JPH04137102A - Program simulation method - Google Patents

Abstract

PURPOSE:To perform the parallel simulation of operation steps by allowing a simulation program, which is generated in the simulation ladder program element generating process, to simulate the operation of operation steps in one operation block. CONSTITUTION:A control program recognizes how many operation blocks should be operated in parallel. Numbers n1, n2...nm are given to (m) blocks, which should be operated in parallel, to denote these blocks as BB1, BB2...BBm, and corresponding operation step maps are rearranged in a memory. An operation block to be subjected to parallel operation is extracted. It is checked whether an execution elapsed time register Tni of the block Bni designated by a variable (i) is equal to a minimum value of elapsed times Tnx (x=1 to m) of all blocks or not. When it is equal to this minimum value, a ladder program element kni is extracted to recognize the interlock condition, and corresponding SSP(n1, kn1) is started. Next, the elapsed time register Tni is updated. Thus, the block Bni is simulated upto the operation step kni.

Description

[Detailed description of the invention] [Industrial application field]

The present invention relates to a method for simulating a program for confirming in a simulated manner whether or not a sequence operation control program for causing equipment in a production line to perform sequence operations operates as set, and in particular, the present invention relates to a method for simulating a program for confirming whether or not a sequence operation control program for causing equipment in a production line or the like to perform sequence operations, and in particular, to Contains parallel operations.

[Conventional technology]

In a production line such as an automobile assembly line, a sequence control unit with a built-in computer is provided for the various installed equipment, and the sequence control unit performs sequence control of the operations that each equipment should perform sequentially. When such sequence control is performed, a control program is loaded into a computer built into the sequence control unit, and the sequence control unit controls each of the various equipment installed on the production line. Each stage of operation control is progressed sequentially according to the sequence operation control program.For such a sequence control program, before executing the actual sequence control, a simulation is performed to check whether it operates as designed or not. In such simulations, conventionally,
Generally, simulations are performed by applying simulated input/output signals from the outside that correspond to the actual operation of the equipment.

[Problems to be Solved by the Invention] However, in actual equipment, a plurality of equipment often operate in parallel with each other. Conventionally, when simulating a sequence control program for equipment that performs such parallel operations, the parallel block operations are changed to serial block operations, and the simulation operation is performed for each piece of equipment in turn. That's what I do. However, in such conventional simulation methods, parallel operation is converted to serial operation and simulated, so the simulated operation is naturally different from the actual operation, and this makes it difficult to verify the program. I cannot say that I have done it correctly. Further, since parallel operations are converted to serial operations, operations that should be performed simultaneously are performed successively at different times, and therefore it takes a long time to execute the simulation operation. Therefore, the present invention was proposed in order to eliminate the drawbacks of the above-mentioned conventional examples, and its purpose is to simulate programs for equipment that include parallel operations in operations between operation blocks. The purpose of this invention is to propose a method for simulating a program that can be simulated with actions close to the action sequence. [Means and operations for achieving the object] The structure of the present invention for achieving the above object is such that the unit operation of each piece of equipment is expressed by an operation step, and an operation block consisting of a set of operation steps is defined from the start to the end. In a simulation method of a program that operates independently from other operation blocks up to Regarding motion, create a motion block map that describes that a motion block performs a single motion or performs a parallel motion with respect to another motion block, and for each motion step of each motion block, Create a motion step map that describes the execution sequence of motion steps and the predicted execution time of each motion step, and create a simulation ladder program element for simulating the motion steps in each motion block from the motion block map and motion step map. , when executing the simulation ladder program element, the simulation ladder program element is executed according to the execution order of the operation steps while referring to the operation block map and the operation step map. In the execution process, the simulation execution order of each action step of each action block is controlled while recognizing parallel actions between action blocks based on the action block map and the action step map. Therefore, even if the simulation program created in the simulation ladder program element creation step simulates the actions of the action steps within one action block, the action steps can be simulated in parallel.

【Example】

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to sequence control for an automobile production line will be described below with reference to the accompanying drawings. This embodiment system has a sequence control program automatic generation section and a simulation program generation section. Therefore, first, a vehicle assembly line to be controlled by the sequence control program will be described. Next, by explaining the automatic generation part of the sequence control program, reference will be made to operation blocks and operation steps, which are important concepts for the simulation of this embodiment. Next, generation and execution control of a simulation program, which is a feature of this embodiment, will be explained. Paper Industry] Totate 2 First, an example of a vehicle assembly line to be controlled by a sequence control program to be generated will be described with reference to FIGS. 2 and 3. The vehicle assembly line shown in FIGS. 2 and 3 exemplarily consists of three stations STL, ST2, and ST3. The positioning station ST1 is a vehicle body 11.
is received on the pedestal 12, and the position of the pedestal 12 is controlled.
2 and the body 11 is positioned. The docking station ST2 combines the engine 14, the front suspension assembly (not shown), the rear suspension assembly 15, and the body 11 placed at a predetermined position on the pallet 13. The fastening station ST3 fastens and fixes the engine 14 and front suspension assembly 15, which are combined at ST, to the body 11 using screws. Also,
An overhead transfer position 16 for holding and transporting the body 11 is provided between the positioning station ST1 and the docking station ST2. Docking station ST2 and fastening station ST
A pallet conveyance position 17 for conveying the pallet 13 is provided between the pallet 3 and the pallet 13. The pedestal 12 at the positioning station STI reciprocates along the rail 18. In the positioning station STI, the pedestal 12 is placed in a direction perpendicular to the rail 18 (
By moving the body 11 placed on the pedestal 12 in the vehicle width direction, the positioning means (BF) positions the front part of the body 11 in the vehicle width direction, and also positions the rear part of the body 11 in the vehicle width direction. and a positioning means (TL) that positions the pedestal 12 in the front-rear direction by moving it in the direction along the rail 18 (back-and-forth direction). Furthermore, STI
, there are lift reference bins (FL, FR, RL, RR) that position the body 11 relative to the pedestal 12 by engaging with the front left and right parts and the rear left and right parts of the body 11.
) is provided. Then, by these positioning means and the lifting reference bin, the positioning station STI
A positioning device 19 is configured. That is, these positioning means and the lifting reference bin become the control targets of the positioning device 19 in the sequence control program. The transfer device 16 includes a guide rail 20 disposed above the positioning station STI and the docking station ST2 with a hook passing between them;
0, and a carrier 21 that moves along 0. An elevating hanger frame 21B is attached to the carrier 21, and the body 11 is supported by the elevating hanger frame 22. As shown in FIG. 4, the lift hanger frame 22 includes a left front support arm 22FL and a right front support arm 22FR, each of which has a pair of front arm clamp parts 2.
2A, and a left rear support arm 22RL and a right rear support arm 22RR (not shown) are each attached via a pair of front arm clamp parts 22B. Each of the left front support arm 22FL and the right front support arm 22FR has a front arm clamp portion 22A.
When the front arm clamp 22A is released from the clamp, it assumes a position extending along the guide rail 20, and when the front arm clamp 22A is clamped, the fourth As shown in the figure, it takes a position extending in a direction perpendicular to the guide rail 20. Similarly, left rear support arm 22R
L. Each of the right rear support arms 22RR also rotates around the rear arm clamp part 22B, and assumes a position extending along the guide 20 when the clamp by the rear arm clamp part 22A is released. When clamping is performed by the rear arm clamp section 22B, the rear arm clamp section 22B assumes a position extending in a direction perpendicular to the guide rail 20. When the body 11 is transferred to the transfer device 16,
As shown by the dashed line in FIG. 2, the transfer device 16 has a left front support arm 22FL and a right front support arm 22F at a position above the front end of the rail 18 (original position).
Each of H extends along the guide rail 20 after being unclamped by the front arm clamp portion 22A. Also,
Left rear support arm 22RL, right rear support arm 22RR
Each of them is unclamped by the rear arm clamp part 22B and extends along the guide rail 20, and then,
The elevating hanger frame 21B is lowered. In this state, the pedestal 12 on which the body 11 is placed is moved along the rail 18 to its front end, and takes a position corresponding to the lifting hanger frame 21B of the transfer device 16 that has been lowered. be made into Each of the left front support arm 22FL and the right front support arm 22FH is
It is rotated to a position extending in a direction perpendicular to the guide rail 20 below the front part of the body 11, and is in a state where it is clamped by the front arm clamp part 22A. Further, each of the left rear support arm 22RL and the right rear support arm 22RR is rotated and takes a position extending in a direction perpendicular to the guide rail 20 below the rear part of the body 11, so that the rear arm clamp section 22B can clamp the left rear support arm 22RL and the right rear support arm 22RR. It becomes a state of being done. Thereafter, the lift hanger frame 21B is raised, and as shown in FIG.
The body 11 is the lifting hanger frame 2 of the transfer device 16
It is supported by a left front support arm 22FL, a right front support arm 22FR, a left rear support arm 22RL, and a right rear support arm 22RR attached to 1B. Further, the pallet conveying device 17 includes a pair of guide portions 24L and 24R each provided with a large number of support rollers 23 for receiving the lower surface of the pallet 13, and a pair of guide portions 24L and 24R.
A pair of conveyor rails 25L and 25R extending in parallel to each other in 4H, each having a pallet locking part 26 for locking a pallet 13, and moving along the conveyor rails 25L and 25H, respectively. Pallet transport platform 27L and 2
7R, and a near motor mechanism (not shown) for driving these pallet conveyance tables 27L and 27R. At the docking station ST2, when assembling each of the front suspension assembly and the rear suspension assembly 15, there is a pair of left and right parts that support the struts of the front suspension assembly and the struts 15A of the rear suspension assembly 15, respectively, to take an assembly posture. Front clamp arms 30L and 30R, and a pair of left and right rear clamp arms 31
L and 31R are provided. These left and right front clamp arms 30L and 30R are connected to the transport rail 25L, respectively.
The mounting plate portion 3 can be moved forward and backward in the direction orthogonal to 25H.
2L and 32H, and the left and right rear clamp arms 31L and 31R are attached to the mounting plate portion 33, respectively.
It is attached to L and 33R so that it can move forward and backward in a direction orthogonal to the transport rails 25L and 25H. The mutually opposing tips of the left and right front clamp arms 30L and 30R and the mutually opposing tips of the left and right rear clamp arms 31L and 31R are the struts of the front suspension assembly or the rear suspension assembly 1, respectively.
It has an engaging portion that engages with the strut 15A of No. 5. The mounting plate portion 32L is mounted on the transport rails 25L and 25 with respect to the fixed base 35L by the arm slide 34L.
It is possible to move in the direction along R. The mounting plate portion 32R is movable in the direction along the transport rails 25L and 25R with respect to the fixed base 35R by the arm slide 34R. The mounting plate portion 33L is movable in the direction along the transport rails 25L and 25R with respect to the fixed base 37L by the arm slide 36L. Furthermore, the mounting plate part 33R
is movable in the direction along the transport rails 25L and 25H with respect to the fixed base 37R by the arm slide 36R. Therefore, the left and right front clamp arms 30L
and 30R, with their tips engaged with the struts of the front suspension assembly,
It can be moved forward, backward, left and right. Further, the left and right rear clamp arms 31L and 31R are movable back and forth and left and right while their tips are engaged with the struts 15A of the rear suspension assembly 15. In addition, these left and right front clamp arms 30L and 30R, arm slides 34L and 34R1, left and right rear clamp arms 31L and 31R1, and arm slides 36L and 36
R constitutes the docking device 40. Furthermore, the docking station ST2 includes a pair of slide rails 41L and 41R installed to extend parallel to the transport rails 25L and 25H, respectively, and a movable member that slides along the slide rails 41L and 41R. 42, and a slide device 45 consisting of a motor 43 and the like that drive the movable member 42. The movable member 42 of this slide device 45 includes an engaging means 46 that engages with a movable engine support member (not shown) provided on the pallet 13, and a groove that positions the pallet 13 at a predetermined position. Two elevating pallet reference bins 47 are provided. Slide device 4
5, a pallet 13 is attached to a body 11 supported by an elevating hanger frame 22 in a transfer device 16.
Engine 14 placed above. When the front suspension assembly and the rear suspension assembly 15 are assembled, the engaging means 46 thereof is moved back and forth while being engaged with the movable engine support member on the pallet 13 positioned by the lifting pallet reference bin 47. The engine 14 is moved back and forth with respect to the body 11 to avoid interference between the body 11 and the engine 14. The fastening station ST3 includes a robot 48A for tightening screws to fasten the engine 14 and front suspension assembly combined to the body 11, and a robot 48A for fastening screws to the body 11 and the rear suspension assembly 15 combined thereto. A robot 48B is arranged to perform screw tightening work for fastening the parts. Furthermore, at the fastening station ST3, two
Elevating pallet reference pins 47 are provided. In the vehicle assembly line illustrated in FIGS. 2 to 4, the positioning device 19 at the positioning station STI. Transfer device 16, and docking device 40 and slide device 4 in docking station ST2
5. The pallet transport device 17 and the robots 48A and 48B in the fastening station ST3 are subjected to sequence control by a sequence control unit connected thereto based on a sequence control program generated by the program generation device of this embodiment. That is, these positioning devices 19. The transfer device 16 and the like are regarded as "equipment" to be subjected to sequence control. The assembly operation of the sequence program on the production line shown in FIG. 2, that is, the operation performed by all of the above-mentioned "equipment" subject to sequence control, can be broken down into a plurality of "operation blocks."here"
``Action block'' can be defined as ■: a set of multiple unit actions. The most important property of a movement block is: This means that the motion can be completed independently from the motion block of In other words, an action block is related to other action blocks only at the level of the action block.The completion of the action in the other action block is necessary for the action block to be able to start its action. Other operating blocks are
There may be one case, or there may be multiple cases. In other words, the completion of the operation of one action block becomes the start condition for another action block (one or more action blocks) connected to it, or the end of the action of multiple action blocks becomes the start condition. be. Further, according to the above property, there is no need to activate another motion block at an intermediate stage of the motion in one motion block. Further, there is no need to wait for activation from another action block at an intermediate stage of one action block. From the definition of the action block in ■ and ■ above, it is possible to derive the following properties of the incidental action block. ■: An action block is a set of unit actions that satisfy the properties of , is preferably the largest. This property (■) is not absolutely necessary. However, satisfying (■) reduces the number of movement blocks that describe the production line and simplifies the description of the entire process. If the production line shown in Figures 2 and 3 is described using operation blocks that satisfy conditions 17 motion blocks are obtained. Among the above 17 motion blocks, 12 from BO to B11
Each operation block will be explained. Block BO: An operation block for positioning the pedestal 12 and the body 11 thereon by the positioning device 19. This operation block is called a pedestal positioning block. Block B1: An operation block for making preparations for transferring the body 11 to the transfer position 16. This operation block is called a transfer device preparation block. Block B2: The docking device 40 clamps the struts of the front suspension assembly with the left and right front clamp arms 30L and 30R, and the left and right rear clamp arms 31L. 31R is an operation block for preparing to clamp the strut 15A of the rear suspension assembly 15. This operation block is called a strut clamp preparation block. Block B3: An operation block in which the body 11 on the pedestal 12, which has been positioned by the positioning device 19, is transferred to the lifting hanger frame 22 in the transfer device 16 and transported. This operation block is called the transfer device receiving block. Block B4 An operational block for preparing the sliding device 45 for engaging the engaging means 46 provided on its movable member 42 with the movable engine support member on the pallet 13. This operation block is called a slide device preparation block. Block B5: The positioning device ff119 moves the pedestal 12
An action block that returns the object to its original position. This operation block is called the pedestal original position return block. Block B6: Lifting hanger frame 2 of transfer device 16
Pallet 13
The engine 14 placed above, the struts of the front suspension assembly placed on the pallet 13 and clamped by left and right front clamp arms 30L and 30R, and the struts of the rear suspension assembly 15 clamped by left and right rear clamp arms 31L and 31R. Operation block that combines with 15A. This operating block is called the engine/suspension docking block. Block B7: An operation block in which the transfer device 16 returns to its original position. This operation block is called a transfer device original position return block. Block B8: An operation block in which the docking device 40 returns the left and right front clamp arms 30L, 30R and the left and right rear clamp arms 31L, 31R to their original positions. This operation block is called a clamp arm original position return block. Block B9: The pallet transport device 17 operates the linear motor, and the engine 14. An operation block that transports a pallet 13 on which a body 11 on which a front suspension assembly and a rear suspension assembly 15 are combined is placed to a fastening station ST3. This operation block is called a linear motor propulsion block. Block B10: An operation block in which the robot 48A performs screw tightening work for fastening the engine 14 and front suspension assembly combined to the body 11 to the body 11. This action block is called a screw tightening first action block. Block B11: An operation block in which the robot 48B performs screw tightening work for fastening the rear suspension assembly 15 combined with the body 11 to the body 11. This action block is called the second screw tightening block. FIG. 5 shows the relationship between 17 operation blocks, AO to A4 and BO to Bll, in the production line shown in FIGS. 2 to 4. This figure 5 is similar to figures 2~
A programmer who intended to create a sequence control program for the production line shown in FIG. 4 analyzed the operations on this production line and created it. In FIG. 5, the block B3 of the transfer device 16 has two lines drawn from the operation block BO of the positioning device M19 and the operation block B1 of the transfer device 16. This line is connected to the block B3 by the positioning device 19.
2 and the body 11 thereon (action block BO) are completed, and the preparation for transferring the body 11 at the transfer position 16 (action block Bl) is completed, and then the operation is started. In other words, operation blocks BO and B1
and perform parallel operations. Each of the operation blocks BO-Bll described above is divided into a plurality of operation steps, each of which involves a pressure operation. here,
The operation step is required to be accompanied by an output operation. However, since the action steps are constituent elements of action blocks, the action steps within one action block do not perform an output action with respect to the action steps of other action blocks. For example, the pedestal positioning operation block BO is divided into 10 operation steps BOSO-BOS9 as follows. BO30: Operation step for checking various conditions for activating the operation block BO (referred to as condition confirmation operation step). BOSI: Operation step (BF positioning operation step) in which the pedestal 12 is moved by the positioning means BF to position the front part of the body 11 in the vehicle direction. BOS2: Operation step (BR positioning operation step) in which the pedestal 12 is moved by the positioning means BR to position the rear part of the body 11 in the vehicle width direction. BOS3: An operation step (TL positioning operation step) in which the pedestal 12 is moved by the positioning means TL and the body 11 is positioned in the direction along the rail 18 (front-back direction). BOS4: Operation step in which the lift reference bin FL engages with the front left side of the body 11 (FL engagement operation step). BO35: Operation step in which the lifting reference bin FR engages with the front right side of the body 11 (FR engagement operation step). BO36: Operation step in which the lifting reference bin RL engages with the rear left side of the body 11 (RL engagement operation step). BOS7: Operation step in which the lifting reference bin RR engages with the rear right side of the body 11 (RR engagement operation step). BOS8: After the positioning means BF positions the front part of the body 11 in the vehicle width direction, an operation step (B
F original position return operation step). BO39: Operation step (B
R original position return operation step). FIG. 8 shows an example of the operational steps of the production line shown in FIG. 2. FIG. 9A represents operating circuit elements for driving, for example, the lifting reference bins, etc. of the production line of FIG. 2. FIG. The input in such an element is the input signal Y0 for driving the solenoid as the mechanical element of this element, which Yo is the output from the sequence ladder program element. Also,
As an output from this element, in order to confirm the operating state of the element, there is an output from the limit switch (output confirmation L/S) to confirm that it has been driven and to confirm that it has been returned to the original position. There is pressure from the limit switch (return confirmation L/S) for this purpose. FIG. 9B is a diagram illustrating the logic of the output drive operation of the element in FIG. 9A. In order for the solenoid to turn on, interlock condition ILC must be satisfied. Interlock conditions ILC generally include various activation conditions specific to that operating step. FIG. 9C shows an example of a typical operating circuit used when automatically generating the entire sequence. In FIG. 9C, condition M is closed when this operating circuit is operating in automatic mode (a mode in which the production line operates according to a sequence control program). Condition Ms is closed when this operating circuit is operating in manual mode. Ms
is normally closed. Therefore, in normal automatic mode, if interlock conditions ILC, and X are satisfied,
Output Y0 is output. On the other hand, ILC. describes the logic of operating conditions in manual mode. In manual mode, contact M is open (so condition X, ILC+
are simultaneously satisfied or the condition X k. If Xx is satisfied at the same time, Yo is output. In general, X is a manual operation interlock condition LC,
It is a logic to kill. As is clear from the above, contact conditions MA, Ms
. As shown in FIG. 1, the simulation system includes a sequence control section 51 that is connected to a sequence control target equipment 50 and performs sequence operation control on it, a simulation section 90 that performs simulation, and a diagnosis section 52 that performs failure diagnosis. , and a CRT (cathode ray tube) operation panel section 53. The sequence control unit 51 includes a computer including a program memory 55 in which a sequence operation control ladder program (FIG. 11) and a simulation program (FIG. 12) connected thereto are stored, and a transmission/reception interface 54. The failure diagnosis section 52 is connected to a central processing unit (CPt) through a path line 61.
J) 62, memory 63. Input/output interface Cl
10 interface) 64 and a sending/receiving interface 65, and furthermore, a keyboard 66 connected to the I10 interface 64, and a C for display.
An RT 67 and a printer 68 are provided. Also, C
The RT operation panel section 53 is connected to the CPU 72 . Memory 73. Transmission/reception interface 7
4 and 75, and an I10 interface 76, and further includes a hard disk device 77 as an auxiliary memory connected to the I10 interface 76, a CRT 78 for display, a keyboard 79 for inputting data and control codes, and a transmitter/receiver. Interface 7
A touch panel 80 connected to 4 is provided. The touch panel 80 is attached to the outer surface of the face plate portion of the CRT 78. A transmitting/receiving interface 54 provided in the computer built in the sequence control section 51, a transmitting/receiving interface 65 provided in the failure diagnosis section 52, an interface 97 of the simulation section 90, and a transmitting/receiving interface 75 provided in the CRT operation panel section 53. Each is interconnected. Furthermore, the fault diagnosis section 52 receives and receives program processing data indicating the operating status of the sequence operation control ladder program and simulation program in the sequence control section 51 through the transmission/reception interfaces 54 and 65, and transmits it to the CPU 6.
2 to obtain a display signal and an output signal based on the program processing data, and supply the display signal to the CRT 67 and the output signal to the printer 68 through the I10 interface 64, respectively. Next, a procedure for automatically creating a sequence control program for sequentially controlling the operation of each facility on the vehicle assembly line as described above will be schematically explained. The data required for automatic generation of such a control program are a standard step ladder pattern, input/output ramps, the aforementioned motion block map, and motion step map. The standard step ladder pattern is a database that stores symbols of operation circuits that describe all operations necessary for a production line control program. An example of such a regular pattern is the one shown in FIG. 9C described above. An input/output kamatub is a database that describes the input/output relationship for each of the multiple operating circuits that may be used in a production line. An example of this input/output kamatub database is shown in Figure 7. The above-mentioned standard step ladder pattern database and input/output step map database are data common to production lines, and are not unique to a particular production line.The unique data is motion block map data and motion step map data. The motion block map is data that describes each of the above-mentioned motion blocks and describes the relationship between these motion blocks.The motion block map is unique to the production line in Figure 2. An example of map data is shown in Fig. 6.A motion step map is unique data that describes motion steps included in each motion block unique to a certain production line.
An example of an operational step map specific to the production line shown in FIG. 8 is shown in FIG. A sequence control program is generated based on these two standard databases and two unique data. First, the standard step ladder pattern database will be explained according to FIG. FIG. 10A is a pattern that typically describes the start and stop of an action block. Figure 10B is the same pattern as described in connection with Figure 9C. FIG. 10C shows one contact condition added to the pattern of FIG. 10B. Next, the input and output will be explained. This input/output guide is a table in which the input/output modes of all equipment used in the production line are described in advance. The input/output hook in Figure 7 is the positioning device 1 in Figure 2.
It is about 9. In this input and output,
“Comments” indicate the contents of input/output operations. Also"
NO3° is automatically created. Also, data regarding “comment”, “movement” and “original position” can be obtained from the keyboard 67.
is input by being operated. “Output coil device”, “confirmation input contact device °°” and “manual input contact device” are automatically set. For example, the operation circuit called BF (positioning) of Aoa is
The operation type is "output" and the output coil terminal is Yl.
It is. The confirmation input contact name when output is "X,". Further, the contact name for manual input is "X,". Next, the motion block map will be explained. The data of this map is obtained by analyzing the operation of the target production line and expressing the process of the production line using operation blocks according to the above definition. The operational block map shown in FIG. 5 is a table that represents the operational block chart shown in FIG. 5 when it is obtained as a result of analyzing the production line shown in FIG. In other words, the table (map) of FIG. 6 is approximately equivalent to the chart of FIG. 5. In FIG. 6, "5C-REG" is a 16-bit register, one of which is provided for each of operation blocks BO to Bll. This register indicates which operational step is currently being executed within the corresponding operational block. For example, current B in action block B0. If the action step So (see Figure 8) is being executed, "B, S, °°" are stored in 5CREG of action block B0. The action block immediately before is the condition for starting the action.For example, action block B is the action block B.
0. The termination of B+ is the activation condition. Furthermore, "TO" indicates an action block immediately following the action block whose action is started upon completion of the action of the action block. For example, the end of action block B, means the activation of action blocks B, , B,. The "clear condition" is a motion block in which the equipment related to the motion block returns to its original state. Furthermore, "equipment" refers to the sequence control target equipment related to the relevant operation block. The contents of "NO" and "5C-REG" are automatically created. On the other hand, the programmer operates the keyboard 67 to input the contents of "block name", "FROM" to "clear condition" and "equipment". Next, the operation step map shown in FIG. 8 will be explained. As described above, the action step describes the content of the specific action within each action block. In other words, the input/output switch (FIG. 7) does not represent a sequence of operations. However, the operation step map also represents the operation sequence of individual equipment. FIG. 8 shows an example of an operation step map of operation block B0. In FIG. 8, "NO" is automatically assigned by the system. That is, "N" representing the operation step order
o” is, for example, “Boa” for operation block B0. Starting from , the system generates a comment every time the programmer inputs a comment from the keyboard 67, from "B, S, to "BoS." . " is an action step that means preparation for the relevant action block, and is placed at the beginning of each action block in the ladder program. Also, "B□9" is an action step that means the completion of the relevant action block, and is placed at the beginning of each action block in the ladder program. It is placed at the end of each motion block in .The minimum requirement for generating a motion step map is "comment" information input to the step sequence.For example, in step number "BoSo", the programmer If you enter “Condition Confirmation”, the number “A” with the comment name “Work present” at the beginning of the input/output
Read the data of “Ao+” of input and output.
The data for the confirmation input contact is “XO” and the manual input contact is “XO”.
A, these data are written in the corresponding positions in FIG. "Yo" of the output coil of "steps B, S," is
This is the output name given to the first action step of the action block. Next, the programmer performs operation steps “B, S,”
If you input the comment “BF (positioning)” and the operation type “output”, you can select the person 8 from this title.
Index the kamatsubu and obtain the data of the number "Aoz". The data for number “Ao2” indicates that the “output coil” is “Yl”.
Since the "confirmation input contact" is "Xl" and the "manual input contact" is "X,", write the data corresponding to "operation steps B, S," in FIG. 8. In this way, the operation step map ( (Fig. 7) searches for the corresponding data in the input/output map (Fig. 7) based on the "comment" and "movement type" input by the programmer and creates such a motion step map. It is created for each motion block.In addition, in the motion step map shown in Fig. 8, the data on the Koseki side is the predicted operation time of each motion step.This data is important data for generating the simulation program. Figure 11 shows the sequence ladder program for block Bo generated in this way.Comparing the ladder program in Figure 11 with the operation step map in Figure 8, the structure of the ladder program is easier to understand. For example, in operation step B.So, in automatic operation mode with contact MA closed, contact device
Since 0 is closed, output Y1 is output. When Yl is output, the confirmation input contact X0 is closed at Bo St, so Yl is output. The above is a description of the automatic generation of the sequence control ladder program in the system of this embodiment, and through this explanation, the mutual operations between the respective operation blocks will be understood using the operation block map (FIG. 6). In addition, by using the operation step map and the input/output map (Fig. 7), you should have understood how efficiently the control program is automatically generated.The feature of this embodiment of the simulation program is that This program automatically generates a program for simulating the generated sequence control ladder program as shown in FIG. 11. First, the configuration of a system for generating a sequence control program/simulation program will be explained with reference to FIG. In the same figure, the equipment 50 that is controlled by the sequence control program includes a positioning device 19, a transfer device 16, a docking device 40, a slide device 45, a pallet transport device 17, and robots 48A and 48B. In creating a simulation program according to the embodiment, a simulation program element is created for each motion block. Here, a simulation program element is a ladder program element for simulating the motion of one motion step, for example. ,
As shown by 5SPO etc. in FIG. 12, it is composed of timer elements and the like. Each element SSP of the simulation program SIMP of FIG. 12 simulates each ladder element SR of the sequence control ladder program BRP of FIG. 11. In FIG. 12, a symbol Tn with an O is a timer element, and a contact symbol T0 is a contact of the timer T. The simulation ladder element 5SPI is the output Y of the motion step ladder element 5Rrl. is activated according to the conditions necessary for the occurrence of (interlock condition), and after a time (=T, ,) corresponding to the actual actuation time of the actuator in each step has elapsed, activation is performed for the next operating step ladder element SR,,,. Generates output Xn. This will be specifically explained using 5spo as an example. When the condition for satisfying the output Y0 is given, the timer element To is activated and the output RESET X. is also output. The conditions for satisfying this output Y0 are SR
, corresponds to the interlock condition ILC. This RE
SET X resets the confirmation input contact Xl of SR1 in FIG. In other words, confirmation input contact X on the equipment side
. It is simulated that the key is set. Then, when the time T0 has elapsed, the output SET X is output. As this time elapses, a simulation of SR has been performed. SR by SET
, contact X0 closes. As a result, SR in Fig. 11,
The conditions for outputting Y in are complete except for ■LC. Next, with SSP+, the condition that the output Y+ satisfies￥
1 is input. Due to this Yl, the timer T of ssp,
is activated, and RE SE T X z is output. ... By performing these operations continuously, the simulation program SIMP simulates the block ladder program BRP (
. Now, the simulation program shown in FIG. 12 simulates the operation of block B0 as an independent operation. In other words, the simulation program of this block B0 is performed regardless of the operating state of other blocks. This is because, as stated in the definition above, an operating block operates independently of other operating blocks. Therefore, this "independence" must be maintained in the simulation program as well, so the simulation program elements in FIG. 12 are also independent from those of other operation blocks. However, maintaining this kind of "independence" means that, for example,
When the blocks have a connection relationship as shown in FIG. 5, first the operation step of block A0 is executed, then the operation step of block A1 is executed, and then the operation step of block B0 is executed.
The execution of each operation block inherently has parallel operation parts, such as executing the operation steps of Bo
and B1 are parallel operations), they become sequential operations, and this causes a discrepancy between the actual parallel operations and the simulated operations. Therefore, in the automatic simulation program generation apparatus of this embodiment, (1): First, a step ladder program (BRP) for each motion block and a corresponding simulation program SIMP are created for each motion block. This SIMP can be created by the method described in connection with FIG. 12, since the action block itself is independent of other action blocks. If the program that generates SIMP explained in relation to FIG. 12 is called a simulation ladder element generation program, this generation program will generate a motion block map (FIG. 6) and a motion step map, as shown in FIG. (Fig. 8) is input to generate SIMP. (2): The execution order of each SSP of each operation block of SIMP generated in this way is controlled by the execution order control program shown in FIG. This control program consists of an operation block map, an operation step map, and the above SIMP.
and each ssp. control the execution of FIGS. 14 and 15 schematically explain the operation of this execution order control program. This control program first recognizes from the operation block map how many blocks are to be operated in parallel. This recognition can be easily done because the action block map has data (FROM and To in FIG. 6) that describes the starting relationship between blocks. Assume that there are m blocks performing parallel operations recognized in this way, and each of these blocks has a number n+, nl...n, block B nl. Suppose that B nl, . . . Bo. Then, the operation step maps corresponding to these blocks are rearranged in the memory as shown in FIG. As a result of this rearrangement, only the operation steps of the blocks that perform parallel operations are extracted, so the simulation operation by the execution order control program becomes efficient, and the simulation results are close to the actual results. There is an effect. In FIG. 14, for better understanding, the time τ required for each operation step is expressed by the width in the vertical direction of a rectangle representing the operation step. In FIG. 14, 1: (n + + k nl) means the operation time of step number k nl of block n1. When the operation time τ of each operation step is expressed in this manner, the operation steps of a plurality of operation blocks that perform parallel operations can be expressed as a timing chart as shown in FIG. 15. For convenience, FIG. 15 shows operation blocks nl and 02.
Only timing charts related to are shown. As is clear from this timing chart, first, operation steps (n, , icn+) are executed, and then (n
, , 1nns), then (n + , k
+++ + 1) and (n 2 , k
The execution order control program may control the order, such as executing (na+1), then executing (n,, kn+2), and so on. In order to control the execution order, the execution order control program has a variable register that stores up to which operation steps have been currently executed for each operation block based on the elapsed time. This register is stored in operation block B1. is expressed as T n l. FIG. 16 is a flowchart showing the procedure of the execution order control program. The operation of the execution order control program will be explained in detail according to this flowchart. Step S2 extracts from the motion block map (FIG. 6) all motion blocks that perform parallel operations. Let the numbers of these operation blocks be m nl, nz・
...n. In step S4, the execution elapsed time register T nil T nl for each operation block is set.
Clear ... to O. This is because in the parallel action blocks, the action step at the start point is the action step number O, and therefore its elapsed time is zero. In step S6, a variable i specifying a block number is initialized to 1. Further, in step S8, a variable k specifying an operation step number is initialized to 1. The determination in step S10 is based on the execution elapsed time register T of the block B specified by the variable i. l is the elapsed time Tn of all blocks including other blocks, (X=1
~m) is equal to the minimum value. As a result of this determination, the operation step k of the operation block B, 1, denoted by i. 1 should be simulated at this moment, or whether there is another operation step in another block that should be simulated first. If the determination in step S10 is YES, the process proceeds to step S12, where the ladder program element of the operation step kn is extracted and the interlock condition is recognized. Then, in step S14, the corresponding 5SP (nl,
Start kni). In step S16, the elapsed time register Tnl is updated. That is, T , , = T nl+ and (nl + kn+). As a result, block B nl moves to operation step kn
This means that up to l was simulated. In step S18, the counter k representing the operation step is
Increment nl by one. In step S20, it is determined whether all the operation steps of this operation block B0 have been simulated. If the simulation of the relevant motion block has not been completed, proceed to step S.
Return to IO. If it has ended, the simulation of the block is marked as having ended. With this mark,
Thereafter, the testing of blocks B, . . . is no longer performed, and the processing speed is improved. A case where it is determined No in step SIO will be explained. In such a case, TIl,>M I N (T 1.). Since block B, . After performing the above operations, register T. Preference is given to simulating the action steps of the action block with the smallest value of l, and as a result, the simulation of action steps that operate in parallel is performed with parallelism close to reality. Step $26. Step S28 selects the operation block i.
When scanning from =1 to m, the operation is to return the variable i to 1. In this way, the sequence control ladder program and the simulation program SIMP connected to each of the block ladder programs BRP constituting the sequence control ladder program are stored in the memory 55 provided in the computer built in the sequence control unit 51. CRT operation panel 5
The sequence control ladder program is started by touching the position corresponding to the one for starting the sequence control ladder program on the touch panel 80 provided in the computer 3. Furthermore, with this activation, each of the step ladder elements that make up BRP and the simulation ladder elements that make up SIMP are activated in sequence.
As a result, the simulation program SIMP connected to the BRP continues to progress. Note that the progress status of BRP and SIMP is displayed on the monitor unit 52 or output to a printer. 151 The present invention can be modified in various ways without departing from the spirit thereof. For example, in the above embodiment, the present invention was applied to an automobile production line, but the present invention is of course not limited to such an application field. In the above embodiment, based on the previously set predicted execution time However, the order is not limited to this. [Effects of the Invention] As explained above, the program simulation method of the present invention allows unit operations of each equipment to be performed by operation steps. In a method for simulating a program in which a motion block consisting of a set of motion steps is expressed and is operated independently from other motion blocks from its start to its end, and the sequence motion of the entire equipment is described by the set of motion blocks, An operation block map that describes the operation time for each operation step of each operation block above, and describes whether a certain operation block performs a single operation or performs a parallel operation with another operation block regarding the operation of the entire equipment. create a motion step map that describes the execution sequence of the motion step and the predicted execution time of each motion step for each motion step of each motion block, and Create a simulation ladder program element that simulates the operation steps in the block, and when executing the simulation ladder program element, refer to the operation block map and the operation step map, and execute the simulation ladder program element according to the execution order of the operation steps. Therefore, in the execution process, the simulation execution order of each motion step of each motion block is determined while recognizing parallel motions between motion blocks based on the motion block map and motion step map. Therefore, even if the simulation program created in the simulation ladder program element creation step simulates the motion of the motion steps within one motion block, the motion steps can be simulated in parallel. When simulating a program for equipment that includes parallel operations between blocks, it is now possible to simulate operations that are close to the actual parallel operation sequence.

[Brief explanation of drawings]

FIG. 1 is a hardware configuration diagram of a simulation system according to a preferred embodiment of the present invention. FIGS. 2 to 4 are diagrams illustrating the configuration of an automobile assembly line when the present invention is applied to the assembly line. , Fig. 5 is a diagram explaining the connection relationship between the movement blocks when the above assembly line is disassembled into movement blocks, Fig. 6 is a diagram explaining the structure of the movement block map, and Fig. 7 is a diagram showing the input and output blocks. Figure 8 is a diagram explaining the structure of an operation step map, Figure 9A is a diagram explaining the notation when equipment is symbolized by actuators, and Figure 9B is a diagram explaining the logic of one actuator. Figure 9C is a diagram showing one example of the step ladder pattern, Figures 10A to 10C are diagrams showing other examples of the step ladder pattern, and Figure 11 is the example shown in Figure 5. FIG. 12 is a diagram showing the ladder program elements for operation block 0, FIG. 12 is a diagram showing simulation ladder program elements for operation block O in the example shown in FIG. 5, and FIG. Figures 14 and 15 are diagrams for explaining the execution order control of operation steps between operation blocks that have a parallel operation relationship in the simulation of this embodiment, and Figure 16 is a diagram for explaining the control of the execution order control program. It is a flowchart showing a procedure.

Claims (4)

[Claims] (1) A unit operation of each piece of equipment is expressed by an operation step, and an operation block consisting of a set of operation steps operates independently from other operation blocks from start to finish. In the simulation method of a program that describes the sequence operation of A motion block map is created that describes the execution of parallel motions, and a motion step map is created that describes the execution sequence of the motion steps and the predicted execution time of each motion step for each motion step of each motion block. , creating a simulation ladder program element for simulating the movement steps in each movement block from the movement block map and movement step map, and referring to the movement block map and movement step map when executing the simulation ladder program element; A method for simulating a program, characterized in that the simulation ladder program elements are executed according to the order of execution of operation steps. (2) The execution steps are performed in parallel with each other based on the link relationship between the motion blocks described in the motion block map, the motion order between motion steps within the motion block, and the predicted time of each motion step. 2. The method for simulating a program according to claim 1, further comprising controlling the simulation execution of operation steps of operation blocks that are in a relationship of performing operations. (3) Each of the operation blocks operates independently from start to finish, and the operation steps of each operation block are based on the premise that the plurality of operation blocks that operate in parallel to each other start synchronously. , create a timing chart according to the operation order and operation time, and create a simulation element that monitors the passage of time according to the execution order of each operation step shown in the above timing chart created for each operation block. A method for simulating a program according to claim 1. (4) The method for simulating a program according to claim 1, wherein in the step of creating the simulation ladder program element, the simulation ladder program element is created based on the predicted time of the operation step.