JPH0221601B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a control device that monitors and controls the operation of a mechanical device in order to drive the device appropriately, and particularly relates to a control device that monitors and controls the operation of a mechanical device, and in particular, a memory that stores data necessary for monitoring and control and a control device that monitors and controls the operation of the mechanical device. This invention relates to a control device using a cassette suitable for storing memories storing diagnostic programs for diagnosing the device in separate cassettes and using one of the cassettes attached to the control device.

An example of a control device that monitors and controls the operation of such mechanical devices is a moment limiter used in a crane. First, we will explain the crane moment limiter.

Figure 1 is a side view of the general structure of the crane, in which 1 is the crane body, 2 is the boom, 3 is the suspended load, 4 is the rope for hoisting the suspended load, 5 is the rope for hoisting the boom 2, and 6 is the rope for hoisting the hoisting load. A load detector detects the actual load of the suspended load 3 based on the tension of the rope 4, and 7 is an angle detector that detects the elevation angle of the boom 2.

At the operator's seat of the crane body 1, there is a mechanism to prevent accidents such as the crane falling due to an increase in the moment acting on the boom 2 (determined by the actual load of the suspended load 3, the length of the boom 2, and the working angle). Therefore, an arithmetic device 8 (including a display device, an alarm device, and at least one of an automatic stop output terminal; the same applies hereinafter) that constitutes a moment limiter together with the load detector 6 and the angle detector 7 is installed. ing.

FIG. 2 is a block diagram showing an example of a moment limiter that is being considered based on recent developments in microcomputers. The configuration will be explained below.

9 is a multiplexer, and the load detector 6
and the data from the angle detector 7 are switched and input. 10 is an A/D converter, and load detector 6
Then, the analog quantity data from the angle detector 7 is converted into a corresponding digital quantity. Note that if the load detector 6 and the angle detector 7 themselves have A/D converters, this A/D converter 10 is not necessary. 11 is a microprocessor unit (hereinafter referred to as MPU). MPU11 is
Retrieving necessary data from the memory 13 (described later) according to a control program of the memory 12 (described later), and performing calculations based on the retrieved data and data from the load detector 6 and angle detector 7. This is an arithmetic control section.

12 is a read-only memory (hereinafter referred to as ROM). A control program for the MPU 11 is stored in the ROM 12. The MPU 11 performs calculations and extracts necessary data in accordance with the order of this control program. In addition to the control program, the ROM 12 also stores a diagnostic program for checking whether the moment limiter operates normally.

13 is a ROM different from the ROM 12.
The ROM 13 stores various lengths of the boom 2 for each crane model and rated load data to be described later. Depending on the work, the crane can replace the boom 2 with a boom of a different length, extend or retract the boom 2, or attach a jib to the tip of the boom 2, so the length of the boom 2 (the length including the jib) ) is not constant and changes in various ways. Further, the rated load is a safe limit value of the load with respect to the working radius determined from the crane model, the length of the boom 2, and the angle of the boom 2. If the actual load exceeds this safe limit value, there is a risk of accidents such as the crane falling over. As described above, the ROM 13 stores the boom length for each model and the rated load for each boom working radius.

14 is a random access memory (hereinafter referred to as RAM), which is a memory for temporarily storing various data, calculation results, etc.

SW1 is a changeover switch. changeover switch
SW1 is a switch that selects whether to operate the moment limiter according to the normal control program or to execute the moment limiter diagnostic program.One end of the switch is grounded and the other end is a resistor connected to the power supply. 15 and buffer circuit 1
6 is connected. When executing a normal control program, the changeover switch SW1 is opened, and when executing a diagnostic program, it is closed. The buffer circuit 16 changes the state of the changeover switch SW1 to the MPU.
This is a circuit for incorporating into 11.

SW2 is a boom length selection switch.
The address terminal for each address that stores the boom length data stored in ROM13 is ROM1.
3 and constitutes a boom length selection switch SW2 together with a movable contact piece. The operator selects the currently used boom length by operating a movable contact piece.

17 is an output circuit for outputting the calculation results of the MPU 11; Connected to the output circuit 17 are a display 19 that visually displays the calculation result, and an alarm 20 that emits a sound when the calculation result reaches a certain value. In addition, 21 is an automatic stop output terminal, and this terminal 2
1 is connected to a stop device (not shown) that automatically stops further lowering of the boom 2 and hoisting of the hoisting rope 4 when the calculation result reaches a certain value. This terminal 21 is connected to the output circuit 17. The output circuit 17 converts the signal from the MPU 11 into an automatic stop signal that activates the display 19, the alarm 20, and the stop device.

18 is a selection signal generation circuit. The selection signal generation circuit 18 controls the multiplexer 9, A/D converter 10, ROM 12,
This circuit selects one of 13, RAM 14, buffer circuit 16, and output circuit 17 and generates a signal to put the selected element into an operating state.

In FIG. 2, A represents an address bus, D represents a data bus, and C represents a control bus.

Next, the operation of this moment limiter will be explained with reference to the flowchart of FIG.

When the moment limiter is turned on,
The MPU 11 starts operating and first applies a signal to select the ROM 12 to the selection signal generation circuit 18, and the selection signal generation circuit 18 accordingly selects the ROM 12.
emits a signal that activates the Then the MPU
ROM1 by the initial address signal from
The value stored at the first address of 2 is read onto the data bus. The MPU 11 reads this value (command) and gives a signal to select the buffer circuit 16 to the selection signal generation circuit 18, which turns the buffer circuit 16 into an active state, so that the signal from the buffer circuit 16 is transferred to the data bus. will be sent to. That is, when the changeover switch SW1 is open (when following the normal control program), the buffer circuit 16 is in a state of high potential "1", and when it is closed (when following the diagnostic program).
Since the resistor 15 is grounded, the buffer circuit 1
6 is in a state of low potential "0". The “1” or “0” signal sent to the data bus is sent to the MPU11
It is read by. This is shown as step 1 (S ₁ ) in the flowchart of FIG. (Hereinafter, step 2, step 3, etc. will be referred to as S ₂ , S ₃ ...
Represented by... ) The MPU 11 thereafter executes the instructions according to the program stored in the ROM 12.

First, the MPU 11 reads out the buffer circuit 1.
It is determined whether the signal No. 6 is "1" (normal control program) or "0" (diagnosis program) (S ₂ ).
When it is "1", it shifts to the normal control program,
When it is "0", it moves to the diagnostic program.

In the case of a normal control program, the MPU 11 gives a command to the selection signal generation circuit 18, and the selection signal generation circuit 18 switches the multiplexer 9 to the side that inputs data from the angle detector 7, and also puts the A/D converter 10 into the operating state. shall be. As a result, the angle data from the angle detector 7 is converted into a digital angle signal Θ by the A/D converter 10 via the multiplexer 9. The MPU 11 receives this angle signal Θ (S ₃ ). The angle signal Θ is temporarily stored in the RAM 14.

Next, MPU11 is the boom length selection switch.
The data L of the boom length selected by SW2 is taken out from the ROM 13 via the data bus (S ₄ ).

The MPU 11 takes out the angle signal Θ taken in from the angle detector 7 from the RAM 14, and uses this Θ and the ROM
The working radius R is calculated based on the boom length data L taken out from 13. The working radius R is R=
Calculated by LcosΘ (S ₅ ).

Once again, the selection signal generation circuit 18 activates the ROM 13 according to a command from the MPU 11, and at this time
The MPU 11 reads the rated load value A corresponding to the calculated working radius R from the ROM 13 via the data bus (S ₆ ). The read rated load value A is temporarily stored in the RAM.
It can be placed in 14.

Next, in response to a command from the MPU 11, the selection signal generation circuit 18 switches the multiplexer 9 to the side that inputs the data from the load detector 6, and also puts the A/D converter 10 into operation, thereby causing the actual load from the load detector 7 to be input. The data is the digital actual load signal W
It is incorporated into the MPU 11 as a (S ₇ ).

MPU11 reads the rated load value A that was read out earlier.
The load factor F is calculated based on this value A and the taken actual load signal W. The load factor F is calculated as F=W×100/A (%) (S ₈ ).

The calculated load factor F is compared with the load factor of 100% (S ₉ ). If the load factor F is 100% or more, the signal is sent to the output circuit 17, and the output circuit 17 outputs an automatic stop signal to the automatic stop output terminal 21 and activates the alarm 20 (S ₁₀ ). Then,
A signal with a load factor of 100% or more is converted by the output circuit 17 into a signal that activates the display 19.
Display the load factor of 100% (S ₁₁ ). If the calculated load factor does not reach 100%, output circuit 1
7 converts the sent signal of the load factor F into a signal for activating the display 19 and causes the display 19 to display the load factor at that time (S ₁₁ ).

When this step 11 (S ₁₁ ) is completed, the program returns to step 1 (S ₁ ) again, and the changeover switch 14 is
Start reading the operating status of. In this way,
The moment limiter outputs an automatic stop signal to automatically stop the boom when the load factor F exceeds 100%, and issues and displays an alarm to prevent accidents such as crane overturning.

On the other hand, when the changeover switch SW1 is closed, the process branches from step 2 and enters the diagnostic program. In the diagnostic program, first check the boom 2
Operate to fix this at a certain angle,
The angle data is sent to multiplexer 9, A/D
It is taken into the MPU 11 via the converter 10 (S ₁₂ ).
In this case, if there is an abnormality in the angle detector 7,
Angle detector 7 and moment limiter calculation device 8
If there is a disconnection between the two, the angle value taken into the MPU 11 will become an extreme value. Therefore,
The MPU 11 determines whether the input angle value is within a certain range (S ₁₃ ),
If it is outside the range, this is displayed on the display 19. As the display method, an appropriate means such as continuously operating (or blinking) a predetermined display element of the display 19 is adopted. The operator looks at this display and checks for disconnections in the angle detector 7 and the moment limiter calculation device 8.

If the angle value is within the above range, then boom 2
hang a weight within a certain range. and,
The load data from the load detector 6 is input to the MPU 11 via the multiplexer 9 and the A/D converter 10 (S ₁₄ ). If there is an abnormality or a disconnection in the load detector 6, or if a disconnection occurs between the load detector 7 and the moment limiter calculation device 8, the loaded load value will become an extreme value. Therefore, in the case of the load value, as in the case of the angle value, the MPU 11 determines whether the value is within a certain predetermined range (S ₁₅ ). If it is outside the range, this is displayed on the display 19 in the manner described above.

If the load value is within the above range, then ROM1
2. The ROM 13 is checked (S ₁₆ ). These ROM checks check whether the contents of the ROM have changed. Regarding the data stored in each ROM, all of the data is first summed up, and the total value is known in advance. Therefore, in step 16 (S ₁₆ ),
By adding up the data stored in ROM12 and ROM13, and comparing the total value with a predetermined total value, ROM1
Check the contents of 2 and 13. If the two values do not match, this is displayed on the display 19 in the manner described above.

If both values match, then each display element (indicator light or light emitting diode, etc.) of the display 19 is
Operate everything (S ₁₇ ), visually check whether each display element is normal or not, then create a value of 100% load factor, generate an automatic stop signal, and output it to the automatic stop output terminal 21 for a certain period of time. ( _S18 ) and investigate the defective parts.

When a certain period of time in step 18 (S ₁₈ ) has elapsed, the display 19 displays a message indicating that the diagnosis is good (S ₁₉ ), which is different from the display in the case of a failure. Next, it is determined whether the diagnostic program is being executed by reading whether the changeover switch SW is closed or open ( _S20 ). If it has been executed, a message indicating that the diagnosis is good is repeatedly displayed, and when the changeover switch SW1 is opened, the process returns to step 1 (S ₁ ).

In such a moment limiter,
The control program and diagnostic program stored in the ROM 12 can be used in common regardless of the crane model or boom length. On the other hand, the rated loads stored in the ROM 13 are unique to each model and boom length, and are different for each model and boom length, and there are many types.
Therefore, it is impossible to store all boom lengths and all rated loads in the ROM 13, and how many types of moment limiters 8 with ROMs 13 storing different boom lengths and rated loads are available? There is an inconvenience in that you have to prepare it in advance.

Therefore, ROM12 was built into the moment limiter, and ROM13 was removed from the moment limiter and divided into several types of cassettes.This allowed the moment limiter to be installed on all crane models. It is thought that it can be used in common.

On the other hand, the diagnostic program stored in the ROM 12 is used only when diagnosing the moment limiter and is normally unnecessary. in this way,
Having a built-in diagnostic program that is not normally used makes the memory itself complicated and expensive, which in turn makes the moment limiter expensive. Therefore,
As in the case of the ROM 13, it is conceivable that the diagnostic program is not built in, but is removed from the moment limiter 8, and a ROM containing only the diagnostic program is made into a cassette.

Based on this idea, FIG. 4 shows a moment limiter to which a cassette containing the ROM 13 and a cassette containing the ROM storing a diagnostic program are attached.

In Fig. 4, 29a is an address bus, a data bus,
This is the moment limiter side connector to which each control bus line is connected. 30 indicates a data cassette, which is a ROM corresponding to ROM13.
31 are accommodated. The ROM 31 stores data on several (for example, four) boom lengths and their corresponding rated loads. 32
is the connector of the data cassette 30,
The address terminal, data terminal, and chip selection terminal of the ROM 31 are connected. By attaching the connector 32 to the connector 29a, the data cassette 30 is attached to the arithmetic unit 8 of the moment limiter. Boom length selection switch
The terminal of SW2 is led out from the connector 29a.

29b is a connector on the arithmetic unit 8 side of the moment limiter, 40 is a diagnostic cassette, 41 is a ROM storing a diagnostic program stored in the diagnostic cassette 40, and 42 is a connector for the diagnostic cassette. By attaching the connector 42 to the connector 29b, the diagnostic cassette 40 is attached to the arithmetic unit 8 of the moment limiter.

The other elements in the moment limiter calculation device 8 are the same as those shown in FIG.
Further, since its operation is the same as that of the configuration shown in FIG. 2, the explanation will be omitted.

In this way, by creating a configuration in which unique data and diagnostic programs are stored in a cassette, it is possible to share the moment limiter as described above, thereby reducing the complexity and high price of the configuration. In such a configuration, the connector 2 for the diagnostic cassette 40 that is not normally used is
9b and connector 29b, the configuration is still complicated, and furthermore, the changeover switch SW1 and buffer circuit 16 for transferring control from the control program to the diagnostic program are still required. increasing complexity,
Furthermore, there is a drawback that the operation becomes troublesome.

These drawbacks are not limited to the moment limiters for cranes mentioned above, but are also found in control devices that monitor and control the operation of general mechanical equipment, which have a data cassette and a diagnostic cassette, and can either be used as needed. There are certain disadvantages inherent in the selective use of cassettes.

The object of the present invention is to eliminate the above-mentioned drawbacks and to provide a cassette which allows a desired program to be executed simply by attaching either a data cassette or a diagnostic cassette to one connector without providing a changeover switch or buffer circuit. The purpose of the present invention is to provide a control device using the

In order to achieve this object, the present invention stores a first specific value at a specific address in a storage means made up of a ROM housed in a data cassette, and also stores a first specific value at a specific address of a storage means made up of a ROM housed in a diagnostic cassette. A second specific value is stored in the same address as the specific address of the storage means, so that both the data cassette and the diagnostic cassette can be attached to one connector. The device is characterized in that the specific value of the specific address is read out at the start of operation, and it is determined whether it is the first specific value or the second specific value, and the desired program is executed.

Still another invention is characterized in that, in addition to the above invention, when a specific value is read out and the specific value is neither the first specific value nor the second specific value, a cassette installation failure is notified. That is.

The present invention will be explained below based on an embodiment shown in FIGS. 5, 6, and 7.

FIG. 5 is a diagram showing the moment limiter of the crane. In this figure, the same parts as in FIGS. 2 and 4 are given the same reference numerals, and their explanation will be omitted.

Moment limiter calculation device 8 of this embodiment
In a, only one connector 29 is provided. In addition, the switch SW1, the resistor 15, and the buffer circuit 16 required in the moment limiter calculation device 8 shown in FIGS. 2 and 4 are
This wiring is unnecessary in the moment limiter arithmetic unit 8a of this embodiment.

In the figure, a data cassette 30 is attached to the connector 29, but when a diagnostic program is to be executed, the data cassette 30 is removed and a diagnostic cassette 40 is attached to the connector 29.

FIG. 6 shows only the MPU 11, ROM 12a, and selection signal generation circuit 18 of the moment limiter arithmetic unit 8a shown in FIG. 5, and also shows each cassette in more detail. In the figure, 11 is
The MPU has a control terminal _C0 , address terminals _A0 to _A10 , and data terminals _D0 to _D7 .

12a is a ROM corresponding to the ROM 12 shown in FIGS. 2 and 4, and has a chip selection terminal CS, address terminals _A0 to _A10 , and data terminals _D0 to _D7 . ROM
A control program is stored in 12a,
In addition, as will be described later, a program for reading a specific address and a program for determining a specific value and issuing a command according to the determination result are also stored.

Reference numeral 18 designates a selection signal generating circuit similar to that shown in FIGS. 2 and 4, which selects an element within the moment limiter in accordance with a control signal from the MPU 11. In the figure, only two chip selection terminals CS ₁ and CS ₂ out of a large number of terminals are shown.

29 is a connector for attaching a cassette. In this embodiment, the connector 29 is only one
Only one item is provided. Connector 29 has MPU1
1 address terminals A ₀ to A ₁₀ , data terminals D ₀ to _{D 7}
and a line from the chip selection terminal _CS1 of the selection signal generating circuit 18 are connected.

The ROM 31 of the data cassette 30 and the ROM 41 of the diagnostic cassette 40 have chip selection terminals CS, address terminals _A0 to _A10 , and data terminals, respectively.
These _terminals are connected to corresponding locations of the respective connectors 32 _and 42.

When the data cassette 30 is connected to the connector 32 and connector 29 of the data cassette 30 and attached to the moment limiter calculation device 8a,
ROM31 address terminals _A0 to _A10 and data terminals
D ₀ to D ₇ are connected to the corresponding terminals of the MPU 11, and the chip selection terminal CS is connected to the selection signal generation circuit 18.
Connected to chip selection terminal CS ₁ . Similarly, when the diagnostic cassette 40 is attached to the moment limiter computing device 8a by the connector 42,
Each terminal of the ROM 41 is connected to corresponding terminals of the MPU 11 and the selection signal generation circuit 18.

FIG. 7 1, 2, and 3 are ROM12a, respectively.
4 is a diagram showing a memory map of ROM31 and ROM41. FIG.

A program G, a control program, and a cassette attachment failure processing program H are arranged in the memory map of the ROM 12a. The cassette installation failure processing program is a program that, when it is determined that the cassette is installed incorrectly or that the cassette has been forgotten, notifies the cassette installation failure (by an audible alarm and/or light display) and generates a stop signal. Program G is ROM31,
This is a program that reads a specific address of the ROM 41, determines the read value, and issues an instruction according to the determination result. g indicates the address where the first instruction of program G, ie, the instruction to read the value of a specific address, is stored. Further, _h1 indicates the address where the first instruction of the control program is stored.

The memory map of the ROM 31 contains the first specified value K, boom length, and rated load data M.
and are arranged. The first specific value K is stored at a specific address p at the beginning of the memory map, and the data M is stored at an address following the specific address p.

A diagnostic program N is arranged in the memory map of the ROM 41. N ₁ is the diagnostic program N
, and is stored at the same address p as the specific address p of the ROM 31. Instruction N ₁
The value of K is different from the first specific value K. Let the value of instruction _N1 be the second specific value. MPU1
1, the diagnostic program is started by reading out the second specific value _N1 .

Next, the operation of this embodiment will be explained with reference to the flowchart shown in FIG.

It is now assumed that either the data cassette 30 or the diagnostic cassette 40 is attached to the connector 29 of the moment limiter arithmetic unit 8a. When you turn on the power, the first
The MRU 11 takes out the instruction stored at address g of the ROM 12a, that is, the instruction G for reading the value of a specific address p. As a result, a control signal is output from the control terminal C ₀ of the MPU 11 and the selection signal generation circuit 18
sends a signal to the chip selection signal CS of the ROM (ROM 31 or ROM 41) of the cassette attached via the connector 29, thereby activating the ROM. At this time, MPU11 uses address terminal A ₀
~ _A10 outputs an address signal to select a specific address p, and the value of the specific address p (first specific value K or second specific value _N1 ) of the ROM is sent via data terminals _D0 to _D7. Read (1st in Figure 8)
steps. Hereinafter, the first step, second step, etc. will be indicated as S ₁ , S ₂ , etc. ) The MPU 11 puts the read specific value into the accumulator that the MPU 11 has. Next, the program G issues an instruction to compare the value in the accumulator with the first specific value, and the MPU 11 compares the two (S ₂ ).

If the installed cassette is the data cassette 30, the results of the comparison in step _S2 match, so program G will select the ROM.
An instruction is issued to transfer control to address _h1 of 12a. The MPU 11 executes the control program according to this instruction (S ₃ ).

If the attached cassette is the diagnostic cassette 40, the results of the comparison in step _S2 will not match. Therefore, from program G,
A command to compare the value in the accumulator with the second specific value is issued, and the MPU 11 compares the two (S ₄ ). Since the results of this comparison match, the program G issues an instruction to transfer control to the specific address p (S ₅ ). When the MPU 11 reads the value of address p in accordance with this instruction, since this value is the first instruction _N1 of the diagnostic program N, the diagnostic program is subsequently executed (S ₆ ).

If the results of the comparison in step _S4 do not match, the installed cassette is neither the data cassette 30 nor the diagnostic cassette 40, but the installed data cassette 30
Or, the installation of the diagnostic cassette 40 is defective (including forgetting to install it). Therefore, a command is issued from the program G to transfer the control to the cassette installation failure processing program in the ROM 12a, and the MPU 11 follows this program to perform the cassette installation failure processing ( _S7 ). That is, according to the cassette installation failure program, an alarm signal and a display signal are outputted from the output circuit 17 to notify the cassette installation failure, and a stop signal is issued to stop the lowering of the boom and the hoisting of the hoisting rope 4.

In this embodiment, ROM31, ROM4
A different first address is assigned to one and the same specific address p.
and a second specific value are stored, and when the moment limiter starts operating, it is determined whether this specific value is the first specific value or the second specific value, and a program is executed according to the specific value. Therefore, regardless of which cassette is attached to the connector 29, the desired program can be executed without providing a switch or buffer circuit between the control program and the diagnostic program, and the connector 29 can also be used with only one cassette. I can finish it. Furthermore, attachment of cassettes other than the data cassette 30 and diagnostic cassette 40, improper attachment of cassettes, and failure to attach cassettes can be prevented.

In the above embodiment, the moment limiter of a crane was explained as an example, but the present invention is not limited to the moment limiter of a crane, but can be applied to a control device for monitoring and controlling the operation of general mechanical equipment. Any device can be applied as long as it has a medical cassette and a diagnostic cassette, and one of the cassettes can be selected and used as necessary.

One of such other application examples is a control device for an engine that drives a plurality of variable displacement hydraulic pumps. This control of engine speed is achieved by calculating the deviation between the target rotation speed and the detected actual rotation speed, and controlling the amount of fuel injection by displacing the rack of the engine's fuel injection pump according to this deviation. This is to bring the rotation speed closer to the target value, but since there is a specific relationship between the easy displacement amount and the engine rotation speed for each type of engine and fuel injection pump, a unique easy displacement value corresponding to the deviation is determined. (This corresponds to the rated load value corresponding to the working radius in the above-mentioned embodiment.) This is stored in the storage means of the cassette for each type, and is installed in the control device as necessary. In addition, if the total torque reaction force of each hydraulic pump becomes larger than the maximum torque of the engine, the engine will stop, so to prevent this, the deviation value is corrected and the tilt angle of the hydraulic pump is controlled. The coefficient value is obtained to adjust the tilt angle of the hydraulic pump. In this case as well, the correction value and the coefficient value to be corrected are stored in the storage means of the cassette for each type of engine and hydraulic pump. Further, a storage means storing a diagnostic program for diagnosing the state of the control device may be stored in a separate cassette, and the cassette may be attached to the control device to perform diagnosis, if necessary.

As mentioned above, the present invention can be applied to any control device that selectively uses a data cassette and a diagnostic cassette.

Furthermore, in the above embodiments, it is first determined whether or not it is the first specific value, and then it is determined whether or not it is the second specific value, but the determination is not necessarily made in this order. It is not necessary, and it may be determined first whether or not it is the second specific value, and then whether it is the first specific value.

Furthermore, the address position of each address map is
For example, although the specific address has been described as being at the top position, it does not necessarily have to be at such a specific position, and may be at any position.

As explained above, in the present invention, the first specific address is stored at the same specific address of the storage means storing data specific to the mechanical device to be monitored and controlled, and the storage means storing the processing program for diagnosis. Since the value and the second specific value are stored and the specific value is read to detect which storage means is attached, the number of connectors can be reduced to one, and the control program and diagnostic program It is possible to omit a changeover switch and a buffer circuit, and the operation becomes easy. Furthermore, it is possible to prevent the control device from operating abnormally due to the attachment of a different cassette.

[Brief explanation of drawings]

Figure 1 is a side view of the general structure of the crane, Figure 2 is a block diagram of the moment limiter, Figure 3 is a flowchart to explain the operation of the moment limiter, and Figure 4 is a moment limiter using a cassette. 5 is a block diagram of a moment limiter using a cassette according to an embodiment of the present invention, and FIG. 6 is a block diagram showing a part of the moment limiter shown in FIG. 5 in more detail. ,
7. 1, 2, and 3 are diagrams showing memory maps of each memory shown in FIG. 5 and FIG. 6, and FIG. 8 is a flowchart for explaining the operation of the moment limiter shown in FIG. 5 and FIG. 6. It's a chat. 6...Load detector, 7...Angle detector, 8,8
a... Moment limiter arithmetic unit, 9... Multiplexer, 10... A/D converter, 11...
MPU, 12, 12a, 13, 31, 41...
ROM, 14...RAM, 17...Output circuit, 1
8... Selection signal generation circuit, 20... Alarm device, 21
...Automatic stop output terminal, 29...Connector, 30
...Data cassette, 40...Diagnostic cassette.

Claims (1)

[Scope of Claims] 1. Computing means for performing computation for generating a monitoring/control signal based on data from a monitored/controlled part of a mechanical device and data specific to the mechanical device; A control device comprising a first storage means comprising a read-only memory storing a processing program, the control device comprising: a first storage means comprising a read-only memory storing a processing program; a second storage means, a first cassette containing the second storage means, and a second storage means having an address in which a diagnostic program for diagnosing the state of the control device is stored and a second specific value different from the first specific value. a third storage means comprising a read-only memory having the same address as the specific address storing the specific value; a second cassette containing the third storage means; and the first and second cassettes. a connector to which the control device is selectively detachably attached; a readout means for reading out the value of the specific address of the storage means of the cassette attached to the connector when the control device starts operating; and the readout value. a determining means for determining which of the first and second specific values the read value is the first specific value, and a first unit for transferring control to the processing program when the read value is the first specific value. A control device using a cassette, characterized in that it is provided with a program selection means and a second program selection means for transferring control to the diagnostic program when the read value is the second specific value. 2. Calculating means for performing calculations to generate monitoring/control signals based on data from the monitored/controlled part of the mechanical device and data specific to the mechanical device, and a lead storing a processing program for the calculating means. A control device comprising a first storage means comprising only memory, and a second storage means comprising read-only memory having an address storing the unique data and a specific address storing the first specific value. and a first cassette containing the second storage means, an address in which a diagnostic program for diagnosing the state of the control device is stored, and the first cassette in which a second specific value different from the first specific value is stored. A third storage means comprising a read-only memory having the same address as the specific address, a second cassette containing the third storage means, and the first and second cassettes are selectively detachable. read means for reading out the value of the specific address of the storage means of the cassette attached to the connector when the control device starts operating; a first program selection means for transferring control to the processing program when the read value is the first specific value; a second program selection means for transferring control to the diagnostic program when the read value is the second specific value; and a cassette installation failure when the read value is other than the first and second specific values. 1. A control device using a cassette, characterized in that it is provided with a notification means for notifying the user.