JPH05113807A - Automatic operation controller for facility - Google Patents

Abstract

PURPOSE:To prevent facilities from breaking down by comparing state data after the process of a controller where abnormality occurs with data in normal operation and inhibiting the automatic operation of the facilities from being restarted unless abnormality resetting process is correctly done. CONSTITUTION:After the abnormality releasing treatment for releasing the abnormality of the facilities 1 is performed, a judgement device 40 compares the data showing the state of a control element where the abnormality occurs after the treatment with the data in the normal operation which are previously stored in registration parts 42 and 44 by comparison parts 43 and 45. Then it is judged whether or not the abnormality resetting process is correctly done. A programmable controller 30 inhibits the automatic operation of the facilities 1 from being restarted according to the judgement result unless the abnormality resetting process is correctly done. Consequently, the breakdown of the facilities due to start of the automatic operation without the abnormality releasing process can be prevented.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic operation control device for equipment in which each control element is sequence-controlled according to a predetermined sequence program.

[0002]

2. Description of the Related Art Conventionally, many production lines and the like use equipment for controlling the sequence of control elements according to a predetermined sequence program in which control operations of the control elements are designated in advance. In the following, the work is sequentially loaded by the loading loader and the equipment for drilling holes is taken as an example. After the operation is stopped due to an abnormality in the equipment, a predetermined action is taken to restart the automatic operation. Up to.

When an abnormality occurs somewhere in the equipment while the equipment is in operation and the equipment is temporarily stopped, the operator grasps the abnormal portion by an abnormality display on the operation panel or the like. After grasping the details of the error, open the safety cover and restore the error to the normal condition. When the safety cover is opened, in order to ensure the safety of the operator, the pneumatic pressure supply to the pneumatic cylinder forming the loading loader is stopped.

Then, since the pneumatic cylinder can be easily moved only by the force of the operator, the pneumatic cylinder is moved when it is in a position where it interferes with the work, for example, when the work is toppled over. You can do the work. It is known that after fixing the abnormal part, the safety cover is closed and the restart switch is pressed to restart the automatic operation.

[0005]

However, for example, when correcting the above-mentioned overturning of the work, after the pneumatic cylinder is moved to perform the abnormality releasing work on the work, the safety cover is closed as it is and the automatic operation is performed. If the operation is restarted, the following inconvenience may occur. That is, when the automatic operation is restarted and the pneumatic pressure supply to the pneumatic cylinder is restarted, the pneumatic cylinder that has been moved tries to return to the position before being moved, and in the worst case, the equipment is damaged. There is a possibility to let it.

On the other hand, even if the operation is temporarily stopped due to an abnormality in the equipment, the automatic operation can be resumed from the temporarily stopped state by pressing the restart switch after performing the abnormality canceling work. Consider the case where the control system is constructed as follows. In this case, the pneumatic cylinder that was moved after performing the abnormal release work on the workpiece
After returning to the original position, there is no problem in restarting automatic operation for that part.

However, when the safety cover is opened, in order to ensure the safety of the operator, the operation of the drill rotary motor is usually stopped in the same manner as the pneumatic pressure supply to the pneumatic cylinder is stopped. When the rotation of the motor is stopped, it is assumed that the drill is in the work while the hole is being drilled, and the automatic operation is restarted from that state. For example, the drill itself may be damaged.

[0008] Therefore, the present invention has an object to solve the above-mentioned problems, and after the equipment is abnormally stopped and temporarily stopped, it is surely judged whether or not the continuous operation is possible, and the equipment is damaged. An object of the present invention is to provide an automatic operation control device for equipment that does not bring about the above.

[0009]

In order to achieve such an object, the present invention has the following constitution as a means for solving the problem. That is, the first invention, as shown in FIG.
An automatic operation control device for equipment in which each control element is sequence-controlled in accordance with a predetermined sequence program, and an abnormality occurs in the equipment, operation is temporarily stopped, and abnormality cancellation processing for canceling the abnormality is performed. After that, the data indicating the post-treatment state of the control element in which the abnormality has occurred is compared with the previously stored normal time data to determine whether or not the above-mentioned abnormality removal treatment has been correctly performed. Means and an operation restart prohibition means for prohibiting restart of the automatic operation of the equipment when the abnormality cancellation processing is not correctly performed based on the determination result. The main point is an automatic operation control device.

A second aspect of the present invention is an automatic operation control device for equipment in which each control element is sequence-controlled in accordance with a predetermined sequence program, and when the operation is temporarily stopped due to an abnormality in the equipment, the operation is temporarily stopped. By comparing the state data of a predetermined control element in the equipment having a possibility that continuous operation from a stopped state is impossible with the data in the unsustainable state stored in advance, the equipment is Based on the continuous operation determination means for determining whether or not the operation is continuously impossible from the once stopped state, and the determination result,
When the state of the equipment is not continuous operation, operation restart prohibition means for prohibiting restart of automatic operation of the equipment,
The gist is an automatic operation control device for equipment, which is characterized by being equipped with.

[0011]

In the automatic operation control device of the first aspect of the present invention having the above-described structure, after the cancellation treatment determining means performs the abnormality cancellation treatment for canceling the abnormality of the equipment, after the treatment of the control element in which the abnormality occurs. The data indicating the state of (1) is compared with the previously stored data at the time of normality, and it is determined whether or not the abnormality clearing treatment is correctly performed. And the operation restart prohibition means
Based on the result of the judgment, the restart of the automatic operation of the equipment is prohibited if the abnormality canceling process is not performed correctly.

Therefore, it is possible to prevent damage to the equipment or the like caused by restarting the automatic operation even if the abnormality canceling process is not performed correctly. On the other hand, in the automatic operation control device according to the second aspect of the present invention, when the continuous operation determination means temporarily stops the operation due to an abnormality in the equipment, the continuous operation from the temporarily stopped state may be impossible. By comparing the state data of the predetermined control element with the previously stored data in the unsustainable state, it is determined whether or not the facility is continuously inoperable from the temporarily stopped state. Then, the operation restart prohibiting means prohibits the restart of the automatic operation of the equipment when the equipment is in a state where continuous operation is impossible.

Therefore, for example, even if a corrective action is taken for an abnormal place, a certain control element in the equipment is automatically operated without realizing that the continuous operation from the stopped state is impossible. It is possible to prevent equipment damage and the like caused by restarting the operation.

[0014]

Embodiments of the present invention will now be described in detail with reference to the drawings. FIG. 2 is a block diagram of an automatic operation control device according to an embodiment of the present invention and a schematic explanatory diagram of equipment controlled by the automatic operation control device. In the present embodiment, the following description will be made by taking a machine tool for making holes as an example of the equipment 1. In this equipment 1, the work W conveyed by the carry-in conveyor 2 is loaded into the index unit by the loading loader unit, processed by the hole drilling unit, and then discharged by the discharge loader unit to the carry-out conveyor 4. Is configured to.

To briefly explain the series of operations, first, the work W conveyed by the carry-in conveyor 2 is present by a work confirmation switch 6 before processing provided near the end of the carry-in conveyor 2. Is confirmed, and it is gripped by the loading loader unit moved to a predetermined position by the pneumatic cylinder 8. Then, it is transferred to the turntable 10 of the index unit, the turntable 10 rotates, and the work W is placed at the processing position. When the work W is placed, the drill 14 rotated by the drill rotation motor 12 descends toward the work W to perform hole drilling.

The work W, which has been subjected to the hole machining, is moved from the machining position by the rotation of the turntable 10, is gripped by the discharge loader unit moved by the pneumatic cylinder 16, and is transferred to the carry-out conveyor 4. The presence of the work W is confirmed by the post-working work confirmation switch 18 provided near the end of the carry-out conveyor 4, and the work W is conveyed by the carry-out conveyor 4.

Further, a safety cover 20 is provided so as to cover the loading loader unit, the index unit, the hole drilling unit, and the discharge loader unit so that the worker is not in danger during drilling. The safety cover 20 can be opened and closed, and safety cover closing switches LS1 and LS2 are provided at the opening and closing portions thereof.

Each control element of the equipment 1 described above is controlled by a programmable controller (hereinafter referred to as PC) 30. The PC 30 is configured with a well-known CPU, ROM, and RAM as the center of a logical value arithmetic circuit, inputs a detection signal from a sensor or the like provided for each control element via an input / output unit, and drives an actuator or the like. It is configured to output a signal or the like. The RAM stores a sequence program created by the user, internal data, etc., and each control element is sequence-controlled in accordance with the sequence program.

A determination device 40 and a control panel 50 are connected to the PC 30. The determination device 40 is, for example, C
Functions in a computer system including a PU, a memory, and the like. As shown in FIG. 2, the determination device 40 is the PC 30.
PC interface unit 41 for communicating with I / O
A state registration unit 42, an I / O state comparison unit 43, an internal relay state registration unit 44, and an internal relay state comparison unit 45 are provided.

The I / O status registration unit 42 is responsive to the I / O status of the PC 30 upon completion of the abnormality processing according to a determination processing routine described later.
The / O state data is read and stored together with an abnormal number indicating an abnormal place. FIG. 3 shows an example of the storage. Further, the internal relay state registration unit 44 includes an internal relay corresponding to a control element in the control equipment in the equipment 1 that cannot be continuously operated from that state if the control element is once stopped in a certain state. The state data for the unsustainable state is registered in advance. FIG. 4 shows an example of the registration.

A hole drilling unit and the like are examples of control elements that cannot be continuously operated from the state once stopped. For example, if the drill 14 enters the work W and is stopped while making a hole, the drill 14 may be damaged if the operation is continued from that state. Therefore, in such a case, continuous operation is not possible. In FIG. 4, the number of the internal relay corresponding to this hole drilling unit is 4000, which indicates that the internal relay 4000 is in the ON state and cannot continue.

On the other hand, the operation panel 50 is provided with various operation buttons and a pilot lamp for displaying a status. As the operation buttons, in addition to the emergency stop button SW1 for stopping the equipment 1 in an emergency, the operation preparation button SW2, a treatment completion button SW3 for inputting the completion of the abnormality cancellation treatment, and an automatic operation for switching between automatic operation and individual operation Each unit changeover switch SW4 and the like are provided.

Further, as the display lamps, in addition to the operation preparation completion lamp PL1, the treatment completion lamp PL2 indicating that the abnormality clearing treatment is completed, the treatment failure lamp PL3 indicating that the treatment is defective, a data unregistered lamp. PL4,
A continuous operation impossible lamp PL5 and the like are provided.

Next, the operation of the present embodiment will be described with reference to the flow charts showing the judgment processing routines of FIGS. 5 and 6 and the ladder circuit diagram of FIG. 7 showing the sequence program of the present embodiment excerpted. To do. First, it is determined whether or not an abnormality detection signal is received from the PC 30 (step 100,
Hereinafter, simply referred to as S100. The same applies below. ). For example, in FIG. 2, when the unprocessed work W conveyed by the carry-in conveyor 2 falls down during conveyance, an abnormality is detected by an abnormality detection circuit (not shown) of the PC 30 and an abnormality detection signal is transmitted. It By this abnormality detection signal from the PC 30,
The display unit (not shown) of the operation panel 50 indicates that an abnormality has occurred and the details of the abnormality (S110). At this time, the loading loader unit is temporarily stopped at the position shown in FIG. 2 because the pre-machining work confirmation switch 6 is not turned on, and the other units are performing a predetermined operation.

When an operator who confirms the abnormality occurrence display opens the safety cover 20 to carry out the abnormality clearing work, FIG.
The preparation for operation shown in the ladder circuit diagram of (A) is cut off by turning off the safety cover closing switches LS1 and LS2. Then, the drill rotation motor 12 related to the internal relay R2 is stopped, the pneumatic pressure supply valve is closed, and the pneumatic pressure supply to the pneumatic cylinder 8 is stopped.

At this time, the automatic operation circuit 1 shown in FIG. 6 (B)
02: Internal relay R when the emergency stop button SW1 is pressed
Unless 1 is turned off or the automatic individual changeover switch SW4 is not switched to the individual operation side, the state at the time of the temporary stop is held. When the safety cover 20 is opened after the abnormal output from the PC 30 (S120:
(YES), the state data of each internal continuation impossible relay shown in FIG. 4 in the state where the safety cover 20 is opened and the equipment 1 is temporarily stopped is fetched (S130). Then, in the internal relay state comparison unit, it is determined whether or not the state can be continued by checking whether or not the state data at the time of temporary stop coincides with the registered non-continuous state (S140). to decide.

If even one of the registered internal continuation impossible relays is in the continuation impossible state, it is judged that the continuation is impossible (S140: YES). For example, when the drill 14 enters the work W and stops halfway while making a hole, the internal relay 4000 shown in FIG. 7C is in the ON state, and the continuation impossible state shown in FIG. Match. In this case, a continuous automatic operation disable signal is output to the PC 30 (S
150).

This continuation automatic operation disabling signal causes FIG.
The restart-disabled relay 100 of FIG.
The automatic driving circuit 102 is reset, and continuous automatic driving becomes impossible. Then, the continuous operation impossible lamp PL5 is turned on to indicate to the operator (S160), and this routine is once ended.

On the other hand, if none of the registered internal non-continuable relays matches the non-continuable state (S140:
NO), which corresponds to the abnormal number output from the PC 30,
The I / O status data at the time of completion of the treatment is the I / O status registration unit 42.
It is determined whether or not it is stored in (S170). Then, if it is stored, the I / O status data is extracted (S180).

The operator returns the fallen work W to the normal position with the safety cover 20 open, and then the safety cover 2
After closing 0, the treatment completion button SW3 on the operation panel 50 is pressed. When the treatment completion button SW3 is pressed and the treatment completion button signal is output from the PC 30 (S190: Y
ES), read the I / O status data at this point (S
200), the I / O status comparison unit determines whether or not the read I / O status data matches the registered I / O status data extracted in S180 (S).
210).

If the two I / O status data match (S210: YES), it means that the abnormal measures have been taken correctly, so a continuous automatic operation OK signal is output to the PC 30 (S220), and this processing is executed. Ends once. Continuous automatic operation O
The PC 30 to which the K signal is input restarts OK in FIG. 6 (A).
The relay 101 is turned off to enable the preparation for operation. When the operator presses the operation preparation button SW2, the pneumatic pressure is supplied and the operation of the drill rotation motor 12 is restarted.
Since the work W is returned to the normal position and the pre-machining work confirmation switch 6 is turned on, the loading loader unit continues and restarts a predetermined sequence operation.

On the other hand, in the determination process of S210, both I
If the / O status data do not match, the abnormal treatment is not completed correctly, so a defective treatment signal is output to the PC 30 (S230), and the defective treatment lamp PL3 of the operation panel 50 is output.
Is turned on (S240), and the process returns to S190.

A specific example of the case where the two I / O status data do not match will be described. For example, when the work W is toppled over, when the pneumatic cylinder 8 is in a position where it interferes with the work, the pneumatic cylinder 8 can be moved to a position that does not interfere with the work. Then, after finishing the work, if the user forgets to return the pneumatic cylinder 8 to the original position and presses the treatment completion button SW3, even if the I / O state data relating to the position of the work W matches the registered data. , The data regarding the position of the loading loader unit does not match the registered data.

In such a case, after the operator performs the treatment again, the operator presses the treatment completion button SW3 to execute S200.
When the following processing is repeated and both I / O status data match (S210: YES), the continuous automatic operation OK signal is set to P.
The data is output to C30 (S220), and this processing ends.

Further, in this embodiment, the I / O status registration unit 4
If the I / O status data at the time of completion of the procedure is not stored in 2 (S170: NO), it can be newly registered, and the processing will be described. First, the data unregistered signal is output to the PC 30 (S250), and the data unregistered lamp PL4 of the operation panel 50 is turned on (S260).

In this case, since it is necessary to register the data at the time of normal operation, for example, when a nearby component such as the pneumatic cylinder 8 is moved, it is correctly returned to its original position, and abnormal measures are properly taken. , The safety cover 20 is closed and the treatment completion button SW3 is pressed after sufficiently confirming that all are arranged in the correct positions. When the treatment completion button SW3 is pressed and the treatment completion button signal is output from the PC 30 (S270), the I / O state data at this point is read and the I / O state registration unit is set as new treatment completion data. 42 is newly registered (S280). Then, a continuous automatic operation OK signal is output to the PC 30 (S220), and this processing is once terminated.

The execution of the processing of S130 and S140 works as the continuous operation judging means, and the execution of the processing of S170 to S210 works as the releasing treatment judging means. Also, S1
The execution of the process of 50 functions as an operation restart prohibition unit that prohibits the restart of the automatic operation of the equipment based on the determination result of the continuous operation determination unit, and the execution of the process of S230 is performed based on the determination result of the cancellation treatment determination unit. It works as an operation restart prohibition means that prohibits restart of automatic operation of equipment.

As described above, the present automatic operation control system is
When the operation of the facility 1 is temporarily stopped due to an abnormality, the state data of the internal relay shown in FIG. By comparing with, it is determined whether or not the equipment 1 cannot be continuously operated from the once stopped state. Then, when the state of the equipment 1 is incapable of continuous operation, resumption of automatic operation is prohibited.

Therefore, even if the abnormal portion itself such as the position of the work W is correctly treated, for example, if the drill 14 is once stopped while invading the work W and making a hole. As described above, it is possible to prevent damage to the equipment 1 due to restarting the automatic operation without noticing that the continuous operation from the stopped state has become impossible. it can.

Further, FIG. 3 shows data indicating the post-treatment state of the control element in which the abnormality has occurred after the abnormality canceling treatment for canceling the abnormality of the equipment 1 is performed in the automatic operation control device. It is determined whether or not the abnormality clearing process is correctly performed by comparing with the previously stored normal data. Then, if the abnormality clearing process is not performed correctly, the restart of the automatic operation of the equipment is prohibited.

Therefore, the equipment 1 which restarts the automatic operation even though the abnormality clearing process is not performed correctly
It is possible to prevent damage to the equipment and prevent damage to the equipment due to human error. The present invention is not limited to the embodiments as described above, and can be implemented in various modes without departing from the gist of the present invention.

[0042]

As described above in detail, according to the automatic driving control apparatus of the first aspect of the present invention, after the abnormality cancellation processing is performed, the state data of the control element in which the abnormality has occurred is stored in advance. Compared with the normal data, it is judged whether or not the abnormal cancellation is performed correctly, and if the abnormal cancellation is not correctly performed, the restart of the automatic operation of the equipment is prohibited. Therefore, it is possible to prevent equipment damage due to human error such as restarting the automatic operation even if the abnormality canceling process is not performed correctly.

Further, according to the automatic operation control device of the second aspect of the present invention, the state data of the predetermined control element in the equipment, which has a possibility that the continuous operation from the stopped state becomes impossible, is stored in advance. It is judged whether the equipment is inoperable continuously from the stopped state by comparing with the data in the impossible state, and if the equipment is in the inoperable state, the automatic operation of the equipment is performed. Prohibit the resumption of. Therefore, for example, even if corrective action is taken for an abnormal place, a control element in the equipment restarts automatic operation without noticing that continuous operation from a stopped state has become impossible. This has the effect of preventing damage to the equipment due to human error.

[Brief description of drawings]

FIG. 1 is a block diagram illustrating a basic configuration of the present invention.

FIG. 2 is a block diagram of an automatic operation control device according to an embodiment of the present invention and a schematic explanatory diagram of equipment that is a control target thereof.

FIG. 3 is an explanatory diagram showing an example of I / O status data registered in an I / O status registration unit.

FIG. 4 is an explanatory diagram showing internal relays registered in an internal relay state registration unit and state data indicating a state where continuation is impossible.

FIG. 5 is a flowchart showing the first half of the determination processing routine of this embodiment.

FIG. 6 is a flowchart showing the latter half of the determination processing routine of this embodiment.

FIG. 7 is a ladder circuit diagram showing an extracted sequence program of the present embodiment.

[Explanation of symbols]

1 ... Equipment, 8, 16 ... Pneumatic cylinder, 12
... Drill rotation motor, 14 ... Drill, 20 ... Safety cover, 40 ... Judgment device, 42 ... I / O status registration unit, 43 ... I / O status comparison unit, 44 ... Internal relay status registration unit, 45 ... Internal relay status Comparing unit, 50 ... Operation panel, PL4 ... Data unregistered lamp, PL5 ... Continuous operation impossible lamp,
SW3 ... Treatment complete button, W ... Work

Claims (2)

[Claims] 1. An automatic operation control device for equipment in which each control element is sequence-controlled in accordance with a predetermined sequence program, wherein an abnormality occurs in the equipment, the operation is temporarily stopped, and the abnormality is released for canceling the abnormality. After the treatment is performed, the data indicating the state of the control element in which the abnormality has occurred after the treatment is compared with the data stored in advance in the normal state to determine whether or not the abnormality cancellation treatment is correctly performed. And a means for determining whether to cancel the operation, and a means for prohibiting restart of automatic operation of the equipment when the above-mentioned abnormality cancellation processing is not correctly performed based on the result of the determination. An automatic operation control device for characteristic equipment. 2. An automatic operation control device for equipment in which each control element is sequence-controlled according to a predetermined sequence program, and when the operation is temporarily stopped due to an abnormality in the equipment, the operation is continued from the temporarily stopped state. By comparing the state data of a predetermined control element in the equipment that has the possibility of becoming inoperable with the previously stored data in the unsustainable state, the equipment continues from the temporarily stopped state. And a continuous operation judging means for judging whether or not it is impossible to operate, and based on the judgment result, if the condition of the equipment is not continuous, the restart of the automatic operation of the equipment is prohibited. An automatic operation control device for equipment, comprising: means for prohibiting operation restart.