JP2533372B2 - Control program creation method - Google Patents

Description

The present invention relates to a control program creating method, and more specifically, to a basic operation pattern of an actuator and a definition parameter including a label name of a component of the basic operation pattern. The present invention relates to a control program creating method capable of efficiently creating a control program by setting application parameters of input / output addresses.

BACKGROUND OF THE INVENTION Generally, in a device such as a machine tool or a work robot, its operation procedure is set by a control program in order to reduce the number of personnel and improve work efficiency. In this case, the control program is sequentially executed by the programmable controller to output a command signal to the device and input a detection signal from the device. That is,
The device operates based on the command signal and outputs a detection signal from a limit switch or the like to the programmable controller after performing a predetermined operation. On the other hand, the programmable controller executes a control program and issues a predetermined operation command to the device based on the detection signal.

By the way, when creating such a control program, normally, after the control designer creates a ladder diagram using relay symbols etc. based on the equipment specifications and time chart created by the system designer, the programming device for the programmable controller is set. Input the contents of the ladder diagram to the programmable controller when using it. In this case, specialized knowledge regarding sequence control is required for the work of creating the ladder diagram. Further, although the actuator constituting the controlled object normally has a predetermined operation pattern, the conventional method creates a similar ladder diagram each time a control program is created. Therefore, a considerable amount of time and labor is consumed in the work of creating the control program.

Therefore, in order to eliminate such inconvenience, JP-A-60-
The prior art disclosed in No. 41102 proposes a sequence control device capable of efficiently creating a new control program by linking an already created ladder as a subroutine program.

However, in this conventional technique, since an address as an absolute address is set in advance in a contact or the like forming a patterned ladder, it is necessary to copy the ladder and set the address when the same pattern is used. Occurs. Therefore, the operator is forced to perform troublesome work such as file processing of the program.

On the other hand, when the control program created in this way is modified, the ladder program in the programmable controller has conventionally been directly changed by a programming device. Therefore, there were many cases where the ladder diagram was not reflected and the ladder diagram and the ladder program in the programmable controller did not match. In addition, in the ladder diagram, it is very difficult to grasp the entire program, and it may be difficult to appropriately change the program.
There have been situations where troubles arise from such problems.

[Object of the Invention] The present invention has been made in order to overcome the above-mentioned inconveniences. Basic operation patterns of actuators are set in advance, and definition parameters including label names of constituent elements of each basic operation pattern are set. On the other hand, by setting a predetermined input / output address as an application parameter, it is possible to improve the program creation efficiency and accuracy, and to provide a control controller program creation method for a programmable controller that can facilitate program analysis. And

[Means for Achieving the Object] In order to achieve the above object, the present invention provides a plurality of basic operation patterns of an actuator set as a ladder program by a plurality of constituent elements having label names indicating respective functions. After selecting the basic operation pattern of each actuator that constitutes the controlled object, from each constituent element of each selected basic operation pattern, set the conversion rule of the label name representing each function as a definition parameter. Then, a predetermined input / output address is set as an application parameter using the definition parameter for each label name of each constituent element of each selected basic operation pattern related to each actuator constituting the control target. This is characterized by creating a control program.

[Embodiment] Next, a control program creating method according to the present invention will be described in detail below with reference to the accompanying drawings.

FIG. 1 shows a schematic flowchart of a control program creating method according to the present embodiment. This manufacturing method is roughly divided into three steps. That is, according to the specifications and requirements of the controlled object, a step (STP I) of creating an actuator program based on the basic operation pattern of the actuator constituting the controlled object, and a step program by setting the step operation of the actuator. It consists of a process (STP II) and a process (STP III) of creating a logic program by setting logic conditions such as interlock.

FIG. 2 is a schematic block diagram of an apparatus for implementing the control program creating method according to the present embodiment. In the figure,
Reference numeral 10 indicates a control program creating device, and a main body 12
And conversation input / output means 14 and storage means 16 and 18.

The main body unit 12 includes a calculation unit 20 and a storage unit 22, and the calculation unit
Reference numeral 20 controls the input / output of the conversation input / output unit 14 and the storage units 16 and 18. The storage unit 22 has a system program 24 for controlling the operation of the arithmetic unit 20 and also the actuator program 2 created in STP I to III shown in FIG.
6. Hold the step program 28 and the logic program 30. The conversation input / output unit 14 is a CRT having a graphic processing function.
Display 32, keyboard 34, CRT display 3
The mouse 36 for controlling the cursor, selecting functions, etc. in FIG. In this case, the conversation input / output unit 14 uses the arithmetic unit 20 to drive the actuator program 26 and step program.
It has a function of creating the 28 and the logic program 30, modifying them, and further monitoring the operating states of these programs 26, 28 and 30. The storage means 16 holds an actuator pattern 38 in which a basic operation pattern of each actuator constituting a controlled object such as a machine tool is defined in advance by a ladder or the like, a step pattern 40 which is a basic pattern of step operation of each actuator, and the like. It should be noted that these patterns 38 and 40 can be created in the arithmetic unit 20 as needed. The storage means 18 holds the control program 42 created from the actuator program 26, the step program 28 and the logic program 30.

FIG. 3 schematically shows a more detailed control program creating device 10 and a program creating procedure in the device 10. Therefore, first, a method of creating the actuator program 26, which is the main part of the control program of the present embodiment, will be described based on the flowcharts of FIGS.

The control designer selects the actuator program creation mode from the keyboard 34 and inputs data for creating the actuator program 26 according to the specifications and requirements of the controlled object set by the system designer.

In this case, before creating the actuator program 26, the actuator pattern 38 (see FIG. 5) which is the basic operation pattern of the actuator and the defining parameters 39a and 39b (see FIG. 6A and B) are set. (ST
P1A, 2A). Here, the actuator pattern 38 is a basic operation pattern of a predetermined actuator set as a ladder program in a state where labels indicating functions such as MST-ON are attached to each contact point, coil, register, etc. The actuator is given a pattern file name and stored in the storage means 16. When the actuator pattern 38 is not preset for the actuator used for the control target, the control designer creates the desired actuator pattern 38 by the conversation input / output unit 14 using the ladder editor 44 of the system program 24. Then, it is stored in the storage means 16.

On the other hand, the definition parameters 39a and 39b are parameters that define the relationship between the actuator pattern 38 and application parameters to be described later, and are set and stored in the storage unit 16 as shown in FIGS. Here, for example, the definition parameter 39a is a definition parameter 39a common to each actuator pattern 38, and is stored in the storage means as a pattern file name COMMON. The definition parameter 39b has a pattern file name of ACT2-
2 relates to the actuator pattern 38 specified in 2. In FIGS. 6A and 6B, "type" indicates whether the data is a constant C, an address A, or a character string T. Further, the “post-conversion label” indicates the label name when the label name used for the actuator pattern 38 is converted.
The “label conversion function” indicates a function for converting a label name according to a predetermined law and automatically setting it when the same actuator pattern 38 is used when setting an application parameter described later. Further, the “numerical value conversion function” indicates a function for converting a label into a numerical value according to a predetermined law and allocating it. The actuator pattern
When the definition parameters 39a and 39b are not preset for 38, they can be created using the text editor 46 of the system program 24.

Next, the control designer inputs application parameters based on the text editor 46 of the system program 24 (STP3A). That is, the control designer uses the conversation input / output means 14 to select the actuator pattern 38 corresponding to the actuator required for each unit constituting the control target, and sets the input / output address of the sequence controller described later. FIG. 7 shows the actuator list 48 displayed on the CRT display 32 with the application parameters thus input. Here, the actuator list 48 shows the relationship between the input / output address and the actuator group in which the operation pattern of the second unit constituting the control target, for example, the jig unit (TT-M / C) is defined. . In this case, the jig unit has an actuator pattern whose pattern file name is ACT2-2.
It is equipped with two actuators 38 (see FIG. 5), and input / output addresses 1001, 1002, etc. are set in the contacts, coils, registers, etc. of each actuator.

Actuator pattern set as above
38 (Fig. 5) and definition parameters 39a, 39b (Fig. 6A,
Using B) and application parameters (FIG. 7), the actuator program 26 is created based on the actuator ladder generation program 50 which is the program editing means of the system program 24 (STP4A).

FIG. 8 shows the definition parameters 39a, 3 of FIGS. 6A and 6B in the actuator program 26 created in this way.
The actuator name (ACTUATOR NAME) obtained using 9b and the application parameters in Fig. 7 is {TT-M / C
CLAMP1} actuator program 26 is shown. In this case, the contacts and coils that make up the actuator program 26 have the label name (upper row) set as an application parameter and the definition parameter 39
The address (lower row) determined by a and 39b is assigned. Since the label conversion function is not set in the definition parameters 39a and 39b, the label name and the address are the same. The actuator name is {TT-M / C CLAMP1}.
The actuator program 26 of is also similarly created using the application parameters shown in FIG.

As described above, in this embodiment, from the same actuator pattern 38 shown in FIG.
(A, B) and application parameters (7th
The actuator program 26 can be created using FIG. Therefore, if the basic actuator pattern 38 is prepared in advance, the actuator program
26 can be created easily and accurately in a short time. Since the addresses for the labels (LS-A, SOL-A, etc.) attached to the constituent elements of the actuator pattern 38 are relocatable according to the definition parameters 39a, 39b and application parameters, a plurality of identical actuator patterns 38 are used. The actuator program 26 can be easily created.

The actuator program 26 created as described above is then converted into an object program by the ladder compiler 52 (STP5A) and then transferred to the sequence controller 56 via the interface 54. Although the actuator program 26 can be directly loaded into the sequence controller 56 by communication, it can also be loaded from the programming panel 58 via the floppy disk FD.

Next, a method of creating the step program 28 will be described with reference to the flowchart shown in FIG.

In this case, prior to creating the step program 28, the step pattern 40 and the sensing bit pattern 41
And are set (STP1B). Here, the step pattern 40 is one in which an operation circuit for stepping through the steps of the control program is set as a ladder program. For example, a transfer ladder that transfers the contents of the step register and interlock register of the sequence controller to the work register, a condition comparison ladder that compares the state of the sensing bit with the interlock condition, a step up ladder for step advancement, a step register The external command output ladder that outputs a command signal when the contents of the step become the target step, the interlock ladder that writes the interlock command data to the value of the work register of the step command output when the interlock signal is turned on, There is a command output ladder that outputs the contents of the work register containing the command data to the command coil. Further, the sensing bit pattern 41 is a program that replaces the address where the input condition from the controlled object is set with the continuous address of the internal register.

Therefore, the control designer selects the step program creation mode using the conversation input / output means 14, and then inputs the step data 60 shown in FIG. 10 from the keyboard 34 using the step editor 59 of the system program 24 (STP2
B). That is, the control designer detects the pattern file name (for example, ACT2-2) of the actuator pattern 38 set when the actuator program 26 is created for each unit to be controlled, the name of the actuator, and the operating state of the actuator. Enter the label name of LS etc., the label name of solenoid etc. for driving the actuator, the time chart of each actuator, step step condition, interlock condition etc. using the graphic function as shown in FIG. 10. Go.

Next, the calculation unit 20 of the control program creation device 10 first creates an operation pattern table based on the step ladder generation program 62 of the system program 24 (STP3
B). In this case, as the operation pattern table, the step data 60 input as shown in FIG. 10 is used as the step advance condition table, the step command output table, the interlock input condition table, the interlock command output table, and the external output table (Fig. (Not shown).

Next, based on the data of the operation pattern table set as described above, the sensing bit ladder and the condition register including the sensing bit pattern 41 set in step 1B are created (STP4B). Further, the contents of the operation pattern table are set in the internal register of the preset step pattern 40, whereby the step program 28 is completed (STP5B).

As with the actuator program 26, the step program 28 thus created is converted into an object program by the ladder compiler 52 (STP6B) and then transferred to the sequence controller 56 via the interface 54 (third step). See figure).

Next, a method of creating the logic program 30 will be described based on the flowchart shown in FIG. In this case, the control designer uses the conversation input / output means 14 to select the logic program creation mode.

Therefore, the control designer first sets the step program 28
Create an I / O table showing the relationship between the label name of the limit switch, etc., which was input when creating the, and the address and the comment indicating its content (STP1C). Next, using the logic chart editor 69 from the keyboard 34, as shown in FIG. 12, the logic chart 68 indicating the logic conditions such as interlock is input (STP2C). Here, each block 70 constituting the logic chart 68 includes a comment area 72a, a label area 72b, an address area 72c, and a status area 72d showing the ON / OFF status of the limit switches and the like indicated by the label.
Consists of A message area is provided at the top of the logic chart 68. Further, the displayed area of the block 70 is composed of a coil output unit 74a and a condition setting unit 74b. Each block 70 is represented by a combination of a logical product connected in series from the top to the bottom of the screen and a logical sum connected in parallel from the left to the right of the screen. When inputting each block 70, the combination of the data in the label area 72b and the data in the address area 72c is determined by the I / O table set in step 1C. You only need to enter one.

Then, the logic chart 68 input as described above
Is converted into the logic program 30 by the logic chart conversion program 76 in the system program 24 (STP3
C). This logical program 30 is converted into an object program by the ladder compiler 52 (STP4
C) is transferred to the sequence controller 56 via the interface 54 as in the case of the actuator program 26 and the step program 28 described above.

As described above, the sequence controller 56 stores the desired control program 42, which is an object program. As described above, the actuator program 26, the step program 28, and the logic program 30 may be collectively transferred to the sequence controller 56 at once instead of being individually transferred to the sequence controller 56 by communication. In addition, the above three steps (creating the actuator program 26,
In each step of creating the step program 28 and the logic program 30, the source program is created once using the system program 24 and then converted into an object, but it is also possible to create the object directly. is there.

Therefore, the sequence controller 56 drives and controls a control target such as a work robot based on the control program 42. Here, the drive state of the controlled object is monitored in real time by the monitor controller 78, which is the monitoring means of the control program creating device 10, via the sequence controller 56 and the interface 54. In this case, for example,
If the actuator list 48 shown in FIG. 7 is displayed on the CRT display 32 and the labels of the constituent elements of the actuator being executed are blinked based on the data fetched from the sequence controller 56 via the interface 54, the operation of the controlled object is controlled. The status can be constantly monitored. Therefore, it is possible to judge whether or not there is a problem in the control program from this operating state, and make corrections in some cases. Note that this correction work can be easily performed based on the actuator list 48, as in the case described above.

As described above, according to the present invention, the application parameter of the input / output address is set based on the basic operation pattern of the actuator and the definition parameter including the label name of the constituent element of the basic operation pattern. Creating a control program. In this case, the program creator can accurately and easily create the control program in a short time by using the basic operation pattern. In addition, since the same basic operation pattern can be used any number of times, it is possible to reduce the number of program design steps when creating similar control programs.

Further, each component of the selected basic operation pattern is given a label name indicating its function, and a predetermined input / output address is set for it, so that the function and the input / output address are set. Correspondence with is clear. Therefore, for example, when the program is changed or modified, the work can be performed while checking the functions, and thus the work efficiency is improved.

Furthermore, when setting the definition parameters, by setting the common label that is common between the basic operation patterns and other specific labels separately, it is possible to improve the efficiency of the setting work, resulting in The work of creating the control program will be made more efficient.

Although the present invention has been described above with reference to the preferred embodiments, the present invention is not limited to these embodiments, and various improvements and design changes can be made without departing from the scope of the present invention. Of course.

[Brief description of drawings]

FIG. 1 is a schematic flowchart of a control program creating method according to the present invention, FIG. 2 is a configuration block diagram of an apparatus to which an embodiment of a control program creating method according to the present invention is applied, and FIG. 3 is an embodiment. Fig. 4 is an explanatory diagram of a procedure for creating a certain control program, Fig. 4 is a flowchart for creating an actuator program in the control program creating method according to one embodiment, and Fig. 5 is an explanatory diagram of an actuator pattern for creating the actuator program. FIGS. A and B are explanatory diagrams of definition parameters for creating an actuator program, FIG. 7 is an explanatory diagram of an actuator list obtained when creating an actuator program, and FIG. 8 is a control program creating method according to one embodiment. Explanatory drawing of the obtained actuator program, FIG. 9 FIG. 10 is an explanatory diagram of step data for creating the step program in the control program creating method according to one embodiment, and FIG. 11 is a logical program in the control program creating method according to one embodiment. Creation flowchart, FIG. 12 is an explanatory diagram of a logic chart for creating a logic program. 10 ...... Control program creation device 12 ...... Main body part, 14 ...... Conversation input / output means 16, 18 ...... Storage means, 20 ...... Calculation part 22 ...... Storage part 24 ...... System program 26 ...... Actuator program 28 ... … Step program, 30 …… Logical program 38 …… Actuator patterns 39a, 39b …… Definition parameters 40 …… Step pattern, 42 …… Control program 48 …… Actuator list 60 …… Step data, 68 …… Logic chart

Claims (2)

(57) [Claims] 1. After selecting a basic operation pattern of each actuator constituting a control target from a plurality of basic operation patterns of an actuator set as a ladder program by a plurality of constituent elements labeled with respective functions. , For each constituent element of each of the selected basic operation patterns, a conversion rule of a label name indicating each function thereof is set as a definition parameter, and then the selected one of the actuators constituting the control target is selected. A control program creation method characterized in that a control program is created by setting a predetermined input / output address as an application parameter using the definition parameter for each label name of each component of each basic operation pattern. . 2. The method according to claim 1, wherein the definition parameter includes a conversion rule of the label name and the like into a common label common between the basic operation patterns and a specific label specified in each basic operation pattern. A control program creation method characterized by setting separately.