JP4409786B2 - Control system - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a control technique for controlling a plurality of machines in a production facility or the like.
[0002]
[Prior art]
In order to automate production facilities and the like, a system in which a control device called a PLC (programmable logic controller) is connected to each machine has been proposed. Each control device sequentially controls the machines assigned to it in accordance with a preset program. Also, a system that employs a so-called data link has been proposed in order to realize distributed control by a plurality of control devices and to synchronize the control devices.
[0003]
On the other hand, when testing, troubleshooting or maintenance of each machine, it is necessary to arbitrarily operate each machine separately from the procedure originally executed by the machine. Corresponding to such a case, a method of connecting a portable operation panel to a control device and operating a machine controlled by the control device has also been proposed.
[0004]
As an example of such a method, for example, JP-A-10-11690 discloses an operation panel called a handy terminal. In this example, if the handy terminal is connected to a control device that controls a machine that the operator wants to operate, the machine can be operated by an operation on the handy terminal.
[0005]
[Problems to be solved by the invention]
Here, in a conventional system in which an operation panel can be used, it is necessary to specify a control device that controls a machine that the operator wants to operate and connect the operation panel to the control device. However, in a production facility in which a wide variety of machines are arranged in a complicated manner, it may occur that the correspondence between each machine and the control device that controls the machine cannot be immediately grasped. Therefore, there may be a problem that it takes time to specify a control device that controls the machine that the operator wants to operate, or the operator operates a machine that is not intended.
[0006]
Therefore, an object of the present invention is to enable a desired machine to be operated by an operation panel even if the correspondence between each machine and a control device that controls the machine is not accurately grasped.
[0007]
[Means for Solving the Problems]
According to the present invention,
A control system including a plurality of control devices that control one or a plurality of machines, and an operation panel that is communicably connected to any one of the control devices and allows an operator to specify the operation of the machine,
The operation panel is
Notification means for notifying the connected control device of the operation of the designated machine;
Each of the control devices
Storage means in which a storage area for storing data shared with other control devices is set;
Communication means for communicating with other control devices via a communication medium, and periodically updating data stored in the storage area;
Writing means for writing an operation command for executing the operation of the machine notified from the operation panel to the storage area;
Means for executing control for the machine based on the operation command when the operation command for the machine controlled by the control device is stored in the storage area;
There is provided a control system characterized by comprising:
[0008]
Moreover, according to the present invention,
A control device that controls one or a plurality of machines and is connected so that an operation panel that allows an operator to specify the operation of the machines can be communicated,
Storage means in which a storage area for storing data shared with other control devices is set;
Communication means for communicating with another control device via a communication medium, and periodically updating data stored in the storage area;
Writing means for writing an operation command for executing the operation of the machine to the storage area when the operation of the machine designated by the operator is notified from the operation panel;
Means for executing control for the machine based on the operation command when the operation command for the machine controlled by the control device is stored in the storage area;
There is provided a control device characterized by comprising:
[0009]
DETAILED DESCRIPTION OF THE INVENTION
Preferred embodiments of the present invention will be described below with reference to the drawings.
[0010]
<System configuration>
FIG. 1 is a schematic diagram of a control system according to an embodiment of the present invention. The control system includes a plurality of control devices that control one or a plurality of machines. In the present embodiment, three control devices (11 to 13) are illustrated. Each of the control devices 11 to 13 is communicably connected via a communication medium. The communication medium is, for example, a wired cable, and the system forms a LAN with these configurations.
[0011]
The machines 1 to 6 are automatically controlled by the control devices 11 to 13, and are, for example, automatic machines that transport and assemble workpieces. These machines can constitute a series of production lines. In the present embodiment, it is assumed that the control device 11 controls one machine 1, and the control devices 12 and 13 control two machines 2 and 3, and three machines 4 to 6, respectively. .
[0012]
In the present embodiment, the equipment group including the control devices 11 to 13 and the machines 1 to 6 controlled by the control devices 11 to 13 is virtually divided and each is referred to as an area. The area 1 includes the control device 11 and the machine 1, and the areas 2 and 3 include the control device 12, the machines 2 and 3, and the control device 13 and the machines 4 to 6, respectively. As will be apparent, each of the areas 1 to 3 is assigned with one control device 11 to 13, respectively, and each area 1 to 3 and each control device 11 to 13 have a one-to-one correspondence. .
[0013]
A handy operation panel 20 can be connected to the control devices 11 to 13 so as to be able to communicate with each other. In the present embodiment, these connections are made by inserting the connector 31 provided at the end of the cable 21 of the handy operation panel 20 into the connection port 30 provided in each control device 11 to 13. That is, a wired communication system is adopted. However, a wireless communication method can also be adopted.
[0014]
This handy operation panel 20 is for sending commands by communication with any of the control devices 11 to 13, and for the operator to control each of the machines 1 to 6 by manual operation. Used for operation tests and maintenance.
[0015]
FIG. 2 is a block diagram illustrating a hardware configuration example of each of the control devices 11 to 13, and all the control devices 11 to 13 have the same configuration.
[0016]
The CPU 101 controls the entire apparatus and executes a control program stored in the ROM 103. The RAM 102 has a work area for the CPU 101 and stores variable data. The ROM 103 stores a machine control program executed by the CPU 101 and a processing program with the handy operation panel 20. The communication device 104 is a device for performing communication processing with the handy operation panel 20.
[0017]
The input / output interface 105 transmits the control data to each machine, or acquires data from a sensor (not shown) that detects the state of each machine, and executes processing such as CPU 101 and each machine. Is the interface between The shared memory 106 is a memory in which a storage area for storing data shared with other control devices is set. For example, the shared memory 106 is a dual port RAM that can be accessed by the communication device 107 and the CPU 101. The shared memory 106 may be a data storage area that shares all the storage areas, or may be a data storage area that shares a part thereof.
[0018]
The data stored in the shared memory 106 is periodically updated by the communication device 107, and when the contents of the data are updated by any of the control devices 11 to 13, the other control devices 11 to 13 are substantially real time. This is reflected in the shared memory 106. The communication device 107 functions independently of the CPU 101 and is a communication device that updates data in the shared memory 106 by so-called cyclic communication. Such data sharing is called a data link, and various techniques have been proposed.
[0019]
Next, the handy operation panel 20 will be described. FIG. 3 is a schematic view of the handy operation panel 20, FIG. 3 (a) is a front view, and FIG. 3 (b) is a side view. FIG. 4 is a block diagram illustrating a hardware configuration example of the handy operation panel 20.
[0020]
The handy operation panel 20 is a portable operation panel having a size that can be carried by an operator. Referring to FIG. 3, touch panel display 206 is a display that displays information to an operator and an input device that receives an operation from the operator. The emergency stop switch 207 is a switch for emergency stopping the machines 1 to 6.
[0021]
With reference to FIG. 4, the CPU 201 controls the entire handy operation panel 20 and executes a program stored in the ROM 203. The RAM 202 has a work area for the CPU 201 and stores variable data. The ROM 203 is fixed data such as a processing program executed by the CPU 201 and data for a display screen displayed on the touch panel display 206 or data shown in FIG. 9 to be described later. Remember. The communication device 204 is a device for communication processing with the control devices 11 to 13 connected via the cable 21 and the connector 21. The input interface 205 is an interface between the emergency stop switch 207 and the CPU 201.
[0022]
Next, information stored in the shared memory 106 of each control device 11 to 13 will be described. FIG. 5 is a diagram illustrating an example of allocation of storage areas of the shared memory 106. The storage area of the shared memory 106 is roughly divided into a storage area for normal operation and a storage area for using the operation panel, and each area 1 to 3 (that is, each control device 11 to 13). It is divided into each.
[0023]
The operation panel use area is an area in which information related to control when the handy operation panel 20 is used is mainly written. The normal operation use area is mainly used for each machine 1 that does not use the handy operation panel 20. This is an area in which information related to normal control, such as information related to exchange between 6 to 6, is written. . Hereinafter, information stored in each area will be described in detail.
[0024]
FIG. 6 is a diagram illustrating an example of allocation of storage areas for normal operation areas. In the normal operation area, information on each status of processing in each of the areas 1 to 3 is mainly stored for each item. For example, when viewing area 1, information is stored as to whether the workpiece is being unloaded, whether the workpiece is ready to be loaded, or whether the workpiece has been loaded. “Flag” is data that is actually stored at the address corresponding to each status. The flag is set (“1”) when the status is applicable, and the flag is “0” when the status is not applicable. . In the example of FIG. 6, the area 1 is in a state where the workpiece is being carried out, and the areas 2 and 3 are in a state where the workpiece can be carried in and a state where the workpiece has been carried in, respectively.
[0025]
As described above, by sharing the information regarding the statuses of the areas 1 to 3 with the control devices 11 to 13 by the shared memory 106, the control devices 11 to 13 can know the statuses of the other control devices. Each of the control devices 11 to 13 checks a flag of an address corresponding to each status of another area and performs a control operation for each of the machines 1 to 6 when delivering a workpiece between the areas. Become. The writing of each flag in each area can be performed by each control device 11 to 13 belonging to the corresponding area.
[0026]
Next, FIG. 7 and FIG. 8 are diagrams showing an example of allocation of the storage area for the operation panel use area. The operation panel use area is divided into an operation command storage area, a write prohibition information storage area, and a machine state information storage area.
[0027]
Referring to FIG. 7, the operation instruction storage area is an area where operation instructions for each machine designated by the operator using the handy operation panel 20 are written, and for each machine 1 to 6 and for each machine. It is divided according to the type of operation. For example, when looking at the machine 1, there are operations such as workpiece loading, workpiece positioning, machine 1 arm lowering, workpiece machining, machine 1 arm raising, and workpiece unloading. Assigned.
[0028]
“Flag” is the data that is actually stored at the address corresponding to the operation of each machine. If specified by the operator, the flag is set (“1”), otherwise the flag is set to “0”. Become. Each control device 11 to 13 controls the machine in response to the flag for the machine controlled by itself. For example, when the “work loading” flag of the operation of the machine 1 is set, the control device 11 controls the machine 1 to execute the work loading operation. Among the control devices 11 to 13, the flag is set by the control device to which the handy operation panel 20 is connected (writes “1”), and the control device that has executed the machine operation corresponding to the flag is “0”. It can be.
[0029]
Next, referring to FIG. 7, the write prohibition information storage area is an area in which information indicating a selected machine, which is designated by the operator using the handy operation panel 20, is written. It is divided into 1 to 6. When a machine is selected by the operator, the “selected” flag of the machine is “1”, and when it is not selected, it is “0”.
[0030]
As will be described later, by referring to the information stored in the write prohibition information storage area, when a plurality of handy operation panels 20 are used, it is avoided that they simultaneously instruct the same area to operate. To do.
[0031]
Next, referring to FIG. 8, the machine status information storage area is an area in which information on the status of each machine 1 to 6 is written, and is divided for each machine and for each type of operation of each machine. ing. For example, when viewing the machine 1, there are various operations such as loading a workpiece, positioning the workpiece, lowering the arm of the machine 1, machining the workpiece, raising the arm of the machine 1, and unloading the workpiece. An address is assigned for each operation. “Flag” is data that is actually stored at an address corresponding to the operation of each machine. The flag is set (“1”) when the state corresponds to each operation, and the flag is “0” otherwise. "
[0032]
As will be described later, the information stored in the machine state information storage area is displayed on the touch panel display 206 when the operator operates the handy operation panel 20. Each flag is written by a control device that controls the machine, and in this embodiment, it is assumed that the flag is always written regardless of whether it is in normal operation or when using the operation panel.
[0033]
Next, information stored in the ROM 203 of the handy operation panel 20 will be described. The ROM 203 stores information indicating the type of operation of each machine and the corresponding address of the shared memory 106 described with reference to FIG. FIG. 9 is a diagram illustrating an example of information stored in the ROM 203. As shown in FIG. 9, the address of the shared memory 106 to which an operation command is written is recorded for each type of operation of each machine 1 to 6, and the handy operation panel 20 refers to this information, The address of the shared memory 106 to which an instruction for executing the operation of the machine designated by the operator is to be written can be retrieved.
[0034]
<Processing of control device>
Next, processing by the control devices 11 to 13 will be described. Each of the control devices 11 to 13 functions as a PLC (programmable logic controller) that executes pre-programmed control. FIG. 10 is a flowchart showing an outline of processing executed by each control device 11 to 13.
[0035]
Each control apparatus 11 thru | or 13 repeatedly performs S1 thru | or S3 demonstrated below cyclically. In S1, the condition is checked. This is to check whether a condition for executing the process among the plurality of processes that can be executed in S2 and S3 is satisfied. The condition check is performed based on information detected by a sensor (not shown) provided in each machine and information written in the shared memory 106.
[0036]
For example, when unloading a work from area 1 to area 2, it must be in a state where the work can be loaded on the area 2 side. In this case, the control device 11 belonging to the area 1 checks the status of the area 2 of the shared memory 106 shown in FIG. 6 and checks whether or not the status of the area 2 can be loaded.
[0037]
There are a plurality of such conditions depending on the processes executed in S2 and S3. For example, the machine is in a state where it can execute a predetermined operation or operates in the operation instruction storage area of the shared memory 106 shown in FIG. Whether or not an instruction is written is sequentially checked.
[0038]
Next, in S2, the information stored in the shared memory 106 is updated. According to the condition check in S1, for example, if there is a change in the status of its own area, this is written into the normal operation area of the shared memory 106 shown in FIG. 6, and the status of the machine controlled by itself If there is a change, it is written into the machine state information storage area of the shared memory 106 shown in FIG.
[0039]
Specifically, for example, it is assumed that, as a result of the condition check in S1, the control device 12 detects that the status of the area 2 has changed from the “work load ready” state to the “work load complete” state. In this case, in the control device 12, the CPU 101 of the control device 12 sets the “work load ready” flag in the area 2 of its own shared memory 106 to “1” in order to notify the other control devices 11 and 13 that the status has changed. “0” is rewritten from “0”, and the “work loading completion” flag is rewritten from “0” to “1”.
[0040]
When such update of the shared memory 106 is performed in any one of the control devices 11 to 13, the shared memory 106 of all the other control devices is substantially in real time via the communication device 107. The update will be reflected.
[0041]
Next, in S3, a control command is output to the machine to execute control on the machine based on the condition checked in S1 and the information written in the shared memory 106. Each machine will operate based on its control instructions. When the process of S3 is completed, the process of one cycle is completed, the process returns to S1 again, and the above-described procedure is repeated.
[0042]
<Control by handy operation panel>
Next, a case where any one of the machines 1 to 6 is operated by the handy operation panel 20 will be described. FIG. 11 is a flowchart showing processing between the handy operation panel 20 and any one of the control devices connected thereto.
[0043]
First, the operator inserts the connector 31 of the cable 21 of the handy operation panel 20 into the connection port 30 of one of the control devices 11 to 13 to connect the handy operation panel 20 and the control device ( S11). In this case, the operator will connect the handy operation panel 20 to a control device in the vicinity of the machine to be controlled. Here, the case where the handy operation panel 20 is connected to the control device 11 is assumed.
[0044]
When connected, in S12, the handy operation panel 20 is notified that the control device 11 is connected. In S <b> 13, area information is transmitted from the control device 11 to the handy operation panel 20. The area information is information indicating which area the control device 11 belongs to. In the present example, the area information indicates that it is area 1. The handy operation panel 20 can recognize which area is connected to the control device by receiving the area information.
[0045]
In S <b> 14, the handy operation panel 20 displays an operation screen on the touch panel display 206. FIG. 15A shows a display example (machine selection screen). Here, a control device 11 to which the handy operation panel 20 is connected and its area, and a list of machines controlled by the control device 11 are displayed. In the present embodiment, since the control device 11 controls only the machine 1, only the machine 1 is displayed. The square part enclosed with a double line is a button, and so on. The reason why the machine selection screen is displayed immediately without displaying the initial screen such as the menu screen is to promptly tell the operator which machine can be operated by the handy operation panel 20.
[0046]
Here, if the machine that the operator wants to control is the machine 1, the display shifts to a command selection screen described later by pressing the button 152. Otherwise, pressing the button 151 shifts the display to the menu screen. Here, a case where the operator wants to control the machine 2 will be described. Therefore, the operator presses the button 151.
[0047]
FIG. 15B is a diagram showing a display example of the menu screen. When the operator presses the button 153, the display shifts to the area selection screen. FIG. 15C is a display example of the area selection screen. A list of areas is displayed on the area selection screen. In the present embodiment, since there are three areas 1 to 3, three are displayed.
[0048]
Here, since there is no machine 2 on the machine selection screen in FIG. 15A, the operator selects an area other than area 1. For example, the operator selects area 2 and presses button 154. Then, the display shifts to the machine selection screen in area 2.
[0049]
FIG. 16A is a diagram showing a display example of the machine selection screen in area 2. As in the case of FIG. 15A, a list of machines controlled by the control device 12 is displayed together with the area 2 and the control devices 12 belonging to the area 2. Here, since the machine 2 which is the machine to be controlled is displayed, the operator presses the button 161 to select this. Then, the display shifts to the command selection screen of the machine 2.
[0050]
FIG. 16B is a diagram illustrating a display example of the command selection screen of the machine 2. The command selection screen lists machine operations that can be specified by the operator. In the display example of FIG. 16B, the operations of the machine 2 such as “work gripping”, “arm lift”, and “work transfer” are displayed on the buttons, respectively. When one of these buttons is pressed, the corresponding action is designated. The “next command” is a button for displaying another operation of the machine 2. “Aging” is a button for designating the aging operation of the machine. The aging operation refers to causing a series of operations to be executed by the machine, and is a so-called test operation. This aging operation is employed, for example, to perform adjustment / verification when a machine is completed and installed as a single unit.
[0051]
Returning to the flowchart of FIG. 11, the operator selects and designates the operation of the machine 2 by pressing a desired button from the command selection screen of FIG. 16B (S15). In S16, the operation of the selected machine is notified from the handy operation panel 20 to the control device 11 to which it is connected. FIG. 12A is a flowchart showing the operation notification process of the machine in S16.
[0052]
In S21, a shared memory address search is performed. Specifically, referring to information (FIG. 9) indicating the type of operation of each machine stored in the ROM 203 and the address of the corresponding shared memory 106, the shared memory 106 corresponding to the operation of the machine designated by the operator. The address of the operation instruction storage area (FIG. 7) is specified. In this example, an address corresponding to any operation of the machine 2 designated by the operator is specified.
[0053]
In S22, the handy operation panel 20 transmits a data write command to the control device 11 so that the flag (FIG. 7) of the address of the shared memory 106 specified in S21 is set (set to “1”).
[0054]
Returning to the flowchart of FIG. 11, in S <b> 17, the control device 11 writes an operation command in its own shared memory 106 based on the machine operation notification from the handy operation panel 20. FIG. 12B is a flowchart showing the process of S17. In S23, the data write command transmitted from the handy operation panel 20 in S22 is received, and “1” is written as the address flag of the designated shared memory 106. In this example, the flag of the address corresponding to any operation of the machine 2 in the operation instruction storage area of FIG. 7 is set to “1”.
[0055]
Returning to the flowchart of FIG. 11, in S18, it is determined whether or not the operator has selected the end on a predetermined screen of the touch panel display 206. If the end is selected, the process proceeds to S19. When specifying another operation of the machine 2 or specifying an operation of another machine, the process returns to S15 and the above-described processing is executed. In S19, the control device 11 is notified that the operation is completed. In S20, the control device 11 performs a termination process, and the process using the handy operation panel 20 is terminated.
[0056]
In S <b> 17 described above, the control device 11 has written the operation command for the machine 2 in its own shared memory 106. As described above, the contents are also reflected in the shared memory 106 of the control device 12 in substantially real time. Therefore, in the process shown in FIG. 10 by the control device 12, the flag of the operation instruction storage area of the shared memory 106 is checked, and the flag corresponding to the operation of the machine 2 designated by the operator is set to “1”. It is recognized that As a result, the control device 12 outputs a control command for the operation designated by the operator in order to execute control on the machine 2 in S3 of FIG. 10, and the machine 2 executes this.
[0057]
Thus, in this embodiment, the operator can operate each of the machines 1 to 6 from the handy operation panel 20. In particular, in the present embodiment, it is possible to operate the machine 2 controlled by the control device 12 even though the handy operation panel 20 is connected to the control device 11. Therefore, the operator can operate each of the machines 1 to 6 by connecting the handy operation panel 20 to any one of the control devices 11 to 13 regardless of which control device controls the machine to be operated. Even a person who does not accurately grasp the correspondence between the machines 1 to 6 and the control devices 11 to 13 can operate the desired machine.
[0058]
<Processing when multiple handy operation panels are used>
In the said embodiment, it demonstrated supposing the case where there is one operator. However, it is also possible for a plurality of operators to operate the machines 1 to 6 simultaneously by connecting the handy operation panel 20 to different control devices. For example, one operator connects the handy operation panel 20 to the control device 11, another operator connects another handy operation panel 20 to the control device 13, and each operator operates each of the machines 1 to 6. You can also
[0059]
In this case, it is desirable to prevent each operator from operating the same machine at the same time. Therefore, in this embodiment, when a certain operator operates a certain machine using the handy operation panel 20, it is possible to prevent other operators from operating the machine. For this purpose, the information in the write prohibition information storage area of the shared memory 106 is used.
[0060]
FIG. 17 is a conceptual diagram of a mode in which a plurality of operators are prohibited from operating the same machine. In the figure, a handy operation panel 20 is connected to each of the control device 11 and the control device 13. Both operators are going to operate the machine 2 in the area 2. In this case, as shown in FIG. 17, the instruction given by the operator who first selects the machine 2 (operator on the control device 11 side) is given priority, and the operator (operator on the control device 13 side) selected with delay is given priority. The machine 2 cannot be operated.
[0061]
Processing between the handy operation panel 20 in this case and one of the control devices connected thereto will be described with reference to FIG. FIG. 13 is a flowchart of such processing. Here, a case where the operator operates the machine 2 by connecting the handy operation panel 20 to the control device 11 will be described in comparison with the processing of FIG. In the flowchart of FIG. 13, S31 to S34 are the same processes as S11 to S14 of FIG.
[0062]
Next, the operator operates the touch panel type display 206 of the handy operation panel 20, and calls up the machine selection screen in area 2 illustrated in FIG. Then, the button 161 shown in the figure is pressed to select the machine 2 (S35).
[0063]
In S <b> 36, the handy operation panel 20 notifies the selected machine to the control device 11. Specifically, information indicating the machine 2 selected by the operator is transmitted to the control device 11. In S37, the control device 11 receives the notification of the selected machine from the handy operation panel 20, and executes an operation prohibition check process. Here, it is checked whether or not the machine 2 has already been selected by another operator.
[0064]
FIG. 14 is a flowchart showing the operation prohibition check process in S37.
[0065]
In S51, the information stored in the shared memory 106 is read. Here, the “selected” flag of the address corresponding to the machine 2 in the write prohibition information storage area shown in FIG. 7 is referred to. In S52, based on the referred flag, it is determined whether or not the writing of the operation instruction storage area corresponding to the machine 2 is OK. Here, if the flag read in S51 is “1”, it is determined as write NG and the process proceeds to S55. If it is “0”, it is determined as write OK and the process proceeds to S53.
[0066]
In S53, the flag of the address assigned to the machine 2 in the write prohibition information storage area shown in FIG. 7 is set (set to “1”). As a result, the machine 2 is being selected, and thereafter, other operators cannot operate the machine 2. In S54, the handy operation panel 20 is notified that the machine 2 can be operated. In S55, the handy operation panel 20 is notified that the machine 2 is the operation NG.
[0067]
Returning to the flowchart of FIG. 13, in S <b> 38, a notification from the control device 11 is received, and it is determined whether or not the machine 2 is operable. If the operation is possible, the process proceeds to S39, and if the operation is NG, the process proceeds to S45.
[0068]
S39 to S44 are the same processes as S15 to S20 of FIG. 11 described above. However, in the termination processing of S44, the control device 11 updates the information in the shared memory 106 and sets the flag set in S53 described above (the flag of the address assigned to the machine 2 in the write prohibition information storage area shown in FIG. 7). ) To “0”. As a result, other operators can then operate the machine 2.
[0069]
In S45, an error is displayed on the touch panel display 206 of the handy operation panel 20. For example, a message such as “Machine 2 is being used by another operator” is displayed.
[0070]
The process ends as described above. As described above, in this embodiment, by setting the write prohibition information storage area in the shared memory 106, when an operator operates a machine using the handy operation panel 20, the other operator You can also make the machine inoperable.
[0071]
<Display machine status>
When operating each of the machines 1 to 6 with the handy operation panel 20, it is convenient for the operator to know the state of the machine to be operated. Therefore, information indicating the state of the machine can be displayed on the touch panel display 206. Here, a case where information indicating the state of the machine is displayed on the machine command selection screen illustrated in FIG. 16B will be described. FIG. 18 is a flowchart illustrating a process for displaying information indicating the state of the machine. This process is executed when one of the machines is selected on the machine selection screen illustrated in FIG. Here, the case where the machine 2 is selected will be described.
[0072]
In S61, the handy operation panel 20 notifies the selected machine to the connected control device. In S <b> 62, the control device reads information stored in the shared memory 106. Here, the flag corresponding to the status of the machine 2 in the machine state information storage area shown in FIG. 8 is read. In S63, information indicating the state of the machine is transmitted to the handy operation panel 20 based on the flag read in S62. Here, it is assumed that the machine 2 is “work gripping”.
[0073]
In S64, the handy operation panel 20 displays a command selection screen based on information indicating the state of the machine transmitted from the control device. FIG. 19 is a diagram showing a display example of the command selection screen of the machine 2. A difference from the display example of FIG. 16B is that the “work gripping” button is displayed in black and white reversed. That is, it shows that the machine 2 is gripping the workpiece. The display method of the machine state is not limited to the black and white reversal display, and various display methods can be employed. For example, the machine state may be displayed as a message or a specific symbol may be displayed.
[0074]
<Other embodiments>
<Operation command writing, etc.>
In the above embodiment, the operation instruction storage area of the shared memory 106 is divided for each machine 1 to 6 and for each type of operation of each machine, and the corresponding flag is written as “1” or “0”. It was. However, the present invention is not limited to this, and any mode can be adopted as long as the operation of the machine designated by the operator from the handy operation panel 20 can be recognized by the control device that controls the machine.
[0075]
For example, the operation instruction storage area of the shared memory 106 is divided only for each machine 1 to 6 and is not classified for each type of operation of each machine, and is set for each type of operation of each machine instead of a flag. The written code may be written to the address of the corresponding machine.
[0076]
Further, in the above embodiment, the information shown in FIG. 9 is stored in the ROM 203 of the handy operation panel 20, and the machine operation notification in S16 of FIG. 11 or S40 of FIG. 13 corresponds to the machine operation designated by the operator. The address of the shared memory 106 to be notified is notified to the control device. However, the information shown in FIG. 9 may be held on the control device side, and the handy operation panel 20 may notify the control device of information for identifying the operation of the machine designated by the operator.
[0077]
<Aging>
In the above embodiment, the aging operation of the machine can be specified by the handy operation panel 20. However, not only the aging operation but also the time for performing the aging operation of one cycle, the number of cycles of the aging operation, or It may be possible to set to perform one cycle of operation continuously or intermittently.
[0078]
<Display on touch panel display>
The touch panel type display 206 described above displays all information in Japanese. However, it may be switched to English or another foreign language according to the preference of the operator. Also, the name of the machine or the type of operation of the machine may be set by the operator and displayed by the name set by the operator.
[0079]
<Prohibition of operation for each area>
In the above-mentioned <Processing when a plurality of handy operation panels are used>, a plurality of operators for each machine are prevented from operating the same machine at the same time. However, the operation can be prevented not for each machine but for each area 1 to 3 (for each control device 1 to 3). For example, when a certain operator selects the machine 2 using the handy operation panel 20, it is possible to prevent other operators from operating not only the machine 2 but also the machine 3 belonging to the area 2. In this case, the write prohibition information storage area shown in FIG. 7 is divided not for each machine 1 to 6, but for each area 1 to 3, and a write prohibition flag may be written for each area 1 to 3.
[0080]
【The invention's effect】
As described above, according to the present invention, a desired machine can be operated by the operation panel even if the correspondence between each machine and the control device that controls the machine is not accurately grasped.
[Brief description of the drawings]
FIG. 1 is a schematic diagram of a control system according to an embodiment of the present invention.
FIG. 2 is a block diagram illustrating a hardware configuration example of each control device 11 to 13;
3A is a front view of the handy operation panel 20, and FIG. 3B is a side view thereof.
4 is a block diagram showing a hardware configuration example of the handy operation panel 20. FIG.
FIG. 5 is a diagram illustrating an example of allocation of storage areas in the shared memory 106;
FIG. 6 is a diagram illustrating an example of allocation of storage areas for normal operation areas;
FIG. 7 is a diagram showing an example of allocation of storage areas for an operation command storage area and a write prohibition information storage area in an operation panel use area.
FIG. 8 is a diagram showing an example of allocation of a storage area of a machine state information storage area in an operation panel use area.
9 is a diagram showing an example of information stored in a ROM 203 of the handy operation panel 20. FIG.
FIG. 10 is a flowchart showing an outline of processing executed by each control device 11 to 13;
FIG. 11 is a flowchart showing processing between the handy operation panel 20 and any one of the control devices connected thereto.
FIG. 12A is a flowchart showing the operation notification process of the machine in S16 of FIG. (B) is a flowchart showing the process of S17 of FIG.
FIG. 13 is a flowchart showing another process between the handy operation panel 20 and any one of the control devices connected thereto.
FIG. 14 is a flowchart showing an operation prohibition check process in S37 of FIG.
FIGS. 15A to 15C are diagrams showing examples of screens displayed on the touch panel display 206 of the handy operation panel 20; FIG.
FIGS. 16A and 16B are diagrams showing examples of screens displayed on the touch panel display 206 of the handy operation panel 20; FIGS.
FIG. 17 is a conceptual diagram of a mode in which a plurality of operators are prohibited from operating a machine in the same area.
FIG. 18 is a flowchart illustrating processing for displaying information indicating the state of a machine.
FIG. 19 is a view showing a display example of a command selection screen of the machine 2;

Claims (10)

A control system including a plurality of control devices that control one or a plurality of machines, and an operation panel that is communicably connected to any one of the control devices and allows an operator to specify the operation of the machine,
The operation panel is
Notification means for notifying the connected control device of the operation of the designated machine;
Each of the control devices
Storage means in which a storage area for storing data shared with other control devices is set;
Communication means for communicating with other control devices via a communication medium, and periodically updating data stored in the storage area;
Writing means for writing an operation command for executing the operation of the machine notified from the operation panel to the storage area;
Means for executing control for the machine based on the operation command when the operation command for the machine controlled by the control device is stored in the storage area;
A control system characterized by comprising: The storage area is
The control system according to claim 1, further comprising an operation command storage area divided for each machine and for each type of operation of the machine. The writing means includes
The control system according to claim 2, wherein an operation flag in the operation command storage area corresponding to the operation of the machine notified from the operation panel is set as the operation command. The operation panel is
Means for storing an address of each of the operation command storage areas;
The notification means includes
4. The control system according to claim 3, wherein an address of the operation instruction storage area corresponding to the operation of the designated machine is notified to the connected control device. The storage area is
Including a write prohibition information storage area divided for each machine,
Each of the control devices
A determination unit that determines whether or not write prohibition information is stored in the write prohibition information storage area corresponding to the machine that is a target of the operation command before the operation command is written by the writing unit;
Means for notifying the operation panel of this when it is determined that the write prohibition information is stored;
The control system according to claim 1, further comprising: Each of the control devices
6. The control system according to claim 5, further comprising means for writing the write prohibition information in the prohibition information storage area when the determination means determines that the write prohibition information is not stored. For the operation of the machine,
The control system of claim 1, including aging of the machine. Each of the control devices
The control system according to claim 1, further comprising means for notifying the operation panel that the operation panel is connected when the operation panel is connected. The storage area is
A machine state information storage area divided for each machine;
Each of the control devices
Means for detecting the state of the machine controlled by the control device;
Means for writing information relating to the detected state of the machine into the machine state information area;
Means for notifying the information stored in the machine state information storage area to the connected operation panel;
With
The operation panel is
The control system according to claim 1, further comprising means for displaying the information notified from the control device. A control device that controls one or a plurality of machines and is connected so that an operation panel that allows an operator to specify the operation of the machines can be communicated,
Storage means in which a storage area for storing data shared with other control devices is set;
Communication means for communicating with another control device via a communication medium, and periodically updating data stored in the storage area;
Writing means for writing an operation command for executing the operation of the machine to the storage area when the operation of the machine designated by the operator is notified from the operation panel;
Means for executing control for the machine based on the operation command when the operation command for the machine controlled by the control device is stored in the storage area;
A control device comprising:

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