JPH06187017A - Controller for producing device - Google Patents

Abstract

PURPOSE:To easily attain the change of the control program of a producing device. CONSTITUTION:A programmer prepares the operation program of a producing machine, and a program for synchronizing with the other producing machine is included in the prepared program. Storage means 42 and 44 store the program. Control parts 45 and 47 control the operation of the plural producing machines by considering the synchronization of the producing machines mutually based on the program stored in the storage means.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for production equipment, which can easily change a program for controlling the operation of peripheral devices and robots in a production line.

[0002]

2. Description of the Related Art Conventionally, for example, in a vehicle body production line, a robot for mainly assembling the vehicle body and a peripheral device for controlling the movement of the vehicle body are provided, and the robot and the peripheral device cooperate with each other. The assembly work is done.

An example of a conventional device for controlling such work is constructed as shown in FIG. The sequence controller 10 controls the operation of the above-mentioned peripheral equipment, and this control is performed via a high-speed bus or an I / O unit 12 connected to a network. The sequence programmer 14 inputs the program to the sequence controller 10. On the other hand, the robot controller 20 controls the operation of the robot main body 22, and the interlocking of starting and stopping of the robot controller 20 is performed based on a command output from the sequence controller 10 via the I / O unit 24. Has been. The operation program of the robot main body 22 is created by the robot language programmer 26, and the manual operation of the robot main body 22 is performed based on the signal from the robot operation panel 28.

Therefore, the sequence controller 10
Is responsible for controlling the operation of peripheral equipment via the I / O unit 12 and for outputting start / stop commands to the robot controller 20 via the I / O unit 24. In consideration of the above, the operations of peripheral devices and robots are controlled. Further, the robot controller 20 controls the start and stop of the operation of the robot main body 22 based on a command from the sequence controller 10 sent via the I / O unit 24.

[0005]

However, in the conventional control device for the production equipment having the above-mentioned structure,
Since the program of the sequence controller 10 was independently programmed by the ladder program by the sequence programmer 14, and the robot controller 20 was independently programmed by the robot language program by the robot language programmer 26, it seems that the work content is slightly changed. In such a case, it is necessary to individually change the program while confirming the synchronous relationship between the operation of the peripheral equipment and the operation of the robot. This program change requires the ladder program and the robot language program to be matched with each other, so it takes a long time, and the uncertain synchronization relationship causes a problem in the reliability of the program after the change. There is such a problem. There is also an economic problem such that each device requires a programming device that is not normally used.

The present invention has been made in view of the above-mentioned problems of the conventional apparatus, and provides a control apparatus for production equipment, which can easily change a program for controlling production equipment. With the goal.

[0007]

SUMMARY OF THE INVENTION To achieve the above object, the present invention provides a control system for a production facility in which a plurality of production machines are configured to cooperate with each other to perform one work. Program creating means for creating an operation program of the production machine by including a program for synchronizing with other production machines in the operation program of the machine, and storage means for storing the program created by the program creating means. And controlling means for controlling the operations of the plurality of production machines based on a program stored in the storage means while considering the synchronization of the production machines with each other.

[0008]

The present invention thus constructed operates as follows. The program creating means creates an operation program for the production machine, and the created program includes a program for synchronizing with other production machines. The storage means stores this program. The control means controls the operations of the plurality of production machines based on the program stored in the storage means while considering the synchronization of the production machines with each other.

Therefore, since the program stored in the storage means contains the program of another production machine which should be operated in synchronization with the production machine,
Even if such a change occurs, the program can be changed very easily.

[0010]

Embodiments of the present invention will now be described in detail with reference to the drawings. FIG. 1 is a schematic configuration diagram of a control device for production equipment according to the present invention, and FIG. 2 is a detailed diagram of the work controller shown in FIG. The robot controller 20 shown in FIG. 1 controls the operation of the robot body 22, and the operation controller 30 starts the operation.
It is performed based on the command from. Further, the robot controller 20 outputs a work completion signal to the work controller 30 when the operation of the robot body 22 is completed.

The work controller 30 controls the peripheral equipment which works in cooperation with the robot via the I / O unit 12, and outputs the robot operation command to the robot controller 20 as described above. Alternatively, based on the robot work completion signal output from the robot controller 20, peripheral equipment is operated to collectively control the production equipment. A programmer 32 inputs a program to the work controller 30, that is, a ladder program for controlling peripheral equipment and a robot language program which is a program of the robot controller 20.

The detailed construction of the work controller 30 is as shown in FIG. 2. Among the programs created and instructed by the programmer 32, the one relating to the ladder program for controlling the peripheral equipment is the input / output switching section. Four
It is sent to the ladder programming unit 41 by a switching operation of 0, automatically generated by the ladder programming unit 41, and stored in the ladder program storage unit 42. On the other hand, among the programs created and instructed by the programmer 32, those relating to the robot operation program for controlling the operation of the robot body 22 are similarly sent to the robot operation programming section 43 by the switching operation of the input / output switching section 40 It is automatically generated by the robot motion programming unit 43 and stored in the robot motion program storage unit 44.

The sequence control unit 45 controls the operation of peripheral equipment via the I / O interface 46. The control is performed by the ladder program storage unit 4
It is performed based on the program stored in 2.
Further, the robot operation control unit 47 outputs an operation command of the robot main body 22 to the robot controller 20 via the I / O interface 48, and the output is a program stored in the robot operation program storage unit 44. Based on. The sequence control unit 45 and the robot operation control unit 47 are adapted to be synchronized by the start, stop and cycle end signals as shown in the figure.

As described above, the control device for the production facility according to the present invention, which is constructed as shown in FIGS. 1 and 2, operates as follows.

First, when the programmer 32 is instructed to write a program regarding a production facility, this instruction is interpreted by the ladder programming section 41, and a ladder program based on the instruction is created. Then, this ladder program is stored in the ladder program storage unit 42. An example of the ladder diagram is as shown in FIG. When the programmer 32 creates a program as shown in this figure, this program is stored in the ladder program storage unit 42. When creating this ladder program, the robot function block as shown in FIG. Describe 50. In this robot function block 50, start timing, stop timing, etc. can be set as input elements, and cycle end, step end, and step number can be specified as output elements. In this robot function block 50, the number of the corresponding robot operation program can be described.

During the creation of such a ladder program, the robot function block 50 which has been input is designated and a predetermined key of the programmer 32 is operated to set the robot motion programming mode. In this state, the robot motion program is set. Can be created. When this mode is set, a screen for robot program creation is displayed in the window as shown in FIG. 3 (B). When returning to the original ladder sequence input mode from this mode, the programmer 32
This is done by operating a predetermined key of. In addition,
It goes without saying that the robot program input in the robot operation programming mode is stored in the robot operation program storage unit 44.

By performing the above-mentioned operations, the ladder sequence program and the robot operation program in which the synchronization of the robot main body 22 is taken into consideration are generated. The generated programs are all stored in the ladder program storage unit 42 and the robot operation program storage unit 44.

Based on the program created in this way, the peripheral equipment and the robot body 22 operate as shown in the flowchart of FIG. Sequence control unit 4
5 reads the ladder program stored from the ladder program storage unit 42 and determines whether the read program is a program for activating the robot body 22 (S1, S2). If the read program is not the startup program, the operation of the peripheral equipment is controlled according to the read program (S
3). If the read program is a startup program, the robot operation control unit 47 reads the robot operation program to be started from the robot operation program storage unit 44 and controls the operation of the robot body 22 based on the program. . When the operation of the robot body 22 is completed, a cycle end signal is output from the robot controller 47 to the sequence controller 45, and the process returns to S1 and the above processes are repeated (S4, S5).

As described above, since the robot function block for activating the robot program is provided in the sequence program, the sequence program and the robot program can be easily changed even when the program is changed. . In addition, since the number of bugs that occur at the time of change is reduced, the reliability of the program is dramatically improved.

[0020]

As described above, according to the present invention, the program stored in the storage means contains the program of another production machine which should be operated in synchronization with the production machine. Therefore, even if the change occurs, the program can be changed very easily.

[Brief description of drawings]

FIG. 1 is a block diagram showing a schematic configuration of a control device for a production facility according to the present invention.

FIG. 2 is a detailed block diagram of a work control unit of the apparatus.

3A and 3B are diagrams showing an example of a display during programming by the device.

4 is a flowchart showing the operation of the apparatus shown in FIGS. 1 and 2. FIG.

FIG. 5 is a control device of a conventional production facility.

[Explanation of symbols]

32 ... Programmer (program creation means) 41 ... Ladder programming section (program creation means) 42 ... Ladder program storage section (storage means) 43 ... Robot operation programming section (program creation means) 44 ... Robot operation program storage section (storage means) 45 ... Sequence control section (control means) 47 ... Robot operation control section (control means)

Claims (1)

[Claims] 1. A control device for a production facility, wherein a plurality of production machines are configured to cooperate with each other to perform one work, and synchronize with other production machines in an operation program of the production machine. A program creating unit that includes a program to create an operation program of the production machine, a storage unit that stores the program created by the program creating unit, and a mutual production based on the program stored in the storage unit. A control device for production equipment, comprising: control means for controlling the operations of the plurality of production machines while considering the synchronization of the machines.