JP2005157666A - Safety controller and system using the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a safety controller with which the number of wirings is reduced and a system can easily be constructed and to provide the system using the controller. <P>SOLUTION: The safety controller is provided with first and second CPUs 17 and 18 as control parts controlling safe output to an object of safe output control such as a magnet contactor based on safe input from an input device such as a safety door switch and setting of a setting part, and semiconductor output is given as safe output. A sliding switch as the setting part is arranged in a position hidden by a DIN rail. A setting content is prevented from easily being changed after the safety controller is fitted to the DIN rail. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a safety controller and a system using the safety controller, and more particularly to a safety controller suitable for a safety circuit of machine equipment such as a machine tool and an industrial robot, and a system using the safety controller.

  Conventionally, for example, in order to ensure occupational safety at a production site, a safety circuit using a relay unit incorporating a plurality of electromagnetic relays, that is, a machine tool, an industrial robot, etc. only when safety is ensured A safety circuit that supplies power to the power of mechanical equipment has been constructed (see, for example, Patent Document 1).

Such a relay unit monitors the state of the safety circuit based on the input signals from safety switches such as emergency stop switches and safety area sensors such as safety door switches. As long as it is shut off and the cause of the failure is not removed, it has a function of not restarting the mechanical equipment.
JP 2003-140702 A

  In a system using a relay unit incorporating such an electromagnetic relay, a safety circuit is constructed by a relay sequence. Therefore, logic is assembled by wiring, and as the number of machine tools to be controlled increases, the number of wiring increases. It becomes complicated and the design is not easy.

  The present invention has been made paying attention to such points, and an object of the present invention is to provide a safety controller that reduces the number of wires and that can easily construct a system, and a system using the safety controller.

  In order to achieve the above object, the present invention is configured as follows.

  That is, the safety controller of the present invention is a safety controller that controls the operation of a mechanical facility by giving a safety output to a safety output control target based on an input from an input device, and provides a semiconductor output as the safety output. An output unit; a setting unit to be set; and a control unit that controls the safety output according to a program based on the input from the input device and the setting of the setting unit. It is provided so that the setting operation cannot be performed when the controller is attached to a required location.

  Here, the input device refers to a device that gives an input to the safety controller, such as an emergency stop switch, a safety door switch, a safety limit switch, and a safety light curtain.

  The safety output control target refers to a target controlled by a safety output that is an output of the safety controller, for example, a magnet contactor, a motor controller, a variable motor, a PLC, or the like.

  Mechanical equipment refers to various machine tools, industrial robots, and the like.

  Also, controlling the operation of the mechanical equipment means starting / stopping control of the mechanical equipment, operation speed control, and the like.

  The setting unit refers to one that is operated to set various functions and the like, and is preferably composed of various switches such as a rotary switch and a slide switch, a volume, and the like.

  The state where the safety controller is attached to a required place refers to a state where the safety controller is attached to, for example, a support rail or a control panel.

  The setting operation cannot be performed, for example, in a state where it is attached to a required place, or in a state where it cannot be seen from the outside, or in a state where it is attached to a required place such as a control panel, an external setting operation is performed by a control panel or the like. It means that it is provided at a position to prevent.

  According to the present invention, since the safety output unit that provides the safety output that is a semiconductor output to the safety output control target and the control unit that controls the safety output according to the program are provided, the conventional relay unit including the electromagnetic relay is provided. Thus, it is not necessary to build a safety circuit with a relay sequence, the number of wires can be reduced, and software can be used even when the manufacturer wants to change a part of the system according to the user's request. It will be possible to easily cope with this change.

  Moreover, the setting unit for setting various functions can set the required function by operating the setting unit, while the safety controller is attached to a required place such as a support rail or a control panel. Because the setting operation of the setting unit cannot be performed, the setting contents are not inadvertently changed or erroneously operated after the setting is completed.

  The safety controller of the present invention is a safety controller that controls the operation of a mechanical facility by giving a safety output to a safety output control target based on an input from an input device, and is a safety controller that gives a semiconductor output as the safety output. An output unit; a setting unit to be set; and a control unit that controls the safety output according to a program based on the input from the input device and the setting of the setting unit. It is provided so that a setting operation can be performed from the back side of the case as a mounting surface of the controller.

  According to the present invention, since the safety output unit that provides the safety output that is a semiconductor output to the safety output control target and the control unit that controls the safety output according to the program are provided, the conventional relay unit including the electromagnetic relay is provided. Thus, it is not necessary to build a safety circuit with a relay sequence, the number of wires can be reduced, and software can be used even when the manufacturer wants to change a part of the system according to the user's request. It will be possible to easily cope with this change.

  In addition, since the setting unit for setting various functions can be operated from the rear side, which is the mounting surface of the safety controller, before the safety controller is mounted, the setting unit is operated to perform a required function. On the other hand, after the safety controller is mounted on the support rail or control panel, it is difficult to view and operate the setting unit from the back, which is the mounting surface. Therefore, it is possible to prevent the setting contents from being inadvertently changed or erroneously operated.

  In one embodiment of the present invention, an opening is formed in the back surface of the case, which is a mounting surface of the safety controller, and the setting portion faces the outside through the opening so that a setting operation can be performed.

  According to this embodiment, before the safety controller is mounted, the required function can be set by operating the setting unit through the opening formed on the back surface of the case, while the safety controller is mounted on the support rail. After being attached to a control panel or the like, it becomes difficult to visually observe and operate the setting unit from the opening on the back as an attachment surface, and it is possible to avoid inadvertently changing the setting contents or operating the setting part.

  In a preferred embodiment of the present invention, the rear surface has a rail groove for attaching the safety controller to a support rail, and the opening is formed in the rail groove.

  According to this embodiment, since the opening for operating the setting unit is formed in the rail groove portion for attaching the safety controller to the support rail, the setting is finished and the safety controller is attached to the support rail. After that, the opening is blocked by the support rail, so that the setting unit cannot be operated, and the setting contents are not changed carelessly or erroneously operated.

  In another embodiment of the present invention, the setting portion is mounted on an end portion of one circuit board of two circuit boards disposed opposite to each other in the case, and is located on the back side of the setting portion, A flat cable for connecting the two circuit boards is disposed in the vicinity thereof.

  According to this embodiment, there is a flat cable that connects between the two circuit boards arranged opposite to each other at a position behind the setting portion that can be operated from the opening formed on the back surface of the case. Since the opening is disposed, the opening is substantially blocked by the setting portion mounted on the end portion of the circuit board and the flat cable in the vicinity of the setting portion. Intrusion can be effectively prevented.

  In still another embodiment of the present invention, the setting unit includes a first setting unit capable of setting at least some setting items of the setting items in the setting unit, and the same as the first setting unit A second setting unit capable of setting a setting item, and the control unit includes two first and second CPUs, and a setting output from each of the first and second setting units is The first and second CPUs are individually provided, and the CPUs compare the setting outputs with each other.

  According to this embodiment, since it is duplicated by the first and second setting units and the first and second CPUs, for example, one setting unit has failed and the setting content intended by the user has not been achieved. In such a case, the setting contents of both setting units are different, so that the CPU can detect them, and in such a case, the operation of the mechanical equipment can be prohibited to ensure safety. .

  In a preferred embodiment of the present invention, the second setting section is provided so as to be visible with the safety controller attached to a required location.

  According to this embodiment, since the setting state of the second setting unit is visible from the outside, the setting content of the second setting unit can be easily confirmed.

  In one embodiment of the present invention, it comprises a connection output unit that gives a semiconductor output as an output for connection to another safety controller, the control unit based on the input from the input device and the setting of the setting unit, The safety output and the connection output are controlled according to a program.

  Here, the connection output refers to an output used for connection between the safety controller and another safety controller.

  According to this embodiment, another safety controller can be easily associated with the safety controller using the connection output. For example, in a production line configured by arranging a plurality of machine tools in each work area, A machine tool in a certain work area can easily cope with the case where it is desired to control start / stop in association with a machine tool in an adjacent work area, and expandability is improved.

  In another embodiment of the present invention, a connection input unit to which a connection output output from another safety controller is given as a connection input is provided, and the control unit includes an input from the input device, and the connection input unit. The safety output and the connection output are controlled in accordance with a program based on the connection input from and the setting of the setting unit.

  According to this embodiment, it is possible to associate the safety output of the safety controller and the output state of the connection output with the connection input given from another safety controller.

  In a preferred embodiment of the present invention, the output for connection is an output for logical connection, and the control unit is based on an input from the input device and an input for connection from the connection input unit according to the program. Then, a logic operation is performed to control the safety output and the connection output.

  Here, “for logical connection” refers to a connection for connecting other safety controllers connected to the safety controller in association with logic such as logical product or logical sum.

  According to this embodiment, the logical operation of the input from the input device and the connection input from the connection input unit can be performed, and the result can be used as a safety output or a connection output. The safety output and connection output with the controller can be related by logic such as logical product or logical sum.

  In another embodiment of the present invention, the control unit controls the output state of the connection output to the same state as the output state of the safety output according to the program.

  Here, the output state refers to a safe-side output state in which the operation of the machine facility is allowed or a dangerous-side output state in which the operation of the machine facility is prohibited.

  According to this embodiment, since the output state of the output for connection is the same as the output state of the safety output, the other safety controller to which the output for connection of the safety controller is given can output the safety output of the safety controller. Can be related by safety output.

  In still another embodiment of the present invention, a terminal portion for connecting the input device and the safety output control target, a display portion for displaying an operation state, and an electromagnetic relay are built in the front of the case. A connection unit for connecting an extension unit that outputs a relay output corresponding to the safety output to the safety output control target, and the setting unit includes an off-delay time of a safety off-delay output in the safety output At least one of a switch for setting and a switch for setting validity / invalidity of the connection input from the connection input unit is provided.

  According to this embodiment, the setting unit includes at least one of the switch for setting the off delay time and the switch for setting the validity / invalidity of the connection input. It is possible to set at least one of the delay time and the connection input valid / invalid.

  The system of the present invention is formed by connecting a plurality of safety controllers according to the present invention via a connection input unit and a connection output unit.

  According to the present invention, unlike the conventional relay unit incorporating an electromagnetic relay, it is not necessary to construct a safety circuit by a relay sequence, and the number of wires can be reduced. Even when it is desired to change a part of the system, it can be easily handled by changing the software. In addition, other safety controllers can be associated with each other by using logic such as logical product or logical sum by using the output for connection, and the expandability of the system is improved.

  Moreover, after setting various functions and attaching the safety controller to the support rail, control panel, etc., avoid changing the setting contents or operating the setting section accidentally. Can do.

  As described above, according to the present invention, a safety output unit that gives a safety output that is a semiconductor output to a safety output control target and a control unit that controls the safety output according to a program are provided. Unlike conventional relay units, it is not necessary to build a safety circuit with relay sequences, the number of wires can be reduced, and the manufacturer wants to change a part of the system according to the user's request. Even in this case, it can be easily handled by changing the software.

  In addition, after the safety controller is attached to the support rail, control panel, etc., it is possible to avoid accidental changes in the settings or incorrect operation of the setting unit, thus ensuring safety. it can.

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

  FIG. 1 is a diagram illustrating a configuration example of a system using a safety controller according to an embodiment of the present invention.

  The safety controller of this embodiment constitutes a safety circuit that supplies power to the power of machine equipment such as machine tools and industrial robots (not shown) only when safety is ensured.

  The safety controller of this embodiment is connected to a single function unit 3 to which an input device such as the emergency stop switch 2 is connected, and to an input device such as the safety door switch 1 as well as to the single function unit 3. There are three types: a high-function unit 4 and an extension unit 5 connected to the high-function unit 4 via a cable 6.

  The single-function unit 3 receives input from an input device such as the emergency stop switch 2 and outputs safety to a magnetic contactor as a safety output control target for supplying / cutting off electric power to a motor that drives a machine tool or the like And an internal safety output as an output for logical connection to the high-function unit 4.

  Here, the logic connection output means an output for logically connecting the single function unit 3 that outputs the logic connection output and the high function unit 4 to which the logic connection output is given.

  In this embodiment, the safety output output from the single function unit 3 to the safety output control target and the logical connection output have the same output state, that is, the safety output controls the operation of the mechanical equipment. When the safety-side output state is allowed, the logical connection output is also the safe-side output state. When the safety output is a dangerous-side output state that prohibits the operation of the mechanical equipment, the logical connection output Becomes the dangerous output state.

  Therefore, an output for logical connection that has the same output state as an original safety output for a safety output control target such as a magnetic contactor is called an internal safety output.

  The high-function unit 4 is provided with inputs from input devices such as an emergency stop switch and safety door switch 1 and an internal safety output output from the single-function unit 3 and the preceding high-function unit 4 as internal safety inputs. Outputs safety output to a magnetic contactor, etc., as a safety output control target that supplies and cuts off electric power to a motor that drives a machine, etc., and an internal safety output as an output for logical connection to a high-performance unit 4 in the subsequent stage. is there.

  Similarly to the above, the internal safety output, which is a logical connection output output from the high function unit 4, is also an output for logically connecting the preceding high function unit 4 and the subsequent high function unit 4.

  Further, the safety output output from the high-function unit 4 to the safety output control target and the internal safety output have the same output state. The high-function unit 4 can output a safety instantaneous output and a safety off-delay output, but the internal safety output is in the same output state as the safety instantaneous output.

  Here, the instantaneous safety output is a safety output that instantly switches to the dangerous side when the safety input switches from the safe side to the dangerous side when the safety output is on the safe side. Is the safety that switches to the dangerous side with a delay after continuing the safe state for the set time when the safety input switches from the safe side to the dangerous side when the safety output is on the safe side The output.

  In FIG. 1, the internal safety output given from the single-function unit 3 to the high-function unit 4 and the internal safety output given from the preceding high-function unit 4 to the subsequent high-function unit 4 are indicated by broken arrows. However, in this embodiment, the high function unit 4 is given an internal safety output from either the single function unit 3 or the preceding high function unit 4.

  The extension unit 5 is connected to the high-function unit 4 via the cable 6, and the safety output synchronized with the high-function unit 4 is used as a safety output control target for supplying / cutting off power for driving a machine tool or the like. This is output to a magnet contactor or the like.

  The single-function unit 3 is equipped with a CPU that constitutes a control unit as will be described later, and can input two safety inputs, as well as two safety instantaneous outputs that are semiconductor outputs (transistor outputs) and one internal safety output. Can be output. In this embodiment, the internal safety output for logical connection is the internal safety output for AND connection. The two safety inputs are given inputs from one emergency stop switch or the like for duplication according to safety standards.

  Further, the single function unit 3 can output a monitor output synchronized with the instantaneous safety output and an error output at the time of an internal error. Further, the single function unit 3 can input a feedback / reset input.

  As shown in the front view of FIG. 2, the single-function unit 3 includes a plurality of input / output terminals 7 on the top and bottom, as well as a power source (PWR), an error state (ERR), and safety inputs 1 and 2 (T1 , T2) and a safety instantaneous output (EI) state are respectively provided with a display unit 8 for displaying with LEDs.

  Like the single function unit 3, the high function unit 4 is equipped with a CPU as a control unit, and can input two safety inputs and one internal safety input, and two semiconductor outputs (transistor outputs). An instantaneous safety output, two safety off-delay outputs, and one internal safety output as an output for logic connection. In this embodiment, an internal safety output for AND connection can be output.

  As with the single function unit 3, the two safety inputs are given inputs from one emergency stop switch, one safety door switch, or the like for duplication.

  One internal safety input is an input of the internal safety output from the single-function unit 3 or the preceding high-function unit 4, and this internal safety input causes the single-function unit 3 or the preceding high-function unit 4 to perform logic. Connection In this embodiment, an AND connection is made.

  That is, in this embodiment, this internal safety input and the two safety inputs of the high-function unit 4 are logically connected by AND, and the input state of the internal safety input is a safe side state. And when the input state of two safety inputs is the safe input state, the safe output of the safe output state is output.

  Further, the high-function unit 4 can output a monitor output synchronized with the instantaneous safety output and an error output at the time of an internal error. Further, the high-function unit 4 can input a feedback / reset input.

  As shown in the front view of FIG. 3, the high-function unit 4 includes a plurality of input / output terminals 9 at the top and bottom, as well as a power source (PWR), an error state (ERR), and safety inputs 1 and 2 (T1 , T2), an internal safety input (AND), a feedback input (FB), a safety instantaneous output (EI), and a safety off-delay output (ED). Further, the high-function unit 4 includes a connector 11 for connecting the extension unit 5, and up to five extension units 5 can be connected.

  Via this connector 11, instantaneous safety output, safety off-delay output, feedback input / output of the extension unit 5 and ground signals are exchanged.

  Further, as shown in the rear view of FIG. 4, the high function unit 4 has a rail groove 86 for attaching the high function unit 4 to a DIN rail 85 as a support rail on the back surface of the case. As shown in the perspective view of FIG. 5, the upper and lower engaging portions of the rail groove 86 are engaged with the upper and lower engaging ends of the DIN rail 85 and attached to the DIN rail 85.

  In the high function unit 4, a rectangular opening 87 is formed in the rail groove 86 as shown in FIG. 4, and a slide as a setting portion is provided so as to be operable from the opening 87 to the outside. A switch 12 and a rotary switch 13 are provided.

  The slide switch 12 is for setting the internal safety input for logical connection to be valid or invalid, and the rotary switch 13 is for setting the off-delay time. When the slide switch 12 is set to invalidate the internal safety input for logical connection, the internal safety input given from the other units 3 and 4 is invalidated and no logical connection is made.

  As shown in the plan view and rear view of the switches 12 and 13 with the rear case removed in FIGS. 6 and 7, one of the circuit boards 89 and 90 housed in the case is provided. It is mounted on the free end side of 89, and in the vicinity of the back (front) side of the case with respect to these switches 12 and 13, a belt-like flat cable 91 for connecting the two substrates 89 and 90 is disposed. .

  Accordingly, the flat cable 91 faces the back side of the switches 12 and 13 from the opening 87 formed on the back surface of the case, whereby the opening 87 is formed by the switches 12 and 13 and the flat cable 91. It is in a substantially closed state, and dust and the like can be effectively prevented from entering the inner back portion of the case from the opening 87.

  In this embodiment, before attaching the high function unit 4 to the DIN rail 85, the slide switch 12 and the rotary switch 13 are operated through the opening 87 to perform necessary settings, and then attached to the DIN rail 85.

  When the high-function unit 4 is attached to the DIN rail 85, as shown in FIGS. 4 and 5, the opening 87 on the back surface of the case is closed by the DIN rail 85, and the switches 12, 13 are visually observed from the outside. Can no longer be operated.

  Therefore, once the settings are made by operating the switches 12 and 13 and attached to the DIN rail 85, the setting contents cannot be easily changed. It is possible to prevent erroneous operation, and safety is improved.

  Referring to FIG. 1 again, the expansion unit 5 is expanded as necessary when the number of output points is insufficient with the high-function unit 4 alone, and includes a plurality of electromagnetic relays. This extension unit 5 has an instantaneous type that outputs three safety outputs, which are relay outputs in synchronization with the safety instantaneous output from the high-function unit 4, and a relay output in synchronization with the safety off-delay output from the high-function unit 4. There is an off-delay type that outputs three safety outputs.

  As shown in the front view of FIG. 8, the extension unit 5 includes a plurality of input / output terminals 14 at the top and bottom, and a power source (PWR), an error state (ERR), a safety instantaneous output (EI), or a safety A display unit 15 for displaying each state of the off-delay output (ED) with LEDs is provided. The extension unit 5 includes a connector 16 for connecting to the high function unit 4 or for connecting the extension unit 5.

  FIG. 9 is a block diagram of the high function unit 4. In the same figure, 17 and 18 are two 1st and 2nd CPU which comprises a control part, and each CPU17 and 18 performs the same process, and is duplexed. The CPUs 17 and 18 communicate with each other for synchronizing software processing via an inter-CPU communication port.

  20 is a non-volatile memory for storing the setting contents from the setting switch 19 such as the above-mentioned slide switch, 21 is an LED for displaying each state such as the power supply (PWR) and error state (ERR), and 22 is a delay IC. The watchdog timer 23 used is a monitoring circuit that monitors the state of the power supply circuit 24 that supplies power to each section.

  Reference numerals 25 and 26 each represent one system of duplicated safety inputs. For example, inputs from one safety door switch are given. Reference numeral 27 denotes a reset input circuit to which a feedback input or a reset input is given.

  28 is an AND input circuit to which an internal safety input as a logical connection input from the single-function unit 3 or the preceding high-function unit 4 is given, and 29 and 30 are RS232C circuits and a changeover switch for communication with an external personal computer or the like. is there.

  31 is an instantaneous safety output circuit, 32 is an off-delay safety output circuit, 33 is a duplex output line control circuit, and 34 is an internal safety output circuit that outputs an internal safety output to the subsequent high-function unit 4 , 35 is a monitor output circuit that outputs an instantaneous safety output for monitoring to a programmable controller (PLC), etc., 36 is an error output circuit that gives an error output when an internal error occurs, and 37 is a connector for connecting the extension unit 5. .

  The first and second CPUs 17 and 18 as the control unit are configured to output the safety output circuits 31 and 32 and the internal circuits according to a program based on the safety input from the safety input circuits 25 and 26 and the internal safety input from the AND input circuit 28. The safety output circuit 34 is controlled to control the safety output and the internal safety output which are semiconductor outputs (transistor outputs). The internal safety output circuit 34 includes a transistor for semiconductor output.

  FIG. 10 is a block diagram showing the configuration of the instantaneous safety output circuit 31, the off-delay safety output circuit 32, and the output line control circuit 33 of FIG. 9, and parts corresponding to those in FIG. A sign is attached. In FIG. 10, the signal from the first CPU 17 and the signal to the first CPU 17 are indicated by dashed arrows, and the signal from the second CPU 18 and the signal to the second CPU 18 are indicated by dashed-dotted arrows, respectively. Show.

  The instantaneous safety output circuit 31 includes two instantaneous output control units 38 and 39, and the off-delay safety output circuit 32 includes two off-delay output control units 40 and 41. Each of the output control units 38 to 41 includes a semiconductor output transistor.

  The output line control circuit 33 for duplexing the safety output includes a driving signal S1, S2 from the first and second CPUs 17, 18, a WDT signal from the watchdog timer 22, and a monitoring circuit 23 for monitoring the power supply circuit 24. PSM signals are respectively provided.

  When the driving signals S1 and S2 are both turned on, a voltage is applied to the power supply line VL and power is supplied to the output control units 38 to 41.

  The WDT signal from the watchdog timer 22 is also given to the output control units 38 to 41. When the watchdog timer 22 is not reset, this WDT signal is turned off and all the output control units 38 to 41 are turned on. Therefore, the safety output can be turned off, which is a danger side prohibiting the operation of the mechanical equipment, and safety can be ensured.

  The PSM signal from the monitoring circuit 23 for monitoring the power supply is also given to the output control units 38 to 41. When a power supply abnormality is detected, the PSM signal is turned off and all the output control units 38 are turned off. The safety output of .about.41 is turned off, which is a danger side prohibiting the operation of the mechanical equipment, and safety can be ensured.

  The output line control circuit 33 outputs monitoring signals S4 and S5 to the first and second CPUs 17 and 18, respectively. The monitoring signals S4 and S5 cause a failure (abnormality) in the output line control circuit 33. ) Or when the above-mentioned WDT signal or PSM signal is turned off.

  Instantaneous output drive signals S6 and S7 are respectively supplied from the first CPU 17 to the instantaneous output control units 38 and 39 of the instantaneous safety output circuit 31, and by these drive signals S6 and S7, a safe instantaneous output is provided. The logic of ON (safe side) / OFF (danger side) is controlled. That is, when the driving signals S6 and S7 are turned on and the above-described power supply line VL is turned on, the safety instantaneous outputs that are on the safe side are output from the instantaneous output terminals 42 and 43, respectively. To do.

  The instantaneous output control units 38 and 39 output monitor signals S9 and S10 to the first and second CPUs 17 and 18, respectively, and the instantaneous output control units 38 and 39 are normal. For example, the monitoring signals S9 and S10 are inverted logic signals of the driving signals S6 and S7.

  The off-delay output control units 40 and 41 of the off-delay safety output circuit 32 are supplied with off-delay output driving signals S12 and S13 from the second CPU 18, respectively. By the driving signals S12 and S13, The logic of the safety off-delay output on (safe side) / off (dangerous side) is controlled. That is, when the driving signals S12 and S13 are turned on and the above-described power supply line VL is turned on, an on-safety off-delay output which is a safe state is output from the off-delay output terminals 45 and 46. Output each.

  The off-delay output control units 40 and 41 output monitor signals S14 and S15 to the first and second CPUs 17 and 18, respectively. The off-delay output control units 40 and 41 are normal. If so, the monitoring signals S14 and S15 are inverted logic signals of the driving signals S12 and S13.

  The output line control circuit 33 for redundant safety output turns off the power supply line VL and outputs an instantaneous output terminal when a failure (abnormality) occurs in the instantaneous output control units 38, 39 or the off-delay output control units 40, 41. The safety outputs of 42 and 43 and off-delay output terminals 45 and 46 are all turned off to ensure safety.

  On the contrary, when a failure (abnormality) occurs in the output line control circuit 33, the instantaneous output terminals 42 and 43 and the off-delay output terminal are output by the instantaneous output control units 38 and 39 and the off-delay output control units 40 and 41, respectively. All safety outputs 45 and 46 are turned off to ensure safety.

  FIG. 11 is a block diagram of the single function unit 3, and parts corresponding to those in FIG. 9 are denoted by the same reference numerals.

  The single function unit 3 is not provided with the above-described AND input circuit 28, the off-delay safety output circuit 32, the setting switch 19, and the connector 37 for the extension unit. The same as 4.

  In this way, the control unit having the first and second CPUs 17 and 18 controls the safety output, which is a semiconductor output, in accordance with a program, so that the safety circuit is configured by a relay sequence as in a conventional relay unit incorporating an electromagnetic relay. There is no need to construct the system, and the number of wirings can be reduced. In addition, when the manufacturer wants to change a part of the system, it can easily cope with the change of the software.

  Next, the operation of each unit will be described based on some usage examples.

  FIG. 12 is a diagram showing a connection state when the high-function unit 4 is used alone, and FIG. 13 is a time chart thereof.

  In this example, for example, two contacts of one safety door switch are connected to the safety input 1 of the terminals T11 and T12 of the high-function unit 4 and the safety input 2 of the terminals T21 and T22. The b contact of the magnet contactor is connected in series, and the reset button 50 is connected in series.

  The instantaneous output terminal S13 is connected to the amplifier 52, and the off-delay output terminals S43 and S53 are connected to the magnet contactors 48 and 49. In this example, a fixed time T is set as the off-delay time.

  When the door equipped with the safety door switch is closed, the two safety inputs 1 and 2 are turned on as shown in FIGS. 13A and 13B, and as shown in FIG. 13C. When the reset input is turned off, on, and off, the safety instantaneous output of the terminal S13 is turned on as shown in FIG. 13D, and the terminals S43, S43, as shown in FIG. The safety off-delay output in S53 is turned on, the main contacts of the magnet contactors 48 and 49 are turned on, and the motor 51 is driven to operate the mechanical equipment.

  In this state, for example, when the door is opened, the two safety inputs 1 and 2 are turned off. The safety inputs 1 and 2 are turned on and off at the same time. FIG. 13B shows an example in which the safety input 2 is turned off with a delay.

  When either safety input 1 or 2 is turned off, the safety instantaneous output is turned off and slowed down by the amplifier 52 as shown in FIG. 13D, and the safety off-delay output is turned off after a certain time T. By doing so, the main contacts of the magnet contactors 48 and 49 are turned off, the power supply to the motor 51 is cut off, and the operation of the mechanical equipment is stopped.

  FIG. 14 is a diagram showing a state in which the instantaneous type extension unit 5 is connected to the high function unit 4 and the number of output points is increased, and FIG. 15 is a time chart thereof.

  In this example, for example, two contacts of one safety door switch are connected to the safety input 1 of the terminals T11 and T12 of the high-function unit 4 and the safety input 2 of the terminals T21 and T22. The b contact of the magnet contactor is connected in series, and the reset button 50 is connected in series.

  The instantaneous output terminals S13 and S23 are connected to the magnet contactors 54 and 55, and the off-delay output terminals S33 and S43 are connected to the magnet contactors 56 and 57. In this example, T = 0 is set as the off-delay time, that is, it is an instantaneous output.

  The instantaneous output terminals 61 and 62 of the extension unit 5 incorporating a plurality of electromagnetic relays are connected to the magnet contactors 58 and 59.

  When the door equipped with the safety door switch is closed, as shown in FIGS. 15 (a) and 15 (b), the two safety inputs 1 and 2 of the high-function unit 4 are turned on. As shown in c), the reset input is turned off, turned on, and turned off, so that the safety instantaneous output of the high-function unit 4 is turned on as shown in FIG. As shown in FIG. 4, the safety instantaneous output of the extension unit 5 is turned on, whereby the magnetic contactors 54 to 59 are turned on and the motors 63 to 65 are driven to operate the mechanical equipment.

  In this state, for example, when the door is opened, the two safety inputs 1 and 2 are turned off as shown in FIGS. 15 (a) and 15 (b), and the high function unit as shown in FIG. 15 (c). 4 is turned off, and as shown in FIG. 15D, the safety instantaneous output of the extension unit 5 is turned off. As a result, the magnetic contactors 54 to 59 are turned off, and the motors 63 to 65 are turned off. The power supply is cut off and the operation of the mechanical equipment is stopped.

  Thus, by connecting the extension unit 5 to the high-function unit 4 via the cable 6, the number of safety output points can be easily increased.

  FIG. 16 is a diagram showing a connection state between the two high-function units 4-1 and 4-2 and the off-delay type extension unit 5, and FIG. 17 is a time chart thereof. The two safety inputs of the second high-functional unit 4-2 are referred to as safety inputs 3 and 4 for convenience.

  In this example, for example, two contacts of one safety door switch are connected to the safety input 1 of the terminals T11 and T12 of the first high-function unit 4-1 and the safety input 2 of the terminals T21 and T22. The feedback loop 47 is connected in series with the b-contact of the magnet contactor and with the reset button 50 in series.

  The instantaneous output terminals S13 and S23 are connected to the magnet contactors 54 and 55, and the off-delay output terminals S33 and S43 are connected to the magnet contactors 56 and 57. In the first high function unit 4-1, T = 0 is set as the off delay time. The internal safety output terminal LO is connected to the internal safety input terminal LA of the second high function unit 4-2. That is, the internal safety output of the first high-function unit 4-1 is given as an AND input of the second high-function unit 4-2 at the subsequent stage.

  The safety input 3 of the terminals T11 and T12 of the second high-function unit 4-2 and the safety input 4 of the terminals T21 and T22 are different from, for example, the safety door switch of the first high-function unit 4-1 Two contacts of one safety door switch are connected, and the feedback loop 69 is connected in series with the b-contact of the magnetic contactor and in series with the reset button 70.

  The instantaneous output terminals S13 and S23 are connected to the magnet contactors 71 and 72, and the off-delay output terminals S43 and S53 are connected to the magnet contactors 73 and 74. In the second high function unit 4-2, a predetermined time T is set as an off-delay time. The off-delay output terminals 75 and 76 of the extension unit 5 incorporating a plurality of electromagnetic relays are connected to the magnet contactors 77 and 78.

  When the door of the safety door switch connected to the first high-function unit 4-1 is closed, as shown in FIGS. 17A and 17B, the two safety inputs 1 and 2 are turned on. As shown in FIG. 17C, the reset input is turned off, turned on, and turned off, so that the safety instantaneous output of the first high-function unit 4-1 is turned on. As shown, the main contacts of the magnetic contactors 54 to 57 of the first high-function unit 4-1 are turned on, and the motors 63 and 64 are driven. Further, the same internal safety output as the safety instantaneous output of the first high function unit 4-1 is given as the AND input of the second high function unit 4-2.

  The second high function unit 4-2 is in a state in which the internal safety input shown in FIG. 17 (f) is on, and the safety output of the second high function unit 4-2 is on the safe side. When the safety output is turned on. In FIG. 17, when the internal safety input is turned on, the door of the safety door switch connected to the second high function unit 4-2 is closed, as shown in FIGS. 17 (g) and 17 (h). In addition, since the two safety inputs 3 and 4 are on, as shown in FIG. 17 (i), the AND condition is established by turning the reset input off, on and off, and FIG. 17 (j) , (K), the safety instantaneous output and safety off-delay output of the second high-function unit 4-2 are turned on, and the extension unit 5 is safety-off as shown in FIG. The delay output is turned on, whereby the magnetic contactors 71 to 76 of the second high-function unit 4-2 and the extension unit 5 are turned on and the motors 79 to 81 are driven.

  In this state, for example, when the door of the safety door switch connected to the first high function unit 4-1 is opened, as shown in FIGS. 17A and 17B, the first high function The two safety inputs 1 and 2 of the unit 4-1 are turned off, and as shown in FIG. 17D, the safety instantaneous output of the first high-function unit 4-1 is turned off and the magnetic contactors 54 to 57 are turned on. The power to the motors 63 and 64 is cut off and the internal safety output for the second high-function unit 4-2 is also turned off as shown in FIG.

  The second high function unit 4-2 is shown in FIG. 17 (j) by turning off the internal safety input from the first high function unit 4-1 as shown in FIG. 17 (f). As shown in FIG. 17 (k), the safety instantaneous output is turned off and the magnet contactors 71 and 72 are turned off to cut off the power supply of the motor 79. Further, as shown in FIG. While the delay output is turned off, as shown in FIG. 17 (l), the safety off-delay output of the extension unit 5 is turned off, whereby the contactors 73, 74, 77, 78 are turned off and the motors 80, 81 are turned off. The power supply to will be cut off.

  In this manner, the safety output of the second high-function unit 4-2 can be easily associated with the safety output of the first high-function unit 4-1 by the logical connection using the internal safety output. Improves.

  In this embodiment, as described above, the slide switch 12 and the rotary switch 13 as the setting unit can be set and operated from the back side through the opening 87 formed on the back side of the case. Later, when attached to the DIN rail 85, the opening 87 on the back of the case is closed by the DIN rail 85, and the switches 12 and 13 cannot be viewed or operated from the outside. After starting the control of the operation of the machinery and equipment attached to the rail 85, it becomes impossible to change the setting contents, thereby preventing the setting contents from being inadvertently changed or erroneously operated. Safety is improved.

(Other embodiments)
In the above-described embodiment, the slide switch 12 and the rotary switch 13 as the setting unit have been visually and inoperable after being attached to the DIN rail 85, but at least a part of the setting items in the setting unit, for example, As for the rotary switch 13 for setting the off-delay time, for example, as shown in FIG. 18, the rotary switch 92 is added to the front of the case to achieve duplication, and the setting content of the off-delay time can be easily confirmed. It may be.

  Here, the above-described rotary switch 13 on the rear side is referred to as a first rotary switch 13, and the rotary switch 92 on the front side is referred to as a second rotary switch 92.

  As shown in FIG. 19, the setting outputs of the first and second rotary switches 13 and 92 are given to the first and second CPUs 17 and 18, respectively. The CPUs 17 and 18 output the setting outputs. If they match, control is performed so that the off-delay time is set according to the set content, and if they do not match, a warning such as an error display is given. The operation of machinery is prohibited.

  In this way, when one of the rotary switches does not have the setting content intended by the user due to a contact failure or a short-circuit failure, the rotary switches 13 and 92 can be switched. The setting contents are different, and are detected by the first and second CPUs 17 and 18 to prohibit the operation of the mechanical equipment, so that a high safety level can be secured.

  In addition, since the second rotary switch 92 is disposed at a visible position on the front surface of the case, the user can easily set the off-delay time set by visually checking the setting state of the second rotary switch 92. Can be confirmed.

  In the above-described embodiment, logical connection is performed by AND. However, the logical connection is not limited to AND, and may be logical connection by OR, XOR, or the like, and a plurality of logical connections may be possible.

  In the above-described embodiment, the slide switch 12 and the rotary switch 13 are provided inside the case. However, as another embodiment of the present invention, the slide switch 12 and the rotary switch 13 may be provided on the back surface of the case. In the state, when there are other units on the side surface and the upper and lower surfaces and it is difficult to operate from the side surface and the upper and lower surfaces, they may be provided on the side and upper and lower surfaces of the case.

  In the above-described embodiment, the case where the setting units such as the slide switch 12 and the rotary switch 13 are provided in the high function unit 4 has been described. However, the setting unit is provided in the single function unit 3 or the extension unit 5. These units 3 and 5 can be attached to the DIN rail in the same manner as the high-function unit 4.

  Of course, the number of safety outputs and internal safety outputs (internal safety inputs) of the single-function unit 3 and the high-function unit 4 is not limited to the above-described embodiment.

  In the above-described embodiment, the description has been made by applying to a safety controller. However, the configuration of the setting unit of the present invention can be applied to various electronic devices that perform setting operations such as control devices and measuring devices. It is.

  For example, in an electronic device including a setting unit to be set and operated, the setting unit is provided so that the setting operation cannot be performed in a state where the electronic device is attached to a required place. It is provided so that setting operation can be performed from the back side of the case as a mounting surface of the electronic device.

  As a result, it is possible to prevent the setting in the electronic device from being inadvertently changed or erroneously operated.

  The present invention is useful for building a safety system.

It is a figure which shows the structural example of the system which concerns on one embodiment of this invention. It is a front view of the single function unit of FIG. It is a front view of the high-functional unit of FIG. It is a rear view of the high-functional unit of FIG. It is a perspective view of the state which attached the DIN rail to the high functional unit of FIG. It is a top view of the state which removed the rear case of the high functional unit of FIG. It is a rear view of the state which removed the rear case of the high-functional unit of FIG. It is a front view of the extension unit of FIG. It is a block diagram of the high-functional unit of FIG. It is a block diagram which shows the detail of a part of FIG. It is a block diagram of the single function unit of FIG. It is a figure which shows the connection state of the 1st usage example. It is a time chart of FIG. It is a figure which shows the connection state of the 2nd usage example. It is a time chart of FIG. It is a figure which shows the connection state of the 3rd usage example. It is a time chart of FIG. It is a front view of the high-functional unit of other embodiments. It is a block diagram which shows duplication of a setting.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Safety door switch 2 Emergency stop switch 3 Single function unit 4 High function unit 5 Extension unit 12 Slide switch 13,92 Rotary switch 17,18 1st, 2nd CPU
31 Safety output circuit for moment 32 Safety output circuit for off-delay 34 Internal safety output circuit 85 DIN rail 87 Opening

Claims (13)

A safety controller that controls the operation of mechanical equipment by giving a safety output to a safety output control target based on an input from an input device,
A safety output unit for providing a semiconductor output as the safety output;
A setting section to be set and operated;
A control unit that controls the safety output according to a program based on the input from the input device and the setting of the setting unit;
The safety controller according to claim 1, wherein the setting unit is provided so that a setting operation cannot be performed when the safety controller is attached to a required location. A safety controller that controls the operation of mechanical equipment by giving a safety output to a safety output control target based on an input from an input device,
A safety output unit for providing a semiconductor output as the safety output;
A setting section to be set and operated;
A control unit that controls the safety output according to a program based on the input from the input device and the setting of the setting unit;
The said setting part is provided so that setting operation is possible from the back side of the case used as the attachment surface of the said safety controller.   The safety controller according to claim 1 or 2, wherein an opening is formed in a back surface of the case serving as a mounting surface of the safety controller, and the setting unit faces the outside through the opening so that a setting operation can be performed.   The safety controller according to claim 3, wherein the rear surface has a rail groove for attaching the safety controller to a support rail, and the opening is formed in a portion of the rail groove.   The setting unit is mounted on an end portion of one of the two circuit boards disposed opposite to each other in the case, and is located on the back side of the setting unit and in the vicinity of the two circuit boards. The safety controller according to claim 3, wherein a flat cable for connecting the two is disposed. The setting unit includes a first setting unit capable of setting at least some of the setting items in the setting unit, and a second setting capable of setting the same setting items as the first setting unit. With
The control unit includes two first and second CPUs, and setting outputs from the first and second setting units are individually given to the first and second CPUs, respectively. Each said CPU is a safety controller in any one of Claims 1-5 which compares each setting output mutually.   The safety controller according to claim 6, wherein the second setting unit is provided so as to be visible with the safety controller attached to a required location. It has a connection output section that gives a semiconductor output as an output for connection to other safety controllers,
The safety controller according to claim 1, wherein the control unit controls the safety output and the connection output according to a program based on the input from the input device and the setting of the setting unit. It has a connection input unit that provides the connection output output from other safety controllers as a connection input.
The control unit controls the safety output and the connection output according to a program based on an input from the input device, a connection input from the connection input unit, and a setting of the setting unit. A safety controller according to any of the above.   The connection output is an output for logical connection, and the control unit performs a logical operation based on an input from the input device and an input for connection from the connection input unit according to the program, and performs the safety operation. The safety controller according to claim 9, wherein the safety controller controls the output and the connection output.   The safety controller according to any one of claims 8 to 10, wherein the control unit controls the output state of the connection output to be the same as the output state of the safety output in accordance with the program. On the front of the case, a terminal unit for connecting the input device and the safety output control target, a display unit for displaying an operation state, and an electromagnetic relay are incorporated to output a relay output corresponding to the safety output. With a connector for connecting an extension unit that outputs to the safety output control target,
The setting unit includes at least one of a switch for setting an off-delay time of a safety off-delay output of the safety outputs and a switch for setting valid / invalid of a connection input from the connection input unit. The safety controller according to any one of claims 9 to 11.   A system comprising a plurality of safety controllers according to any one of claims 9 to 12 connected via the connection input unit and the connection output unit.

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