JP3084012B2 - Control device and method of creating control program therefor - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a technique for standardizing a computer program for control. The present invention relates to a technique for simply executing design, modification, remodeling, and the like of a control computer program by standardizing the program. The present invention provides a method for controlling a plurality of n
The present invention relates to a control program for a control device formed by combining n control modules that individually control the controlled elements and control modules that hierarchically control the control modules.

[0002]

2. Description of the Related Art In one "system", n controlled elements are provided, and n control modules are provided for individually controlling the n controlled elements, and the n control modules are provided. There is widely used a technique for providing a control module for hierarchically controlling the above control modules, and for controlling the “system” as a whole.

FIG. 2 is a control system diagram schematically showing one system. FIG. 2 is common to both the prior art and the embodiment of the present invention. In FIG. 2, this system includes a plurality of n controlled elements E (1) to E (n). The controlled elements E (1) to E (3) are connected to one control module M (1).
Controls. The control module M (2) controls the controlled elements E (4), E (5),... Controlled element E (i) ~
E (n) is controlled by the control module M (k). Then, one control module (k + 1) controls the control modules M (1) and M (2).
One control module M (k + 2) controls a plurality of control modules up to (k). Further, the two control modules M (k + 1) and M (k + 2) have a hierarchical structure such that one control module M (k + 3) controls them.

[0004] One communication memory COM is provided, and each control module M (1) to M (k) can access the communication memory COM through communication lines C (1) to C (k + 3). Is configured. Each of the control modules M (1) to M (k) reads the communication addressed to the own module written in the assigned area of the communication memory COM at a predetermined cycle, and is assigned to another module. It is configured so that the communication addressed to the module is written in the area set.

[0005] This will be described by way of example to make it easier to understand. Now, assuming that this system is a semiconductor manufacturing apparatus, the controlled element E (1) is a vacuum pump of the first vacuum chamber, the controlled element E (2) is an internal elevator of the first vacuum chamber, The controlled element E (3) is a pressure valve of the first vacuum chamber. Controlled element E (4)
Is a vacuum pump for the communication chamber with the second vacuum chamber, and the controlled element E (5) is a transport belt of this communication chamber. The controlled element E (i) is a door at the product outlet, the controlled element E (n-1) is an elevator at the product outlet, and the controlled element E (n) is a transporter at the product outlet.

The controlled elements E (i) to E (n)
Are controlled by the control of one control module M (k + 3), and the control modules M (1) to M (k
+2) to realize an example of a continuous semiconductor manufacturing process. That is, a silicon wafer as a material is loaded into the first vacuum chamber, set at a predetermined position, the degree of vacuum is increased by the operation of a vacuum pump, a vapor deposition process is performed, and so on. The product (or semi-finished product) that has passed through the step is carried out to the product outlet.

Each controlled element has a sensor,
This sensor output information is sent to a control module that controls the controlled element. Each control module executes servo control according to the sensor output information. Then, the information related to the other control module is transmitted to the other control module via the communication memory COM, and transmitted from the other control module.

[0008]

Here, the present inventor has long been engaged in designing a control program for a control system in which a plurality of control modules as shown in FIG. 2 control a plurality of controlled elements. Controlled elements E (1) to E (n)
Is a valve in some cases, a switch of a motor in some cases, and a rotation axis of a robot device in some cases. Then, each control module has a different specification so as to conform to it.

That is, when designing a control program for one such control system, each of the controlled elements E
It is necessary to design a control module in accordance with the characteristics and characteristics for each of (1) to E (n). For this reason, the design of the control program for the control system requires an extremely large number of man-hours, and when the specifications need to be changed or modified, large man-hours such as changing the control program of the control module each time are required. It was supposed to be. In other words, if a design change is required for one of the hierarchically combined control modules, it may affect the higher-level control module or the lower-level control module, and may affect many control modules. The design was to be changed.

In addition, even if the controlled elements constituting the newly set controlled system include the controlled elements used in the past, the designer needs to re-operate the new controlled system. It is necessary to create a program from the first step to the last step in light of a series of operations. Therefore, even if a past design is diverted, it is necessary to change the programs of the upper and lower control modules accordingly. As a result, in principle, even if a partially controlled element program used in the past can be diverted to a new controlled system program, it is limited to only a small part.

The present invention has been made in such a background, and provides a program control device and a method of creating the control program, which can directly use an important part of a program of a control module designed in the past. The purpose is to do. SUMMARY OF THE INVENTION An object of the present invention is to provide a control device and a method of creating a control program that can significantly reduce the number of steps for creating a control program for a control system created by combining control modules. An object of the present invention is to provide a control device capable of streamlining the process of creating a control program and a method of creating the control program. The present invention provides a control device capable of incorporating a program of a control module designed in the past with a slight change even if the device to be controlled and the controlled element are different, and a method of creating the control program. The purpose is to: It is an object of the present invention to provide a control device and a control program creation method capable of coping with a change or correction of a controlled element or control condition with a small number of man-hours. An object of the present invention is to provide a control device and a control program creation method for a general user who does not have specialized knowledge to respond to a change or correction of a controlled element or a control condition even when the change or correction occurs. Aim.

[0012]

SUMMARY OF THE INVENTION The first feature of the present invention is to unify the mode of the control module and the transition of the mode for all the control modules in the control device for controlling one system. I do. Even if a certain control module has a mode which is not used among the basic modules, the mode is kept provided according to the basic module. In addition, modes and mode transitions are not expanded beyond those provided in the basic module. When it is necessary to expand, another control module is used for the design. All the modules of the control module and the transitions of the modules are unified in at least one closed system. By setting parameters for the mode and the transition of the mode in accordance with the control condition and the condition given by the controlled element, it is possible to design any control mode.

That is, a first aspect of the present invention provides a plurality of control modules for controlling a plurality of controlled elements, respectively.
A control device comprising one or more control modules for hierarchically controlling the plurality of control modules, and communication means between the control modules, and controlling one system as a whole. This is a control device whose transition is unified.

Here, a feature of the present invention is that the plurality of control modules each include a procedure for controlling the plurality of controlled elements by an instruction from a hierarchically higher-order control module. A sequence data table, and interpreter control means for controlling the controlled element with reference to the sequence data table.

Preferably, the sequence data table is set to be changeable by access from a terminal device when the control module is not operating.

The sequence data table is recorded in an intermediate language that can be understood by those skilled in the art, and a display in a normal language, which is input to the terminal device and can be understood by a user without having specialized knowledge, is stored in the sequence data table. It is desirable to have a translation means for automatically translating into the form of a data table.

Thus, the user using the control device of the present invention can rewrite the operation of the controlled element by himself / herself. That is, even when a change or correction occurs in the controlled element or the control condition, a general user who does not have specialized knowledge can respond to this.

The display in the normal language may be one of a flowchart, a time chart, and a sequence table.

Preferably, the translation means includes a means for prompting the terminal device to re-input when the display in the normal language input to the terminal device is inappropriate and the translation cannot be executed.

As described above, in the form of dialogue with the user,
User data can be obtained in a form suitable for the control device of the present invention. At this time, since the user can know the excess or deficiency of the data by interacting with the control device without having any specialized knowledge, it is possible to provide optimal user data to the control device.

Further, the mode of the control module and the mode transition include a start mode for controlling the start of the corresponding controlled element, and a normal operation for directly shifting from the start mode and controlling the normal operation of the controlled element. And a stop mode that can shift directly and directly to the normal operation mode and control the stop of the controlled element; and a shift mode that can shift directly and directly to the stop mode and that can shift directly to the start mode and change the start mode. A holding mode for controlling a control element to a holding state, a reversing mode for directly shifting from the holding mode and reciprocating with the stop mode for controlling the controlled element to a reversing state, and shifting directly from the holding mode. And can shift to the stop mode and can shift to the normal operation mode or the start mode. And manual control mode for manual control,
An alarm mode in which a transition can be made from each of the modes and an alarm is generated, an exceptional operation mode in which a transition can be made from each of the modes and at least a part of each of the modes is temporarily out of synchronization, and directly from the hold mode And an end mode in which the control of the controlled element can be ended.

The start modes include a cold start mode for creating a control file and a hot start mode for shifting from the cold start mode and writing file data to the RAM.

The normal operation mode includes an origin mode for confirming that the controlled element is at the origin, a restoration mode for returning the sequence of the automatically controlled controlled elements to a state immediately before the interruption of the sequence, It includes a preparation mode for preparing for automatic operation of the element and an operation mode for performing automatic operation of the controlled element.

The stop mode includes an emergency stop mode for urgently stopping the operation of the controlled element, a deceleration stop mode for gradually stopping the operation of the controlled element, And a step stop mode for stopping at a break.

The suspension mode includes a CPU halt mode in which the CPU can be stopped, a control release mode for releasing the controlled element from control, and a control recovery for returning the controlled element released from control to control. And a diagnostic mode in which the operating state of the controlled element is converted into information and the control specification can be changed.

The alarm mode includes an abnormal stop mode in which the operation is stopped when an abnormality is detected in the operation of the controlled element, and an emergency stop mode in which an emergency stop is performed according to an external instruction regardless of the operating condition. Including.

According to a second aspect of the present invention, there is provided a method for creating a control program for the control device, comprising: a step of copying a plurality of basic modules in which modes and mode transitions are set; And processing the basic module while fixing the mode transition mode to create a plurality of control modules corresponding to each specification, and combining the plurality of control modules hierarchically to form one system. And a step of creating the control program.

Here, with respect to the basic module, the modes and the mode transitions include a start mode for controlling the start of the corresponding controlled element, and a normal transition from the start mode to control the normal operation of the controlled element. A normal operation mode, a stop mode that can shift directly and directly to the normal operation mode and controls the stop of the controlled element, and a shift mode that can shift directly and directly to the stop mode and can directly shift to the start mode; A hold mode in which the controlled element is controlled to a hold state, a reverse mode in which the hold mode can be directly shifted and the stop mode can be shifted to each other to control the controlled element in a reverse state, and the hold mode directly. Can be shifted to the stop mode and can shift to the normal operation mode or the start mode. A manual control mode for manually controlling the controlled element, an alarm mode for shifting from each mode and generating an alarm, and an operation for temporarily shifting out of synchronization for at least a part of each mode that can shift from each mode. An exception operation mode to be performed and an end mode in which the control of the controlled element can be ended by directly shifting from the suspension mode are included.

A third aspect of the present invention is a machine-readable recording medium. A feature of the present invention is that the recording medium includes an activation mode for controlling activation of a corresponding controlled element, A normal operation mode which can directly shift from the start mode and controls the normal operation of the controlled element; a stop mode which can shift directly and directly to the normal operation mode and controls the stop of the controlled element; A hold mode that can shift directly and mutually to the start mode and control the controlled element in a hold state mutually and directly,
The reverse mode, which can directly shift from the hold mode and can also shift to the stop mode and control the controlled element to the reverse state, and can shift directly from the hold mode and can shift to the stop mode mutually, At least a part of each of the modes that can be shifted from each of the modes, and a manual control mode that can shift to the mode or the start-up mode and that manually controls the controlled element; An exceptional operation mode in which an operation is temporarily out of synchronization, and an end mode in which control can be directly shifted from the hold mode to end the control of the controlled element, and a control program is performed by setting respective numerical values. Where a standardized program is recorded.

[0030]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described with reference to FIGS.
This will be described with reference to FIGS. FIG. 1 is a diagram showing a unified mode and a transition of the mode according to the embodiment of the present invention. FIG. 2 is a control system diagram of one control system in which the present invention is implemented. FIG. 6 is a block diagram of a main part of the communication memory COM. FIG. 13 is a diagram showing an example of the sequence data table. Although this control system diagram can be variously configured, FIG. 2 schematically shows one easy-to-understand model.

In FIG. 2, the system includes a plurality of n controlled elements E (1) to E (n). This controlled element E
One control module M (1) controls (1) to E (3). The control module M (2) controls the controlled elements E (4), E (5),... Controlled elements E (i) to E
(N) is controlled by the control module M (k). And
One control module M (k + 1) controls the control modules M (1) and M (2),
One control module M (k + 2) controls a plurality of control modules up to (k). Further, the two control modules M (k + 1) and M (k + 2) have a hierarchical structure such that one control module M (k + 3) controls them.

Then, one communication memory COM is provided, and each control module M (1) to M (k + 3) connects communication lines C (1) to C (k + 3) to this communication memory COM.
Is configured to be accessible. Each of the control modules M (1) to M (k + 3) has a predetermined cycle,
The communication destined for the own module written in the assigned area of the communication memory COM is read, and the communication destined for that module is written in the area assigned to another module.

The plurality of n controlled elements E (1) to E (E)
How (n) corresponds to a practical device is the same as that described in the description of the prior art. Here, the description will be repeated, but for simplicity, description will be given by way of example. Now, assuming that this system is a semiconductor manufacturing apparatus, the controlled element E (1) is a vacuum pump of the first vacuum chamber, the controlled element E (2) is an internal elevator of the first vacuum chamber, The controlled element E (3) is a pressure valve of the first vacuum chamber. Controlled element E
(4) is a vacuum pump for the communication room with the second vacuum chamber, and the controlled element E (5) is a transport belt of this communication room. The controlled element E (i) is an opening / closing door of a product outlet, the controlled element E (n-1) is an elevator of a product outlet,
The controlled element E (n) is a carrier at the product outlet.

These controlled elements E (i) to E (n)
Are controlled by the control of one control module M (k + 3), and the control modules M (1) to M (k
+2) to realize an example of a continuous semiconductor manufacturing process. That is, a silicon wafer as a material is loaded into the first vacuum chamber, set at a predetermined position, the degree of vacuum is increased by the operation of a vacuum pump, a vapor deposition process is performed, and so on. The product (or semi-finished product) that has passed through the step is carried out to the product outlet.

Each controlled element has a sensor,
This sensor output information is sent to a control module that controls the controlled element. Each control module executes servo control according to the sensor output information. Then, the information related to the other control module is transmitted to the other control module via the communication memory COM, and transmitted from the other control module. This control module M
The modes (1) to M (k + 3) are set such that their modes and mode transitions are unified as shown in FIG. 1, and the configuration of FIG. 1 has all the control modules M (1) to M (k + 3).
About.

Here, a feature of the present invention is that the control modules M (1) to M (k + 3) are controlled by the commands from the hierarchically higher control modules, and the controlled elements E (1) to E (k) FIG. 13 recording the procedure for controlling (n)
6 and FIG. 6 as an interpreter control means for controlling the controlled elements E (1) to E (n) with reference to the specific sequence data table shown in FIG. An access control unit 10 is provided.

When the control modules M (1) to M (k + 3) are not operating, the sequence data table is set to be changeable by access from the terminal device.

The sequence data table is recorded in an intermediate language that can be understood by those skilled in the art, and a display in a normal language, which is input to the terminal device and can be understood by a user without having specialized knowledge, is stored in the sequence data table. The access control unit 10 is provided with a translation means for automatically translating into a table format.

The display in the normal language is one of a flowchart, a time chart, and a sequence table.

When the display in the normal language input to the terminal device is inappropriate and the translation cannot be executed, the access control unit 10 displays a message prompting the terminal device to re-input.

The mode and the transition of the modes will be described. A start mode ST1 for controlling the start of the corresponding controlled element, and a normal operation for directly shifting from the start mode ST1 and controlling the normal operation of the controlled element. A mode ST2, a stop mode ST3 which can directly and directly transition to the normal operation mode ST2 and controls the stop of the controlled element, and a transition to the stop mode ST3 which can directly and directly transition to the start mode ST1. A reversing mode ST4 that can control the controlled element in a reversing state by allowing the controllable element to be in a reversing state; It is possible to shift directly from the hold mode ST4 and to shift to the stop mode ST3 mutually, thereby enabling normal operation mode. A manual control mode ST5 to manually control the a migratable the controlled element in de ST2 or start mode ST1, the alarm mode ST7 generating an alarm can migrate from each mode ST1～ST7, each mode ST1
, An exceptional operation mode in which at least a part of each of the modes ST1 to ST7 is temporarily out of synchronization, and an end mode in which the control of the controlled element can be ended by directly shifting from the hold mode ST4. ST
8 is provided.

More specifically, the start mode ST1 is:
Cold start mode st1 for creating control file
0, and a hot start mode st11 in which the file data is transferred from the cold start mode st10 and the file data is written to the RAM. The normal operation mode ST2 is an origin mode st1 for confirming that the controlled element is at the origin.
2, a restoration mode st13 for returning the sequence of the controlled elements to be automatically operated to the state immediately before the interruption of the sequence,
A preparation mode st14 for preparing for automatic operation of the controlled element and an operation mode st15 for performing automatic operation of the controlled element are included. The stop mode ST3 is
An emergency stop mode st16 for urgently stopping the operation of the controlled element, a deceleration stop mode st17 for gradually stopping the operation of the controlled element, and a step stop for stopping the operation of the controlled element at the break of the sequence Mode st
18 inclusive. The suspension mode ST4 includes a CPU halt mode st19 that can halt the CPU, a control release mode st20 that releases the controlled element from control, and a control recovery mode that returns the controlled element released from control to control. st21 and a diagnostic mode st22 in which the operation status of the controlled element can be converted into information and the control specification can be changed. The alarm mode ST7 includes an abnormal stop mode st23 in which the operation is stopped when an abnormality is detected in the operation of the controlled element, and an emergency stop mode st in which an emergency stop is performed according to an external instruction regardless of the operation state.
24.

In FIG. 1, for example, looking at the origin st12,
While the frame is enclosed, "When changing to this state, C
"N flag is ON", which is a condition when the mode transits to the "origin". Similarly, there are two conditions when the mode transitions to “restoration”: “CN flag is ON, OR flag is ON”. Similarly, when the mode transitions to “prepare”, there are three conditions of “CN flag is ON, OR flag is ON, and RS flag is ON”. There are four conditions that the flag is ON, the OR flag is ON, the RS flag is ON, and the RD flag is ON.
OR flag is ON, RS flag is ON, RD flag is O
N ". Here, the CN flag is a fixed position flag, the OR flag is an origin flag,
The RS flag is a restoration flag, and the RD flag is a preparation flag.

In the above example, the controlled element E (2) is assumed to be an elevator inside the chamber. Assuming that the elevator is a three-axis elevator, a three-axis control system as shown in FIG. 3 can be replaced in place of the controlled element E (2). That is, the control module M shown in FIG.
A lower control module M ₁ (1) of (1) is newly provided,
This is a control module for three-axis control. Under the control, three axes E ₂ (1), E ₂ (2), E
₂ (3) can be arranged. Also in this case, the newly provided control module M ₁ (1) is a control mode in which the mode and the mode transition are unified.

Although the semiconductor manufacturing apparatus is used in this example, this is merely an example, and the present invention can be widely applied to a system in which a plurality of controlled elements are controlled in a hierarchical manner.

In any case, the control module can be designed by duplicating the basic module and setting individual parameters based on the specifications in the basic module.

This basic module can be sold after being recorded on a floppy disk, CD-ROM, or other storage medium. The designer of the control device can design a related control module based on the basic module, and can design one control device by combining the control modules.

[0048]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to FIGS. FIG. 4 is a configuration diagram of a main part of the lathe. FIG. 5 is a control system diagram of the lathe. FIG. 6 is a configuration diagram of a main part of the communication memory. FIG. 7 is a conceptual diagram showing a connection relationship between control modules. FIG. 8 is a conceptual diagram showing a transfer form of an event code and various flags. FIG. 9 is a conceptual diagram showing a transfer form of an alarm flag and an emergency stop (abnormal stop) flag. The lathe shown in FIG. 4 has servo motors SM-1, SM-
2, SM-3, hydraulic cylinder OS-1, OS-2, OS
-3, an oil valve OV-1. The servo motor SM-1 is for rotating the spindle, and the workpiece (hereinafter referred to as
Work). This servo motor SM-
1 indicates only forward rotation and not reverse rotation. Further, since the servo motor SM-1 is for rotating the work, complicated control is not required, and the servo motor SM-1 starts rotating when the work holding is completed. The servo motor SM-2 is for feeding the tool rest in the X-axis, and performs forward rotation and reverse rotation. The servo motor SM-3 is for feeding the tool rest Y-axis and performs forward rotation and reverse rotation. The hydraulic cylinder OS-1 is for a chuck,
The chuck that holds the work is driven. Hydraulic cylinder OS
-2 is for tailing. The hydraulic cylinder OS-3 is for a blade clamp and is used for gripping the blade. The oil valve OV-1 is used for supplying cutting oil to the work. The sensor A is used for confirming the fixed position and the origin of the chuck. The sensor B is used to confirm the presence or absence of a work. The sensor C is used to confirm the home position and the origin of the tailstock.

FIG. 5 is a control system diagram of the lathe shown in FIG. 4, and shows a hydraulic cylinder OS- as a controlled element E (1).
1. Hydraulic cylinder OS-2 as controlled element E (2)
Servo motor SM-2 as controlled element E (3), servo motor SM-3 as controlled element E (4), hydraulic cylinder OS-3 as controlled element E (5), controlled element E
The oil valve OV-1 is assigned as (6), and the control module M (1) controls the hydraulic cylinder OS-1.
The control module M (2) controls the hydraulic cylinder OS-2, the control module M (3) controls the servomotors SM-2 and SM-3, and the control module M (4) controls the hydraulic cylinder OS-3. Then, the control module M (5) controls the oil valve OV-1.

Further, the control module M (6) includes the control modules M (1) and M (2) and the servo motor S
M-1 is controlled, and the control module M (7) controls the control modules M (3), M (4), and M (5). Further, the control module M (8) is controlled by the control module M (6).
And M (7). Further, a communication memory COM that can be commonly accessed by these control modules M (1) to M (8) is provided.

As shown in FIG. 6, the communication memory COM includes the control modules M (1) to M (8) and the communication line C.
Communication is performed via (1) to C (8). Although the communication lines C (1) to C (8) are not shown in FIG. 5, the communication lines C (1) to C (8) are, as shown in FIG. It is installed between (8) and the communication memory COM. The communication lines C (1) to C (8) are connected to the control modules M (1) to M (8) and the communication memory CO
M or a logical line logically set using a line connecting the control modules M (1) to M (8). There can be.

In the communication memory COM shown in FIG. 6, each of the control modules M (1) to M (8) has a predetermined cycle.
The assigned area m (1) of the communication memory COM
While the communication addressed to the own module written in m (8) is read, the area m assigned to another module is read.
(I) The communication destined for the control module is written in (i is an integer from 1 to 8). Thus, each control module M (1) to M
(8) can exchange data with each other. Here, the data is, for example, the hydraulic cylinders OS-1, OS-1
-2, OS-3 or servo motor SM-2, SM-
If it is 3, these are numerical data indicating the position of the actuator to be driven, and are used to determine whether the actuator is at the origin or a fixed position.

As shown in FIG. 7, each control module M
(1) to M (8) and the communication memory COM are arranged. Information transmitted and received by each of the control modules M (1) to M (8) includes an event code and various flags in addition to the data described above. Here, the event code is a code for controlling a transition to each mode in the control modules M (1) to M (8) shown in FIG.
In FIG. 8, white circles (○) indicate the issuance of event codes and various flags, and black circles (●) indicate responses to the event codes and various flags.

For example, when the uppermost control module M (8) shown in FIGS. 6 and 7 causes the subsequent lower control modules M (1) to M (7) to transition to the respective start modes ST1, The event code indicating that is transferred to the control modules M (6) and M (7) immediately below. Control modules M (6) and M receiving this
(7) issues the same event code and issues control modules M (1), M (2) and M
(3), transfer to M (4), M (5). The response to this event code is transition completion information, and is conversely transferred from lower to higher. In this way, it is possible to control the transition from the upper order to the lower order to each mode. In addition, information on various flags is transferred from the higher order to the lower order similarly to the event code. However, as shown by the broken line in FIG. 8, exceptionally, the event codes and flags relating to the emergency stop mode st23 and the abnormal stop mode st24 are not limited to this. As shown in FIG. 9, the issuance of flags related to the emergency stop mode st23 and the abnormal stop mode st24 (black squares in FIG. 9) and monitoring (white squares in FIG. 9) are performed by each control module M.
(1) to M (8) are performed autonomously and decentralized.

Here, the operation of the control module of the present invention corresponding to the actual operation of the lathe shown in FIG. 4 will be described. In the present invention, all of the control modules M (1) to M (8) have the configuration shown in FIG. 1 in common. Control module M
(8) Waits for a start signal in the start mode ST0. When the start signal arrives, the control module M
(8) makes a transition to the activation mode ST1. At this time, the control module M (8)
And an event code for causing M (7) to transition to the activation mode ST1. The control modules M (6) and M (7) that have received the event code transit to the activation mode ST1, and return transition completion information to the control module M (8). Similarly, the control modules M (6) and M (7) issue an event code for causing the lower control modules M (1) to M (5) to transition to the start mode ST1. The control modules M (1) to M (5) that have received the event code transit to the activation mode ST1, and return transition completion information to the control modules M (6) and M (7). further,
The transition completion information is transmitted to the control modules M (6) and M (7).
To the control module M (8).

Thus, each control module M
(1) to M (8) transition to the start mode ST1. Note that the cold start mode st10 and the hot start mode st11 included in the start mode ST1 are as described above. Subsequently, the control module M (8) sets the origin mode st in the normal operation mode ST2.
An event code for transition to 12 is issued. This event code is transferred to each of the control modules M (1) to M (8) from the higher order to the lower order.

Here, as a condition for transition to the origin mode st12, it is required that the home position flag (CN flag) is ON. At this time, the controlled elements E (1) to E (1) to E
In (6), those that are required to be in fixed positions are:
Controlled element E related to hydraulic cylinders OS-1, OS-2, OS-3 and servo motors SM-2, SM-3
(1), E (2), E (3), E (4) and E (5). Therefore, the controlled elements E (1), E (2), E
(3), control modules M (1), M (2), M (3) and M (4) for controlling E (4) and E (5) are provided with hydraulic cylinders OS-1, OS-2, The current positions of the OS-3 and the servo motors SM-2 and SM-3 are detected, and if the positions are not fixed positions, the positions are corrected, and the position data is stored in the areas m (1), m ( 2), m (3),
Write to m (4).

The control module M (8) monitors the communication memory COM, and controls the controlled elements E (1) and E (1).
When it is confirmed that the positions of (2), E (3), E (4) and E (5) are the home positions, the home position flag (CN flag)
Is turned ON, and the mode transits to the origin mode st12. at the same time,
The other control modules M (1) to M (7) also transition to the origin mode st12 in response to the fact that the home position flag is ON. The transition completion information of each of the control modules M (1) to M (7) is returned to the control module M (8).

In this way, each control module M
(1) to M (8) transition to the origin mode st12. Subsequently, the control module M (8) operates in the normal operation mode ST.
An event code for transition to the second preparation mode st14 is issued. This event code is transferred to each of the control modules M (1) to M (7) from the higher order to the lower order.

Here, as a condition for transition to the preparation mode st14, it is required that the home position flag (CN flag), the origin flag (OR flag), and the restoration flag (RS flag) are ON. At this time, the controlled elements E (1) to
Among the E (6), those which are at a fixed position and the fixed position is required to be the origin are the hydraulic cylinder OS-
1, OS-2, OS-3, servo motor SM-2, SM
-3 related to controlled elements E (1), E (2), E
(3), E (4) and E (5). The restoration flag (RS flag) is a flag for indicating whether or not the temporarily interrupted automatic operation sequence has been restored to the state immediately before the interruption, and is set to ON at the first startup.

Therefore, the controlled elements E (1), E
(2), control modules M (1), M (2), M (3), M (4) for controlling E (3), E (4), E (5)
Detects the current positions of the hydraulic cylinders OS-1, OS-2, OS-3 and the servomotors SM-2, SM-3, corrects the position if the position is a fixed position and not the origin, The position data is stored in the area m of the communication memory COM.
Write in (1), m (2), m (3), m (4).

The control module M (8) monitors the communication memory COM, and controls the controlled elements E (1) and E (1).
When it is confirmed that the positions of (2), E (3), E (4), and E (5) are the fixed position and the origin, the fixed position flag (CN flag), the origin flag (OR flag), Both the restoration flag (RS flag) is turned ON, and the preparation mode st1
Transition to 4. At the same time, the other control modules M (1) to
M (7) also has the fixed position flag, origin flag, and ready flag of O
In response to N, the mode transits to the preparation mode st14.
The transition completion information of each of the control modules M (1) to M (7) is returned from the control modules M (1) to M (7) to the control module M (8).

In this way, each control module M
(1) to M (8) transition to the preparation mode st14. Subsequently, the control module M (8) operates in the normal operation mode ST.
An event code for transition to the second operation mode st15 is issued. This event code is transferred to each of the control modules M (1) to M (7) from the higher order to the lower order.

Here, the condition for transition to the operation mode st15 is that the home position flag (CN flag), the origin flag (OR flag), the restoration flag (RS flag), and the preparation flag (RD flag) are ON. Is done. At this time, among the controlled elements E (1) to E (6), those which are at a fixed position, the fixed position is the origin, and the setting of which is required in a preparation stage before the operation are performed by the hydraulic cylinder OS-1, OS-2, OS-3, servo motor SM-
2, controlled elements E (1), E (2) related to SM-3,
E (3), E (4) and E (5). At this time, the fixed position flag, the origin flag, and the restoration flag are already ON at the stage of the preparation mode st14. Therefore, the setting of the servo motors SM-2 and SM-3 in the preparation stage before the operation is completed.

Further, as a preparation stage before the operation, the hydraulic cylinder OS-1 for driving the chuck is in a state where the work is chucked, and the hydraulic cylinder OS-2 for centering is to center the work. In the hydraulic cylinder OS-3 for blade clamping, a predetermined blade is clamped, and the state data is stored in the areas m (1), m (2), and m (m) of the communication memory COM.
Write in (4).

The control module M (8) monitors the communication memory COM, and controls the controlled elements E (1) and E (1).
When it is confirmed that the positions of (2), E (3), E (4), and E (5) are the fixed position, the origin, and that the setting in the preparation stage before the operation is completed, The fixed position flag (CN flag), the origin flag (OR flag), the restoration flag (RS flag), and the preparation flag (RD flag) are all turned ON, and the operation mode transits to the operation mode st15. At the same time, the other control modules M (1) to M (7) also transition to the operation mode st15 in response to the ON of the home position flag, the origin flag, the restoration flag, and the preparation flag. The transition completion information of each of the control modules M (1) to M (7) is transmitted from the control module M (1) to M (7).
A reply is sent to (8). Thus, each of the control modules M (1) to M (8) transitions to the operation mode st15. When each of the control modules M (1) to M (8) transitions to the operation mode st15, the lathe starts cutting the work.

Up to this point, the process from the start mode ST0 to the operation mode st15 of the normal operation mode ST2 has been described in detail. The control modules M (1) to M (8) shown in FIG.
3, hold mode ST4, manual mode ST5, reverse rotation mode ST6, alarm mode ST7, end mode ST8, and stop mode ST3 includes emergency stop mode s.
t16, a deceleration stop mode st17, and a step stop mode st18. The hold mode ST4 includes a CPU stop mode st19, a control release mode st20, a control recovery mode st21, and a diagnostic mode st22.
In T7, the abnormal stop mode st23 and the emergency stop mode s
There is t24. The contents of each mode are as described above. Further, the procedure for performing the transition to each mode can be described in the same manner as the process from the start mode ST0 to the operation mode st15 of the normal operation mode ST2 described above.

As shown in FIG. 8, the transition to each mode except the alarm mode ST7 is performed from the uppermost control module M (8) to the lower control modules M (6), M
(7), further lower control modules M (1) to M
This is performed by transferring the event code to (5). The various flags are turned ON / OFF by the uppermost control module M (8), and the lowermost control modules M (1) to M
(7) executes transition by referring to this flag. Also,
Regarding the abnormal stop mode st23 and the emergency stop mode st24 included in the alarm mode ST7, as shown in FIG. 9, each of the control modules M (1) to M (8) autonomously sets an alarm flag and an emergency stop (abnormal stop) flag. Process in a decentralized manner.

Next, the sequence data table will be described with reference to FIGS. FIG. 10 is a configuration diagram of a main part of the sequence data table creation unit. FIG. 11 is a flowchart showing a procedure for creating a sequence data table. FIG. 12 is a diagram showing an example of a time chart. FIG. 13 shows the sequence data
It is a figure showing an example of a table. FIG. 14 is a diagram showing an example of the flowchart. FIG. 15 is a diagram showing an example of the sequence table.

The sequence data shown in FIG.
The table is created by the sequence data table creation unit shown in FIG. 10 of the access control unit 10 shown in FIG. 6, and is sent to each control module M (1) to M (8) of the communication memory COM shown in FIG. Assigned area m (1) ~
m (8).

The sequence data table creator shown in FIG. 10 includes a data extractor 11 and a table creator 1
2. A procedure for creating a sequence data table will be described using the lathe shown in FIG. 4 as an example. First, the user operates the controlled elements E (1) to E (7) such as the hydraulic cylinders OS-1, OS-2, the servo motor SM-2,
SM-3, hydraulic cylinder OS-3, oil valve OV-
1. When a change occurs in the control and operation of the servo motor SM-1, the change in the control and operation is described in a format that can be normally understood by the user. The format is, for example,
A time chart as shown in FIG. 12 may be used. In the example of FIG. 12, when the start switch is turned “ON”, the hydraulic cylinder O
The work is chucked by S-1 and the hydraulic cylinder O
The work is centered by S-2, and the hydraulic cylinder OS
-3, the cutting tool is clamped, the servo motor SM-1 for rotating the work starts to rotate, the oil valve OV-1 starts to supply the cutting oil to the work, and the cutting tool is controlled by the servo motors SM-2, SM-3. Shows the operation of starting to process the work.

As shown in FIG. 11, the sequence data table creating section performs the user data as shown in FIG.
When data is input (S1), the data extraction unit 11 determines whether there is an operation related to its own control module M (1) to M (8) for each of the control modules M (1) to M (8). It is determined whether or not it is (S2). As a result, if there is an operation related to its own control module M (1) to M (8), it is extracted (S3). At this time, if the input user data is inappropriate (S4), a data re-input request is made to the user (S7). This data re-input request displays a shortage of user data on the user's terminal device to compensate for the shortage of user data. This operation is classified into the modes ST1 to ST9 and transferred to the table creation unit 12 (S5).
A sequence data table is created for each of steps ST9 to S9 (S6).

The example of the sequence data table shown in FIG. 13 is the control module M (1) and the control module M
It is a sequence data table of normal operation mode ST2 in (2). The sequence data of FIG.
When creating a table, first, the data extraction unit 11
Then, user data relating to the normal operation mode ST2 of the control modules M (1) and M (2) is extracted.
Since the control module M (1) controls the chuck, it extracts user data relating to the hydraulic cylinder OS-1 and the work. Further, since the control module M (2) controls the tailstock, it extracts user data related to the hydraulic cylinder OS-2 and the work. For example, it is read from the time chart shown in FIG. 12 that the hydraulic cylinder OS-1 operates to chuck the work, and then the hydraulic cylinder OS-2 operates to perform centering of the work. By transmitting information to that effect to the operation mode ST2, a sequence data table of the control modules M (1) and M (2) in FIG. 13 is created.

In the sequence data table of the control module M (1) shown in FIG. 13, it is determined whether or not the sensor A is "ON" at step 0, and if the sensor A is "ON", the process proceeds to step 1. Set the CN flag to “ON”. Here, the sensor A is for confirming the fixed position of the chuck. When the CN flag becomes "ON", the state transits to the origin mode st12 in step 2. Step 3
To determine whether or not the sensor A is "ON".
Is "ON", the OR flag is set to "ON" in step 4.
To Here, the sensor A is for confirming the origin position of the chuck. Further, it is determined whether or not the sensor A is "ON" in step 5, and if the sensor A is "ON", the RS flag is set to "ON" in step 6. Here, the sensor A is for confirming the restoration position of the chuck. If the RS flag becomes "ON", the state transits to the preparation mode st14 in step 7. Further, it is determined whether or not the sensor B is “ON” in step 8. If the sensor B is “ON”, the RD flag is set to “O” in step 9.
N ". Here, the sensor B is for confirming the presence or absence of a work. If the RD flag becomes “ON”, the state transits to the operation mode st15 in step 10.

In the sequence data table of the control module M (2) shown in FIG. 13, it is determined whether or not the sensor C is "ON" in step 0, and if the sensor C is "ON", the process proceeds to step 1. Set the CN flag to “ON”. Here, the sensor C is for confirming the fixed position of the tailstock. When the CN flag becomes "ON", the state transits to the origin mode st12 in step 2. Step 3
To determine whether the sensor C is "ON" or not.
Is "ON", the OR flag is set to "ON" in step 4.
To Here, the sensor C is for confirming the origin position of the tailstock. Further, it is determined whether or not the sensor C is "ON" in step 5, and if the sensor C is "ON", the RS flag is set to "ON" in step 6. Here, the sensor C is for confirming the restoring position of the tailstock. If the RS flag becomes "ON", the state transits to the preparation mode st14 in step 7. Further, it is determined whether or not the sensor B is “ON” in step 8. If the sensor B is “ON”, the RD flag is set to “O” in step 9.
N ". Here, the sensor B is for confirming the presence or absence of a work. If the RD flag becomes “ON”, the state transits to the operation mode st15 in step 10.

In this manner, each control module M
A sequence data table is automatically created for each of the modes ST1 to ST9 included in (1) to M (8). FIG. 12 is an example using a time chart as user data. As shown in FIG.
A flowchart can also be used. Also, as shown in FIG. 15, a sequence table can be used. As described above, even if the user does not have any specialized knowledge, the control device of the present invention automatically understands this by describing the operation of the controlled element in a format generally used by the user on a daily basis. It is translated into a format necessary for the control device to perform control. This allows the user to easily change the operation and control of the controlled device. At this time,
If the operation of the controlled element described by the user is inappropriate for the control device of the present invention to understand, the user is notified that the operation is inappropriate, and the user is informed of the excessive or insufficient data. In addition, by adopting an interactive
User convenience can be improved.

[0077]

As described above, according to the present invention,
Since the control module can be integrated and used based on the basic module, the important part of the program of the control module designed in the past can be used as it is. Therefore, the number of steps for creating a control program for a control system created by combining control modules can be significantly reduced. According to the present invention, the process of creating a control program can be streamlined. According to the present invention, even if the device to be controlled and the controlled element are different, the program of the control module designed in the past can be incorporated by a slight change, and the controlled element and the control condition can be changed or modified. Can be dealt with with a small number of work steps. Even when a change or correction occurs in the controlled element or the control condition, a general user who does not have specialized knowledge can cope with this.

[Brief description of the drawings]

FIG. 1 is a diagram showing modes and mode transitions of a unified control module according to an embodiment of the present invention.

FIG. 2 is a system diagram for schematically explaining the configuration of one control system.

FIG. 3 is a diagram illustrating an example in which one of the controlled elements is replaced with a control system of a new hierarchy including a control module.

FIG. 4 is a configuration diagram of a main part of a lathe.

FIG. 5 is a control system diagram of a lathe.

FIG. 6 is a configuration diagram of a main part of a communication memory.

FIG. 7 is a conceptual diagram showing a connection relationship between control modules.

FIG. 8 is a conceptual diagram showing a transfer form of an event code and various flags.

FIG. 9 is a conceptual diagram showing a transfer form of an alarm flag and an emergency stop (abnormal stop) flag.

FIG. 10 is a main part configuration diagram of a sequence data table creation unit.

FIG. 11 is a flowchart showing a procedure for creating a sequence data table.

FIG. 12 is a diagram showing an example of a time chart.

FIG. 13 is a diagram showing an example of a sequence data table.

FIG. 14 is a diagram showing an example of a flowchart.

FIG. 15 is a diagram showing an example of a sequence table.

[Explanation of symbols]

 Reference Signs List 10 access control unit 11 data extraction unit 12 table creation unit E controlled element M control module C communication line COM communication memory

Claims (13)

(57) [Claims] 1. A method for controlling a plurality of controlled elements, respectively.
Control modules and this plurality of control modules
One or more control modules for layered control;
Control means for controlling one system as a whole
Control deviceYes, The mode and mode transition of the control module
hand, An activation mode for controlling activation of a corresponding controlled element; It is possible to shift directly from this start mode and correct the controlled element.
A normal operation mode for controlling normal operation, It is possible to transition directly and directly to this normal operating mode
A stop mode for controlling the stop of the control element, The start mode can be changed directly and mutually with this stop mode.
Mode and the controlled element can be put on hold.
Hold mode to control, You can go directly from this hold mode and stop
Mode and control the controlled element to the reverse state.
Reverse mode to control, It is possible to shift directly from the hold mode and stop
Mode and the normal operation mode or the
Start mode can be entered and the controlled element is manually controlled
Manual control mode to Alarm mode for generating an alarm that can be shifted from each of the above modes
When, A transition can be made directly from the hold mode to control the controlled element.
The end mode to end Including  Each of the plurality of control modules is hierarchically higher.
The plurality of controlled
Specific sequence data that records the procedure for controlling
Data table and this sequence data table
An interpreter for executing control of the controlled element with reference to the interpreted element
A control device comprising: 2. The control device according to claim 1, wherein the sequence data table is set to be changeable by access from a terminal device when the control module is not operating. 3. The sequence data table is recorded in an intermediate language, and is provided with a translating means for automatically translating a display in a normal language input to the terminal device into a format of the sequence data table. Item 3. The control device according to Item 2. 4. The control device according to claim 3, wherein the display in the normal language is one of a flowchart, a time chart, and a sequence table. 5. The translation device according to claim 3, wherein the translation unit includes a unit for prompting the terminal device to re-input when the display in the normal language input to the terminal device is inappropriate and the translation cannot be executed. Control device. 6. A control file is created in the start mode.
Cold start mode and this cold start
Mode to transfer file data to RAM
The control device according to claim 1 , further comprising: a start mode . 7. The controlled element according to claim 6 , wherein
Origin mode to check that the
Immediately before the sequence is interrupted.
Restore mode to return to the state, and automatic operation of the controlled element
A preparation mode for preparing to perform
The control system of claim 1 further comprising a driving mode for automatic operation. 8. The stop mode includes operating the controlled element.
An emergency stop mode for urgently stopping the rotation, and the controlled element
Deceleration stop mode for gradually stopping the operation of the
Step to stop the operation of the element at the break of the sequence
The control system of claim 1 further comprising a flop stop mode. 9. The suspension mode according to claim 1, wherein the CPU is stopped.
CPU stop mode that can control the controlled element
Release mode to release from control and before release from control
A control recovery mode for returning the controlled element to control;
Information on the operating status of control elements and change of control specifications
The control system of claim 1 further comprising a diagnostic mode which may be further. 10. The alarm mode includes the step of
Abnormal stop to stop operation when abnormality is detected in operation
Mode and external instructions regardless of driving conditions.
Control device according to claim 1, further comprising a emergency stop mode in which an emergency stop Te. 11. A mode and a mode transition,
Start mode, normal operation mode, stop mode, before
Of the hold mode, the reverse mode, and the manual control mode.
Can shift from each mode and at least part of each mode
Exceptions that cause actions to be temporarily out of sync
The control device according to any one of claims 1 to 10, including a mode . 12. A step of duplicating a plurality of basic modules in which modes and mode transitions are set, and processing each of the basic modules while fixing the mode and mode transition modes of the duplicated basic modules. A step of creating a plurality of control modules corresponding to each specification, and a step of creating a control program of one system by hierarchically combining the plurality of control modules, wherein the mode and mode transition are: A start mode for controlling the start of the corresponding controlled element, a normal operation mode for directly shifting from this start mode and controlling the normal operation of the controlled element, and a normal mode for mutually and directly shifting to the normal operation mode. A stop mode for controlling the stop of the controlled element; A hold mode in which the controllable element can be directly shifted to the hold state, and a reverse mode in which the hold mode can be shifted directly and the stop mode can be mutually shifted to control the controlled element in the reverse state. A manual control mode for directly controlling the controlled element, wherein the mode can be shifted directly from the hold mode and can be shifted to the stop mode, the mode can be shifted to the normal operation mode or the start mode, and the mode can be shifted from each mode. An alarm mode for generating an alarm; an exceptional operation mode for shifting from each of the modes and temporarily performing an operation out of synchronization for at least a part of each mode; and the controlled element for directly shifting from the hold mode. And a termination mode for terminating the control of the control program. 13. A machine-readable storage medium on which a basic module for creating a control program is recorded, wherein the basic module controls a start of a corresponding controlled element as a mode and a transition of the mode. A start mode, a normal operation mode that can directly transition from this start mode and controls the normal operation of the controlled element, and a stop mode that can directly and directly transition to the normal operation mode and control the stop of the controlled element. A suspend mode in which the stop mode can be shifted to each other directly and directly to the start mode, and the controlled element is controlled to be in a suspended state;
The reverse mode, which can directly shift from the hold mode and can also shift to the stop mode and control the controlled element to the reverse state, and can shift directly from the hold mode and can shift to the stop mode mutually, At least one of a manual control mode capable of shifting to the operation mode or the start mode and manually controlling the controlled element, an alarm mode capable of shifting from each mode and generating an alarm, and an alarm mode capable of shifting from each mode. A machine-readable storage, comprising: an exceptional operation mode for temporarily performing an operation that is out of synchronization with respect to the unit; and an end mode for directly shifting from the suspension mode and terminating control of the controlled element. Medium.