JP2021177372A - Control program generation device, control program generation method, and program - Google Patents

Abstract

To avoid situations in which contents of an operation of an automatic manufacturing machine are wrongly described in an operation chart.SOLUTION: By dividing an operation period from the start to the end of an operation of an automatic manufacturing machine (1) into a plurality of partial periods, and further by dividing the operation of the automatic manufacturing machine into basic operations of a plurality of actuators and assigning the basic operations to one of the partial periods, the operation of the automatic manufacturing machine is described in an operation chart (200). The basic operations on the operation chart are described by using: an operation description (206a) in which the operation is qualitatively described; and a numerical table (206b) or a plurality of numerical parameters (206c). Subsequently, the operation chart in which the operation of the automatic manufacturing machine is described is read, the operation descriptions in the operation chart are converted into program elements stored in association with the operation descriptions, numerical values set to the numerical table or the plurality of numerical parameters are set to the program elements, and thereafter the program elements are combined in accordance with the order of the partial periods in the operation chart.SELECTED DRAWING: Figure 5

Description

The present invention relates to a technique for generating a control program of an automatic manufacturing machine including a plurality of actuators.

Today, there is a strong demand for labor saving at manufacturing sites such as factories across all industries. In order to meet this demand, it is essential to utilize automatic manufacturing machines. Therefore, various types of automatic manufacturing machines have been developed according to the object to be machined or manufactured, the content of the machining (for example, cutting or bending), etc. (for example, Patent Document 1, Patent). Document 2).

Here, the manufacturing site usually differs in the size, shape, material, processing content, and conditions of the object to be manufactured. For this reason, it is difficult to divert the automatic manufacturing machine used at other manufacturing sites, and a dedicated automatic manufacturing machine will be developed for each manufacturing site. Then, when a dedicated automatic manufacturing machine is developed, it becomes necessary to newly develop a control program for controlling the automatic manufacturing machine.

However, in order to develop a control program, a specialized engineer (so-called programmer) who has specialized knowledge about software is required. Moreover, the development of the control program can only be started after the mechanical design of the automatic manufacturing machine has progressed to a certain extent, so if the period required for the development of the control program is included, it will take a long time to develop the automatic manufacturing machine. Become. These points are major obstacles when trying to actively introduce automatic manufacturing machines to manufacturing sites.

Therefore, the inventors of the present application have already applied for a technique for solving these problems at once by describing the operation of an automatic manufacturing machine in a special operation chart and automatically generating a control program from the operation chart. (Japanese Patent Application No. 2020-075017). Since this special operation chart is an operation chart developed by the inventor of the present application that does not exist in the past, it may be referred to as a "YOGO chart" below. This operation chart (YOGO chart) can be easily created if the operation of the automatic manufacturing machine is understood, and a control program can be automatically generated from this operation chart. Therefore, the period required for the development of the automatic manufacturing machine can be significantly shortened, and since it is not necessary to secure a programmer, the manufacturing cost can be suppressed.

Japanese Unexamined Patent Publication No. 2011-245602 JP-A-2018-192570

However, even with the above-mentioned pending technology, if an error is made in describing the operation of the automatic manufacturing machine on the operation chart (YOGO chart), the automatic manufacturing machine cannot be operated as intended. Therefore, there is a demand for the development of a technique for reducing as much as possible the situation where an erroneous content is described when describing the operation of an automatic manufacturing machine on an operation chart (YOGO chart).

The present invention has been made to solve the above-mentioned problems of the prior art, and when describing the operation of an automatic manufacturing machine on an operation chart (YOGO chart), a situation in which an erroneous content is described is described. The purpose is to provide technology that can be reduced.

In order to solve the above-mentioned problems, the control program generator of the present invention adopts the following configuration. That is,
A control program generator (100a, 110) for generating a control program of an automatic manufacturing machine (1) provided with a plurality of actuators (10 to 20).
A basic operation storage unit (102) that stores a basic operation (206) representing an operation for each degree of freedom of the actuator in association with a program element that realizes the basic operation.
The operation period from the start to the end of the operation of the automatic manufacturing machine is divided into a plurality of partial periods, the operation of the automatic manufacturing machine is decomposed into the plurality of basic operations, and the basic operation is divided into a plurality of basic operations. An operation chart reading unit (103) that reads an operation chart (200) in which the operation of the automatic manufacturing machine is described by being assigned to any of the plurality of partial periods.
The automatic manufacturing machine is operated by combining the program elements of the basic operation assigned to the partial period on the operation chart in the order of the partial periods on the operation chart. It is equipped with a control program generator (105) that generates a control program.
The basic operation storage unit divides the content of the basic operation into an operation description (206a) for qualitatively describing the basic operation and a numerical description for numerically describing the quantitative items of the basic operation. Then, the program element corresponding to the operation description of the basic operation and the numerical table (206b) corresponding to the numerical description or a plurality of numerical parameters (206c) corresponding to the numerical description are stored.
The operation chart reading unit reads the operation chart in which the basic operation is described by using the operation description and the numerical table or the plurality of numerical parameters.
When a plurality of the program elements are combined, the control program generator sets a numerical value in the program element according to the numerical table or the plurality of numerical parameters described together with the operation description of the program element. It is a feature.

Further, the control program generation method of the present invention corresponding to the above-mentioned control program generation device adopts the following configuration. That is,
A control program generation method in which a control program of an automatic manufacturing machine (1) equipped with a plurality of actuators (10 to 20) is generated by a computer.
The operation period from the start to the end of the operation of the automatic manufacturing machine is divided into a plurality of partial periods, and the operation of the automatic manufacturing machine is a plurality of basic operations representing the operation of each degree of freedom of the actuator. The operation chart reading step (STEP1) of reading the operation chart (200) in which the operation of the automatic manufacturing machine is described by being decomposed into (206) and the basic operation being assigned to any of the plurality of partial periods. When,
An operation chart analysis step (STEP2) of extracting a plurality of the basic operations included in the operation chart and the partial period to which the plurality of basic operations are assigned by analyzing the operation chart.
A control program that generates the control program for operating the automatic manufacturing machine by combining program elements for realizing the basic operation in the order of the partial periods to which the basic operation is assigned in the operation chart. Equipped with a generation process (STEP3)
The operation chart reading step is for the basic operation in the operation chart to numerically describe an operation description (206a) for qualitatively describing the content of the basic operation and quantitative items of the basic operation. It is a step of reading the operation chart described by using the numerical table (206b) or the plurality of numerical parameters (206c).
The control program generation step converts the operation description into the program element by referring to a correspondence relationship stored in association with the operation description of the basic operation and the program element for realizing the operation description. The control program is generated by converting and setting numerical values in the program elements according to the numerical table or the plurality of numerical parameters described together with the operation description, and then combining the program elements in the order of the partial periods. It is characterized in that it is a process to be performed.

In the control program generation device and the control program generation method of the present invention, the operation of the automatic manufacturing machine is described in advance in the operation chart. This operation chart is as follows. First, the operation period from the start to the end of the operation of the automatic manufacturing machine is divided into a plurality of partial periods, and the operation of the automatic manufacturing machine is decomposed into the basic operations of the plurality of actuators. Then, the operation of the automatic manufacturing machine is described by assigning those basic operations to any of a plurality of subperiods. Further, as for the basic operation in the operation chart, the qualitative contents of the basic operation are described by the operation description, and the quantitative items of the basic operation described by the numerical values are described by the numerical table or a plurality of numerical parameters. Further, in the operation description, program elements that realize the operation represented by the operation description are associated and stored in advance. Then, when generating the control program of the automatic manufacturing machine, the operation chart in which the operation of the automatic manufacturing machine is described is read, the operation description of the basic operation described in the operation chart is converted into a program element, and the operation description is performed. Set the numerical value set in the numerical table or multiple numerical parameters described with to the program element. Then, the control program is generated by combining those program elements in the order of the partial periods.

Since the motion description qualitatively describes the basic motion, which is a simple motion of the actuator, a program element for causing the actuator to perform the motion of the motion description can be created in advance. Of course, in order to operate the actuator using the program element, it is necessary to specify quantitative items such as the amount of operation and the operation speed, but these numerical values are described as an operation description as a numerical table or a plurality of numerical parameters. Is set separately. Such an operation chart can be easily created by a mechanical design engineer who designed an automatic manufacturing machine or an engineer who has sufficient knowledge about the structure of the automatic manufacturing machine. Then, the created operation chart is read, the operation description in the operation chart is converted into a program element, numerical values are set in the program element according to the numerical table described together with the operation description, and then those program elements are converted into the operation chart. If they are combined according to the above, it is possible to automatically generate a control program that controls the operation of the automatic manufacturing machine. In addition, when describing the basic operation on the operation chart, the operation description and the numerical table or numerical parameters are described separately. Therefore, for the following reasons, incorrect contents are described in the operation chart (YOGO chart). The situation that is done can be greatly reduced. That is, since the motion description is merely a straightforward expression of the motion that the human wants the actuator to perform, the task of describing the motion description on the motion chart is merely a task of straightforwardly expressing the human intention. , The possibility of writing incorrect content can be greatly reduced. Of course, it is not possible to operate the actuator because the specific numerical values are not set only by describing the operation description, but these can use the numerical values set in the numerical table or the numerical parameters. Then, even when modifying a specific numerical value, it is sufficient to modify the numerical value set in the numerical table or the numerical parameter, so that the operation chart does not need to be modified. Therefore, the operation chart will not be changed by mistake at the time of correction. As a result, it is possible to significantly reduce the situation where an erroneous content is described in the operation chart (YOGO chart).

Further, in the control program generator of the present invention described above, a plurality of numerical values including at least one of the operating amount, operating speed, or operating load of the basic operation may be set in the numerical table or the numerical parameter.

The operating amount, operating speed, operating load, etc. of the basic operation are numerical values necessary for the actuator to perform the basic operation as intended, but cannot be described in the operation description. Therefore, if these are set in the numerical table or the numerical parameters, the actuator can be basically operated as intended, and as a result, the automatic manufacturing machine can be operated appropriately.

Further, in the control program generator of the present invention described above, when a numerical value is not set in the numerical table, a reference table in which an appropriate numerical value is set in advance may be referred to.

In this way, the actuator can be operated using the numerical value set in the reference table without setting the numerical value in the numerical value table. Then, if necessary, if an appropriate numerical value is set in the numerical value table, the automatic manufacturing machine can be operated appropriately.

Further, in the control program generator of the present invention described above, the operation waiting time for waiting for the start of the operation of the basic operation may be set in the numerical table or the numerical parameter.

By doing so, by setting the operation standby time in the numerical table or the numerical parameter, the actuator can be basically operated after the operation standby time has elapsed. In addition, when the basic operation is performed on multiple actuators, the timing at which each actuator starts the basic operation is slightly different by adjusting the operation standby time set in the numerical table or numerical parameter of each actuator. , It is possible to easily describe detailed operations.

Further, the control program generation method of the present invention described above can be grasped as a program for realizing the control program generation method using a computer. That is, the program of the present invention
A program that realizes a method of generating a control program of an automatic manufacturing machine (1) provided with a plurality of actuators (10 to 20) by using a computer.
The operation period from the start to the end of the operation of the automatic manufacturing machine is divided into a plurality of partial periods, and the operation of the automatic manufacturing machine is a plurality of basic operations representing the operation of each degree of freedom of the actuator. The operation chart reading function (STEP1) for reading the operation chart (200) in which the operation of the automatic manufacturing machine is described by being decomposed into (206) and the basic operation being assigned to any of the plurality of partial periods. When,
An operation chart analysis function (STEP2) for extracting a plurality of the basic operations included in the operation chart and the partial period to which the plurality of basic operations are assigned by analyzing the operation chart.
A control program that generates the control program for operating the automatic manufacturing machine by combining program elements for realizing the basic operation in the order of the partial periods to which the basic operation is assigned in the operation chart. The generation function (STEP3) is realized by the computer.
The operation chart reading function is for the basic operation in the operation chart to numerically describe an operation description (206a) for qualitatively describing the content of the basic operation and quantitative items of the basic operation. It is a function of reading the operation chart described by using the numerical table (206b) or the plurality of numerical parameters (206c).
The control program generation function converts the operation description into the program element by referring to a correspondence relationship stored in association with the operation description of the basic operation and the program element for realizing the operation description. The control program is generated by converting and setting numerical values in the program elements according to the numerical table or the plurality of numerical parameters described together with the operation description, and then combining the program elements in the order of the partial periods. The feature is that it is a function to perform.

If such a program is loaded into a computer and executed, a control program that controls the operation of the automatic manufacturing machine can be automatically generated from the operation chart, and erroneous contents are described in the operation chart. It is possible to prevent the situation.

It is explanatory drawing which showed the appearance shape of the automatic manufacturing machine 1 controlled by the automatic manufacturing machine control device 100 of this Example. It is a block diagram conceptually showing how the automatic manufacturing machine control device 100 controls the operation of various actuators 10 to 20 mounted on the automatic manufacturing machine 1. It is explanatory drawing which conceptually showed the rough process for developing a new automatic manufacturing machine 1. It is explanatory drawing about the basic principle that the automatic manufacturing machine control device 100 of this Example automatically generates the control program of the automatic manufacturing machine 1 from the operation chart (YOGO chart) of the automatic manufacturing machine 1. It is explanatory drawing which illustrated a part of the operation chart (YOGO chart) of the automatic manufacturing machine 1 read by the automatic manufacturing machine control device 100 of this Example. It is explanatory drawing about the operation description 206a of a basic operation. It is explanatory drawing which illustrated the numerical table 206b with respect to the operation description 206a called "Ω-AA". It is explanatory drawing which illustrated the numerical table 206b with respect to the operation description 206a called "Ω-AB". It is explanatory drawing which illustrated the numerical table 206b with respect to the operation description 206a called "Ω-AC". It is explanatory drawing which illustrated the reference table of the numerical value table 206b with respect to the operation description 206a of "Ω-AA". It is explanatory drawing which illustrated the reference table of the numerical value table 206b with respect to the operation description 206a called "Ω-AB". It is explanatory drawing which illustrated the reference table of the numerical value table 206b with respect to the operation description 206a of "Ω-AC". It is explanatory drawing which showed the function which the automatic manufacturing machine control apparatus 100 of this Example has. It is explanatory drawing which showed the mode that the actuator, the operation description 206a, and the program element number are associated with each other by the correspondence relationship stored in the basic operation storage unit 102 of this embodiment. 6 is a flowchart of a control program generation process in which the automatic manufacturing machine control device 100 of this embodiment generates a control program from an operation chart (YOGO chart). It is a flowchart of YOGO chart analysis processing executed in the control program generation processing. It is explanatory drawing which illustrated the intermediate data generated by the YOGO chart analysis processing. It is explanatory drawing which illustrated the control program generated by converting the intermediate data. 6 is a flowchart of an operation control process in which the automatic manufacturing machine control device 100 of this embodiment controls the operation of each actuator based on the control program data. It is explanatory drawing about the modification which the automatic manufacturing machine control apparatus 100 was formed by the YOGO chart processing apparatus 100a, and the control execution apparatus 100b. It is explanatory drawing which illustrated the numerical table 206b which can set the operation waiting time. It is explanatory drawing which illustrated the mode that the basic operation 206 is described by using a plurality of numerical parameters 206c instead of a numerical table 206b. It is explanatory drawing which illustrated the appearance that the next operation permission position was set in the numerical table 206b or the numerical parameter 206c.

A. Device configuration :
FIG. 1 is an explanatory view showing a rough external shape of the automatic manufacturing machine 1 of this embodiment. The automatic manufacturing machine 1 of this embodiment is a machine tool (so-called pipe bender) that automatically bends a long pipe material to form a desired shape. Of course, if the automatic manufacturing machine 1 of this embodiment is equipped with a plurality of actuators and can automatically perform a plurality of operations such as gripping, transporting, processing, and heating on an object, it is not a pipe bender. It may be a manufacturing machine. For example, it may be a manufacturing machine for automatically manufacturing food products. Alternatively, it may be a manufacturing system in which an arm robot having a plurality of joints and a transfer device are combined.

As shown in FIG. 1, the automatic manufacturing machine 1 of this embodiment has a roughly horizontally long rectangular parallelepiped shape, and two rails 2 are erected in the longitudinal direction on the upper surface side of the rectangular parallelepiped, and the rails 2 A transport unit 3 for gripping and transporting a pipe material (not shown) to be processed is mounted on one upper end side (left side in FIG. 1). Further, on the side opposite to the side on which the transport unit 3 is mounted, a processing unit 4 that performs processing such as bending on a pipe material (not shown) is mounted. A cylindrical gripping shaft 3a is projected from the transport unit 3, and a chuck 3b for gripping a pipe material (not shown) is attached to the tip of the gripping shaft 3a. Therefore, by moving the transport unit 3 on the rail 2 while the pipe material is gripped by the chuck 3b, the pipe material is supplied to the processing unit 4, and the pipe material is bent by the processing unit 4. It is possible to apply.

Since the automatic manufacturing machine 1 of this embodiment can control the feed amount of the pipe material by the movement amount of the transport unit 3, it is possible to freely control the position where the pipe material is bent or the like. Further, by rotating the gripping shaft 3a to which the chuck 3b is attached around the axis (so-called twisting operation), it is possible to bend the pipe material in a desired direction. In order to realize such a thing, the actuator 10 for opening and closing the chuck 3b, the actuator 11 for rotating the gripping shaft 3a around the axis, and the gripping shaft 3a advance and retreat in the axial direction inside the transport unit 3. An actuator 12 for moving the transfer unit 3 and an actuator 13 for moving the transport unit 3 on the rail 2 are mounted. In the automatic manufacturing machine 1 of the present embodiment, all of these actuators 10 to 13 use a servomotor that operates with an AC power supply, but depending on the performance required for the actuator, an actuator of another drive type (actuator of another drive method ( For example, a hydraulic cylinder, a solenoid, a stepping motor, etc.) can be adopted. The transfer unit 3 is also equipped with an encoder for detecting the rotation position of the gripping shaft 3a and the movement position of the transfer unit 3, and sensors such as a limit switch, but the drawing becomes complicated. For the purpose of avoiding this, the illustration is omitted in FIG.

Inside the processing unit 4, the actuator 17 for bending the pipe material, the actuator 18 for moving the position where a force is applied to the pipe material when bending the pipe material, and the entire processing unit 4 are moved in the vertical direction. An actuator 19 for forming a flat end surface called a flange on a pipe material, an actuator 20 for forming an annular convex portion called a bulge, and the like are mounted. The processing unit 4 is also equipped with switches and sensors such as an encoder and a contact switch, but these are omitted from the drawing in order to avoid complicating the drawings.

Further, a plurality of driver circuits (not shown) for driving the various actuators 10 to 13 and 17 to 20 described above are mounted inside the processing unit 4. Here, the driver circuit is an electric component having the following functions. In order for the actuators 10 to 13 and 17 to 20 to perform the desired operation, it is necessary to supply the actuators 10 to 13 and 17 to 20 with a drive current having an appropriate waveform. However, the drive current to be supplied to the actuators 10 to 13 and 17 to 20 differs depending on the drive system of the actuators 10 to 13 and 17 to 20, and even if the actuators have the same system, the current value of the drive current is different. It depends on the actuator. Therefore, the actuators 10 to 13 and 17 to 20 are provided with dedicated electric components called driver circuits, and when the drive amount is specified for the driver circuit, the driver circuit is applied to the actuators 10 to 13 and 17 to 20. The appropriate drive current is output, and as a result, the actuators 10 to 13 and 17 to 20 are driven.

Further, as shown in FIG. 1, various mechanical parts are also mounted in the space below the two rails 2, and this space is a plurality of driver circuits (shown) mounted in the processing unit 4. Is omitted), signals from electric cables (not shown) that supply drive currents to various actuators 10 to 13 in the transfer unit 3 and various switches and sensors mounted on the transfer unit 3. , A space for wiring a signal cable (not shown) for transmitting to the processing unit 4. If these electric cables and signal cables move in the space as the transport unit 3 moves back and forth on the rail 2, there is a risk that they may get entangled with each other or get caught in something. Therefore, in order to avoid such a situation, if there is unnecessary play in the electric cable or signal cable in the space below the rail 2, the unnecessary play is eliminated by pulling the cable, and the electric cable or the electric cable or the signal cable is used. When the signal cable is pulled with a strong force, actuators 14 to 16 are also mounted to give the cable an appropriate amount of play by sending out the hand-held cable. In the automatic manufacturing machine 1 of this embodiment, air cylinders are adopted as actuators 14 to 16, and the operation of these air cylinders is also controlled by a driver circuit (not shown).

As described above, the automatic manufacturing machine 1 is equipped with a large number of actuators 10 to 20. Then, in order to automatically process the object to be processed (here, the pipe material) into the desired shape, it is necessary to operate these actuators 10 to 20 appropriately at an appropriate timing. It is the driver circuits of the respective actuators 10 to 20 that drive these actuators 10 to 20, but the operation of the driver circuits driving the respective actuators 10 to 20 is carried out by the automatic manufacturing machine control device 100 described later. It is controlled according to the control program loaded in advance.

FIG. 2 is a block diagram conceptually showing how the automatic manufacturing machine control device 100 of this embodiment controls the operation of the actuators 10 to 20 mounted on the automatic manufacturing machine 1. Also in FIG. 2, the switches and sensors required for control are not shown. As shown in the drawing, a driver circuit 10d for driving the actuator 10 is provided between the automatic manufacturing machine control device 100 and the actuator 10, and the automatic manufacturing machine control device 100 directly has a driver circuit. It controls 10d. Similarly, for the actuators 11 to 20, driver circuits 11d to 20d for driving the actuators 11 to 20 are provided between the automatic manufacturing machine control device 100 and the actuators 11 to 20. In this way, the automatic manufacturing machine control device 100 indirectly controls the actuators 10 to 20 via the driver circuits 10d to 20d.

Further, as described above with reference to FIG. 1, in the automatic manufacturing machine 1 of this embodiment, servomotors are adopted for actuators 10 to 13, 17 to 20, and air cylinders are adopted for actuators 14 to 16. ing. Here, the servo motor is a servo-controlled motor, and is driven by feedback-controlling the current value flowing through the motor so that the position (or angle, speed, etc.) becomes a target value. Is. Further, the air cylinder is an actuator that linearly moves a movable part by using air pressure, and operates by opening and closing a port connected to a source of compressed air. In addition, sequence control is used to open and close the port.

In this way, the servo-controlled actuators 10 to 13, 17 to 20 and the sequence-controlled actuators 14 to 16 are connected to the automatic manufacturing machine control device 100 of the present embodiment. In the figure, the fact that the automatic manufacturing machine control device 100 and the actuators 10 to 13 and 17 to 20 are connected by a solid line indicates that these actuators 10 to 13 and 17 to 20 are servo-controlled. There is. Further, the fact that the automatic manufacturing machine control device 100 and the actuators 14 to 16 are connected by a broken line indicates that these actuators 14 to 16 are sequence-controlled. Of course, it is also possible to connect an actuator controlled by a method other than servo control or sequence control.

The automatic manufacturing machine control device 100 controls the actuators 10 to 20 via the driver circuits 10d to 20d according to the control program, and the control program needs to be created in advance and read into the automatic manufacturing machine control device 100. There is. Here, as shown in FIG. 2, it is not easy to create a control program for appropriately operating a large number of actuators 10 to 20 at an appropriate timing. In particular, when actuators of different control methods are mixed, such as servo control and sequence control, a long period of time is required to create a control program. For this reason, the current situation is that more than half of the development period of the new automatic manufacturing machine 1 is spent on creating the control program.

B. How to create a control program:
B-1. Overview :
FIG. 3 is an explanatory diagram conceptually showing a rough process for developing a new automatic manufacturing machine 1. FIG. 3A shows a development process that has been conventionally performed. Further, FIG. 3B shows a new development process developed by the inventor of the present application and already applied for.

In the conventional development process, as shown in FIG. 3A, the mechanical design engineer first grasps various functions required for the automatic manufacturing machine 1 and then realizes those functions. Create a drawing of the automatic manufacturing machine 1 in which the mechanism is incorporated. When creating a drawing, a mechanical design engineer asks what kind of moving parts are required, what kind of movement these moving parts must perform, and how much torque and amount of movement are required to make those movements. It is necessary to examine and decide the contents such as where and how many actuators have the same accuracy and accuracy one by one. Then, the actuator to be actually mounted is determined, and the drawing is finally completed after considering the mountability and maintainability of the actuator.

After the mechanical design of the automatic manufacturing machine 1 is completed in this way, the process shifts to the creation of a control program for controlling the automatic manufacturing machine 1. Since the creation of a control program requires expertise in software, it must be created by an engineer (that is, a programmer) who has that expertise. Therefore, when the machine design is completed, the machine engineer creates a flowchart expressing the operation of the automatic manufacturing machine 1 that he / she thinks, and then has a meeting with the programmer to explain the operation of the automatic manufacturing machine 1. Up to this point, the work is done by a mechanical design engineer.

On the other hand, the program who had a meeting with the mechanical design engineer understands the operation of the automatic manufacturing machine 1 by carefully reading the flowchart created by the mechanical design engineer, drawings and other materials as necessary, and then automatically. Creation of a control program for controlling the operation of various actuators mounted on the manufacturing machine 1 is started. Programmers create control programs using a human-readable high-level programming language, but computers cannot execute control programs in the high-level programming language as it is. Therefore, when the control program is completed, the programmer finally completes the control program by converting the control program written in the high-level programming language into a machine language control program that can be executed by a computer. The work of converting a control program of a high-level programming language into a control program of a machine language is called compilation, and this work can be completed in a short time by using a dedicated program called a compiler.

As illustrated in FIG. 3A, in the conventional development process, a period of about 1.5 to 2.5 times the period required for mechanical design is spent on creating a control program. Is normal. Moreover, since it is difficult for most of the processes of machine design and creation of the control program to overlap and proceed, the development period of the automatic manufacturing machine 1 as a whole becomes long. In addition, it is necessary to secure specialists with different skills such as mechanical design engineers and programmers, which is also a major obstacle in developing a new automatic manufacturing machine 1.

On the other hand, FIG. 3B shows a process of developing the automatic manufacturing machine 1 by using a new method proposed by the inventor of the present application. Even when the new method is used, the mechanical design itself is the same as the conventional method. That is, the mechanical design engineer grasps various functions required for the automatic manufacturing machine 1 and then creates a drawing of the automatic manufacturing machine 1 in which a mechanism for realizing those functions is incorporated. In that case, after considering the moving parts necessary for realizing the function, the operation contents of the moving parts, the performance of the actuator for moving the moving parts, etc., and deciding the actuator, the mountability and maintenance of the actuator Finally, the drawing is completed in consideration of gender.

When the drawing is completed, in the new development process, the mechanical design engineer creates a YOGO chart instead of the flowchart (see FIG. 3 (b)). The YOGO chart is a special operation chart originally devised by the inventor of the present application, and describes the operation of each actuator considered by a mechanical design engineer when designing a machine in the form of a chart. The YOGO chart of this embodiment corresponds to the "operation chart" in the present invention.

The YOGO chart will be described in detail later, but the YOGO chart is merely a description of the operation of each actuator that the mechanical design engineer considered when designing the machine as he or she thought. Therefore, a mechanical design engineer who designed a machine can create a flowchart in about half the time (see FIG. 3B). In addition, the YOGO chart can be converted into a control program that can be executed by the CPU of the computer by applying it to a dedicated compiler. The reason why the YOGO chart can be converted into a control program will also be described later. In this way, if the operation of the automatic manufacturing machine 1 is described in the YOGO chart, a machine language control program can be generated from the YOGO chart. Therefore, as shown in FIG. 3, as compared with the conventional method. Therefore, the development period of the new automatic manufacturing machine 1 can be shortened to at least half or less (typically about 1/3). In addition, the YOGO chart can be easily created by a mechanical design engineer, and there is no need to secure a programmer. For this reason, it is possible to almost completely eliminate various matters that have been major obstacles when developing a new automatic manufacturing machine 1. In addition, even when changing the operation of the automatic manufacturing machine 1 or adding a new actuator to the automatic manufacturing machine 1, if the YOGO chart is rewritten and applied to a dedicated compiler, a control program can be generated immediately. Is possible. The reasons why this is possible will be explained below.

B-2. Principle of automatically generating a control program from the YOGO chart:
FIG. 4 is an explanatory diagram of a principle of automatically generating a control program of the automatic manufacturing machine 1 from an operation chart (YOGO chart). FIG. 4A shows a primitive YOGO chart before various improvements are made. The YOGO chart of this embodiment, which will be described later, is an improved version of the primitive YOGO chart shown in FIG. 4 (a), but the principle of automatically generating a control program is a primitive YOGO chart. Is the same as. Therefore, in order to facilitate understanding, the principle of automatically generating a control program from the YOGO chart will be described using the primitive YOGO chart shown in FIG. 4 (a). Further, in order to avoid complicating the explanation, it is assumed that the actuators mounted on the automatic manufacturing machine 1 are only two motors A and B and two cylinders A and B.

As shown in FIG. 4A, in the YOGO chart, the operation of the automatic manufacturing machine 1 is performed by combining the basic operations of these actuators (here, the motors A and B, and the cylinders A and B). Express. Here, the basic operation of the actuator is an operation of the actuator in the direction of freedom (hereinafter referred to as a basic operation). For example, in the case of a rotating actuator such as a motor, the rotation operation is the basic operation, and in the case of an actuator such as a cylinder that moves forward and backward, the operation of moving forward and backward is the basic operation. Further, in the case of an actuator in which a member that meshes with the ball screw is moved forward and backward by rotating the ball screw by a motor, either the rotation operation of the motor or the movement of moving the member forward or backward is the basic operation.

Further, in the YOGO chart, the operation period from the start to the end of the operation of the automatic manufacturing machine 1 is divided into a plurality of partial periods, and the basic operation of each actuator is set to any of these partial periods. Assigned. In the example shown in FIG. 4A, the operating period of the automatic manufacturing machine 1 is divided into five partial periods 1 to 5, and in the partial period 1, the cylinder A moves forward and backward according to the operating amount (a). Actions are assigned. Further, the partial period 2 is assigned an operation in which the motor A rotates with the operating amount (b). Multiple actions can be assigned to a partial period. That is, the partial period 3 is assigned two operations, that is, the motor B rotates with the operating amount (c) and the cylinder B moves forward and backward with the operating amount (d), and the partial period 4 is assigned. , The operation of the motor A rotating with the operating amount (-b), the operation of the motor B rotating with the operating amount (-c), and the operation of the cylinder B moving forward and backward with the operating amount (-d). Assigned. Then, the final partial period 5 is assigned an operation in which the cylinder A moves forward and backward by the amount of movement (−a).

By assigning the basic operation of the actuator to the partial period in this way, the following operation executed by the automatic manufacturing machine 1 can be described. First, the cylinder A is moved forward and backward by the operating amount (a), and when the operation of the cylinder A is completed, the motor A is rotated by the operating amount (b). Then, when the operation of the motor A is completed, the motor B is rotated by the operating amount (c), and the cylinder B is moved forward and backward by the operating amount (d). When the operations of the motor B and the cylinder B are completed, the motor A and the motor B are rotated by the operating amount (−a) and the operating amount (−c), respectively, and the cylinder B is moved forward and backward by the operating amount (−d), respectively. Then, when all the operations of the motor A, the motor B, and the cylinder B are completed, the cylinder A is finally moved forward and backward by the amount of operation (-a) to end all the operations. In this way, if the basic operation of the actuator mounted on the automatic manufacturing machine 1 is assigned to any partial period, the operation of the automatic manufacturing machine 1 can be described.

As is clear from the above description, the partial period indicates the period during which the assigned actuator operates, and does not indicate the length of time. For example, the time length of the partial period 1 is the time required for the cylinder A to operate, the time length of the partial period 2 is the time required for the motor A to operate, and the time length of the partial period 3 is the time required for the motor B. Is the longer time required for the operation and the time required for the cylinder B to operate. Therefore, the length of time in each subperiod is usually different from each other.

Further, the basic operation of the actuator assigned to the partial period is a simple operation such as rotating the motor by a certain amount or moving the cylinder forward or backward by a certain amount. Therefore, a small program (program element) for causing the actuator to perform basic operation can be created in advance. Here, it is assumed that there are four actuators mounted on the automatic manufacturing machine 1: cylinders A and B and motors A and B. Therefore, as shown in FIG. 4B, for operating the motor A. A program element prog1, a program element prog2 for operating the motor B, a program element prog3 for operating the cylinder A, and a program element prog4 for operating the cylinder B can be created in advance.

Therefore, if these program elements are connected as described in the primitive YOGO chart shown in FIG. 4A, it is possible to automatically generate a control program for operating the automatic manufacturing machine 1. It becomes. That is, as shown in FIG. 4C, the program element prog3 is started first, the program element prog1 is started when the program element prog3 is finished, and the program element prog2 and the program element prog4 are started when the program element prog1 is finished. to start. The operating quantities of the program element prog3, the program element prog1, the program element prog2, and the program element prog4 use (a), (b), (c), and (d), respectively, according to the specifications on the YOGO chart. Further, when both the program element prog2 and the program element prog4 are completed, the program element prog1, the program element prog2, and the program element prog4 are started this time. The amount of operation at this time uses (-b), (-c), and (-d), respectively, according to the designation on the YOGO chart. When all of these program elements prog1, prog2, and prog4 are completed, the program element prog3 is finally started. For the amount of operation at this time, (-a) is used according to the specification on the YOGO chart. Then, when the program element program 3 is completed, the operation of the automatic manufacturing machine 1 described in the YOGO chart of FIG. 4A is completed.

As described above, if the operation of the automatic manufacturing machine 1 is described in the mode of the YOGO chart shown in FIG. 4 (a), the control program shown in FIG. 4 (c) is generated and automatically. The manufacturing machine 1 can be operated. However, in order for the automatic manufacturing machine 1 to operate as intended, the YOGO chart needs to be created correctly. The YOGO chart of the present embodiment described below is obtained as a result of making various improvements to the primitive YOGO chart illustrated in FIG. 4 (a) from this viewpoint.

B-3. YOGO chart:
FIG. 5 is an explanatory diagram for explaining the outline of the YOGO chart 200 of this embodiment. If the scale is reduced to display the entire YOGO chart 200, it will be crushed and become unreadable. Therefore, in FIG. 5, a part (upper left corner portion) of the YOGO chart 200 is displayed. As shown in FIG. 5, the YOGO chart 200 has a shape like a large table in which a plurality of horizontal lines and a plurality of vertical lines intersect. In the following, among the plurality of intersecting lines, the horizontal line will be referred to as "partition line" 201, and the vertical line will be referred to as "trigger line" 202.

The trigger line 202 is numbered serially starting from 1. In the example shown in FIG. 5, the serial number of the trigger line 202 below the column is described in the upper end column of the YOGO chart 200. Further, the area between the trigger lines 202 adjacent to each other is the partial period described above with reference to FIG. 4, and the partial period is also given a serial number starting from No. 1 (hereinafter, referred to as a partial period number). There is. In the YOGO chart 200 illustrated in FIG. 5, the trigger line 202 is drawn in the vertical direction. Therefore, the partial period sandwiched between the trigger line 202 and the trigger line 202 is arranged in the horizontal direction. However, the trigger line 202 may be drawn in the horizontal direction, and in this case, a plurality of partial periods are arranged in the vertical direction.

Further, the YOGO chart 200 of this embodiment is divided into a plurality of horizontally long regions by a plurality of partition lines 201, and these horizontally long regions are assigned serial numbers starting from No. 1 (hereinafter, referred to as actuator numbers). Has been done. The actuator mounted on the automatic manufacturing machine 1 is assigned to any area. In the example shown in FIG. 5, the actuator 10 (see FIG. 1) is assigned to the region having the actuator number 1, and the actuator 11 (see FIG. 1) is assigned to the region having the actuator number 2. The actuator 12 (see FIG. 1) is assigned to the region where the actuator number is 3, and the actuator 13 (see FIG. 1) is assigned to the region where the actuator number is 4. Since the automatic manufacturing machine 1 of this embodiment is equipped with 11 actuators of the actuators 10 to 20, a horizontally long region is allocated to all of these actuators one by one.

The basic operation of the actuators 10 to 20 is described on the area to which the actuators 10 to 20 are assigned. For example, if the actuator 10 is basically operated in the partial period 4, the actuator 10 is set to the coordinate position of the grid specified by the actuator number 1 and the partial period number 4 on the YOGO chart 200. The basic operation 206 is described. Further, if the actuator 10 is basically operated in the partial period 4 and the partial period 8, the coordinate position in a grid pattern in which the actuator number is No. 1 and the partial period number is No. 4 and the actuator number is No. 1 in the partial period. The basic operation 206 to be caused by the actuator 10 will be described at the coordinate position where the number is 8. As described above, the basic operation 206 of the actuator 10 is described on the YOGO chart 200 on the horizontally long region where the actuator number is 1, and the basic operation 206 of the actuator 11 is on the horizontally long region where the actuator number is 2. As described, the basic operation 206 of the actuators 10 to 20 is described on the YOGO chart 200 on the area to which the actuators 10 to 20 are assigned. The reason why the YOGO chart 200 of this embodiment describes the basic operation in this way is as follows.

First, the primitive YOGO chart illustrated in FIG. 4A will be described. In the primitive YOGO chart, the operations of a plurality of actuators are described in a mixed manner. For example, a cylinder operated in a partial period 1 is described. It is difficult to immediately recognize which operating period A will operate next. Therefore, it is difficult to imagine how each actuator operates, and it is also difficult to decipher the number of times each actuator operates. As a result, for example, there is a possibility that the presence of the actuator that has not returned to the original position may not be noticed, or that the presence of the actuator that has forgotten to describe the operation may not be noticed.

On the other hand, in the YOGO chart 200 of this embodiment, as shown in FIG. 5, since the region where the operation is described is separated for each actuator, which actuator is operating in which partial period. It is possible to visually grasp and easily imagine what is happening, and it is possible to easily interpret the number of operations of each actuator. Therefore, even if there is an actuator that has not returned to the original position or there is an actuator that has forgotten to describe the operation, it can be easily recognized. As a result, it becomes possible to easily create the YOGO chart 200 that operates the automatic manufacturing machine 1 as intended.

Further, in the YOGO chart 200 of this embodiment, the basic operation is described as follows. As an example, the basic operation of the actuator 13 that first operates in the YOGO chart 200 of FIG. 5 will be described. Since the actuator 13 that operates is the actuator 13 and operates first, the position where the basic operation is described on the YOGO chart 200 is a grid pattern in which the actuator number is No. 4 and the partial period number is No. 1. It becomes the coordinate position of. Since the square with the partial period number No. 1 is sandwiched between the No. 1 trigger line 202 and the No. 2 trigger line 202, the No. 1 trigger line 202 existing on the left side and the No. 2 trigger line 202 existing on the right side are present. An operation line 203 indicating the operation of the actuator is entered toward the trigger line 202 of the number. Then, the start point 204 indicating the start of the operation is entered at the left end of the operation line 203 (hence, on the first trigger line 202), and the end of the operation is entered at the right end of the operation line 203 (hence, on the second trigger line 202). Enter the end point 205 indicating. In the example shown in FIG. 5, the operation line 203 is indicated by a thick solid line, the start point 204 is indicated by a white circle, and the end point 205 is indicated by a black circle.

Further, on the operation line 203, the basic operation to be caused by the actuator is written. Here, in the YOGO chart 200 of this embodiment, the basic operation is entered by using two elements of "operation description" and "numerical value table". In the example shown in FIG. 5, two indications "Ω-AC" and "AC-B11" are described on the operation line 203 having the actuator number 4 and the partial period number 1. However, the display "Ω-AC" is the operation description 206a, and the display "AC-B11" is the numerical table 206b. The details of the operation description 206a and the numerical table 206b will be described later, but roughly speaking, the operation description 206a is a display describing the qualitative contents (for example, forward movement, backward movement, rotation, etc.) of the basic movement. Further, the numerical table 206b is a table in which numerical values indicating quantitative contents (for example, movement amount, speed, torque, etc.) of the basic operation are set.

Therefore, on the YOGO chart 200 of FIG. 5, the indications of "Ω-AC" and "AC-B01" in which the actuator number is No. 4 and the partial period number is No. 1 are as follows. That is, the actuator having the actuator number 4 (actuator 13 in the example of FIG. 5) is basically operated and basically operated according to the operation description 206a of "Ω-AC" at the timing when the partial period number is 1. The specific numerical value used in this case indicates that the numerical value set in the numerical table 206b called "AC-B01" is used.

Further, as shown in the YOGO chart 200 of FIG. 5, the operation description 206a of "Ω-AA" is described for the actuator 10, but the operation description of "Ω-AB" is described for the actuator 11. 206a is described. The reason for this is that, as described above with reference to FIG. 1, the actuator 10 is an actuator for opening and closing the chuck 3b, and the actuator 11 is an actuator for rotating the gripping shaft 3a about an axis. Since the operation description 206a of the basic operation of the actuator 10 is the "opening / closing operation" and the operation description 206a of the basic operation of the actuator 11 is the "rotational operation", different operation descriptions 206a are used between the actuator 10 and the actuator 11. .. For the same reason, different operation descriptions 206a are used for the actuator 11 and the actuator 12.

On the other hand, the actuator 12 and the actuator 13 use the same operation description 206a of "Ω-AC". As described above with reference to FIG. 1, the actuator 12 is an actuator for moving the gripping shaft 3a forward and backward in the axial direction, and the actuator 13 is an actuator for moving the entire transfer unit 3 forward and backward, and moves the grip shaft 3a. Although the size, weight, and amount of movement of the object differ greatly, they are the same in that the object moves back and forth. Therefore, the actuator 12 and the actuator 13 can use the same operation description 206a. Further, the actuator 17 is an actuator for moving the entire machining unit 4 up and down, but since the up and down movement can be considered as a kind of forward and backward movement, the actuator 17 is also "Ω-AC" like the actuator 12 and the actuator 13. The operation description 206a can be used. Further, since the actuators 14 to 16 are all actuators that move the air cylinder forward and backward, the operation description 206a of "Ω-CA" is used for all of them.

As described above, in the YOGO chart 200 of this embodiment, in principle, the basic operation of the actuator is described by using the operation description 206a and the numerical table 206b. In this way, the operation description 206a can be shared for many actuators. As shown in FIG. 1, the automatic manufacturing machine 1 of this embodiment is equipped with 11 actuators of actuators 10 to 20, but there are four types of operation descriptions 206a used in the YOGO chart 200. ..

B-4. Operation description:
FIG. 6 is an explanatory diagram for details of the operation description 206a used in the YOGO chart 200 of this embodiment. The operation description 206a of "Ω-AA" is an operation description 206a indicating that the actuator is operated to open and close, and this operation description 206a assumes an actuator in which a chuck mechanism is combined with an AC servomotor. Conversely, if the actuator is not an AC servomotor combined with a chuck mechanism, the operation description 206a of "Ω-AA" cannot be used even if the operation of the actuator is an opening / closing operation.

Further, since the operation description 206a of "Ω-AA" describes a simple operation content of opening and closing an actuator in which a chuck mechanism is combined with an AC servomotor, a small program for realizing the operation content is described. (That is, the program element) can be created in advance. For this reason, the operation description 206a stores a serial number (hereinafter referred to as a program element number) for specifying a program element that realizes the operation content in association with the operation description 206a. The reason why the operation description 206a of "Ω-AA" cannot be used if the actuator is not an actuator in which the AC servomotor and the chuck mechanism are combined even if the actuator operates in the same way is described in the operation description 206a. This is because the program element numbers are associated and stored. That is, if the structure of the actuator is different, it is considered that the program elements for operating the actuator are different. Therefore, as long as the associated program elements are different, the operation description 206a also needs to be different.

Further, as shown in FIG. 6, the operation description 206a of "Ω-AB" is an operation description 206a indicating that the actuator is rotated by assuming an actuator in which a reduction mechanism is combined with an AC servomotor. The program element number 7 is associated and stored. Similarly, the operation description 206a of "Ω-AC" is an operation description 206a indicating that an actuator in which a ball screw mechanism is combined with an AC servomotor is assumed and the actuator is moved forward and backward, and the program element number is 4. The numbers are associated and stored. Further, the operation description 206a of "Ω-CA" is an operation description 206a indicating that the actuator is moved forward and backward assuming an actuator by an air cylinder, and the program element number 2 is stored in association with it. There is.

B-5. Numeric table:
Further, since the operation description 206a is merely a qualitative description of the contents of the operation such as opening / closing operation, rotation operation, advance / retreat operation, etc., the operation description 206a is used in combination with the numerical table 206b in principle. NS. For example, in the YOGO chart 200 shown in FIG. 5, the operation description 206a used for the actuator 10 having the actuator number 1 is "Ω-AA", but at the timing when the partial period number is 4, "AA-". The numerical table 206b of "B01" is used, the numerical table 206b of "AA-B01" is used at the timing of the partial period number 6, and the numerical table 206b of "AA-B01" is used at the timing of the partial period number 10. Has been done. Here, the name "AA-B01" indicates that the numerical table 206b "B01" is used in combination with the operation description 206a "Ω-AA". Similarly, the name "AA-B02" indicates that it is the numerical table 206b "B02" used in combination with the operation description 206a "Ω-AA".

FIG. 7 is an explanatory diagram illustrating a numerical table 206b used in combination with the operation description 206a of "Ω-AA". FIG. 7A shows a numerical table 206b called “AA-B01”, and FIG. 7B shows a numerical table 206b called “AA-B02”. Although two numerical tables 206b are illustrated in FIG. 7, more numerical tables 206b can be set as needed. In the numerical table 206b illustrated in FIG. 7, four items of "numerical table number", "opening / closing speed", "opening / closing load", and "reference table" are set. Of these, the "numerical table number" is a serial number of the numerical table 206b. For example, if the numerical table number is specified as No. 5, the numerical table 206b called "AA-B01" in FIG. 7 (a) is specified, and if the numerical table number is specified as No. 6, "AA-" in FIG. 7 (b) is specified. A numerical table 206b called "B02" is specified. The "reference table" will be described later.

Further, although four items are set in the numerical table 206b illustrated in FIG. 7, "opening / closing speed" and "opening / closing load" are used to describe the basic operation in combination with the operation description 206a. There are two items. Here, the reason why the two items "opening / closing speed" and "opening / closing load" are set is that this numerical table 206b is used in combination with the operation description 206a "Ω-AA" indicating the opening / closing operation. Is. That is, only the operation description 206a of "Ω-AA" can understand only the qualitative content of opening and closing operation, and cannot know the quantitative content such as the speed of opening and closing operation and the load at the time of opening and closing. Therefore, items "opening / closing speed" and "opening / closing load" are provided in the numerical table 206b, and these numerical values are set. In addition, the fact that a positive value is set in the "opening / closing speed" of the numerical table 206b indicates that the closing operation is performed (see FIG. 7A), and the negative value is set. It shows that the operation is opened (see FIG. 7B).

Further, in the YOGO chart 200 of FIG. 5, the operation description 206a of "Ω-AB" is used for the actuator 11 having the actuator number 2, but "AB-B01" is used at the timing when the partial period number is 2. The numerical table 206b "" is used in combination, and the numerical table 206b "AB-B02" is used in combination at the timing when the partial period number is 8. The names "AB-B01" and "AB-B02" indicate that they are the numerical tables 206b "B01" and "B02" used in combination with the operation description 206a "Ω-AB", respectively.

FIG. 8 is an explanatory diagram illustrating a numerical table 206b used in combination with the operation description 206a of "Ω-AB". FIG. 8A shows a numerical table 206b called “AB-B01”, and FIG. 8B shows a numerical table 206b called “AB-B02”. Although two numerical tables 206b are illustrated in FIG. 8, more numerical tables 206b can be set as needed. In the numerical table 206b illustrated in FIG. 8, in addition to the "numerical table number" and the "reference table", a total of five items of "rotation angle", "rotation speed", and "rotation torque" are set. .. Among these, the items of "rotation angle", "rotation speed", and "rotation torque" are items used to describe the basic operation in combination with the operation description 206a. Further, the reason why the items of "rotation angle", "rotation speed", and "rotation torque" are set in the numerical table 206b of FIG. 8 is that the numerical table 206b has an operation of "Ω-AB" indicating a rotation operation. This is because it is used in combination with the description 206a. That is, since the operation description 206a of "Ω-AB" can only be used for rotational operation, the rotation angle, rotation speed, and rotation torque are the "rotation angle", "rotation speed", and "rotation torque". A numerical value is set in the numerical value table 206b in the item "." The fact that a positive value is set for the "rotation angle" of the numerical table 206b and a case where a negative value is set indicates that the rotation directions are opposite.

Further, in the YOGO chart 200 of FIG. 5, the operation description 206a of "Ω-AB" is used for the actuator No. 3, the actuator No. 4, the actuator No. 13 and the actuator No. 8. ing. On the other hand, regarding the numerical table 206b, different numerical tables 206b are used for the actuator 12 having the actuator number 3 and the actuator 13 having the actuator number 4 and the actuator 17 having the actuator number 8. That is, the numerical table 206b of "AC-B01" or "AC-B02" is used in combination for the actuator 12 having the actuator number 3, and "AC-B01" or "AC-B02" is used for the actuator 13 having the actuator number 4. A numerical table 206b of "AC-B11" or "AC-B12" is used in combination, and a numerical table 206b of "AC-B21" or "AC-B22" is used in combination for the actuator 17 having an actuator number of 8. There is. Here, the names "AC-B01", "AC-B02", "AC-B11", "AC-B12", "AC-B21", and "AC-B22" are each operated as "Ω-AC". It represents the numerical table 206b of "B01", "B02", "B11", "B12", "B21", and "B22" used in combination with the description 206a.

FIG. 9 is an explanatory diagram illustrating a numerical table 206b used in combination with the operation description 206a of "Ω-AC". Although six numerical tables 206b are illustrated in FIG. 9, more numerical tables 206b can be set as needed. In the numerical table 206b illustrated in FIG. 9, in addition to the "numerical table number" and the "reference table", a total of five items of "movement amount", "movement speed", and "movement load" are set. .. Among these, the items of "movement amount", "movement speed", and "movement load" are items used to describe the basic operation in combination with the operation description 206a. Further, the reason why the items of "movement amount", "movement speed", and "movement load" are set in the numerical table 206b of FIG. 9 is that the numerical table 206b has an operation of "Ω-AC" indicating an advance / retreat operation. This is because it is used in combination with the description 206a. The fact that a positive value is set in the "movement amount" of the numerical table 206b and a case where a negative value is set indicates that the movement directions are opposite.

Further, in the YOGO chart 200 of FIG. 5, the operation description 206a of "Ω-CA" is used for the actuator 14 of the actuator number 5, the actuator 15 of the actuator number 6, and the actuator 16 of the actuator number 7. ing. This corresponds to the fact that the actuators 14 to 16 are all air cylinders and the content of the basic operation is "advance / retreat operation". Further, the numerical table 206b is not combined with the operation description 206a of "Ω-CA". The reason for this is that the actuators 14 to 16 are air cylinders that operate by switching the operation port that applies air pressure among the two operation ports, so it is necessary to use a quantitative numerical value to describe the content of the operation. Because there is no such thing.

As described in detail above, in the YOGO chart 200 of this embodiment, the actuator to be basically operated and the actuator to be basically operated are operated by entering the basic operation at the coordinate position defined by the combination of the partial period number and the actuator number. Identify the timing. Further, as a general rule, the basic operation is expressed by a combination of the operation description 206a and the numerical table 206b. By doing so, it is possible to avoid the situation where an erroneous content is described in the YOGO chart 200. This is due to the following reasons.

For example, when describing the basic operation of a certain actuator, it is much more difficult to describe "forward by 55 mm" or "rotate in the forward direction by 35 degrees" than simply "forward" or "rotate". Will increase. The reason for this is that while the qualitative description of "advancing the actuator" or "rotating the actuator" is merely a straightforward expression of what humans think, "only 55 mm" or "35". This is because when the quantitative content of "only degree" is added, it can no longer be said that the thought content is expressed in a straightforward manner. As illustrated in FIG. 5, since a large number of basic movements are entered in the YOGO chart 200, if the difficulty level for entering each basic movement becomes high, it is possible that incorrect contents are entered in the YOGO chart 200 as a whole. The sex becomes high.

On the other hand, in the YOGO chart 200 of this embodiment, the basic operation is described by the combination of the operation description 206a and the numerical table 206b. Therefore, when the YOGO chart 200 is created, the operation description 206a is entered. Concentrate, you can fill in the numerical table 206b for the time being. In this way, the work of creating the YOGO chart 200 is practically the same as the work of expressing the contents that human beings think in a straightforward manner, so there is a possibility that incorrect contents will be entered in the YOGO chart 200. It can be significantly reduced. Further, even when the movement amount of the actuator is corrected, only the numerical table 206b needs to be corrected, and the YOGO chart 200 does not need to be corrected. Therefore, it is possible to prevent a situation in which the YOGO chart 200 is accidentally modified.

In addition, when the basic operation of the actuator is divided into the operation description 206a and the numerical table 206b, the operation description 206a that can be taken by each actuator is naturally limited. For example, in the example shown in FIG. 5, the operation description 206a that the actuator 10 can take is only "Ω-AA", but this is an actuator for the actuator 10 to open and close the chuck 3b, and is a basic operation. This is because one type of opening / closing operation is sufficient as the qualitative description content (that is, the operation description 206a). Of course, it is also possible to prepare the operation description 206a for each mode by allowing the chuck 3b to be opened and closed in a plurality of modes, but even in such a case, the types of the motion description 206a that can be taken by each actuator are at most. There are only a few types.

As a result, in the YOGO chart 200, the same operation description 206a (at most several types of operation description 206a even if they are different) is repeatedly entered at the coordinate positions where the actuator numbers are the same. Therefore, if an erroneous operation description 206a is entered, the operation description 206a is different by the operation description 206a, so that the error can be easily noticed and corrected.

B-6. Reference table:
As illustrated in FIGS. 7 to 9, an item called "reference table" is also set in the numerical table 206b of this embodiment. This reference table is also for facilitating the creation of the YOGO chart 200.

FIG. 10 is an explanatory diagram illustrating a reference table set in the numerical table 206b shown in FIG. 7. FIG. 10A shows a reference table (AA-A01) set in the numerical table 206b (AA-B01) of FIG. 7A. Further, FIG. 10 (b) shows a reference table (AA-A02) set in the numerical table 206b (AA-B02) of FIG. 7 (b). In these reference tables shown in FIG. 10, "maximum speed", "maximum load", "opening / closing speed standard value", "opening / closing load standard value", "chuck mechanism reduction ratio", "check mechanism compatible diameter range" Six items are set.

Among these, the items "maximum speed", "maximum load", "opening / closing speed standard value", and "opening / closing load standard value" are shown in FIG. 7 by these reference tables (AA-A01, AA-A02). Corresponds to being referenced from the numerical table 206b (AA-B01, AA-B02). That is, the numerical table 206b (AA-B01, AA-B02) is a table in which the numerical values of the "opening / closing speed" and the "opening / closing load" are set (see FIG. 7), but the maximum value of the opening / closing speed and the opening / closing that can be set are set. The maximum load values are set in the reference table as "maximum velocity" and "maximum load", respectively. Further, the "opening / closing speed standard value" and the "opening / closing load standard value" are standard values used when the numerical values are not set in the "opening / closing speed" and the "opening / closing load" of the numerical table 206b.

Then, when creating the numerical table 206b (AA-B01) of FIG. 7 (a), "AA-A01" is set in the item "reference table". Further, when creating the numerical table 206b (AA-B02) of FIG. 7 (b), "AA-A02" is set in the item "reference table". In this way, when setting the numerical value of the item "opening / closing speed" or "opening / closing load" of the numerical table 206b (AA-B01, AA-B02), the reference table of FIG. 10 (a) or FIG. 10 (b) is set. The item "Maximum speed" or "Maximum load" can be referred to to prevent the setting of inappropriate values exceeding the maximum speed and maximum load. Therefore, an appropriate numerical table 206b can be easily created.

In addition, even if the numerical value is not set in the item of the numerical table 206b (AA-B01, AA-B02), the standard value set in the corresponding item in the reference table is diverted, so the automatic manufacturing machine is used for the time being. It is also possible to finally complete an appropriate YOGO chart 200 by operating 1 and modifying the numerical values in the numerical table 206b as necessary.

Further, in the reference tables of FIGS. 10A and 10B, items such as "chuck mechanism reduction ratio" and "chuck mechanism compatible diameter range" are also set. These describe the mechanical properties of the actuator. That is, the reference table is referenced from the numerical table 206b, and the numerical table 206b is set assuming a specific actuator. Therefore, the reference table is also set assuming a specific actuator. For example, the reference tables of FIGS. 10 (a) and 10 (b) are referred to from the numerical tables 206b of FIGS. 7 (a) and 7 (b), and these numerical tables 206b are used for the actuator 10. Therefore, the reference tables of FIGS. 10 (a) and 10 (b) are also used for the actuator 10.

In this way, the reference table is applied to each unique actuator. Therefore, the mechanical characteristics of the actuator are set in the reference table. The reference table illustrated in FIG. 10 is applied to an actuator 11 that opens and closes the chuck 3b by combining an AC servomotor with a chuck mechanism. Correspondingly, mechanical characteristics such as the reduction ratio of the chuck mechanism and the diameter range of the member that can be gripped by the chuck mechanism are set in the reference table. By setting the characteristic values in the reference table in this way, even if these mechanical characteristics are required when controlling the AC servomotor, the characteristic values can be read out by referring to the reference table. It is possible to avoid a situation in which an erroneous characteristic value is used to control the motor and the actuator is erroneously controlled.

FIG. 11 is an explanatory diagram illustrating a reference table set in the two numerical tables 206b shown in FIG. 11 (a) shows a reference table (AB-A01) set in the numerical table 206b (AB-B01) of FIG. 8 (a), and FIG. 11 (b) shows FIG. 8 (b). The reference table (AB-A02) set in the numerical table 206b (AB-B02) is shown. These reference tables are referred to as "angle range", "maximum rotation speed", "maximum rotation torque", "rotation angle standard value", "rotation speed standard value", "rotation torque standard value", and "reduction ratio". Seven items are set.

Among them, the items "angle range", "maximum rotation speed", "maximum rotation torque", "rotation angle standard value", "rotation speed standard value", and "rotation torque standard value" are referred to in these reference tables (AB). -A01, AB-A02) corresponds to being referenced from the numerical table 206b (AB-B01, AB-B02) shown in FIG. That is, the numerical table 206b (AB-B01, AB-B02) is a table in which the numerical values of "rotation angle", "rotation speed", and "rotation torque" are set (see FIG. 8), and corresponding to this. , The maximum angle range that can be actually taken, the maximum rotation speed, and the maximum rotation torque are set in the reference table, respectively. Further, the "rotation angle standard value", "rotation speed standard value", and "rotation torque standard value" are not set in the "rotation angle", "rotation speed", and "rotation torque" of the numerical table 206b. It is a standard value used for.

When creating the numerical table 206b (AB-B01, AB-B02) of FIGS. 8 (a) and 8 (b), the item "reference table" should be "AB-A01" or "AB-A02". Set it. In this way, when setting the numerical value of the "rotation angle" of the numerical table 206b (AB-B01, AB-B02), the item "angle range" of the reference table is referred to, and the angle after rotation is ± 180. It is possible to prevent the setting of a numerical value exceeding the degree. Also, when setting the numerical values of "rotation speed" and "rotation torque" of the numerical table 206b (AB-B01, AB-B02), the items "maximum rotation speed" and "maximum rotation torque" of the reference table are displayed. By reference, it is possible to prevent setting an inappropriate numerical value that exceeds the maximum rotational speed or maximum rotational torque.

In addition, even if the numerical value is not set in the item of the numerical table 206b (AB-B01, AB-B02), the standard value set in the corresponding item in the reference table can be diverted. Further, in the reference table illustrated in FIG. 11, the “reduction ratio” of the reduction mechanism is set as a mechanical characteristic value of the actuator (here, the actuator 11) in which the reference table is used.

FIG. 12 is an explanatory diagram illustrating a reference table set in the six numerical tables 206b shown in FIG. FIG. 12 (a) shows a reference table (AC-A01) set in the numerical table 206b (AC-B01) of FIG. 9 (a), and FIG. 12 (b) shows FIG. 9 (b). The reference table (AC-A02) set in the numerical table 206b (AC-B02) is shown. Further, FIG. 12 (c) is a reference set in the four numerical tables 206b (AC-B11, AC-B12, AC-B21, AC-B22) shown in FIGS. 9 (c) to 9 (f). The tables (AC-A11, AC-A12, AC-A21, AC-A22) are shown together. In these reference tables, "moving range", "maximum moving speed", "maximum moving load", "moving amount standard value", "moving speed standard value", "moving load standard value", "reduction ratio", Eight items called "screw pitch" are set.

Among them, the items "moving range", "maximum moving speed", "maximum moving load", "moving amount standard value", "moving speed standard value", and "moving load standard value" are described in these reference tables. Corresponds to the reference from the numerical table 206b shown in FIG. That is, the numerical table 206b in FIG. 9 is a table in which the numerical values of "movement amount", "movement speed", and "movement load" are set (see FIG. 9), and correspondingly, the movement range that can be actually taken. , Maximum moving speed, and maximum moving load are set in the reference table, respectively. In addition, the "moving amount standard value", "moving speed standard value", and "moving load standard value" are not set in the "moving amount", "moving speed", and "moving load" of the numerical table 206b. It is a standard value used for.

When creating the numerical table 206b illustrated in FIG. 9, if an appropriate reference table is set in the item "reference table" of each numerical table 206b, an inappropriate numerical value is set in the numerical table 206b. It can be prevented from being done. Further, even if the numerical value is not set in the item of the numerical table 206b, the standard value set in the corresponding item in the reference table can be diverted. Further, in the reference table illustrated in FIG. 12, the "reduction ratio" of the reduction mechanism, the "screw pitch" of the ball screw mechanism, and the like are set as the mechanical characteristic values of the actuator in which the reference table is used.

The reference tables "AC-A01" and "AC-A02" in FIG. 12, the reference tables "AC-A11" and "AC-A12", and the reference tables "AC-A21" and "AC-A22" are used. The values set in the "reduction ratio" and "screw pitch", which indicate the mechanical characteristic values of the actuator, are different from those in the reference table. The reason for this is that the actuators to which the reference table is applied are different. That is, the reference tables "AC-A01" and "AC-A02" in FIG. 12 are applied to the actuator 12, and the reference tables "AC-A11" and "AC-A12" are applied to the actuator 13. The reference tables "-A21" and "AC-A22" are applied to the actuator 17. As described above, if the actuator to be applied is different, the mechanical characteristic value of the actuator is also changed, so that the numerical value set in the reference table is also different.

As described in detail above, in the YOGO chart of this embodiment, the basic operation of the actuator is performed by using the operation description 206a and the numerical table 206b at the grid-like coordinate positions specified by the actuator number and the partial period number. Fill in. Then, the operation of the automatic manufacturing machine 1 is described by describing the basic operations of all the actuators 10 to 20 mounted on the automatic manufacturing machine 1 on the YOGO chart in this way. Then, the automatic manufacturing machine control device 100 generates a control program from such a YOGO chart to control the operation of the automatic manufacturing machine 1.

C. Automatic manufacturing machine control device 100 of this embodiment:
FIG. 13 is an explanatory diagram showing the functions included in the automatic manufacturing machine control device 100 of this embodiment. As shown in FIG. 13, the automatic manufacturing machine control device 100 of this embodiment includes a YOGO chart creation unit 101, a basic operation storage unit 102, a YOGO chart reading unit 103, a YOGO chart analysis unit 104, and a control program. It includes a generation unit 105, a control execution unit 106, and the like. It should be noted that these "parts" are automatically manufactured in order to create a YOGO chart 200 using the automatic manufacturing machine control device 100, generate a control program from the YOGO chart 200, and control the operation of the automatic manufacturing machine 1. It is an abstract concept that represents a plurality of functions that the machine control device 100 should have. Therefore, it does not mean that the automatic manufacturing machine control device 100 is formed by combining the parts corresponding to these "parts". Actually, these "parts" can be realized in the form of a program executed by a CPU, can be realized in the form of an electronic circuit in which an IC chip, an LSI, or the like is combined, and further. It can be realized in various forms such as a form in which these are mixed.

The YOGO chart creation unit 101 is connected to a monitor screen 100m, an operation input button 100s, etc., and a machine engineer or the like who has sufficient knowledge about the automatic manufacturing machine 1 presses the operation input button 100s while looking at the monitor screen 100m. By operating, a YOGO chart 200 as illustrated in FIG. 5 is created. As described above, the YOGO chart 200 describes the operation of the automatic manufacturing machine 1 by assigning the basic operations of the plurality of actuators mounted on the automatic manufacturing machine 1 to any of the partial periods. When designing a machine, a mechanical design engineer has fully considered how to combine the basic operations of a plurality of actuators in order to realize the operation of the automatic manufacturing machine 1, so that the mechanical design should be performed. Any mechanical design engineer who has done this can easily create a YOGO chart 200 that describes the operation of the automatic manufacturing machine 1. Of course, if the engineer who designed the automatic manufacturing machine 1 has sufficient knowledge about the structure and operation of the automatic manufacturing machine 1, the YOGO chart 200 can be easily created.

Further, in this embodiment, when the basic operation is entered in the YOGO chart, in principle, the basic operation is entered using the operation description 206a and the numerical table 206b, but it is used depending on the actuator. The possible operation description 206a is fixed (see FIG. 6). Therefore, the name of the actuator and the operation description 206a that can be used by the actuator are stored in advance in the basic operation storage unit 102 in association with each other.

FIG. 14 is an explanatory diagram showing how the name of the actuator and the usable operation description 206a are associated and stored in the basic operation storage unit 102. As shown in the figure, the basic operation storage unit 102 stores an operation description 206a that can be used for each actuator, and further, each operation description 206a stores a program element number. As described above, the program element number is a number that specifies a program element for realizing the operation of the operation description 206a by using the actuator. For example, in the actuator 18 and the actuator 19, two operation descriptions 206a having different operation modes can be selected, and a program element number is stored for each operation description 206a. In addition, the structure of the actuator and the contents of the basic operation of the actuator are also stored in each actuator. Further, the numerical table 206b illustrated in FIGS. 7 to 9 and the reference table illustrated in FIGS. 10 to 12 are also stored in the basic operation storage unit 102.

The basic operation storage unit 102 described above is connected to the YOGO chart creation unit 101. Therefore, the mechanical design engineer (or the mechanical engineer) can refer to the basic operation storage unit 102 when creating the YOGO chart 200. A mechanical engineer who has sufficient knowledge about the automatic manufacturing machine 1 fully knows what kind of actuator is to be operated and how to operate it. Therefore, in the operation description 206a that can be used according to the actuator. The appropriate operation description 206a can be selected from. In addition, as described above, since the operation description 206a qualitatively describes the content of the basic operation, the work of entering the operation description 206a on the YOGO chart 200 obediently performs the operation desired to be performed by the automatic manufacturing machine 1. Since it is just the work to be described in, there is no need to enter incorrect contents. Further, for the numerical table 206b, a temporary numerical table 206b may be set. That is, as described above with reference to FIGS. 7 to 9, the name of the numerical table 206b is a combination of a predetermined part in the name of the operation description 206a used in combination and a serial number, so that the numerical value is used for the time being. The name of the table 206b can be determined and entered in the YOGO chart 200, and the numerical values in the numerical table 206b can be modified or the numerical table 206b can be changed later. Further, when a numerical table 206b having a new name is created, a new numerical table number (see FIGS. 7 to 9) is automatically assigned to the numerical table 206b.

The YOGO chart reading unit 103 reads the YOGO chart 200 created by the YOGO chart creating unit 101 and outputs it to the YOGO chart analysis unit 104. In this embodiment, the automatic manufacturing machine control device 100 creates the YOGO chart 200. Correspondingly, the YOGO chart reading unit 103 reads the YOGO chart 200 from the YOGO chart creating unit 101. There is. On the other hand, the YOGO chart 200 may be created by a computer 50 provided separately from the automatic manufacturing machine 1, and the YOGO chart reading unit 103 may read the YOGO chart.

The YOGO chart analysis unit 104 analyzes the YOGO chart 200 received from the YOGO chart reading unit 103 to generate intermediate data, and then outputs the intermediate data to the control program generation unit 105. The process of generating intermediate data from the YOGO chart will be described in detail later.

When the control program generation unit 105 receives the intermediate data, the control program generation unit 105 generates a control program from the intermediate data by referring to the basic operation storage unit 102. The method of generating the control program from the intermediate data will be described in detail later. Then, the obtained control program is output to the control execution unit 106.

When the control execution unit 106 receives the control program from the control program generation unit 105, the control execution unit 106 acquires the program element stored in association with the program element number in the control program from the basic operation storage unit 102. Further, by referring to the basic operation storage unit 102, the numerical table 206b stored in association with the numerical table number in the control program is searched, and the numerical value set in the numerical table 206b is set as a program element. Get as an argument of. Actuators 10 to 20 are controlled by executing a program element that is read in this way and has arguments set. As a result, the actuators 10 to 20 mounted on the automatic manufacturing machine 1 operate as described in the YOGO chart.

The YOGO chart reading unit 103 of the present embodiment corresponds to the "operation chart reading unit" of the present invention. Further, the YOGO chart reading unit 103, the YOGO chart analysis unit 104, and the control program generation unit 105 described above using FIG. 13 are integrated to realize a function of generating a control program from the YOGO chart 200. doing. Therefore, in the automatic manufacturing machine control device 100 of the present embodiment, the YOGO chart reading unit 103, the YOGO chart analysis unit 104, and the control program generation unit 105 correspond to the "control program generation device 110" of the present invention. ..

D. Control program generation process:
FIG. 15 is a flowchart showing an outline of the control program generation process executed by the portion corresponding to the control program generation device 110 in the automatic manufacturing machine control device 100 of this embodiment. As shown in the figure, in the control program generation process, the YOGO chart is first read (STEP 1). In this embodiment, since the automatic manufacturing machine control device 100 creates the YOGO chart, the data of the created YOGO chart is read. Of course, the data of the YOGO chart created by another computer 50 may be read.

Subsequently, the read YOGO chart is analyzed and intermediate data is output (STEP2). FIG. 16 is a flowchart of a process (YOGO chart analysis process) in which the automatic manufacturing machine control device 100 of the present embodiment analyzes the YOGO chart and outputs intermediate data. This process is a process executed by the YOGO chart analysis unit 104 shown in FIG.

As shown in FIG. 16, when the YOGO chart analysis process is started, first, the partial period number N and the actuator number M are initialized to "1" (STEP 10). Subsequently, it is determined whether or not the basic operation is entered at the position of the coordinates (N, M) on the YOGO chart (STEP 11). Here, the coordinates (N, M) on the YOGO chart represent the coordinate positions in a grid pattern specified by the combination of the partial period number N and the actuator number M on the YOGO chart. Immediately after initializing the partial period number N and the actuator number M in STEP 10, since both N and M are "1", is the basic operation entered at the position of the coordinates (1, 1) on the YOGO chart? It will be judged whether or not.

In the case of the YOGO chart illustrated in FIG. 5, since the basic operation is not entered in the coordinates (1, 1), it is judged as "no" in STEP 11 and whether or not the actuator number M has reached the final value. Is determined (STEP 14). Since 11 actuators 10 to 20 are mounted on the automatic manufacturing machine 1 of this embodiment, the final value of the actuator number M is 11. Therefore, in the determination of STEP 14 after confirming the presence or absence of the basic operation of the coordinates (1, 1), it is determined to be "no", so the actuator number M is increased by one (STEP 15). Then, using the increased actuator number M, it is determined again whether or not the basic operation is entered in the coordinate positions (N, M) (STEP 11).

In this way, while the partial period number N remains "1" and the actuator number M is incremented by one, it is determined whether or not the basic operation is entered in the coordinates (1, M). Will be determined as "yes" in STEP 11 when the coordinates (1, M) in which the basic operation is entered are reached.

Then, when it is determined as "yes" in STEP 11, the operation description 206a of the basic operation entered in the coordinates is read, and further, when the numerical table 206b of the basic operation is also entered, the numerical table 206b is read. (STEP12). In the YOGO chart illustrated in FIG. 5, when the coordinates (1,4) are reached, it is determined as "yes" in STEP11, and the operation description 206a of "Ω-AC" and the numerical table 206b of "AC-B11" are displayed. Will be read as the basic operation.

Subsequently, intermediate data (N, M, operation description, numerical table) is stored in the memory (STEP 1). In the case of the coordinates (1,4) of the YOGO chart illustrated in FIG. 5, the intermediate data (1,4, Ω-AC, AC-B11) is stored in the memory. Therefore, this intermediate data is defined by the operation description 206a of "Ω-AC" and the numerical table 206b of "AC-B11" at the positions where the partial period number is No. 1 and the actuator number M is No. 4 on the YOGO chart. Indicates that the basic operation to be performed is entered.

In this way, after storing the data read from the YOGO chart in the memory (STEP 13), it is determined whether or not the actuator number M has reached the final value (here, 11) (STEP 14). As a result, if the final value is not reached (STEP14: no), the actuator number M is increased by one (STEP15), then the process returns to STEP11, and the coordinates (N, M) on the YOGO chart are used again. Determine if the action is entered.

On the other hand, when the actuator number M has reached the final value (STEP14: yes), this time, it is determined whether or not the partial period number N has reached the final value (STEP16). For example, if the operation of the automatic manufacturing machine 1 is described using 100 partial periods on the YOGO chart, the final value of the partial period number N is 100.

As a result, when the partial period number N has not reached the final value (STEP16: no), the partial period number N is increased by one (STEP17), and after the actuator number M is initialized to "1" (STEP18). ), Returning to STEP11, it is determined again whether or not the basic operation is entered in the coordinates (N, M) on the YOGO chart. That is, on the YOGO chart (see FIG. 5), the partial period with the partial period number N is confirmed in order from the top, and after confirming to the bottom, this time, the partial period number N is the second. Check the partial period in order from the top, and when you finish checking the second partial period, the partial period number N is the third partial period, and so on, from the small partial period to the large partial period. In order, the basic operation written in the YOGO chart is read out, and the intermediate data is stored in the memory.

Then, by repeating such an operation and finally determining that the partial period number N has reached the final value (STEP16: yes), it means that all the basic operations entered in the YOGO chart have been read out. .. Therefore, the intermediate data stored in the memory is read out and output to the control program generation unit 105 (STEP 19). FIG. 17 illustrates intermediate data obtained when the YOGO chart illustrated in FIG. 5 is analyzed. After outputting such intermediate data, the YOGO chart analysis process of FIG. 16 is terminated, and the process returns to the control program generation process of FIG.

In the control program generation process of FIG. 15, a control program is generated based on the intermediate data thus obtained (STEP 3). FIG. 18 shows a control program generated from the intermediate data illustrated in FIG. As is clear from comparing the intermediate data of FIG. 17 with the control program of FIG. 18, in the control program, the operation description 206a and the numerical table 206b of the intermediate data are replaced with numerical values. This is because the operation description 206a is replaced with the program element number (see FIG. 14) that realizes the operation description 206a, and the numerical table 206b is replaced with the numerical table number of the numerical table 206b.

The operation of replacing the operation description 206a and the numerical table 206b in the intermediate data with the program element number and the numerical table number, respectively, is executed by the control program generation unit 105 in FIG. 8 referring to the basic operation storage unit 102. .. That is, the operation description 206a is stored in the basic operation storage unit 102 in association with the program element number (see FIG. 14). Further, the basic operation storage unit 102 stores the numerical tables 206b illustrated in FIGS. 7 to 9, and the numerical table numbers are set in the respective numerical tables 206b. Therefore, the control program generation unit 105 refers to the correspondence relationship of FIG. 14 stored in the basic operation storage unit 102 and the numerical table 206b illustrated in FIGS. 7 to 9, and thereby, the operation description 206a in the intermediate data is used. And the numerical table 206b are replaced with the program element number and the numerical table number.

After the control program is generated from the intermediate data as described above (STEP 3 in FIG. 15), the generated control program is output to the control execution unit 106 (STEP 4), and the control program generation process in FIG. 15 is completed.

As shown in FIG. 18, in the control program of this embodiment, a set of data in which the partial period number N, the actuator number M, the program element number, and the numerical table number are arranged in this order (hereinafter, "data set"). ") Is a collection. Therefore, in the data set, the first data representing the partial period number N is called the "first element", the second data representing the actuator number M is called the "second element", and represents the program element number. The third data will be referred to as the "third element", and the fourth data representing the numerical table number will be referred to as the "fourth element". Further, the control program of this embodiment is merely data in which a plurality of data sets are continuous. However, the control execution unit 106 of the automatic manufacturing machine control device 100 controls the operations of the actuators 10 to 20 of the automatic manufacturing machine control device 100 as follows based on such a control program.

E. Operation control processing:
FIG. 19 is a flowchart of an operation control process in which the control execution unit 106 of the automatic manufacturing machine control device 100 controls the operation of the automatic manufacturing machine 1 according to a control program. As shown in FIG. 19, when the operation control process is started, the partial period number N is first initialized to "1" (STEP 50). Subsequently, a data set in which the first element is N is acquired from the control program (STEP51). Immediately after starting the operation control process, the partial period number N is set to "1", so that the data set (1, 4, 4, 19) is read from the control program illustrated in FIG. become.

Subsequently, the actuator to be controlled is specified based on the value of the second element of the read data set (STEP 52). Assuming that the data set read in STEP 51 is (1, 4, 4, 19), the value of the second element is "4", so that the actuator whose actuator number M is "4" is the actuator to be controlled. When a plurality of data sets are read out in STEP 51, each actuator to be controlled is specified based on the value of the second element of each data set.

Further, by searching for the program element number stored in the basic operation storage unit 102 based on the value of the third element of the read data set, the program element for causing the actuator to perform the basic operation is acquired (STEP53). .. If the data set read in STEP 51 is (1, 4, 4, 19), the value of the third element is "4". Therefore, the program element for basic operation has the program element number "4". It becomes a program element.

Finally, if the fourth element exists in the data set, its value indicates the numerical table number of the parameter specified in the program element. Therefore, by searching the numerical table 206b stored in the basic operation storage unit 102, the numerical table 206b having the numerical table number is specified, and then the numerical value set in the numerical table 206b is used as an argument in the program element. Set (STEP 54).

By performing the above operations of STEP 51 to STEP 54, the basic operation entered in a certain partial period on the YOGO chart (immediately after the operation control process is started, the partial period number N is the "1" partial period) is performed. , It means that each actuator is ready to do it. That is, the actuator to be controlled is specified (STEP52), the program element used for control is acquired (STEP53), and the argument is set for the program element (STEP54). Therefore, the program element is executed. (STEP55). For example, if the actuator is a servomotor and the basic operation is to rotate the motor 180 degrees in the forward direction, the motor is rotated 180 degrees while detecting the rotation angle of the motor. A program element that repeats the driving operation at a predetermined control cycle is executed. If a plurality of program elements exist, those program elements will be executed in parallel.

Then, it is determined whether or not the execution of all the program elements is completed (STEP56). That is, when a plurality of program elements are executed in STEP55, the execution of those program elements is not always completed at the same time, so it is determined whether or not the execution of all the program elements is completed. Of course, when only one program element is executed in STEP55, it is determined whether or not the execution of the program element is completed.

As a result, if the program element being executed remains, it is determined as "no" in STEP56, and the same determination (STEP56) is repeated again. By doing so, the program waits until the execution of all the program elements is completed. Then, when the execution of all the program elements is completed (STEP56: yes), it is determined whether or not the partial period number N has reached the final value (STEP57). For example, when 100 partial periods are used to describe the operation of the automatic manufacturing machine 1 on the YOGO chart, it is determined whether or not the partial period number N has reached "100".

As a result, if the partial period number N has not yet reached the final value (STEP57: no), the partial period number N is increased by one (STEP58). Then, returning to STEP 51, after reading a data set whose first element matches the new partial period number N from the control program, the above-mentioned operations of STEP 52 to STEP 55 are performed on the read data set. By doing so, all the basic operations entered in the new partial period are executed by advancing one partial period from the partial period in which the basic operation was executed earlier. Then, when all the basic operations of the new partial period are completed and "yes" is determined in STEP 56, it is determined whether or not the partial period number N of the partial period has reached the final value (STEP 57). As a result, if the partial period number N has not reached the final value (STEP57: no), after increasing the partial period number N by one (STEP58), the process returns to STEP51 and the new partial period number N is described. The above-mentioned operations of STEP 51 to STEP 57 are repeated.

As described above, in the operation control process of FIG. 19, the first partial period (that is, the partial period number N is the first partial period) to the last partial period (the partial period number N is the final value partial period) of the YOGO chart. The operation of executing the basic operation described in the partial period is repeated by selecting the partial periods one by one. Then, when the basic operation of the last partial period is completed, STEP57 determines "yes" and ends the operation control process.

As described in detail above, in the automatic manufacturing machine control device 100 of the present embodiment, by describing the operation of the automatic manufacturing machine 1 on the YOGO chart 200, a control program is automatically generated from the YOGO chart 200. The automatic manufacturing machine control device 100 can be operated. Further, if the structure and operation of the automatic manufacturing machine 1 are known, the YOGO chart can be easily created without any knowledge about the program, so that the programmer does not need to create the control program. Therefore, the time required to develop the new automatic manufacturing machine 1 can be significantly reduced (at least half or less), and in addition, it is not necessary to secure a programmer. As a result, it becomes easy to introduce a new automatic manufacturing machine to the manufacturing site, and it becomes possible to fully meet the demand for labor saving in the industrial world.

In addition, in the YOGO chart 200 of this embodiment, the basic operation of the actuator is separately entered in the operation description 206a and the numerical table 206b. Since the operation description 206a is merely a qualitative expression of the content of the basic operation, if the operation description 206a is only entered in the YOGO chart 200, it is substantially the same as the work of obediently entering the content considered by humans. .. Therefore, the possibility of entering erroneous contents on the YOGO chart 200 can be greatly reduced. Then, if the operation description 206a is correctly entered in the YOGO chart 200, then the numerical value set in the numerical table 206b may be corrected, and the YOGO chart 200 itself does not need to be changed. As a result, it becomes possible to easily obtain the YOGO chart 200 in which the basic operation of the actuator is correctly described.

Although the automatic manufacturing machine control device 100 of the present embodiment has been described above, the present invention is not limited to the above-described embodiment, and can be implemented in various modes without departing from the gist thereof.

For example, in the automatic manufacturing machine control device 100 of the above-described embodiment, a function of creating a YOGO chart and generating a control program from the YOGO chart (YOGO chart creation unit 101, basic operation storage unit 102, YOGO chart of FIG. 13). In addition to the reading unit 103, the YOGO chart analysis unit 104, and the control program generation unit 105), it is assumed that it also has a function to execute control based on the control program (corresponding to the control execution unit 106 in FIG. 13). bottom. However, the automatic manufacturing machine control device 100 may be formed as a whole by combining a plurality of devices equipped with a part of these plurality of functions.

For example, as illustrated in FIG. 20, the automatic manufacturing machine control device 100 may be divided into a YOGO chart processing device 100a and a control execution device 100b. Then, the automatic manufacturing machine control device 100 has a series of functions from the creation of the YOGO chart to the generation of the control program (that is, the YOGO chart creation unit 101, the basic operation storage unit 102, the YOGO chart reading unit 103, and the YOGO chart analysis unit. 104, the control program generation unit 105) is mounted. Further, the control execution device 100b may be equipped with a function of executing a program element according to a control program (that is, a control execution unit 106 and a program element storage unit 107).

In this way, the work of creating the YOGO chart and generating the control program is performed by the YOGO chart processing device 100a installed in the office, and the control execution installed near the automatic manufacturing machine 1 is performed. By causing the device 100b to read the generated control program, the automatic manufacturing machine 1 can be operated. In the example shown in FIG. 20, the YOGO chart processing device 100a corresponds to the "control program generator" in the present invention.

Further, various items can be set in the numerical table 206b illustrated in FIGS. 7 to 9 as needed. For example, in addition to the items illustrated in FIGS. 7 to 9, an item called "operation standby time" may be set. The following time is set in this "operation standby time". First, as described above, the numerical table 206b defines the basic operation in combination with the operation description 206a, and the basic operation is entered in the YOGO chart 200 to specify the actuator to be operated and the timing to be operated. do. That is, the basic operation entered in the coordinate positions (N, M) on the YOGO chart 200 indicates that the actuator having the actuator number N is basically operated at the timing when the partial period number is M number. However, when the numerical table 206b includes the item "operation standby time", the actuator does not start operating immediately even when the partial period number reaches the timing of M, but is set to the operation standby time. The actuator operates after a lapse of time.

FIG. 21 illustrates how the item “operation standby time” is set in the numerical table 206b used in combination with the operation description 206a of “Ω-AA”. In the numerical table 206b illustrated in FIG. 21 (a), the "operation standby time" is set to 5 seconds. Here, the operation description 206a "Ω-AA" to which the operation description 206a is combined represents the opening / closing operation of the chuck. Therefore, by combining the operation description 206a of "Ω-AA" with the numerical table 206b of FIG. 21 (a), it is possible to describe an operation in which the chuck starts to close after 5 seconds have elapsed. Of course, as shown in the numerical table 206b illustrated in FIG. 21B, if the "operation standby time" is set to 0 seconds, it is possible to describe an operation in which the chuck starts to close immediately.

Further, in the above-described embodiment, the basic operation 206 of the YOGO chart 200 has been described as being described by using the operation description 206a and the numerical table 206b. Therefore, when a control program is generated from the YOGO chart 200, the operation description 206a is converted into a program element, and the numerical value stored in each item of the numerical table 206b is read out and set as an argument of the program element. It will be. In this way, when adjusting the operation of each actuator after creating the YOGO chart 200, it is very convenient because the contents of the numerical table 206b may be changed (without changing the YOGO chart 200). However, as long as the number of arguments set in the program element is not large (for example, if the number is 10 or less), a plurality of numerical parameters may be set instead of the numerical table 206b. In this case, the basic operation 206 will be described using the operation description 206a and a plurality of numerical parameters.

FIG. 22 is an explanatory diagram illustrating a state in which the basic operation 206 on the YOGO chart 200 is described by using the operation description 206a and a plurality of numerical parameters 206c. In FIG. 22A, the basic operation 206 is described using the operation description 206a of “Ω-AB” and the numerical parameters 206c of “Θ1”, “RV1”, and “RT1”. Here, as described above, the operation description 206a of "Ω-AB" indicates that the actuator in which the AC servomotor is combined with the reduction mechanism is rotated (see FIG. 6), and therefore the argument is "rotational angle". , "Rotation speed" and "Rotation torque" need to be set (see FIG. 8). Therefore, in the example shown in FIG. 22A, three numerical parameters 206c corresponding to these are set. Here, "Θ1" shown in FIG. 22A is a numerical parameter 206c representing "rotation angle", "RV1" is a numerical parameter 206c representing "rotation speed", and "RT1" is "rotation". It is a numerical parameter 206c representing "torque". Further, the numerical values of the respective numerical parameters 206c (that is, "Θ1", "RV1", and "RT1") are stored in advance in the basic operation storage unit 102.

Further, in FIG. 22B, the basic operation 206 is described by using the operation description 206a of "Ω-AA" and the numerical parameters 206c of "OV1" and "OF1". As described above, the operation description 206a of "Ω-AA" indicates that the actuator that combines the AC servomotor and the chuck mechanism is operated to open and close (see FIG. 6). Therefore, the arguments are "opening and closing speed" and "opening and closing speed". It is necessary to set "opening and closing load" (see FIG. 7). Therefore, in the example shown in FIG. 22B, a numerical parameter 206c (“OV1”) representing “opening / closing speed” and a numerical parameter 206c (“OF1”) representing “opening / closing load” are set. Further, the numerical values of these numerical parameters 206c (that is, "OV1" and "OF1") are stored in advance in the basic operation storage unit 102.

Even in this way, the basic operation 206 on the YOGO chart 200 can be described by using the operation description 206a and the plurality of numerical parameters 206c. Then, when adjusting the operation of the actuator after creating the YOGO chart 200, the numerical value stored in the basic operation storage unit 102 may be changed without changing the YOGO chart 200.

Further, when describing the basic operation 206 on the YOGO chart 200, a method of describing using the operation description 206a and the numerical table 206b and a method of describing using the operation description 206a and a plurality of numerical parameters 206c are described. It is also possible to describe them in a mixed manner.

Further, in the control of the automatic manufacturing machine 1, it may be required to increase the manufacturing efficiency (the number of manufactured products per hour) as much as possible. In such a case, the position at which the start of the next basic operation 206 is permitted before the end of the basic operation 206 may be set in the numerical table 206b or the numerical parameter 206c.

For example, in the YOGO chart 200 illustrated in FIG. 5, the actuator 13 operates only in the partial period having the partial period number 1, and the actuator 11 operates only in the partial period having the partial period number 2. It has become. Therefore, when the operation of the actuator 13 is completed, the operation of the actuator 11 is started. However, if the operation of the actuator 11 is started before the operation of the actuator 13 is completed, the operation of the actuator 11 can be completed earlier.

For example, in the YOGO chart 200 of FIG. 5, in the basic operation 206 of the actuator 13, the operation description 206a is "Ω-AC" and the numerical table 206b is "AC-B11". The operation description 206a of "Ω-AC" represents an operation of moving the actuator forward and backward (see FIG. 6). Further, in the example shown in FIG. 9 (c), "(+) 46 mm" is set as the moving amount to move forward and backward in the numerical table 206b called "AC-B11". Therefore, when the actuator 13 is advanced by 46 mm, the operation of the next actuator 11 is started. However, if the operation of the next actuator 11 is started before the movement amount of the actuator 13 reaches 46 mm (for example, the movement amount is 43 mm), the operation end of the actuator 11 can be accelerated. In order to make this possible, a position for permitting the start of the next basic operation (hereinafter referred to as a position for permitting the next operation) may be set in the numerical table 206b or the numerical parameter 206c described above.

FIG. 23 is an explanatory diagram illustrating a state in which the next operation permission position is set in the numerical table 206b or the numerical parameter 206c. FIG. 23A shows how the next operation permission position is set as one of the items in the numerical table 206b, and FIG. 23B shows the following as one of the plurality of numerical parameters 206c. It shows how the operation permission position is set.

In the numerical table 206b illustrated in FIG. 23 (a), an item "next operation permitted position" is added to the numerical table 206b illustrated in FIG. 9 (c), and "-5 ("-5 ( The numerical value "mm)" is set. Since the numerical value set in the item "movement amount" in the numerical table 206b is "46 (mm)", when the movement amount 41 (mm) (= 46-5) is reached, the basic operation 206 of the next actuator Indicates that can be started.

In the example shown in FIG. 23B, the next operation permission position is set in one of the plurality of numerical parameters 206c set for the operation description 206a of "Ω-AC". That is, the numerical parameter 206c "LM1" represents the movement amount, and the numerical parameter 206c "ALM1" represents the next operation permitted position. Therefore, the basic operation 206 of the operation description 206a of "Ω-AC" is continued until the movement amount reaches the numerical value set in the numerical parameter 206c of "LM1", but is set by the numerical parameter 206c of "ALM1". When the movement amount reaches the value (= LM1-ALM1), the next basic operation 206 can be started.

In the above, the actuator 13 in which the partial period number is set to the first partial period on the YOGO chart 200 illustrated in FIG. 5 has been described. Since only the actuator 13 is set in the partial period whose partial period number is 1, when the movement amount of the actuator 13 reaches the next operation permitted position, the next partial period (that is, the partial period whose partial period number is 2) is set. The basic operation 206 of the actuator 11 set in) is started. Further, for the basic operation 206 of the actuator 11, if the next operation permission position is set in the same manner, the movement amount of the actuator 11 (since the operation mode of the actuator 11 is a rotational operation, the actual rotation angle) is the next operation. When the permitted position is reached, the basic operation 206 of the actuator 12 for the next partial period is started.

Further, only the basic operation 206 of the actuator 10 is set in the partial period having the partial period number 4, but in the next partial period (that is, the partial period having the partial period number 5), the three actuators 14 to 14 to 16 basic operations 206 are set. Therefore, when the movement amount of the actuator 10 reaches the next operation permitted position, the basic operation 206 of the three actuators 14 to 16 is started. Since the actuators 14 to 16 are sequence-controlled actuators and are not controlled by designating a movement amount, a rotation angle, or the like, the next operation permission position is not set.

Further, only the basic operation 206 of the actuator 12 is set in the partial period having the partial period number 7, but the actuator 10 and the actuator 17 are set in the immediately preceding partial period (that is, the partial period having the partial period number 6). Two basic operations 206 are set. Therefore, the basic operation 206 of the actuator 12 is started after the movement amounts of these two actuators 10 and 17 both reach the next operation permitted position.

By setting the next operation permission position for the servo-controlled actuator in this way, the operation of the automatic manufacturing machine 1 can be completed earlier, so that the manufacturing efficiency can be improved. Further, when setting the next operation permission position, the numerical value 0 is set at the beginning, and while operating the automatic manufacturing machine 1, the setting of the numerical table 206b or the numerical parameter 206c is corrected, and the next operation is performed little by little. By increasing the numerical value of the permitted position, it becomes possible to easily set an appropriate next operation permitted position.

1 ... Automatic manufacturing machine, 2 ... Rail, 3 ... Conveying unit, 3a ... Gripping shaft,
3b ... Chuck, 4 ... Machining unit, 11-20 ... Actuator,
10d to 20d ... driver circuit, 50 ... computer,
100 ... Automatic manufacturing machine control device, 100a ... YOGO chart processing device,
100b ... Control execution device, 100m ... Monitor screen,
100s ... Operation input button, 102 ... Basic operation storage unit,
105 ... Control program generation unit, 106 ... Control execution unit,
107 ... Program element storage, 110 ... Control program generator,
201 ... Partition line, 202 ... Trigger line, 203 ... Operation line,
204 ... start point, 205 ... end point, 206 ... basic operation,
206a ... Operation description, 206b ... Numerical table, 206c ... Numerical parameters.

Claims (6)

A control program generator (100a, 110) for generating a control program of an automatic manufacturing machine (1) provided with a plurality of actuators (10 to 20).
A basic operation storage unit (102) that stores a basic operation (206) representing an operation for each degree of freedom of the actuator in association with a program element that realizes the basic operation.
The operation period from the start to the end of the operation of the automatic manufacturing machine is divided into a plurality of partial periods, the operation of the automatic manufacturing machine is decomposed into the plurality of basic operations, and the basic operation is divided into a plurality of basic operations. An operation chart reading unit (103) that reads an operation chart (200) in which the operation of the automatic manufacturing machine is described by being assigned to any of the plurality of partial periods.
The automatic manufacturing machine is operated by combining the program elements of the basic operation assigned to the partial period on the operation chart in the order of the partial periods on the operation chart. It is equipped with a control program generator (105) that generates a control program.
The basic operation storage unit divides the content of the basic operation into an operation description (206a) for qualitatively describing the basic operation and a numerical description for numerically describing the quantitative items of the basic operation. Then, the program element corresponding to the operation description of the basic operation and the numerical table (206b) corresponding to the numerical description or a plurality of numerical parameters (206c) corresponding to the numerical description are stored.
The operation chart reading unit reads the operation chart in which the basic operation is described by using the operation description and the numerical table or the plurality of numerical parameters.
When a plurality of the program elements are combined, the control program generator sets a numerical value in the program element according to the numerical table or the plurality of numerical parameters described together with the operation description of the program element. A featured control program generator. The control program generator according to claim 1.
The numerical table or the plurality of numerical parameters stored in the basic operation storage unit is characterized in that a numerical value including at least one of the operation amount, the operation speed, and the operation load of the basic operation is set. Control program generator. The control program generator according to claim 1 or 2.
The control program generation device is characterized in that the basic operation storage unit stores a reference table that is referred to when a numerical value is not set in the numerical value table. The control program generator according to any one of claims 1 to 3.
The control program generation device is characterized in that the basic operation storage unit stores the numerical table or the plurality of numerical parameters including an operation waiting time for waiting for the start of the operation of the basic operation. A control program generation method in which a control program of an automatic manufacturing machine (1) equipped with a plurality of actuators (10 to 20) is generated by a computer.
The operation period from the start to the end of the operation of the automatic manufacturing machine is divided into a plurality of partial periods, and the operation of the automatic manufacturing machine is a plurality of basic operations representing the operation of each degree of freedom of the actuator. The operation chart reading step (STEP1) of reading the operation chart (200) in which the operation of the automatic manufacturing machine is described by being decomposed into (206) and the basic operation being assigned to any of the plurality of partial periods. When,
An operation chart analysis step (STEP2) of extracting a plurality of the basic operations included in the operation chart and the partial period to which the plurality of basic operations are assigned by analyzing the operation chart.
A control program that generates the control program for operating the automatic manufacturing machine by combining program elements for realizing the basic operation in the order of the partial periods to which the basic operation is assigned in the operation chart. Equipped with a generation process (STEP3)
The operation chart reading step is for the basic operation in the operation chart to numerically describe an operation description (206a) for qualitatively describing the content of the basic operation and quantitative items of the basic operation. It is a step of reading the operation chart described by using the numerical table (206b) or the plurality of numerical parameters (206c).
The control program generation step converts the operation description into the program element by referring to a correspondence relationship stored in association with the operation description of the basic operation and the program element for realizing the operation description. The control program is generated by converting and setting numerical values in the program elements according to the numerical table or the plurality of numerical parameters described together with the operation description, and then combining the program elements in the order of the partial periods. A control program generation method characterized in that it is a process of performing. A program that realizes a method of generating a control program of an automatic manufacturing machine (1) provided with a plurality of actuators (10 to 20) by using a computer.
The operation period from the start to the end of the operation of the automatic manufacturing machine is divided into a plurality of partial periods, and the operation of the automatic manufacturing machine is a plurality of basic operations representing the operation of each degree of freedom of the actuator. The operation chart reading function (STEP1) for reading the operation chart (200) in which the operation of the automatic manufacturing machine is described by being decomposed into (206) and the basic operation being assigned to any of the plurality of partial periods. When,
An operation chart analysis function (STEP2) for extracting a plurality of the basic operations included in the operation chart and the partial period to which the plurality of basic operations are assigned by analyzing the operation chart.
A control program that generates the control program for operating the automatic manufacturing machine by combining program elements for realizing the basic operation in the order of the partial periods to which the basic operation is assigned in the operation chart. The generation function (STEP3) is realized by the computer.
The operation chart reading function is for the basic operation in the operation chart to numerically describe an operation description (206a) for qualitatively describing the content of the basic operation and quantitative items of the basic operation. It is a function of reading the operation chart described by using the numerical table (206b) or the plurality of numerical parameters (206c).
The control program generation function converts the operation description into the program element by referring to a correspondence relationship stored in association with the operation description of the basic operation and the program element for realizing the operation description. The control program is generated by converting and setting numerical values in the program elements according to the numerical table or the plurality of numerical parameters described together with the operation description, and then combining the program elements in the order of the partial periods. A program characterized by being a function to do.

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