JP6460107B2 - Device control system, time chart creation device, device control device, device control method, time chart creation method, and computer program - Google Patents

Description

  The present invention relates to a device control system, a time chart creation device, a device control device, a device control method, a time chart creation method, and a computer program.

  Patent Document 1 describes an automatic control program creation device that automatically creates a ladder program from a time chart.

  In Patent Document 2, the time chart of the input device and the output device is edited using a personal computer, the time chart data is compiled into a machine language, and the compiled machine language is transmitted to the processing device through an interface. It is described.

JP-A-7-191717 JP 2003-228403 A

  The problem to be solved by the present invention is to enable high-level control including conditional branching and the like in device control based on a time chart.

  A device control system according to one aspect of the present invention is a time chart creation device that creates a time chart in which operations of one or more devices are described with respect to a time axis, and a time chart created by the time chart creation device And a device control device that controls the one or more devices based on the time chart, wherein the time chart creating device creates a control chart in which a control command is written in the time chart with respect to a time axis A chart creation unit; and a device chart creation unit that creates at least one device chart describing an operation of the device with respect to a time axis in the time chart.

  Further, in the device control system according to one aspect of the present invention, the device control device includes a control command execution unit that controls the internal time based on the control chart, the at least one device chart, and the device control. A device output execution unit that operates the device based on the internal time of the device.

  In the device control system according to one aspect of the present invention, the control command execution unit may rewrite the internal time according to the control chart.

  In the device control system according to one aspect of the present invention, the control instruction may include at least one of a conditional branch, a conditional loop, and a subroutine call.

  In the device control system according to one aspect of the present invention, the control command may further include an exception processing command that rewrites the internal time according to the occurrence of an event.

  In the device control system according to one aspect of the present invention, the time chart creation device includes the time chart, operation data indicating the operation of the device associated with the time, and a control command associated with the time. A control unit that converts the control data into control data, and a transmission unit that transmits the control data to the device control device, the device control device based on the control data. Alternatively, two or more devices may be controlled.

  Further, in the device control system according to one aspect of the present invention, the time chart creation unit displays the control chart on the common time axis with the device chart in a manner that can be distinguished from the device chart, The control command may be described by designating a time on the control chart.

  In the device control system according to one aspect of the present invention, when the operation of the device means output to the device, the device control apparatus outputs to the device according to the internal time. A device output execution unit to be executed; and an internal time stop unit that stops the progress of the internal time until an input from the device is made when the operation of the device means an input from the device. You can do it.

  Moreover, the time chart preparation apparatus which concerns on another one side surface of this invention is used for the above-mentioned apparatus control system.

  The time chart creation device according to one aspect of the present invention includes a time chart simulation unit that simulates the operation of the time chart, and a device simulation unit that simulates the operation of the device. Good.

  Moreover, the apparatus control apparatus which concerns on another one side surface of this invention is used for the above-mentioned apparatus control system.

  According to another aspect of the present invention, there is provided a device control method in which a control chart in which a control command is described with respect to a time axis is created on a time chart, and at least one device operation is described with respect to the time axis. One device chart is created, a time chart is created, and one or more devices are controlled based on the time chart.

  A time chart creation method according to another aspect of the present invention is used for the above-described device control method.

  A computer program according to another aspect of the present invention causes a computer to function as the above-described time chart creation device.

It is the schematic of the apparatus control system which concerns on one Embodiment of this invention. It is a hardware block diagram of a time chart preparation apparatus. It is a figure which shows an example of the time chart produced and displayed by the time chart production apparatus. It is a figure which shows a crane game machine. It is a functional block diagram of the equipment control system concerning one embodiment of the present invention. It is a figure which shows the structural example of control data. It is the figure which showed the control chart which described what is called if statement as a conditional branch instruction. It is the figure which showed the control chart which described what is called a switch statement as a conditional branch instruction. It is the figure which showed the control chart which described what is called a for loop as a conditional loop. It is the figure which showed the control chart which described what is called a while loop as a conditional loop. It is the figure which showed the control chart which described what is called a call sentence as a subroutine call. It is the figure which showed the control chart which described exception jump as exception processing. It is the figure which showed the control chart which described the exception call as exception processing. It is the figure which showed the control chart which separated and showed exception processing as an exception handler. It is a flowchart which shows the procedure which produces a time chart with a time chart preparation apparatus. It is a flowchart which shows the procedure which performs a time chart based on control data by an apparatus control apparatus. It is a flowchart which shows the procedure which confirms the operation | movement of a time chart by simulation with a time chart preparation apparatus.

  According to the viewpoint of the inventor of the present invention, the time chart is advantageous over a control program using a ladder chart or C language that has been used for conventional device control in that the operation of the device is intuitively easy to understand. Is big. However, even though the time chart can describe the specified operation with respect to the time axis, there is no known method for describing and executing advanced control generally known as control structures such as conditional branching and repetition. It was a limitation in operating the equipment using the chart.

  Therefore, the inventor of the present invention has invented a new and original device control system and the like as a result of earnest research and development on performing advanced control including conditional branching in device control using a time chart. It came. The device control system and the like will be described in detail below with reference to the drawings through the embodiments.

  FIG. 1 is a schematic diagram illustrating an example of a device control system 1 including a time chart creation device 2 and a device control device 3 according to an embodiment of the present invention. In the figure, as an example of the device control system 1, in addition to the time chart creation device 2 and the device control device 3, a servo controller 4, a switch 5 and a lamp 6 connected to the device control device 3, and a servo controller 4 A connected servo motor 7 is shown.

The device control device 3 is a device that controls operations of various devices connected to the device control device 3 based on one or more time charts. The device control device 3 here is a device of the same kind as a device generally known as a controller for industrial devices, and may be a device known as a sequencer or a PLC ( Programmable Logic Controller). The device control apparatus 3 does not have to control each device based only on the time chart, and can execute a general ladder program or a control program in another language in addition to the time chart. It's okay.

  The time chart creation device 2 is a device that creates a time chart to be executed in the device control device 3, converts it into control data in a format that can be interpreted and executed by the device control device 3, and transfers the control data to the device control device 3. . The time chart creation device 2 may be a dedicated device, but is realized by executing a computer program that functions as the time chart creation device 2 using a general computer as illustrated. Such a computer program may be stored in a computer-readable information storage medium such as various optical disks and semiconductor memories, and is preferably installed in the computer from the medium. Alternatively, it may be downloaded to a computer from various information communication networks such as the Internet, or may be realized by so-called cloud computing in which the function is provided by a server at a remote location through the information communication network.

  Here, the time chart means a diagram illustrating the operation of one or more devices with respect to a common time axis, and the control data is a format in which the device control apparatus 3 can recognize such a time chart. It shall mean the data converted as electronic data. The specific configuration of the time chart and control data will be described in detail later.

  In addition, the equipment here refers to an article to be controlled by the equipment control device 3 as a part of the equipment control system 1, and performs some electrical input or output with the equipment control device 3. As an apparatus that performs input to the apparatus control device 3, for example, the illustrated switch 5 is used. As an apparatus that receives an output from the apparatus control apparatus 3, for example, the illustrated lamp 6 is used. For example, there is a motor controller such as the illustrated servo controller 4, and an actuator such as a servo motor 7 that is indirectly controlled by the device controller 3 via the servo controller 4 is also described in this specification. This corresponds to the equipment mentioned in the manual. The servo controller 4, the switch 5, the lamp 6, and the servo motor 7 shown in FIG. 1 are shown to exemplify the devices referred to in this specification, and the types of devices included in the device control system 1 The number varies depending on the content of control to be realized by the device control system 1.

  In the above description and FIG. 1, other detailed configurations and wirings that are not necessary for the description of the present embodiment, such as connection of power supply lines and ground lines, are omitted for the sake of simplicity. Further, the connection mode, the type of connector, and the like are not particularly limited. Further, when the device control device 3 operates, the time chart creation device 2 does not necessarily have to be connected. If control data is transferred to the device control device 3, the time chart creation device 2 is not required. The device control device 3 is operable. Further, the time chart creation device 2 is not necessarily connected to the device control device 3, and the time chart creation device 2 can create the time chart and the control data alone.

FIG. 2 is a block diagram showing a physical configuration of the time chart creation device 2. Here, the time chart creation device 2 is a general computer, and includes a CPU (Central Processing Unit) 2a, a RAM (Random Access Memory) 2b, an external storage device 2c, a GC (Graphics Controller) 2d, an input device 2e, and an I / O. ( Input / Output) 2f is connected to each other via the data bus 2g so that electrical signals can be exchanged. Here, the external storage device 2c is a device capable of recording information statically, such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive). The signal from the GC 2d is output to a monitor 2h such as a flat panel display where the user visually recognizes the image and displayed as an image. The input device 2e is a device for a user to input information, such as a keyboard, a mouse, and a touch panel, and the I / O 2f exchanges information with an external device, here, the device control device 3 by the time chart creation device 2. Interface.

  FIG. 3 is a diagram illustrating an example of the time chart 10 created and displayed by the time chart creating apparatus 2. The time chart 10 includes the same number of device charts 11 that describe the operation of devices included in the device control system with the horizontal axis as the time axis. In the example shown in FIG. 3, since six devices are included, the number of device charts 11 is six, and each is displayed surrounded by a frame.

  For example, the device chart 11 named “X switch” and “Y switch” is the device chart 11 associated with the push button switch, and the position of the reference line 13 indicated by the broken line is switched off, that is, pressed. The state where the button is not pressed and the position where the waveform rises from the reference line 13 indicates that the switch is turned on, that is, the push button is pressed. Further, on the left end of the device chart 11, an icon that easily indicates the type of the device and a name given to the device chart 11 are displayed.

  The device chart 11 named “X axis”, “Y axis”, and “Z axis” is the device chart 11 associated with the motor, and the reference line indicates that the motor speed is 0, that is, the motor is stopped. It shows the state. When the waveform appears on the upper side from the position of the reference line 13, it indicates that the motor is rotating forward, and its height indicates the rotation speed. Further, when the waveform appears on the lower side from the position of the reference line 13, it indicates that the motor is reversely rotated, and similarly, the height indicates the rotational speed. That is, the waveforms shown in the device chart 11 named “X-axis”, “Y-axis”, and “Z-axis” are motor speed waveforms. Note that the position waveform of the motor may be shown instead of or in addition to the speed waveform.

  Furthermore, the device chart named “hand” is a device chart 11 associated with a hand (described later) that opens and closes according to a command, and the waveform is a command that causes the position of the reference line 13 to open the hand. The position shown rising from the reference line 13 indicates a command to close the hand.

  Further, the time chart 10 includes a control chart 12. Unlike the device chart 11 described above, the control chart 12 is a virtual chart that is not associated with a specific device. In the control chart 12, control commands for performing advanced control of the entire time chart 10 are described.

  The equipment chart 11 and the control chart 12 are shown with respect to a common time axis. Therefore, all the operations shown on the device chart 11 and the control commands shown on the control chart 12 are described with respect to the time axis. A time scale 14 indicating the time on the time axis is displayed at the top of the control chart 12. Here, the unit of the time scale 14 is seconds. Further, a marker 15 indicating the current time of the time chart 10 being executed is shown further above the time scale 14. When the operation described in the time chart 10 is executed, the marker 15 moves rightward in accordance with the operation, and indicates the current execution time point.

  The time chart 10 shown in FIG. 3 describes the operation of the crane game machine 20 shown in FIG. As is well known, the crane game machine 20 moves the crane 22 in the X direction shown in the figure while pressing the X switch 21 which is a push button switch, and further switches the Y switch 23 which is a push button switch. While pushing, the crane 22 moves in the Y direction shown in the figure. Thereafter, the operation is automatically performed, the crane 22 is lowered in the Z direction, and the hand 24 that has been opened is closed. Further, the crane 22 moves up in the Z direction, and then the crane 22 moves to a position immediately above the prize acquisition port 26 which is the initial position, so that the hand 24 is opened again. In this series of operations, if the hand 25 has succeeded in grabbing the prize 25 arranged in the housing, the prize 25 is dropped to the prize acquisition port 26 and can be taken out from the prize take-out port 27.

  With reference to the time chart 10 of FIG. 3 again, how the device control apparatus 3 executes this operation will be described below.

  The device control device 3 holds an internal time indicating a time on the time chart 10. The operation and control commands described in the time chart 10 are executed as the internal time progresses, that is, when the internal time arrives at the time when each operation and control command is described. This indicates that the marker 15 indicates the position of the internal time on the time scale 14.

  First, the execution of the time chart 10 is started from the time of 0 seconds as the initial value of the internal time. The internal time progresses as the real time progresses. In this example, a label labeled “1” is described in the control chart 12 at time 0.5 seconds. This label has the same function as a label in a general computer program language, and merely indicates a specific position on the time chart 10, and has no other significance. Comparing the label in the present embodiment with the label in a general computer program language, the former points to the time on the time chart 10 as its position, while the latter points to a point on the program list or the program counter. Is different.

  At time 0.5 seconds, a waveform indicating that the signal is turned on is described in the device chart 11 for the “X switch”. Here, as shown in FIG. 4, the X switch 21 is a push button switch, and its signal changes when the player presses the switch. For this reason, the device control apparatus 3 matches the state of the X switch 21 described in the device chart 11, that is, stops the progress of the internal time until the X switch is pressed, and keeps it for 0.5 seconds. To do. By this control, the device control apparatus 3 performs a standby operation until the X switch 21 is pressed.

  When the X switch 21 is pressed, the internal time starts to advance again. When the internal time reaches 0.6 seconds, the operation “Feed” is described in the device chart 11 for “X axis”. This operation “Feed” means that the corresponding motor is continuously rotated at a predetermined speed. Therefore, while the operation “Feed” is valid, the device control apparatus 3 continues to rotate the X-axis motor.

  When the internal time reaches 1.0 second, a waveform indicating that the signal is turned off is described in the device chart 11 for the “X switch”. Also in this case, as before, the device control apparatus 3 stops the internal time until the state of the X switch 21 matches that described in the device chart 11, that is, until the X switch is released. Hold for seconds. With this control, the device control apparatus 3 performs an operation of waiting until the X switch 21 is released. During this time, since the operation “Feed” of the X-axis motor is effective, the X-axis motor continues to rotate.

  When the X switch 21 is released, the internal time starts to advance again. When the internal time reaches 1.1 seconds, the operation “Hold” is described in the device chart 11 for “X axis”, which means that the operation “Feed” is finished. Therefore, when the internal time is 1.1 seconds, the device control device 3 stops the X-axis motor.

  With the above operation, the control of moving the crane 22 in the X direction while the X switch 21 is pressed is realized. Furthermore, when the internal time is between 1.5 seconds and 2.1 seconds, the description of the device chart 11 for the “Y switch” and the device chart 11 for the “Y axis” is exactly the same as in the case of the X axis. Control of moving the crane 22 in the Y direction while the Y switch 23 is pressed is realized.

  Thereafter, the internal time advances to a time point of 2.5 seconds, and as shown in the device chart 11 for “Z-axis”, the device control device 3 uses the specified velocity waveform for the Z-axis motor and the internal time is 4 Rotate in the negative direction until 5 seconds. As a result, the crane 22 is automatically lowered by a predetermined distance in the Z direction.

  Subsequently, when the internal time reaches 5.0 seconds, a waveform indicating that the signal is turned on is described in the device chart 11 for “hand”. Here, the hand 24 in FIG. 4 is operated to close while the signal from the device control device 3 is on and open while the signal is off (the power to open and close the hand 24). Any mechanism may be used as the source (an appropriate device such as an electromagnetic solenoid or a pneumatic actuator may be used). Therefore, at this time, the hand 24 is closed and closed.

  Furthermore, when the internal time is 6.0 seconds, the operation “Home” is described in the device chart 11 for “Z axis”. This operation “Home” means an operation for returning the corresponding motor to the home position at a predetermined speed. Therefore, by this operation “Home”, the Z-axis rotates forward toward the origin position, and the crane 22 automatically rises in the Z direction. Then, the device control device 3 stops the progress of the internal time until the home position return operation is completed, that is, until the home position return signal is input from the Z-axis motor, and holds it for 6.0 seconds. As a result, the device control apparatus 3 performs an operation of waiting until the origin return operation of the Z-axis motor is completed. When the return to origin of the Z-axis motor is completed, the internal time starts to advance again.

  Thereafter, when the internal time reaches 6.5 seconds, the operation “Home” is described in both the device chart 11 for the “X axis” and the device chart 11 for the “Y axis”. As a result, as in the previous Z-axis, the device control apparatus 3 instructs the origin return operation to both the X-axis and the Y-axis, and stops the progress of the internal time and waits until the operation is completed. As a result, the crane 22 returns to its initial position, that is, a position directly above the prize acquisition port 26.

  When the internal time advances to 7.0 seconds after completion of the origin return operation for both the X axis and the Y axis, a waveform indicating that the signal is turned off is described in the device chart 11 for “hand”. Therefore, the hand 24 opens at this point. If the prize 25 is successfully gripped by the hand 24, the prize 25 will fall into the prize acquisition port 26.

  Although a series of operations of the crane game is completed as described above, the internal time further advances to a point of 7.5 seconds. At this time, a control command described as “Jump (1)” is described in the control chart 12. This control command indicates that the execution position on the time chart 10 by the device control device 3 is moved to a specified label position, and is a control transfer command (known as a goto statement in many computer program languages). So-called jump instruction). The control command shown here instructs to shift the execution to the label “1” when the internal time reaches 7.5 seconds. In this example, the control instruction is executed at the time of 0.5 seconds. Move. The device control apparatus 3 executes this control transfer by rewriting the internal time to 0.5 seconds, which is the time at which the label “1” is described. As a result, the execution time on the time chart 10 returns to the time of 0.5 seconds, and the series of operations described above can be repeatedly executed thereafter.

  Here, the control instruction referred to in the present specification is equivalent to a control instruction or control syntax in a general computer program language. A control command or control syntax in a general computer program language is a command that changes the execution order of commands to a sequence other than normal sequential execution. It can be said that the order is changed to an order other than the described time. Further, advanced control as used in this specification refers to control in which the execution order of control is changed to an order other than that described by a control instruction, unlike simple sequential execution. That is, in the present embodiment, since the time chart 10 includes the control chart 12 in which the control command is described with respect to the time axis, it is possible to describe advanced control on the time chart 10, and the time chart 10 By including the control command data indicating the control command associated with the time in the control data obtained by converting the above, advanced control based on the time chart 10 can be executed.

  As shown in FIG. 3, the control command is described by designating a time on the control chart 12 displayed separately from the device chart 11. Thereby, when contacting the time chart 10, it is possible to grasp at a glance the description of the control command that is a part related to the execution order of the control, that is, a part related to advanced control. In other words, the control chart 12 is displayed in a manner that can be distinguished from the device chart 11, thereby preventing a situation in which the control command is buried in the description of the operation of the device and is difficult to recognize. As a result, the readability of the time chart 10 increases, and the productivity of the time chart 10 increases, such as the maintenance and reuse of corrections and the like being facilitated.

  FIG. 5 is a functional block diagram of the device control system 1 according to the present embodiment. The functional blocks shown here are shown focusing on the functions of the devices included in the device control system 1, particularly the time chart creation device 2 and the device control device 3. There is no physical configuration corresponding to 1. Some functional blocks are realized by the CPU 2a of the time chart creation device 2 and a general-purpose or dedicated information processing device such as a processor included in the device control device 3 executing specific software, and some functional blocks are time charts. This may be realized by allocating a specific storage area to the information storage device such as the RAM 2b of the creation device 2 or the memory included in the device control device 3.

  The time chart creation device 2 includes a time chart creation unit 2i, a conversion unit 2j, and a transmission unit 2k. More preferably, a time chart simulating unit 2m and a device simulating unit 2n are also provided.

The time chart creation unit 2i is a part that displays a time chart on the monitor 2h in a manner as shown in FIG. 3, for example, receives an input from the input device 2e, creates a time chart, and creates a control chart. A chart creation unit 2o and a device chart creation unit 2p for creating a device chart are included. When creating the time chart, the time chart creating unit 2i uses an appropriate GUI (Graphical) so that an input instruction from the user is easy.
It is desirable to have a User Interface. Such a GUI can be described, for example, by referring to FIG. 3 when the control chart creation unit 2o points to a specific time on the reference line 13 of the control chart 12 with an arbitrary pointing device. For example, a selection of an appropriate control command is displayed, or a dialog for inputting necessary information is displayed. In the device chart creation unit 2p, when a specific time on the reference line 13 of the device chart 11 is pointed in the same manner, descriptions of operations that can be described are displayed, or a dialog is displayed.

  The conversion unit 2j is a part that converts the time chart created by the time chart creation unit 2i into control data. Here, as shown in FIG. 3, the time chart 10 includes a control chart 12, and control commands are described on the control chart 12. However, as described above, the control chart 12 is not associated with a specific device, but is a virtual chart for improving the readability of the time chart 10 related to advanced control. Therefore, when the control based on the time chart is executed in the device control device 3, it is not always necessary to explicitly show the control chart. That is, if the control data converted from the time chart includes data indicating that it is a control command, the device control device 3 itself executes control according to the time chart without recognizing the control chart itself. Is possible. Therefore, the control data is described in the control chart included in the time chart, the control instruction data indicating the control instruction associated with the time, and the apparatus described in the device chart included in the time chart and associated with the time. The operation data indicating the operation is included.

  The control data converted by the conversion unit 2j is transmitted to the device control device 3 by the transmission unit 2k, held in a control data holding unit 3a described later, and read and executed as necessary. Here, generally, when the data amount of information indicating the time chart itself created in the time chart creation device 2 is compared with the data amount of the control data converted by the conversion unit 2j, the data amount of the control data is Is smaller. Therefore, by creating and transmitting the control data on the time chart creating apparatus 2 side, the amount of data that must be communicated and the amount of data that must be held by the control data holding unit 3a are reduced. Further, it is not necessary to separately prepare an engine for decoding the time chart on the device control device 3 side, and capacity reduction and high-speed operation are possible. Furthermore, when the specification of the time chart is changed, it is only necessary to change the specification of the conversion unit 2j on the time chart creation device 2 side, and it is usually unnecessary to change the firmware etc. on the device control device 3 side. Is possible.

By the way, as described above, the specific configuration and format of the control data includes at least the operation data indicating the operation of the device linked to the time and the control command data indicating the control command linked to the time. Any material may be used as long as it is contained. That is, the data format of the control data may be a text format or a binary format. For example, when the electronic file indicating the control data is in a text format, the file may be in an array format such as a so-called CSV format or an XML format.

  FIG. 6 is a diagram illustrating a configuration example of control data. As an example, the control data has initialization data as an item at the beginning of the file, and then the necessary number of operation data and control data follow. At the end of the file, if necessary, eof (End Of File) indicating the end of the control data is added. Here, the control data is CSV format data, and each item is shown separated by a comma.

  The initialization data is data including information on the time chart itself and various information necessary for executing the time chart, for example, information on the equipment connected to the equipment control device 3. For example, necessary information is shown in a format such as “ENTRY =“ value ”;... Specifically, when the name of the time chart is “crane game”, the name of the producer is “yaskawa”, and the device shown in FIG. 3 is used as an example, “CHARTNAME =“ crane game ”; AUTHOR = “Yaskawa”; M1 = “SWITCH”; M2 = “SERVO”; M3 = “SWITCH”; M4 = “SERVO”; M5 = “SERVO”; M6 = “CYLINDER” ”. Here, “CHARTNAME” shown as ENTRY indicates the name of the time chart, “AUTHER” indicates the creator, and “M1” to “M6” indicate the types of devices connected to the device control device 3. It is. Of course, if necessary, more information may be included in the initialization data.

  In addition, the operation data is data including the target device of the operation data, the time at which the operation is described, and the content of the operation, and is represented in a format such as “time; device number; operation”, for example. . For example, in the device chart 11 for “X switch” in FIG. 3, if the operation is shown at the time of 0.5 seconds, “0.5; M1;

  The same applies to the control command data. The data includes the time when the control command is described and the content of the control command, indicating that the control command data is included. For example, in the case of the jump instruction shown in FIG. 3, “7.5; C; JUMP 0.5” or the like is obtained. Here, “C” indicates a control command, and “JUMP 0.5” indicates that the control is transferred to the time when the internal time is 0.5 seconds.

  Returning to FIG. 5, the device control apparatus 3 holds the control data transferred to the control data holding unit 3a. Moreover, the apparatus control apparatus 3 has the internal time clock part 3b, and clocks internal time. Here, the traveling speed of the internal time measured by the internal time counting unit 3b is normally the same as the traveling speed of the real time, but it may be different. That is, the advance speed of the internal time may be faster or slower than the real time. The ratio of the internal speed to the real time speed is known as the override factor, and this override factor can be adjusted as necessary to speed up or slow down the time chart. You can do it.

  The control data held in the control data holding unit 3a is read by the control data reading unit 3c according to the progress of the internal time measured by the internal time counting unit 3b. The function of the control data reading unit 3c is to read operation data and control command data having a time corresponding to the internal time, and if the read data is control command data, read the data to the control command execution unit 3d. If the data is operation data, if the operation data means output to the device, the device output execution unit 3e will stop the internal time when the operation data means input from the device. Each is sent to the part 3f.

  The control command execution unit 3d interprets and executes the control command data. Since the control instruction usually indicates a condition for executing the instruction and, as a result, the control transfer on the time chart, the control instruction execution unit 3d determines the internal time as the result of the interpretation of the control instruction data. The internal time held in the time measuring unit 3b is rewritten. Alternatively, the control command execution unit 3d may stop the progress of the internal time held in the internal timekeeping unit 3b when the control command indicates a standby for a specified time.

  The device output execution unit 3e interprets the operation data and outputs a signal necessary for realizing the operation of the device. As a result, each device performs an operation as described in the time chart.

  The internal time stop unit 3f is a part that interprets the operation data and stops the progress of the internal time in the internal time counting unit 3b until the input from the device matches the data described in the time chart. Thereby, the device control apparatus 3 performs an operation such as waiting until a specific switch is pressed, for example.

  By the way, the control command that can be used in the device control system 1 according to the present embodiment is not limited to the jump command shown in the previous example, and various commands can be used to realize more advanced control. As good as

  For example, the control instruction may include an instruction known as a conditional branch.

  FIG. 7A shows a control chart 12 in which a so-called if statement is described as a conditional branch instruction. The device control apparatus 3 interprets the If command that is a control command when the internal time is 1.0 second, and determines whether or not the condition associated with the If command is satisfied. This condition is not shown in the figure, but is input in advance by a dialog or the like displayed when the If command is added to the control chart 12 by the time chart creation unit 2 i of the time chart creation device 2. For example, this condition may be based on the state of a specific device such as a switch or a motor, or may be based on a value of a variable held in the device control device 3 inside. When this condition is satisfied, the device control apparatus 3 executes a time chart following the If command, that is, executes a portion of 1.0 to 3.0 seconds, and then describes an Endif command indicating the end of the If clause. Control is transferred to the 5.0 second time point.

  On the other hand, if the condition associated with the If command is not satisfied, the device control device 3 transfers control to the time point of 3.0 seconds when the Else command is described, and the subsequent portion, that is, 3 The portion of 0.0 seconds to 5.0 seconds is executed, and thereafter, the portion after 5.0 seconds in which the Endif instruction is described is executed.

  FIG. 7B shows a control chart 12 in which a so-called switch statement is described as a conditional branch instruction. The device control device 3 interprets a Switch command that is a control command when the internal time is 1.0 second, and branches the subsequent control according to a condition associated with the Switch command.

  That is, if the condition associated with the Switch instruction matches that associated with the Case 1 instruction or Case 2 instruction, control is transferred to the time of the instruction, and if there is no coincidence, the Switch instruction is followed. Run the part. In any case, when the time chart of the corresponding range is executed, the control is transferred to the time point of 7.0 seconds where the Send instruction indicating the end of the Switch clause is described. In this example, so-called fall-through is not performed, but fall-through may be performed as a standard, or fall-through may be explicitly instructed. Further, the portion following the Switch instruction is a so-called default clause, but the default clause may be explicitly indicated.

  In addition, the control instruction may include an instruction known as a conditional loop.

  FIG. 8A shows a control chart 12 describing a count control loop, that is, a so-called for loop as a conditional loop. The device control device 3 interprets the For command that is a control command when the internal time is 1.0 second, and repeats the range up to 5.0 seconds in which the Next command is described as many times as indicated in the For command. Run. That is, the range from 1.0 second to 5.0 seconds can be repeatedly executed an arbitrary number of times.

  FIG. 8B shows a control chart 12 in which a conditional control loop, that is, a so-called while loop (also referred to as a do-while loop) is described as a conditional loop. The device control apparatus 3 interprets the While command that is a control command when the internal time is 1.0 second, and while the condition associated with the While command is satisfied, 5.0 seconds in which the Wend command is described. Repeat the range up to. This condition is inputted in advance by a dialog or the like by the time chart creating unit 2i of the time chart creating apparatus 2 as in the case of the If command. Alternatively, a Break instruction indicating that the While clause is forcibly terminated and control is transferred to a portion after the Wend instruction may be described.

  Further, the control instruction may include an instruction known as a subroutine call. FIG. 9 shows a control chart 12 in which a so-called call statement is described as a subroutine call. The device control device 3 interprets the Call command which is a control command when the internal time is 1.0 second, and transfers control to the time of 5.0 seconds where the label “2” indicated in the Call command is described. . Then, when the internal time reaches the time point of 8.0 seconds when the Return instruction is described, the device control device 3 returns the control to the time point of 1.0 seconds that is the time point when the executed Call instruction is described, After that, the time chart is continuously executed. That is, in the example shown in the figure, when the internal time reaches 1.0 seconds, the device control device 3 executes a time chart in which the internal time is in the range of 5.0 seconds to 8.0 seconds, and then 1 The operation returns to the time point of 0.0 seconds, executes the time chart up to 4.0 seconds, and then returns to the time point of 0.5 seconds by the Jump instruction and repeats the operation thereafter.

  As described above, in the present embodiment, the control instruction preferably includes at least one of a conditional branch, a conditional loop, and a subroutine call. By using such a control command, more advanced control can be performed, the readability of the time chart is improved, and the productivity of the time chart is improved such that there is no need to repeatedly describe overlapping operations.

  Further, in the present embodiment, the control instruction may include an exception processing instruction for performing so-called exception processing. The exception processing instruction here is to perform specific exception processing by rewriting the internal time and transferring control in response to occurrence of some event, for example, an error. This event may be predetermined as a so-called error (for example, an error generated by the device control device 3 itself, an error generated by a device such as a servo controller connected to the device control device 3), or the user May be able to set events. As an event to be set for exception processing, for example, pressing an emergency stop button can be considered. Hereinafter, an event that should cause exception handling is simply referred to as an event.

  FIG. 10A is an example in which the control chart 12 describes an exception process that jumps to a specific time when an exception occurs. In this control, unless an event such as an error occurs, the process of the internal time from 0.5 seconds to 5.0 seconds is repeated.

  The Try_J command, which is a control command described at the time of 1.0 second, means the start of event occurrence monitoring, and the Try_E command, which is a control command written at the time of 4.0 seconds, It means the end of event occurrence monitoring. That is, if an event occurs in a section of 0.5 to 4.0 seconds, which is a section between the Try_J instruction and the Try_E instruction, exception handling is performed.

  When an event occurs in the interval of 0.5 to 4.0 seconds and the exception interval is defined by the Try_J instruction as shown in FIG. 10A, the device control device 3 uses a special label for exception processing. Control is transferred to the time point of 6.0 seconds at which “Catch” is described. Since this process is the same as a normal Jump instruction, the internal time is simply rewritten to the time point of 6.0 seconds. Thereafter, the exception handling described after 6.0 seconds is appropriately interpreted and executed.

  FIG. 10B shows an example in which a subroutine call is made in the control chart 12 when an exception occurs as exception processing. In this case as well, the process of the internal time from 0.5 seconds to 5.0 seconds is repeated unless an event such as an error occurs.

  The Try_C command, which is a control command described at the time of 1.0 second, means the start of event occurrence monitoring, and the Try_E command means the end of event occurrence monitoring, like the previous Try_J command. Therefore, even in this example, if an event occurs in a section of 0.5 to 4.0 seconds, exception processing is performed.

  When an event occurs in the interval of 0.5 to 4.0 seconds and the exception interval is defined by the Try_C instruction as shown in FIG. 10B, the device control device 3 uses a special label for exception processing. A subroutine call is made to the time point of 6.0 seconds at which a certain “Catch” is described. That is, the device control apparatus 3 stores the internal time at the time of occurrence of the event, and shifts the processing to the exception handling routine by rewriting the internal time to 6.0 seconds. When the internal time reaches the Return instruction described at the time of 8.0 seconds in this example after the end of the exception processing, the internal time is rewritten again to the stored time when the event occurred. Control will be continued. In this case, a section sandwiched between the catch label and the return instruction becomes a subroutine for exception control.

  In the above example, exception handling instructions (Try_J instruction, Try_C instruction, Try_E instruction, catch label, Return instruction) are described on the control chart 12 as with other control instructions. For ease of explanation, the control chart describing the exception processing instruction may be described in a different chart from the normal control instruction (control instruction other than the exception processing instruction).

  FIG. 10C is a diagram illustrating an example in which an exception handling instruction is described in an exception handler 12b, which is a chart that is shown separately from a normal control chart 12a that describes a normal control instruction. Here, the exception handler 12b is also a kind of the control chart 12 because it is a virtual chart that is not associated with a specific device. Therefore, in this example, the control chart 12 includes a normal control chart 12a and an exception handler 12b.

  As described above, by including an exception processing instruction that rewrites the internal time according to a specific event in the control instruction, more flexible and advanced control is possible. In the above example, “Catch” which is a special label is prepared as a destination to which control is transferred when an event occurs, but this is used as a normal label shown in FIG. You may make it designate the label of the movement destination of the control at the time. Further, an event to be monitored may be specified for each Try_J instruction or Try_C instruction so that different exception processing can be performed according to the event.

  FIG. 11 is a flowchart showing a procedure for creating a time chart by the time chart creating apparatus 2. In this procedure, as shown in the figure, first, a control chart creation unit 2o of the time chart creation unit 2i of the time chart creation device 2 creates a control chart on the GUI, and a device chart creation unit 2p creates a device chart on the GUI ( Next, the time chart created by the conversion unit 2j is converted into control data (step S2), and the finally converted control data is transmitted to the device control apparatus 3 by the transmission unit 2k (step S3). .

  FIG. 12 is a flowchart showing a procedure for executing a time chart based on the control data by the device control apparatus 3. First, the internal timekeeping unit 3b of the device control device 3 sets the internal time to the initial value of 0 seconds (step S4). Subsequently, the control data reading unit 3c determines whether there is control command data or operation data having a time that matches the internal time, and if it exists, reads the data (step S5). In this operation, when a plurality of data exist at the same time, it is determined that the data no longer exists when the reading of all the plurality of data is completed.

  If neither the control command data nor the operation data corresponding to the current internal time exists, it is determined in step S6 whether the execution of the time chart is finished. This determination is affirmed when neither control command data nor operation data corresponding to the time after the current internal time exists. The specific method of this determination is not particularly limited. For example, the time when control command data or operation data was last described in the initialization data of the control data is described in advance, or the control data is searched. This can be easily realized by extracting the time described as the latest time. Alternatively, the end of the operation may be explicitly described as a control command on the time chart.

  If the execution of the time chart is not terminated, the process further proceeds to step S7, where the internal time is updated by the internal time counter 3b. The internal time is updated so that the internal time is advanced by a predetermined amount at a predetermined timing. For example, 1 ms is added to the internal time every time the actual time advances by 1 ms. When the internal time is updated, the process returns to step S5 again and is repeated thereafter.

  If there is control command data or operation data corresponding to the current internal time in step S5, the process proceeds to step S8, and the control is branched depending on whether the data is control command data or operation data. If it is control command data, the process proceeds to step S9, where the control command execution unit 3d interprets the control command data and rewrites the internal time as necessary. Thereafter, the control returns to step S5 again.

  On the other hand, if the data is operation data in step S8, the process further proceeds to step S10, and whether the operation data means output to the device or input from the device. Is determined. If it means output, the process proceeds to step S11, and output to the device according to the operation data is executed by the device output execution unit 3e. Thereafter, the control is returned to step S5.

  If it is determined in step S10 that the operation data represents input, the process proceeds to step S12, and whether or not the input from the device matches the operation indicated by the operation data by the internal time stop unit 3f. Is determined. If they do not match, the progress of the internal time is stopped in step S13, the process returns to step S12 again, and the input from the device is repeated until it matches the operation indicated in the operation data. If they match, control returns to step S5. Thus, the progress of the stopped internal time is resumed.

  As illustrated in FIG. 5, the time chart creation device 2 may further include a time chart simulation unit 2m and a device simulation unit 2n. The time chart simulating unit 2m and the device simulating unit 2n are configured to confirm the operation of the time chart created by the time chart creating device 2 by simulation without actually executing it using the device control device 3. It is.

  More specifically, the time chart simulating unit 2m reproduces the same operation as when the device control apparatus 3 executes control data on the time chart creating apparatus 2 based on the time chart. The device simulation unit 2n reproduces the operation of the device scheduled to be connected to the device control device 3 on the time chart creating device 2.

  The operation and control described in the reproduced time chart and the state of each device are displayed on the monitor 2h of the time chart creating apparatus 2. At this time, the internal time during reproduction is shown as the position of the marker 15 shown in FIG. Thereby, since the operation of the created time chart can be confirmed without actually constructing the device control system 1, so-called debugging work such as discovery and correction of the trouble of the time chart can be performed easily and inexpensively. it can.

  FIG. 13 is a flowchart showing a procedure for confirming the operation of the time chart by simulation by the time chart creating apparatus 2.

  First, in step S14, the operation of the time chart is reproduced by the time chart simulator 2m. In the subsequent step S15, the operation of the device is reproduced by the device simulation unit 2n. Further, in step S16, it is determined whether or not to end the simulation, and if the execution of the time chart has not ended or if the end of the simulation is not supported by the user, the process returns to step S14 and is repeated thereafter. When ending the simulation, the time chart creating apparatus 2 ends the simulation as it is.

  The configuration of each embodiment described above is shown as a specific example, and the invention disclosed in this specification is not intended to be limited to the configuration of the specific example itself. Those skilled in the art may appropriately change various modifications to the disclosed embodiments, for example, the shape, number, arrangement, etc. of each member or part thereof, and the control shown in the flowchart has an equivalent function. It may be replaced with another control. It should be understood that the technical scope of the invention disclosed herein includes such modifications.

Claims (12)

A time chart creation device for creating a time chart describing the operation of one or more devices with respect to a time axis;
A device control device that controls the one or more devices based on the time chart created by the time chart creation device;
The time chart creation device includes:
In the time chart, a control chart creating unit that creates a control chart describing a control command with respect to the time axis, and
A device chart creating unit for creating at least one device chart describing the operation of the device with respect to the time axis in the time chart;
The time chart creation device includes:
The control chart is displayed in a manner that can be distinguished from the equipment chart on a time axis common to the equipment chart,
The control instruction is described by specifying a time on the control chart, and includes at least one of a conditional branch, a conditional loop, and a subroutine call.
Equipment control system. The device control device
Based on the control chart, a control command execution unit for controlling the internal time,
The device control system according to claim 1, further comprising: a device output execution unit that operates the device based on the at least one device chart and an internal time of the device control apparatus.   The device control system according to claim 2, wherein the control command execution unit rewrites the internal time according to the control chart. The device control system according to any one of claims 1 to 3, wherein the control command further includes an exception processing command that rewrites the internal time in response to occurrence of an event. The time chart creation device includes:
A conversion unit that converts the time chart into operation data indicating the operation of the device associated with the time and control data indicating a control instruction associated with the time;
A transmission unit for transmitting the control data to the device control device,
The device control device
Controlling said one or more devices based on the control data, the device control system according to any one of claims 1-4. The device control device
When the operation of the device means output to the device, a device output execution unit that executes output to the device according to the internal time,
If the operation of the equipment is intended to mean an input from devices, claim 1-5 having a internal time stop for stopping the progress of the internal time to the input from the device is made The device control system according to item 1.   The time chart preparation apparatus used for the apparatus control system of Claim 1. A time chart simulator for simulating the operation of the time chart;
The time chart creating apparatus according to claim 7 , further comprising: a device simulating unit that simulates the operation of the device.   The apparatus control apparatus used for the apparatus control system of Claim 1. At least one device chart describing the operation of the device with respect to the time axis is created in the time chart, and a control chart in which a control command is described with respect to the time axis is arranged on the time axis common to the device chart. Create to display in a manner that can be distinguished from the device chart, create a time chart,
Control one or more devices based on the time chart ,
The device control method , wherein the control instruction includes at least one of a conditional branch, a conditional loop, and a subroutine call . The time chart preparation method used for the apparatus control method of Claim 10 . A computer program that causes a computer to function as the time chart creation device according to claim 7 .

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