JP2872728B2 - Cell controller and cell control system - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cell controller and a cell control system having programming means and a means for executing the same in a system for controlling a cell composed of a plurality of production facilities.

[Conventional technology]

As a means of programming in a conventional cell control system, "Manufacturing Cell Control System
m) ”, 14th System Symposium (August 1988), pp. 101-106. This programming means describes a sequence program indicating the flow of the production process and an equipment control program indicating the contents of the production process. The control method of the sequence program follows the control method of the token in the safe Petri net. That is, when the condition of the gate before the production process B becomes true without the token present in the production process B next to the production process A in which the token exists, the token moves from the production process A to the production process B. When the token enters the production process in this way, the device control program corresponding to the production process is executed, and when the token comes out of the production process, the device control program ends. Therefore, the end of the previous work is included as one of the gate conditions. Then, after the end of the device control program of the production process, the device control program of the next production process is executed. The device control program is divided for each production device such as a robot or a PLC (sequencer) described therein, and is converted into an execution program corresponding to each production device on a one-to-one basis.

[Problems to be solved by the invention]

In the above-mentioned prior art, the control of the execution program is controlled so that the process is shifted to the next production process after the completion of a certain production process, so that the work on the work is completed in the middle of the production process and the rest is in preparation for the next work. Even in some cases, it is not possible to proceed to the next production process without waiting for the completion of the preparation, so that there is a problem in the control method of the transition of the production process. Also, since the execution program generated by the above-mentioned programming system has a one-to-one correspondence with the production equipment described in the equipment control program, the production equipment breaks down and becomes unusable or has a new function having the same function. When a new production device is installed, the program must be re-created, and there is a problem of responsiveness to equipment change.

SUMMARY OF THE INVENTION An object of the present invention is to provide a cell controller and a cell control system having programming and execution means capable of reducing program development man-hours during cell development and equipment configuration change and reducing cell downtime during equipment configuration change. To provide.

[Means for solving the problem]

The cell controller and the cell control system according to the present invention provide a work flow focusing on a work, a main work content which is a direct work on the work, and a preparation for the next work in order to reduce a program development man-hour at the time of developing the above-mentioned cell. A description format based on work contents including sub-work contents, which are works, and token control means for the work contents are used.

Further, in order to reduce the number of program development steps when changing the equipment configuration, description means for virtual equipment and equipment allocation means are used.

Further, in order to reduce the down time of the cell when the equipment configuration is changed, equipment status monitoring means, equipment allocation means,
A program execution control means based on a message is used.

[Action]

The cell controller and the cell control system execute the next work on the work by the token control means for the work, if the next work can be executed at the stage when the work content is shifted from the main work content to the sub-work content. Control the token to do it. This makes it possible to appropriately control a description format including a work flow and work contents, which is easy to describe and has high explicitness, so that the number of program development steps can be reduced. The same applies to the case where a command indicating that the work on the work has been completed can be described in the work contents instead of expressing the work contents by the main work contents and the sub-work contents.

In addition, a program is described for the virtual facility. Then, when the execution program is generated or when the execution program is executed, the equipment allocating means determines the equipment to be actually performed based on the equipment configuration and the like. As a result, even if the equipment configuration is changed, it is possible to deal with it only by registering a new equipment configuration, so that it is possible to reduce the number of program development steps when the equipment configuration is changed.

In addition, the equipment status monitoring means always reflects the equipment status monitoring results in the equipment configuration, and each time the execution program is executed, the equipment to be actually performed based on the equipment configuration is determined by the equipment allocating means, and the program is executed by a message. The equipment can be controlled according to the determination result by the control means. As a result, when an abnormality occurs in the equipment, the equipment configuration is changed.As a result, another equipment is allocated in place of the abnormal equipment, and the equipment can be executed. Can be reduced.

〔Example〕

An embodiment of the present invention will be described below with reference to FIGS.

FIG. 1 is an overall configuration diagram of a control system and a programming system showing one embodiment of a cell controller and a cell control system according to the present invention. In Figure 1, the control system 1 sequencer 3 and the robot controller 4 for controlling the production facility 2 ₁ to 2 _n, such as a conveyor or a robot directly constituted by the cell controller 5 which performs synchronous control among the controllers 3,4 Is done. Each controller 3, 4 and 5 each execution program 6 ₁ and 6 _2, 6 ₃
Control is performed on the basis of each of the execution programs 6 ₁ , 6 ₂ , 6 ₃
Is created by the programming system 7. The input to the programming system 7 is a block 8 ₃ production equipment and flow ₈₁ of the work performed by the production equipment to be controlled and the contents ₈₂ of the working time. Seeking work each controller 3, 4 and 5 are processed based on programming system 7 system configuration 8 ₃ inputs in, it generates the executable program. The generated execution programs 6 ₁ , 6 ₂ , 6 ₃
Once downloaded to 5, the control system 1 a message indicating which execution program may be executed in the out of the cell controller 5 subordinate controllers 3 and 4 receives the appropriate execution program 6 _1, 6 ₂ Controller 3 ,Four
Run it in some cases within, whereas execution from the lower controllers 3 and 4 to the cell controller 5 in the program 6 _1, 6
_At the end of step ₂ , control is performed by a method of notifying the end by a message.

FIG. 2 is a configuration diagram of a specific example of the processing cell of FIG.
The details of the processing in FIG. 1 will be described below with reference to the machining system shown in FIG.
Will be described in this order. In the processing cell shown in FIG. 2, the work carried to the station 1 by the conveyor C1 is transferred to the station 2 by the robot R1, processed by the processing machine M1, and then transferred to the station 3 by the robot R2. It is an example of a cell carried by C2. To achieve this control, the programming system 7 of the present invention, a workflow 8 _1, and contents ₈₂ of each work, enter a system configuration 8 _3.

FIGS. 3 (a), (b) and (c) are explanatory diagrams of the work flow, work contents and equipment configuration of FIG. 1 in the case of the machining cell of FIG. In FIG. 3 (a) shows the workflow 8 ₁ in the case of the processing cells of Figure 2, the transfer of FIG. 3 (a) in FIG. 3 (b)
1,2 illustrate work 8 _2, system configuration in FIG. 3 (c) 8 ₃
Is shown. Workflow 8 ₁ of FIG. 3 (a), as will become apparent by focusing on the flow of work, expressed using working and box 9 and the gate 10 of the process performed on the workpiece. Box 9 represents the work, in which the name of the work is written. The condition relating to the work necessary for starting the work (the number of works required for the work and the type of the work) is written in the gate 10 (the condition is unconditional in this example). The token 11 representing the work moves in the box 9 to express the work flow.

FIGS. 4 (a) and 4 (b) show the state of the box in FIG. 3 (a) and its transition diagram. The box 9 in FIG. 3 (a) has four states, a rest state, a remaining work state, a work state, and a next work possible state, as shown in the state transition in FIG. 4 (b). In the rest state, there is no work in the box 9 and the work does not come out of the box 9, but since no work is performed, the work can be put in the box 9. In the remaining work state, similarly, there is no work in box 9 and no work comes out of box 9,
The work cannot be put in the box 9 while the preparation work for the next work is being performed. The work state is a state in which work is directly performed on the work,
The work cannot be taken out of the box 9 and a new work cannot be put in the box 9. The next work possible state is a state in which preparation work for the next work is being performed as in the remaining work state, and a work cannot be put in the box 9, but the work on the work in the box 9 ends. Therefore, the work can come out of the box 9. As shown in the transition diagram of FIG. 4 (b), the state transition of the box 9 from the pause state to the work state by input of the token, and when the direct work on the work is completed, the box 9 becomes the next work possible state, and If all the work has been completed when the token leaves the box 9, the machine enters the pause state. If the preparation work for the next work is performed, the cycle of returning to the pause state through the remaining work state is repeated. Note that the control of the token 11 from box A having box 9 to box B in FIG. 3 (a) is such that box A is in the next workable state and box B is in the rest state.
This is performed by moving the token 11 when the condition of the gate 10 during that time is true.

FIG. 3 (b) shows the transfer of boxes 9 and 2 in FIG. 3 (a).
The work 8 is ₂ which was exemplified, the work 8 ₂ consisting mainly work 13 and the work name 12 sub work 14. Work name 12
It is made to correspond with the working name in box 9 of the workflow 8 _1.
Incidentally, instead of using the work name 12, a workflow 8 ₁ box 9 may in a manner that the window is opened to display the work 8 ₂ corresponding to a mouse click. Work contents 13, 14
Describes the operations of equipment (called virtual equipment) such as robots and conveyors in the order of operation. This operation is expressed by a set of commands (moving, grasping, etc.) registered in advance, their parameters, and virtual equipment that performs the operation. Further, conditions for performing the operation can be described. In the transfer 1 operation, the robot 1 is first moved to the station 7, then the hand of the robot 1 (the description is omitted if the virtual equipment is the same as before) is closed, and then the robot 1 is moved to the station 2. Then, the hand of the robot 1 is opened, and finally, the robot 1 is moved to the origin. Focusing on the work regarding this operation flow, it is divided into an operation example until the direct work on the work is completed and an operation sequence for returning to the initial state where the next work can be performed, and the main work content 13 and the sub work Content 14. Then, the state of the work in the box 9 is changed from the work state to the next workable state when the operation of the main work content 13 is completed and the operation of the box 9 is shifted to the operation of the sub work content 14. Figure 3 work 8 ₂ also describes similar conveying 1,2 and processing box 9 (a).

The system configuration 8 ₃ of FIG. 3 (c) are present in the processing cell equipment
It comprises 15, a controller 16 for controlling it, and a possible virtual facility 17. Possible virtual equipment 17 of the function by virtual equipment described in the work 8 ₂ represent may be realized in the real plant 15. For example, in the processing cell equipment layout shown in FIG.
Assuming that the robot R2 can transfer from the station 1 to the station 2 and from the station 2 to the station 3, the robot R2 of the equipment 15 as shown in FIG. R1 functions only as transfer 1 robot 1, and robot R2 functions as transfer 1 robot 1.
In order to function as the robot 2 of the transfer 2, the possible virtual facilities 17 are the robot 1 and the robots 1 and 2, respectively.

FIG. 5 is a flowchart showing the processing outline of the programming system 7 of FIG. Generating an execution program 6 ₁ and 6 _2, 6 ₃ of the workflow ₈₁ and work ₈₂ and equipment arrangement 8 for ₃ each controller 3,4,5 Programming System 7 based on. In process outline of the fifth view of programming systems, workflow and work and equipment configuration input 18 first is the user interface for input of workflow ₈₁ and work ₈₂ and equipment configuration 8 _3. Then the work flow analysis 19 converts the workflow 8 ₁ input to the working relationship between content type.

FIGS. 6 (a), (b), and (c) are explanatory diagrams of the work relationship of the work flow in the machining cell of FIG. 2, and work management and sub-work management of work contents to be described later. FIG. 6 (a) shows the fifth
The work relationship of the work flow shown in FIG. 3A by the work flow analysis 19 shown in FIG. This work relationship expresses the conditions attached to the box A of the box 9, the next box B in the work flow, and the gate 10 therebetween in the form of a table of a pre-work 21, a post-work 22, and a work start condition 23, respectively. .
Next, the work content analysis 20 shown in FIG.
By decomposing 8 ₂ to virtual equipment unit, to produce a 6 _1, 6 ₂ program controllers 3 and 4 corresponding to the basis of the system configuration 8 _3.
At the same time, the analysis result of the work content is expressed by work management and sub-work management described later.

FIG. 7 is a processing flowchart of the work content analysis 20 of FIG. 8 (a) and 8 (b) show the work content analysis processing of FIG.
FIG. 20 is an explanatory diagram of 20 image diagrams and work management and sub-work management. The work analysis 20 analyzes all work 8 ₂ according to step 1-3 of Figure 7. First, step 1 divides each work content into a main work content and a sub-work content. Next, step 2 divides the work for each part where the operation for the same virtual equipment is continuous for each of the main work contents and the sub-work contents (each work divided into virtual machine units is called a sub-work). . That is, the sub-operation is an operation sequence by a single virtual facility. Here, in the example of FIG. 8 (a), the work A uses two virtual facilities of the robots 1 and 2, the main work content is divided into three sub works, and the sub work content is divided into two sub works. Next, step 3 is for each sub-work determined in step 2, and in the example of FIG. 8 (a), robots R1 and R2 of the actual facilities that can realize the robots 1 and 2 of the virtual facilities of the sub-work and their controllers RC1 and RC1. RC2
The obtained by equipment configuration 8 _3. Next, for all applicable controllers RC1 and RC2, using the command conversion table 24 for each controller RC1 and RC2, the contents of the sub-work are converted into programs 25a and 25b for the controllers RC1 and RC2, and the sub-work identification (The same number for all controllers) P1 to P5. Steps 1-3 above
Produce all controllers 3 and 4 of the program registered in the equipment arrangement 8 ₃ other than the cell controller 5 by. At the same time, the analysis result of the work content is expressed by work management and sub-work management.

FIG. 8B shows work management and sub-work management related to the work contents shown in FIG. 8A. First, the work management includes a work name 26, a work type 27, a leading sub-work 28, an end sub-work 29, a currently completed sub-work 30, and a state 31. Work type 27 is shown in FIG.
In this work relationship, a head work in which no previous work exists, a finished work in which no post work exists, and a general work which is neither of them. The sub-work related to a certain work A is registered continuously in the order described in the work content during the sub-work management.
The leading sub-work 28 and the ending sub-work 29 are pointers to the leading sub-work and the ending sub in the sub-work management, respectively. The currently completed sub-work 30 is a pointer to the most recently completed sub-work, and indicates whether each sub-work has been completed. The state 31 indicates the state of the work (pause, work, next work possible, remaining work). The currently completed sub-operation 30 and the state 31 are both used when executing a program described later. Next, the sub-work management summarizes the sub-work for each work in the order of execution, and categorizes each sub-work with the program number 32 generated from the sub-work, the virtual equipment 33 of the sub-work, and the sub-work in the work management. This is represented by a pointer 34 to the original work and an item 35 indicating whether the sub-work is the main work or the sub-work. 6 (b) and 6 (c) show the work management and the sub-work management in the example of the machining cell in FIG. 2 together with the work relationship in FIG. 6 (a). Workflow by the 8 ₁ and work ₈₂ and equipment configuration 8 ₃
The cell controller 5 controls the lower controllers 3 and 4 on the basis of the work relationship, the work management and the sub-work management created based on the above. The working relationship between work management and sub tasks management is executed program 6 ₃ cell controller 5. Next, a method of executing the execution program generated in the programming system 7 in the control system 1 will be described.

Figure 9 is a software configuration diagram for executing the program 6 ₃ cell controller 5 of the control system 1 of Figure 1. In FIG. 9, a message reception process 36, a sub-work management process 37, a work management process 38, and a work monitoring process 39
And the lower controller status monitoring process 40 runs in parallel. The message receiving process 36 receives a program end message (program number) 41 from the lower controllers 3, 4 such as a sequencer or a robot controller, and registers the program number in a message table 42. Sub work management process 37 is a process to advance the sub tasks in the order of work 8 _2, obtains the following sub-tasks from the sub-work management based on a message table 42 when the program is finished, then the facility management 43 and equipment configuration 8 ₃ Controllers 3 and 4 to execute the sub-operation are obtained, and a program start message (program number and controller name) 44
Send. The work management process 38 is a process proceeding in accordance with the work flow _81, obtains a working executable from the working state of the working management 45 based on the working relationship, to the controller 3 and 4 for performing the first sub-task Program start message 4
Send 4 The work monitoring processing 39 performs processing when the work arrives and when all the work on the work is completed and the work comes out, and furthermore, information on the work such as identification of the work and the number of the work necessary as work start conditions is obtained. Send to management processing 38. Lower-level controller status monitoring process 40 constantly monitors the state of the lower-level controller 3,4, an abnormality occurs in the equipment 2 ₁ to 2 _n to prohibit its use, except for the equipment from the equipment configuration 8 _3.

FIG. 10 is a processing flowchart of the work management processing 38 of FIG. The work management process 38, the work flow 8 ₁ as described above
In this process, a work that can be executed is obtained from the work state of the work management 45 based on the work relationship, and a program start message 44 is sent to the controllers 3 and 4 that perform the first sub-work. The work A that can be executed here is a case where the work A is in a suspended state, the previous work is in a state where the next work can be performed, and the work start condition of the work A is true.
Next, the processing flow of the work management processing 38 will be described according to the steps in FIG. First, in step 1, work that can be performed is determined.
seek all of the f _1. Step 2 respectively obtained from the working relationships subsequent work f ₂ for each work f ₁ obtained in step 1. Step 3 Work f ₃ is dormant in the working f ₂
From work management 45. Step 4 task starting condition in the working f ₃ is obtained from the working relationships work f ₄ is true. Step 5 has the work f ₄ checks whether there is work f _4, it is feasible before work in the next workable state, and since task starting condition is working dormant is true. Thus to process the next steps 6-9 for each work f ₄ if such work f ₄ is present. Step 6 is work f ₄
The to working state the state of the work f ₄ of the work management 45 from hibernation for execution. The same time the work f ₄ Previous work f ₁ state is also a hibernation or remaining working state from the next task state. Here, from the relationship of the current work management completion sub-working 30 and end sub-work 29, to understand whether or not the sub-work of previous work f ₁ has been completed, thus if you are finished become a dormant state, if the remaining Is in a state of remaining work. Step 7 is obtained from the work management 45 and the sub work management program number 32 and virtual equipment 33 of the first sub-task 28 to begin the work f _4. Step 8 virtual equipment than equipment configuration 8 ₃ 33
Then, the equipment which can perform the operation is searched for, and the equipment which is not performing the operation is obtained from the equipment management 43, and the sub-operation 28 is allocated to one of them. Step 9 creates and sends a program start message 44 consisting of the controller name split with facilities of the program number 32 system configuration 8 _3. Proceeding in accordance with the workflow 8 ₁ in the manner described above.

FIG. 11 is a processing flowchart of the sub work management processing 37 of FIG. Sub work management 37 is a process to advance the sub tasks in the order of work 8 ₂ As described above, obtains the following sub-tasks from the sub-work management based on a message table 42 when the program is completed, then the system configuration 8 ₃ The controller 3 or 4 for executing the sub work is obtained from the equipment management 43, and a program start message 44 is sent to the controller 3 or 4. Next, the processing flow of the sub work management 37 will be described according to the steps in FIG. First, step 1 is the message table 42
Check whether the completed program number is registered in. If it is registered here, the following processing is performed. In step 2, the oldest message (program number) is retrieved from the message table 42 in the order of registration. Step 3 releases the corresponding equipment assigned by the equipment management 43 from the message (program number).
Step 4 checks whether there is a sub-work to be performed next from the work management 45 and the sub-work management. If not present, the process proceeds to step 5, and if present, the process proceeds to step 6. In step 5, since all of the sub-operations in the operation have been completed, the state of the operation of the operation management is updated to the next operation possible state if the operation state has been the operation state, and to the suspended state if the operation state is the remaining operation state. The next steps 6 to 10 are processing for obtaining the program number and virtual equipment for the next operation, determining the equipment to be executed, and sending a program start message. The same is true. However middle the provided step 7,8, when switched from the work 8 ₂ main work 13 to the sub-work 14, and updates the state of the working of the work control 45 from the work state to the next task state. To achieve the execution of sub-tasks according to the work content ₈₂ by the method described above. Next, lower controller 3,
The program execution method in 4 is shown.

FIG. 12 is a lower-level controller of the control system 1 of FIG.
FIG. 3 is a software configuration diagram for executing programs 6 ₁ and 6 ₂ of 3 and 4; FIG. 13 is a processing flowchart of the program execution management processing 47 of FIG. 12 and 13, a message receiving process 46 determines whether or not the program start message (program number and controller name) 44 from the cell controller 5 is for itself, and if the message is for itself, the program of the start request is issued. The numbers are registered in the activation request program table 49. The program execution management process 47 executes the program registered in the activation request program table 49 according to the process flow shown in FIG. 13, and then sends a program end message (program number) 41 to the cell controller 5 when the program ends. . Equipment status report processing 48 is a controller
3,4 cell controller 5 the state of the equipment 2 ₁ to 2 _n to control the
Constantly reported, by informing the cell controller 5 when an abnormality occurs in the equipment, it is possible to reflect the abnormality by the lower controller state monitoring process 40 of cell controller 5 for capital construction 8 _3. Lower-level controller 3,4 by the above method performs a program 6 _1, 6 _2.

In this embodiment, work 8 each generate a program for all controllers that can be performed in the programming system 7 for each sub-task ₂ controllers 3,4,5
Has the programs 6 ₁ , 6 ₂ , 6 _3, and in each execution of the sub-work, determines the equipment to be actually performed from the status of each equipment, and instructs the controllers 3, 4 that control it to execute it. When the program is executed on the cell controller 5 side, it is also possible to attach the execution program to the start message and send it to the controllers 3 and 4. Programming system 7
Allocation execution facilities of each sub-task based upon the program created system configuration 8 ₃ in, it is also possible to generate a program 6 _1, 6 ₂ only in that the controller 3,4.

In the present embodiment, the controllers 3 and 4 for controlling the equipment 2 ₁ to 2 _n, such as a sequencer or robot controller directly,
The control system 1 is composed of two layers including a cell controller 5 for controlling these controllers. The functions of these controllers 3, 4, and 5 are modularized into dedicated modules and management modules, respectively (dedicated processors). However, a combination of these modules can be realized as one controller. Programming system 7 and work flow 8 ₁ At that time, work
8 _2, to produce a program of each module module structure (instead of the system configuration 8 ₃₎ based.

According to the present embodiment, the work flow focusing on the work and each work content are described, and further, the work content is described separately in the main work content and the sub-work content focusing on the work, thereby providing an overview of the entire work. The details of each task are easy to understand, and the clarity is enhanced, making it easier to describe. Furthermore, by performing control that enables the work to move to the next work when the work has shifted from the main work content to the sub-work content,
It is possible to perform lean control on the above description format.

In addition, work is described for virtual equipment, and the equipment that actually performs the work when generating an execution program or executing the work is determined from the equipment configuration etc., so even if the equipment configuration changes, other equipment can be registered simply by registering a new equipment configuration. There is no need to rewrite the program (work flow and work contents). In addition, since the program can be executed by the controller specified as a sub-work unit by a message, the program is executed by dynamically changing the controller according to the determination result in the method of deciding the actual equipment from the situation of the equipment at the time of work execution. Since it can be executed, the equipment can be dynamically controlled according to the abnormality of the equipment or the amount of work.

〔The invention's effect〕

According to the present invention, it is possible to divide a work content into a main work content and a sub-work content by focusing on the work, and to perform the next work on the work when the work is shifted from the main work content to the sub-work content By implementing the control described above, it is possible to express the control contents for the production equipment by the flow showing the outline of the whole work and the work contents showing the details of each work, so that the effect of being highly explicit and easy to describe is achieved. is there.

In addition, since a program is described for virtual equipment and the actual equipment is determined based on the equipment configuration, it is not necessary to re-create the program just by registering new equipment even if the equipment configuration changes, and it is possible to respond flexibly to changes in equipment configuration There is an effect that can be done.

In addition, since the program can be executed by the controller specified in the sub-operation unit by the message, it is possible to dynamically change the controller and execute the program according to the equipment allocation result determined each time the sub-operation is executed Thus, there is an effect that the equipment can be dynamically controlled according to the abnormality of the equipment or the amount of work.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram showing one embodiment of a cell controller and a cell control system according to the present invention, FIG. 2 is a configuration diagram of a specific example of the machining cell in FIG. 1, and FIGS. 3 (a) and 3 (b). ,
(C) is an explanatory view of the work flow, work contents and equipment configuration of FIG. 1, (a) and (b) of FIG. 3 are states of boxes and their transition diagrams of (a) of FIG. 3, and FIG. The processing flow diagram of the programming system of FIG. 1, FIG. 6 (a), (b),
(C) is an explanatory diagram of the work relationship, work management and sub-work management of FIG. 5, FIG. 7 is a processing flow diagram of work content analysis of FIG. 5, and FIGS. 8 (a) and (b) are diagrams of FIG. Diagram of work content analysis processing in the diagram and explanatory diagram of work management and sub-work management,
FIG. 9 is a software configuration diagram of the cell controller of FIG. 1, FIG. 10 is a process flow diagram of the work management process of FIG.
FIG. 11 is a processing flowchart of the sub work management processing of FIG. 9, and FIG.
The figure shows the software configuration of the lower controller of FIG. 1,
FIG. 13 is a processing flowchart of the program execution management processing of FIG. 1 ... control system, 2 ₁ to 2 _n ... production equipment, 3 ... sequencer, 4 ... robot controller 5 ... cell controller, ₆₁ through ₃ ... execution program, 7 ... programming system, 8 ₁ ... workflow, 8 ₂ … Work contents, 8 ₃ … Equipment configuration,
9 ... box, 10 ... gate, 11 ... token, 12 ... work name, 13 ... main work content, 14 ... sub-work content, 17 ... possible virtual equipment.

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-61-105616 (JP, A) JP-A-59-45503 (JP, A) Full-scale operation Sho-59-11306 (JP, U) Real-time operation Showa 60- 164209 (JP, U) (58) Fields investigated (Int. Cl. ⁶ , DB name) G05B 15/02

Claims (4)

(57) [Claims] 1. A programming and executing means for a cell controller, wherein an operation of a facility to be controlled is performed as a main operation as a direct operation on a work and as a preparation operation for a next work after the main operation is completed. A cell controller having execution means which is described separately from sub-work and starts work of the next facility which is ready for work at the end of the main work. 2. A work on virtual equipment, a work on equipment controlled by a cell controller, a main work as a direct work on a work, and a sub-work as a preparation work on a next work after the main work is completed. This is described by programming means that allows the entire work flow of the cell to be described according to the work flow by describing the work separately, and the contents are compared with the equipment configuration table that indicates the work that can be performed by the actual equipment. , A cell control system having means for allocating to actual equipment and executing the same. 3. The cell control system according to claim 2, wherein the state of the lower-level controller is monitored, and in the event of an abnormality, the equipment configuration table is updated and the contents of claim 2 are re-executed to control the cell. A cell control system having means for performing. 4. A cell control system comprising: a programming means for a cell control system, wherein the cell control system has a programming system capable of describing work to be performed in a cell separately into work to be performed on an object and operation of equipment necessary for the work. system.