JP2003181900A - Controller and motion control unit - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To rapidly perform abnormality dealing-with processing in a controller equipped with a sequence control part and a motion control part. <P>SOLUTION: The controller is equipped with the sequence control part 11 and the motion control part (motion program) 12 and the sequence control part preliminarily indicates an abnormal time control mode performed with respect to the motion control part at the time of generation of abnormality. The motion control part is equipped with a control part 12b performing a control mode at a normal time and an abnormal time control part 12h performing the indicated abnormal time control mode. When an abnormality detection part 12f detects abnormality on the basis of the state of control target machinery obtained through an input part 12a, a control system changeover part 12g performs the changeover to the abnormal time control part 12h. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a controller and a motion control device.

[0002]

BACKGROUND OF THE INVENTION Conventional controllers include programmable controllers (PLCs) and software PLCs. The software PLC executes sequence processing such as a ladder program by software on a personal computer, and exists in both an interpreter and a compiler. In such software PLC, for example, when performing servo control (motion control) or the like, a dedicated NC board (a device for performing numerical control numerical control, here, an extension board for a personal computer will be described).
And install it on a personal computer on which the software PLC is installed. And software PLC
When operating, the servo board implemented as firmware on the NC board is appropriately executed for control.

A CPU for motion control
Is normally mounted on the NC board and is configured separately from the CPU that controls the sequence processing of the PLC main body.
The respective CPUs perform independent scan processing, communicate with each other as necessary, and cooperate with each other.

That is, the acquisition of an external trigger such as a sensor signal is temporarily acquired by the CPU that controls the sequence processing,
It is transmitted to the CPU for motion control. Thereby, the predetermined process based on the external trigger is executed on the motion control side. Also, the execution result is the CPU on the NC board.
Is transmitted from the CPU to the CPU which performs the sequence processing of the PLC main body.

Thus, since the sequence processing and the motion control (servo loop) operate separately,
Since the external trigger is taken in by IN refresh as cyclic processing in the PLC function, it is updated every scan time of the sequence processing. Then, motion control is performed based on the updated external trigger (IN data). At that time, the external trigger acquisition timing of the sequence processing may be delayed from the scan timing of the motion control, and if it is delayed, the motion control will be performed at the next external trigger acquisition timing. 2 + motion control scan time ”may occur, and the time from the occurrence of an external trigger to the switching of the control mode in the motion control unit cannot be shortened.

For this reason, for example, when an abnormality occurs, it is necessary to stop normal motion control and execute abnormality countermeasure processing such as servo lock and servo off to put a worker or a device in a safer state. In the system in which the occurrence is detected on the sequence processing side based on the sensor output and is transmitted to the motion unit side, the device is in a dangerous state due to the time consuming and command delay as described above.

Further, the abnormality handling processing needs to be changed depending on the progress of the sequence processing. As an example, for example, when closing a mold of an injection molding machine, if a pressure sensor detects entrapment of foreign matter, abnormal processing of a shaft controlling the mold is to release an abnormal pressure. Servo-off is used for this, but once the mold is closed and an abnormality of resin injection pressure over is detected in the resin injection process, as the abnormal processing of the axis controlling the mold, the servo is used to prevent resin leakage. Need to lock. Therefore, after performing the determination on the sequence control side and determining the abnormality handling processing to be executed, the motion control is executed based on the determined content, so that rapid processing cannot be performed.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a controller and a motion control device capable of rapidly performing abnormality handling processing in a controller having sequence control and motion control (servo control).

[0009]

A controller according to the present invention is a controller provided with a sequence control means and a motion control means, wherein the sequence control means executes an abnormal time when the abnormality occurs with respect to the motion control means. The motion control means has a function of designating a control mode in advance, the motion control means executes a normal control mode, an abnormal control means executes the designated abnormal control mode, and the sequence control means. Switching means for switching to the control by the abnormal time control means based on the abnormal information acquired without intervention.

Further, the switching means is provided with an abnormality detecting means for detecting an abnormality on the basis of the information acquired without passing through the sequence controlling means, and the switching means has the abnormality controlling means when the abnormality detecting means detects the abnormality. It is also possible to switch to control by.

The switching means corresponds to the control method switching units 12g and 32g in the embodiment. What is the abnormal control mode?
It specifies the contents of control such as servo-off and servo-lock.

According to the present invention, when an abnormality occurs, the abnormality can be detected by the motion control means without passing through the sequence control means, and when the abnormality is detected, the abnormality control means is switched to. And executes a preset abnormal time control mode. Therefore, it is possible to switch to the abnormality control mode due to the occurrence of an abnormality without going through the sequence processing, so that it can be performed quickly. Moreover, by setting the abnormal time control mode in advance, it is possible to execute the abnormal time control suitable for the current normal control mode.

Further, the sequence control means and the motion control means are constituted by independent application programs, and the sequence control means directly or indirectly gives a control command together with a control condition to the motion control means. Also, it may be configured by including a determination unit that acquires information held by the motion control unit and determines whether or not the control based on the given control command is completed.

Here, the instructing means is, in the embodiment,
The determination means corresponds to the "axis control transfer unit 11a", and the determination unit corresponds to the "axis control completion determination unit 11b" in the embodiment. Also,
The sequence control means uses the “sequence program 1
1 "and the servo control means is realized by the" motion program 12 ".

In this way, the motion control (servo control) and the sequence control are respectively configured by different programs, the servo control means is dedicated to the motion control (servo control), and the end determination etc. is performed by the sequence control means side ( Judgment means, etc.). The termination determination is completion determination of the transition condition to the next sequence, and is, for example, determination of positioning completion or whether the target pressure is reached. Since the determination is made on the side of the sequence control means in this way, complicated determination processing can be surely performed. In addition,
The control amount such as the current position and the state variables necessary for making the determination are acquired from the servo control means side. Since all the means are constructed by application programs, more precise control can be performed.

On the other hand, the motion control device according to the present invention is a motion control device for a controller, and a control means for performing normal motion control on a controlled object,
It is configured to include an abnormality control means for performing control at the time of abnormality, and a switching means for switching to the control by the abnormality control means based on the abnormality information acquired without passing through the sequence control means of the controller.

Further, control means for performing normal motion control on the controlled object, abnormal time control means for performing control at the time of abnormality, input means for directly acquiring the state of the controlled object, and the control acquired from the input means. It is also possible to include an abnormality determination unit that determines whether or not there is an abnormality based on the state of the target, and a switching unit that switches to control by the abnormality control unit when the abnormality determination unit determines an abnormality.

In each of the above inventions, the abnormal time control mode executed by the abnormal time control means may be designated by the sequence processing means of the controller.

Here, to directly obtain the state of the controlled object means to obtain without the sequence control. The motion control device is based on the IEC shown in FIG.
It may be realized by a program installed in a personal computer like a software servo consisting of the program described in 61131-3, or NC shown in FIG.
You may implement it on a board.

[0020]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT FIG. 1 shows a preferred embodiment of the present invention. In the present embodiment, motion control (servo control) that directly affects device performance and cost
Is realized by a software servo composed of a program described in IEC61131-3. That is, as shown in FIG. 1, a real-time OS (RTOS)
The user program 5 is installed on the software PLC engine (IEC6113-3 runtime) 3 incorporated in the FA computer 2 that operates on 1.

The user program (software servo platform) 5 comprises a function block (FB) implemented by IEC61131-3 and a program serving as a template.

The FA computer 2 is provided with external interfaces such as an I / O board 6a, a multi-function board 6b, an image board 6c, etc., and in relation to the present invention, a sensor 7'is provided on the I / O board 6a. Connected,
The controlled device 7 is connected to the multifunction board 6b. This multifunction board 6b
Is an AD board, DA board, pulse counter, DIO
It is composed of a board (see Fig. 2). in this way,
Multi-function board 6b with integrated input / output functions
By using, it becomes possible to connect with various controlled devices 7 with one board.

As shown in FIG. 2, as the user program 5, a sequence program (sequence control unit) 1
1 and the motion program 12 for controlling the servo loop are created as separate programs,
I tried to store it. Furthermore, in IEC61131-3, a task that executes a set of programs and function blocks can be created and multitask execution is possible, and an execution interval and priority can be specified for each task. Therefore, the sequence program 11 is set as a low-speed task having a low priority and a long execution interval (for example, 10 msec interval), and the motion program 12 is set as a high-speed task having a high priority and a short execution interval (for example, 1 msec interval). Set to.

Then, the sequence program 1
1 and the motion program 12 access the axis information storage unit (logicalized device) 13 and read / write data from / to a predetermined address so as to operate in cooperation with each other.

In this way, the sequence program 11
The motion program 12 is separated from the motion program 12, and the motion program 12 is devoted only to motion control, and sequence-like elements such as positioning completion determination are described on the sequence program 11 side. Further, the sequence control (sequence program 11) side directly acquires the information such as the current position for the end determination from the motion control (motion program 12) side.

That is, the control values such as the current position and the state variables required for the end determination are defined as global variables and stored in the axis information storage unit 13 described above. For the axis information storage unit 13, the sequence program 1
1 can be referred to at high speed from both the motion program 12 and the motion program 12, the state of the control target device 7 acquired by the motion program 12 is stored in the axis information storage unit 13, and the sequence program 11 is stored in the axis information storage unit 13. The end determination can be performed at high speed by referring to the related state by accessing.

As described above, since the end determination is implemented by software (the sequence program 11), the end determination can be appropriately performed even with a complicated end determination criterion. Moreover, since the end determination reference can be arbitrarily set by the user, the usability is improved.

Further, since the servo loop is implemented by software (motion program 12), the user can implement a unique compensator. In addition, IE
Since C61131-3 is adopted, it is possible to implement online editing, and it is not necessary to start the operation of the controlled device from the beginning each time the program is modified.
The field adjustment period of the servo algorithm can be shortened. Furthermore, since the languages and tools for sequence control and motion control are unified to IEC61131-3, the same person can implement both sequences and motions, which improves development efficiency. And IEC61131
Since -3 is an interpreter language, the compile time can be reduced or shortened.

By the way, the implementation of the servo operation (numerical operation) is poor in descriptiveness in a graphical language and rather hinders the understanding of the program. Therefore, the servo operation is structured text (ST) in the text language.
Described in, Function (FN) or Function
It is a program component that can be reused as an ion block (FB). And the framework of the control system is the FN
Block Block Dia using FB
It was made to describe by gram (FBD). By using the FBD, it is possible to perform straight mapping from the block diagram, which dramatically improves the understanding of the structure of the program.

Next, the above-mentioned structure (each program 11,
12, a more specific configuration of the axis information storage unit 13) will be described. As is well known, the number of axes that can be controlled by the NC board is various, such as 2 axes, 4 axes, and 8 axes. Then, normally, a program for directly issuing a command to each board is constructed. However, such a configuration makes it difficult to reuse the software when the board is changed. Therefore, in the present embodiment, each of the programs 11 and 12 defines each control target device 7 by an axis number, and the physical connection relation such as where on which board each axis number is actually connected is The axis information storage unit 13 is designed to absorb it.

That is, the correspondence information between the axis number and the physical address is stored in the axis information storage unit 13 as a table. Then, the software PLC engine 3 communicates with the control target device 7 corresponding to the axis number via the device driver (board driver) 8 to perform input / output processing.
That is, when the input information is acquired from the control target device 7, a process of writing data to a predetermined value of the axis number of the corresponding axis information storage unit 13 is performed, or a control command is issued according to the information stored in the axis information storage unit 13. Normal IN such as outputting
/ OUT refresh processing is performed. In this way, since it is not necessary to care about the physical connection relationship, the control axes can be easily logicalized and the influence of the software on the board change can be suppressed.

As an example of a concrete data structure of the axis information storage unit 13, as shown in FIG. 3, it has a table structure in which an axis number is associated with an item and a value of the item. Then, reading and writing are performed on the value column.

As shown in FIGS. 4 and 5, the sequence program 11 (sequence control unit) transfers the processing to the motion program 12 by the axis control transfer unit 11.
a and the axis control completion determination unit 11b that determines the completion of the axis control
And a normal control method instructing section 11c and an abnormal control method instructing section 11d for instructing the axis control transfer section 11a on the control method.
have. Both are function blocks (F
It is formed in B). The axis control transfer unit 11a has a configuration as shown in FIG. 6, and the function block is read from the sequence program, and the logical name (axis name) of the axis to be activated, the type of control system, and the operating state of the motor driver. Parameters such as a control method for specifying the target trajectory generation pattern, a control mode to be changed when an abnormality occurs in the servo loop (control method at abnormal time), and a target value required for servo calculation are given. Axis control transfer unit 11a
Stores the input parameters in a predetermined area (corresponding axis number & item value column) of the axis information storage unit 13.

On the other hand, the axis control completion determining unit 11b monitors the values of predetermined items in the axis control storage unit 13 to determine whether or not the set conditions are met. When the conditions are met, the completion notification is given. To the sequence program. As a result, the sequence program shifts to the next control as necessary (startup of the axis control transfer unit 11a, etc.).

The normal-time control method instructing section 11c sets information on a control method (pattern) for performing a normal operation. Further, the abnormal-time control system instruction unit 11d sets the control operation (servo lock, servo-off, etc.) at the time of an abnormal condition. Each setting is stored in the axis information storage unit 13 via the axis control transfer unit 11a.

The motion program 12 acquires the sensor information and the like and stores it in the axis information storage unit 13 as an input unit 1.
2a, a control unit 12b that executes control of the servo loop according to the information stored in the axis information storage unit 13, and an output unit 12c that outputs a command value to the external controlled device 7.

Further, in the present embodiment, the system operation in the normal state is appropriately switched among a plurality of types of control methods, for example, “speed control” → “pressure control” → “speed control”. A control unit 12b is formed for each control. The control unit 12b used for actual control is selected from the plurality of control units 12b by the "control method" written in the axis information storage unit 13 by the axis control transfer unit 11a.
Determined by

That is, the output of each control unit 12b is connected to the changeover switch 12e, and is supplied to the axis information storage unit 13 via this changeover switch 12e. Then, the changeover switch 12e is switching-controlled based on the control signal of the control method switching unit 12g. Specifically, since the type of the current control method stored in the axis information storage unit 13 is given to the control method switching unit 12g, one control unit 12b corresponding to it is selectively selected. Issue a control command to.

Further, according to the present invention, plural kinds of abnormal time control units 12h for motion control at the time of abnormal condition are provided.
In the illustrated example, two types are prepared for the servo-off purpose servo lock, but the present invention is not limited to this. further,
An abnormality detection unit 12f that receives information from the input unit 12a and determines whether or not there is an abnormality is provided, and an abnormality detection signal output from the abnormality detection unit 12f is provided to the control method switching unit 12g.

Upon receipt of this abnormality detection signal, the control method switching unit 12g gives the changeover switch 12e a control signal for selecting the desired abnormal time control unit 12h. As a result, during normal operation, according to the current control method set in the axis information storage unit 13, the corresponding control unit 12
b is selected, control is executed, and when an abnormality occurs, the abnormality detection unit 12f detects it and switches the changeover switch 12e via the control method switching unit 12g to switch to the desired control by the abnormal time control unit 12h. Since the detection of such an abnormality and the switching of the control method associated therewith are executed by the motion program 12 side, it is possible to quickly respond.

Next, the processing section of the motion program 12 that performs a normal operation will be described in more detail.
As shown in FIGS. 4 and 5, a plurality of types of control units 12b are prepared for speed control, pressure control, and the like. Then, in the control unit 12b, software such as interpolation processing between axes which is conventionally processed on the NC board side is executed. Further, when the servo loop is implemented by software, the sequence elements such as the compensator 21, the target trajectory generator 22 and the filter 23 are separated and hierarchized. This allows software to be capitalized. That is, the servo loop is implemented by software, and the inter-axis interpolation function prepared by the NC board is not used.

FIG. 5 shows an example of the internal structure of the control unit 12b for speed control, but the control unit 12 for pressure control is shown.
An example of the internal structure of b is shown in FIG. In the control unit 12b for pressure control, the PID is used as the compensator 21.
Although it is used as a compensator, other structures may be used.

The target trajectory generator 22 includes an axis information storage unit 13
The pattern (for example, S-shaped curve) and the elapsed time are received, and the trajectory is generated by obtaining the current position on the pattern according to the elapsed time. In particular,
For example, a configuration as shown in FIG. 8 can be adopted. The illustrated example is an example of a function (FN) for generating a target trajectory by a quintic function, which is described by ST.

The control amount, which is the measured value of the control target of the control target device, is given to the filter 23. This controlled variable is a speed in the case of speed control, and a pressure measurement value in the case of pressure control. As a specific value, since the measurement value acquired via the input unit 12a is stored in the axis information storage unit 13, the value is read and given to the filter 23. In this embodiment, since encoder information is given from the input unit 12a, the speed conversion unit 12d is provided, and the encoder information stored in the axis information storage unit 13 is given to the speed conversion unit 12d, where the unit is set. The speed is calculated from the increase amount of encoder information per time, and the obtained speed value is used as a control amount to filter (digital filter) 2
I am trying to give it to 3. Of course, when the velocity information can be directly obtained, the velocity (measured value) may be given to the filter 23 as in the case of pressure.

Further, the compensator 21 is supplied with the parameters stored in the axis information storage unit 13, the output of the target trajectory generator 22 and the output of the filter 23. Therefore, the current control amount and the trajectory (target value) given from the target trajectory generator 22 are compared, the operation amount (command value) for reaching the target is calculated, and stored in a predetermined area of the axis information storage unit 13. .

The control unit 1 for controlling the pressure shown in FIG.
Since the compensator 21 in 2b performs PID control, the parameters given to the compensator 21 are a proportional constant, an integral constant, and a differential constant. The specific configuration of the compensator 21 is as shown in FIG. 9, for example.

As described above, since the compensator 21 writes the obtained command value in the axis information storage unit 13, the output unit 12
c is, for example, the axis information storage unit 1 in which the command value is stored.
3 is accessed at predetermined intervals, and the command value stored therein is given to the control target device 7, whereby the motion control is executed.

Further, as shown in FIG. 7, an EQ 26 is provided in the control section 12b for controlling pressure. This EQ
26 includes a sequence control unit 11 (axis control transfer unit 11
The control method to be executed at present which is written in a) in the axis information storage unit 13 is given, and an integer constant (iPressure in the illustrated example) is given in advance. As shown in FIG. 4, in the present embodiment, a plurality of control units 12b are arranged in parallel, and the control method is input to the EQ 26 of each control unit.

Then, each EQ 26 checks whether or not the given control method is a command for itself, and if it is a command for itself, activates the target activation generator 22 and executes calculation of target activation generation. That is, if there is an input that matches the integer constant given to the EQ 26, it is determined to be a command for itself, the EQ 26 becomes true, and the target machine activation generator 22 is activated. As an example, when the control method is “iPressure”, the EQ 26 of the control unit 12b that performs pressure control becomes true. Although not shown in FIG. 4, the EQ 26 is also provided in the control unit 12b for speed control.
Exists, for example, as an integer constant, "iVeloci
ty ”is given. Then, as the control method, "iV
When “elocity” is input, it becomes true.

Of course, the target activation generator 22 is not activated if the given control scheme is not self-addressed. Therefore, one control unit 1 specified by the control method
2b operates and is interlocked so that a plurality of control methods and abnormal processing are not activated at the same time.

As described above, since the servo calculation (motion control) is implemented by software and the target trajectory generator 22 can be described by the user himself, for example, by describing a function in the target trajectory generator 22, It is possible to generate a smooth target trajectory for each control cycle.

Since the control amount information acquired by the input unit 12a is stored in the axis information storage unit 13 as described above, the axis control completion determining unit 11b uses the control amount information and the target value and the like. It is determined whether or not the target has been reached, and if completed, the sequence control unit 11 is notified. In response to this, the sequence control unit 11 terminates the current control or switches the control method. The switching of the control method is performed by the axis control transfer unit 11a registering in the control method column of the axis information storage unit 13.

Using the above-described embodiment, for example, when performing control in a resin molding device, the following is performed. That is, as is well known, when the piston (cylinder) for injecting the resin into the mold is moved forward, speed control is first performed to move it to a certain position as shown in FIG. Then, when it moves to a predetermined position, even if it is urged forward, it stops without further advance, but the pressure increases. Therefore, at this time, the control shifts to pressure control, and the pressure filled in the mold (reaction force received by the piston)
Is gradually increased and controlled so as to lead to the target pressure.

Then, by applying a desired pressure for a certain period of time, a resin product having a desired shape is completed. Therefore, the piston is moved backward in the opposite direction to take out the resin product in the mold and prepare for the next manufacturing process. I do. During this backward movement, speed control is performed.

As described above, the control in resin molding includes different types of control such as speed control → pressure control → speed control. Then, the completion of the first speed control is judged, for example, based on the position information (encoder information) on the condition that the predetermined position has been reached, or on the condition that the pressure has reached the predetermined switching pressure together with the position. be able to. Further, the completion of the pressure control can be judged, for example, on the condition that a predetermined time has elapsed after the pressure reached the target pressure. The axis control completion determination unit 11b makes such determination of completion.

When the pressure exceeds the control system switching pressure and the speed control is switched to the pressure control, and a step response is suddenly made to the target pressure, an overshoot or the like occurs, but in the present embodiment, the target trajectory generator is used. Since 22 is generated by software, it is possible to generate a smooth pressure target trajectory with a quadratic function from the current pressure to the target pressure (see FIG. 10). In this way, since the target trajectory is smooth, it is possible to suppress the occurrence of burrs and voids without causing ringing of the pressure waveform.

Furthermore, if step response is made, the convergence time until convergence of the overshoot and pressure will vary, so the quality of the product will also vary, but as in the present embodiment, the control amount follows a smooth target trajectory. By doing so, the reproducibility of the pressure waveform is enhanced, and burrs and voids do not occur, and the quality is stable. Further, in the present embodiment, since the sequence control and the motion control (servo control) are constructed by a program that operates independently, the control can be performed with high accuracy.

Next, the function of the processing unit, which is an essential part of the present invention and operates when an abnormality occurs, will be described according to a specific operation.
First, the operation of the conventional method in the above-mentioned injection molding will be described. Conventionally, the controller side of the sequence processing detects an abnormality based on sensor input, etc., and accordingly outputs an operation command at the time of abnormality to the motion control unit. Was there. Therefore, for example, as shown in FIG.
If a foreign object is sandwiched at the time t1 when the injection molding die is closed, the position of the pressure rod (piston) cannot be further advanced, but the position does not change. It is assumed that such an abnormality has occurred.

In this case, when the pressure measured by the pressure sensor actually exceeds the target pressure (t2), the CPU on the sequence side detects it and issues a servo-off command to the MC unit for motion control (t3). However, since the scan time on the sequence side is as slow as 20 msec, there is a delay of about 40 msec before the actual command is issued. As a result, the clamping pressure of the mold rises sharply, which may damage the mold.

On the other hand, in this embodiment, since the abnormality detecting unit 12f is provided, when the abnormality is detected according to the sensor input from the input unit 12a, the control system switching unit 12g is immediately activated.
Thus, the changeover switch 12e is changed over to operate the servo-off abnormality control unit 12h. Therefore, as shown in FIG. 12, the target pressure is exceeded (t2) even when an abnormality occurs such that the foreign matter is caught at the time t1 when the injection molding die is closed and the pressure sharply rises. Is detected by the motion program 12 side, and the control is switched to the servo-off abnormality control unit 12h. Along with this, the control of the control mode (servo off) for the abnormality processing designated in advance is executed, the pressure rod moves backward, and the pressure is released. Therefore, it is possible to suppress an excessive increase in the pressure of the mold and suppress damage to the mold. Further, in the present embodiment, the servo task is 1 msec. Therefore, the switching to the abnormal time control unit 12h can be promptly dealt with with a time lag of 1 msec from the abnormality detection.

In the above example, the servo is turned off in the abnormal condition control due to the abnormal condition when closing the mold. However, for example, when the abnormal condition occurs during the pressure control, the mold is closed. Since it may be preferable to set it, the abnormal time control unit 12h for servo lock is selected.
Then, when an abnormality occurs during normal (normal) control execution, which abnormality time control unit is to be operated is stored in advance in the axis information storage unit 13 via the axis control transfer unit 11a. The method switching unit 12g can acquire such information and can quickly switch to the desired abnormal time control unit 12h when the abnormality detection signal is received.

The internal structure of the abnormal time control unit 12h is as follows.
Basically, like the control unit 12b for normal operation, it is composed of a compensator 21, a target trajectory generator 22, etc., so that the controlled object follows the target trajectory generated by the target trajectory generator 22. A command value for operation is output from the compensator 21. Since the abnormal time control unit 12h can also be configured by a program, the target trajectory can be appropriately generated using various functions and the like, and smooth and quick abnormal time control can be performed.

Then, the functions of the sequence program (sequence control unit) 11 executed by the low-speed task and the motion program 12 executed by the high-speed task focusing on the execution of the above-described normal time and abnormal time processing are described. An example is shown in FIGS. 13 and 14. First, on the low-speed task side, as shown in FIG. 13, the process proceeds to the next processing sequence (the first processing sequence at the start) (ST
1), information for executing the processing sequence is stored in the axis information storage unit 13 (ST2). That is, the normal control method (control mode) to be executed this time, its operating condition, and the abnormal control mode are set. This process
The axis control transfer unit 11a stores the information given from the normal time control system instruction unit 11c and the abnormal time control system instruction unit 11d in the axis information storage unit 13.

The sequence control section 11 monitors whether or not an abnormality has occurred and whether or not the control has been completed in a normal state during execution of the normal control this time (ST3, ST4). Specifically, the presence / absence of an abnormality can be detected by, for example, monitoring an input from a predetermined sensor.
It is similar to the abnormality detection algorithm in. In addition, the axis control completion determining unit 11 determines whether or not the control is normally completed.
b does.

Then, if the normal control is completed,
The process returns to step 1 to shift to the next processing sequence. If an abnormality is detected, the process jumps to step 5 to execute the abnormality processing sequence. That is, for example, the abnormality processing (M) performed on the conventional sequence processing (PLC) side such as turning on an abnormality lamp or sounding an alarm buzzer is performed.
(Except the command generation to the C unit side).

On the other hand, on the motion program 12 side, as shown in FIG. 14, the axis information is acquired from the input section (input variable) 12a, logicalized and substituted (stored) in a predetermined storage area of the axis information storage section 13. (ST11). Then, the normal control method and the abnormal control method for the control performed this time are acquired from the axis information storage unit 13, and the normal control is executed (ST12 to ST14).

Then, it is judged whether or not there is an abnormality (ST1
5) If there is no abnormality, the operation amount (command value) stored in the axis information storage unit 13 is given to the output unit (output variable) 12c of the corresponding axis (ST17). Then step 1
Returning to 1, the above processing is repeated.

On the other hand, if an abnormality is detected, the result in step 15 is Yes, so the process jumps to step 16 to execute the control at the time of abnormality acquired in step 13. in this way,
Motion control can switch from normal control to abnormal control.

In the above-described embodiment, the sequence control and the motion control are separated, and each is controlled by IEC6113.
Although an example of application to a controller realized by software of the software servo platform implemented in 1-3 has been shown, the present invention is not limited to this, and can be applied to a conventional motion controller. That is, as shown in FIG. 15, the sequence control is described by the software PLC 31 operating on the PC / AT, and the motion control is performed by the software PLC 31.
It is executed by the motion board 33 mounted on the personal computer in which is installed. As in the above-described embodiment, the sequence program is executed as a periodic task of 10 msec, and the motion board 32 is 1 ms.
It is executed in the control cycle of ec.

The sequence program includes a normal-time control method instructing section 31c for instructing a normal control method, an abnormal-time control method instructing section 31d for instructing an abnormal control method,
An axis control transfer unit 31a that receives an instruction from each of the instruction units 31c and 31d, and specifies a normal control mode, an abnormal control mode, and a target value to the motion board 32 via the I / O port 33, An axis control completion determination unit 31b that determines whether or not the control method currently being executed is completed is provided. The function of each processing unit is basically the same as that of the embodiment shown in FIG.

The specific processing function of this sequence program is as shown in the flowchart of FIG. That is, the process proceeds to the next processing sequence (the first processing sequence at the time of starting) (ST21), and the information for executing the processing sequence is transferred to the I / O port 33.
To the motion board 32 via (ST2
2). That is, the normal control method (control mode) to be executed this time, its operating condition, and the abnormal control mode are set. In this processing, the axis control transfer unit 31a uses the normal time control system instruction unit 31c and the abnormal time control system instruction unit 31.
It is executed according to the information given from d.

Next, the software PLC (sequence control unit) 31 monitors whether or not an abnormality has occurred and whether or not control has been completed in a normal state during execution of the normal control this time (ST).
23, ST24). Specifically, the presence / absence of an abnormality can be determined by, for example, monitoring an input from a predetermined sensor, which is similar to the abnormality detection algorithm in the conventional PLC. In addition, the axis control completion determination unit 11b determines whether or not the control is normally completed.

Then, if the normal control is completed,
The process returns to step 21 and shifts to the next processing sequence.
If an abnormality is detected, the process jumps to step 25 to execute the abnormality processing sequence. That is, for example, the abnormality processing (excluding the command generation to the MC unit side) which is performed on the conventional sequence processing (PLC) side such as turning on an abnormality lamp or sounding an alarm buzzer is executed.

On the other hand, the motion board 32 is provided with a plurality of control sections 32b for executing normal control and an abnormal control section 32h for executing abnormal control. And
The outputs of the respective control units 32b and 32h are connected to the changeover switch 32e, and the output (command value) that is alternatively selected by the changeover switch 32e is output to the output unit 32c.
And a control unit 32b for a desired control target device.
Alternatively, the command value determined by the abnormal time control unit 32h is output.

The changeover of the changeover switch 32e is performed by
It is executed according to the control command of the control method switching unit 32g.
Since the control method switching unit 32g receives the current normal time control method and abnormal current time control method from the software PLC 31 via the I / O port 33, normally, the control corresponding to the received normal time control method is performed. The changeover switch 32e is operated so as to select the portion 32b. Further, when the abnormality detection unit 32f outputs an abnormality detection signal according to the input from the input unit 32a, the changeover switch 32e is operated to select the abnormal time control unit 32h for executing the set abnormal time control method. Let

The axis information (measurement value) for actual control may be acquired via the input unit 32a, or may be acquired from the software PLC 31 side via the I / O port 33. You can

The processing on the motion board 32 side is as shown in the flowchart of FIG. That is, the software PLC 3 via the I / O port 33
From 1 (sequence control unit), a normal control method and an abnormal control method for the control performed this time are acquired (ST3).
1, ST32).

Next, the axis information is obtained from the input section 32a (ST33), and it is determined whether or not there is an abnormality (ST34).
When there is no abnormality, the control unit 32b defined by the acquired normal control method is operated to execute normal control (ST35). If there is an abnormality, the abnormality control unit 32h defined by the acquired abnormality control method is operated to execute the abnormality control (ST36). Then, the processing from step 33 is repeatedly executed until the trajectory control of this time is terminated, and when the trajectory control is terminated (Yes in step 37), the process returns to step 31 to proceed to the execution of the next control method.

With the above configuration, the input unit 32a
When an abnormal signal is detected from an external input acquired via the device or an internal abnormality is detected, the control mode is immediately switched to a control mode at the time of abnormality designated in advance. Therefore, the scan time of the sequence program (for example, 10 msec)
Since it is possible to deal with an abnormality with a faster scan time (for example, 1 msec) of the motion board, it is possible to guide the apparatus and the operator to a safer state.

[0080]

As described above, according to the present invention, the motion control device (means) detects an abnormality and switches to the abnormal time control means to execute the abnormal time control mode designated in advance. Such switching can be performed quickly.
That is, the abnormality handling process can be performed quickly.

[Brief description of drawings]

FIG. 1 is a diagram showing a preferred embodiment of a controller according to the present invention.

FIG. 2 is a diagram showing a preferred embodiment of a controller according to the present invention.

FIG. 3 is a diagram showing an example of a data structure of an axis information storage unit.

FIG. 4 is a software configuration diagram showing a preferred embodiment of a controller according to the present invention.

FIG. 5 is a software configuration diagram showing details of processing blocks for executing a control mode in a normal state.

FIG. 6 is a diagram showing an example of a structure of an axis control transfer unit.

FIG. 7 is a diagram showing an example of a structure of a control unit.

FIG. 8 is a diagram showing an example of a specific example of a trajectory generation unit.

FIG. 9 is a diagram illustrating an example of a specific example of a compensation unit.

FIG. 10 is a diagram showing an example of speed / pressure control switching performed using the controller of the present embodiment.

FIG. 11 is a diagram illustrating a conventional problem.

FIG. 12 is a diagram illustrating an effect of the present invention.

FIG. 13 is a flowchart showing the function of a sequence program (sequence control unit).

FIG. 14 is a flowchart showing functions of a motion control program.

FIG. 15 is a software configuration diagram showing another embodiment of the present invention.

FIG. 16 is a flowchart showing functions of a software PLC (sequence control unit).

FIG. 17 is a flowchart showing functions of the motion board.

[Explanation of symbols]

1 Real-time OS 2 FA computer 3 Software PLC engine 5 User program 6a I / O board 6b multifunction board 6c image board 7 controlled devices 7'sensor 8 Device driver 11 Sequence program (sequence controller) 11a Axis control transfer unit 11b Axis control completion determination unit 11c Normal-time control system instruction section 11d Abnormal control method indicator 12 Motion programs 12a input section 12b control unit 12c output section 12d speed converter 12e Changeover switch 12f Abnormality detection part 12g Control system switching unit 12h Abnormal control section 13 Axis information storage unit (logical device) 21 Compensator 22 Target trajectory generator 23 Filter 31 Software PLC (Sequence controller) 31a Axis control transfer section 31b Axis control completion determination unit 31c Normal-time control system instruction section 31d Abnormal control system instruction section 32 motion board 32a input section 32b control unit 32c output section 32e changeover switch 32f Abnormality detector 32g Control system switching unit 32h Abnormal control section 33 I / O ports

Claims (6)

[Claims] 1. A controller comprising a sequence control means and a motion control means, wherein the sequence control means has a function of previously designating an abnormal time control mode to be executed when an abnormality occurs to the motion control means. The motion control means includes a control means for executing a normal-time control mode, an abnormal-time control means for executing the designated abnormal-time control mode, and abnormality information acquired without going through the sequence control means. A controller provided with switching means for switching to control by the abnormal time control means based on the above. 2. An abnormality detection means for detecting an abnormality based on information acquired without passing through the sequence control means, wherein the switching means has the abnormality control means when the abnormality detection means detects an abnormality. 2. The controller according to claim 1, wherein the controller is switched to the control by. 3. The sequence control means and the motion control means are constituted by independent application programs, and the sequence control means directly or indirectly gives a control command together with a control condition to the motion control means. 3. The controller according to claim 1, further comprising: a determination unit that acquires information held by the motion control unit and determines whether or not the control based on the given control command is completed. 4. A motion control device for a controller, comprising: a control means for performing normal motion control on an object to be controlled; an abnormal time control means for controlling an abnormal condition; and a sequence control means of the controller. A motion control device comprising: switching means for switching to control by the abnormal time control means based on the abnormal information acquired without any means. 5. A motion control device for a controller, which comprises a control means for performing normal motion control on a control target, an abnormal time control means for controlling an abnormal condition, and an input means for directly acquiring the state of the control target. And an abnormality determining means for determining the presence or absence of an abnormality based on the state of the control target acquired from the input means, and a switching means for switching to the control by the abnormality control means when the abnormality determining means determines an abnormality. A motion control device comprising: 6. The motion control apparatus according to claim 4, wherein the abnormal time control mode executed by the abnormal time control means is designated by the sequence processing means of the controller.