JP2537424B2 - Control program generator - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial application] The present invention creates an operation sequence of a controlled object as a control program, and drives and controls the controlled object based on the control program, while controlling the control program and the control. The present invention relates to a control program creating device capable of displaying an operating state based on a state signal from an object.

[Prior Art] Generally, in a device such as a machine tool or a work robot, its operation procedure is processed by a control program in order to reduce the number of workers and improve work efficiency. In this case, the programmable controller sequentially executes the control program and outputs a command signal to the device.
The device operates based on a command signal, and after performing a predetermined operation, outputs a detection signal from a limit switch or the like to the programmable controller. On the other hand, the programmable controller executes the control program again based on the detection signal, and issues the next operation command to the device.

When creating such a control program, the control designer usually uses the programming device of the programmable controller after creating a ladder diagram using relay symbols etc. based on the equipment specifications and time chart created by the system designer. The contents of the ladder diagram are input to the programmable controller.

[Problems to be Solved by the Invention] By the way, specialized work is required for sequence control in the work of creating a ladder diagram. In addition, recent equipment is highly functional, and not only the control itself, but also the control of safety measures to prevent accidents due to operation mistakes and accidental accidents are complicated. It takes a considerable amount of time and effort to create a work.

Therefore, it has been pointed out that the frequency of change and modification of the control program is inevitably increased, resulting in frequent occurrence of program errors and deterioration of the control function. Further, conventionally, when making such changes and corrections, the ladder program in the programmable controller has been directly changed by the programming device. Therefore,
In many cases, the ladder diagram was not reflected and the ladder program 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.

Therefore, there is one in which the ladder diagram is displayed, for example, on a monitor device to clearly show the operating state of the controlled object. However, in this case, since the display is only a ladder diagram, no one can immediately recognize what kind of operation is performed in which part of the controlled object, and it is still inconvenient to use.

The present invention has been made to overcome the above-mentioned inconveniences, and it is possible to efficiently design, debug, monitor, etc. a control program, and control the operation state of a controlled object easily. An object is to provide a program creation device.

[Means for Solving the Problems] In order to achieve the above object, the present invention provides an actuator program that defines an operation pattern of an actuator that constitutes a control target, and a step program that defines a step operation of the actuator program. , A control program creating means for creating a logic program that defines a logical condition such as an interlock, and a control program to be controlled, and an operation pattern table composed of step operation data indicating a step operation in the step program, An operation system diagram creating means for creating an operation system diagram in which the step operation of the actuator including the logical condition defined by the logic program is blocked, and a transmitter for transmitting the control program to a sequence controller for controlling a control target. And a receiving unit that receives a status signal from the control target that operates based on the control program via the sequence controller, and an operation system diagram created by the operation system diagram creating unit, which is composed of a plurality of units. While displaying as a time-series display of each step in the controlled object and a relative display between the respective units, a display means for displaying the operating state of the controlled object on the operating system diagram from the state signal, To do.

[Operation] In the control program creating device according to the present invention, after setting the operation sequence of the control target, the control target is driven by converting the operation sequence into a control program and transmitting the control program to the sequence controller. Further, the operation sequence is created and displayed based on a control program on the basis of a control program while an operation system diagram including time-series display of each step of a control target including a plurality of units and relative display between the units is displayed. A state signal from the controlled object based on a program is received, and the operating state of the controlled object is displayed on the operation system diagram from the state signal.

When it is necessary to change the operation of the controlled object, the control program can be changed in association with the data forming the operation system diagram.

[Embodiment] FIG. 1 shows a schematic flowchart of a control program creating method using the control program creating apparatus 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 that constitutes the controlled object,
It comprises a step of creating a step program by setting a step operation of the actuator (STP II) and a step of creating a logic program by setting a logical condition such as interlock (STP III).

FIG. 2 is a schematic block diagram of the control program creating device 10. The control program creating device 10 includes a main body 12, a 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 has the STP I shown in FIG.
Actuator program 2 created in III to III
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.
To create or modify 28 and logic programs 30, and to monitor the operating status 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. In addition,
These patterns 38 and 40 can be created in the arithmetic unit 20 as needed. The storage means 18 holds a control program 42 created from an actuator program 26, a step program 28 and a 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, a method of creating the actuator program 26 will be described first with reference to 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, which is the basic operation pattern of the actuator, and the definition parameters 39a and 39b are created.
Set (STP1A, 2A). The actuator pattern 38 is a basic operation pattern of a given actuator set as a ladder program with labels indicating the functions of each contact, coil, register, etc., and the pattern file name is assigned to each actuator. It is attached and stored in the storage means 16. Also, the definition parameter 39
Reference characters a and 39b are parameters that define the relationship between the actuator pattern 38 and application parameters described later, and are stored in the storage means 16.

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. 5 shows the actuator list 48 displayed on the CRT display 32 with the application parameters thus input. Where actuator list
Reference numeral 48 shows the relationship between the actuator group in which the operation pattern is defined and the input / output address in one unit (TT-M / C) constituting the controlled object. Unit (TT-M /
C) includes two actuators having an actuator pattern 38 whose pattern file name is ACT2-2, and input / output addresses 1001, 1002, etc. are set in the contacts, coils, registers, etc. of each actuator. The controlled object is composed of a plurality of such units, and the actuator list 48 is created for each unit.

Actuator pattern set as above
An actuator program 26 is created based on the actuator ladder generation program 50 of the system program 24 using, for example, 38, definition parameters 39a and 39b, and application parameters (addresses and the like shown in FIG. 5) in the state of a logical expression ( STP4A). The actuator program 26 thus created 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 is directly loaded to the sequence controller 56 by communication, it can be loaded from the programming panel 58 via the floppy disk FD.

Next, a method of creating the step program 28 will be described based on 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 the interlock register of the sequence controller 56 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 An external command output ladder that outputs a command signal when the register contents are the target step, and an interlock ladder that writes 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. 7 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. A label name such as LS, a label name such as a solenoid for driving the actuator, a time chart of each actuator, a step advance condition, an interlock condition and the like are input as shown in FIG. 7 by using a graphic function.

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. 7 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 (see FIG. (Not shown).

Next, based on the data of the operation pattern table set as described above, the sensing 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 created as described above is converted into an object program by the ladder compiler 52 (STP6B) and then transferred to the sequence controller 56 via the interface 54 ( (See Figure 3).

Next, a method of creating the logic program 30 will be described with reference to 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 shows the relationship between the label name of the limit switch and the like input when the step program 28 is created and the address and the comment indicating the contents of the I / O.
Create O table (STP1C). Next, using the logic chart editor 69 from the keyboard 34, as shown in FIG. 9, a logic chart 68 indicating logic conditions such as interlock is input (STP2C). Here, each block 70 constituting the logic chart 68 includes a comment area 72a and a label area 72.
b, an address area 72c, and a status area 72d that indicates the ON / OFF status of the limit switch and the like indicated by the label. 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 data in the label area 72b and the data in the address area 72c are combined in step 1C.
Since it is determined by the I / O table set in step 1, only one of the label and the address need be input as the input work.

The logic chart 68 input in this manner is stored in the storage unit 22 as the logic program 30 (STP3C), and then converted into an object program by the ladder compiler 52 (STP4C). Then, as in the case of the actuator program 26 and the step program 28 described above, the sequence controller is operated via the interface 54.
Transferred to 56. Note that the logic chart 68 can be converted into the logic program 30 represented by a logical expression by the logic chart conversion program 76 in the system program 24, as in the case of the actuator program 26 and the step program 28 (STP3C ).

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 process of creating the step program 28 and creating the logic program 30, a source program is first created using the system program 24 and then converted into an object program, but it is also possible to create the object program directly. It is possible.

The sequence controller 56 drives and controls a controlled object such as a work robot based on the control program 42. Here, the state signal relating to the drive state of the controlled object is processed by the operation system diagram creation program 78, and the CRT display 32
The above is monitored in real time as an operation system diagram.

Therefore, next, a method of creating this operation system diagram will be described. FIG. 10 is an operation pattern table 80 of the step program 28 relating to one unit to be controlled, which is created based on the step data 60 set as shown in FIG.
Shows a part of. The operation pattern table 80 is stored in the storage unit 22.
Is held at, for example, in step 3, “0025
The interlock confirmation indicated by "0" is set as "1", and the actuator indicated by "LIFT" moves from the forward side (ADV) to the backward side (R
ET) is set ("1""0").

The operation system diagram creating program 78 creates the operation system diagram data 82 shown in FIG. 11 from the operation pattern table 80 set as shown in FIG. The operation system data 82 has a data area 84 that holds the data for each step of each actuator in blocks.
Is further subdivided into each item of interlock command, inter-task interlock confirmation, step No., start time, time interval, corresponding actuator name, label, address, state, and confirmation. The label, address, and status items are the label area 72b, address area 72c, and status area shown in the logic chart 68.
Corresponds to the data set in 72d. In this case, for example, in step 3 of FIG. 10, the forward side (ADV) command of the actuator indicated by "LIFT" is "1" to "0", and the backward side (RET) command is "0" to "0". Since it has changed to “1”, the predetermined data related to “LIFT” is set in the third area of the data area 84. Note that in this data area 84, interlock data indicated by "00250" is also set. After that, other data are set in the same manner, so that the operation system data 82 shown in FIG.
Is created.

Next, the operation system diagram creation program 78 creates the operation system diagram 86 shown in FIG.
Display on display 32. This operation system diagram 86 shows the operation of each step of the unit (TT-M / C) in time series, and each step includes, for example, a logic chart 68.
A block 70 is displayed which shows the operating condition in (Fig. 9). Therefore, the operator can easily grasp the flow of the control program from the operation system diagram 86. Where
Although the operation system diagram 86 of FIG. 12 shows only the flow of the control program relating to one unit to be controlled, the flow of the control program relating to other units can be simultaneously displayed in the same manner. It is also possible to relatively understand the flow between the units.

Further, the operator can monitor the operation state of the controlled object in real time by using the operation system diagram 86.

That is, data relating to the operating state of the control target is transferred to the control program creating device 10 via the interface 54. Therefore, the monitor program 79 updates the "state" data in the operation system data 82 based on the above data, and displays it on the operation system 86 in real time using the operation system creation program 78. In this case, for example, by blinking the step number being executed, the operating state of the controlled object can be constantly monitored. Therefore,
From this operating state, it is possible to determine whether or not there is a problem with the control program, and to make corrections in some cases.

The operation system diagram creation program 78
It also functions as an editing means for editing the data of 82 and the operation pattern table 80 (see FIG. 10). In this case, the operator inputs data relating to the correction of the operation sequence or the like from the keyboard 34 according to the operation system diagram 86 displayed on the CRT display 32. The operation system diagram creating program 78 edits the operation system data 82 according to the data, and as a result, the operation system data 86 is changed. In addition, the operation system diagram creation program 78 uses the operation pattern table 80 according to the data.
Re-edit the data in. As a result, a new control program is created based on the updated operation pattern table 80.

Here, the operating system diagram 86 can be displayed as follows, for example.

FIG. 13a shows only the steps of a plurality of tasks 88a to 88d on the CRT display 32 according to its operating procedure,
In addition, the operation system diagram that blinks the currently operating step
90 states are shown. Here, the tasks 88a to 88d refer to a control program for controlling each unit when the mechanism constituting the controlled object controlled by the sequence controller 56 is regarded as a plurality of units. in this case,
The display of each task 88a to 88d can be set based on the operation system diagram data 82 shown in FIG. Further, in this operation system diagram 90, an upward arrow or a downward arrow indicates an interlock between the tasks 88a to 88d. This is the operation system data 82 for each task 88a to 88d.
In the case of setting, the task 88a to 88d for which the data of "inter-task interlock confirmation" in the data area 84 is related is determined, and the step related to this interlock is displayed when the operation system diagram 90 is displayed. This can be achieved by setting the operation system diagram data 82 so that they are aligned vertically on the CRT display 32.

Next, FIG. 13b shows the content of the steps blinking in FIG. 13a as an operation content diagram 92.
This operation content diagram 92 can be created by using the operation system data 82 not shown in FIG. 13a. In this operation content diagram 92, it is possible to confirm the actuator or the like related to the blinking step. This makes it possible to determine, for example, what actuator is not operating, whether its starting condition is satisfied, and whether the interlock signal is activated.

In addition, in order for the operator to confirm the details of the blinking data in FIG.
The condition / logic diagram 94 shown in FIG. 13c can be displayed.
The condition / logic diagram 94 shows the limit switch LS and solenoid SO.
It shows the logic of the lowest input / output such as L and the ON / OFF state. The condition / logic diagram 94 can be created from the data for displaying the logic chart 68 described above, and by this, for example, the reason why the controlled object does not operate can be known.

Furthermore, the operator can display the positions of the non-actuated limit switches LS found in FIG. 13c as a layout diagram 96, as shown in FIG. 13d, if necessary.

The operation system diagram 90, the operation content diagram 92, the condition / logic diagram 94, and the layout diagram 96 can be simultaneously displayed by a multi-window, if necessary.

[Effects of the Invention] As described above, according to the present invention, the steps of the controlled object configured by a plurality of units are displayed in time series based on the control program related to the operation sequence of the controlled object, and The relative display between the units to be controlled is performed. As a result, the operator can grasp the flow of the operation of the controlled object as a whole on the screen. Therefore, the operator can efficiently design, debug, monitor, etc. the control program, and easily grasp the operating state of the controlled object.

[Brief description of drawings]

FIG. 1 is a schematic flowchart of a control program creating method using the control program creating apparatus according to the present invention, FIG. 2 is a block diagram of a configuration of the control program creating apparatus according to the present invention, and FIG. 3 is a control according to an embodiment. FIG. 4 is an explanatory diagram of a procedure of creating a program, FIG. 4 is a flowchart of creating an actuator program in the control program creating method according to the embodiment, FIG. 5 is an explanatory diagram of an actuator list obtained when creating the actuator program, and FIG. FIG. 7 is a flowchart for creating a step program in the control program creating method according to one embodiment, FIG. 7 is an explanatory diagram of step data for creating the step program, and FIG. 8 is a logical program in the control program creating method according to one embodiment. Fig. 9 is a flowchart for creating a logic program. 10 is an explanatory diagram of a logic chart for creating the operation pattern, FIG. 10 is an explanatory view of an operation pattern table created in the step program, FIG. 11 is an explanatory view of operation system data created by the operation system creation program, FIG. Is an explanatory diagram of the operating system diagram displayed on the screen by the operating system diagram creating program, and FIG. 13 is an explanatory diagram of the operating system diagram and the operation content diagram, condition / logic diagram, and layout diagram displayed together with it. 10 …… Control program generator 14 …… Conversation input / output means 16, 18 …… Storage means 20 …… Computing section 22 …… Storage section 24 …… System program 26 …… Actuator program 28 …… Step program 30 …… Logic Program 38 …… Actuator pattern 42 …… Control program 48 …… Actuator list 60 …… Step data 68 …… Logic chart 78 …… Operating system diagram creation program 80 …… Operating pattern table 82 …… Operating system diagram data 86, 90 …… Operating system diagram 92 …… Operation content diagram 94 …… Condition / logic diagram 96 …… Layout diagram

Claims (4)

(57) [Claims] 1. An actuator program that defines an operation pattern of an actuator that constitutes a controlled object, a step program that defines a step operation of the actuator program, and a logic program that defines a logical condition such as an interlock are created. A step operation of the actuator including the logical condition defined by the logic program from a control program creating means that is a control program to be controlled, and an operation pattern table configured by step operation data indicating a step operation in the step program. An operation system diagram creating means for creating an operation system diagram that is a block, a transmitting means for transmitting the control program to a sequence controller for controlling a control object, and the control object that operates based on the control program Receiving means for receiving al state signal through the sequence controller, the actuation pedigree that was created by the actuation genealogy creating means,
Display means for displaying a time-series display of each step in a controlled object composed of a plurality of units and a relative display between the respective units, while displaying the operating state of the controlled object on the operating system diagram from the status signal. A control program creating device comprising: 2. The apparatus according to claim 1, wherein the display means displays each step in the plurality of units.
Display and second display of operation contents in the step
An apparatus for creating a control program, comprising hierarchical display means for selectively or simultaneously displaying a display and a third display for displaying the condition / logic in the operation content. 3. The operation system diagram data holding means, wherein the operation system diagram creating means is such that the step operation data of each unit under control is arranged in a predetermined data area according to an interlock between the units. An apparatus for creating a control program, comprising: 4. An apparatus according to claim 3, wherein the apparatus comprises an editing means for editing the operation system diagram data and step operation data of the operation system diagram data holding means according to the operation system diagram.