JPH05333908A - Input/output device - Google Patents

Abstract

PURPOSE:To decide an abnormal operation in a debugging operation state through the collation carried out between two types of information by providing a function to an input/output device to carry out the debugging operation independently of a main controller. CONSTITUTION:The communication is carried out to a main controller and the information received by an upstream communication means 5 is immediately transmitted through a downstream communication means 6. When this information is accordant with the prescribed conditions, the information stored in an arithmetic memory 11 for drive of an external device is outputted to this device via a parallel input/output circuit 7. Thus, the external device is driven. Then, the information received by the means 6 is immediately transmitted through the means 5. Meanwhile, a debugging communication means 12 has the communication with a personal computer to define a downstream input/output device as a debugging subject and to cut the information sent from an upstream device through the means 5. Then, it is possible to actuate a specific external device or to check the input information on the external device with the subsequent debugging commands. Thus, an abnormality during the debugging can be decided.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an input / output device which assists a control device installed independently of an industrial robot main body and takes charge of input of a sensor or the like and output of a solenoid valve or the like.

[0002]

2. Description of the Related Art In recent years, the use of industrial robots having high versatility in the work of inserting and assembling parts in high-mix low-volume production has been increasing. The control device of this robot is often a self-supporting type that is arranged independently of the installed machine, and the machine is also often composed of a plurality of independent parts. In that case, the wiring connecting the control device and the machine becomes enormous, resulting in an increase in the wiring process. To avoid this, an input / output device is attached to each machine, and the control device uses the input / output device and the communication line. A general method is to exchange input / output information.

[0003]

However, since the conventional input / output device cannot operate independently of the main control device, even if a part of the external device is assembled first, the entire device is assembled and wiring is also performed. Unless it is in a completed state, the operation of each individual device cannot be confirmed using the main controller. For this reason, it is necessary to wait until all the devices are completed and assembled, and the delivery time becomes long. When a part of the input / output device is completed to solve it, the ON / OFF switch of the input / output device is used to drive the device to check the operation each time, but it is dangerous because it approaches the input / output device. In some cases, when the input / output device does not operate, it takes time because the wiring is used to check the cause.

In view of the above problems, the present invention allows an input / output device to have a function of performing a debugging operation independently of the main control unit even if the entire device is not assembled, so that the external device previously assembled can be used. An object is to provide an input / output device capable of performing operation confirmation.

[0005]

In order to achieve the above object, first communication means connected to an external device, for confirming the operating state of the device and issuing an operation command to the device, and upstream of the own device. Through the second communication means for communicating at high speed with the device, the third communication means for communicating at high speed with the device on the downstream side of the own device, the fourth communication means for communicating with the personal computer, and the second communication means. When the obtained operation command is addressed to the own device, it is output to the first communication means to drive the external device, and when it is not the own device, it is transmitted to the downstream side through the third communication means, and the operation confirmation obtained by the downstream side device The information is sent to the upstream side with the external device operation confirmation signal obtained from the external device added as it is, while if the personal computer is connected to the fourth communication means, the function of the second communication means is changed. Stop, as if it were the most upstream I / O device Dance, characterized by control means for controlling so as to communicate with the computer via the fourth communication unit.

[0006]

The input / output device of the present invention controls the external device under the control of the main control device for controlling the device during the normal use, and the external device under the command from the personal computer during the debug operation. Is operated to receive the output information from the device and send it to the personal computer for display. As a result, two kinds of information, that is, the operation status of the external device and the information displayed on the personal computer are collated, and the abnormal operation is judged during the debug operation.

[0007]

FIG. 2 is a connection diagram of the present invention. In this figure, the input / output devices 2C, 2D, 2E, 2F and 2G are connected in a chain. That is, information between the input / output device 2C and the device 22D is exchanged between the 24C terminal of the input / output device 2C and the 22D terminal of the input / output device 2D by using the signal line 12C.
A signal line 12D is provided between the D terminal and the 22E terminal of the input / output device 2E.
Information is exchanged between the two devices by using the signal line 1 between the 24E terminal of the input / output device 2E and the 22F terminal of the input / output device 2F.
2E is used to exchange information between the two devices, and the input / output device 2
Signal line 1 between the 24F terminal of F and the 22G terminal of the input / output device
Information is exchanged between both devices using 2F, and the input / output device 2
Since there is no device below G, the information output from the 24G terminal of the device 2G is input to the same terminal again in the form of a short circuit. Therefore, the information transmitted from the main control device 2A is transmitted from the device 2A through the signal line 12A to the input / output device 2
The data is transferred to the terminal 22C of C, transferred from the device 2C to the input / output device 2D, transferred from the device 2D to the input / output device 2E, transferred from the device 2E to the input / output device 2F, and input / output from the device 2F. It is transferred to the device 2G. Further, information can be transmitted in reverse from the input / output device 2G to the main control device 2A. Each input / output device has an input / output terminal block for the purpose of moving an external device connected to the device itself and receiving information of a sensor attached to the device. A signal for driving an external device is output from this terminal block, and information output from a sensor attached to the external device is received by this terminal block. For example, the input / output device 2C has an input / output device terminal block 21C, and a signal for driving an external device from the terminal block 21C passes through a signal line 13C to drive, for example, a motor of the external device, and information obtained by a sensor of the external device. Is input to the input / output terminal block 21C through the signal line 14C. The other input / output terminal blocks 21D, 21E, 21F, and 21G have the same functions as the input / output terminal block 21C, and a description thereof will be omitted. Furthermore, the signal line 1 is also used for the signal lines 13D, 13E, 13F, 13G and 14C, 14E, 14F, 14G.
Since it has the same function as 3C and 14C, the explanation is omitted. By connecting in this way, the main control device 2A can drive, for example, an external device connected to the input / output device 2G, and at the same time can detect the operating state of the external device connected to the input / output device 2G. Furthermore, each input / output device uses a terminal for connecting with the personal computer 2B.
And a command to start the debug operation is received from the personal computer 2B, for example. In this figure, the input / output device 2E communicates with the personal computer 2B using the signal line 12B from the terminal 23E. Terminals 23C, 23D and 23 of other input / output devices
Since F and 23G have the same function as the terminal 23E, description of these terminals will be omitted.

FIG. 1 is a block diagram of each input / output device. In this figure, the device control C for controlling the device is shown.
PU9 and control program storage program memory 1
0 (contents will be described later), an arithmetic memory 11 for temporarily storing input / output information of an external device, and the like, a personal computer 2B as a monitor device, a debug communication means 12 for transferring information, and other inputs. An upstream high-speed communication unit 5 and a downstream high-speed communication unit 6 that transfer information to and from an output device, a parallel input / output circuit 7 that transfers information to an external device, communication connectors 2, 3 and 4, and an external device such as a solenoid valve. Input / output terminal block 1 connected to signals from sensors and the like, and control CPU 9
Is composed of a 5 volt power supply circuit 8 for operating. The debug communication unit 12 includes a receiver driver IC and a serial controller IC compatible with the standard using the RS232C standard having a communication speed of 9600 bps, and communicates with the personal computer 2B. The parallel input / output circuit 7 is composed of, for example, a buffer circuit or a voltage conversion circuit for temporarily storing. The upstream high-speed communication means 5 communicates with the main control device 2A or another input / output device, and RS422A with a communication speed of 640 Kbps is used as a communication means to quickly send information at high speed.
It is equipped with a communication standard and a receiver driver IC compliant with the standard and a serial controller IC. Downstream high speed communication means 6
Is equipped with the same means as the upstream high speed communication means 5 for communicating with other input / output devices and rapidly sending high speed information. The information received by the upstream communication means 5 is immediately transmitted from the downstream communication means 6, and if the information meets certain predetermined conditions, it drives the external device stored in the arithmetic memory 11. Information is output to an external device and the device is driven. Further, the information received by the downstream high-speed communication means 6 is immediately transmitted from the upstream high-speed communication means 5, and immediately thereafter, a signal from an external device is input and transmitted from the upstream high-speed communication means 5.

When the power is turned on, the main controller 2A and the CPU of each input / output device read the control program from the program memory of its own device and start execution, and then each input / output device automatically sets its own unique device number. The address allocation mode is to determine. This mode will be described in detail later. Each input / output device determines its own unique device number according to the mode, and operates the external device according to the control command sent from the main control device 2A in the subsequent normal input / output mode. The normal input / output mode will be described in detail later. While each input / output device receives this control command by the upstream communication means 5 and transmits it from the downstream communication means 6, it judges whether or not the device number included in the command is equal to the self unique device number and is equal. In some cases, the external device is moved according to the operation instruction included in the control command.
After the main controller sends the command to all input / output devices,
Information output from, for example, sensors of external devices connected to all input / output devices is input without exception.

When each I / O device receives a debug start command from the personal computer 2B, it automatically enters a debug mode (described later in detail) and executes the program of its own device to debug the I / O device downstream of its own device. The information transmitted from the input / output device upstream of the own device is cut by the upstream communication means 5. The debug command transmitted subsequently is used to move a specific external device or check the input information of the external device connected to the input / output device at any time. There are five types of debug commands, and at least one of the output commands, the periodical input commands, the input commands when the input command changes, and the input command input / output area setting commands at any time. When the input / output device receives this command, the output information in the control command is stored in the arithmetic memory 11. When the device receives, the input information of the external device stored in the arithmetic memory 3 is periodically output from the debug communication means 4 to the personal computer 2B. When receiving the information, the apparatus receives the debug communication means 1 when the input information of the external device stored in the arithmetic memory 11 changes.
Output from 2 to PC 2B. Immediately after receiving the information, the device 2E outputs the input information of the external device stored in the arithmetic memory 3 from the debug communication means 12 to the personal computer 2B. Then, according to the information limited to the range information of the device number included in the command, only the input / output information stored in the arithmetic memory 11 within the above range is referred to. The information limiting this range is stored in the input / output area setting register area in the arithmetic memory 11 in the form of the input / output start apparatus number and the input / output end apparatus number, and this command is written in this area. Change the two device numbers.

FIG. 3 is a flow chart of the operation of the input / output device of the present invention. When the power of the input / output device is turned on (S1), the address allocation mode is automatically entered, and the device number transmitted from the upstream side of the self device is detected (S1).
2). If this device number is detected, 1 is added to this number.
Is added to the device number (S3), and the device number is transmitted to the device downstream of the device (S4). Then, the device number transmitted from the downstream side is detected (S5),
If detected, the device number transmitted from the downstream is compared with the own device number (S6), and if they do not match, the normal input / output mode is operated (S7). If they match, the terminal input / output mode is operated (S8). To do. If a debug start command is detected (S9) before the device number transmitted from the upstream side is detected in S2, the debug mode is entered.

FIG. 4 shows a normal input / output mode of the input / output device of the present invention. In FIG. 4, when the output information including the device number and the output information is received from the upstream (T1), the received output command is transmitted from the downstream side (T2) and the self unique device number and the device number in the received output command are received. Compare (T
3) If they match, the output information in the output command received from the parallel input / output circuit to the external device is transmitted to move the external device (T4), and if the input information is received from the downstream side (T5), the received input is received. The command is immediately transmitted to the upstream side (T6), and then input information from, for example, a sensor of an external device is transmitted to the upstream side (T7).

FIG. 5 is a flow chart of the operation of the input / output device of the present invention in the termination mode. When the output command including the device number and the output information is received from the upstream side (U1), the device number in the received output command and the self unique device number are compared (U2), and if they match, the output information in the output command Is transmitted to the external device (U3) to move the external device, and then the input information of the external device is received and transmitted to the upstream side together with the self unique device number (U4).

FIG. 6 is a flowchart of the operation in the debug mode. When the input / output device connected to the personal computer receives a debug start command from the personal computer before address allocation, this operation is automatically started. In the figure, when the input / output device receives a debug start command from the personal computer 2B, the device number increased by 1 from the device number in the debug start command is used as a self unique device number (V1). Since the input / output area setting information is included in the start command, the input / output information, the input / output start device number and the input / output end device number are stored in the input / output information storage area in the arithmetic memory 3 based on the information. Store (V2, if this setting information indicates, for example, that the input / output operation starts from the input / output device 2E and ends at the input / output device 2F in FIG. 2, the input / output storage area is the device 2
Only E and 2F are secured). After that, the self-specific device number is transmitted to the downstream side (V3), and when the device number transmitted from the downstream side is received (V4), the device number is stored in the input / output information storage area of the arithmetic memory 11 as the terminal device number ( V5). After storing the device number, if at least one of 5 types of debug commands (output command, periodic input command, input command when input command changes, input command input / output area setting command) is received (V6), the operation corresponding to the command is performed. At the same time, (V16) transmits an output command to which the device number to be output is added to the output information stored in the input / output information storage area on the downstream side of the own device at regular time intervals (V8). Below, output commands are transferred to the downstream I / O device one after another, but at this time it is not known that the downstream I / O device is in debug mode, so in normal I / O mode or final I / O mode Take action. The operation of this mode is as illustrated in FIGS. When the input / output device in the debug mode receives the input information from the downstream side (V9), it is checked whether the input information satisfies the condition of the setting information stored in the input / output information storage area (V10). The way to check the setting conditions is to check whether the device number in the received input information is greater than or equal to the I / O start device number and less than or equal to the I / O end device number, and if that condition is met. If so, the input information is stored in a corresponding place in the input / output storage area of the arithmetic memory 11. Further, it is checked whether the device number in the received input information is equal to the terminal device number. If they are not equal, the input information is received again. If they are equal, it is checked whether the self-specific device number satisfies the condition of the setting information. Naturally, if the self-specific device number of the I / O device in debug mode is the smallest compared to the self-specific device of the I / O device operating in other normal I / O mode, It is sufficient to check whether the I / O start device number is equal to the self unique device number. If this setting condition is satisfied, the input information is written in the arithmetic memory 11 (V11), and it is further checked whether the input information belongs to the termination device (V12). If it is not the termination device, the process returns to V9. If it belongs to the terminating device, it is subsequently checked whether the self-specific device number satisfies the setting condition (V13). If the set conditions are satisfied, the output device is used to drive the external device (V14), the input information of the external device is written to the arithmetic memory 11 (V15), and the process returns to V6.

This debug mode is terminated by the personal computer 2
By pressing, for example, the interrupt key (not shown) of B, the forced termination signal is transmitted to the input / output device in the debug mode and is completed.

[0016]

As described above, according to the input / output device of the present invention, the external device can be controlled regardless of the main controller, so that the external device is divided into a plurality of parts and the input / output device is connected to each external device. When manufacturing such a device, it is possible to perform an operation test and correct inconvenient parts in order from the assembled external device. Therefore, the manufacturing efficiency is greatly improved as compared with the conventional method in which the operation test can be performed only after completion.

[Brief description of drawings]

FIG. 1 is a configuration diagram of an input / output device of the present invention.

FIG. 2 is a connection diagram of the input / output device of the present invention and another device.

FIG. 3 is a flowchart of the operation of the input / output device of the present invention.

FIG. 4 is a flowchart when the input / output device of the present invention operates in a normal input / output mode.

FIG. 5 is a flowchart when the input / output device of the present invention operates in the terminal input / output mode.

FIG. 6 is a flowchart of an operation in a debug mode.

[Simple explanation of symbols]

1 ... I / O terminal block 2, 3, 4 Communication connector 5 ...
・ Upstream high-speed communication means 6 ・ ・ Downstream high-speed communication means 7 ・ ・ ・ Parallel input / output circuit
8 ... Power supply circuit 9 ... CPU 10 ... Program memory 11.
..Operation memory 12..Debugging communication means 2C, 2D, 2E, 2
Input / output device 21C, 21D, 21E, 21F, 21G ... Input / output terminal block 2A ... Main control device 2B ... Personal computer 22C, 22D, 22E, 22F, 22G ... Upstream side Communication connector 23C, 23D, 23E, 23F, 23G ··· PC communication communication connector 24C, 24D, 24E, 24F, 24G ... Downstream communication connector

[Procedure amendment]

[Submission date] June 9, 1992

[Procedure Amendment 1]

[Document name to be amended] Statement

[Correction target item name] 0012

[Correction method] Change

[Correction content]

FIG. 4 shows a normal input / output mode of the input / output device of the present invention. In FIG. 4, when the output command including the device number and the output information is received from the upstream (T1), the received output command is transmitted from the downstream side (T2) and the self-specific device number and the device number in the received output command are received. Compare (T
3) If they match, the output information in the output command received from the parallel input / output circuit to the external device is transmitted to move the external device (T4), and if the input information is received from the downstream side (T5), the received input is received. Information is immediately transmitted to the upstream side (T6), and then input information from an external device, for example, a sensor is transmitted to the upstream side (T7).

[Procedure Amendment 2]

[Document name to be corrected] Drawing

[Name of item to be corrected] Figure 6

[Correction method] Change

[Correction content]

[Figure 6]

Claims (1)

[Claims] 1. A first communication means which is connected to an external device, confirms an operation state of the device, and issues an operation command to the device, and a second communication which communicates with a device upstream of the own device at high speed. Means, a third communication means for communicating at high speed with a device on the downstream side of the own device, and a fourth communication means for communicating with a personal computer,
When the operation command obtained through the second communication unit is addressed to the own device, it is output to the first communication unit to drive the external device, and when it is other than the own device, it is transmitted to the downstream side through the third communication unit,
When the external device operation confirmation signal obtained from the external device is added to the operation confirmation information obtained from the downstream side device, it is sent to the upstream side as it is, while the personal computer is connected to the fourth communication means. An input / output device characterized by stopping the function of the second communication means, behaving as if it were the most upstream input / output device, and controlling it to communicate with the personal computer through the fourth communication means.