JP2017084321A - Sequence control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily achieve sequence control without requiring a special sequence description format and high-level knowledge of electricity and software.SOLUTION: A sequence control device comprises: a sequence input part 202 that receives an input of data in a predefined format that specifies a sequential logic indicating the timing of the start or stop of operations of a plurality of control objects; a setting input part 200 that receives an input of settings at least to the operations of the plurality of control objects; a sequence execution part 304 that analyzes the sequential logic on the basis of the data received by the sequence input part and starts or stops the operations of the plurality of control objects at a timing according to the sequential logic; and a driving part 306 that drives the plurality of respective control objects according to the input of settings received by the setting input part at a timing at which the sequence execution part starts the operations.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a sequence control device.

  A PLC (programmable logic controller) is widely known as means for realizing sequence control. Conventionally, when creating a prototype for confirming the operation of a mechanical mechanism using a PLC, knowledge of motor drive control and knowledge for preventing malfunction due to chattering and the like have been required. In addition, when describing a sequence, knowledge of a description format such as a ladder circuit, a function block diagram (FBD), or a sequential function chart (SFC) is also required.

  To simplify the creation of sequence programs, for example, in Patent Document 1, an output definition sheet in which transition conditions are described in a table format is created, and specification of abnormal processing when an interlock occurs is described in a table format. A program specification creation device that creates an interlock definition sheet and converts it into binary data that can be executed by a controller is disclosed.

  Conventionally, however, a special sequence description format may be required, or advanced electrical and software knowledge may be required.

  The present invention has been made in view of the above, and provides a sequence control apparatus that can easily realize sequence control without requiring a special sequence description format or advanced knowledge of electricity and software. The purpose is to provide.

  In order to solve the above-described problems and achieve the object, the present invention is a sequence for accepting input of data in a predetermined format that specifies the order logic indicating the start or stop timing of the operation of each of the plurality of control objects. An input unit, a setting input unit that accepts a setting input for at least the operation of each of the plurality of control objects, and interprets the sequential logic based on the data received by the sequence input unit, and at a timing according to the sequential logic. In response to the setting input received by the setting input unit at a timing at which the sequence execution unit starts the operation, and a sequence execution unit that executes a process for starting or stopping the operation of each of the plurality of control objects. And a drive unit that drives each of the plurality of control objects.

  According to the present invention, there is an effect that sequence control can be easily realized without requiring a special sequence description format or advanced knowledge of electricity and software.

FIG. 1 is a block diagram illustrating a configuration example of a sequence control device according to the embodiment. FIG. 2 is a diagram exemplifying types of settings accepted by the setting input unit. FIG. 3 is a diagram illustrating a detailed setting example of the timer setting. FIG. 4 is a diagram illustrating a detailed setting example of the STM setting. FIG. 5 is a diagram illustrating a detailed setting example of the pulse table for the STM setting. FIG. 6 is a diagram illustrating a detailed setting example of the DCSM setting. FIG. 7 is a diagram illustrating a detailed setting example of the sensor setting. FIG. 8 is a diagram illustrating a detailed setting example of the output port setting. FIG. 9 is a diagram illustrating a first example of input in the sequence input unit. FIG. 10 is a diagram illustrating an example of execution condition input in the sequence input unit. FIG. 11 is a diagram illustrating a display example of an application for executing the functions of the conversion unit and the communication unit. FIG. 12 is a diagram illustrating the types of control performed by the sequence control device and an overview of the functions of each control. FIG. 13 is a diagram showing the contents of submodule related events and termination event data. FIG. 14 is a diagram showing a definition of next row start timing information applied for each event. FIG. 15 is a flowchart showing trigger processing. FIG. 16 is a diagram illustrating trigger state transition. FIG. 17 is a flowchart showing the sub-module trigger process. FIG. 18 is a diagram illustrating state transition of the submodule trigger. FIG. 19 is a flowchart showing normal event processing. FIG. 20 is a diagram illustrating a state transition of a normal event. FIG. 21 is a flowchart showing the processing of the submodule event. FIG. 22 is a diagram illustrating state transition of a submodule event. FIG. 23 is a flowchart showing processing of a submodule completion event. FIG. 24 is a diagram showing the state transition of the submodule completion event. FIG. 25 is a diagram illustrating processing of a termination event. FIG. 26 is a diagram illustrating state transition of a termination event. FIG. 27 is a diagram illustrating a second example of input in the sequence input unit. FIG. 28 is a diagram illustrating a third example of input in the sequence input unit. FIG. 29 is a diagram illustrating a process of returning from the overlapped branch to the original return destination. FIG. 30 is a diagram illustrating a first example of a return destination that should be held by the sequence execution unit in the branch processing illustrated in FIG. 29. FIG. 31 is a diagram illustrating a second example of a return destination that should be held by the sequence execution unit in the branch processing illustrated in FIG. 29. FIG. 32 is a diagram illustrating an exemplary operation range in the second example of the return destination that should be held by the sequence execution unit. FIG. 33 is a diagram schematically illustrating storage area control performed by the sequence execution unit with respect to the exemplary operation range illustrated in FIG. 32. FIG. 34 is a diagram illustrating an application example of the sequence control device.

  Hereinafter, an embodiment of a sequence control device will be described in detail with reference to the accompanying drawings. FIG. 1 is a block diagram illustrating a configuration example of a sequence control device 10 according to the embodiment. As illustrated in FIG. 1, the sequence control device 10 includes, for example, a PC (Personal Computer) 20 and a control device 30, and performs sequence control on the mechanism unit 50.

  The mechanism unit 50 includes, for example, a stepping motor (STM) 500, a DC servo motor (DCSM) 502, a sensor (SN) 504, an input / output port (I / O: output port) 506, a timer (Timer) 508, and the like. It has a controlled object and performs mechanical operations. The mechanism unit 50 is provided with an arbitrary type and number of controlled objects. In FIG. 1, the control objects of the stepping motor 500, the DC servo motor 502, the sensor 504, the input / output port 506, and the timer 508 are shown one by one. It is assumed that a plurality of each is provided. Note that the timer 508 may be physically included in the control device 30.

  The PC 20 is a general-purpose computer including a CPU, a storage device, input devices such as a keyboard and a mouse, and a display device such as an LCD panel. The PC 20 has functions such as a setting input unit 200, a sequence input unit 202, a conversion unit 204, and a communication unit 206.

  The setting input unit 200 accepts settings such as parameters by a user (user) in a tabular format for each of a plurality of control objects included in the mechanism unit 50. Specifically, the setting input unit 200 accepts, in a table format, setting input for at least the operation of each of the plurality of control objects provided in the mechanism unit 50 via spreadsheet software such as Excel (registered trademark). The setting input unit 200 defines parameters that can be set in accordance with the type of control target. Among the settings received by the setting input unit 200, settings indicating items for the control target are displayed in a selectable manner in the sequence input unit 202, and setting values for the control target are reflected in the drive unit 306.

  The sequence input unit 202 accepts input of data in a predetermined format that specifies the order logic indicating the start or stop timing of the operation of each of the plurality of control objects provided in the mechanism unit 50 in a table format. Specifically, as will be described later with reference to FIG. 9, the sequence input unit 202 uses a spreadsheet software such as Excel (registered trademark), for example, for data arranged by the user in any order for each event. Accept input.

  The sequence input unit 202 receives data indicating a control event for each row on the spreadsheet software. Here, the sequence control is based on the sequential operation from the upper row event to the lower row event. In the column on the spreadsheet software, timed control (wait condition) and condition control (execution condition) can be set for each event. For example, the sequence input unit 202 receives data indicating an event classification, a control target, an operation content, a wait condition, and an execution condition for each event (for each row on the spreadsheet software) (see FIG. 9).

  The conversion unit 204 converts the settings received by the setting input unit 200 and the data received by the sequence input unit 202 into data in a format that can be used by the control device 30. The communication unit 206 is an interface for performing communication with the control device 30 and transmits the data converted by the conversion unit 204 to the control device 30. For example, the communication unit 206 performs serial communication such as RS232C with the control device 30 via the cable 40. The communication unit 206 may be replaced with a wireless communication such as Bluetooth (registered trademark) or a storage medium such as an SD card (registered trademark).

  The control device 30 includes a communication unit 300, a storage unit 302, a sequence execution unit 304, and a drive unit 306. The communication unit 300 is an interface for performing communication with the PC 20 and receives data transmitted by the PC 20. For example, the communication unit 300 performs serial communication such as RS232C with the PC 20 via the cable 40. The storage unit 302 stores data received by the communication unit 300, data used by the sequence execution unit 304 for processing, and the like. The storage unit 302 may be a RAM area or a storage medium on the substrate.

  The sequence execution unit 304 reads the data stored in the storage unit 302, interprets (and complements) the order logic based on the data received by the sequence input unit 202, and at a timing according to the interpreted order logic, the mechanism unit 50. A process for starting or stopping the operation of each of the plurality of control objects included in is executed as an event. Further, the sequence execution unit 304 holds or stores data used when executing the event in the storage unit 302, but may be configured to cause the storage control unit 308 to perform control for storing the data in the storage unit 302. Good.

  The driving unit 306 drives each of the plurality of control objects included in the mechanism unit 50 according to the setting input received by the setting input unit 200 at the timing when the sequence execution unit 304 starts the operation.

  Next, the setting input unit 200 will be described in detail. FIG. 2 is a diagram illustrating types of settings (setting items) accepted by the setting input unit 200. The settings accepted by the setting input unit 200 include, for example, timer settings 200a, STM settings 200b, pulse table settings 200c, DCSM settings 200d, sensor settings 200e, and output port settings 200f.

  The timer setting 200 a is a tabular setting for the timer 508. The STM setting 200b and the pulse table setting 200c are tabular settings for the stepping motor 500. The DCSM setting 200 d is a tabular setting for the DC servo motor 502. The sensor setting 200e is a tabular setting for the sensor 504. The output port setting 200 f is a tabular setting for the input / output port 506.

  FIG. 3 is a diagram illustrating a detailed setting example of the timer setting 200a. The setting input unit 200 can input settings for the timer 508 necessary for performing sequence execution timing, polling processing, and the like. The setting input unit 200 is configured so that the user can assign and set a name (timer name) for the timer 508 so that the user can easily handle the timer 508 in the sequence input unit 202.

  In the setting input unit 200, the number and cycle of the timers 508 provided in the mechanism unit 50 can be arbitrarily set by the user as long as the control device 30 can handle them. The timer name and cycle accepted by the setting input unit 200 are used by the control device 30 for sequence control.

  In addition, when the setting input unit 200 accepts only the timer name or only the cycle setting, the sequence input unit 202 and the control device 30 handle them as unused timers. That is, the setting input unit 200 accepts a setting input indicating whether or not the sequence input unit 202 is a target for starting an operation for each of a plurality of control targets. Then, the sequence input unit 202 does not display the control target to which the setting input indicating that the operation is not the target to be started is performed in the list. Therefore, use of an incorrect timer is prevented. In addition, when a timer name with the same name is set, the setting input unit 200 may be configured to perform a dialog (notification) inquiring the user which timer is to be used. In this case, it is possible to prevent misuse of the timer with the same name.

  FIG. 4 is a diagram illustrating a detailed setting example of the STM setting 200b. By inputting the setting of the stepping motor 500 to the setting input unit 200, the user turns on the excitation of the stepping motor 500 via the sequence input unit 202, excitation OFF, drive start (speed designation), and drive start (PPS designation). ), And a stop instruction can be easily performed.

  Further, the setting input unit 200 is configured so that the user can set a name (motor name) for the stepping motor 500 so that the user can easily handle the stepping motor 500 in the sequence input unit 202.

  The control device and signal content in the detailed setting example of the STM setting 200b shown in FIG. 4 indicate the connector number assigned to the control device 30 and the signal line for each pin in the connector. Thereby, the user can connect the control device 30 and the stepping motor 500 without making a mistake.

  In addition, the setting input unit 200 is configured so that the user can set use or non-use for each of the plurality of stepping motors 500. The stepping motor 500 set as unused in the setting input unit 200 or the stepping motor 500 having no motor name cannot be selected in the sequence input unit 202 and cannot be used in the control device 30 as well. That is, misuse of the stepping motor 500 is prevented. Further, the setting input unit 200 may be configured to acquire the number of stepping motors 500 provided in the mechanism unit 50 from the control device 30 and display the stepping motors 500.

  FIG. 5 is a diagram illustrating a detailed setting example of a pulse table for the STM setting 200b. The setting input unit 200 can also set a driving pulse table for each stepping motor 500. In the setting of the pulse table, the excitation method of the stepping motor 500 can be selected and determined from 2-phase excitation, 1-2 phase excitation, W1-2 phase excitation, and 2W1-2 phase excitation.

  The setting input unit 200 is capable of setting a conversion constant for performing conversion from speed [mm / s] to PPS [pulse / s]. Therefore, even if a driving instruction is given to the stepping motor 500 by specifying the speed, the sequence control device 10 can drive the stepping motor 500 by converting the speed to PPS.

  Note that the pulse table No. shown in FIG. 5A is a serial number set for each pulse table, and the pulse table indicates which table is used to operate the stepping motor 500 in the sequence input unit 202. This can be done by specifying No. The pulse table shown in FIG. 5B is provided with items of step number, time, PPS, and speed, and includes at least information on PPS for each step.

  The number of pulse tables that can be set and the number of steps of each pulse table need only be within the allowable range of the control device 30 and can be arbitrarily set by the user. In order to reduce the amount of data stored in the storage unit 302 of the control device 30, for example, a pulse table that is set in the pulse table but not instructed to be used by the sequence input unit 202 is, for example, the conversion unit 204. Is not used, and is not transmitted to the control device 30.

  FIG. 6 is a diagram illustrating a detailed setting example of the DCSM setting 200d. The user inputs the setting of the DC servo motor 502 to the setting input unit 200 to start rotation, change speed, stop (free), stop (position hold) of the DC servo motor 502 via the sequence input unit 202. It is possible to easily give instructions such as stop (brake) and immediate interruption.

  The setting input unit 200 is configured so that the user can set a name (motor name) for the DC servo motor 502 so that the user can easily handle the DC servo motor 502 in the sequence input unit 202.

  The control device and signal contents in the detailed setting example of the DCSM setting 200d shown in FIG. 6 indicate the connector number allocated to the control device 30 and the signal line for each pin in the connector. Thereby, the user can connect the control device 30 and the DC servo motor 502 without making a mistake.

  Further, the setting input unit 200 is configured so that the user can set use or non-use for each of the plurality of DC servo motors 502. The DC servo motor 502 set as unused in the setting input unit 200 or the DC servo motor 502 having no motor name cannot be selected in the sequence input unit 202 and cannot be used in the control device 30. That is, misuse of the DC servo motor 502 is prevented.

  The setting input unit 200 sets the default acceleration to be used when the acceleration [pps ^ 2] is not instructed when the sequence input unit 202 instructs to operate the DC servo motor 502 to the CW rotation and CCW. Each rotation can be set. In addition, the setting input unit 200 makes it possible to select either speed [mm / s] designation or PPS [pulse / s] as an instruction to rotate the DC servo motor 502 in the sequence input unit 202. Here, the setting input unit 200 is capable of setting a conversion constant for converting to PPS when a speed is designated. This conversion constant can be set for each rotation direction in order to cope with the operation of a mechanism different for each rotation direction. Further, the setting input unit 200 may be configured to acquire the number of DC servo motors 502 provided in the mechanism unit 50 from the control device 30 and display the DC servo motors 502.

  FIG. 7 is a diagram illustrating a detailed setting example of the sensor setting 200e. The setting input unit 200 accepts settings for the sensor 504. Then, the user can input an ON / OFF event trigger for the sensor 504 and an ON / OFF wait for the sensor 504 via the sequence input unit 202.

  In particular, the sensor 504 often requires processing for preventing malfunction caused by chattering. Therefore, the setting input unit 200 specifies the timer of the period specified by the user in the timer setting, the number of readings for determining the high level of the sensor signal, the number of readings for determining the low level of the sensor signal, and the sensor 504 ON. Can be defined (when the High signal is ON, H is set, and when the Low signal is ON, L is set). Thus, the user can easily instruct ON / OFF of the sensor 504 via the sequence input unit 202 without being aware of the influence of chattering.

  The setting input unit 200 is configured so that the user can set a name (sensor name) for the sensor 504 so that the user can easily handle the sensor 504 in the sequence input unit 202.

  The control device and signal content in the detailed setting example of the sensor setting 200e shown in FIG. 7 indicate the connector number assigned to the control device 30 and the signal line for each pin in the connector. Thereby, the user can connect the control apparatus 30 and the sensor 504 without making a mistake.

  Further, the setting input unit 200 is configured so that the user can set use or non-use for each of the plurality of sensors 504. The sensor 504 set as unused in the setting input unit 200 or the sensor 504 having no sensor name cannot be selected in the sequence input unit 202 and cannot be used in the control device 30. That is, misuse of the sensor 504 is prevented. Further, the setting input unit 200 may be configured to acquire the number of sensors 504 provided in the mechanism unit 50 from the control device 30 and perform display on each sensor 504.

  FIG. 8 is a diagram illustrating a detailed setting example of the output port setting 200f. In addition to the motor or the like, the mechanism unit 50 may be provided with a drive device such as a solenoid or a device such as an LED for the purpose of displaying the current state. These operate by an ON / OFF signal output from the input / output port 506. The user can easily instruct the device (configuration) connected to the input / output port 506 via the sequence input unit 202 by inputting the setting of the input / output port 506 to the setting input unit 200. become.

  In particular, devices (solenoid, LED) connected to the input / output port 506 have a signal indicating the active direction (ON) in a high state (active high) and a low state (active low). There is. When the active direction is set for each device connected to the input / output port 506 by the setting input unit 200, the user can instruct the operation of the device without being aware of the signal state in the sequence input unit 202. Become. When the initial state is specified by the sequence input unit 202, it is possible to set the device connected to the input / output port 506 to return to the same state at the start of the sequence.

  The setting input unit 200 is configured so that the user can set a name (function name of the device) for the input / output port 506 so that the user can easily handle the input / output port 506 in the sequence input unit 202.

  The control device and signal content in the detailed setting example of the output port setting 200f shown in FIG. 8 indicate the connector number assigned to the control device 30 and the signal line for each pin in the connector. As a result, the user can connect the control device 30 and the device connected to the input / output port 506 without making a mistake.

  Further, the setting input unit 200 is configured so that the user can set use or non-use for each of the plurality of input / output ports 506. The input / output port 506 set as unused in the setting input unit 200 or the input / output port 506 having no function name cannot be selected in the sequence input unit 202 and cannot be used in the control device 30. That is, misuse of the input / output port 506 is prevented. Further, the setting input unit 200 may be configured to acquire the number of devices connected to the input / output port 506 provided in the mechanism unit 50 from the control device 30 and display the input / output port 506. .

  Next, a first example of input in the sequence input unit 202 will be described. FIG. 9 is a diagram illustrating a first example of input in the sequence input unit 202. The sequence input unit 202 accepts data indicating a control event for each row of a spreadsheet 60 of spreadsheet software.

  For each event input to the sequence input unit 202, an event classification 61, a control target 62, an operation content 63, a waiting condition 64, and an execution condition 65 are input to the column of the spreadsheet 60. The event classification 61 indicates to which type each event is classified. The control object 62 indicates one of the control objects included in the mechanism unit 50. The operation content 63 indicates a specific operation to be controlled. The waiting condition 64 indicates a condition for timed control. The execution condition 65 indicates a condition control condition.

  A sequence is expressed by a combination of events (rows). Therefore, sequence control is realized by executing events sequentially from the trigger toward the lower row. Each event including a trigger can be arbitrarily set by the user.

  The sequence input unit 202 inputs in order from the left column. When an input cell in the table is clicked, the sequence input unit 202 lists items that can be selected in the input cell. Specifically, the sequence input unit 202 displays a list of settable items using a name given by the setting input accepted by the setting input unit 200. When the user selects an item in the input cell, input (setting) of the selected item is determined.

  Specifically, in the event classification 61, when one event classification is selected from predetermined event types, input to the control object 62 by selection is enabled. Items that can be selected in the event classification 61 include timer triggers, sensor triggers, submodule triggers, and the like as triggers that trigger the start of a sequence, stepping motor 500 control, DC servo motor 502 control, sensor 504 control, and input / output. There are control of port 506, control of timer 508, submodule control, variable control, and the like. Selectable items may be added according to the setting.

  Subsequently, when a square of the control target 62 is clicked, items that can be selected (settable) according to the item selected in the event classification 61 are listed and displayed. When the user is prompted to select an item by the list and selects an item in the input cell, the control target of the selected item is determined. For example, when the control of the stepping motor 500 is selected in the event classification 61, the motor names set as in the detailed setting example of the STM setting 200b of the setting input unit 200 are displayed in the list.

  Next, when a square of the action content 63 is clicked, a list of actions that can be selected by a combination of the event classification 61 and the control target 62 is displayed as a list. When the user selects an item in the input cell, the operation content of the selected item is determined.

  Note that the setting input unit 200 displays a color and display on the square so as to prompt manual input for a part of the setting input, for example, when directly specifying the driving speed of the motor, thereby prompting the user to input. It is configured. This function for prompting manual input is applied to all cells requiring manual input. In addition, a portion that does not require input is grayed out and cannot be input, and erroneous input by the user is prevented.

  Next, the sequence input unit 202 accepts the setting of the waiting condition in the waiting condition 64 as the timing for performing the operation content 63. As waiting conditions, waiting time and waiting for sensor change can be set. In addition, when the condition for executing the event is selected in the execution condition 65, the sequence input unit 202 accepts input of data for setting the execution condition. If the execution condition is not satisfied, the sequence is stopped there. A plurality of execution conditions can be set.

  FIG. 10 is a diagram illustrating an input example (definition example) of an execution condition in the sequence input unit 202. Conditions that can be selected in the execution condition 65 of the sequence input unit 202 are separately defined as shown in FIG. Here, the same condition can be specified by a plurality of events.

  When creating an execution condition in the execution condition 65, for example, the target of the condition is selected by selecting the comparison content from “sensor comparison”, “variable comparison”, or the like. Next, for example, “greater than:> =” is selected as the comparison content from the choices, and when the comparison value is defined, the sequence input unit 202 generates an execution condition.

  FIG. 11 is a diagram illustrating a display example of the application 70 that causes the functions of the conversion unit 204 and the communication unit 206 to be executed. The display example of the application 70 illustrated in FIG. 11 includes a function for converting data received by the setting input unit 200 and the sequence input unit 202 into data that can be used by the control device 30, and a function for transmitting the converted data to the control device 30. This is a UI (user interface) for executing

  The application 70 reads the sequence file created by the sequence input unit 202 and the parameter file created by the setting input unit 200, and executes data conversion when the sequence data creation button is pressed. In addition, when COMPORT on the PC 20 is operated on the application 70 to establish communication connection, data is transmitted to the control device 30. Further, the application 70 may designate an event so that a series of events including the event classification 61, the control target 62, the operation content 63, the waiting condition 64, and the execution condition 65 can be replaced later.

  Next, functions of the sequence control device 10 will be described in more detail. FIG. 12 is a diagram illustrating the types of control performed by the sequence control device 10 and an overview of the functions of the controls. Here, the control performed by the sequence control apparatus 10 corresponds to a row (event) which is a component of the table shown in FIG.

  The trigger (various) is a function for waiting for the occurrence of a trigger for starting a series of sequences, and is a function for designating a trigger for starting a series of sequences written after the lower row of the table of the format shown in FIG. Actuator (various) operation is an output instruction given to the actuator to be controlled, and is an event for outputting machine parts such as stepping motor control, DCSM control, and output port control.

  The timer operation is an event for starting, stopping, or clearing the time of the timer. A variable operation is an event that performs substitution, addition, or subtraction on a specified variable.

  It is possible to define a sequence that combines several lines of events into a subroutine. This sequence of subroutines is called a submodule (or simply a subroutine). A submodule trigger is a special event at the head of a submodule, and a sequence using a submodule is called by specifying this submodule trigger. A submodule event is an event that is called by specifying a submodule trigger. The submodule completion event (E) is an event for completing the submodule and returning to this sequence. The end event (T) is an event that does not perform any processing and ends the sequence that has been reached.

  FIG. 13 is a diagram showing the contents of submodule related events and termination event data. Submodule triggers, submodule events, and submodule completion events can have execution conditions. In addition, for a submodule event, a user can specify a branch destination submodule trigger as a control target. The submodule event can specify an event to continue processing when the operation content returns from the submodule. The submodule event can wait for the user to specify until the branch from the start to the specified submodule is executed.

  FIG. 14 is a diagram showing a definition of next row start timing information applied for each event. Except for special events, when an event is started, it prepares, waits, and proceeds with execution and state. Each event flow and state transition will be described later. The next line (next event) is defined as being able to start at one of the two start timings in the state transition. “Simultaneous start” is a designation to start the next line at the timing when a certain event is started. “After execution content has been executed” is a specification for starting the next line after executing the specified content for a certain event. “Do not start” specifies that even if there is a next line, it does not start, and is not a timing selection.

  FIG. 15 is a flowchart showing trigger processing. The trigger waits for the specified trigger and always stays resident. The trigger receives a notification every time a trigger occurs, determines whether or not the designated execution condition is true (S10), and if true, starts (registers) the next event (S12), If it is false, the process ends.

  To start (register) the next event is to start the next line event. By registering, the registered event can be started after the process of “start next event (registration)” is completely completed. Therefore, the order of the start and end of the next event that can be started by nesting can be aligned as expected.

  FIG. 16 is a diagram illustrating trigger state transition. Since the trigger is resident, when the preparation is completed from the preparation state (S20), it goes back and forth between the execution waiting state (S22) and the execution (S24).

  FIG. 17 is a flowchart showing the sub-module trigger process. A submodule trigger is not resident, but is generated and processed when called from a submodule event. The sub module trigger determines whether or not the specified execution condition is true (S30), and otherwise starts (registers) the next event (S32) and false. If so, the process ends.

  The submodule trigger is passed a return destination and a return destination history (described later). The submodule module trigger adds a return destination to the return destination history. The sub module trigger generates an event of the next line, notifies the return destination history, and starts an event of the next line.

  FIG. 18 is a diagram illustrating state transition of the submodule trigger. When it is called from a submodule event and is generated and receives a start instruction, it transitions from the ready state (S40) to being executed (S42). Since submodule triggers are not resident, they are created and destroyed.

  FIG. 19 is a flowchart showing normal event processing. In this embodiment, normal events are events other than “trigger”, “submodule trigger”, “submodule event”, “submodule completion event”, and “end event”, and are shown in FIG. “Next line start timing” is selectable.

  As shown in FIG. 19, the sequence execution unit 304 determines whether there is a setting for starting a next event at the same time for a normal event (S50). If there is a setting for starting the next event at the same time, the sequence execution unit 304 starts (registers) the next event (S51). If there is no setting for starting the next event at the same time, the sequence execution unit 304 determines whether the designated wait has ended (S52).

  When the designated waiting is completed, the sequence execution unit 304 determines whether or not the designated execution condition is true (S53). The sequence execution unit 304 executes the specified execution content when the specified execution condition is true (S54), and ends the process when it is false.

  Next, the sequence execution unit 304 determines whether there is a setting for starting the next event after execution (S55). The sequence execution unit 304 starts (registers) the next event if there is a setting for starting the next event after execution (S56), and ends the process if there is no setting for starting the next event after execution.

  That is, when an event is set to “simultaneous start”, the event of the next line is unconditionally started simultaneously with the start of itself. When an event is set to “after execution content execution”, the next line event is started immediately after executing the execution content specified by itself. This event notifies the next line of the return destination history held by itself before the start of the next line.

  FIG. 20 is a diagram illustrating a state transition of a normal event. When the preparation is completed from the preparation state (S60), the normal event transitions to the execution waiting state (S62), and transitions to the execution (S64) when waiting is completed. Since normal events are not resident, they are terminated when execution is completed. Also, normal events are not executed when the execution condition becomes false. In addition, when the execution condition becomes false and the setting “after execution content” is set, the normal event ends and disappears without starting the next line.

  FIG. 21 is a flowchart showing the processing of the submodule event. As shown in FIG. 21, the sequence execution unit 304 determines whether there is a setting for starting the next event at the same time for the submodule event (S70). If there is a setting for starting the next event at the same time, the sequence execution unit 304 starts (registers) the next event (S71). If there is no setting for starting the next event at the same time, the sequence execution unit 304 determines whether the designated wait has ended (S72).

  When the designated waiting is completed, the sequence execution unit 304 determines whether or not the designated execution condition is true (S73). The sequence execution unit 304 executes the specified execution content when the specified execution condition is true (S74), and ends the process when it is false.

  Next, the sequence execution unit 304 determines whether there is a setting for starting the next event after execution (S75). The sequence execution unit 304 starts (registers) the next event if there is a setting for starting the next event after execution (S76), and ends the process if there is no setting for starting the next event after execution.

  FIG. 22 is a diagram illustrating state transition of a submodule event. When the preparation is completed from the preparation state (S80), the submodule event transitions to the execution waiting state (S82), and when the waiting is completed, the submodule event transitions to being executed (S84).

  A submodule event has the same processing as a normal event, but the designated execution content is a branch to the designated submodule. When a submodule is called, the corresponding submodule trigger is generated. At that time, the submodule trigger is started after notifying an event that the submodule returns with a submodule completion event. The submodule event notifies the return destination, and also passes the return destination history column of the submodule event to the submodule trigger. The return destination history will be described later.

  FIG. 23 is a flowchart showing processing of a submodule completion event. The submodule completion event determines whether or not the specified execution condition is true (S90). If it is true, the designated execution content is executed (S92), and if it is false, the process is terminated. To do. The execution content of the completion of the submodule is to generate and start a notified return destination event. At the same time, the submodule completion event deletes the information of the return destination to be returned from the return destination history that it has, and passes the return destination history to the return destination event.

  FIG. 24 is a diagram showing the state transition of the submodule completion event. The sub-module completion event becomes preparation completion without waiting, transitions from the preparation state (S100) to execution (S102), performs execution condition determination, and if true, returns and then ends and disappears. If false, do nothing and quit.

  FIG. 25 is a diagram illustrating processing of a termination event. As shown in FIG. 25, the end event does nothing. Since the next line is not started, the processing of this path is completed for the sequence that reaches here. The return event is also passed to the end event, but it is not handled because it is unnecessary information.

  FIG. 26 is a diagram illustrating state transition of a termination event. The end event ends immediately and disappears.

  Next, the parallel operation of the sequence using the submodule in the sequence control apparatus 10 will be described. FIG. 27 is a diagram illustrating a second example of input in the sequence input unit 202. The sequence input unit 202 can set information indicating whether the start timing of the next event is the same as that of the event, after the execution of the event, or not to start the next event for each event. Accept input of format data. In addition, the sequence input unit 202 accepts input of data in a format in which information indicating a subroutine causing the sequence execution unit 304 to execute a plurality of events when called and information indicating a return destination from the subroutine can be set. .

  The sequence execution unit 304 starts executing the process for the control target indicated by the next event in accordance with the start timing indicated by the data received by the sequence input unit 202. The sequence execution unit 304 executes a subroutine as an event.

  Specifically, the sequence execution unit 304 “sub-module event 0-7” “simultaneously starts” based on the second example of the input in the sequence input unit 202 shown in FIG. At the same time as trigger 1 "is started," submodule event 0-8 "is started (A).

  The “submodule event 0-8” started at the same time starts “submodule trigger 2”. At this time, the submodule having “submodule trigger 1” at the head and the submodule having “submodule trigger 2” at the head are executed in parallel (A). Since “submodule event 0-8” is further designated as “simultaneous start”, in addition to these parallel processes, the process of “event 0-9” is also started and a parallel operation is performed.

  When “submodule event 0-7” starts “submodule trigger 1”, when “submodule event 1-6” is executed (B), “submodule trigger 3” is executed and returns after completion. (C). When “submodule event 0-7” is completed, the process returns to the designated return destination (D).

  Next, the sequential operation of the sequence using the submodule in the sequence control apparatus 10 will be described. FIG. 28 is a diagram illustrating a third example of input in the sequence input unit 202. In the third example of input in the sequence input unit 202, “submodule event 0-7” is set not to start simultaneously, and the event of the next line is set not to be executed. "Submodule event 0-8" is designated. Thus, when “submodule trigger 1” is started, “submodule event 0-8” is not yet started. When the submodule having “submodule trigger 1” at the head returns with “submodule completion event 1-h” (D), the designated “submodule event 0-8” is called, A submodule having “submodule trigger 1” at the head and a submodule having “submodule trigger 2” called from “submodule event 0-8” at the head are sequentially processed.

  FIG. 29 is a diagram illustrating a process of returning from the overlapped branch to the original return destination. The position starting with B is where there is a “submodule event”. The position starting with S is the position of “trigger” or “submodule trigger”. The position starting with E is the position of the “submodule completion event”. The position starting with R is the position of the event specified as the return destination. The position starting with T is the position of the “end event”.

  The sequence in which the branch destination S2 and the return destination R1-1 are designated in B1-1 further branches to S3 in B2-1-1, but the sequence of this route is completed in T3. The route started in parallel with B2-1-1 is further designated with branch destination S4 and return destination R2-2 in B2-1-2, returns to return destination R2-2 from S4 through E4, but further E2 -2 returns to the return destination R1-1 designated by the first B1-1. In this way, the return destination needs to be able to know the previous return destination each time it returns. When the sequence execution unit 304 calls another submodule from the submodule (subroutine), the sequence execution unit 304 notifies the other submodule of the return destination to its own submodule.

  FIG. 30 is a diagram showing a first example of a return destination (return destination history) that should be held by the sequence execution unit 304 in the branching process shown in FIG. In FIG. 30, the route branches from B1-1 to S2 shown in FIG. 29, branches to S4 at B2-1-2, returns to R2-2 at E4, and returns to R1-1 at E2-2. The information of the return destination that should be held at each position is shown.

  The return destination is stored and managed in a stack (LIFO) column. The sequence execution unit 304 executes a process of loading a new return destination in the stack area every time a branch occurs, taking out the return destination from the stack every time a return occurs, and returning to the return destination. The stack discards the most recently stored information when retrieval occurs. The sequence of events continues by starting the next row in units of each row, but the return destination stack must continue even if the sequence advances. For this reason, the event that starts the next line notifies the next line of the return destination history that it has, and the next line needs to hold the notified return destination history until it disappears.

  In addition, when a “submodule trigger” event is started, in addition to notifying the “submodule trigger” of the return destination history of the “submodule event” that starts the “submodule trigger”, the “submodule” is restored. Also notify the destination. The “sub-module trigger” holds the return destination history by itself, and is further notified to store the return destination of the sub module as the latest information of the stack of the return destination history. On the other hand, the “submodule completion event” takes out the latest return destination from the return destination history that is notified and held by itself, returns to that return destination, and takes out this one return destination. The return destination history is notified to the return destination event.

  FIG. 31 is a diagram illustrating a second example of the return destination (return destination history) that should be held by the sequence execution unit 304 in the branch processing shown in FIG. In FIG. 30, branch from B1-1 to S2 shown in FIG. 29, branch from B2-1-3 to S5, branch from B5 to S8, return from E8 to R5, and return from E5. The return destination history of the route returning from R2-3, branching from B2-3 to S6, returning from E6 to R2-4, and returning from E2-4 to B1-1 is shown.

  Next, a storage area reserved for the sequence execution unit 304 to hold a return destination history will be described. In FIG. 32, the exemplary operation range in the above-described second example of the return destination (return destination history) to be held by the sequence execution unit 304 is surrounded by a frame. FIG. 33 is a diagram schematically showing storage area control performed by the sequence execution unit 304 for the operation example range shown in FIG. 32.

  When a fixed-size stack is assigned to each context, as in normal software, when an arbitrary number of events become parallel operations, a sufficient area is allocated to hold the return destination for each parallel operation. It is necessary to keep the memory efficiency low.

  Each time a return destination to be held occurs, the sequence execution unit 304 secures a storage area for the newly held return destination from the heap area, and adds it to the list as the last element of the stack information (stack area) . Elements have order information from the end to the beginning so that they can be listed. Information that owns one stack stores the last element of the list, whether the list is empty.

  Specifically, the sequence execution unit 304 writes the return destination (R1-1) to the stack area (stack memory) secured from the heap area from the state where there is no return destination element in S1, and starts the list. (S2).

  In S5, the sequence execution unit 304 writes the return destination (R2-3) from the heap area to the stack area and connects it to the second element in the list.

  In S8, the sequence execution unit 304 writes the return destination (R5) to the stack area secured from the heap area and connects it to the third element in the list.

  In R5, the sequence execution unit 304 remembers the last (third) previous (second) element as the last element in the stack, removes the original last (third) element, and returns the storage area to the heap area. To do.

  In this manner, once the return has occurred, the sequence execution unit 304 removes the last element from the list, stores the element that was before the last in the last element, and stores the original last element. Return (release) the stored storage area to the heap area. In addition, when the stack becomes empty due to the removed element, the sequence execution unit 304 holds “no element” as information to own the stack. Therefore, the sequence execution unit 304 can make only a necessary storage area for storing the return destination history, and can improve efficiency.

  FIG. 34 is a diagram illustrating an application example of the sequence control device 10. The mechanism unit 50 is, for example, a robot arm capable of rotating at least three axes and opening and closing the arm. In the sequence control device 10, data generated and converted in the PC 20 is transmitted to the control device 30 via the cable 40, and the control device 30 causes the control target included in the mechanism unit 50 to perform a sequence operation.

10 Sequence control device 20 PC
30 control device 50 mechanism unit 60 spreadsheet 70 application 200 setting input unit 202 sequence input unit 204 conversion unit 206 communication unit 300 communication unit 302 storage unit 304 sequence execution unit 306 drive unit 500 stepping motor 502 DC servo motor 504 sensor 506 input / output Port 508 timer

JP 2002-323912 A

Claims (16)

A sequence input unit that accepts input of data in a predetermined format that specifies the order logic indicating the start or stop timing of the operation of each of the plurality of control objects;
A setting input unit that accepts a setting input for at least the operation of each of the plurality of control objects;
A sequence execution unit that interprets the sequential logic based on the data received by the sequence input unit, and executes, as an event, a process for starting or stopping the operations of the plurality of control objects at a timing according to the sequential logic. When,
A driving unit that drives each of the plurality of control objects according to the setting input received by the setting input unit at a timing when the sequence execution unit starts an operation;
A sequence control device comprising: The sequence execution unit
2. The sequence control device according to claim 1, wherein an execution condition is determined at a timing according to the order logic, and if it can be executed, a process of starting or stopping the operation of each of the plurality of control objects is executed. . The sequence input unit includes:
The sequence control device according to claim 1 or 2, wherein input of the data in a format arranged in an arbitrary order for each event is accepted. The sequence input unit includes:
Information for specifying at least one of the controlled objects for each event, information indicating a specific operation of the specified controlled object, information indicating conditions of timed control and condition control for the specific operation can be set The sequence control device according to claim 3, wherein an input of the data in a format is accepted. The sequence input unit includes:
The sequence control device according to claim 3 or 4, wherein items that can be set for each event are displayed as a list, and the user is prompted to select an item and the input of the data is accepted. The sequence input unit includes:
Input of the data in a format in which information indicating whether the start timing of the next event is the same as that of the event, after the execution of the event, or not to start the next event can be set for each event Accept,
The sequence execution unit
The sequence control device according to claim 5, wherein the next event is started in accordance with a start timing indicated by the data received by the sequence input unit. The sequence input unit includes:
Information indicating a subroutine that causes the sequence execution unit to execute a plurality of events by being called, and accepting input of the data in a format that can set information indicating a return destination from the subroutine,
The sequence execution unit
The sequence control apparatus according to claim 6, wherein the subroutine is executed as an event. The sequence execution unit
The sequence control device according to claim 7, wherein, when another subroutine is called from the subroutine, the return destination of the subroutine is notified to the other subroutine. The sequence execution unit
The return destination of the subroutine is set as the return destination history of the stack structure, and each of the events constituting the subroutine is held. The return destination history held by each event is that the next event is preceded by the start of the next event. The sequence control device according to claim 7 or 8, wherein the return event is indicated in the event, and the next event is duplicated and taken over by the next event. The sequence execution unit
The sequence control device according to claim 9, wherein an area for holding the return destination history of the stack structure is secured from a heap area that is released when the return from the subroutine is executed. The sequence input unit includes:
The information indicating that there is no return destination from the subroutine can be set, and when no return destination is set, an event called as a subroutine does not inherit the return destination history of the caller. The sequence control device according to any one of 7 to 10. The setting input unit
Further accepting a setting input for assigning a name to each of the plurality of control objects,
The sequence input unit includes:
The sequence control device according to any one of claims 5 to 11, wherein a settable item is displayed as the list by using a name given by a setting input accepted by the setting input unit. . The setting input unit
The sequence control device according to any one of claims 1 to 12, wherein a settable parameter is defined in accordance with a type of the control target. The plurality of control objects are:
The sequence control device according to claim 1, comprising at least one of a stepping motor, a DC servo motor, a sensor, an output port, and a timer. The setting input unit
For each of the plurality of control objects, accepts a setting input indicating whether or not the sequence execution unit is an object for starting an operation,
The sequence execution unit
The sequence control device according to any one of claims 5 to 12, wherein the control target to which a setting input indicating that the operation is not started is not displayed in the list. The system further comprises a conversion unit that converts the setting input received by the setting input unit and the data received by the sequence input unit into data in a format that can be used by the sequence execution unit or the driving unit. Item 16. The sequence control device according to any one of Items 1 to 15.

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