as if the actuator No. A state in which the device 1 performs the output operation is virtually represented on the RAM memory 32. That is, the return limit is OFF
Then, based on the actuator information, the data at a predetermined address in the RAM memory 32 is set to the limit ON state so that the limit is ON.

Therefore, based on the data, the actuator No. is set inside the controller. Since it is determined that the limit of 1 has been turned ON, the operation shifts to the operation of the next actuator (S10, S11).

After that, in accordance with the order of the actuator 2, the actuator 3,..., The actuator n,... Is set,
The return limit information and the limit information are forcibly set as if the actuator were actually operating, and the results were actually output to the equipment controllers 2B and 2C of other equipment and interlocked. And inside the equipment controller 2A of the equipment,
By performing processing such as rewriting the data of the internal memory address, a situation similar to the actual movement of the actuator is created in the control device virtually (S1).
5 to S18).

As described above, by performing the processing by the sequence control device of the present invention, the dry run for confirming the operation of the software can be performed without actually operating the actuator or the like as the operating means.

Also, as if the operating means, that is, the actuator or the like actually operated, the signals of the return limit information and the limit information are formed, the data in the internal memory are set, and the other equipment controller 2B 2C, it is possible to confirm the interlock operation between the operation means and between the facilities.

The equipment controllers 2A, 2B, 2
The C and the overall controller 16 can be realized using a PLC (programmable logic controller).

In the above-described actuator operation program storage unit 27, setting information storage unit 28, machine lock program storage unit 30, RAM memory 32, and the like, physically separated memory elements must be prepared individually. This does not mean that the sequence controller of the present invention can be realized even when, for example, a configuration is used in which one memory element area is used as an area of each storage unit.

As described with reference to the flow charts of FIGS. 5 and 6, a signal forming step for forming the same limit and return signals as when the actuator or the like as the operating means is operated, and the signal forming step. A person skilled in the art can execute a sequence control method having an operation control step of controlling the operation of a subsequent actuator while receiving a signal of a limit, return limit, or the like formed in the step, while confirming the operation of the interlock. it is obvious. It is also apparent that a step of selecting an operation means for which operation is prohibited is further provided, and a sequence control method similar to the above-described method can be performed only for the operation means for which operation is prohibited.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram of a sequence control device of the present invention.

FIG. 2 is a block diagram illustrating a schematic configuration of an equipment controller.

FIG. 3 is a schematic configuration diagram of a sequence control device according to the present invention when a general controller is provided.

FIG. 4 is a diagram showing an example of actuator information.

FIG. 5 is a flowchart showing processing contents of a sequence control device of the present invention.

FIG. 6 is a flowchart showing the contents of a subroutine in machine lock setting.

[Explanation of symbols]

 2A: Equipment controller, 2B, 2C: Other equipment controller, 4: Electromagnetic valve, 6: Limit switch, 8: Motor, 10: Ramp, 12: Weld timer, 14: Robot, 16: Integrated controller, 18: Operation Panel: 19: Control unit, 20: Operation panel input I / F unit, 22: Operation panel output I / F unit, 23: Other controller input I / F unit, 24: Actuator input I / F unit, 26: Actuator output I / F section, 27: Actuator operation program storage section, 28: Setting information storage section, 30: Machine lock program storage section, 32: RAM memory.

Claims (6)

[Claims] 1. A sequence control method for controlling an operating means, comprising: a signal forming step of forming a signal similar to a case where the operating means is operated; and a signal forming step based on the signal formed by the signal forming step. And an operation control step of controlling the operation means. 2. An operation prohibition setting step of selecting the operation means and setting operation prohibition in a sequence control method for controlling the operation means, and the operation of the operation means prohibited by the operation prohibition setting step. A signal forming step of forming a signal similar to that when the means is operated; and an operation control step of controlling another operating means based on the signal formed by the signal forming step. Method. 3. A sequence control device for controlling an operation means, comprising: a signal forming means for forming a signal similar to a signal obtained when the operation means is operated; and a sequence control apparatus for controlling the operation means based on the signal formed by the signal formation means. And an operation control means for controlling the operation means. 4. A sequence control device for controlling an operation means, comprising: an operation prohibition setting means for selecting the operation means to set operation prohibition; and an operation means for which operation is prohibited by the operation prohibition setting means. A sequence comprising: signal forming means for forming a signal similar to the case of operating the operating means; and control means for controlling other operating means based on the signal formed by the signal forming means. Control device. 5. The sequence control device according to claim 4, further comprising signal output means for outputting the signal formed by said signal formation means to a control means for controlling other equipment. . 6. The signal forming means includes means for fetching operation means information on the operation means for which operation prohibition has been set by the operation prohibition setting means, and a program for performing control when the operation prohibition is set. Means for fetching, operation start signal forming means for activating the program and virtually forming a signal change of operation limit information accompanying operation start of the operation means based on the operation means information; and Time measuring means for measuring the time since the signal change is virtually formed; and, when a predetermined operation time has elapsed by the time measuring means, the signal change of the operation limit information accompanying the end of the operation of the operation means is virtually assumed. The sequence control device according to claim 4, further comprising: an operation end signal forming unit configured to form the sequence control signal.