JPH04171501A - Method and device for stop processing - Google Patents

Abstract

PURPOSE:To set an optional stop request and to easily control the specific stop request by which the stop processing is carried out by comparing the stop request received from a lower rank controller with the stop request which is under processing in terms of the priority and selecting the stop request of the highest priority. CONSTITUTION:A servo controller is provided with a servo CPU 1 which is connected with a memory 4, an I/O port, etc. Then the CPU 1 receives the feedback from a servo motor 2 and controls the motor 2 at the target value. Under such conditions, the comparison of priority is carried out among the stop request given from a host controller 3, the stop request given from a lower rank controller, and the stop request which is under processing respectively. Then the stop request of the highest priority is selected. Right after this selection, the stop request of the highest priority is changed or carried on for execution of the stop processing. Thus it is possible to set an optional stop request and also to easily control the specific stop request by which the stop processing is carried out.

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Industrial Application Field) The present invention relates to a stop processing method for a servo control device, etc., and an apparatus thereof.

(Prior Art) For example, in a servo control device that drives and controls a servo motor that moves an arm of a manipulator, when an error occurs, a preset stop process is executed depending on the type of error. Such a servo control device is centrally controlled by a superordinate supervisory control device, and the servo motor is also stopped in response to a stop request issued by the supervisory control device. These stop processes include: 1) locking the servo motor after stopping; 2) freeing the servo motor; 2) receiving the next operation command after stopping; and 2) not receiving the next operation command after stopping. Therefore, the stop processing cannot be changed or set arbitrarily.

Further, each of the above stop processes includes an emergency stop process, and this emergency stop process has the highest priority, but other stop processes are not given priority and have the same order. Therefore, if a stop request occurs consecutively, the stop request that occurs later is processed. Therefore, the upper-level monitoring and control device cannot monitor and manage which stop request caused the stop processing, and for example, whether the stop processing was performed due to a stop request from the monitoring and control device, or whether the stop processing was performed due to a stop request from the servo control device. It is difficult to determine whether the

(Problem to be Solved by the Invention) As described above, since there is no priority order for stop requests, it is not possible to know which stop request caused the stop process, and it is not possible to determine which device caused the stop process to be performed. Can not.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a stop processing method and apparatus that can set an arbitrary stop request and easily manage which stop request is used to perform the stop process.

[Structure of the Invention (Means for Solving the Problems) The present invention provides a control system in which a lower-level control device that controls a controlled object is centrally controlled by a higher-level control device. Compare the priorities of the stop request issued by the device and the stop request currently being processed, select the stop request with the highest priority, and immediately after this selection change to the stop request with the highest priority. Alternatively, it is a stop processing method that attempts to achieve the above objective by performing continuous stop processing.

Further, the present invention provides a control system in which a lower-level control device that controls a controlled object is centrally controlled by a higher-level control device, including an upper-level memory that stores a stop request issued from the higher-level control device, and a stop request issued from the lower-level control device. A lower memory that stores requests, a stop processing memory that stores the stop request currently being processed, and a priority determination that selects a stop request with a higher priority among the stop requests stored in the upper memory and lower memory, respectively. and a stop rewrite for rewriting a stop request with a higher priority among the stop requests determined by the priority determination means and the stop requests stored in the stop processing memory into the stop processing memory immediately after the priority determination means. This is a stop processing device which attempts to achieve the above object by comprising means.

(Function) By providing such a means, the priority determining means selects a stop request with a high priority among the stop requests stored in the upper memory and the lower memory, respectively.
Among the determined stop request and the stop requests stored in the stop processing memory, the stop request with a higher priority is rewritten in the stop processing memory by the stop rewriting means immediately after the determination.

However, the stop request rewritten in the stop processing memory is processed immediately.

(Example) Hereinafter, an example of the present invention will be described with reference to the drawings.

FIG. 1 is a block diagram of a servo control system to which a stop processing device is applied. The servo control device 1 includes a servo CPU, and has a configuration in which a memory, an I10 port, etc. are connected to the servo CPU.

In addition, in FIG. 1, the servo control device 1 is shown as a servo CPU for convenience of explanation. This servo CPUI has a function of receiving feedback from the servo motor 2 and controlling the drive of the servo motor 2 to a target value.

Further, a supervisory control device 3 is provided, and this supervisory control device 3 is located above the servo CPUI and has a function of controlling the servo CPUI in an integrated manner. This supervisory control device 3 has a configuration in which a memory, an I10 port, etc. are connected to a host CPU. In addition, in the figure, the supervisory control device 3 is shown as a higher-level CPU for the sake of explanation.

A memory 4 is connected between the servo CPUI and the host CPU 3. As shown in FIG. 2, this memory 4 has an upper memory area B and a servo memory area C formed therein. Of these upper memory area B and servo memory area C, the upper memory area B stores a stop request from the higher CPU 3, and the servo memory area C stores a stop request from the servo CPUI. These upper memory area B and servo memory area C are command areas 1 in which stop commands ID2 and ID3 are stored respectively.
0.11, a priority area 12.13 in which the stop request priority P r and P 3 are stored, and a stop area 14.15 in which the stop requests M2 and M are stored.

A stop processing memory area A shown in FIG. 3 is formed in the memory of the servo CPUI. This stop processing memory area A has a command area 16, a ranking area 17, and a stop area 18, similar to the memory areas B and C described above.

This servo CPUI functions as a priority determination means that selects a stop request with a high priority among the stop requests stored in the upper memory area B and servo memory area C, respectively, and is determined by this priority determination function. The stop request that has a higher priority among the stop requests stored in the stop request and the stop request stored in the stop processing memory A is selected, and the stop request is rewritten in the stop processing memory area A immediately after this priority determination. It has a function as a rewriting means.

By the way, the stop requests M, , M2, and M include ■stop mode, ■servo off, ■servo lock, and ■stack.
There is a clear and new stack receiver. Among these, stop modes include no action, deceleration stop, and immediate stop, and servo off includes no action, set, and reset. Also, the servo lock has lock and motor free, and stack clear and new stack receiver installation may or may not be executed together.

Further, the priority order is expressed by "1" to "15", and the higher the numerical value, the higher the priority order.

Next, the operation of the apparatus configured as described above will be explained with reference to the stop processing flowchart shown in FIG.

For example, if an error occurs in the servo CPU,
The servo CPU will issue the above stop request depending on the type of error.■
One of the stop requests from ~■ is stored in the servo memory area C. Also, when an error occurs in the upper CPU 3, the upper CPU 3 issues the above stop request ■ according to the type of error.
One of the stop requests from ~■ is stored in servo memory area B.

The servo CPU determines in step S1 whether the stop request M2 is stored in the stop area 14 of the upper memory area B, and if it is not stored, the process moves to step s2 and stores the stop request M2 in the stop area 15 of the servo memory area C.
, is stored. As a result of this judgment, if the stop request M3 is not stored, the servo CPUI moves to step s3 to move the contents stored in the upper memory area B to the stop processing memory area A, and in the next step s4, the servo CPUI moves the contents stored in the upper memory area B to the stop processing memory area A. Clear the contents of C.

As a result of the judgment in step S2 above, if the stop request M is stored, the servo CPUI moves to step slO and compares the priority order P1 stored in the order area 17 of the stop processing memory area A and the servo memory area C. The priority ranking P stored in the ranking area 13 is compared. As a result of this comparison, if the priority P3 is higher than Pl, the servo CPU 1 moves to step sll to transfer the storage contents of the servo memory area C to the stop processing memory area A, and in the next step s12, the servo CPU 1 moves the storage contents of the servo memory area C to the stop processing memory area A. Clear the contents. At this time, the servo CPU 1 outputs the stop command IDI of the stop request stored in the stop processing memory area A.
is sent to the upper CPU3. As a result, the servo CPUI receives the newly stored stop request Ml in the stop processing memory area A.
, for example, performs a deceleration stop process in stop mode (3). Next, the servo CPU determines whether the servo motor 2 has stopped in step s13, and if it has stopped, determines in step s14 whether the stored contents of the stop processing memory area A and the stored contents of the servo memory area C are the same. , if they are the same, the above stop request ■ is made in the next step s15.
Servo off ■Determine if there is a stack clear.

If there are no stop requests, the servo CPUI clears the servo memory area C in step s1B, and clears the stop processing memory area A in the next step s17.

As a result of the judgment in step slo above, the priority P1 is P3
If it is higher than , the servo CPUI moves to step s18 and clears the storage contents of the servo memory area C.

As a result of the determination in step s1, if there is a stop request M2, the servo CPUI moves to step s20 and determines whether the stop request M2 is stored in the stop area 14 of the upper memory area B. If it is stored, step s21 Move to. Here, if the stop request M2 is not stored and the priority P2 is higher than P as a result of the determination in step s21, the servo CPUI moves to step s22. If the stop request M2 is stored and the priority P3 is higher than P2 as a result of the determination in step s21, the servo CPUI moves to step slO.

When the process moves to step s22, the servo CPU 1 compares the priority order P1 and the priority order P2 in step s22. As a result of this comparison, if the priority P2 is higher than Pl, the servo CPUI moves to step s23 to transfer the memory contents of the upper memory area B to the stop processing memory area A, and in the next step s24, the servo CPUI moves the memory contents of the upper memory area B to the stop processing memory area A. Clear the contents. At this time, the servo CPU
I sends the stop command ID of the stop request stored in the stop processing memory area A to the upper CPU 3. As a result, the servo CPUI performs a stop process for the stop request M1 newly stored in the stop process memory area A.

Next, the servo CPUI determines whether the servo motor 2 has stopped in step s25, and if it has stopped, then step s2
In step B, it is determined whether the contents of the stop processing memory area A and the contents of the servo memory area C are the same, and if they are the same, then in the next step s27 it is checked whether the above-mentioned stop request - servo off - stack clear exists. to decide. If there are no stop requests, the servo CPUI clears the upper memory area B in step s28, and then performs the next step s29.
In this step, the stop processing memory area A is cleared.

As a result of the judgment in step s22 above, the priority P1 is P2.
If it is higher than , the servo CPUI moves to step s30 and clears the storage contents of the upper memory area B.

In this way, in the above embodiment, the upper memory area B1, the servo memory area C, and the stop processing memory area A
The stop request with the highest priority is selected from among the stop requests stored in the respective stop requests, and this stop request is rewritten to the stop processing memory area A and executed immediately after the determination.
Since the stop request with the highest priority can be processed from the time the stop request is generated, and the stop request to be processed is sent to the higher-level CPU 3, the higher-level CPU 3 can manage the stop request. Therefore, it can be easily determined whether the stop processing is being performed due to a stop request from either the servo CPUI or the host CPU 3.

Furthermore, the priority order of each stop request can be changed and set arbitrarily. Therefore, it is possible to construct a stop processing device that is optimal for the control system and has high flexibility.

Note that the present invention is not limited to the above-mentioned embodiment, and may be modified without departing from the spirit thereof. Further, the stop request may be due to causes other than the occurrence of an error.

[Effects of the Invention] As described in detail above, according to the present invention, it is possible to provide a stop processing method and apparatus that can set any stop request and easily manage which stop request is used to perform the stop process.

[Brief explanation of the drawing]

1 to 4 are diagrams for explaining an embodiment of the stop processing method and device according to the present invention, in which FIG. 1 is a configuration diagram, and FIG. 2 is a diagram of the upper memory and servo memory areas. FIG. 3 is a schematic diagram of a stop processing memory area, and FIG. 4 is a stop processing flowchart. 1... Servo CPU, 2... Servo motor, 3...
- Upper CPU, 4...Memory. Applicant's agent Patent attorney Takehiko Suzue Figure 1

Claims (2)

[Claims] (1) In a control system in which a lower-level control device that controls a controlled object is centrally controlled by a higher-level control device, a stop request issued from the higher-level control device, a stop request issued from the lower-level control device, and a stop request currently being processed are processed. The stop request having the highest priority is selected by comparing the respective priorities with the stop requests, and immediately after this selection, the stop request is changed to the stop request having the highest priority or the stop request is continued to be processed. How to stop processing. (2) In a control system in which a lower-level control device that controls a controlled object is centrally controlled by a higher-level control device, an upper-level memory stores a stop request issued from the higher-level control device, and a stop request issued from the lower-level control device. a lower memory for storing the stop request currently being processed; a stop processing memory for storing the stop request currently being processed; and a priority order for selecting a stop request with a higher priority among the stop requests stored in the upper memory and the lower memory, respectively. a determination means, and a stop request having a higher priority among the stop requests determined by the priority determination means and the stop requests stored in the stop processing memory is written to the stop processing memory immediately after the priority determination. A stop processing device characterized by comprising a stop rewriting means for changing the stop processing.