JP5862236B2 - Control program editing apparatus and control program creation support program - Google Patents

Description

  The present invention relates to a control program editing apparatus for creating a control program executed by a programmable controller (PLC) using a sequential function chart language, and a control program creation support program that supports creation of the control program.

  Conventionally, a ladder (LD), a function block (FB), a sequential function chart (SFC), and the like have been adopted as a programming method of PLC as defined in the IEC61131-3 standard.

  In sequence control for the operation of industrial machines such as machine tools and industrial robot systems, the operation of components (corresponding to movable parts) in these machines is performed in sequence, so the flow of sequence control is in flowchart form. In many cases, it is programmed by SFC expressed by (see, for example, Patent Document 1). In the program by SFC, a step indicating one operation and a transition indicating a transition condition from one step to the next step are combined in a flowchart form. In each step, an operation program is described in ladder and FB. In addition, a transition condition program is described in a ladder for each transition.

  Here, the operation program for each step is created as a function block for operation control (FB for operation control) by creating a program for controlling the operation for each basic component of various industrial machines. It has been attempted to improve the efficiency of program creation by using and sharing a common FB in various industrial machines (see, for example, Patent Document 2).

  Here, a procedure for creating a sequence control program will be described using the conveyance system 80 shown in FIG. 11A as an example. The transport system 80 includes a transport device 81 that moves forward / backward, a clamp unit 82 that closes / opens, and a work completion push button switch SW1. The conveyance device 81 includes a conveyance device advance end confirmation sensor LS1 that detects a conveyance device advance end and a conveyance device retreat end confirmation sensor LS2 that detects a conveyance device retreat end. The clamp unit 82 includes a clamp unit closed end confirmation sensor LS3 that detects a clamp unit closed end and a clamp unit open end confirmation sensor LS4 that detects a clamp unit open end. Furthermore, it has the work completion pushbutton switch SW1 which the operator 83 operates after work completion. The operation order of the components in the normal operation (automatic operation) of the transport system 80 is as follows. Further, the operation order is shown in FIG.

(1) The conveyance device 81 moves forward. (Operation order: 1)
(2) When the transport device 81 detects the transport device advance end confirmation sensor LS1 and reaches the transport device advance end P11a, the clamp unit 82 is closed and the workpiece is clamped. (Operation order: 2)
(3) When the clamp unit 82 detects the clamp unit closed end confirmation sensor LS3 and reaches the clamp unit closed end P12a, the worker 83 starts work.
(4) When the operator 83 completes the operation, the operation completion push button switch SW1 is operated to open the clamp unit 82 and unclamp the workpiece. (Operation order: 3)
(5) When the clamp unit 82 detects the clamp unit open end confirmation sensor LS4 and reaches the clamp unit open end P12b, the transport device 81 moves backward. (Operation order: 4)
(6) When the transport device 81 detects the transport device backward end confirmation sensor LS2 and reaches the transport device backward end P11b, the series of operations is terminated.

FIG. 12 is a schematic diagram showing the configuration of the PLC 90 that controls the transport system 80 shown in FIG. The PLC 90 includes an input unit 91 for inputting a signal for confirming an operation end (corresponding to the end of the operation) of each component, an output unit 92 for driving each component, a memory 94 for storing a program, and a program and the input unit 91. The CPU 93 calculates based on the input signal and outputs the calculation result to the output unit 92.
The PLC 90 is connected to a program editing device 95 that creates a sequence control program.

  The input unit 91 is provided with input addresses X001, X002, X003, X004, and X005. The input addresses include, respectively, a transport device forward end confirmation sensor LS1, a transport device backward end confirmation sensor LS2, and a clamp unit closed. An end confirmation sensor LS3, a clamp unit open end confirmation sensor LS4, and a work completion push button switch SW1 are connected.

  The output unit 92 is provided with output addresses Y101, Y102, Y103, and Y104. The output addresses include a transport device advance solenoid SOL1, a transport device retract solenoid SOL2, a clamp unit closing solenoid SOL3, and a clamp unit. An opening solenoid SOL4 is connected.

  The memory 94 stores a ladder program, an FB program, and an SFC program programmed by the program editing device 95.

  FIG. 13 shows a procedure for the program creator to operate the program editing device 95 shown in FIG. 12 in order to create an automatic operation program (corresponding to a control program) of the PLC 90 that controls the transport system 80 shown in FIG. It is a flowchart which shows. First, as shown in FIG. 11B, the program creator determines the operation order of the constituent elements (corresponding to the movable part) (step S100). Next, an initial step (step which is described at the beginning of the SFC and becomes active when the SFC operation starts) and an initial transition (a transition indicating a transition condition from the initial step to the next step) are created (step S101). Create an SFC step based on the operation order (step S102), create an SFC transition (step S103), create an SFC transition program (step S104), and determine whether the operation of the component is complete (Step S105) If not completed (Step S105: NO), the process proceeds to Step S102 to create the next operation order. On the other hand, if it is completed in step S105 (step S105: YES), an operation control FB and a ladder program are created for each component (step S106).

  FIG. 14 is a schematic diagram for explaining steps S101 to S105 in FIG. First, the program creator operates the program editing device 95 to create a program for initializing automatic operation as the initial step ST201, and creates a program for confirming that the initial transition TR201 is in automatic operation. This corresponds to step S101 in FIG.

  Next, the program creator creates SFC steps based on the operation order shown in FIG. This corresponds to step S102 in FIG. More specifically, step ST202 is set to advance the conveying device in the operation order: 1. In the setting operation, when the next arrangement position of the transition TR201 of the SFC is selected by a mouse or a keyboard (hereinafter referred to as “selection”), a step setting screen 100 is displayed, and a step number “202” is designated to indicate an operation. Input an action internal output address “EK100” and a comment “transport device forward” that adds the meaning of the action to the sequence control program.

  Next, the program creator creates an SFC transition. This corresponds to step S103 in FIG. More specifically, the transport device advance end of the operation order: 1 is set to the transition TR202. In the setting operation, when the next arrangement position in step S202 of SFC is selected, a transition setting screen 101 is displayed, and a transition number “202” and a comment “conveying device forward end” for adding the meaning of the transition to the sequence control program are displayed. input.

  Next, the program creator creates an SFC transition program. This corresponds to step S104 in FIG. More specifically, when a “program” button switch is selected on the transition setting screen 101, a program creation screen 102 is displayed, and a circuit for confirming the forward end of the transfer device, which is a transition condition to the next step, is created. Specifically, a ladder program is used to create a circuit that turns on TR202, which is a signal for determining the transition to the next step, when the input address X001 of the transport device advance end confirmation sensor LS1 is ON.

  Subsequently, the program creator creates steps and transitions in the same manner as step ST202 and transition TR202, based on the operation order shown in FIG. Details thereof are omitted.

  FIG. 15 is a schematic diagram for explaining step S106 in FIG. The program creator operates the program editing device 95 to create input / output signals of the FB 200 and the FB 200, which are FBs for operation control, which are programs for controlling the forward / backward movement of the transport device, with a ladder. The FB 200 inputs a forward command to the input signal I11, a backward command to the input signal I12, a forward end signal to the input signal I13, and a backward end signal to the input signal I14. The FB 200 outputs an output signal Q11 for forward operation and an output signal Q12 for backward operation based on the input signals I11, I12, I13, and I14, the forward operation condition 110, and the reverse operation condition 111. It is formed.

  Specifically, the signal connected to the FB 200 includes an internal output address EK100 for instructing the forward movement of the transport device as an input signal I11, an internal output address EK101 for instructing a backward movement of the transport device as an input signal I12, and an input address of the forward end of the transport device. X001 is connected to the input signal I13, the input address X002 of the transfer device backward end is connected to the input signal I14, the output address Y101 of the transfer device advance is connected to the output signal Q11, and the output address Y102 of the transfer device backward is connected to the output signal Q12.

Next, the operation of the sequence control of the transport system 80 shown in FIG. 11A will be described with reference to FIGS.
The PLC 90 shown in FIG. 12 transitions to step ST202 when the automatic operation is started in the transition TR201 shown in FIG. 14, and the step ST202 is activated. When step ST202 is activated, the internal output address EK100 that commands the forward movement of the transfer device is turned ON. 11A, when the internal output address EK100 shown in FIG. 15 is turned ON, the output address Y101 of the transfer device forward output is turned ON when the forward operation condition 110 is satisfied. When the solenoid SOL1 for advancing the conveying device shown in FIG. 12 is turned on, the conveying device advances.

When the transfer device advance end sensor LS1 shown in FIG. 12 is turned on, the input address X001 is turned on, and subsequently the transition TR202 shown in FIG. 14 is turned on, and the process proceeds to step ST203. As a result, step ST202 becomes inactive, the internal output address EK100 is turned off, the output address Y101 is turned off, the solenoid SOL1 is turned off, and the transport device is stopped. Further, the next step is activated.
Subsequently, sequence control is executed in the same manner as in step 202 and transition TR 202.

Japanese Patent No. 3170154 JP 2009-104227 A

  An SFC program that constitutes an automatic operation program (equivalent to a control program) that automatically operates a PLC that controls such a machine is created by arranging steps and transitions in the operation order of the machine components. Therefore, it is difficult for a control design engineer who has little experience in creating an SFC program to understand the SFC program design rules, and the program creator needs skill. Therefore, it has been a problem to be able to more easily create an SFC program constituting a control program for automatically operating a PLC.

  The present invention has been made to solve the above-described problems, and provides a control program editing apparatus and a control program creation support program that assist in creating a control program for a programmable controller that controls a machine more easily. The purpose is to provide.

In order to solve the above problems, a control program editing apparatus and a control program creation support program according to the present invention take the following means.
First, according to a first aspect of the present invention, there is provided a control program for calculation performed by a programmable controller that performs an operation based on a signal from a detection unit that detects an operation state of a machine and outputs an operation result to a movable part of the machine. This is a control program editing device that supports creation.
The control program includes a step indicating an operation for each movable part, and a transition indicating a transition condition from one step to the next step, and the sequence of a series of operations for each movable part and the control program A sequential function chart program showing the overall flow, a ladder program in which each of the steps in the sequential function chart program is expressed by an operation control function block provided for each movable part and a ladder, and the operation in the ladder program Each function block for control is composed of a function block program expressed in a ladder.
The function block for operation control includes information on the operation order information regarding the operation order of each movable part, the operation command to each movable part, and the operation end state detected by the detecting means. Some accompanying information is included.
The operation order information is a numerical value indicating the operation order, and can be specified in an operation order input unit provided in the function block for operation control. The auxiliary information is an operation command signal based on the operation command. A first address of the programmable controller corresponding to the second address of the programmable controller corresponding to an operation end signal based on the operation end state, and provided in the function block for operation control It can be specified in the information input part.
And, the control program editing device, the extraction means for extracting the operation order information and the incidental information from the ladder program created in advance , corresponding to the operation order information extracted by the extraction means, A first cell in which the step in the sequential function chart program is arranged and a second cell in which the transition in the sequential function chart program is arranged are determined, and the determined first cell in the step is determined. Then, the first address corresponding to the first cell is set to the operation of the first cell, and the second cell of the determined transition corresponds to the second cell. Set the second address as a transition condition to the next step in the second cell Te by generating a transition program, and a, and the automatic program generation means for generating automatically the sequential function chart program said step and the transition is automatically generated.

According to the first aspect of the present invention, a sequential function chart program in a control program composed of a sequential function chart program, a ladder program, and a function block program can be automatically generated using the control program editing apparatus. it can.
Thereby, it can assist so that a control program can be created more easily.

In addition, according to the first invention , it becomes easy to input operation order information and incidental information to the operation control function block using the control program editing device.

Next, according to a second aspect of the present invention, there is provided a control program for calculation by a programmable controller that calculates based on a signal from a detection means that detects an operating state of the machine and outputs a calculation result to the movable part of the machine. This is a control program creation support program that supports the creation of a control program.
The control program includes a step indicating an operation for each movable part, and a transition indicating a transition condition from one step to the next step, and the sequence of a series of operations for each movable part and the control program A sequential function chart program showing the overall flow, a ladder program in which each of the steps in the sequential function chart program is expressed by an operation control function block provided for each movable part and a ladder, and the operation in the ladder program Each function block for control is composed of a function block program expressed in a ladder.
The function block for operation control includes information on the operation order information regarding the operation order of each movable part, the operation command to each movable part, and the operation end state detected by the detecting means. Some accompanying information is included.
Then, the control program creation support program is an operation order designating unit that allows the computer to designate the operation order information that is a numerical value indicating the operation order to the operation order input unit provided in the function block for operation control. The incidental information input unit provided in the function block for operation control is made to correspond to the first address of the programmable controller corresponding to the operation command signal based on the operation command and the operation end signal based on the operation end state. second address and, accompanying information specifying means for enabling specify, extracting means for extracting said operation order information from the ladder program created in advance and the additional information of said programmable controllers, extracted by said extracting means The sequential function corresponding to the operation order information A first cell in which the step in the chart program is arranged and a second cell in which the transition is arranged in the sequential function chart program are determined, and the first cell in the determined step is The first address corresponding to the first cell is set to the operation of the first cell, and the second cell corresponding to the second cell is determined with respect to the second cell of the determined transition. Is set as the transition condition to the next step in the second cell and the transition program is generated to automatically generate the sequential function chart program by automatically generating the step and the transition. Function as automatic program generation means.

According to the second aspect of the present invention , the sequential function chart program in the control program composed of the sequential function chart program, the ladder program, and the function block program is automatically generated by the control program creation support program. Can do.
Thereby, it can assist so that a control program can be created more easily.

Further , according to the second invention , it becomes easy to input the operation order information and the incidental information to the operation control function block by the control program creation support program.

  ADVANTAGE OF THE INVENTION According to this invention, the control program of the programmable controller which controls a machine can be created more easily.

(A) is the block diagram which showed the whole structure of the control program editing apparatus 1 of the programmable controller of embodiment of this invention, (b) is the schematic explaining the relationship of each program storage area. (A) is a figure which shows typically the example of a certain conveyance system for describing embodiment of this invention, (b) is a figure which shows the operation | movement order of a component. It is the schematic which shows the structure of PLC which controls the conveyance system shown by Fig.2 (a). It is a flowchart which shows the procedure which produces the automatic operation program of PLC which controls the conveyance system shown by Fig.2 (a). It is a mimetic diagram explaining operation control FB of an embodiment of the present invention. It is a schematic diagram explaining the production | generation of SFC of embodiment of this invention. It is a flowchart which shows the information extraction process sequence of FB for operation control of embodiment of this invention. (A) is the data table which extracted the information of FB for operation control of the embodiment of the present invention, and (b) is an example of the data table which extracted the information of FB100. It is a figure which shows the cell arrangement | positioning displayed at the time of SFC production | generation of embodiment of this invention. It is a flowchart which shows the SFC program production | generation process procedure of embodiment of this invention. (A) is a figure which shows the example of a certain conveyance system for demonstrating the prior art, (b) is a figure which shows the operation | movement order of a component. It is the schematic which shows the structure of PLC which controls the conveyance system shown by Fig.11 (a). It is a flowchart which shows the procedure which produces the automatic operation program of PLC which controls the conveyance system shown by Fig.11 (a). FIG. 14 is a schematic diagram for explaining steps S101 to S105 in FIG. 13. It is a schematic diagram explaining step S106 of FIG.

DESCRIPTION OF EMBODIMENTS Hereinafter, an embodiment embodying a control program editing apparatus 1 (an apparatus that supports creation of a control program for a programmable controller) of the present invention will be described with reference to the drawings.
Hereinafter, “programmable controller” and “PLC” are the same, “sequential function chart” and “SFC” are the same, “function block” and “FB” are the same, “ladder” and “LD”. Are the same.
FIG. 1A is a block diagram showing the overall configuration of the control program editing apparatus 1 according to the embodiment of the present invention. The control program editing apparatus 1 includes a CPU 10 for creating, modifying, and displaying a sequence program (corresponding to a control program), a ROM 11 that stores a program for the processing, a display 12 that displays the sequence program, and a sequence program. A keyboard 13 for inputting symbols and various commands for creating a mouse, a mouse 18 for designating a cursor position on the display 12, a RAM 15 for storing a sequence program, and an interface 17 for connecting to a PLC 40. . Further, the RAM 15 extracts information of a ladder program storage area 20 for storing a ladder program, an FB program storage area 21 for storing an FB program, an SFC program storage area 22 for storing an SFC program, and an operation control FB to be described later. An FB information extraction data storage area 23 for storing the results is formed.
In the following, the “sequence program”, “automatic operation program”, and “control program” are the same.

Next, the relationship of each program storage area will be described with reference to a schematic diagram of each program storage area included in the RAM 15 for storing the sequence program of the control program editing apparatus 1 shown in FIG.
The ladder program storage area 20 is an area in which ladder programs 20a, 20b and the like expressed by ladders related to the FB 100, etc., which are FBs for operation control created for each component (each movable part), and the like are stored. It is.
The FB program storage area 21 is an area in which an FB program 21a and the like in which the internal details of the operation control FB FB100 and the like stored in the ladder program storage area 20 are expressed in a ladder are stored.
The SFC program storage area 22 stores, for example, a step 22a indicating the operation of each movable part arranged in the operation order of the constituent elements (movable parts) and a transition 22b indicating a transition condition from one step to the next step. It is an area to be done.
For example, when the FB 100 that is the FB for operation control in the FB program storage area 21 has the operation order of 1, the details of the step 22a in the SFC program storage area 22 are expressed in the FB 100. The transition 22b is a condition for transition to the next step, and the details are expressed in the ladder 20b of the ladder program storage area 20.
The FB information extraction data storage area 23 is an area for storing the extracted operation order and supplementary information when the operation order (operation order information) and supplementary information described later are extracted.

Here, a procedure for creating a sequence control program using the control program editing apparatus 1 according to the embodiment of the present invention will be described using the conveyance system 30 shown in FIG. 2A as an example.
FIG. 2A is a diagram schematically showing an example of a transport system 30 for explaining an embodiment of the present invention. The transport system 30 includes a transport device 31 that moves forward / backward, a clamp unit 32 that closes / opens, and a work completion push button switch SW1. The conveyance device 31 includes a conveyance device advance end confirmation sensor LS1 and a conveyance device retraction end confirmation sensor LS2. The clamp unit 32 includes a clamp unit closed end confirmation sensor LS3 and a clamp unit open end confirmation sensor LS4. Furthermore, it has work completion pushbutton switch SW1 which the operator 33 operates after work completion. The operation order of the components in the normal operation (automatic operation) of the transport system 30 is as follows. Further, the operation order is shown in FIG.

(1) The transport device 31 moves forward. (Operation order: 1)
(2) When the conveyance device 31 detects the conveyance device advance end confirmation sensor LS1 and reaches the conveyance device advance end P1a, the clamp unit 32 is closed and the workpiece is clamped. (Operation order: 2)
(3) When the clamp unit 32 detects the clamp unit closed end confirmation sensor LS3 and reaches the clamp unit closed end P2a, the worker 33 starts work.
(4) When the operator 33 completes the operation, the operation completion push button switch SW1 is operated to open the clamp unit 32 and unclamp the workpiece. (Operation order: 3)
(5) When the clamp unit 32 detects the clamp unit open end confirmation sensor LS4 and reaches the clamp unit open end P2b, the transport device 31 moves backward. (Operation order: 4)
(6) When the transport device 31 detects the transport device backward end confirmation sensor LS2 and reaches the transport device backward end P1b, the series of operations is terminated.

FIG. 3 is a schematic diagram showing the configuration of the PLC 40 that controls the transport system 30 shown in FIG. The PLC 40 is input from the input unit 41 that inputs a signal for confirming the operation end (operation end) of each component, the output unit 42 that drives each component, the memory 44 that stores a program, and the program and the input unit 41. The CPU 43 is configured to calculate based on the signal to output and output the calculation result to the output unit 42.
The PLC 40 is connected to a control program editing apparatus 1 that creates a sequence control program.

  The input unit 41 is provided with input addresses X001, X002, X003, X004, and X005. The input address includes, respectively, a transport device forward end confirmation sensor LS1, a transport device backward end confirmation sensor LS2, and a clamp unit closed. An end confirmation sensor LS3, a clamp unit open end confirmation sensor LS4, and a work completion push button switch SW1 are connected.

  The output section 42 is provided with output addresses Y101, Y102, Y103, and Y104. The output addresses include a transport device forward solenoid SOL1, a transport device reverse solenoid SOL2, a clamp unit closing solenoid SOL3, and a clamp unit. An opening solenoid SOL4 is connected.

  The memory 44 stores a ladder program, an FB program, and an SFC program programmed by the control program editing apparatus 1.

  4, the program creator operates the control program editing apparatus 1 shown in FIG. 1 in order to create an automatic operation program (corresponding to a control program) of the PLC 40 that controls the transport system 30 shown in FIG. It is a flowchart which shows a procedure. First, as shown in FIG. 2B, the program creator determines the operation order of the components (movable parts) (step S1). Next, an FB for operation control and a ladder program are created for each component (step S2), and an initial step and an initial transition are created (step S3). Then, an automatic generation of the SFC program is instructed (step S4). As a result, the steps and transitions for each component are automatically generated to generate the SFC program.

FIG. 5 is a schematic diagram illustrating the operation control FB according to the embodiment of the present invention. This corresponds to step S2 in FIG. 4, and the program creator creates an input / output signal of the FB 100 and the FB 100, which are FBs for operation control, which is a program for controlling the forward / backward movement of the transport apparatus, with a ladder.
The FB 100 includes an operation order input unit 50 and an incidental information input unit 51 which are features of the present invention.
The operation order input unit 50 receives the forward operation order (corresponding to the operation order information) as the input signal I1 and the reverse operation order (corresponding to the operation order information) as the input signal I2. The means for enabling the operation order information to be specified from the operation order input unit 50 corresponds to the operation order specifying means.
The auxiliary information input unit 51 includes a forward command (corresponding to an operation command signal) as an input signal I3, a backward command (corresponding to an operation command signal) as an input signal I4, and a forward end signal (corresponding to an operation end signal) as an input signal I5. , And a backward end signal (corresponding to an operation end signal) is input to the input signal I6. The means for enabling the operation command signal and the operation end signal to be designated from the incidental information input unit 51 corresponds to the incidental information designation means.
The FB 100 outputs an output signal Q1 for forward operation and an output signal Q2 for backward operation based on the input signals I3, I4, I5, and I6, and the forward operation condition 52 and the reverse operation condition 53. It is formed.

  Specifically, as for the signal connected to the FB 100, "1" indicating the operation order of the transport device advance: 1 is the input signal I1, and "4" indicating the operation order of the transport device retraction: 4 is the input signal I2. The internal output address EK100 for instructing the apparatus forward is the input signal I3, the internal output address EK101 for instructing the backward movement of the transport apparatus is the input signal I4, the input address X001 of the forward end of the transport apparatus is the input signal I5, and the input address X002 of the transport apparatus backward end. Is connected to the input signal I6, the output address Y101 of the forward movement of the transfer device is connected to the output signal Q1, and the output address Y102 of the backward movement of the transfer device is connected to the output signal Q2.

  The operation control FB (for example, FB101) for controlling the closing / opening of the clamp unit is created in the same manner as the FB100. Detailed contents to be created are omitted.

  FIG. 6 is a schematic diagram illustrating generation of SFC according to the embodiment of this invention. This corresponds to steps S3 and S4 in FIG. First, the program creator operates the control program editing device 1 to create a program for initializing automatic operation as the initial step ST201, and creates a program for confirming that the initial transition TR201 is in automatic operation. . This corresponds to step S3 in FIG.

  Next, the program creator performs an automatic generation instruction by operating the control program editing apparatus 1. Thus, the CPU 10 automatically generates a range 60 surrounded by a broken line, that is, a step, a transition, and a transition program. This corresponds to step S4 in FIG.

Next, the SFC automatic generation means will be specifically described. This automatic generation means is performed in two steps. In the first step, the operation order (corresponding to the operation order information) and the incidental information are extracted and stored from the operation control FB and the ladder. In the second step, an SFC program is generated from the extracted operation order and incidental information.
Hereinafter, the first step will be described.

  FIG. 7 is a flowchart showing the procedure of the operation control FB information extraction process (FB information extraction process) according to the embodiment of the present invention. When the CPU 10 performs an operation for instructing automatic generation of an SFC program in the control program editing apparatus 1, the CPU 10 executes FB information extraction processing.

  The CPU 10 sets an address for reading a program from the ladder program storage area 20 at the head of the ladder program storage area 20 (step S10), and determines whether the program reading from the ladder program storage area 20 is completed (step S11). Then, in the case of completion (step S11: YES), the CPU 10 places a symbol to be shifted to the first step in the SFC (step S12).

On the other hand, if not completed in step S11 (step S11: NO), the CPU 10 reads the program from the ladder program storage area 20 (step S13), and determines whether the read program is FB (corresponding to the operation control FB). (Step S14), when it is not FB, the process proceeds to Step S21 (Step S14: NO).
On the other hand, when the program read in step S14 is FB (step S14: YES), the CPU 10 determines whether there is an input in the input signal I1 of the read FB (step S15). Then, when there is no input to the input signal I1 (that is, there is no operation order input), the process proceeds to step S18 (step S15: NO).

On the other hand, when there is an input to the input signal I1 in step S15 (step S15: YES), the CPU 10 inputs the numerical value of the input signal I1 to the variable X, inputs the input address of the input signal I3 to the variable Y, and The input address of the input signal I5 is input to Z, and these input data, the input address: Y comment, and the input address: Z comment are stored in the FB information extraction data storage area 23 (step S16). Further, an SFC program generation process to be described later is executed (step S17).
Thereby, a step and a transition corresponding to one operation (for example, forward movement of the transfer device) are automatically generated.

Next, the CPU 10 determines whether or not there is an input to the read FB input signal I2 (step S18). If the input signal I2 is not input (that is, there is no operation order input), the process proceeds to step S21 (step S18: NO). On the other hand, when there is an input to the input signal I2 in step S18 (step S18: YES), the CPU 10 inputs the numerical value of the input signal I2 to the variable X, inputs the input address of the input signal I4 to the variable Y, and The input address of the input signal I6 is input to Z, and these input data, the input address: Y comment, and the input address: Z comment are stored in the FB information extraction data storage area 23 (step S19). Further, an SFC program generation process described later is executed (step S20), the program read address is incremented by 1 (step S21), and the process proceeds to step S11.
Thereby, a step and a transition corresponding to one operation (for example, backward movement of the transport device) are automatically generated.

  Here, the processing of steps S10 to S21 corresponds to the extraction means of the present invention. Thereby, the CPU 10 extracts the information of the operation control FB and stores the extracted result in the FB information extraction data storage area 23. The stored data table is shown in FIG.

  Specifically, for example, when the FB 100 shown in FIG. 5 is read in step S14 (step S14: YES), the data table stored in the FB information extraction data storage area 23 after the process of step S16 is as shown in FIG. As shown in FIG. 8B, the variable X is “1”, the variable Y is “EK100”, the comment of the input address: Y is “conveyance device forward”, the variable Z is “X001”, and the comment of the input address: Z is It becomes the “transport device forward end”.

Next, the second step will be described.
FIG. 9 is a diagram illustrating a cell arrangement displayed when an SFC is generated according to the embodiment of this invention. A cell is a cell in which steps and transitions in SFC are arranged, and a cell number is assigned to the cell. Steps and transitions are arranged in order of operation from cell number 1 together with their comments. Further, after the final operation, a symbol to be transferred to the first step is arranged.
Step and transition comments are displayed in the comment display area 70.

  FIG. 10 is a flowchart showing the SFC program generation processing procedure according to the embodiment of the present invention. When the CPU 10 performs an operation for instructing automatic generation in the control program editing apparatus 1, the CPU 10 executes SFC program generation processing following the above-described FB information extraction processing.

The CPU 10 determines the SFC cell in which the step is arranged. The cell number is expressed by the following formula (1) (step S30).
Cell number = X × 2 + 1 (1)
For example, the cell number is “3” in the case of forward movement of the transport device of the operation order: 1.

Subsequently, the CPU 10 determines a step number. The step number is expressed by the following equation (2) (step S31).
Step number = initial step number + 1 (2)
For example, the step number is “202” in the case of the forward movement of the transport device of the operation order: 1. Further, “202” is set to the step number 62 of the step setting image 61 shown in FIG. Further, this step number 62 is expanded to step ST202 at the arrangement position 62a shown in FIG.
This setting image is not displayed on the control program editing apparatus 1 and an item is input, but the same processing is performed inside the CPU 10. The same is true for other setting images shown in FIG.

  Subsequently, the CPU 10 sets the input address: Y as an action (step S32). For example, in the case of the forward movement of the transport device with the operation order of 1, “EK100” is set in the action 63 of the step setting image 61 shown in FIG.

  Subsequently, the CPU 10 sets the comment of the input address: Y as a comment of the action (step S33). For example, in the case of the forward movement of the transport device in the operation order: 1, “forward transport device” is set in the comment 64 of the step setting image 61 shown in FIG. Further, this comment 64 is expanded into a comment 64a in step ST202 shown in FIG.

  Subsequently, the CPU 10 arranges steps in predetermined cells of the SFC and performs necessary settings (step S34). For example, in the case of the forward movement of the transport device with the operation order of 1, the symbol of the step number “ST202” and the comment “forward transport device” are arranged in the cell number “3” shown in FIG. In this arrangement, similar processing is performed inside the CPU 10.

Subsequently, the CPU 10 determines an SFC cell in which the transition is arranged. The cell number is expressed by the following formula (3) (step S35).
Cell number = X × 2 + 2 (3)
For example, the cell number is “4” in the case of forward movement of the transport device of the operation order: 1.

Subsequently, the CPU 10 determines a transition number. The transition number is expressed by the following equation (4) (step S36).
Transition number = Initial transition number + 1 (4)
For example, in the case of the forward movement of the transfer order of the operation order: 1, the transition number is “202”. Further, “202” is set in the transition number 66 of the transition setting image 65 shown in FIG. Further, this transition number 66 is developed in the transition TR202 at the arrangement position 66a shown in FIG.

  Subsequently, the CPU 10 sets the input address: Z as a transition transition condition (step S37). For example, in the case where the transport device moves forward in the operation order: 1, the transition condition is “X001”.

  Subsequently, the CPU 10 sets the comment of the input address: Z as a comment for the transition (step S38). For example, in the case of the forward movement of the transport device in the operation order: 1, “transport device forward end” is set in the comment 67 of the transition setting image 65 shown in FIG. Further, this comment 67 is expanded to a comment 67a of the transition TR202 shown in FIG.

Subsequently, the CPU 10 arranges transitions in predetermined cells of the SFC, performs necessary settings, and further generates a transition program (step S39). A transition symbol and a comment are arranged in the cell number “4” shown in FIG. For example, in the case of the forward movement of the transport device with the operation order of 1, the symbol of the transition number “TR202” and the comment “transport device forward end” are arranged in the cell number “4” shown in FIG. In this arrangement, similar processing is performed inside the CPU 10. Further, the transition program 68 shown in FIG. 6 is generated.

  Here, the processing of steps S30 to S39 corresponds to the sequential function chart generation means (program automatic generation means) of the present invention. As a result, the CPU 10 automatically generates an SFC program and stores it in the SFC program storage area 22.

As described above, according to the control program editing apparatus 1 according to the present embodiment, the operation order is input to the operation order input unit of the operation control FB, and the operation command input address and the operation command input address are commented to the auxiliary information input unit. By inputting the operation end input address and the comment of the operation end input address, it is possible to automatically generate the SFC automatic operation program steps, transitions, and transition programs for controlling the machine to generate the SFC. Therefore, even a control design engineer with little experience in creating an SFC program can more easily create an SFC automatic operation program for controlling the machine.
Further, if the machine design technology has basic knowledge of sequence control, an SFC automatic operation program for controlling the machine can be created more easily even if the user has little experience.

  Further, according to the control program editing apparatus 1 according to the present embodiment, the operation control function block FB100 corresponds to the steps (corresponding to the operations) and the transitions (corresponding to the operation ends) constituting the sequential function chart. The relationship between the sequential function chart 60 and the incidental information input unit 51 is obtained by inputting the forward command I3 and the backward command I4 of the operation command and the forward end I5 and the reverse end I6 of the operation end signal to the incidental information input unit 51 of Therefore, it is easy to verify the program of the created sequential function chart. Therefore, even a control design engineer with little experience in creating an SFC program can create an SFC automatic operation program that easily controls the machine.

In the above description, the control program editing apparatus 1 that supports creation of a control program for a programmable controller has been described. Hereinafter, a control program creation support program that is installed in the control program editing apparatus 1 will be described.
The control program creation support program executes the processes of the flowcharts shown in FIGS. 7 and 10 described above, creates the data table shown in FIG. 8, displays the cell arrangement shown in FIG. Generate automatically.
That is, the control program editing apparatus 1 (corresponding to a computer) is configured to extract operation order information and incidental information from a ladder program (operation control FB) created in advance, and operation order information extracted by the extraction means. And an automatic program generation means for automatically generating an SFC program by automatically generating steps and transitions based on the accompanying information.
Further, the control program editing apparatus 1 is provided with an operation order designating means for enabling the operation order information to be designated from the operation order input unit provided in the operation control FB, and from the incidental information input unit provided in the operation control FB. Can be designated, and the supplementary information input unit functions as supplementary information designation means that can designate at least an operation command signal based on the operation command and an operation end signal based on the operation end state.

In addition, you may change the said embodiment as follows.
In the above embodiment, the number of operations is four as an example of the transport system, but the number of operations is not limited to this, and the number of operations may be one or more.
In the above embodiment, the motion control FB has a forward motion and a backward motion, but it may be forward motion only or backward motion only. In the case of forward movement only, the reverse movement order is not entered. In the case of only backward movement, the forward movement order is not input.
In the above embodiment, the motion control FB has two motions, the forward motion and the backward motion. However, the motion control FB is not limited to this. For example, the motion control FB is applicable to a case where the motion control FB has one motion or three or more motions. it can.
In the above embodiment, the initial step number is “ST201” and the initial transition number is “TR201”. However, the present invention is not limited to this, and may be “ST100” and “TR100”, respectively.

1: control program editing device, 23: FB information extraction data storage area, 40: PLC, 50: operation order input unit, 51: auxiliary information input unit, I3: forward command (motion command signal), I4: reverse command (motion) Command signal), I5: forward end (operation end signal), I6: reverse end (operation end signal), FB100: operation control FB (function control function block for forward / backward movement)

Claims (2)

In a control program editing apparatus that supports creation of a control program for calculation by a programmable controller that calculates based on a signal from a detection means that detects an operating state of a machine and outputs a calculation result to the movable part of the machine,
The control program is
It is composed of a step indicating the operation for each movable part, and a transition indicating a transition condition from one step to the next step, and shows the sequence of a series of operations for each movable part and the entire flow of the control program. Sequential function chart program,
Each of the steps in the sequential function chart program, a ladder program expressing the operation control function block provided for each movable part and a ladder, and
Each of the operation control function blocks in the ladder program is composed of a function block program represented by a ladder,
In the operation control function block,
Operation order information regarding the operation order of each of the movable parts;
And supplementary information that is information on the operation command to each movable part and the operation end state in which the operation end is detected by the detection means,
The operation order information is a numerical value indicating the operation order, can be specified in the operation order input unit provided in the function block for operation control,
The auxiliary information includes a first address of the programmable controller associated with an operation command signal based on an operation command and a second address of the programmable controller associated with an operation end signal based on an operation end state. It can be specified in the incidental information input part provided in the function block for operation control,
The control program editing device includes:
Extraction means for extracting the operation order information and the incidental information from the ladder program created in advance;
In correspondence with the operation order information extracted by the extraction means, a first cell in which the steps in the sequential function chart program are arranged, and a second cell in which the transitions in the sequential function chart program are arranged For the first cell of the determined step, the first address corresponding to the first cell is set in the operation of the first cell, and the transition of the determined transition is set. For the second cell, by setting the second address corresponding to the second cell as a transition condition to the next step in the second cell and generating a transition program, The sequential function chart is generated by automatically generating the step and the transition. And automatic program generation means for generating a preparative program automatically, the control program editing apparatus characterized in that it comprises a. A control program creation support program that supports creation of a control program for computation by a programmable controller that computes based on a signal from a detection means that detects an operating state of the machine and outputs a computation result to the movable part of the machine Because
The control program is
It is composed of a step indicating the operation for each movable part, and a transition indicating a transition condition from one step to the next step, and shows the sequence of a series of operations for each movable part and the entire flow of the control program. Sequential function chart program,
Each of the steps in the sequential function chart program, a ladder program expressing the operation control function block provided for each movable part and a ladder, and
Each of the operation control function blocks in the ladder program is composed of a function block program represented by a ladder,
In the operation control function block,
Operation order information regarding the operation order of each of the movable parts;
And supplementary information that is information on the operation command to each movable part and the operation end state in which the operation end is detected by the detection means,
Computer
An operation order designating unit that allows designating the operation order information, which is a numerical value indicating the operation order, to the operation order input unit provided in the function block for operation control,
The incidental information input unit provided in the function block for operation control is made to correspond to the first address of the programmable controller corresponding to the operation command signal based on the operation command and the operation end signal based on the operation end state. Additional information specifying means for specifying the second address of the programmable controller,
Extraction means for extracting the operation order information and the incidental information from the ladder program created in advance;
In correspondence with the operation order information extracted by the extraction means, a first cell in which the steps in the sequential function chart program are arranged, and a second cell in which the transitions in the sequential function chart program are arranged For the first cell of the determined step, the first address corresponding to the first cell is set in the operation of the first cell, and the transition of the determined transition is set. For the second cell, by setting the second address corresponding to the second cell as a transition condition to the next step in the second cell and generating a transition program, The sequential function chart is generated by automatically generating the step and the transition. Automatic program generation means for generating a preparative program automatically, to function as,
Control program creation support program.

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