JPH01200407A - Sequence control method - Google Patents

Abstract

PURPOSE:To simplify the working change of a system controller and also recovery of the troubles of the controller and to obtain a simple process program by adding a start side activating means, a progress side start means, a return side stop means, an execution condition recognizing means, etc., to a sequence control system. CONSTITUTION:A progress side executing means which actuates an action member consisting of a cylinder, a motor, etc., in the process progress direction is started by an execution condition recognizing means connected to a progress side start means and then stopped by a progress side stop means. Then a return side executing means which sets the action member in the direction opposite to the process progress direction is started by the execution condition recognizing means connected to a return side stop means and stopped by the return side stop means. Both the progress side execution means and the return side execution means actuate successively plural processes forming one process. Then a start side activating means connected to the progress side start means and the return side stop means is activated when the preceding process is over. At the same time, the progress side start means is turned on and the execution condition recognizing means recognizes the execution conditions.

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention relates to a sequence control method for controlling the operation of, for example, a machine tool, and particularly relates to a sequence control method that allows operation changes and recovery in the event of a failure to be easily performed. Regarding control method.

(Prior Art) In recent years, the use of programmable sequence control devices has become most common in the production industry to control various production machines.

Sequence control devices have become popular in this way because they allow users to easily configure desired circuits by programming, and when changing the behavior of a machine due to modification, etc., the desired circuit can be configured simply by reprogramming. This is believed to be because this sequence control device has various features such as being able to operate and being inexpensive.

However, even if a sequence control device has these characteristics, the processing method is normally a relay ladder type, so if it is used in a very large production machine, for example, this production The programs held by sequence control devices that control mechanical devices have become extremely large and complex, and when the need for repair or modification arises, it takes a great deal of time to do so. In such cases, the conditions under which the component moves are sequentially followed based on a ladder diagram, but if there are dozens of conditions, it takes a lot of time to find the reason why the component does not move. This is because it is not possible to understand the movement of the machine just by looking at the ladder diagram.

In order to eliminate such drawbacks of the relay-lag type, in recent years, sequence control devices whose processing method is the Graph Sera T-type have been used. This graph set type sequence control device allows processing steps to be input in response to the movements of the machine, so when performing the above-mentioned modifications or repairs, the processing steps stored in this sequence control device can be input. If you output the information and refer to the output processing steps, you can immediately understand the machine's movements. Therefore, remodeling and repair can be performed more easily than the relay-ladder type.

In order to control a machine that operates as shown in Fig. 5 using such a graph set type sequence control device, first draw a timing chart as shown in Fig. 6, and then use this timing chart. The processing steps are input in the order shown in FIG.

In other words, first turn on Yl and raise the lifter (
In step 1), when the lifter rises to the upper limit and transition condition x1 is turned on, Yl is turned off and Y3 is turned on, and at the same time Y5 is turned on to bring out clamp 1 and clamp 2 (steps 2 and 3). Next, transition condition X3. When X5 is turned on and transition condition A workpiece is turned on, in other words, clamp 1 and clamp 2 move to the forward limit, and if the workpiece is A workpiece, then Y3. At the same time, Y5 is turned off and Yl is turned on (step 4), and when the A workpiece has been processed once and transition condition X7 is turned on, Yl is turned off and Y8 is turned on (step 5). On the other hand, transition condition
3. When X5 is turned on and transition condition B workpiece is turned on, in other words, clamp 1 and clamp 2 move to the forward limit, and if the workpiece is B workpiece, Y3. At the same time, Y5 is turned off and Y9 is turned on (step 6), and when the B workpiece is processed once and the transition condition X9 is turned on, Y9 is turned off and YIO is turned on (step 7). Then, when the machining of workpiece A or workpiece B is completed and transition conditions X8 and XIO are turned on, Y8. Turn off YIO and turn on Y4, and at the same time turn on Y6 to return clamp 1 and clamp 2 (step 8.9). moreover,
Clamp 1 and Clamp 2 return to transition condition X4. X6
When turned on, Y4 and ¥6 are turned off, Y2 is turned on, and the lifter is lowered (step 10).

When the lifter moves to the lower limit and transition condition X2 is turned on, Y2 is turned off (step 11).

In this way, with a sequence control device whose processing method is a graph set type, it is possible to input the processing steps directly based on the timing chart shown in Figure 6, so it is possible to compare modifications and repairs. It can be done fairly easily.

(Problems to be Solved by the Invention) However, the graph set type sequence control device having the characteristics described above certainly has many advantages when considering only the case of automatically controlling a machine. ,
When we consider a case where a machine has trouble and a certain member must be moved manually, various disadvantages arise.

For example, in the flowchart shown in FIG. 7, if the lifter does not rise to its upper limit due to some trouble, step 1 will remain in the processing state forever. Since repairs cannot be performed in this state, it is necessary to take a step to forcibly stop this process. In other words,
It is necessary to switch to manual operation so that this lifter can be moved by manual operation, but if you make a flow chart of the processing steps including manual operation in consideration of troubles, - This manual operation is performed for each process. Since it is necessary to add a flowchart of operations, the flowchart of the entire operation becomes a very complicated flowchart, and there is a problem in that the advantages of the graph set type cannot be utilized at all.

In addition, even if each component part of the machine can be moved manually as described above, when switching to automatic operation again after adjusting manual operation, the processing position in automatic mode will stop at the point when switching to manual operation. Since it remains at fS, there is also a problem in that it is not possible to simply switch to automatic operation and start it after manual operation adjustment.

The present invention has been made to solve the problems of the conventional sequence control device, and it is possible to easily change the operation of the sequence control device and restore it in the event of a failure, and to improve the processing process. The purpose is to provide a sequence control method that is easy to program.

(Means for Solving the Problems) The present invention for achieving the above-mentioned object is characterized in that a progress-side execution means for operating an actuating member such as a cylinder or a motor in the process step direction is connected to a progress-side activation means. It is started by the execution condition recognition means, and stopped by the proceeding side stopping means,
Further, the return-side execution means for operating the actuating member in a direction opposite to the stroke advancing direction is activated by the execution condition recognition means connected to the return-side activation means, and is stopped by the return-side stop means. , a sequence control method for sequentially operating a plurality of strokes in which one stroke is constituted by the advancing side executing means and the returning side executing means, wherein the advancing side starting means and the returning side stopping means The connected start-side activation means is activated when the previous step is completed, and the progress-side activation means is turned on under the activation state, and the execution condition is set by the execution condition recognition means. On the other hand, when the returning side stopping means is turned on in an inactive state, the advancing side executing means is activated, and when the returning side stopping means is turned on in an inactive state, the advancing side stopping means and the returning side starting means are activated. The connected starting and finishing side activation means is activated when the advancing side stopping means is turned on and sets the starting side activation means of the next step to an active state,
When the return-side starting means is turned on in the activated state, and the execution condition recognition means determines that the execution conditions are met, the return-side execution means is started, and the activation ends in one process. The present invention is characterized in that when one of the side activation means and the activation start side activation means in the next step becomes activated, the other also becomes activated.

(Operation) When the sequence control device is operated in this manner, it operates as follows. This operation will be explained based on FIG. , When the activation start side activation means becomes activated and the progress side activation means is turned on, the activation start side activation means becomes inactivated, and when the execution condition recognition means determines that the execution conditions are set, The actuating member is actuated in a predetermined order in the stroke advancing direction by the advancing side execution means. Next, when the proceeding side stopping means is turned on, the starting end side activating means becomes activated, and at the same time, the starting side activating means of the next step also becomes activated. When the return side activation means is turned on in this state, the activation end side activation means becomes inactivated,
When the execution condition recognition means determines that the execution conditions are met, the return side execution means enables the actuating members to be actuated in a predetermined order in a direction opposite to the stroke advancing direction.

Furthermore, when the return-side stop means is turned on, the start-side activation means becomes activated, and the start-end activation means of the previous stroke becomes activated.

Therefore, not only can the actuating member be operated in the stroke increment direction or in the opposite direction to the stroke increment direction for each step, but also the operation can be performed intermittently such as inching, and Even when switching from manual operation to automatic operation, it can be started automatically as it is, and the processing program is also simplified, making it possible to quickly perform modification work and recovery from failures. .

(Example) Hereinafter, an example of the present invention will be described in detail based on the drawings.

FIG. 2 shows a schematic configuration diagram of a sequence control device using the sequence control method according to the present invention.

As shown in the figure, a CP equipped with an arithmetic control section and a storage section
A power supply section 2, an input section 3, and an output section 4 are respectively connected to the UI. A limit switch, a push button switch, a relay contact, etc. are connected to this input section 3, and information on these contacts is input. Then, in the output section 4,
electromagnetic switch.

Solenoid valves, lamps, etc. are connected, and these driving devices operate based on instructions from the CPU.

In addition, a program loader 5 for inputting programs can be connected to CP[Jl as needed, and when inputting a new program to CP[Jl or changing the design, this program The loader 5 adds or changes programs.

FIG. 3 shows a conceptual diagram of a processing system of a machine that operates as shown in FIGS. 5 and 6 by a sequence control device using a sequence control method according to the present invention.

A conceptual diagram of this processing method is configured as shown in the figure.
In the figure, PO', PI, P3. PIO indicates a state point as activation means on the activation start side, and PO, P2 . P4. P2O
indicates the state point of activation end side activation means, S1°,
Sl, 35, 310 indicates a transition condition for the proceeding side starting means, S2°, 32.36.320 indicates a transition condition for the proceeding side stopping means, 33', S3.37.
330 indicates a transition condition as a return side activation means, and S4
°, 34.38. S40 indicates a transition condition as a return side stop means, Jlo, Jl, J3° JIO indicates a group of execution instructions as a forward side execution means, J2°, J
2. J4. J20 indicates a group of execution instructions as the return side execution means, old', H2°, old, H2, I-t3.
H4, old 0. [20 indicates the execution conditions as the execution condition recognition means.

One of the components shown in this conceptual diagram operates as follows based on the flowchart showing the basic operation shown in FIG. This operation will be explained below based on FIG.

First, a CPU that generally controls the operation of the sequence control device.
If the state point P1 is determined to be active (step 20), if the state point P1 is active, the state point PO is activated (step 21). Then, it is determined whether the state point P1 is active or not. If it is not active, the process is terminated (step 22); if it is active, it is determined whether the transition condition S1 is 1. In other words,
It is determined whether preparations are complete to execute the execution instruction group J1 (step 23). As a result of this determination, if the transition condition S1 is not 1, the processes of steps 22 and 23 are repeated, and if the transition condition S1 is 1, the state points PO and Pl are inactivated and the process proceeds to the next step.

(Steps 24 and 25>. Next, it is determined whether the execution condition 111 is 1. In other words, it is determined whether the conditions for executing the execution instruction group J1 are met (step 26). This determination As a result, if the execution condition H1 is 1, proceed to the next step and execute the execution command group (step 27), and if the execution condition old is not 1, execute the process of step 28 without executing the execution command group J1. Let's do it. Therefore, the execution instruction group J1 is executed only when the transition condition S1 is 1 and the execution condition old is 1.

Next, it is determined whether the transition condition S2 is 1 or not. That is, it is determined whether the conditions for terminating the execution of the execution instruction group J1 are met (step 28). As a result of this judgment, if the transition condition S2 is not 1, the processes from step 26 to step 28 are repeated, and if the execution condition 111 is 1, execution of the execution instruction group J1 is continued, and the transition condition S2 is
If 2 is 1, activate state point P2 (step 29)
, ends the process.

In this way, one of the components of the conceptual diagram shown in FIG.
One operates as described above, and the other components in the figure also operate in exactly the same manner, so a description of the operations of these components as a whole will be omitted.

Each of the above-mentioned components conceptually operates as described above, but this operation is explained as the operation of the actual machine components shown in FIGS. 5 and 6 as follows. become that way.

This will be explained using the operations of clamp 1 and clamp 2 shown in FIG. 5 as an example.

First, the lifter rises and reaches the upper limit, and transition condition 33
' is not established, that is, the conditions for manually shifting the lifter from the upper limit to the lower limit are not met, and when state point P1 becomes active, at the same time state point PIO
becomes active, and if the conditions between the transition condition S1 and the execution condition are met, execute the execution instruction group J1 and issue clamp 1, and similarly, if the conditions between the transition condition S10 and the execution condition O are satisfied, the execution instruction group J1 is executed. Execute command group JIO and issue clamp 2. Then, transition conditions 32 and 320 are each 1
Decide whether or not. In other words, the execution instruction group J
1. The conditions for terminating JIO execution are in place, but what do you think?

In other words, it is determined whether clamps 1 and 2 have reached their respective limits. As a result of this determination, transition condition S2. S
If 20 is not hl, the execution of the execution command group J1 and JIO is continued, in other words, clamp 1.2 is shifted to the limit, and if transition conditions 32 and 320 are 1, that is, clamp 1.2 moves to the limit, state point P2. P2
0 is activated and the process ends. Then, it is determined whether or not the transition conditions 33 and 330 are active, that is, the switches for manual operation are on and off, and the conditions for executing the execution command group J2 are as follows: It is determined whether the clamps 1 and 2 are ready to be moved from the extension limit to the return limit. Then, in this state, the execution condition is met. Specifically, if the push button switch that manually moves clamp 1 or clamp 2 from the extension limit to the return limit is turned on, the execution condition H2 is met. Clamp 1 provided that
However, on condition that the execution condition H20 is satisfied, the clamps 2 each shift from the extension limit to the return limit.

That is, the clamp 1.2 operates only when the push button switch for moving the clamp 1.2 from the extension limit to the return limit is turned on. Next, it is determined whether the transition conditions 34 and 340 are 1, that is,
Execution command group J2. It is determined whether the conditions for terminating the execution of J20 are met, and if the conditions are met, the state point PO' is activated and the process is terminated.

In this way, each process has both a set of execution commands that can be executed automatically and a set of execution commands that can be executed when manual operation is selected, so even if the machine stops for some reason during automatic operation, Even if there is, the operator can switch to manual operation to remove the cause of the stoppage and move the components of the machine as desired. After removing the cause of the stoppage, even if manual operation is switched to automatic operation, the machine can be automatically started from that position.

Note that in this embodiment, the processing content of the return-side execution instruction group is the opposite of the processing content of the proceeding-side execution instruction group, but this processing content is different from the processing content of the proceeding-side execution instruction group. It is also applicable even if the same and opposite coexist.

(Effects of the Invention) As is clear from the above explanation, according to the present invention, the advancing side execution means for operating the actuating member consisting of a cylinder, a motor, etc. in the process step direction is connected to the advancing side starting means. A return-side execution means is connected to the return-side activation means and is activated by the condition recognition means, stopped by the advance-side stop means, and further operates the actuating member in a direction opposite to the stroke advancing direction. A sequence control method, in which the recognition means starts the process, the return side stop means stops the process, and the advance side execution means and the return side execution means sequentially operate a plurality of processes, each of which constitutes one process. The starting side activating means connected to the advancing side activating means and the returning side stopping means is activated when the previous stroke is completed, and in the activated state, the starting side activating means is connected to the advancing side activating means and the returning side stopping means. is turned on and the execution condition recognition means determines that the execution conditions are met, the proceeding execution means is activated, while the return side stopping means is turned on in an inactive state. becomes active,
A start-end activation means connected to the advance-side stop means and the return-side start means is activated when the advance-side stop means is turned on, and sets the start-side activation means for the next step to an active state; When the return-side starting means is turned on in the activated state, and the execution condition recognition means determines that the execution conditions are met, the return-side execution means is started, and the activation ends in one process. The side activation means and the activation start side activation means for the next stroke are configured such that when one becomes activated, the other also becomes activated, so that the actuating member is moved in the stroke advancing direction or stroke for each step. It can be operated in the opposite direction to the walking direction, and can be operated intermittently, and even when switching from manual operation to automatic operation, it can be automatically started as is. Furthermore, since the processing program can be expressed as one block for each process, the program input process during modification work or failure recovery work is simplified, and these tasks can be performed quickly. It will be possible.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of a sequence control device using a sequence control method according to the present invention, FIG. 2 is a schematic configuration diagram of a sequence control device using a sequence control method according to the present invention, and FIG. 4 is a conceptual diagram showing the processing method of the sequence control method according to the present invention. FIG. 4 is a flowchart 1 showing the sequence control method according to the present invention. FIGS. FIG. 7 is a flowchart for operating the machine as shown in FIGS. 5 and 6 using a graph set type sequence control device. 1...CPU, 2...Power supply section, 3...Input section, 4...Output section, 5...Program loader. Patent applicant Nissan Motor Co., Ltd. agent Patent attorney 8 1) Mikio (one idiot) Figure 1 Figure 2 Figure 4

Claims (1)

[Claims] The advancing side execution means for operating the actuating member consisting of a cylinder, motor, etc. in the process step direction is started by the execution condition recognition means connected to the advancing side starting means, and stopped by the advancing side stopping means. Further, the return-side execution means for operating the actuating member in a direction opposite to the stroke advancing direction is activated by the execution condition recognition means connected to the return-side activation means, and is stopped by the return-side stop means. and sequentially operating a plurality of strokes in which one stroke is constituted by the advancing side execution means and the returning side executing means, the advancing side starting means and the returning side stopping means The starting side activating means connected to is activated when the previous process is completed, the advancing side activating means is turned on under the activated state, and the execution condition is recognized by the execution condition recognition means. When it is determined that the advancing side execution means is in order, the advancing side execution means is activated, and when the returning side stopping means is turned on in an inactive state, it becomes an active state, and the advancing side stopping means and the returning side starting means are activated. The starting/terminating side activating means connected to is activated when the forwarding side stopping means is turned on and sets the starting side activating means of the next step to the active state, while in the activated state, the returning side activating means is turned on, and when it is judged by the execution condition recognition means that the execution conditions are satisfied, the return side execution means is activated, and the activation termination side activation means in one process and the activation start in the next process are activated. and a side activation means, such that when one side is activated, the other side is also activated.