JPH04100112A - Programmable controller - Google Patents

Abstract

PURPOSE:To prevent the malfunction of sequence control by processing the sequence control by a sequence control storage part, an abnormality control group storage part, and an abnormality control storage part. CONSTITUTION:A sequence control storage part 4, an abnormality control group storage part 5, an abnormality control storage part 6, and a sequence control processing part 7 are provided, and an abnormality control individual designation column and an abnormality control group number designation column are stored for each step of sequence control. The abnormality registered in the corresponding abnormality control individual designation column is decided at the time of executing the sequence control. If the abnormality is detected, the step is switched to a registered abnormality processing step; but otherwise, the abnormality registered in an abnormality control group number is decided in accordance with the abnormality control group number in the corresponding abnormality control group number designation column. If the abnormality is detected, the step is switched to the registered abnormality processing step. Thus, the malfunction of sequence control due to overlooking of an abnormal signal is easily prevented.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a sequence controller that performs programming using descriptions having the concepts of steps and transitions, and in particular to a programmable controller suitable for easily handling abnormalities. Regarding.

[Conventional technology] In recent years, sequential function charts (hereinafter referred to as
(abbreviated as SFC) is used. SFC expresses the execution order and processing contents in order control using several types of descriptive elements. (Fig. 3) What is represented by 5O1S1, . . . , S6 in Fig. 3 is called a step. A step represents a unit of a sequence that is executed when a given condition is satisfied in order control. A step typically has zero or more actions associated with it, which are executed when the step is put into the execution state. Each step is connected by a directional technique called a link, and a transition condition indicating the condition for the execution state to transition from the former step knob to the latter step is written on the horizontal line drawn perpendicular to the link. The transition condition is a logical condition for transition, and is indicated by 10.1゛1, . . . , T7 in FIG. In the third circle, from step S2, if transition condition T2 is satisfied, the process moves to step S3 and an action accompanying step S3 is executed, and if transition condition T2 is not satisfied and transition condition T5 is satisfied, the process moves to step S5. This represents a sequential control selection operation for executing actions associated with step S5. If both transition conditions T2 and T5 are not satisfied, the execution step stalls at step S2,
Execute the action associated with step S2.

Further, when transition conditions T2 and T5 are satisfied at the same time, the transition to the left side, that is, to step S3 takes priority.

In this way, the sequence control described in SFC expresses a sequence of operations for a controlled object by establishing transition conditions between steps, making the structure of a program and its flow easy to understand.

However, when some kind of abnormality occurs in the controlled object during sequential control execution, the abnormality processing sequence to be executed generally differs depending on the content of the abnormality, the execution step position during sequential control execution, and the like. When the SFC of FIG. 3 is described in consideration of the abnormality processing that occurs during execution of sequence control, the result is as shown in FIG. 4. SIE, S2E in Figure 4
, . . 36F represents an abnormality processing step for an abnormal signal generated during sequential control execution.
, Tel, 1゛e2, ..., Te6 are arbitrary steps.

This is a transition condition that represents an abnormal signal that occurs during execution of a program. In FIG. 4, the sequential control execution step is step S.
1, the logic state of the transition condition TI is checked, and if the condition is met, the process moves to step S2, and if the transition/condition T1 is not met, an abnormality signal] is checked, and the logic state of e1 is checked, and the condition is met. If so, the process moves to the abnormality processing step SIF, and goes to step SIE.1.The associated actions, that is, the abnormality processing sequence, are executed1.If the abnormality signal Tel is not established, the logic state of the abnormality signal qTe2 is checked. If the conditions are met, the process moves to abnormality processing step 32E and step 3
Execute the action associated with 2H, that is, the abnormality processing sequence, and if the abnormality signal 1'c2 does not hold, check the logic state of the abnormality signal ゛c4 and if the condition is satisfied, proceed to abnormality processing step 34E. Transition and execute the action accompanying step 54E, that is, the abnormality processing sequence 6
In order control written in 3FC, what is the preceding step? When M number of transition lines are connected to step forceps (referred to as selection sequence), priority is given to the left side as mentioned above. Description A1 Depending on the device, the normal processing sheet run may not be executed.

[Problem to be Solved by the Invention 1] In this way, when sequential control including emergency processing failures is described in SFC, each step C during sequential control execution must be When checking for abnormal signals, it is necessary to provide a process to determine the relevant abnormality for each step. ! Furthermore, depending on the position of the description, the abnormality processing sequence may not be executed.

SUMMARY OF THE INVENTION Therefore, it is an object of the present invention to perform abnormality judgment and abnormality processing for one or more abnormal signals checked during sequential control execution without complicating the SFC description and without causing failure of abnormal signals to be overlooked. An object of the present invention is to provide a programmable controller that can easily prevent malfunctions in sequence control.

[Means for Solving the Problems] In order to achieve the above object, the present invention provides an input section for taking in external signals, an output section for outputting signals to the outside, a data memory section, and a control program. In a programmable controller that has a program memory section that stores a program memory section and a calculation section that performs calculations according to a control program stored in the program memory section, an execution step number in sequential control, an execution program for each step, and conditions for controlling the execution order are The stored sequence control storage unit, the same abnormality judgment and abnormality processing performed in multiple steps during sequence control, the abnormal signal name, the state value of the abnormal signal, and the state of the abnormal signal. An abnormality control group storage unit that stores the abnormality processing step number to be executed when the value matches each abnormality control group number, and an abnormality judgment and abnormality signal for abnormality processing performed individually for each step during sequential control. an individual error control specification field that specifies the name, the status value of the abnormal signal, the abnormality processing step number to be executed when the abnormal signal matches the status value of the abnormal signal, and the abnormality control group number in the abnormality control group storage section. an abnormality control group number specification field to be specified; and the abnormality control individual specification field and the abnormality control group number specification field for each step of sequential control; The present invention is characterized by comprising a sequence control processing unit that processes the sequence side fftl using the abnormality control group storage unit, the abnormality control group storage unit, and the abnormality control storage unit.

(Operation) The present invention provides the same abnormality judgment and abnormality processing performed in the number of steps during sequence control, and the abnormality signal name, the status value of the abnormality signal, and the abnormality temple.
The error processing step knob number to be executed when it matches yI
Each normal control group number is registered in one place, and the abnormal signal name, the status value of the abnormal signal, and the abnormal signal are An individual abnormality control specification field for specifying the abnormality processing step number to be executed when the abnormality signal status A matches the abnormality control group number and an abnormality control group number specification field for specifying the abnormality control group number are provided for each step of sequential control. The abnormality control individual designation field and the abnormality control group number designation field are memorized, and when sequential control is executed, the abnormality registered in the abnormality control individual designation field corresponding to the relevant step or knob is determined, and if an abnormality is detected. If no abnormality is detected, the abnormality control group number in the abnormality control group number specification field corresponding to the step is registered to the abnormality control group number. If an abnormality is detected, a transition is made to a registered abnormality processing step.

[Example] Hereinafter, the present invention will be explained based on the drawings.

FIG. 1 is a block diagram of the arithmetic unit of the programmable controller of the present invention that executes order control based on SFC descriptions. In FIG. 1, 1 is an execution step for sequential control, a step number storage unit that stores the step number, and 2 is an axion memory that records the Qj position of the sea care scalpel to be executed for each step. Department,
3 is a transition condition that stores one transition condition between each step, it! (Part 4 is a sequence control storage unit composed of the step, knob number storage unit 1, axion storage unit 2, and i! transfer condition storage unit 3; 5 is a sequence control storage unit; 3)
The same abnormality judgment, abnormality processing B, and the abnormality (f number name, status value of the abnormal signal, and status value of the abnormal signal in question) Execute when 7 matches with -4 W normal process ~ Record knob number 4j for each abnormal control group number 1f (7) abnormal control group storage section (j is plate (each step in order control) Anomaly '1 is set individually with the knob, and for abnormal processing, the abnormal signal name and the state of the abnormal signal (+6) and the abnormal processing step to be executed when the abnormal signal matches the state of the abnormal signal (1h) It consists of an abnormal control individual designation field for specifying a number and an abnormal control group number designation field for designating the 7g normal control group number of the fi'il abnormal control group storage section. The abnormal control storage unit 7 that stores the abnormal control group number designation field reads the execution step number from the step number storage unit 1,
A sequence control processing unit that executes sequence control processing using the abnormality control group storage unit 5, the abnormality control storage unit 6, and the sequence control storage unit 4; 8 is the action storage unit 2;
and an interface with a program input 'Jl for reading and writing programs and setting data stored in the transition condition storage section 3, the abnormality control group storage section 5, and the Ail abnormality control storage section 6. It shows the part.

Table 1 shows an example in which the abnormal control individual designation column and the abnormal control group number designation column stored in the abnormal control storage section 6 are set for each step of sequential control. In Table 1, steps that are not entered in the abnormal control individual designation column indicate that there are no abnormalities to be determined individually, and steps that are not entered in the abnormal control group number designation column are abnormal control that performs abnormality determination. Indicates that there is no group.

Table 1 Table 2 shows the name of the abnormal signal to be determined during sequential control stored in the abnormal control group storage unit 5, the state value of the abnormal signal, and whether the abnormal signal matches the state value of the abnormal signal. This is an example in which the abnormality processing step number to be executed at the time is set for each abnormality control group number.

Table 2 Note that Table 1 has an individual abnormality control specification column and an abnormality control group number specification column that perform abnormality determination for each step based on the sequential control described by the SFC in Figure 3. Yes, Table 2 shows the name of the abnormal signal determined for each abnormal control group number, the status of the abnormal signal, and
This is a set of abnormality processing steps to be executed when the abnormality signal matches the state value of the abnormality signal. That is, Table 1 is based on 1 written by 5FCc in Figure 4.
Extract only the abnormality processing failures from the 1st sequential ill, set individual abnormality judgments and abnormal processings in the abnormality control individual specification field for each step, and group the same abnormality judgments and abnormal processings for multiple steps. , the group number is set in the error control group number specification field. Further, Table 2 sets the name of the abnormal signal to be determined for each group number, the status value of the abnormal signal, and the abnormal processing step to be executed when the abnormal signal matches the status value of the abnormal signal. It is. For example, when the execution step number is Sl, if the abnormality signal Te4 is ON from the abnormality control individual specification column according to Table 1, the abnormality processing step 34E
Nii! ! (If the error signal 1e4 is OF mode, check the error side fill group number specification column.The error control group number specification column should be
" is set. Therefore, refer to the item with the abnormality control group number 1 set in Table 2, and
This indicates that if T'el is ON, the process transitions to the abnormality processing step SIE, and if the abnormality signal Te2 is OFF, the process transitions to the abnormality processing step 32E.

FIG. 2 is a flowchart showing the operation procedure of the order control processing section of this embodiment. The operation procedure of the order control section will be explained based on FIG. First, the execution step number is read from the step number storage section 1 (state). If the abnormality judgment condition is not registered in the abnormality control individual specification column of the abnormality control storage unit 6 from the read execution step number υ, the process moves to state 5, and if it is registered, the process moves to state 3 (state 2). In states 1 and 3, if the abnormality determination conditions registered in the abnormality control individual specification field are satisfied, the process moves to state 9, and if not, the process moves to state 4. In stays 1 and 4, it is checked 8 times to see if it has been registered in the abnormal control individual designation column, and if it is, it returns to state 3, otherwise it moves to stay 15. In state 5, if the abnormal control group number is not registered in the abnormal control group number designation jrII from the execution step number read in state 1, the process moves to state 10, and if it is registered, the process moves to state 6. .

In state 6, the abnormality control group number registered in the abnormality control group number specification column is extracted from the execution step number. In state 7, if the abnormality judgment condition registered in the Tatsumi control group storage unit 5 based on the extracted abnormality control j1n group number is satisfied, the process moves to steps 1 and 9, and if it is not satisfied, the process moves to state 8. to move to.

In steps 1 and 8, if the abnormality judgment condition corresponding to the abnormality control group number retrieved in state 6 is not yet registered in the abnormality control storage unit 5, the process returns to state 7. If so, the process moves to STATE 1 IO. In state 9, the corresponding abnormality processing step number is replaced with a new execution step number, and state I/12 is executed.
Shift to processing. In state 10, the logical state of transition condition 1 corresponding to the execution step number is checked from the transition condition storage unit 3 that stores transition conditions for each step, and if it is true, the execution state transitions from the execution step. The previous step number is replaced with a new execution step number (state 11), and the process moves to state 2. If not satisfied, the execution step number remains unchanged and the process moves to state 12. In the processing of steps 1 and 12, the action corresponding to the execution step number is executed from the action storage unit 2 that stores the action for each step, and the execution step number is stored in the step number storage unit 1 and the order Control processing ends.

U Effects of the Invention] As described above, according to the present invention, a programmable controller having the same effect can be realized without repeatedly defining the same abnormality determination, and has the following effects.

(1) Since there is no need to describe transition conditions for each abnormality determination, the control description becomes simple.

(2) Since the normal processing is described in a continuous manner, the processing contents are easy to see, and changes and maintenance are also easy.

(3) By separating the sequential control program written by SFC, abnormality determination, and abnormality processing, it becomes possible to prevent malfunctions in sequence operations due to missed abnormality signals, and the reliability of the system is improved.

(4) In the past, things that could not be checked unless the abnormality judgment transition conditions were checked can now be divided into individual abnormality judgments and abnormality processing for each step, and the same abnormality judgment and abnormality processing for multiple steps. It becomes possible to check for many abnormalities depending on the status and operation, and the reliability of the system is improved.

(5) When actually checking the sequence operation for rust, it is often necessary to set various conditions, and it may take a lot of time to set the conditions, or it may not be possible to set the conditions sufficiently. According to the present invention, it is possible to change the abnormal signal name, the state value of the abnormal signal, and the abnormal processing step or at the same time to make a transition to the child Q' step. There is no need to set complicated conditions for >, the time required for the motion Gi iU can be shortened, and there will be no oversight in the no-kense motion.

[Brief explanation of the drawing]

Fig. 1 shows an embodiment of the present invention, Fig. 2 is a flowchart showing the operation procedure of the control processing unit used in this embodiment, and Fig. 3 is a diagram for explaining SFC. , FIG. 4 is a diagram showing an example of conventional description. ■...Step, number storage unit, 2...Acun Yong storage unit...Transition condition storage unit, 4...Sequence control processing storage unit, abnormal control group storage unit/abnormal control group unit, 7...Sequence control Processing section 8: Interface section with program input device Specially manufactured by Anj Electric Manufacturing Co., Ltd.

Claims (1)

[Claims] An input section for taking in an external signal, an output section for outputting a signal to the outside, a data memory section, a program memory section that stores a control program, and a program memory section that stores the control program. In a programmable controller that has an arithmetic unit that performs calculations according to a control program that has been set, a sequence control storage unit that stores execution step numbers and execution programs for each step in sequence control, conditions for controlling the execution order, and For the same abnormality judgment and abnormality processing performed in multiple steps, abnormality control is performed using the abnormality signal name, the state value of the abnormality signal, and the abnormality processing step number to be executed when the abnormality signal matches the state value of the abnormality signal. An abnormality control group storage unit that stores each group number, abnormality judgment performed individually at each step during sequential control, and abnormality processing for abnormality signal name, state value of the abnormality signal, and abnormality signal as described above. It consists of an individual abnormality control specification field for specifying the abnormality processing step number to be executed when it matches the status value of the abnormality signal, and an abnormality control group number specification field for specifying the abnormality control group number in the abnormality control group storage section. Sequential control is performed by an abnormality control storage unit storing the abnormality control individual designation field and the abnormality control group number designation field for each step, the sequence control storage unit, the abnormality control group storage unit, and the abnormality control storage unit. A programmable controller characterized by comprising a sequence control processing section that processes.