JP3379337B2 - Sequence control method and apparatus - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a sequence control method and apparatus for facilitating the design and modification of a sequence circuit.

[0002]

2. Description of the Related Art Conventionally, when making a sequence control circuit, an input / output contact address (X0
0, X01, Y00, Y01) is set for each component, and then a timing chart showing the operation sequence of each component is drawn as shown in FIG.
A sequence program as shown in FIG. 9 is created.

[0003]

In such a conventional method for producing a sequence control circuit, for example, when the operation sequence of parts is changed as shown in FIG.
When changing the sequence control circuit, the interlock states and the input / output contact addresses of all the sequence control circuits shown in FIG. 9 must be reviewed, and the sequence control circuit as shown in FIG. 11 needs to be rewritten. In other words, even if only a part of the sequence control circuit is changed, it is necessary to review all the sequence control circuits.

If the sequence control circuit is a relatively small scale, a complete review will not be so burdensome,
A large-scale sequence control circuit requires a great deal of time and labor, and there is a problem that it is not possible to quickly deal with the change.

Further, in order to change the sequence control circuit, it is necessary to rewrite the input / output contact address and to reexamine the interlock state for each part, and the amount of work is usually very large. However, the work involves the occurrence of input / output contact address allocation mistakes and design mistakes, and it is necessary to secure the time required to debug these mistakes. This debugging work requires skill. Therefore, it is necessary to secure specialists.

The present invention has been made to solve such conventional problems, and an object of the present invention is to provide a sequence control method and an apparatus thereof that facilitate the design and change of a sequence circuit.

[0007]

The present invention for achieving the above object is constructed as follows in each claim.

The invention according to claim 1 is a high-order module
Unit operation of the controlled object is described in the command format
Outputs the operation command of the lower module and
Check whether the operation command from the
Position module judges and operates from the upper module
Use the address parameter table to specify the contents of the command.
Converted to the input / output address of the control target of this lower module
Then, using this converted I / O address,
Command of the control module to execute the operation of the controlled object.
Control, and when the control of the operation is completed,
Output completion notification from the module to the upper module
However, the upper module that received this completion notification
It is a sequence control method characterized in that the next operation command is output to the module .

With this method, the lower module only needs to have an instruction format (ladder sequence circuit) that operates based on a command from the upper module. Can be easily dealt with.

Further, since the lower module converts the instruction format into the input / output address of the controlled object according to the address parameter, the instruction format of the lower module is changed in response to the addition or partial change of the lower module. It is possible to sufficiently deal with the problem by adding or changing the contents of the address parameter without performing the above.

The invention described in claims 2 and 3 is
Lower order that unit operation of controlled object is described in command format
Various operation commands to the module and the lower module
Output upper module and output from the upper module
The input operation command to the input / output address of the controlled object
Address parameter table to convert and the address
Input / output address converted by the parameter table
Based on the control means for operating the lower module
And the lower module is the upper module.
Determine whether the directive from
Sequence control device characterized by having a disconnection function
It is a place. This higher-level module has multiple
Multiple sub-modules for each controlled object
It is connected via a bus.

[0012]

[0013]

As described above, by setting the operation of the controlled object as the lower module for each unit operation, the number of the lower modules can be simply increased for the addition of the controlled object. Since it is sufficient to change the instruction format of the lower module to change the operation, it is possible to flexibly deal with the change of the control target object. In this case, it is necessary to increase the number of commands from the upper module, change the output timing of the commands, and change the contents of the address parameters, but this change is relatively easy.

[0015]

According to the invention described in claim 1 , since the lower module only needs to have an instruction format that operates based on a command from the upper module, the lower module is added or a part thereof is changed. Can be easily dealt with.

Further, since the lower module is adapted to convert the instruction format into the input / output address of the controlled object according to the address parameter, the instruction format of the lower module is changed in response to addition or partial change of the lower module. It is possible to sufficiently deal with the problem by adding or changing the contents of the address parameter without performing the above.

According to the second and third aspects of the present invention, the operation of the controlled object is set as a lower module for each unit operation, so that the expansion of the controlled object is
It is sufficient to simply increase the number of subordinate modules, and to change the operation of the controlled object, the command format of the subordinate module can be changed, so that it is possible to flexibly respond to changes in the controlled object. become.

[0018]

BEST MODE FOR CARRYING OUT THE INVENTION Before describing specific embodiments, the outline of the method of the present invention will be described.

First, in the present invention, one processing sequence not including an interlock is configured as one sequence operation module. Of the sequence operation modules, the lower one is the lower module and the upper one is the upper module. The subordinate module describes, for example, a unit operation (cylinder output, cylinder return) of a controlled object such as a cylinder in an instruction format. Figure 9
As an example, the two blocks constituting the outputs of Y00 and Y01 corresponding to the output / return operation of the A cylinder are the lower modules for the A cylinder, and the module of the present invention does not include the interlock. X03, X0
There is no contact information of 5, Y01 (contact B), X03, X05, Y00 (contact B).

Therefore, the sequence operation module (subordinate module) for such cylinder output and return.
Performs a process of ejecting a cylinder (specifically, turns on a valve for ejecting the cylinder) if the sequence operation module is activated by the upper module, and a process of returning the cylinder if activation of the return is activated. (Specifically, the valve for returning the cylinder is turned on). In other words, if it is started, the process according to the command is simply performed, and the interlock with other components is not considered at all. Therefore, the interlock is actually taken by the upper module (cell connection sequence circuit in the embodiment) that activates the interlock.

In this way, by configuring a certain operation as a sequence operation module, for example, when an apparatus (cylinder in the above example) that operates in the same manner as an existing apparatus is added, the operation is performed. All the sequence control circuits need to be installed in the same way as in the past, by providing a program to activate the device in a higher-level module and increasing the sequence operation module of the device by one (just like copying a program). There is no need to review. Also, when changing the operation of the existing equipment, for example, in the case of the above example, when trying to delay the output timing of the cylinder a little, there is no need to change the contents of the sequence operation module at all. It suffices to change the cell connection sequence circuit so as to delay the timing of activating the output of the sequence operation module output from the upper module.

Normally, an input / output address is assigned to each contact (see, eg, FIG. 9), but in the present invention, FIG. 4 showing the relationship between an instruction and an address, which is called an address parameter table, is shown in FIG. The table shown in the table is prepared, and the module can be configured without paying attention to the real address.

For example, as shown in FIG. 9, when a ladder program is described, the input / output address (X03, X04, Y00, etc.) must be described at each contact in the conventional case. Then, instead of describing this address, as shown in FIG. 4, B cylinder return limit (corresponding to X03), C cylinder output limit (corresponding to X04),
An A cylinder output command (corresponding to Y00) is written at each contact (this is called the command format), and the lower module receives, for example, an A cylinder output command from the upper module, and uses this command as an address. For conversion, refer to the address parameter table of FIG.
Address, and turns on the Y00 coil. The contact information such as X03 and X04 described above is returned to the upper module as a device status output.

Therefore, the operation program only needs to be described in a very simple manner as shown in FIG. 6, and when a part of the operation program is changed, this description only needs to be changed. You will be able to easily deal with program design and changes. Also,
Similarly, even when adding cylinders, it is possible to make new settings or changes in the address simply by changing the description in the address parameter table. Even if an error occurs, the address parameter table Since it can be modified simply by changing the description, debugging work is also very easy.

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

FIG. 1 is an overall configuration diagram of an apparatus for carrying out the method of the present invention.

Control network cell connection circuit 1 shown in the figure
0 gives a control output to the cell connection sequence circuits 12A, 12B, ..., 12N connected thereto via the bus 11, and conversely, these cell connection sequence circuits 12
, 12N, which has a function of receiving a device state input from A, 12B, ..., 12N, and has a role as a host computer.

Each cell connection sequence circuit 12A, 12
, 12N are connected to the sequence operation modules 14Aa, 14Ab, 14Ac, ..., 14A via the bus 13.
n, 14Ba, 14Bb, 14Bc, ..., 14Bn, ...
2 and the details thereof are as shown in FIG.

FIG. 2 shows a cell connection sequence circuit 12A and sequence operation modules 14Aa, 14Ab, 14A.
It is a figure with which operation explanation with c is offered.

The cell connection sequence circuit 12A includes a cell
Although it has an address parameter, this cell address parameter is used for each sequence operation module 14A.
It is a table in which the relationship between the operation command of a, 14Ab, and 14Ac and the real address is described. The specific contents of the cell address parameter will be described later.

The following signals are output or input from the cell connection sequence circuit 12A.

Whether the sequence operation module is in a mode of automatically moving (automatic), a mode of manually moving (single), or a mode (adjustment) for setting device data such as robot teaching. Mode command shown respectively. When the mode command is set individually, the individual operation command that indicates the cylinder output command, the return command, and the operation command (manual operation command for performing a series of continuous operations). A safety directive that is a signal related to an emergency stop. Motion order command, which is a command for the order of cylinder output and return. When the mode command is set independently, it is an operation enable condition command that plays the role of an interlock that allows the cylinder to move in and out. Sequence operation A device status output that indicates the operation status of the module (operation limit, output limit, return limit, original position, standby position, etc.) and occurrence of an error. An operation completion output that is output when the operation of the sequence operation module is completed and is a step condition for performing the next processing. A vehicle type command that is information about the vehicle type of the work target. These commands and outputs are exchanged with the sequence operation modules 14Aa, 14Ab, 14Ac via the bus 13.

The sequence operation module 14Aa is
The programs for the cylinder output operation and the cylinder return operation are stored as modules. This program does not have any elements for interlocking with other parts, and if it is activated by a command from the cell connection sequence circuit 12A, it simply issues or returns the A cylinder according to the command. The processing is performed.

More specifically, as shown in FIG. 3, the mode command output from the above-mentioned cell connection sequence circuit 12A,
Input a single operation command, safety command, motion order command, motion condition command, and vehicle type command, and according to these commands, A
Control output toward the cylinder (specifically, valve O
N, OFF) and, conversely, the device state output and the operation completion output are input from the operating state of the cylinder A (the limit switch is ON and OFF).

The sequence operation module 14Aa is provided with an address parameter, which is a table as shown in FIG. The sequence operation module 14Aa stores only the address parameter for the A cylinder. As is apparent from this table, when the output command is received, Y00 may be turned on, and when the output limit is reached, a signal is output from X00. The address conversion processing circuit 15 decodes the relationship between the name and the address.

The sequence control device of the present invention thus constructed operates as follows according to the operation flowchart of FIG. In this case, the program to be executed is the one shown in FIG. 6 (the same operation as that corresponding to FIGS. 8 and 9 described as the prior art), and the address parameter of each sequence operation module is shown in FIG.
It is assumed that the contents are the same as the table shown in FIG.

First, the processing of step 1 is performed. A command to output A cylinder from the cell connection sequence circuit 12A,
That is, the operation order command is transmitted to each sequence operation module 14
It is output to Aa, 14Ab, and 14Ac. Each sequence operation module 14Aa, 14Ab, 14Ac
Determines whether this command is its own command, and if it is its own command, it refers to the address parameter table and performs processing according to that table (S1).
0, S11). The sequence operation module 14Aa is
The A cylinder output command is determined to be a command for itself, and this module is activated.

Since the operation order command is the output command, the output valve ON indicates Y00 according to the address parameter table.
It turns out that this valve is turned on because it is known to be equivalent to N. Next, it can be seen that the output limit is that X00 turns on, so Y00 is turned on until X00 turns on.
Turn on. In addition, until this X00 turns on, Y00
The cell connection sequence circuit 12A gives a command to turn on the device status output while watching the device status output. (S12 ~ S
14). If X00 is turned on, the cylinder A has moved to the limit, so the completion of processing is output to the cell connection sequence circuit 12A, and Y00 is turned off (S1).
5).

Subsequently, the processing for the B cylinder output in step 2 and the processing for the C cylinder output in step 3 shown in FIG. 6 are performed. The B cylinder output processing is performed by the sequence operation module 14Ab, and the C cylinder output processing is performed. The sequence operation module 14Ac performs the same process as above.

Then, the delay process in which the cylinders A to C are left for a certain period of time is processed in the next step 4.
This process is performed by the cell connection sequence circuit 1
This is done by not outputting any command from 2A. When a certain period of time has passed, the processes of steps 5 to 7 are sequentially performed.

In step 7, when the return command for the A cylinder is output from the cell connection sequence circuit 12A, it can be understood from the address parameter table that the return valve ON corresponds to turning ON Y01.
Turn on this valve. Next, in the return, X01 is O
Since it can be understood that N is turned on, Y01 is turned on until X01 is turned on (S16 to S18). If X01 turns on, the cylinder A has moved to the return limit.
The completion of processing is output to the cell connection sequence circuit 12A, and Y01 is turned off (S19).

As described above, a program that describes the type of command is created as one module without specifying the input / output contact address, and the address corresponding to the command is stored in the address parameter table. Thus, for example, in the above example, when adding a D cylinder, a sequence operation module that performs exactly the same processing as the flowchart of FIG. 5 is provided and connected to the bus 13, and an address parameter table for the D cylinder is provided. Is newly set, and a process for activating this sequence operation module is newly added to the cell connection sequence circuit 12A, it is possible to add the existing operation program and the like without substantially changing it. . Further, as shown in the lower part of FIG. 6, even when the movement of the cylinder is changed, the order of the commands output from the cell connection sequence circuit 12A is as shown in FIG. 6 without changing each sequence operation module. In order: B cylinder out, A, C cylinder out, delay,
As long as the commands are output in the order of A, B, and C cylinder return, the sequence operation module can be dealt with without any change.

In the case of making exactly the same change as described above, in the conventional case, the sequence control circuit of FIG. 9 has to be changed to the sequence control circuit of FIG. 11 to cause a design error or an address allocation error. Although there is a fear, in the present invention, as described above, the operation of the cell connection sequence circuit 12A has only to be changed to the operation of step 1 to step 4 shown in FIG. Fear is extremely low, and in the unlikely event of a mistake, fixing it can be very easy.

In the explanation of the technical idea of the present invention, the operation between the cell connection sequence circuit and the sequence operation module was exclusively illustrated, but the control network cell connection circuit 10 and the cell connection sequence circuit were It is also possible to perform the operation between the same as the operation between the cell connection sequence circuit and the sequence operation module.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram of an apparatus for carrying out the method of the present invention.

FIG. 2 is a diagram for explaining the operation of a cell connection sequence circuit and a sequence operation module.

FIG. 3 is a diagram for explaining exchange of commands of a sequence operation module.

FIG. 4 is a diagram showing an example of an address parameter table included in a sequence operation module.

FIG. 5 is an operation flowchart mainly including a sequence operation module of the device of the present invention.

FIG. 6 is an example of an operation flowchart of a cell connection sequence circuit.

FIG. 7 is a diagram showing an allocation status of input / output contact addresses.

8 is a timing chart of the operation of the cylinder of FIG.

9 is a sequence control circuit created based on the timing chart of FIG.

FIG. 10 is a timing chart when the operation of the cylinder is changed.

FIG. 11 is a sequence control circuit created based on the timing chart of FIG.

[Explanation of symbols]

10 ... Control network cell connection circuit, 11, 13 ... Bus, 12A, 12B ... Cell connection sequence circuit, 14Aa, 14Ab, 14Ac ... Sequence operation module.

─────────────────────────────────────────────────── ─── Continuation of the front page (58) Fields surveyed (Int.Cl. ⁷ , DB name) G05B 19/00-19/16

Claims (3)

(57) [Claims] 1. A unit movement of an object to be controlled from an upper module
Create outputs an operation command of the lower module comprising written in instruction format, whether an operation command from the higher-level module is a command to the self-determined is the lower module, the contents of the operation command from the host module , transformed using the address parameter table in the output address of the control object corresponding lower module executes instructions of the relevant lower-level modules by using the converted input address, controls the operation of the control object and, when the control of the operation is completed, outputs a completion notification to the upper module from the lower module, to output the next operation command to the higher-level module that has received the completion notice the lower module A sequence control method characterized by the above. Wherein a unit operation of the control object submodule comprising written in instruction format, the control and the upper module, an operation command output from the high-order module for outputting various operation command to the lower-level module An address parameter table for converting to an input / output address of the object; and a control unit for operating the lower module based on the input / output address converted by the address parameter table , wherein the lower module is the upper module. Directive from module
Is a sequence control device having a function of determining whether or not it is for itself . The method according to claim 3, wherein said upper module, wherein a plurality of subordinate modules corresponding to a plurality of control objects of the same kind is characterized in that it is connected via a bus
Item 2. The sequence control device according to item 2 .