JP2000339009A - Positioning control unit, cpu unit and programmable controller system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make the cooperation between the positioning processing and the control of a finishing machine closer and to improve both machining accuracy and machining speed by notifying a CPU unit of the state of a positioning control program of an MC unit via the interrupt processing and executing the prescribed interrupt processing via the CPU unit. SOLUTION: The instructions are successively decoded from a positioning control program and at the same time an interrupt request instruction is decoded while the servo control is carried out (404). Under such conditions, the interrupt request processing is executed (405, 406). At the same time, an interrupt request is given to a CPU unit immediately or in the timing that is designated by the interrupt request instruction. The CPU unit receives the interrupt request and executes a designated interrupt program. Thus, an MC unit cooperates with the CPU unit to quickly perform a work machining process, etc.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a positioning control unit, a CPU unit, and a programmable controller system including them, and more particularly to a positioning control unit and a CPU unit performing desired processing operations in cooperation with each other. Programmable
Related to the controller system.

[0002]

2. Description of the Related Art A CPU unit constituting a main body of a programmable controller and a positioning control unit for controlling a complicated positioning operation by using servo control are connected to each other via a system bus so that they can communicate with each other. Programmable controller that realizes complicated positioning control with high accuracy while linking
Systems are conventionally known.

The basic configuration of this type of positioning control unit is as follows: a program storage means for storing a positioning control program described in a predetermined language (BASIC language, G language, etc.), and an operation command read out from the program storage means And a servo control means for generating an operation output by a servo calculation using the positioning operation pattern generated by the program execution means as a target pattern. is there.

[0004] Such a programmable controller system can be applied to, for example, an operation in which a step of positioning a work on a cutting machine and a step of lowering the cutting machine to cut the work are repeated at a high speed. That is, in such a case, the operation of positioning the work on the cutting machine is performed by accurately controlling the positioning mechanism by the servo control using the positioning control unit. Is usually controlled by executing a normal sequence program on the CPU unit side.

FIG. 8 is a flow chart schematically showing how signals are exchanged between a CPU unit and a positioning control unit when such a cutting process of a workpiece is executed by a program controller system. ing.

As shown in FIG. 1, the CPU unit reads the states of various sensors and switches and the positioning unit at a substantially constant cycle while repeatedly executing the ladder program (step 802) (step 801). Then, based on the state of the positioning unit that has been read, whether the conditions for starting positioning have been satisfied (step 803), whether the previous positioning has been completed (step 805), or whether the cutting machine has descended (step 807) Make a decision.

Here, if it is determined that the conditions for starting the positioning are satisfied (step 803 YES), a positioning command is given to the positioning unit (step 8).
04). If it is determined that the previous positioning has been completed (YES in Step 805), a command to lower the cutting machine is given (Step 806). Further, if it is determined that the cutting machine has been lowered (step 807YE
S), a command to ascend is given to the cutter (step 808).

On the other hand, on the positioning control unit side, CP
Waiting for a positioning command from the U unit (step 811 YES), the positioning operation is started by executing a pre-programmed positioning control program (step 812), and waiting for the positioning operation to be completed. (Step 813 YES), the CPU unit is notified that the positioning has been completed (step 8).
14).

The "notification" mentioned here does not mean that the data to that effect is sent directly to the CPU unit at that time, but the data indicating that the positioning has been completed is stored in the memory of the positioning control unit. (Step 814).

[0010] Then, the data on the positioning control unit side is read by the CPU unit at a constant period determined by the execution time of the ladder program (step 801), whereby the predetermined positioning on the positioning control unit side is completed. Is first confirmed on the CPU unit side.

[0011]

However, in such a conventional programmable controller system, processing on the positioning control unit side (step 8).
Since the positioning completion data generated in step 14) is read in the processing on the CPU unit side (step 801), it is determined whether or not positioning has been completed on the positioning control unit side (step 80).
5) If the scale of the ladder program stored in the CPU unit increases and the so-called program round execution time increases, the signal transmission delay time from the positioning control unit to the CPU unit cannot be ignored. It has been pointed out that when the processing of cutting the workpiece by the cutting machine described above is repeated, the processing speed is hindered.

The present invention has been made in view of such a conventional problem.
For example, a programmable controller that controls the processing machine on the CPU unit while controlling the exact positioning of the workpiece on the positioning control unit, and can execute applications that control the desired processing operation in cooperation with each other at high speed. -To provide a controller system and a CPU unit and a positioning control unit suitable for the controller system.

[0013]

The invention described in claim 1 of the present application is one of high-performance units constituting a programmable controller system and stores a positioning control program described in a predetermined language. A program execution unit that generates a corresponding positioning operation pattern by reading and decoding an operation command from the program storage unit, and a servo that uses the positioning operation pattern generated by the program execution unit as a target pattern. And a servo control means for generating an operation output by calculation, wherein when an interrupt request command is read from the program storage means and decoded, an interrupt request signal is sent to the CPU according to the interrupt request command. Interrupts sent to the interrupt line connected to the unit In the positioning control unit, characterized in that a determined unit.

The invention according to claim 2 of the present application is characterized in that the interrupt request means sends interrupt program designation information to the system bus in addition to the interrupt request signal. In the control unit.

According to a third aspect of the present invention, there is provided a CPU constituting a programmable controller system.
A program storage unit for storing a regular user program such as a ladder diagram written in a predetermined language, a program execution unit for reading and decoding and executing a regular program from the program storage unit, and an external input / output device. Input / output data updating means for updating the input / output data between them, and interrupting the execution of the regular user program in response to the arrival of the interrupt request signal from the interrupt signal line, An interrupt receiving means for executing a predetermined interrupt user program is provided, and the interrupt receiving means is specified by program specification information coming from the positioning control unit among two or more prepared interrupt user programs. CPU user program for executing a user program for interruption Located in Tsu door.

According to a fourth aspect of the present invention, a positioning control unit and a CPU unit are connected to each other via a system bus, and the positioning control unit includes a positioning control written in a predetermined language. Program storage means for storing a program, program execution means for generating a corresponding positioning operation pattern by reading and decoding operation instructions from the program storage means, and a positioning operation pattern generated by the program execution means In addition to servo control means for generating an operation output by servo calculation as a pattern, when an interrupt request instruction is read from the program storage means and decoded, the interrupt is generated at the timing designated by the interrupt request instruction. An interrupt line connecting the request signal to the CPU unit The CPU unit has a program storage means for storing a regular user program such as a ladder diagram described in a predetermined language, and reads a regular program from the program storage means. In addition to a program executing means for executing decoding and an input / output data updating means for updating input / output data between external input / output devices, in response to an interrupt request signal coming from an interrupt signal line, 5. The programmable controller system according to claim 4, further comprising an interrupt receiving means for interrupting execution of the regular user program and executing a predetermined interrupt user program during the interruption.

According to a fifth aspect of the present invention, there is provided one of the high-performance units constituting the programmable controller system, wherein the program storage means stores a positioning control program described in a predetermined language, A program execution means for generating a corresponding positioning operation pattern by reading and decoding an operation command from the program storage means, and an operation output generated by a servo calculation using the positioning operation pattern generated by the program execution means as a target pattern Servo control means,
In the case where an interrupt request instruction is read out from the program storage means and decoded, the interrupt request signal is changed according to the interrupt request instruction.
The present invention is a recording medium for storing a program for implementing a positioning control unit, wherein an interrupt request means for transmitting an interrupt request to an interrupt line connected to a U unit is provided.

Here, the "recording medium" includes a semiconductor ROM for storing a system program built in the MC unit.
Is included.

According to the first, fourth and fifth aspects of the present invention, the completion of the predetermined positioning operation on the positioning control unit side can be immediately determined without waiting for a normal input / output update cycle. Can be communicated,
On the other hand, in response to this, the desired program can be immediately executed on the CPU side. Therefore, if the desired operation is programmed as an interrupting user program on the CPU unit side, the desired machining operation can be executed at high speed by close cooperation between the positioning control unit and the CPU unit.

According to the second and third aspects of the present invention, two or more interrupt user programs are stored in the CPU unit and selected and executed by the positioning control unit. This makes it possible to execute more complicated control at high speed while coordinating the positioning control unit and the CPU unit.

[0021]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below in detail with reference to FIGS.

FIG. 1 schematically shows the overall configuration of a programmable controller system to which the present invention is applied. As shown in FIG. 1, this type of programmable controller system 1 is configured by mounting various units having a bookcase-type housing via a connector on a rack on which a system bus is laid. In the figure, among these units, a positioning control unit (also referred to as an MC unit) 100 related to the present invention, a CPU unit 200 constituting a main body of a programmable controller, and a power supply unit 300
Are representatively shown.

The positioning control unit 100 is connected to four servo drivers 110a to 110d via cables, and servo motors 120a to 120d are connected to the servo drivers, respectively. Rotary encoders 130a to 130d are directly connected to the rotating shafts of the servo motors 120a to 120d, and a feedback pulse train is obtained from these rotary encoders 130a to 130d.

In the drawing, reference numeral 2 denotes a programming tool; 140, a manual pulse generator used when fine positioning is required, such as during teaching;
50 is CCW limit input, CW limit input, near origin input,
A dedicated terminal block 160 for inputting an instant stop input and the like, and 160 is a teaching box used for trial operation, debugging, teaching, and the like.

The electrical hardware configuration of the MC unit 100 and the CPU unit 200 is schematically shown in the block diagram of FIG. As shown in FIG.
The unit 100 is used as an MPU 100a for overall control of the entire unit, a flash memory 100b in which a positioning control program created by a user using a predetermined language (G language in this example) is stored, and a working area. RAM 100c, a counter 100d for counting a feedback pulse train, a D / A converter 100e for providing an analog operation output to the servo driver 110, and a ROM 100f for storing a system program dedicated to the unit.
And an interrupt request circuit 100g for performing an interrupt request process related to the present invention, and a CPU unit 200
Shared memory 10 for exchanging data with the
0h, which are provided by the MPU bus 100i.
Connected to each other.

On the other hand, in the CPU unit 200, an MPU 200a for totally controlling the entire unit and an RPU for storing a system program dedicated to the unit are provided.
An OM 200b, a PROM 200c for storing a user program such as a ladder diagram program, and a RAM 2 used as an input / output memory or a working area.
00d, an interrupt accepting circuit 200e for executing the interrupt accepting process according to the present invention, and a bus I / F circuit 200f for driving the system bus 3 are provided via the MPU bus 200. Connected to each other.

In addition, on a rack (not shown) on which various units are mounted, parallel interrupt lines 4 are provided along the system bus 3, and these interrupt lines 4 are provided in the MC unit 100. It is wired to connect the interrupt request circuit 100g and the interrupt receiving circuit 200e in the CPU unit 200. In the figure, 110 is a servo driver, 120 is a servo motor, 1
30 is an encoder.

The general structure of the system programs of the CPU unit and the MC unit is schematically shown in a general flowchart of FIG.

As shown in the figure, in the system program on the CPU unit side, after an initialization process immediately after power-on (step 301), an input refresh process (step 302), a program execution process (step 303), Output refresh processing (step 304) and system service processing (step 30)
Repeat step 5).

That is, the input refresh processing (step 3)
In 02), a process of writing input data taken from an input unit (not shown) and various data read from the MC unit to an input area or data area in the RAM 200d is executed.

In the program execution process (step 303), a user program such as a ladder diagram program is executed with reference to both the input / output area and various data areas in the RAM 200d, and R is executed based on the execution result.
The output area and data area of the AM 200d are rewritten.

Output refresh processing (step 304)
Then, a process of writing the contents of the output area, which has been rewritten in the above-described program execution process (step 303), to an output unit or an MC unit is executed.

System service processing (step 305)
Then, the units are linked with each other by updating data between other various units.

On the other hand, on the MC unit side, after an initialization process (step 311) immediately after the power is turned on,
While executing various processes, a program execution process is performed in the meantime to decode and execute the positioning control program (step 312).

Further, the system service processing (step 3)
In 13), data exchange and the like are performed in cooperation with the CPU unit.

The details of the program execution process (step 312) are shown in the flowchart of FIG.

When the process is started in the figure, on condition that the one-operation-command execution completion flag is set (step 401), the user issues the next command from the positioning control program created in G language. A reading process (step 402) and a process of decoding the instruction (step 403) are executed. Various instructions such as a linear interpolation instruction and a circular interpolation instruction are conventionally defined as instructions to be decoded, and these can be identified by a predetermined instruction code, a first modifier, a second modifier, and the like. Has been made.

In the present invention, an interrupt request instruction is newly defined in these instruction words. An example of the interrupt request instruction is shown in FIG. In this example, an interrupt request instruction is defined by adding another modifier to the existing linear interpolation instruction.

That is, in the figure, “G01X100 D10” described in program step N003
"0" is an interrupt request instruction. Among them, "G01
"X100" is a linear interpolation command, which is modified by the modifier "D1".
By adding “00”, it is possible to distinguish the instruction from the interrupt request instruction.

Returning to the flowchart of FIG. 4, as a result of the instruction decoding process (step 403), when it is determined that the instruction is the interrupt request instruction shown in FIG. 6 (step 404YE).
S), a process of sending an interrupt request signal to the CPU unit (step 405) and a process of sending an interrupt program number to the CPU unit (step 406) are sequentially executed.

When the process of sending an interrupt request signal to the CPU unit (step 405) is executed, the interrupt request circuit 100g in the MC unit 100 is driven to interrupt the interrupt line 4 in the block diagram of FIG. A request signal is sent. This interrupt request signal is sent to the interrupt receiving circuit 200 in the CPU unit 200.
e, an interrupt is issued to the MPU 200a.

At the same time, the MPU 1 in the MC unit 100
The corresponding interrupt program number information is sent from 00a, and this interrupt program number information is written to a predetermined area in the shared memory 100h. Then, CP
The MPU 200a in the U unit 200 responds to the signal from the interrupt accepting circuit 200e, suspends and saves all the processes being executed, and then returns to the bus I / F circuit 20.
0f via the shared memory 10 in the MC unit 100.
By accessing 0h, the interrupt program number information stored therein is retrieved. Thereafter, a desired control operation is realized by executing an interrupt user program designated by the interrupt program number among two or more interrupt programs prepared in advance. As will be described in detail later, for example, when controlling the work positioning operation in the MC unit 100 and controlling the lowering and raising operations of the cutter in the CPU unit 200, when cutting the work at high speed, By preparing several types of user programs for interrupts in the PROM 200c of the CPU unit 200 and reading out a program most suitable for cutting the work out of those programs and executing the program by interrupting, such a work cutting is performed. Processing can be executed at high speed.

Returning to the flowchart of FIG. 4, as a result of the command decoding process (step 403), if it is determined that the command is any operation command (step 407 YES), a positioning operation pattern specified by the operation command is generated. Is performed (step 408), and thereafter, the positioning operation pattern update flag setting processing (step 409) and the one operation instruction execution completion flag reset processing (step 410)
After that, the control is transferred to the servo control processing shown in FIG.

The details of the servo control processing are shown in the flowchart of FIG. This servo control process is executed, for example, every 2 m / sec by a timer interrupt. When the process is started in the figure, the process of acquiring the new positioning operation pattern generated in the previous step 408 (step 502), provided that the positioning operation pattern update flag is set (step 501SET). After a reset operation of the positioning operation pattern update flag (step 503), a servo operation including a series of processes (steps 504 to 507) is executed.

That is, first, the positioning operation pattern generated in step 408 is set as a target pattern,
An instantaneous value every m / sec is generated as a command value (step 504). Subsequently, a feedback value reading process is performed by reading the count value of the feedback pulse from the counter 100d shown in the block diagram of FIG. 2 (step 505). Subsequently, an operation output is generated by multiplying a deviation between the command value and the feedback value by a predetermined servo gain parameter (G) (step 506). Finally, the obtained operation output is D / A
The output is output to the converter, and the analog operation output is applied to the servo driver 100 (step 507). The above processing is repeatedly executed until it is determined in step 508 that execution of one operation instruction is completed (step 508 NO).

On the other hand, when it is determined that the execution of one operation instruction is completed (YES in step 508), a one operation instruction execution completion flag is set (step 509). When the one-operation-instruction execution completion flag is set in this manner, FIG.
Returning to the flowchart of FIG. 5, the reading process of the next instruction (step 402) and the instruction decoding process (step 40)
3) is restarted again.

As described above, according to this embodiment, FIG.
As shown in the flowchart of FIG. 7, while the servo control is realized while sequentially decoding the instructions from the positioning control program, if the interrupt request instruction is decoded during that time (step 404), the interrupt request processing is executed (step 404). Steps 405 and 406), immediately or at the timing specified by the interrupt request instruction.
Make an interrupt request to the U unit side, and send it to the CPU
When the unit side receives and executes the designated interrupt program, the MC unit 100 and the CPU
The unit 200 and the unit 200 cooperate with each other to realize rapid work processing and the like.

Next, assuming the above internal processing, the CP
The mutual operation when the U unit and the positioning control unit are observed from the outside will be described with reference to the flowchart of FIG.

On the CPU unit side, in the same manner as in the conventional example, while reading the state of various sensors / switches and the positioning unit (step 701) and executing the ladder program (step 702), the CPU unit reads the state in step 701. Whether the conditions for starting positioning are satisfied based on the state of the positioning unit (step 703)
In addition, the determination whether the cutter has been lowered (step 705) is repeated.

In this state, if it is determined that the state of the start of positioning has been completed (YES in step 703),
A positioning command is given to the positioning unit (step 704).

Then, on the side of the positioning control unit,
After confirming that a positioning command has been received from the CPU unit (YES in step 721), a positioning operation is started by executing a positioning operation program (step 722), and then, it waits for whether or not the positioning is completed (step 722). Step 723 NO). In this state, when the completion of the positioning operation is confirmed (step 723),
When the interrupt request command described above is executed (steps 405 and 406), an interrupt is applied to the CPU unit, and when the interrupt is accepted, the specified interrupt program is executed, and a descending command is issued to the cutter. Is provided (step 710).
Therefore, according to the present invention, a command to lower the cutting machine is given immediately after the positioning is completed by the positioning control unit (step 71).
0), speeding up of such processing is achieved.

[0052]

As is apparent from the above description of the embodiment, according to the present invention, the status of the positioning control program executed on the MC unit side is notified to the CPU unit side through interrupt processing. When the CPU unit executes the predetermined interrupt processing, the CPU unit executes the predetermined sequence program while controlling the work machine by executing the predetermined sequence program while performing the work positioning processing by the MC unit. , And the processing accuracy can be improved and the processing speed can be increased at the same time.

[Brief description of the drawings]

FIG. 1 is a system configuration diagram showing an overall configuration of a program controller system to which the present invention is applied.

FIG. 2 is a block diagram schematically showing an electrical hardware configuration inside an MC unit and a CPU unit.

FIG. 3 is a general flowchart schematically showing a configuration of a system program of a CPU unit and an MC unit.

FIG. 4 is a flowchart showing details of a program execution process.

FIG. 5 is a flowchart showing details of a servo control process.

FIG. 6 is an explanatory diagram showing a description example of an interrupt request instruction.

FIG. 7 is a flowchart showing data exchange between a CPU unit and a positioning control unit to which the present invention is applied.

FIG. 8 is a flowchart showing data exchange between a conventional CPU unit and a positioning control unit.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Programmable controller system 100 Positioning control unit (MC unit) 200 CPU unit 300 Power supply unit 110a-110d Servo driver 120a-120d Servo motor 130a-130d Rotary encoder 3 System bus 4 Interrupt line 100a MPU 100b Flash memory 110c RAM 110d Counter 110e D / A converter 110f ROM (recording medium) 110g Interrupt request circuit 200a MPU 200b ROM 200c PROM 200d RAM 200e Interrupt accepting circuit 200f Bus I / F circuit

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Junichi Ueno 10th Hanazono Todocho, Ukyo-ku, Kyoto, Kyoto Prefecture F-term (reference) 5H215 AA06 BB07 CC05 CC09 CX03 CX09 DD02 EE05 GG02 KK01 5H220 AA04 BB03 CC05 CC09 CX03 CX09 DD01 DD04 EE07 EE09 EE12 EE15 FF01 FF09 HH08 JJ12 JJ16 JJ26 JJ29 5H269 AB01 BB05 EE07 EE13 EE27 EE29 GG02 GG08 HH03 JJ02 JJ12 KK03 QB06 QB17 QC10 RB01 RB10

Claims (5)

[Claims] 1. A high-performance unit constituting a programmable controller system, comprising: a program storage means for storing a positioning control program described in a predetermined language; and an operation instruction read from the program storage means. Program execution means for generating a corresponding positioning operation pattern by decoding
Servo control means for generating an operation output by servo calculation using the positioning operation pattern generated by the program execution means as a target pattern, wherein an interrupt request instruction is read from the program storage means and decoded. An interrupt request means for transmitting an interrupt request signal to an interrupt line connected to the CPU unit in accordance with the interrupt request command. 2. The positioning control unit according to claim 1, wherein the interrupt request means sends interrupt program designation information to a system bus in addition to the interrupt request signal. 3. A CPU unit constituting a programmable controller system, comprising: a program storage means for storing a regular user program such as a ladder diagram described in a predetermined language; and a regular program read from the program storage means. A program executing means for performing decoding and an input / output data updating means for updating input / output data with an external input / output device, wherein the input / output data updating means responds to an interrupt request signal coming from an interrupt signal line. And interrupt interruption means for interrupting the execution of the regular user program and executing a predetermined interruption user program during the interruption, and the interruption acceptance means is provided in two or more interruption user programs prepared in advance. To specify the program designation information coming from the positioning control unit. CPU units and executes an interrupt for user programs. 4. A positioning control unit and a CPU unit mutually connected via a system bus, wherein the positioning control unit has a program storage means for storing a positioning control program described in a predetermined language; A program execution means for generating a corresponding positioning operation pattern by reading and decoding an operation command from a program storage means, and an operation output is generated by servo calculation using the positioning operation pattern generated by the program execution means as a target pattern. In addition to the servo control means, when an interrupt request instruction is read from the program storage means and decoded, an interrupt request signal is transmitted to an interrupt line connecting to the CPU unit at a timing designated by the interrupt request instruction. The interrupt request means to send And the CPU unit has a program storage means for storing a regular user program such as a ladder diagram described in a predetermined language; a program execution means for reading and decoding and executing the regular program from the program storage means; In addition to input / output data updating means for updating input / output data with external input / output devices, execution of the regular user program is interrupted in response to an interrupt request signal coming from an interrupt signal line. 5. The programmable controller system according to claim 4, further comprising: an interrupt receiving unit for executing a predetermined interrupt user program therebetween. 5. A program storage unit for storing a positioning control program described in a predetermined language, said program storage unit being one of high function units constituting a programmable controller system, and reading operation instructions from said program storage unit. Program execution means for generating a corresponding positioning operation pattern by decoding
Servo control means for generating an operation output by servo calculation using the positioning operation pattern generated by the program execution means as a target pattern, wherein an interrupt request instruction is read from the program storage means and decoded. Recording means for storing a program for implementing the positioning control unit, wherein an interrupt request means for sending an interrupt request signal to an interrupt line connected to the CPU unit in accordance with the interrupt request instruction is provided. Medium.