JP4238690B2 - Setting structure and safety controller using it - Google Patents

Description

  The present invention relates to a setting structure suitable for function setting of various devices and a safety controller using the same, and more particularly to a safety controller suitable for a safety circuit of machine equipment such as a machine tool or an industrial robot.

Conventionally, in various devices, a setting switch is used to set various functions such as an address and an operation mode (see, for example, Patent Document 1).
JP 2001-307253 A

FIG. 17 shows an example of a conventional setting structure, for example, for setting an operation mode in the device.

  In the figure, reference numeral 110 denotes a setting switch having a 4a contact, and 111 denotes a control circuit including a microcomputer or the like that performs control in an operation mode corresponding to the setting contents of the setting switch 110. In this example, in the setting switch 110, the user performs 4-bit setting with four a contacts, and the control circuit 111 performs control according to the 4-bit setting data X1 to X4.

  However, in such a setting structure, when a failure such as a contact failure or short circuit of the contact occurs in the setting switch 110, the content different from the content intended by the user is set.

  In particular, in a safety device for ensuring the safety of operation of machinery and equipment, if the set content is different from the intended content, it is detected and operated safely, i.e. not fail-safe. Do not be.

Therefore, as shown in FIG. 18 , there is a configuration in which the setting switches 110 ₁ , 110 ₂ and the control circuits 111 ₁ , 111 ₂ are two to achieve duplication. The same contents are set in both setting switches 110 ₁ and 110 ₂ , and the two control circuits 111 ₁ and 111 ₂ transfer the setting data X _{1 to} X 4 and Y _{1 to} Y 4 to each other, and the transferred data and setting It is determined whether or not the same setting contents are compared with each other.

In such a setting structure, for example, when one of the setting switches 110 ₁ has a failure such as a contact failure or short circuit, the setting contents of the setting switch switches 110 ₁ and 110 ₂ are different. Accordingly, it is possible to take appropriate measures such as detecting an abnormality in the setting and notifying the user.

However, in such a setting structure, the same setting must be performed for the two setting switches 110 ₁ and 110 _2, and there is a problem that the setting work becomes complicated.

  The present invention has been made in view of such circumstances, and a setting structure that does not require repeated setting work with the same content and that can detect a setting abnormality, and a safety controller using the setting structure. The purpose is to provide.

  In order to achieve the above object, the present invention is configured as follows.

That is, the setting structure of the present invention comprises setting means comprising a setting switch having a switching contact that is switched to the first contact side or the second contact side, the input on the first contact side, and the second And detecting means for detecting an abnormality in setting by logically inverting one of the inputs on the contact side and comparing the logically inverted input with the other input , the detecting means The first control circuit and the second control circuit are provided, and the first and second control circuits are given inputs on the first and second contact sides, respectively. The first contact side input is logically inverted and applied to the second control circuit, and the second control circuit supplies the second contact side input to the first control circuit, and The first and second control circuits are configured such that the logically inverted input on the first contact side and the second contact are Which detects the abnormality of the settings by comparing side input and respectively.

Here, the setting means refers to a setting switch that can be switched to the first contact side or the second contact side, and preferably a DIP switch such as a slide switch or a rocker switch, or a jumper switch.

  According to the present invention, the setting means is switched and set to the first contact side or the second contact side, so when it is not set to the first contact side, it is set to the second contact side. Alternatively, when it is not set to the second contact side, it should be set to the first contact side. Therefore, in the detection means, the first contact side input and the second contact side input Based on the above, whether or not the setting by the setting means is correctly performed, that is, when there is an abnormality in the setting, it can be detected, and only one setting means is required and setting work with the same contents is possible. There is no need to repeat.

Further, the setting means is a setting switch having a switching contact that is switched to the first contact side or the second contact side, and the detection means is an input on the first contact side or the Either one of the inputs on the second contact side is logically inverted, and the logically inverted input is compared with the other input to detect a setting abnormality.

According to the present invention , as described above, when the setting means is not set to the first contact side, the setting means is set to the second contact side, or is not set to the second contact side. Since the first contact side or the second contact side should correspond to the high level (H) or the low level (L), the first contact side should be set to the first contact side. Is logically inverted, it becomes equal to the input on the other contact side. Therefore, the detection means can detect the setting abnormality by comparing the logically inverted input with the other input.

Further, the detection means includes a first control circuit and a second control circuit, and the first and second control circuits are respectively given inputs on the first and second contact sides, The first control circuit logically inverts the input on the first contact side and gives the input to the second control circuit, and the second control circuit applies the input on the second contact side to the first control circuit. The first and second control circuits are provided to the control circuit, and detect the setting abnormality by comparing the first contact side input and the second contact side input which are logically inverted. .

According to the present invention, since the detection means includes the first and second control circuits, the two control circuits can double the process of detecting the setting abnormality, thereby improving safety. it can.

The safety controller of the present invention is a safety controller that controls the operation of a mechanical facility by giving a safety output to a safety output control target based on an input from an input device, and a safety output unit that gives a semiconductor output as the safety output When a connection output section providing a connection output to another safety controller, and setting switch having a switching contact which is switched operation on the first contact side and the second contact side, the input and the from said input device A control unit that controls the safety output and the connection output according to a program based on a setting from a setting switch, and the control unit includes an input on the first contact side or an input on the second contact side. either type the logical inversion of the input, it is one that detects an abnormality of the settings by comparing the logically inverting input and the other input The control unit includes two first and second CPUs, and the first and second CPUs are given inputs on the first and second contact sides, respectively. The first contact side input is logically inverted and applied to the second CPU, and the second CPU supplies the second contact side input to the first CPU, and the first and first CPUs. The CPU 2 detects the setting abnormality by comparing the first contact side input and the second contact side input which are logically inverted.

  Here, the input device refers to a device that gives an input to the safety controller, such as an emergency stop switch, a safety door switch, a safety limit switch, and a safety light curtain.

  The safety output control target refers to a target controlled by a safety output that is an output of the safety controller, for example, a magnet contactor, a motor controller, a variable motor, a PLC, or the like.

  Mechanical equipment refers to various machine tools, industrial robots, and the like.

  Also, controlling the operation of the mechanical equipment means starting / stopping control of the mechanical equipment, operation speed control, and the like.

  The connection output is an output used for connection between the safety controller and another safety controller.

According to the present invention, since the setting switch having the switching contact that is switched to the first contact side or the second contact side is provided, the control unit includes the input on the first contact side and the second contact. If there is an abnormality in the setting of the setting switch based on the input on the side, it can be detected, and moreover, only one setting switch is required, and it is not necessary to repeat the setting operation with the same contents.

  In addition, according to the present invention, the conventional relay having a built-in electromagnetic relay is provided with a safety output unit that gives a safety output that is a semiconductor output to a safety output control target and a control unit that controls the safety output according to a program. Unlike a unit, it is not necessary to build a safety circuit with a relay sequence, the number of wires can be reduced, and even if the manufacturer wants to change part of the system according to the user's request This can be easily handled by changing the software. Further, another safety controller can be easily associated with the safety controller using the connection output.

In addition, the control unit logically inverts either the first contact side input or the second contact side input, and compares the logically inverted input with the other input for setting. This is to detect abnormalities.

According to the present invention , by making the first contact side or the second contact side of the setting switch correspond to the high level (H) or the low level (L), the control unit allows the logically inverted input to A setting abnormality can be detected by comparing with the input.

Prior Symbol controller comprises two first, second CPU, the first, the second CPU, the first input of the second contact side is given, respectively, said first CPU is The first contact side input is logically inverted and applied to the second CPU, and the second CPU supplies the second contact side input to the first CPU, The second CPU detects the setting abnormality by comparing the first contact side input and the second contact side input which are logically inverted.

According to the present invention, since the control unit includes the first and second CPUs, it is possible to duplicate the processing for detecting the setting abnormality and the other control processing by the two CPUs. Can be increased.

In another embodiment of the present invention, a connection input unit to which a connection output output from another safety controller is given as a connection input is provided, and the control unit includes an input from the input device, and the setting switch. The safety output and the connection output are controlled based on the setting from the connection and the connection input from the connection input unit.

  According to this embodiment, it is possible to associate the safety output of the safety controller and the output state of the connection output with the connection input given from another safety controller.

  In still another embodiment of the present invention, the connection output is a semiconductor output for logical connection, and the control unit is configured to input from the input device and connect from the connection input unit according to the program. Based on the input, a logical operation is performed to control the safety output and the connection output.

  Here, “for logical connection” refers to a connection for connecting other safety controllers connected to the safety controller in association with logic such as logical product or logical sum.

  According to this embodiment, the logical operation of the input from the input device and the connection input from the connection input unit can be performed, and the result can be used as a safety output or a connection output. The safety output and connection output with the controller can be related by logic such as logical product or logical sum.

In one embodiment of the present invention, the setting switch sets validity / invalidity of a connection input from the connection input unit, and the control unit is set to invalid by the setting switch . In some cases, the safety input and the connection output are controlled by invalidating the connection input.

  According to this embodiment, the validity / invalidity of the connection output can be easily selected without changing the wiring between the plurality of safety controllers.

  In another embodiment of the present invention, when a setting abnormality is detected, the control unit sets the safety output and the connection output to an output corresponding to a danger side that prohibits the operation of the mechanical equipment. It is.

  According to this embodiment, when a setting abnormality is detected, the operation of the mechanical equipment is prohibited, so that safety can be ensured.

  As described above, according to the present invention, it is possible to detect a setting abnormality without repeating the setting operation with the same content.

  Further, according to the safety controller of the present invention, the safety controller includes a safety output unit that gives a safety output as a semiconductor output to a safety output control target, and a control unit that controls the safety output according to a program. Unlike conventional relay units, it is not necessary to build a safety circuit with relay sequences, and the number of wires can be reduced. In addition, when the manufacturer wants to change part of the system according to the user's request However, it can be easily handled by changing the software.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

(Embodiment 1)
FIG. 1 is a block diagram of a setting structure according to an embodiment of the present invention, for example, for setting an operation mode in a device.

  In this embodiment, a setting switch 100 composed of a dip switch or the like having a 4c contact, and a first control circuit 101 to which an input on the first contact side of the setting switch 100, for example, the b contact side is given, And a second control circuit 102 to which an input on the second contact side, for example, the a contact side is given. The first and second control circuits 101 and 102 are constituted by, for example, a microcomputer, and perform operation control according to setting contents, and have a function as detection means for detecting a setting abnormality as described later. .

  The setting switch 100 includes four c contacts 100-1 to 100-4, and each switching contact connected to the power signal line Vcc is connected to the a contact 100-1a to 100-4a side or the b contact 100. It can be switched to -1b to 100-4b, and 4-bit data can be set.

  The first control circuit 101 is given four inputs from the b contacts 100-1b to 100-4b side of the setting switch 100, while the second control circuit 102 has an a contact of the setting switch 100. Four inputs from the 100-1a to 100-4a sides are given.

  The first control circuit 101 logically inverts the inputs X1 to X4 from the b contacts 100-1b to 100-4b, and gives the logically inverted input to the second control circuit 102. The second control circuit 102 supplies the inputs X1 to X4 on the side of the a contacts 100-1a to 100-4a to the first control circuit 101 as they are.

  The first control circuit 101 receives the logically inverted inputs of the b contacts 100-1b to 100-4b and the inputs X1 to X4 of the a contacts 100-1a to 100-4a from the second control circuit 102. Compare. The second control circuit 102 compares the inputs on the a contacts 100-1a to 100-4a side with the logically inverted b contacts 100-1b to 100-4b side input from the first control circuit 101. .

  Since the switching contact of the setting switch 100 is switched to the a contact 100-1a to 100-4a side or the b contact 100-1b to 100-4b side, each switching contact is in a state where the setting operation is completed. Should be in the state of either the a contact 100-1a to 100-4a side or the b contact 100-1b to 100-4b side.

  Therefore, if the switching contact connected to the power supply signal line Vcc is set to the high level (H) of the one side contact (a contact or b contact) set, the other contact (b contact) Or contact a) should be at a low level (L), and if the input of one contact is logically inverted, it should be equal to the input of the other contact.

  For example, in FIG. 1, in the setting switch 100, all four c contacts 100-1 to 100-4 are set on the b contacts 100-1b to 100-4b side. Therefore, in a normal state, the input on the b contact 100-1b to 100-4b side is “HHHH”, and the logically inverted input on the b contact 100-1b to 100-4b side is “LLLL”. The input on the contact 100-1a to 100-4a side is “LLLL”.

  Therefore, the first and second control circuits 101 and 102 compare the inputs on the a contacts 100-1a to 100-4a side with the inputs on the b contacts 100-1b to 100-4b side that are logically inverted, If they match, operation control according to the setting contents is performed assuming that the setting is correct. If they do not match, an appropriate measure is taken such as notifying that the setting is abnormal due to a failure of the setting switch 100 or the like. It is to take.

  Hereinafter, an operation for detecting a setting abnormality due to a failure of the setting switch 100 according to this embodiment will be described with reference to FIGS. 2 to 5 are applied to a setting switch 100 having two c contacts for the sake of simplicity. In these drawings, schematic processing is also shown in the block of the control circuit.

(1) Contact failure of setting switch For example, of the two first and second c contacts 100-1 and 100-2 of the setting switch 100, the first c contact 100-1 has a contact failure. The case will be described.

  Now, as shown in FIG. 2, the switching contact of the first c contact 100-1 of the setting switch 100 is set to the b contact 100-1b side, and the second c contact 100-2 is Assume that the switching contact is set to the a contact 100-2a side. Reference numeral 103 denotes a resistor.

  The input port of the first control circuit 101 is supplied with the inputs of the first and second c contacts 100-1 and 100-2 on the b contacts 100-1b and 100-2b side, while the second control circuit 101 The input port 102 is supplied with inputs on the side of the a contacts 100-1a and 100-2a of the first and second c contacts 100-1 and 100-2.

  The first control circuit 101 acquires data of two input ports, transfers data obtained by logically inverting the acquired data (hereinafter referred to as “negative data”) to the second control circuit 102, while Data transferred from the control circuit 102 (hereinafter referred to as “positive data”) is acquired, and negative data and positive data are compared to determine whether there is a setting abnormality.

  The second control circuit 102 acquires data of the two input ports, determines the data as positive data, and transfers the positive data to the first control circuit 101 while being transferred from the first control circuit 101. Negative data is acquired, and negative data and positive data are compared to determine whether there is a setting abnormality.

  Since the first c contact 100-1 of the setting switch 100 has a poor contact, the input of the first control circuit 101 is not “HL” but “LL”. On the other hand, the positive data that is the input of the second control circuit 102 is “LH”.

  The first control circuit 101 logically inverts the input “LL” to make negative data, and transfers this negative data “HH” to the second control circuit 102, while the second control circuit 102 The positive data “LH” as input is transferred to the first control circuit 101.

  The first control circuit 101 compares the negative data “HH” with the positive data “LH” and determines that the two do not coincide with each other. Therefore, the second control circuit 102 determines that the negative data “HH” is abnormal. “HH” is compared with the positive data “LH”, and the two do not coincide with each other, so that it is determined to be abnormal.

  Accordingly, the first and second control circuits 101 and 102 perform appropriate processing such as notifying that the setting is abnormal.

  In this way, it is possible to detect a setting abnormality due to poor contact of the setting switch.

  Similarly to the contact failure, a state where the setting is insufficient, that is, a state where the switching contact is not set on either the a contact side or the b contact side can be detected as no setting.

(2) Short circuit between terminals of setting switch (2-1) For example, as shown in FIG. 3, b contact 100 of first and second c contacts 100-1, 100-2 of setting switch 100 A case where a short circuit occurs between the terminals on the -1b and 100-2b sides will be described.

  The setting by the setting switch 100 is the same as described above, that is, the first c contact 100-1 has its switching contact set to the b contact 100-1b side, and the second c contact 100-2 has its switching. It is assumed that the contact is set on the a contact 100-2a side.

  Since the terminals of the first and second c contacts 100-1 and 100-2 on the b contacts 100-1b and 100-2b side are short-circuited, the input of the first control circuit 101 is “HL”. Instead, it becomes “HH”. On the other hand, the positive data that is the input of the second control circuit 102 is “LH”.

  The first control circuit 101 logically inverts the input “HH” to make negative data, and transfers this negative data “LL” to the second control circuit 102, while the second control circuit 102 The positive data “LH” as input is transferred to the first control circuit 101.

  The first control circuit 101 compares the negative data “LL” with the positive data “LH” and determines that there is an abnormality because the two do not match. Similarly, the second control circuit 102 The data “LL” and the positive data “LH” are compared, and the two do not match, so it is determined that there is an abnormality.

  In this way, a setting abnormality due to a short circuit between the first and second c contacts 100-1 and 100-2 of the setting switch 100 can be detected.

  (2-2) For example, as shown in FIG. 4, a short circuit occurred between the a contact 100-1a side and the b contact 100-1b side of the first c contact 100-1 of the setting switch 100. The case will be described.

  The setting by the setting switch 100 is the same as described above, that is, the first c contact 100-1 has its switching contact set to the b contact 100-1b side, and the second c contact 100-2 has its switching. It is assumed that the contact is set on the a contact 100-2a side.

  Since the a contact 100-1a side and the b contact 100-1b side of the first c contact 100-1 are short-circuited, the input of the first control circuit 101 is “HL”. The positive data that is the input of the second control circuit 102 is not “LH” but “HH”.

  The first control circuit 101 logically inverts the input “HL” to make negative data, and transfers this negative data “LH” to the second control circuit 102, while the second control circuit 102 The positive data “HH” as an input is transferred to the first control circuit 101.

  The first control circuit 101 compares the negative data “LH” with the positive data “HH” and determines that the two do not match, so that it is abnormal. Similarly, the second control circuit 102 The data “LH” and the positive data “HH” are compared, and the two do not match, so it is determined that there is an abnormality.

  In this way, it is possible to detect a setting abnormality due to a short circuit of the c contact of the setting switch 100.

(3) Disconnection of power supply signal line of setting switch For example, a case where the power supply signal line Vcc is disconnected as shown in FIG. 5 will be described.

  The setting by the setting switch 100 is the same as described above, that is, the first c contact 100-1 has its switching contact set to the b contact 100-1b side, and the second c contact 100-2 has its switching. It is assumed that the contact is set on the a contact 100-2a side.

  Since the power supply signal line Vcc of the setting switch is disconnected, the input of the first control circuit 101 is not “HL” but “LL”, and the positive data that is the input of the second control circuit 102 is “LL” instead of “LH”.

  The first control circuit 101 logically inverts the input “LL” to make negative data, and transfers this negative data “HH” to the second control circuit 102, while the second control circuit 102 The input positive data “LL” is transferred to the first control circuit 101.

  The first control circuit 101 compares the negative data “HH” with the positive data “LL” and determines that there is an abnormality because the two do not match. Similarly, the second control circuit 102 The data “HH” and the positive data “LL” are compared, and the two do not match, so it is determined that there is an abnormality.

  In this way, it is possible to detect a setting abnormality due to disconnection of the power supply signal line Vcc of the setting switch 100.

  FIG. 6 is a flowchart for explaining the above-described setting abnormality detection operation. FIG. 6A shows the operation of the first control circuit 101, and FIG. 6B shows the operation of the second control circuit 102. Respectively.

  In the setting monitoring process, first, the first control circuit 101 acquires the input data on the b contact side (step N1), logically inverts it to negative data (step N2), and converts the negative data into the second data. And the positive data from the second control circuit 102 is acquired (step N3).

  On the other hand, the second control circuit 102 acquires the input data on the a contact side as positive data (step n1), transfers this positive data to the first control circuit 101, and from the first control circuit 101. Negative data is acquired (step n2).

First and second control circuits 101 and 102 compares the positive data and negative data respectively acquired (step N4, n3), when there is a match, the normal process is to be normal, i.e., the settings A corresponding process is executed (steps N5 and n4), and if they do not match, an abnormal process is performed, for example, an abnormality is notified by an LED or the like, and for example, control output is stopped (steps N6 and n5).

In this way, in this embodiment, it is possible to detect a setting abnormality due to a contact failure of the setting switch 100, a short circuit, a disconnection of the power signal line, etc., and the setting by one setting switch 100 can be performed. As shown in FIG. 18 , it is not necessary to repeatedly set the same contents with two setting switches.

  The setting monitoring process described above is performed during the setting operation, but may be performed during the control operation after the setting is completed and the control operation is started.

  In this embodiment, since the two control circuits 101 and 102 are provided, the control process can be duplicated to improve reliability, which is suitable as a setting structure for a safety device or the like.

  In the safety device, there is a case where the setting can be performed and it is desired to prohibit the setting of the safety device from being changed after the operation of the machine facility is started based on the setting.

  In order to cope with such a case, the first and second control circuits 101 and 102 each store data set before the operation is started, and after the operation is started, the setting switch The data set by 100 may be compared with data before the start of operation, and the operation may be stopped if they do not match.

  In this embodiment, each of the control circuits 101 and 102 is given either an input on the a-contact side or an input on the b-contact side. However, as another embodiment of the present invention, Both the a contact side input and the b contact side input may be given to the circuits 101 and 102. In this case, it is not necessary to transfer input data to each other as in the above-described embodiment. .

(Implementation of the second embodiment)
Next, a safety controller provided with the setting structure according to the present invention will be described.

FIG. 7 is a diagram illustrating a configuration example of a system using the safety controller according to one embodiment of the present invention.

  The safety controller of this embodiment constitutes a safety circuit that supplies power to the power of machine equipment such as machine tools and industrial robots (not shown) only when safety is ensured.

  The safety controller of this embodiment is connected to a single function unit 3 to which an input device such as the emergency stop switch 2 is connected, and to an input device such as the safety door switch 1 as well as to the single function unit 3. There are three types: a high-function unit 4 and an extension unit 5 connected to the high-function unit 4 via a cable 6.

  In this embodiment, the high-function unit 4 has the same setting structure as that of the above-described embodiment, and is configured so that the operation mode can be set by a dip switch as will be described later.

  The single-function unit 3 receives input from an input device such as the emergency stop switch 2 and outputs safety to a magnetic contactor as a safety output control target for supplying / cutting off electric power to a motor that drives a machine tool or the like And an internal safety output as an output for logical connection to the high-function unit 4.

  Here, the logic connection output means an output for logically connecting the single function unit 3 that outputs the logic connection output and the high function unit 4 to which the logic connection output is given.

  In this embodiment, the safety output output from the single function unit 3 to the safety output control target and the logical connection output have the same output state, that is, the safety output controls the operation of the mechanical equipment. When the safety-side output state is allowed, the logical connection output is also the safe-side output state. When the safety output is a dangerous-side output state that prohibits the operation of the mechanical equipment, the logical connection output Becomes the dangerous output state.

  Therefore, an output for logical connection that has the same output state as an original safety output for a safety output control target such as a magnetic contactor is called an internal safety output.

  The high-function unit 4 is provided with inputs from input devices such as an emergency stop switch and safety door switch 1 and an internal safety output output from the single-function unit 3 and the preceding high-function unit 4 as internal safety inputs. Outputs safety output to a magnetic contactor, etc., as a safety output control target that supplies and cuts off electric power to a motor that drives a machine, etc., and an internal safety output as an output for logical connection to a high-performance unit 4 in the subsequent stage. is there.

  Similarly to the above, the internal safety output, which is a logical connection output output from the high function unit 4, is also an output for logically connecting the preceding high function unit 4 and the subsequent high function unit 4.

  Further, the safety output output from the high-function unit 4 to the safety output control target and the internal safety output have the same output state. The high-function unit 4 can output a safety instantaneous output and a safety off-delay output, but the internal safety output is in the same output state as the safety instantaneous output.

  Here, the instantaneous safety output is a safety output that instantly switches to the dangerous side when the safety input switches from the safe side to the dangerous side when the safety output is on the safe side. Is the safety that switches to the dangerous side with a delay after continuing the safe state for the set time when the safety input switches from the safe side to the dangerous side when the safety output is on the safe side The output.

In FIG. 7 , the internal safety output given from the single function unit 3 to the high function unit 4 and the internal safety output given from the preceding high function unit 4 to the subsequent high function unit 4 are indicated by broken arrows. However, in this embodiment, the high function unit 4 is given an internal safety output from either the single function unit 3 or the preceding high function unit 4.

  The extension unit 5 is connected to the high-function unit 4 via the cable 6, and the safety output synchronized with the high-function unit 4 is used as a safety output control target for supplying / cutting off power for driving a machine tool or the like. This is output to a magnet contactor or the like.

  The single-function unit 3 is equipped with a CPU that constitutes a control unit as will be described later, and can input two safety inputs, as well as two safety instantaneous outputs that are semiconductor outputs (transistor outputs) and one internal safety output. Can be output. In this embodiment, the internal safety output for logical connection is the internal safety output for AND connection. The two safety inputs are given inputs from one emergency stop switch or the like for duplication according to safety standards.

  Further, the single function unit 3 can output a monitor output synchronized with the instantaneous safety output and an error output at the time of an internal error. Further, the single function unit 3 can input a feedback / reset input.

As shown in the front view of FIG. 8 , the single function unit 3 includes a plurality of input / output terminals 7 at the top and bottom, as well as a power source (PWR), an error state (ERR), and safety inputs 1 and 2 (T1 , T2) and a safety instantaneous output (EI) state are respectively provided with a display unit 8 for displaying with LEDs.

  Like the single function unit 3, the high function unit 4 is equipped with a CPU as a control unit, and can input two safety inputs and one internal safety input, and two semiconductor outputs (transistor outputs). An instantaneous safety output, two safety off-delay outputs, and one internal safety output as an output for logic connection. In this embodiment, an internal safety output for AND connection can be output.

  As with the single function unit 3, the two safety inputs are given inputs from one emergency stop switch, one safety door switch, or the like for duplication.

  One internal safety input is an input of the internal safety output from the single-function unit 3 or the preceding high-function unit 4, and this internal safety input causes the single-function unit 3 or the preceding high-function unit 4 to perform logic. Connection In this embodiment, an AND connection is made.

  That is, in this embodiment, this internal safety input and the two safety inputs of the high-function unit 4 are logically connected by AND, and the input state of the internal safety input is a safe side state. And when the input state of two safety inputs is the safe input state, the safe output of the safe output state is output.

  Further, the high-function unit 4 can output a monitor output synchronized with the instantaneous safety output and an error output at the time of an internal error. Further, the high-function unit 4 can input a feedback / reset input.

As shown in the front view of FIG. 9 , the high-function unit 4 includes a plurality of input / output terminals 9 at the top and bottom, as well as a power source (PWR), an error state (ERR), and safety inputs 1 and 2 (T1 , T2), an internal safety input (AND), a feedback input (FB), a safety instantaneous output (EI), and a safety off-delay output (ED). Further, the high-function unit 4 includes a connector 11 for connecting the extension unit 5, and up to five extension units 5 can be connected.

  Via this connector 11, instantaneous safety output, safety off-delay output, feedback input / output of the extension unit 5 and ground signals are exchanged.

Further, as shown in the rear view of FIG. 10 , the high-function unit 4 has an opening formed in a portion attached to the DIN rail, and a setting unit that sets an operation mode so as to face the opening. A dip switch 12 and a rotary switch 13 are provided.

  The dip switch 12 has a plurality of c contacts that are switched to the a contact side or the b contact side, and corresponds to the setting switch 100 of the above-described embodiment. In this embodiment, the DIP switch 12 can be used to make a setting for enabling or disabling the internal safety input for logical connection and setting for manual reset or auto reset.

  The rotary switch 13 sets an off delay time.

  The expansion unit 5 is expanded as necessary when the number of output points is insufficient with the high-function unit 4 alone, and incorporates a plurality of electromagnetic relays. This extension unit 5 has an instantaneous type that outputs three safety outputs, which are relay outputs in synchronization with the safety instantaneous output from the high-function unit 4, and a relay output in synchronization with the safety off-delay output from the high-function unit 4. There is an off-delay type that outputs three safety outputs.

As shown in the front view of FIG. 11 , the extension unit 5 includes a plurality of input / output terminals 14 on the upper and lower sides, as well as a power source (PWR), an error state (ERR), a safety instantaneous output (EI), or a safety A display unit 15 for displaying each state of the off-delay output (ED) with LEDs is provided. The extension unit 5 includes a connector 16 for connecting to the high function unit 4 or for connecting the extension unit 5.

FIG. 12 is a block diagram of the high-function unit 4. In the figure, reference numerals 17 and 18 denote two first and second CPUs constituting the control unit, and the same processing is executed by the CPUs 17 and 18, thereby achieving duplication. The first and second CPUs 17 and 18 correspond to the first and second control circuits 101 and 102 of the above-described embodiment. The CPUs 17 and 18 communicate with each other for synchronizing software processing via an inter-CPU communication port.

Reference numeral 19 denotes setting switches such as the above-described dip switch 12 and rotary switch 13. In FIG. 12 , the input from the setting switch 19 is shown to be given to the first and second CPUs 17 and 18 in common. However, as for the DIP switch 12, the input at the b contact side is given to the first CPU 17 and the input at the a contact side is given to the second CPU 18, as in the above-described embodiment. It has become.

  Similarly to the above-described embodiment, the first CPU 17 logically inverts the input on the b contact side and transfers it to the second CPU 18, while the second CPU 18 transfers the input on the a contact side to the second CPU 18. The CPUs 17 and 18 detect the abnormality in the setting of the dip switch 12 by comparing the logically inverted input at the b contact and the input at the a contact.

  Note that detection of an abnormality in the setting of the dip switch 12 is the same as that in FIGS. 2 to 5 of the above-described embodiment, and a description thereof will be omitted.

  The first and second CPUs 17 and 18 display an error when a setting abnormality is detected in the same manner as in the above-described embodiment, and prohibit the operation of the mechanical equipment for safety output and internal safety output. The output is on the dangerous side.

In FIG. 12 , 20 is a non-volatile memory for storing the setting contents from the setting switch 19, 21 is an LED for indicating each state such as the power supply (PWR) and error state (ERR), and 22 is a delay IC. The watchdog timer 23 used is a monitoring circuit that monitors the state of the power supply circuit 24 that supplies power to each section.

  Reference numerals 25 and 26 each represent one system of duplicated safety inputs. For example, inputs from one safety door switch are given. Reference numeral 27 denotes a reset input circuit to which a feedback input or a reset input is given.

  28 is an AND input circuit to which an internal safety input as a logical connection input from the single-function unit 3 or the preceding high-function unit 4 is given, and 29 and 30 are RS232C circuits and a changeover switch for communication with an external personal computer or the like. is there.

  31 is an instantaneous safety output circuit, 32 is an off-delay safety output circuit, 33 is a duplex output line control circuit, and 34 is an internal safety output circuit that outputs an internal safety output to the subsequent high-function unit 4 , 35 is a monitor output circuit that outputs an instantaneous safety output for monitoring to a programmable controller (PLC), etc., 36 is an error output circuit that gives an error output when an internal error occurs, and 37 is a connector for connecting the extension unit 5. .

  The first and second CPUs 17 and 18 as the control unit are configured to output the safety output circuits 31 and 32 and the internal circuits according to a program based on the safety input from the safety input circuits 25 and 26 and the internal safety input from the AND input circuit 28. The safety output circuit 34 is controlled to control the safety output and the internal safety output which are semiconductor outputs (transistor outputs). The internal safety output circuit 34 includes a transistor for semiconductor output.

13, the safety output circuit 31 for instantaneous 12 is a block diagram showing the structure of the safety output circuit 32 and the output line control circuit 33 for off-delay, the portions corresponding to FIG. 12, the same reference A sign is attached. In FIG. 13 , the signal from the first CPU 17 and the signal to the first CPU 17 are indicated by dashed arrows, and the signal from the second CPU 18 and the signal to the second CPU 18 are indicated by dashed-dotted arrows, respectively. Show.

  The instantaneous safety output circuit 31 includes two instantaneous output control units 38 and 39, and the off-delay safety output circuit 32 includes two off-delay output control units 40 and 41. Each of the output control units 38 to 41 includes a semiconductor output transistor.

  The output line control circuit 33 for duplexing the safety output includes a driving signal S1, S2 from the first and second CPUs 17, 18, a WDT signal from the watchdog timer 22, and a monitoring circuit 23 for monitoring the power supply circuit 24. PSM signals are respectively provided.

  When the driving signals S1 and S2 are both turned on, a voltage is applied to the power supply line VL and power is supplied to the output control units 38 to 41.

  The WDT signal from the watchdog timer 22 is also given to the output control units 38 to 41. When the watchdog timer 22 is not reset, this WDT signal is turned off and all the output control units 38 to 41 are turned on. Therefore, the safety output can be turned off, which is a danger side prohibiting the operation of the mechanical equipment, and safety can be ensured.

  The PSM signal from the monitoring circuit 23 for monitoring the power supply is also given to the output control units 38 to 41. When a power supply abnormality is detected, the PSM signal is turned off and all the output control units 38 are turned off. The safety output of .about.41 is turned off, which is a danger side prohibiting the operation of the mechanical equipment, and safety can be ensured.

  The output line control circuit 33 outputs monitoring signals S4 and S5 to the first and second CPUs 17 and 18, respectively. The monitoring signals S4 and S5 cause a failure (abnormality) in the output line control circuit 33. ) Or when the above-mentioned WDT signal or PSM signal is turned off.

  Instantaneous output drive signals S6 and S7 are respectively supplied from the first CPU 17 to the instantaneous output control units 38 and 39 of the instantaneous safety output circuit 31, and by these drive signals S6 and S7, a safe instantaneous output is provided. The logic of ON (safe side) / OFF (danger side) is controlled. That is, when the driving signals S6 and S7 are turned on and the above-described power supply line VL is turned on, the safety instantaneous outputs that are on the safe side are output from the instantaneous output terminals 42 and 43, respectively. To do.

  The instantaneous output control units 38 and 39 output monitor signals S9 and S10 to the first and second CPUs 17 and 18, respectively, and the instantaneous output control units 38 and 39 are normal. For example, the monitoring signals S9 and S10 are inverted logic signals of the driving signals S6 and S7.

  The off-delay output control units 40 and 41 of the off-delay safety output circuit 32 are supplied with off-delay output driving signals S12 and S13 from the second CPU 18, respectively. By the driving signals S12 and S13, The logic of the safety off-delay output on (safe side) / off (dangerous side) is controlled. That is, when the driving signals S12 and S13 are turned on and the above-described power supply line VL is turned on, an on-safety off-delay output which is a safe state is output from the off-delay output terminals 45 and 46. Output each.

  The off-delay output control units 40 and 41 output monitor signals S14 and S15 to the first and second CPUs 17 and 18, respectively. The off-delay output control units 40 and 41 are normal. If so, the monitoring signals S14 and S15 are inverted logic signals of the driving signals S12 and S13.

  The output line control circuit 33 for redundant safety output turns off the power supply line VL and outputs an instantaneous output terminal when a failure (abnormality) occurs in the instantaneous output control units 38, 39 or the off-delay output control units 40, 41. The safety outputs of 42 and 43 and off-delay output terminals 45 and 46 are all turned off to ensure safety.

  On the contrary, when a failure (abnormality) occurs in the output line control circuit 33, the instantaneous output terminals 42 and 43 and the off-delay output terminal are output by the instantaneous output control units 38 and 39 and the off-delay output control units 40 and 41, respectively. All safety outputs 45 and 46 are turned off to ensure safety.

Figure 14 is a block diagram of a single-function unit 3, the portions corresponding to FIG. 12, the same reference characters.

  The single function unit 3 is not provided with the above-described AND input circuit 28, the off-delay safety output circuit 32, the setting switch 19, and the connector 37 for the extension unit. The same as 4.

  In this way, the control unit having the first and second CPUs 17 and 18 controls the safety output, which is a semiconductor output, in accordance with a program, so that the safety circuit is configured by a relay sequence as in a conventional relay unit incorporating an electromagnetic relay. There is no need to construct the system, and the number of wirings can be reduced. In addition, when the manufacturer wants to change a part of the system, it can easily cope with the change of the software.

  Further, in this embodiment, the high function unit 4 detects the setting abnormality caused by the dip switch 12 and prohibits the operation of the mechanical equipment as in the above-described embodiment. Can do.

  Next, the operation of the unit will be described based on a usage example.

FIG. 15 is a diagram showing a connection state between the two high-function units 4-1 and 4-2 and the off-delay type extension unit 5, and FIG. 16 is a time chart thereof. The two safety inputs of the second high-functional unit 4-2 are referred to as safety inputs 3 and 4 for convenience.

  In this example, the safety input 1 of the terminals T11 and T12 of the first high-function unit 4-1 and the safety input 2 of the terminals T21 and T22 are, for example, two contacts of one safety door switch. Connected to the feedback loop 47, the b-contact of the magnet contactor is connected in series, and the reset button 50 is connected in series.

  The instantaneous output terminals S13 and S23 are connected to the magnet contactors 54 and 55, and the off-delay output terminals S33 and S43 are connected to the magnet contactors 56 and 57. In the first high function unit 4-1, T = 0 is set as the off delay time. The internal safety output terminal LO is connected to the internal safety input terminal LA of the second high function unit 4-2. That is, the internal safety output of the first high-function unit 4-1 is given as an AND input of the second high-function unit 4-2 at the subsequent stage.

  The safety input 3 of the terminals T11 and T12 of the second high-function unit 4-2 and the safety input 4 of the terminals T21 and T22 are different from, for example, the safety door switch of the first high-function unit 4-1. One safety door switch is connected to the feedback loop 69, and the b contact of the magnet contactor is connected in series, and the reset button 70 is connected in series.

  The instantaneous output terminals S13 and S23 are connected to the magnet contactors 71 and 72, and the off-delay output terminals S43 and S53 are connected to the magnet contactors 73 and 74. In the second high function unit 4-2, a predetermined time T is set as an off-delay time.

  The off-delay output terminals 75 and 76 of the extension unit 5 incorporating a plurality of electromagnetic relays are connected to the magnet contactors 77 and 78.

When the door of the safety door switch connected to the first high-function unit 4-1 is closed, as shown in FIGS. 16A and 16B, the two safety inputs 1 and 2 are turned on. , the reset input is turned off as shown in FIG. 16 (c), on, by being turned off, the safety instantaneous output of the first advanced unit 4-1 is turned on, whereby, in FIG. 16 (d) As shown, the main contacts of the magnetic contactors 54 to 57 of the first high-function unit 4-1 are turned on, and the motors 63 and 64 are driven. Further, the same internal safety output as the safety instantaneous output of the first high function unit 4-1 is given as the AND input of the second high function unit 4-2.

The second high function unit 4-2 is in a state where the internal safety input shown in FIG. 16 (f) is on, and the safety output of the second high function unit 4-2 is on the safe side. When the safety output is turned on. In FIG. 16 , when the internal safety input is turned on, the door of the safety door switch connected to the second high function unit 4-2 is closed, as shown in FIGS. 16 (g) and 16 (h). In addition, since the two safety inputs 3 and 4 are on, as shown in FIG. 16 (i), the AND condition is established when the reset input is turned off, on and off, and FIG. 16 (j) , as shown in (k), along with the safety instantaneous output and the safety off-delay output of the second advanced unit 4-2 is turned on, as shown in FIG. 16 (l), the expansion unit 5 safety off The delay output is turned on, whereby the magnetic contactors 71 to 76 of the second high-function unit 4-2 and the extension unit 5 are turned on and the motors 79 to 81 are driven.

In this state, for example, when the door of the safety door switch connected to the first high function unit 4-1 is opened, as shown in FIGS. 16 (a) and 16 (b), the first high function and two safety inputs 1 and 2 off of the unit 4-1, as shown in FIG. 16 (d), the safety instantaneous output of the first advanced unit 4-1 is magnetic contactor 54 to 57 are turned off off and with the shut off the power supply to the motor 63 and 64, inner safety output is also turned off to the second advanced unit 4-2, as shown in FIG. 16 (e). Incidentally, the safety inputs 1 and 2, although to off simultaneously, in FIG. 16 (b) shows an example of a case where the safety input 2 is turned off late.

The second high function unit 4-2 is shown in FIG. 16 (j) by turning off the internal safety input from the first high function unit 4-1 as shown in FIG. 16 (f). as such, the magnet contactors 71 and 72 is turned off to cut off the power to the motor 79 the safety instantaneous output is turned off, further, as shown in FIG. 16 (k), after a certain delay T, the safety off While the delay output is turned off, as shown in FIG. 16 (l), the safety off-delay output of the extension unit 5 is turned off, whereby the contactors 73, 74, 77, and 78 are turned off and the motors 80 and 81 are turned off. The power supply to will be cut off.

  In this way, the safety output of the second high-function unit 4-2 can be easily associated with the safety output of the first high-function unit 4-1 by logical connection using the internal safety output.

(Other embodiments)
The setting structure of the present invention is not limited to a safety controller, and can be applied to setting of functions of various devices such as a PLC and a protective relay.

  In the above-described embodiment, logical connection is performed by AND. However, the logical connection is not limited to AND, and may be logical connection by OR, XOR, or the like, and a plurality of logical connections may be possible.

  As another embodiment of the present invention, a setting switch such as a dip switch is provided in a single function unit as well as a high function unit so that an operation mode can be set and an abnormality in the setting is detected. You may be able to do it.

  The present invention is useful for setting functions in various devices, particularly safety devices.

It is a block diagram which shows the setting structure which concerns on one embodiment of this invention. It is a block diagram which shows the abnormality of the setting by the contact failure of the setting switch. It is a block diagram which shows the abnormality of the setting by a short circuit. It is a block diagram which shows the abnormality of the setting by a short circuit. It is a block diagram which shows the abnormality of the setting by the disconnection of a power supply signal line. It is a flowchart with which operation | movement description is provided. It is a figure which shows the structural example of the system using the safety controller which concerns on one embodiment of this invention. It is a front view of the single function unit of FIG. It is a front view of the high-functional unit of FIG. FIG. 8 is a rear view of the high function unit of FIG. 7. It is a front view of the extension unit of FIG. FIG. 8 is a block diagram of the high-functional unit in FIG. 7. It is a block diagram which shows the detail of a part of FIG. It is a block diagram of the single function unit of FIG. It is a figure which shows a usage example. It is a time chart of FIG. It is a block diagram of a prior art example. It is a block diagram of another prior art example.

Explanation of symbols

1 Safety Door Switch 2 Emergency Stop Switch 3 Single Function Unit 4 High Function Unit 5 Extension Unit 17, 18 First and Second CPU
31 Safety output circuit for moment 32 Safety output circuit for off-delay 34 Internal safety output circuit 100 Setting switch 101, 102 First and second control circuits

Claims (6)

A setting means comprising a setting switch having a switching contact that is switched to the first contact side or the second contact side;
Detection means for logically inverting one of the first contact side input and the second contact side input and comparing the logically inverted input with the other input to detect a setting abnormality Comprising :
The detection means includes a first control circuit and a second control circuit, and the first and second control circuits are given inputs on the first and second contact sides, respectively. The control circuit inverts the first contact side input and applies it to the second control circuit, and the second control circuit applies the second contact side input to the first control circuit. The first and second control circuits detect the setting abnormality by comparing the first contact side input and the second contact side input which are logically inverted, respectively. Setting structure. A safety controller that controls the operation of mechanical equipment by giving a safety output to a safety output control target based on an input from an input device,
A safety output unit for providing a semiconductor output as the safety output;
A connection output that provides connection output to other safety controllers;
  A setting switch having a switching contact that is switched to the first contact side or the second contact side;
  A controller that controls the safety output and the connection output according to a program based on an input from the input device and a setting from the setting switch;
The control unit logically inverts one of the first contact side input and the second contact side input, and compares the logically inverted input with the other input to set an abnormality. The control unit includes two first and second CPUs, and the first and second CPUs are given inputs on the first and second contact sides, respectively. The first CPU logically inverts the input on the first contact side and gives it to the second CPU, and the second CPU inputs the input on the second contact side to the first CPU. The first and second CPUs detect the setting abnormality by comparing the first contact side input and the second contact side input, which are logically inverted, respectively. controller.   It has a connection input unit that gives the connection output from other safety controllers as the connection input,
  3. The control unit according to claim 2, wherein the control unit controls the safety output and the connection output based on an input from the input device, a setting from the setting switch, and a connection input from the connection input unit. Safety controller. The output for connection is a semiconductor output for logical connection, and the control unit performs a logical operation on the basis of an input from the input device and an input for connection from the connection input unit according to the program. The safety controller according to claim 3, wherein the safety output and the connection output are controlled. The setting switch is for setting the validity / invalidity of the connection input from the connection input unit,
5. The safety controller according to claim 3, wherein, when invalidity is set by the setting switch, the control unit invalidates the connection input and controls the safety output and the connection output. 6. The control unit according to any one of claims 2 to 5, wherein, when a setting abnormality is detected, the safety output and the connection output are outputs corresponding to a danger side that prohibits the operation of mechanical equipment. Safety controller.

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