JP3166831B2 - Simultaneous execution of motion programs - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for simultaneously executing a motion program that executes a plurality of programs at the same timing with a motion program that performs one sequence control and joins one program at the same timing.

[0002]

2. Description of the Related Art Conventionally known positioning control systems having a multi-axis control function include, for example, JP-A-8-44.
A "positioning control system" disclosed in Japanese Patent No. 411 is known. FIG. 6 is a configuration diagram of the positioning control system. In the conventional positioning control system shown in FIG.
The programmable controller 116 includes a servo motor 11 connected to each of the positioning devices PM1, PM2 to PMn.
3 is transmitted to any one of the predetermined positioning control devices PMn via the communication bus 117.
Also, it receives data and the like from the positioning control device PMn. On the other hand, the communication controller 111 in the positioning control device PMn that has received the predetermined data from the programmable controller 116 passes the received data to the servo motor controller 112. Servo motor controller 112
By controlling the servo motor 113 based on the feedback pulse from the position detector 114 in accordance with the passed data, the positioning control by the programmable controller 116 is performed. The control of the parallel operation performed in the case of the multi-axis control is executed by, for example, a program as shown in FIG. That is, in FIG. 5, program 1 and program 2 exist in parallel, and program 1 synchronizes with program 2 so that
IB0001 is turned ON, and in program 2 IOWIB0
001 = ON and waits for the signal to turn on before proceeding to the next program (ie, MVSA0.B0). As a result, the MVSs of the program 1 and the program 2 start simultaneously. Thus, each program 1,
Since the program 2 is executed independently, a plurality of motion programs (positioning control device programs)
When synchronizing between the programs, a method has been adopted in which the programs are executed while waiting for each other by monitoring the I / O signals with each other's programs. However, since the transmission time of the signal is actually required, the MVS
Will cause a slight delay. Further, as for the operation program following one motion program, since the look-ahead execution was performed during the execution of the motion program, a method of executing the operation program with a limited number of executions by the operation program was adopted. This eliminates the delay in the motion program and achieves synchronization.

[0003]

However, in the conventional example described above, in parallel operation, in order to synchronize programs, it is necessary to store a waiting program in each program, which is difficult to understand. Had to be managed individually. Also, 1
It was impossible to branch, execute parallel operation, and merge in one program. Further, the operation program following one motion program has a problem that it is difficult to consider the timing because it is executed in advance and that the executable program is limited. Thus, the present invention provides a motion program that can perform parallel operation at the same timing and merge in one program, and does not cause a delay even if there is an arithmetic program between motion programs. It is intended to provide a concurrent execution method.

[0004]

In order to achieve the above object, the present invention provides a parallel number table showing a parallel number for each step number of a program, a storage section for a motion program corresponding to the step number, and a parallel table. A step management unit that manages the progress of a motion program by a program storage unit, a parallel operation unit that executes a plurality of program commands from the step management unit, and a servo that outputs payout data from the parallel operation unit to a servo amplifier. Having a control unit,
The step management unit includes an instruction to transmit a plurality of programs to the parallel operation unit by a simultaneous branch instruction of the program, an instruction to monitor completion of all parallel operations of the parallel operation unit by a simultaneous merge instruction, and one motion program and The subsequent logical operation and arithmetic operation program are commanded as one step to the parallel operation unit, and the subsequent operation program is executed at the completion timing of the motion program, thereby eliminating the delay between the motion program and the next motion program. A plurality of programs are executed at the same timing in one motion program, merged into one program again, and the motion programs are simultaneously executed. The parallel operation starts at the same timing with the simultaneous branch instruction, the parallel operation waits with the simultaneous merge instruction, and it is possible to return to one program and continue the execution. Can be executed without delay.

[0005]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a conceptual block diagram of a motion control module according to an embodiment of the present invention. FIG. 2 is a diagram of the parallel number table shown in FIG. FIG. 3 is a diagram of the program storage unit shown in FIG. FIG. 4 is a diagram showing an example of a parallel operation program operated by the motion control module shown in FIG. FIG.
, The program increment unit 1 refers to the parallel number table 2 and the program storage unit 3 to instruct the parallel 1 operation unit 4, the parallel 2 operation unit 5, and the parallel 3 operation unit 6 to perform parallel operation, and monitors completion. . The predetermined axis 1 servo control section 7 to axis 5 servo control section 11 are controlled by the result data of the calculation section, and the servo control sections 7 to 11 drive the respective servo motors 7b to 11b. The detection data of the PGs 7c to 11c is fed back. In FIG. 2, the parallel number table 2 is
It is composed of a step number 12, a next step number 13, and a parallel number 14 indicating the number (1-3) of the parallel operation unit corresponding to the step number from the left side. In FIG. 3, a motion program 15 corresponding to the step number 12 is written in the program storage 3. In the figure,
[MOV: Positioning], [MVS: Linear interpolation], [PF
ORK: simultaneous branch instruction], [JOINT: merge destination designation instruction], [PJOINT: simultaneous merge instruction], etc. represent various instructions of the motion program. [X, Y], [A,
B], etc. represent coordinate points. Here, the merge destination designation instruction is an instruction for enabling designation of a merge point, and is an instruction for branching and merging with one simultaneous branch instruction (such as ｛｝ in C language). This is an instruction for enabling the forcible merging from other branch portions. Thereby, the flexibility can be improved. FIG. 4 shows a program for parallel operation, in which [L1: MOV X2
00. Y300 to JOINTO L4] are sent to the parallel operation unit (1) by [L2: MVSZ100. S200. F10
00-JOINTO L4] is transmitted to the parallel operation unit (2).
[L3: MVS A100. B200-JOINTO
L4] indicates that the assignment is made to the parallel operation unit (3). Next, the operation will be described. The program step management unit 1 reads the leading data (step number: 0) of the parallel number table 2 of FIG. 2 and then reads the instruction [MOV X1 corresponding to the step number 0 from the program storage unit 3 of FIG.
00 Y200], and the parallel number corresponding to the step number 0 in the parallel number 14 of the parallel number table 2 is 1, so an instruction is issued to the parallel 1 operation unit 4.
Upon receiving the instruction, the parallel 1 operation unit outputs the time-divided data to the servo control unit (for example, the servo control unit 7 for the axis 1) of the axis instructed by the instruction, and controls the servo amplifier (for example, the servo amplifier 7a). Control. Here, the parallel 1 operation unit 4 returns the completion of the instruction to the program step management unit 1, and step 0 ends. The program progress management unit 1 monitors the completion of the arithmetic unit in a time-division manner, and upon receiving the completion, the parallel number table 2
The step (step 1 in FIG. 2) indicated by the next step number is read, and a command is similarly sent to the parallel operation unit. In this case, since the instruction in FIG. 3 corresponding to step 1 is a simultaneous branch instruction [PFORK 2,4,6], [MO] first corresponds to step numbers 2, 4, and 6.
V X200, Y300 MW100 = MW100 +
100], [MVS Z100. S200. F100
0], [MVS A100. B200]. The instruction to be executed is 4 in FIG.
In the case of [PFORK: simultaneous branch instruction] shown in a, the program step management unit 1 reads a plurality of step numbers shown in the PFORK instruction, reads a plurality of instructions corresponding to the step numbers, and respectively reads the instructions. Of the parallel 1 operation unit, the parallel 2 operation unit, and the parallel 3 operation unit. In this case, the programmed parallel operation program is as shown in FIG.
L2 L3], the structure is such that the operations of L1, L2, and L3 are executed by parallel execution 1, parallel execution 2, and parallel execution 3 of each parallel operation unit in 4b. The parallel operation is shown in FIG.
[JOINTO: merge destination designation command] is executed by L1: parallel execution 1, L2: parallel execution 2, L3: parallel execution 3, and the processing ends. Upon receiving the completion of [JOINTO], the program progress management unit 1 proceeds to the next step, 4c in FIG.
[PJOINT: Simultaneous merging instruction] of L4 shown in (1) is executed, and it is confirmed that all the parallel operation programs have been completed, and the process proceeds to the next step. At this point, the parallel operation is completed and merged, and the one-row program operation is executed again.
Regarding the synchronization between the motion programs that perform the parallel operation, for example, in L1 of FIG. Although processing is performed, decoding is performed at the timing of dispensing the final time-sharing data of the motion program so that there is no delay between programs. As described above, according to the present embodiment, the simultaneous execution is flexibly started in one program, and the number of controllable axes is eliminated by the simultaneous execution program structure that joins again without the conventional control limitation. The function of the motion control module for controlling the multi-axis configuration can be greatly expanded. Therefore, FIG. 1 shows a system in which three stages of parallel operation units are provided,
Although five stages of the axis servo control unit are illustrated, the number is not limited to this, and the number of stages can be freely increased or decreased.

[0006]

As described above, according to the present invention,
Parallel operation starts at the same timing by simultaneous branch instruction,
It is possible to wait for the parallel operation by the simultaneous joining instruction, return to one program again and continue the execution, and realize the flexible operation of the motion control module. In addition, the motion program and the next motion program can be executed without delay, and can be programmed without considering unclear timing due to prefetching.

[Brief description of the drawings]

FIG. 1 is a conceptual block diagram of a motion control module according to an embodiment of the present invention.

FIG. 2 is a diagram of a parallel number table shown in FIG. 1;

FIG. 3 is a diagram of a program storage unit shown in FIG. 1;

FIG. 4 is a diagram showing an example of a parallel operation program operated by the motion control module shown in FIG.

FIG. 5 is a diagram showing an example of a conventional motion program.

FIG. 6 is a configuration diagram of a conventional positioning control system for multi-axis control.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Program progress management part 2 Parallel number table 3 Program storage part 4 Parallel 1 operation part 5 Parallel 2 operation part 6 Parallel 3 operation part 7 Axis 1 servo control part 8 Axis 2 servo control part 9 Axis 3 servo control part 10 Axis 4 Servo control unit 11 Axis 5 servo control unit 7a-11a Servo amplifier 7b-11b Motor 7c-11c Rotation detector

Claims (4)

(57) [Claims] 1. A parallel number table indicating a parallel number for each step number of a program, a storage section for a motion program corresponding to the step number, and a step for managing a step of the motion program by the parallel table and the program storage section. A management unit; a parallel operation unit that executes a plurality of program commands from the step management unit; and a servo control unit that outputs payout data from the parallel operation unit to a servo amplifier. A simultaneous execution method of a motion program, wherein a plurality of programs are executed at the same timing in a program, and are simultaneously executed so as to merge into one program again. 2. The method for simultaneously executing motion programs, wherein the step management unit includes: an instruction for transmitting a plurality of programs to a parallel operation unit according to a simultaneous branch instruction of the program; 2. The simultaneous execution method of a motion program according to claim 1, wherein the simultaneous execution programming is performed by including an instruction for monitoring completion of the operation. 3. The simultaneous execution method of the motion programs, wherein the step management unit instructs a parallel operation unit as one block of one motion program and a subsequent logical operation and arithmetic operation program, and completes the timing of the motion program. 2. The simultaneous execution method of a motion program according to claim 1, wherein a delay between the motion program and the next motion program is eliminated by executing the subsequent operation program. 4. The simultaneous execution method of the motion programs, wherein the step management unit performs simultaneous programming by including an instruction to specify a merging point of a plurality of programs by specifying a merging destination of the programs. 4. The method according to claim 1, wherein the motion programs are simultaneously executed.