JPH07200045A - Controller for input/output - Google Patents

Abstract

PURPOSE:To provide a chain type controller for input/output capable of accurately judging an abnormal part when the abnormality of an external equipment is occurred in the controller for the input/output for assisting a main controller installed independent of the main body of an industrial robot and bearing the input and output of a sensor and a solenoid valve, etc. CONSTITUTION:This controller is provided with a temporary storage part 8 for temporarily storing the reception information of first and second high-speed communication means 9 and 10 for communicating with the main controller and an input/output device on the upstream side or the input/output device on the downstream side and the input/output information of a parallel input/ output circuit 11 and a communication means 14 for monitoring provided with a communication connector 14a connected to a personal computer for calling prescribed information from the temporary storage part 8 and transmitting it to the personal computer by a monitoring command from the personal computer.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an input / output control device for assisting a main control device installed independently of an industrial robot main body and for inputting and outputting sensors, solenoid valves and the like.

[0002]

2. Description of the Related Art In recent years, the use of industrial robots, which are highly versatile in the work of inserting and assembling parts in high-mix low-volume production, has been increasing. The main controller of this robot is often a self-supporting type that is arranged independently of the robot body, and in many cases the external equipment attached to the robot body is also composed of multiple independent parts. In that case, the wiring connecting the main control device and the external device becomes enormous, and as a result, the wiring process increases, so in order to avoid this, various input / output control devices (hereinafter referred to as input / output devices) can be connected. ) Are attached to each independent external device, and these input / output devices are connected in a chain with a communication cable to exchange input / output information with the main control device or with other adjacent input / output devices. Is used.

[0003]

However, as shown in FIG. 7, the conventional input / output device 1 reads a program for controlling input / output from a program memory 7 in which various programs are stored and executes the control. It has a section 6 and receives an operation command from a main controller (not shown) as a first communication means 9.
When it is received by, the driving communication information included in the operation command is stored in the temporary storage unit 8, and the driving signals of the respective devices configuring the external device (not shown) are created in parallel according to the driving communication information. The parallel input / output circuit 11 supplies a drive signal of a voltage level for driving an external device to the parallel input / output circuit 11 to drive each external device. In this input / output device 1, as means for confirming the operating state of each device, an L attached to the connection input / output terminal block 3 of each device is used.
Only the ED display unit 3a is provided. Therefore, if abnormal operation occurs in external equipment,
When performing an inspection, check whether the operation is normal by observing the lighting state of the LED that displays the operating status of each device that makes up the external device.
It is possible to judge whether or not there is an abnormality, but the display merely displays the state at the input / output terminals of the input / output terminal block 3, and for example, when an abnormality occurs in which the lighting state of the LED continues, It is possible to distinguish whether the control signal continues to be output due to an error in the program of the main control device, whether a part of the LED display unit 3a has failed and continues to output an erroneous signal, or whether the communication cable is defective. There was a problem that it did not work.

In view of the above problems, the present invention, when an abnormality occurs in the operation of an external device, is an abnormality in the program of the main control unit, a failure in the LED display section, or a failure in the communication cable. It is an object of the present invention to provide a chain type input / output control device capable of accurately determining an abnormal place such as.

[0005]

The input / output control device of the present invention waits for an operation command of an external device from the upstream side, transmits it to the second communication means, and sends an operation command addressed to itself. First communication means for storing driving communication information of an external device included therein in a temporary storage unit, communication for confirmation that communicates with a downstream side to transmit the operation command to the downstream side, and indicates an operation state from the downstream side Second communication means for transmitting information to the first communication means, a drive signal for each device constituting the external device is created based on the drive communication information, and stored in a temporary storage unit for parallel input / output. Each device from the control unit and the control unit, which outputs to the circuit and inputs to the parallel input / output circuit, the confirmation signal of the operating state of each device, and stores it in the temporary storage unit together with the communication information for confirmation created based on the signal According to the drive signal of Confirmation signal confirming the operation status of the external device drives the external device is composed of a parallel input-output circuit for inputting.

Further, this input / output control device has a communication connector to which a monitor device is connected, and a monitor for sending a monitor command from the monitor device to the control part and for sending the contents of the temporary storage part to the monitor device. Communication means are provided.

On the other hand, the control unit waits for a monitor command to be input from the monitor communication unit, and then, in response to the monitor command, the external device drive communication information, drive signal, confirmation communication information from the temporary storage unit, At least one of the confirmation signals is called and output to the monitor communication means.

[0008]

[Operation] In the input / output control device of the present invention, when the number of external devices increases, a plurality of input / output control devices are connected in a chain by communication cables. In this state, when the external device is driven based on the operation command from the main control device, when the first communication means receives the operation command of the external device, this is transmitted to the second communication means, and further downstream input. Sent to the output control device. At the same time, when the first communication unit receives the operation command addressed to the own device, the communication information for driving the external device included in the operation command is stored in the temporary storage unit. at the same time,
A drive signal for each device constituting the external device is created from the drive communication information, stored in the temporary storage unit, and output to the parallel input / output circuit. Therefore, the parallel input / output circuit outputs a drive signal of a voltage level capable of being driven to each device, and a desired device forming the external device is driven. At this time, a confirmation signal indicating the operating state of each device is input to the parallel input / output circuit and is stored in the temporary storage unit together with the confirmation communication information to be created.

In this state, when the second communication means receives the confirmation communication information and the confirmation signal for confirming the operation state of the external device from the input / output control device on the downstream side, the second communication means immediately transmits to the first communication means. This is transmitted to the input / output control device on the upstream side, and when the transmission is completed, the confirmation signal and the confirmation communication information from the external device stored in the temporary storage section are transmitted to the first communication means. , To the input / output control device on the upstream side. Therefore, the main controller can grasp the operating state of the external device connected to each input / output device.

When monitoring the communication state between the main control unit and the input / output control unit or between a plurality of input / output control units, the monitor unit is connected to the communication connector of the monitor communication unit. When a monitor command is output from the monitor device, this is detected by the control unit, the monitor information in the monitor command is read, and the communication information and drive signal for driving the external device stored in the temporary storage unit according to the contents are read. ,
At least one of the confirmation communication information and the confirmation signal indicating the operation state of the external device, either the confirmation signal or the confirmation communication information of the operation state of the external device which is temporarily stored immediately after receiving the monitor command or It can be sent to the monitoring device when it changes. Therefore, the monitor device can display these information on its screen,
Various information can be collated on the monitor device to determine the abnormal portion.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. 1 and 2, reference numeral 1 denotes a plurality of input / output control devices (hereinafter referred to as input / output devices) connected to a main control device 2 of an industrial robot (not shown). Various devices (not shown) that constitute the external device 4 are connected to the I / O terminal block 3. Also,
Each input / output device 1 has two adjacent communication connectors 9a,
The input / output device 1a located on the most upstream side is connected to the main control device 2 by another communication cable 5 which will be described later and which is connected to the main control device 2. The input / output device 1 is configured to exchange operation commands, which will be described later, with each other. In addition, the short-circuit communication cable 5 is connected to the communication connector of the input / output device 1z located on the most downstream side.
The input / output device 1z is connected to the input / output device 1z. When the input / output device 1z transmits an operation command to the downstream side, the input / output device 1z is immediately sent to the input / output device 1 on the upstream side.

The input / output devices 1 (1a, 1z) have the same structure, and a first high speed communication means 9 having a communication connector 9a and a second high speed communication means 10 having a communication connector 10a. , An allocation program for controlling the operation of the input / output device 1, a program memory 7 for storing a normal input / output program, a monitor program, a control section 6 for executing these programs, and a temporary storage section for temporarily storing various information. 8, parallel input / output circuit 11, LED for displaying the operating state of the input terminal to which the device is connected
The input / output terminal block 3 includes a display portion 3a, and a power supply circuit 12 that supplies a voltage of 5 V to each portion.

The first high-speed communication means 9 has a built-in receiver driver IC and serial controller IC, performs serial-to-parallel conversion of communication information, and communicates at a communication speed of 640 Kbps using the RS422A communication standard. Communication is performed with the control device 2 or the upstream side. The first high-speed communication means 9 transmits the operation command having the device number information and the communication information for driving the external device to the second high-speed communication means 10 immediately and receives the device number information and the own device number information. , The driving communication information contained therein is temporarily stored in a temporary storage unit by a DMA (Direct Memory Access) controller (not shown) as an operation command for the own device, and a read completion command is issued to the control unit 6. It is configured to send. Further, when the first high-speed communication means 9 receives from the second high-speed communication means 10 a confirmation signal indicating the operation state of the external device 4 of the downstream side input / output device 1 and confirmation communication information described later, it immediately receives the confirmation signal. While transmitting to the control device 2 or the input / output device 1 on the upstream side and waiting for a transmission command from the control unit after the transmission is completed, the DMA controller reads the confirmation signal and confirmation communication information described later, and the main control device 2 or the upstream side It is configured to transmit to the input / output device 1. Further, when the DMA controller receives a transmission command from the control unit 6 in the terminal input / output mode described later, it immediately reads the communication information and confirmation signal for confirmation of the external device in accordance with the transmission command to read the main controller 2 or the input / output device on the upstream side. It is configured to send to 1.

The second high-speed communication means 10 incorporates a receiver driver IC and a serial controller IC, performs serial-to-parallel conversion of communication information, and communicates at a communication speed of 640 Kbps using the RS422A communication standard. It is configured to communicate with the input / output device 1 on the side. Further, when the second high-speed communication means 10 receives the operation command transmitted from the first high-speed communication means 9, the second high-speed communication means 10 transmits the operation command to the downstream side and the input / output device 1 on the downstream side.
When the confirmation signal indicating the operation state of the external device 4 and the confirmation communication information are received from the device, the confirmation signal and the communication information are transmitted to the first high-speed communication means 9.

When the power is turned on, the control section 6 sequentially enters the allocation mode, the normal input / output mode or the terminal input / output mode, and subsequently reads the allocation program from the program memory 7 in which a plurality of programs to be described later are stored. When the completion command is received, the normal input / output program or the terminal input / output program is read out, and when the monitor command is received, which will be described later, the monitor program is read out and executed.

In the program memory 7, an allocation program for the input / output device 1, a normal input / output program, a terminal input / output program, a monitor program called by a monitor command from the personal computer 13 described later, and other explanations are omitted. However, the debugging program is stored. The allocation program, as shown in FIG. 3, 1) reads the device number information stored in the temporary storage unit when the power is turned on. An operation command including the device number information 0 is given to the first high speed communication means of the device.). 2) The number information obtained by adding 1 to this device number information is used as the own device number information and stored in the temporary storage unit. 3) Output own device number information to the second high speed communication means,
Command the transmission to the downstream I / O device. 4) Wait for device number information transmitted from the downstream input / output device. 5) The device number information is read and transmitted to the upstream side, and this is compared with the own device number information. 6) If they do not match, operate in the normal input / output mode and execute the normal input / output program. 7) If they match, operate in the terminal input / output mode and execute the terminal input / output program. Is configured.

The normal input / output program, as shown in FIG. 4, 1) waits for a read completion command (as an interrupt command signal), reads drive communication information from the temporary storage unit, and based on this, external devices A drive signal for driving each constituent device is created, stored in the temporary storage unit, and further output to the parallel input / output circuit. 2) Read the confirmation signal indicating the operating state of each device from the parallel input / output circuit and store it in the temporary storage unit.
The confirmation communication information is created from the confirmation signal and stored in the temporary storage unit. 3) The first high-speed communication means is sent a transmission command of its own device number information, confirmation signal and confirmation communication information in the temporary storage unit, and the process returns to 1). Is configured.

The terminal input / output program, as shown in FIG. 5, 1) waits for a read completion command (as an interrupt command signal), reads drive communication information from the temporary storage unit, and based on this, external devices are set. A drive signal for driving each constituent device is created, stored in the temporary storage unit, and further output to the parallel input / output circuit. 2) Read the confirmation signal indicating the operating state of each device from the parallel input / output circuit and store it in the temporary storage unit.
The confirmation communication information is created from the confirmation signal and stored in the temporary storage unit. 3) A command for transmitting the own device number information, confirmation signal, and communication information for confirmation in the temporary storage unit is transmitted to the first high-speed communication means, and the procedure returns to 1) (immediately, the first high-speed communication means starts transmission). . Is configured.

The temporary storage unit 8 has its own device number information obtained in the allocation mode, communication information for driving included in an operation command addressed to its own device transmitted from the main control device, a drive signal,
The confirmation signal of the external device 4 and the confirmation communication information are temporarily stored.

The parallel input / output circuit 11 converts the drive signal of the external device 4 from the control section 6 into a drive signal of a voltage level capable of driving a plurality of devices forming the external device 4, and each device outputs the drive signal. It outputs to the output terminal of the connected input / output terminal block 3 and receives a confirmation signal for confirming the operating state from each device from the input terminal of the input / output terminal block 3 and uses this as a control level confirmation signal. It is configured to convert. Further, the parallel input / output circuit 11 temporarily stores the drive signal in a buffer circuit (not shown), and is configured to be synchronized when the signal is transferred to the external device 4.

LED display section 3a of the input / output terminal block 3
Is lit by using a 5 volt power supply, and, for example, when a signal from a sensor of an example of various devices is input to the input / output terminal block 3, the LED corresponding to the sensor is lit by the signal voltage. ing.

Further, the input / output device 1 has a monitor communication means 14 having a communication connector 14a to which a personal computer 13 as a monitor device can be connected.
It is configured so that input / output information can be communicated with the personal computer 13 via a communication line using the RS232C communication standard that performs communication at the communication speed of. This monitor communication means 14 has a built-in receiver IC and serial controller IC, and is configured to perform serial to parallel conversion of communication information. The personal computer 13 is of a general-purpose type and operates with a monitor program to be described later, and transmits a monitor command to be described later to an input / output device according to an input instruction of a pointing device such as a keyboard or a mouse, or the monitor communication means 14 When the predetermined information is received from the display device, the information is displayed in a predetermined format, or the display is stopped by a display stop command.

The monitor program for controlling the monitor communication means 14, as shown in FIG. 6, 1) waits for a monitor command transmitted from the personal computer to the monitor communication means. 2) If the monitor command is a transmission command when the input / output status changes,
When either the drive signal of the external device or the confirmation signal stored in the temporary storage unit changes, these are read from the temporary storage unit and transmitted to the personal computer, and the process returns to 1). 3) If the monitor command is a communication information transmission command at any time, the first
The driving communication information of the external device and the confirmation communication information received by the high-speed communication means are read from the temporary storage unit, transmitted to the personal computer, and the process returns to 1). 4) If the monitor command is an input / output status transmission command at any time, the drive signal and the confirmation signal of the external device stored in the temporary storage unit are read from the temporary storage unit and transmitted to the personal computer.
Return to 1). 5) Display an error and return to 1). Is configured.

In the above-mentioned input / output device, when the power is turned on, the control section 6 enters the allocation mode, the device number information of each input / output device 1 connected in a chain to the main control device 2 is allocated, and this is temporarily stored. It is stored in the unit 8. Moreover, by comparing the own device number information with the device number information in the drive command from the downstream side, each device except the input / output device 1z on the most downstream side is in the normal input / output mode, and the input / output on the most downstream side is performed. The device 1z is driven in the terminal input / output mode, and waits for an operation command including device number information from the main control device 2 or the upstream input / output device 1 and communication information for driving external devices. In this state, the device number information of the input / output device 1 and the external device 4 to which various devices constituting the external device 4 are connected from the main control device 2
When the operation command having the drive communication information according to the drive content of 1 is transmitted to the first high speed communication means 9, the input / output device 1 on the upstream side is sequentially transmitted to the input / output device 1 on the downstream side. When the first high-speed communication unit 9 receives the operation command addressed to itself, the DMA controller stores the drive communication information in the temporary storage unit 8. At the same time, a control level drive signal is created from this drive communication information, stored in the temporary storage unit 8, and output to the parallel input / output circuit 11. The drive signal is converted into a drive signal of a voltage level capable of driving each device constituting the external device 4 by the parallel input / output circuit 11 and output to the output terminal of the input / output terminal block 3 to configure the external device 4. Each device is driven. At this time, a drive signal indicating the operating state from each device is input to the parallel input / output circuit 11 via the input terminal of the input terminal block 3, and this is converted into a control level confirmation signal for confirming the operating state of the external device 4. And is stored in the temporary storage unit 8. At the same time, confirmation communication information is created from this confirmation signal, and this confirmation communication information is also stored in the temporary storage unit 8. After that, the control unit 6 transmits a transmission command to the first high-speed communication unit 9.

When the confirmation communication information and the driving communication information of the external device 4 from the downstream side input / output device 1 are transmitted to the second high speed communication means 10, this is transmitted to the first high speed communication means 9.
And is transmitted from the first high speed communication means 9 to the main controller 2 or the upstream input / output device 1. At this time, when the first high-speed communication means 9 finishes transmitting the confirmation communication information and the driving communication information, the confirmation communication information and the driving communication information stored in the temporary storage unit 8 based on the transmission command of the own device. The communication information is transmitted to the first high speed communication means 9 and then transmitted to the main control device 2 or the upstream input / output device 1.
Therefore, the main controller 2 transmits the communication information for confirmation and the communication information for driving of the operating states of the various devices forming the external device 4 for each input / output device 1.

During this time, when some abnormality occurs in the external device 4 and the mutual communication state of these input / output devices 1 is monitored, the communication connector 14a of the monitor communication means 14 is used.
A computer is connected to. When a monitor command is transmitted from this personal computer, at least one or more of the input / output state change transmission command, the communication information optional transmission command signal, and the input / output state optional transmission command are sent according to the contents of the monitor instruction. Based on the command, the monitoring of the drive communication information received by the first high-speed communication means 9, the drive signal to be generated, the confirmation signal indicating the operating state of the external device 4, and the confirmation communication information to be generated will be started. When the drive signal and the confirmation signal of the external device 4 are changed, the command can be read from the temporary storage unit 8 and transmitted to the personal computer 13 using the monitor communication unit 14. The command can read the communication information for driving and the communication information for confirmation received by the first high-speed communication means 9 from the temporary storage section 8 and can transmit them to the personal computer 13 using the monitor communication means 14. Further, the command can read the drive signal and the confirmation signal of the external device 4 from the temporary storage unit 8 and can transmit them to the personal computer 13 using the monitor communication means 14. Therefore, the operator can immediately grasp the location of the abnormality at the time of occurrence of the abnormality from the driving communication information, the checking communication information, the driving signal and the checking communication information of each device constituting the external device 4 displayed on the personal computer 13. can do.

[0027]

As described above, according to the present invention, a plurality of input / output control devices are connected in a chain with the main control device so that the main control device or an adjacent input / output control device is connected to the main control device. It is possible to display on the monitor the communication information for driving the external device, the confirmation communication information indicating the operating state, the drive signal of the external device, and the confirmation signal indicating the operating state. Whether the control signal, for example, the control signal continues to be output due to an error in the program of the control device,
It is possible to easily determine whether a part of the input / output circuit with LED display of the main control unit has failed and an incorrect signal is being continuously output, and there is an abnormality in the main control unit or the input / output device has failed. Is there a problem with the communication cable?
It will be easier to identify and the work efficiency will be improved.

[Brief description of drawings]

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

FIG. 2 is a schematic explanatory diagram showing an overall configuration of the present invention.

FIG. 3 is a flowchart showing an allocation program for an input / output device according to the present invention.

FIG. 4 is a flowchart showing a normal input / output program according to the present invention.

FIG. 5 is a flowchart showing a terminal input / output program according to the present invention.

FIG. 6 is a flowchart showing a monitor program according to the present invention.

FIG. 7 is a block diagram showing a schematic configuration of a conventional example.

[Explanation of symbols]

 1, 1a, 1z Input / output device 2 Main control device 3 Input / output terminal block 3a LED display unit 4 External device 5 Communication cable 5a Short circuit cable 6 Control unit 7 Program memory 8 Temporary storage unit 9 First high-speed communication means 9a Communication connector 10 Second high-speed communication means 10a Communication connector 11 Parallel input / output circuit 12 Power supply circuit 13 Personal computer 14 Monitor communication circuit 14a Communication connector

Claims (1)

[Claims] 1. Waiting for an operation command of an external device from the upstream side, transmitting the command to the second communication means, and transmitting the communication information for driving the external device included in the operation command addressed to the own device in the temporary storage unit. A first communication means to be stored, which communicates with the downstream side to transmit the operation command to the downstream side, and to transmit confirmation communication information indicating the operation state of the external device from the downstream side to the first communication means. No. 2 communication means, creates a drive signal for each device constituting the external device based on the drive communication information, stores the drive signal in the temporary storage section, outputs it to the parallel input / output circuit, and inputs it to the parallel input / output circuit. A control unit that reads a confirmation signal of the operating state of each device and stores it in the temporary storage unit together with the confirmation communication information created based on the confirmation signal,
A monitor device is connected to an input / output control device consisting of a parallel input / output circuit that drives an external device according to the drive signal of each device from the control unit and receives a confirmation signal that confirms the operating state of the external device. A monitor communication unit is provided which has a communication connector and which sends a monitor command from the monitor unit to the control unit and also sends the contents of the temporary storage unit to the monitor unit, while the monitor command is input from the monitor communication unit. Control unit for calling at least one of the external device drive communication information, drive signal, confirmation communication information, and confirmation signal from the temporary storage unit in response to the monitor command, and outputting this to the monitor communication unit. An input / output control device comprising: