JPH10124119A - Sequence program editing method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an on line sequence program editing method capable of confirming operation by a program after editing. SOLUTION: When the editing of the sequence program is excuted in the middle of executing the sequence program on line (S1 to S4), an editing sequence program to be stored in an editing memory is edited (S6 and S7). When editing is finished (S8), a signal to store in an executing signal memory (an input/output signal, the state of a holding type memory and the state of an internal relay) is copied in a simulation signal memory (S10). Simulation is executed by the signal stored in this simulation signal memory and the editing sequence program to store an output signal (S11). This output signal and an actual output signal are compared to display a non-coincident output signal and its main cause instruction. When the displayed content is desired one, the edited editing sequence program is used as an executing sequence program.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a sequence program editing method for changing a sequence program while a programmable controller is operating.

[0002]

2. Description of the Related Art Some programmable controllers (hereinafter referred to as PCs) used for automation control can online edit a sequence program executed by the PC while the PC is operating. In the case of this online editing, the changed sequence program is executed immediately after the editing operation, so that the signal state output as the execution result also changes.

[0003] In particular, when a PC is used for machine control or when the PC is built in a numerical control device for controlling a machine such as a machine tool, editing the sequence program of the PC online requires Since the change in the state of the output signal indicates a change in the operation of the movable part of the machine, an unexpected operation of the machine occurs due to an erroneous operation during online editing, and the movable part of the machine collides with other members, Accidents such as breakage due to shutdown may occur.

[0004] In order to prevent such a malfunction due to an erroneous operation, when a sequence program updating operation after online editing is performed, conventionally, a message for calling attention is displayed on a display device, and when a confirmation operation is performed by an operator. By executing the program update process in the first place, a certain level of security is ensured.

[0005]

In a conventional method in which a message for warning is displayed to prompt the operator to perform a confirmation operation when online editing is performed and thereafter an update operation of the sequence program is instructed, the confirmation key is simply pressed. Only a push operation is required. The effect of the program change on the machine operation needs to be determined by the operator analyzing the program. When it comes to analyzing a program, it takes time and labor, is a cumbersome task, and the meaning of online editing is diminished. Moreover, if the operator presses the confirmation key erroneously for analysis or judgment, the machine will also malfunction.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a sequence program editing method capable of easily confirming an operation by a program after online editing.

[0007]

According to the present invention, in a sequence program editing method for editing a sequence program while the programmable controller is executing the sequence program, an editing program memory for storing the edited sequence program is provided. The edited sequence program is stored in the program memory, and after the editing is completed, the sequence program stored in the edited program memory is simulated and output signals are stored, and the output signal of the simulation execution result and the running sequence program are stored. The output signal is compared with the address of the mismatch output signal, and further, an instruction for instructing output to an address at which the mismatch output signal occurs is displayed on the display device,
When a confirmation signal is input from the operator, the edited sequence program stored in the editing program memory is stored in the execution program memory, and the edited sequence program is defined as the execution sequence program.

Further, in the case where the number of mismatched output signals is so large that it is difficult to confirm the output signals, the sequence program stored in the editing program memory is executed by simulation every time an editing operation is performed, and the output signals are stored. Comparing the output signal of the simulation execution result with the output signal of the running sequence program, displaying the address of the mismatch output signal, and further, displaying on the display device an instruction for instructing output to the address at which the mismatch output signal occurs, When a continuation command is input from the operator, editing is continued. When an update command is input, the edited sequence program stored in the editing program memory is stored in the execution program memory, and the edited sequence program is executed. This is a sequence program. In this case, the above display may be performed only when the number of mismatch output signals reaches the set number.

[0009]

FIG. 1 is a block diagram of a main part of an example of a PC for implementing an embodiment of a sequence program editing method according to the present invention.

The PC 10 has a processor 11 for executing sequence control. The processor 11 has a ROM 12 and an EEPROM (Electrically Erase) via a bus 19.
bleProgrammable ROM) 13, RAM 14, nonvolatile memory 15, input / output circuit 16, and interface 17 are connected. A programming device 20 is connected to the interface 17 as described later. Further, the bus 19 can be connected to a control device such as a numerical control device via a bus interface 18. The input / output circuit 16 is connected via an I / O unit 41 to various actuators and sensors of a machine 40 to be controlled, such as a machine tool.

[0011] The ROM 12 stores a system program 121 for the processor 11 of the PC 10, and the EEPROM 13 stores a sequence program 131 to be executed by the PC 10. At the time of execution, the processor 11 reads the sequence program 131 from the EEPROM 13 and stores it in the execution sequence program storage unit 141 of the RAM 14.
The execution sequence program (14
Steps 1) are performed sequentially. Further, a storage unit 142 for storing the editing sequence program is provided.

Further, the RAM 14 is provided with an execution signal memory 143 for storing various signals when the PC 10 executes the sequence program, and the execution signal memory 143 has a machine controlled by the PC 10. Further, as signal transmission / reception means for transmitting / receiving an interface signal to / from a control device such as a numerical control device connected via the bus interface 18, a PC output from a machine or the like is used.
DI table 14 for storing the input signals input to 10
3a, a DO table 143b for storing an output signal output from the PC 10 to a machine or the like is provided, and a holding memory table 143c for storing a state of the holding memory such as a variable timer, a counter, and a keep relay in a sequence program. And an internal relay table 143d for storing the state of the internal relay. Further, in the present invention, a simulation signal memory 144 for storing a signal equivalent to the signal stored in the execution signal memory 143 when performing a simulation of a sequence program is provided. Table 144a, DO table 144b, holding memory table 144c, internal relay table 144d
Is provided.

In order to back up the data in the holding memory table 143c, the data stored in the holding memory table 143c is stored in the nonvolatile memory 15 as a holding memory table image 151. It is supposed to be.

The configuration of the PC 10 differs from the configuration of the conventional PC in that a simulation signal memory 144 is provided, and the other configuration is the same as that of the conventional PC.

FIG. 2 shows an interface 17 for the PC 10.
FIG. 2 is a block diagram of a main part of a programming device 20 connected via a.

Reference numeral 21 denotes a processor for controlling the programming device; 22, a ROM storing a control program for the programming device; 23, a RAM for storing and calculating various data; 24, a graphic control circuit; Is connected to a display device 24a. 25 is a printer, 26 is a keyboard, 27 is a hard disk device that stores various programs such as system programs, 28 is a floppy disk device that reads and writes various programs and data from a floppy disk 28a, and 29 is an interface. It is connected to the above-described PC 10 through the PC. The components 21 to 29 described above are connected via a bus 30.

When the power of the PC 10 is turned on and the operation is started, the processor 11 of the PC 10 executes E
The sequence program 131 stored in the EPROM 13 is read and written into the execution sequence program storage unit 141 and the editing sequence program storage unit 142 of the RAM 14, and the data 151 of the retained memory table image in the nonvolatile memory 15 is stored in the execution signal memory. The data is written into the holding memory table 143c, and the states of the variable timer, the counter, the keep relay, and the like are restored to the original state. Then, the operation command is transmitted to the programming device 20.
Input from the keyboard 26 of the processor 11
Starts the processing shown in FIGS. Input / output circuit 16
Read the input signal state of the I / O unit 41 from the
DI table 14 of execution signal table 143 of M14
3a (step S1).

Next, a program counter is set at the beginning of the sequence program (step S2),
4, the sequence program is executed based on the data stored in the DI table 143a, the holding type memory table 143c, and the internal relay table 143d of the execution signal memory 143 one step at a time from the beginning of the sequence program (141). The execution result is written to the DO table 143b, the holding memory table 143c, the internal relay table 143d, and the like. That is, the machine 40
A one-step sequence program read based on the input signal (DI table 143a) is executed, and if it is necessary to change the output signal to the machine 40, it is written into the DO table 143b,
If it is necessary to change the state of the holding memory, it is written into the tables 143d and 143c, respectively (step S3).

After executing all steps of the sequence program, the state of the DO table 143b is changed to the input / output circuit 16
And the state of the output signal of the I / O unit 41 is made the same as the state stored in the table 143b.
The contents of the holding memory 143c are backed up by copying the contents of the holding memory 143c to the area (151) of the holding memory table image of the nonvolatile memory 15 (step S4).
As a result, the machine 40 receives the I / O command from the PC 10.
It is controlled by the state of the output signal of the unit 41.

Next, the processor 11 determines whether the flag F indicating that the simulation is being executed is "1" (step S).
5) If the flag F is not "1" and the simulation is not being performed, it is determined whether or not the sequence program has been edited by the programming device 20 and the result has been sent (step S6), and the editing operation result is sent. If not, the process proceeds to step S8, where it is determined whether an editing operation end signal has been sent. If no editing has been performed, this signal is not sent, so the process proceeds from step S8 to step S1. Return The above processing is repeatedly executed.

When a sequence program editing (online editing) command is input by the programming device 20 while the PC 10 is executing the sequence control, the processor 21 of the programming device 20 stores the sequence program in the editing sequence program storage 142. The sequence program is read via the interfaces 29 and 17 and displayed on the display device. Each time the operator makes a correction or change to the displayed sequence program in the same manner as in the prior art, the editing result is transmitted to the PC 10. When the processor 11 of the PC 10 receives the editing result (step S6), the editing is performed. The sequence program stored in the use sequence program storage unit 142 is rewritten (step S7). If the processor 11 of the PC 10 has not received the signal of the end of editing from the programming device 20, the process returns from step S8 to step S1, and repeats the above-described processing.

When the sequence program is edited in this way and an edit end signal is received from the programming device 20 (step S8), the processor 11 of the PC 10
Goes to step S9, sets the flag F indicating that the simulation is being performed to "1", and sets the number of simulations no set in advance by the parameter to the counter n.
(Step S9), and the data stored at that time in the execution signal memory 143 of the RAM 14 is copied to the simulation signal memory 144 (step S1).
0). That is, the data stored in the DI table 143a, DO table 143b, holding memory table 143c, and internal relay table 143d of the execution signal memory 143 are stored in the DI table 144a, DO table 144b, holding memory table 144c of the simulation signal memory 144, Each is copied to the internal relay table 144d.

Next, the processor 11 simulates the sequence program based on the edited sequence program stored in the editing sequence program storage 142 and the data stored in each table of the simulation signal memory 144, and executes the simulation. The simulation results are sequentially output and written to the DO table 144b, the holding memory table 144c, and the internal relay table 144d of the signal memory 144 (step S11). When the simulation ends, the counter n
Is decremented by 1 (step S12), and it is determined whether the value of the counter n is "0" (step S13). If not, the process returns to step S1.

When normal sequence control is performed from step S1 and the processing is completed, it is determined in step S5 whether or not the flag F is "1". Since the flag F has already been set to "1" in step S9, the flow proceeds from step S5 to step S14. , It is determined whether the counter is “0”.
The process proceeds to step 11 and the simulation is executed again.

Thus, the simulation is performed a set number of times n0
And when the value of the counter n becomes “0”, step S
13 to step S18, the output signal of the running sequence program, that is, the execution signal memory 1
The output signal stored in the 43 DO table 143b and the DO table 144b of the simulation signal memory 144
Are compared with each other (steps S18 and S1).
9). If the comparison results in a match, a match signal is output to the programming device 20. The programming device 20 displays on the display device 24a that all the output signals match, and updates or cancels the sequence program. Display the message of (Step S2
1). On the other hand, when there is a mismatched output signal, the address of the DO table 143b or 144b of the mismatched output signal is transmitted to the programming device 20, and the edited sequence program stored in the editing sequence program storage unit 142 is searched. In step S20, an instruction for instructing an output to the signal address where the mismatch has occurred is searched for and transmitted to the programming device 20. That is, in the ladder diagram of the sequence program, a factor instruction that forms a non-coincidence output signal is searched for and output.
Move to 5. In step S15, the processing of steps S1 to S5, S14, and S15 is repeatedly executed until an update command or a cancel command is sent from the programming device 20.

The programming device 20 displays the address of the mismatch output signal and the cause command on the display device 24a, and displays a message as to whether the sequence program should be updated or canceled. The operator is the display device 2
The comparison result displayed in 4a is confirmed. If the comparison result is intended by editing the sequence program, an update command is input, and if not, a cancel command is input.

Based on the update command or the cancel command sent from the programming device 20 (step S15), the processor 11 of the PC 10 determines whether the edited sequence is an edited sequence stored in the editing sequence program storage area 142. The program is written and updated in the execution sequence program storage area 141 (step S16). Then, the flag F is set to "0" (step S17), and the process returns to step S1, and thereafter, the operation is performed according to the edited sequence program.

If it is detected in step S15 that a cancel command has been input, the flag F is set to "0" without updating the sequence program, and the process returns to step S1 to execute the same execution as before. The operation is performed according to the sequence program stored in the sequence program storage area 141 for use. Then, the sequence program is updated when the intended result is obtained by performing the above-described editing process again.

As described above, after editing the sequence program, the output signal of the sequence program before editing is compared with the output signal obtained by simulating the edited sequence program.
This is displayed to show that the operation of the machine is different before and after editing, so that the operator can determine whether there is an error in this editing and confirm that there is no error and that it is safe. Update processing can be performed.

In the first embodiment described above, after editing the entire sequence program, an instruction (cause instruction) for instructing output to the address of the mismatch output signal and the signal address where the mismatch has occurred is displayed. If the number of these signal addresses and output instructions is too large, the operation of confirming individual signals becomes complicated, and it is necessary to make a determination in consideration of the mutual relationship between a large number of signals, which tends to cause an erroneous determination. FIG. 5 shows a process of the second embodiment in which a message prompting an update operation from the editing program to the execution program is displayed every time the number of mismatched output signals reaches or exceeds the set number, and the updating is sequentially performed.

When the operation is started, the processor 11 of the PC 10 performs the same processing steps T1 to T4 as the steps S1 to S4 of the first embodiment. On the other hand, the programming device 20 transmits the correction input to the PC 10 every time the program is edited and a correction input is made. The processor of the PC 10 determines whether or not a correction input has been sent (step T5). If there is a correction input and the editing result is sent, the processor 11 of the PC 10 stores the result in the editing sequence program storage unit 142. (Steps T5 and T5)
6) As in step S10 described above, the data stored at that time in the execution signal memory 143 of the RAM 14 is copied to the simulation signal memory 144 (step T7). If the editing result has not been sent in step T5, the process proceeds to step T7 without performing the processing in step T6.

Next, similarly to step S11 described above,
The processor 11 stores the editing sequence program storage unit 1
The sequence program is simulated based on the edited sequence program stored in 42 and the data stored in each table of the simulation signal memory 144, and the DO table 144b and the holding memory table 144 of the simulation signal memory 144 are executed.
c, The simulation results are sequentially output and written to the internal relay table 144d (step T8).

Thereafter, the output signal of the running sequence program, that is, the output signal stored in the DO table 143b of the execution signal memory 143 and the output signal stored in the DO table 144b of the simulation signal memory 144 are compared (step T9). Then, the number of unmatched portions is written into the register R (step T10). It is determined whether the number of mismatched portions is equal to or greater than the set value (step T11). If the number is less than the set value, it is determined whether a display command for a mismatch signal has been input (step T12). Return to T1. The display command of the mismatch signal is input when the editing is performed in steps T5 and T6. As will be described later, when the number of unmatched portions exceeds the set value, the address of the unmatched output signal and the cause command are automatically displayed, so that the set value is a small number (for example, “1”). Need not input a display command. However, if the setting value is a large number and the address of the mismatch output signal and the cause instruction are automatically displayed, or even if all editing is completed, the number of mismatched portions does not exceed the set value and no display is performed. In this case, this display command is input.

When the number of mismatched points is equal to or larger than the set value (step T11) or when a display command has been input (step T12), the process shifts to step T13 and the same as step S20 described above. Processing, ie, DO table 143b or 14 of mismatch output signal
4b is sent to the programming device 20 and the edited sequence program stored in the editing sequence program storage section 142 is searched, and a command for instructing output to a signal address where a mismatch has occurred is sent to the programming device 20. I do. If there is no mismatch output signal, a notification to that effect is transmitted. Programming device 20
Then, the address of the mismatch output signal and the cause command are displayed on the display device 24a (if there is no mismatch output signal, the match is displayed), and a message as to whether the sequence program is updated or editing is continued. Is displayed.

When the continuation command is input (step T14), the process returns to step T1 and returns to steps T1 to T1.
The process of step T14 is repeatedly executed to perform online editing. When the editing is completed and an update command is input from the automatic programming device 20, the processor 11 of the PC 10 detects the update command (step T1).
4), the edited sequence program stored in the editing sequence program storage area 142 is written and updated in the execution sequence program storage area 141 (step T15), and the process returns to step T1.

As described above, in this second embodiment, the address of the mismatch signal and its factor command are displayed each time the number of mismatched portions of the output signal exceeds the set value. In addition, it is possible to check at the number of stages of the number of mismatched signals, and it is possible to easily detect an editing error. Even if the number of output signal mismatch points does not exceed the set value, and even if no display command is input, the address of the mismatch signal and its cause command are automatically displayed each time an editing operation is performed. You may make it. In this case, the process may move from step T9 to step T13.

[0037]

According to the present invention, when a sequence program is edited online, a mismatch signal of an output signal due to editing of the sequence program and its cause command are displayed. Can be used as an execution sequence program, so that editing errors can be eliminated before the machine malfunctions. As a result, it is possible to prevent an accident such as a collision of the movable part of the machine with another member or breakage due to a sudden stop.

[Brief description of the drawings]

FIG. 1 is a main part block diagram of an example of a programmable controller that implements an embodiment of a sequence program editing method according to the present invention.

FIG. 2 is a block diagram of a main part of the automatic programming device in the embodiment.

FIG. 3 is a flowchart of a process executed by a processor of a programmable controller accompanied by online editing of a sequence program in the embodiment.

FIG. 4 is a continuation of the flowchart in FIG. 3;

FIG. 5 is a flowchart according to another embodiment of the present invention.

[Explanation of symbols]

 10 Programmable controller (PC) 20 Automatic programming device

Claims (4)

[Claims] In a sequence program editing method for editing a sequence program while a programmable controller is executing the sequence program, an editing program memory for storing the edited sequence program is provided, and the edited sequence program is stored in the editing program memory. After the editing is completed, the sequence program stored in the editing program memory is simulated and the output signal is stored. The output signal of the simulation execution result and the output signal of the running sequence program are compared with each other. The address of the output signal is displayed on the display device, and when a confirmation signal is input from the operator, the edited sequence program stored in the editing program memory is stored in the execution program memory, and the edited sequence program is stored. A sequence program editing method using a ram as an execution sequence program. 2. A sequence program editing method for editing a sequence program while the programmable controller is executing the sequence program, comprising an editing program memory for storing the edited sequence program, wherein the edited sequence program is stored in the editing program memory. Every time there is an editing operation, executes a simulation of the sequence program stored in the editing program memory, stores an output signal, and compares the output signal of the simulation execution result with the output signal of the running sequence program. Then, the address of the mismatch output signal is displayed on the display device, editing is continued when a continuation command is input from the operator, and when an update command is input,
A sequence program editing method in which an edited sequence program stored in an editing program memory is stored in an execution program memory, and the edited sequence program is used as an execution sequence program. 3. A sequence program editing method for editing a sequence program while the programmable controller is executing the sequence program, wherein an editing program memory for storing the edited sequence program is provided, and the edited sequence program is stored in the editing program memory. Every time there is an editing operation, executes a simulation of the sequence program stored in the editing program memory, stores an output signal, and compares the output signal of the simulation execution result with the output signal of the running sequence program. When the number of mismatched output signals reaches a set number, the address of the mismatched output signal is displayed on the display device. When a continuation command is input from the operator, editing is continued. Hen to memorize A sequence program editing method in which a sequence program after collection is stored in an execution program memory, and the edited sequence program is used as an execution sequence program. 4. An instruction for instructing an output to an address where a mismatch output signal occurs is obtained by searching a sequence program, and the command is displayed on the display device together with the address of the mismatch output signal. Or the sequence program editing method according to claim 3.