JPS58127212A - Controller using cassette - Google Patents

Abstract

PURPOSE:To execute a program of a discriminated cassette, by reading out a specific value of specific address at the start of operation of a controller, discriminating whether said specific address is the 1st or the 2nd specific value, and discriminating the type of cassette connected to a connector. CONSTITUTION:In applying a power supply, an MPU11 picks up an instruction reading out the value of a specific address (p) from an ROM12 at first. Thus, a control signal is obtained from the MPU11, and a selection signal generating circuit 18 makes the ROM of the cassette fitted via a connector 29 operative. The MPU11 gives a read out specific value to an accumulator. An instruction comparing the value in the accumulator and the 1st specific value is given from the proram and the MPU11 compares the two. If a loaded cassette is a data cassette 30, the result of comparison is coincident and an instruction shifting the control to an address b1 of the ROM12 is outputted from the program. The MPU11 executes the control program according to this instruction.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a control device that monitors and controls the operation of a mechanical device in order to drive the device appropriately, and particularly relates to a control device that monitors and controls the operation of a mechanical device in order to appropriately drive the device.
The memory that stores the data necessary for control and the memory that stores the diagnostic program for diagnosing the control device are stored in separate cassettes, and one of these cassettes is attached to the control device for use. This invention relates to a control device using a cassette suitable for various applications.

An example of a control device that monitors and controls the operation of such a mechanical device is a moment limiter used in a crane.First, the moment limiter of a crane will be explained.

Figure 1 is a side view of the general structure of the crane, where l is the crane body, 2 is a pool, 3 is a suspended load, 4 is a stomach gag for hoisting the suspended load, and 5 is a glue plate for raising and lowering the pool 2. , 6 is example 1
a load detector that detects the actual load of the suspended load 3 based on the tension of 4;
Reference numeral 7 denotes an angle detector for detecting the elevation angle of the 1-memory 2.

The operator's seat of the crane body 1 is equipped with a mechanism that prevents accidents such as the crane falling due to the large moment acting on the poom 2&: (determined by the actual load of the suspended load 3, the height of the poom 2, and the working angle). The arithmetic unit 8 (including a display device, a rotation device/and at least one of an automatic stop output terminal) which constitutes a beam limiter together with the load detector 6 and the angle detector 1. The same applies hereinafter. .) is installed. Figure 12 is a block diagram showing an example of the Momeji)91 ivy that is being considered based on the recent development of miter computers. The configuration will be explained below.

Reference numeral 9 denotes a multiplexer to which data from the load detection IS and the angular injection detector 7 are switched and inputted. 10 is A
/D converter converts analog data from the load detector 6 and angle detector 7 into digital data corresponding to stiffness. Well, if the load detector 6 and angle detector 7 themselves have ^7D converters, then the Aki/D converter 10 is not necessary! Italo processor (hereinafter referred to as MPU). The MPU II retrieves necessary data from the memory 13 (described later) according to a control program of the memory 12 (described later), and performs calculations based on the retrieved data and data from the load detector 6 and angle detector 7. The arithmetic control unit 012 is a read-only memory (hereinafter referred to as ROM).

). ROMI 2 stores a control program for Ml"Ull. The MPU II performs calculations and extracts necessary data in accordance with the order of this control program. In addition to the control program, ROMI 2 also has a moment limiter. A diagnostic program is also stored to check whether the device is operating normally.

13 is an OROM which is a ROM different from the ROM 1g.
I$ stores the length of the ridges of the pool 2 for each crane model and the rated load data to be described later. For cranes, the poom 2 can be moved to different lengths depending on the work.
Whether you want to replace it, extend or contract the poom 2, or attach a jib to the tip of the poom 2 depends on the crane model, the length of the poom 2, and the angle of the poom 2! This is the safe limit value of the load for the working radius. If the actual load exceeds this safe limit value, there is a risk of accidents such as the crane falling over. As described above, the ROM 13 stores the pool length for each model and the rated load for each working radius of the pool.

14 is a random access memory (hereinafter referred to as 8M), which is a memory for temporarily storing various data, calculation results, etc.; 8W1 is a changeover switch; The selector switch SW1 is a switch that selects whether to operate the moment limiter according to the normal control IW duram or to execute the moment limiter diagnostic program. and a buffer path 16. The changeover switch SW1 is opened when executing a normal control program, and closed when executing a diagnostic program. The buffer circuit 16 is a selector switch 8
This is a way to incorporate the state of W1 into MPU 11.

8w2 is a poom length selection switch. Four address terminals for each address storing data on the poom length stored in the ROMI 3 are provided outside the ROM 13, and together with a movable contact piece constitute a poom length selection switch 8W2. The operator selects the currently used pool length by operating a movable contact piece.

17 is an output circuit for outputting the calculation result of MPUI1. The output circuit 17 &: is connected to a display II 1 m that visually displays the calculation result, and an alarm 20 that emits a sound when the calculation result reaches a certain value. Further, 21 is an automatic stop output terminal, and this terminal 21 has a terminal (not shown) that automatically stops the hoisting of one more poom 2 and the hoisting of the hoist field 14 when the calculation result reaches a certain value. A stop device is connected. This terminal 21 is connected to the output N path 17.
It is continued. The output circuit 1 outputs signals from the MPU 11 to a display 19, an alarm 20 . and an automatic stop signal that activates the stop device.

18 is a selection signal generation circuit. Selection signal generation [1iI
! S18 is controlled by the control signal from MPUII! This circuit selects one of the lunar plexer 9, A/D converter 10, ROM 12% 13, buffer circuit 16, and output circuit 17 and generates mv to put the selected element into operation.

In addition, in the figure J2, the address bus 1D is the data bus, and the C
0 indicates the control bus Next, 70- in the tss diagram of the operation of this moment limiter
Explain with reference to the chart.

When the power of the moment limiter is turned on, the MPU 1l starts operating and first gives a signal to select the ROM 12 to the selection signal generation circuit Bl 8, and the selection signal generation circuit 18 accordingly sends a signal to activate the ROMI 2. emanate. An initial address signal from MPUI 1 then causes the value stored in the first location of ROM 12 to be placed on the data bus. MPL II is this value (instruction)
The selection signal generation circuit 18 reads the signal to select the buffer circuit 16 and sends it to the selector circuit 118. That is, when the changeover switch 8W1 is open (according to the normal control program), the buffer path 16 is at a high potential "1", and when it is closed (according to the diagnostic program). Since the resistor 15 is grounded, the buffer (b)
The state of the low potential rOJ is 1Ik-. The "1" or rOJ signal sent to the data bus is continued by the MPU II. This is shown as step yt(at) in the 70-chart of diagram #13. (Hereinafter, Step 2, Step 3, etc. will be referred to as a, , a
Reward with ,...-. ) The MPU 11 will be used as the ROM 12 from now on.
The instructions are executed according to the program stored in the computer.

First, MPLlll determines whether the successive buffer @1616 signals are rlJ (!1 constant control @7 agram) or rOJ
(diagnosis-r7”ogram) to determine whether (8 snow). rt
When it is "J", it shifts to the normal control program, and when it is "O", it shifts to the diagnostic program.

In the case of the normal control 4I111 four-dram, MI"Ull gives a command to the selection signal generation circuit 18, and the 1IIIR#1 generation circuit 1B switches the multiplexer 9 to the one that inputs the data from the angle detection-F. The D-conversion gain lO is activated.This causes the angle data from the 1-angle detector 7 to be converted into a digital angle signal θ by the ^/D converter lO via the !multiplier f9.MPUI1
takes in this angle signal θ (88). The angle signal θ is once input into 8^M14.

Next, upull takes out the data L of the pool length selected by the pool length selection switch 8W2 from the ROM 13 via the data bus (84).

MPUI l is the angle signal θ taken from angle detection 1!7
is taken out from the RAM 14, and the working radius R is calculated based on this θ and the pool length data L taken out from the ROM 13. The working radius wind is calculated by a-L co island θ (8.).

Under the command of MPtJll, the selection signal generation circuit 18 activates the ROM 13, and at this time, MPtJll aov the calculated rated load fiA corresponding to the work half 11b.
From t3 onwards, the data is sent out via the data bus.

Next, in response to a command from the MPU II, the selection signal generation circuit 18 switches the multiplexer 9 to the side that inputs the data from the load detector 6, and also puts the ^/D converter 10 into operation.
As a result, the actual load data from the load detection 117 is taken into the MPU II as a digital actual load signal W. The load factor r is calculated based on the actual load signal W taken in. The load factor F\ is
IF-WX100/mu (calculated by Gin (8.).

The calculated load factor r is compared with the load factor 11)01i (8 meetings). If the load factor 1 is 100- or more, the signal j1 is sent to the output circuit 17, and the output a17 outputs an automatic stop signal to the automatic stop output terminal z1 and activates the alarm 20 (8-). Next, a signal with a load factor of 100- or more is sent to the output circuit 17 as a signal J to operate the display 19.
Converted to # and displayed lit 9G: Load factor 1001
111! vcsf! (8u).

If the calculated load factor has not reached 10011, the output tgIN17 converts the sent signal of load factor 1 into a signal that activates the display 19 and causes the display 19 to display the load factor at that time ( 8u).

When this step 11 (8tt) is completed, the program returns to the masu steller 71 (8t) and begins to sequentially display the operating states of the changeover switch 14. In this way, the moment limiter is configured such that the load factor t is to.

- When the level exceeds that level, an automatic stop signal will be output to automatically stop the pool, and a good news message will be issued and displayed to prevent accidents such as the crane falling over.

On the other hand, when the changeover switch SW1 is closed, the procedure branches off from step 2 and enters the examination 1lr10 duram. In the diagnosis program, first, the poom 2 is operated to bend it at a certain angle (2), and the data of that angle is sent to the MPtl via the multiplexer 9 and the mu/D converter 10.
Add to 11 (8 cod).

In this case, if there is a member 1 in the angle detector 7, or if there is a member 1 between the angle detector 7 and the moment limiter counting device 8,
rI! If there is, the angle value taken into Ml't) 31 will be an extreme value. So, in MPUI1 it is 1
It is determined whether the taken angle value is within a certain predetermined range (818), and if it is outside the range, this is displayed on the display 19. The display method is display #s19
Any suitable means can be taken to cause the energized display elements to be activated (or flashed) in sequence. The operator will look at this display and check for disconnections in the angle detection IIT and the moment limiter calculation device 8.

If the angle value is within the above range, then a weight within a certain range is suspended from the pool 2. Then, the load data from the load detection W6 is transferred to the multiplexer 9, Mu/D conversion@
I o is incorporated into MPU11 ('114
). If there is an abnormality or disconnection in the load detection I#6, or if there is a # line between the reed load detector F and the moment limiter operation device 8, the loaded load value will be an extreme value. Therefore, in the case of the load value as well as the case of the angle value %,
MPUI whether this value is within a certain defined range
It is determined by 1 (8*s). If it is outside the range, this is displayed in display #19 using the above-described method.

If the load value is within the above range, then ROM12ROM
13 checks are performed (81.). These) LOM
The check check is for checking whether the contents of the ROM have changed. Regarding the data stored in each ROM, all of the data is first summed up, and the total value is known in advance. Therefore, step tS(S
,,), the data stored in 80M12 and ROM18 are totaled, and the total value is compared with the total value calculated in advance to obtain 10M12.1.
Perform Chetuta as described in step 3. If both values do not match, this is displayed on the display 1119 in the manner described above.

If both pins match, then all display elements (indicator lights or light emitting diode peaks) of Display-II are activated (
'sy), visually check whether each display element is normal or not, then create a value of load factor 10011, generate an automatic stop signal, and output it to the automatic stop output terminal 21 for one electric time.
), investigate the defective parts.

A display indicating that the diagnosis is good is made (81), and when this display is finished, it is checked whether the selector switch 8W is closed or open, and the diagnostic program ν is executed. Judging whether or not (8M)
). As long as you run it, it will repeatedly show that the diagnosis is good.
When the selector switch 8Wl is opened, step t (8t
) Return to

In such a moment limiter, the control module and diagnostic program stored in the ROM 12 can be used in common regardless of the crane size or boom length. On the other hand, ROM134: All stored rated loads are model and boom length t! It is unique to each type, and varies depending on the boom length, and there are many types. Therefore, it is impossible to store all boom lengths and all rated loads in the ROM 13. There is an inconvenience that you have to prepare it. Therefore, for 0M12, it is built into the momeji limiter, and the ROMI
B is removed from the moment limiter, converted into Rikiryutsu) and divided into several types of cassettes, thereby increasing the moment V.
Although it is possible that the t-tuta is commonly used for all crane models, the diagnostic program stored in ROM 1'2 is used only when diagnosing the Momeji 9R tut. Usually not required. In this way, incorporating a diagnostic program that is not usually used makes the memory itself complicated and expensive, which in turn causes the momenji limiter to become expensive. Similarly to the case of ROM 13, the diagnostic limiter 8 is not built-in.
It is conceivable to take it out and make a cassette with a ROM containing only the diagnostic 10g.

Based on this idea, a limiter with a cassette containing ROMI 3 and a cassette containing a ROM storing diagnostic data is shown in Figure #14. This is a connector of the frame construction to which the bus, data bus, and control bus lines are connected. ・3o indicates a data cassette, and ROMI 3&:1Ief! BOM31 is accommodated. Number 1
Contains data on the boom length and its corresponding load rating. 3! is the data connector (Ij!) 30, and the address terminal, data terminal, and chip iI selection terminal of the ROM 31 are connected to Ij! Connector 2
By attaching the connector 32 to the connector 96, the data cassette 3° is attached to the moment limiter arithmetic unit 8&:.The terminal of the boom length selection switch sw2 is brought out from the connector 29.

Reference numeral 29b represents a connector for the moment limiter arithmetic unit 8, 40 represents a diagnostic cassette, 41 represents a ROM storing a diagnostic program stored in the diagnostic cassette 40, and 42 represents a connector for the diagnostic cassette. By attaching the connector 42 to the connector 29b, the diagnostic cassette 40 is attached to the m* mount w8 of the moment limiter.

The other elements in the calculation device 8 of the moment limiter are the same as those shown in Figure #12, and their operation is the same as that of 116 shown in Figure 12, so the explanation will be omitted. However, by making the original data and diagnostic program into a cassette, it would be possible to share the moment limiter as mentioned above and reduce the complexity and high price of the configuration. In such a configuration, wiring to the connector 29b and the connector 29b for the diagnostic cassette 40 that is not normally used is required, which is still difficult to construct. The necessary switch, swl, and buffer path 16 for transitioning are still required, which adds to the complexity of the construction;
It has the disadvantage of making operation cumbersome.

These drawbacks are not limited to the above-mentioned crane peak limiter, but are also found in control devices that monitor and control the operation of general mechanical equipment, which have a data cassette and a diagnostic cassette, and can be adjusted as necessary. This is a particular drawback of the selected cassette for use.

The purpose of the present invention is to eliminate the above-mentioned drawbacks, and to enable the desired 14 durams to be performed simply by attaching either a data cassette or a diagnostic cassette to one connector without providing a changeover switch or a buffer circuit. The present invention provides a control device using a cassette made of cassettes.

To achieve this objective, the present invention utilizes one data set.
The specific value of mackerel 1 is stored at a specific address of the storage means housed in the diagnostic cassette, and the specific value of mackerel 3 is stored at the same address as the specific address of the storage means housed in the diagnostic cassette, Both the data cassette and the diagnostic cassette can be attached to one connector, and when the control device is activated N#1, the specific value of the specific address is read out and the first specific value or Ww of aX is read out. This feature is characterized in that the desired program is executed by determining whether the program is a value or not.

Hereinafter, the present invention will be explained based on an embodiment shown in IIs diagram % FIG. 6 and chain 71.

#! Figure 5 is a diagram showing the crane's mo, me, and limiter. In this figure, parts that are the same as those in Figure @g and Figure #14 are given the same reference numerals and their explanations will be omitted.

In the calculation device 8a of the moment limiter of this embodiment, only one connector 29 is provided.

Furthermore, the switch 8W1, resistor 15, buffer 1llllll@ and their wiring required in the moment limiter arithmetic unit 8 shown in Fig. 114WJ are unnecessary in the moment limiter arithmetic unit w8a of this embodiment. It is.

At present, a data cassette 30 is attached to the first connector 29, but when a diagnostic program is to be executed, the data cassette 30 is removed and a first disconnection cassette 40 is attached to the connector 29.

Figure 6 shows only the MPU 11, ROM 12a, and selection signal generation circuit 18 of the moment limiter shown in Figure IJ/42I, and also shows each cassette in more detail. In the figure, 11 is the MPU and the control terminal C0
, address terminals A to A16% and data terminals Do to D.

128 is 1g! l! l s Ia ROM shown in figure
This ROM corresponds to No. 12 and has a chip selection terminal C8, address terminals A.about.A logic, and data terminals D.about.D. 8
The 0M12g stores a control program, and also stores a program for reading a specific address and a program for determining a specific value and issuing a command according to the determination result, as will be described later.

18 is the same selection signal generating circuit as shown in 12&J%#1413, and selects the elements in the moment limiter in accordance with the control signals from M, PL]11. In the figure, two chip selection terminals as, , cs among many terminals are shown.
Only l is shown.

29 is a connector for attaching a cassette. In this embodiment, only one connector 29 is provided. ##鵞fI&: is the address terminal A of the MPU II. The line from the data terminal D. There is.

The ROM 31 of the data cassette 30 and the ROM 41 of the diagnostic cassette 40 have a chip selection terminal C8, an address terminal A, and a memory terminal, respectively. , data terminals D0 to D7, and these terminals are connected to corresponding locations of the respective connectors 32%42.

When the data cassette 30 is connected to the connector 32 and connector 29 of the data cassette 30 and installed in a moment-reducing arithmetic unit 8, the address terminals ^0~MUSo of the ROM 31 and the data terminals are connected. -1)? Melt MP
Connected to each corresponding terminal of UII, tick selection terminal C
8 is connected to the depth selection terminal C81 of the selection signal generation circuit f118. Similarly, when the diagnostic f#j power input unit 40 is attached to the moment limiter arithmetic unit 118G by the connector 42, each terminal of the 80M41 is connected to the corresponding terminal of the MPU 1l and the selection signal generator 1) JllB.

Section 7 Figure 11), (powder, (8) are ROMI ga
, 80M31, and ROM41.

The memory map of ROMlga includes a program program G, a control program 1, and a cassette installation failure processing program H.
・Possible cassette installation Prime Minister 1 ■Durham will notify you of the cassette installation failure (sound or light display or both) when it is determined that the cassette is installed incorrectly or that you have forgotten to install the cassette. Is it possible to generate a stop signal? &+ru @ 71/? A(Hl, ROM
This is a program that @ outputs a specific address of 31.10M41, discriminates the strings that are successively issued, and issues a command according to the discrimination result. t indicates the address where the first instruction of 14GQ5Q, that is, the instruction to successively output the value of a specific address, is stored.

In addition, h indicates the address where the first instruction for controlling 10 grams is stored.In the memory map of 080M31, there are the specified special electric value of mackerel l, and data M of 1-5 length and rated load. 1 of the mackerel that is placed? The Ivjl value is stored at a specific address t at the beginning of the memory map, and data M is stored at an address following the specific address p.

ROM41 memory! In 71, a diagnostic program N is placed. ・Machi indicates the first instruction of the diagnostic program N, and is stored at the same address p as the ROM 81F)% constant address p. The value of command N1 is the above-mentioned song! The value of command N, which is different from the specific value of , is set as the second specific value. The diagnostic program is started by reading the specific value N1 of #12 by the MPU 1l.

Next, the operation of this embodiment will be explained with reference to the flowchart shown in FIG. #I8.

Now, the moment limiter calculation device $6 connector 29
, the data cassette 30 or the diagnostic 1llr period cassette 4.
It is assumed that either cassette 0 is installed. When the power is turned on, h-MP011 initially stores ROM12.
The instruction stored at address t, ie, the instruction G for reading the value of special electric address p, is extracted. This allows MPUI
A signal is output from the control terminal C of I, and a selection signal is sent to the control terminal C.
A signal is sent to the tick selection terminal CB of the island OM (ROM31 or ROM41) of the cassette attached via the 1861 controller 29 to make the ROM active. At this time, the SMPU 1l outputs an address signal that selects a specific address p from address child A.
The specific value N of I2) is read out via the data terminal D・~Dma (step of sl in ml□□□. Hereinafter, the first step, the step of mackerel 2, +'m*, 11;
+'*, 8m""t'Ytse) @ M P (
J Put the specified value of 1142m1111 into the Achiemulator that MPU1l has. Next, a command is issued to compare the value in the Akie Emulator with the specific value of s1, and the MPU 1l compares the two (8th year).

If the attached cassette is the data cassette 30, the results of the comparison in the song order step Ss match, and therefore the program G issues an instruction to transfer control to address b of the ROM 12a. MPU1l
The control program is executed according to this instruction (
S.).

If the attached cassette is the diagnostic cassette 40, the results of the comparison in step S do not match. Therefore, an instruction to compare the value in the accumulator with a second specific value is issued from the program q, and the MPUI
1 compares both (Sa). Since the results of this comparison match, the program G issues an instruction to transfer control to a specific address p (S,). When the MPU II reads the value of address p according to this instruction, since this value is the first instruction N of the diagnostic program N, the diagnostic program is executed thereafter (S,).

If the results of the comparison in step S4 do not match, the attached cassette is neither the data cassette 30 nor the diagnostic cassette 40, or the attached data cassette 30 or the attached diagnostic cassette 40
Including cases where *<* is not installed. ). Therefore, from program G, ROMlg
The cassette installation failure processing is performed by instructing the control to be transferred to the cassette installation failure processing program in a.
S.). That is, in accordance with the indication that the cassette is not properly installed, an alarm signal and a display signal are output from the output circuit 17 to notify that the cassette is not properly installed, and a stop signal is issued to stop the lowering of the boom and the hoisting of the hoisting p-pull 4. do.

In this example, the text is stored in ROM81. Different first and second specific values are stored in the same specific address p of the ROM 41, and when the moment IJJ ivy starts operating, this specific value becomes the first IIIji! value or the third specific value and execute the program according to the specific value, so regardless of which cassette is installed in the connector 291C, the program can be executed.
Only one connector 119 is required. Furthermore, it is possible to prevent attachment of cassettes other than the data cassette 30, diagnostic power supply system 4G, improper attachment of the cassette, and failure to attach the cassette.

Although the above embodiments have been explained by exemplifying a moment limiter for a crane, the present invention does not include a moment limiter VC for a crane, but a control device 11c for monitoring and controlling the operation of a general mechanical device. Any device that has a data cassette and a diagnostic cassette and selects and uses either of the cassettes as necessary can be applied.

One of such other application examples is a control device for an engine that drives a plurality of variable displacement hydraulic pumps. This engine rotational speed control involves calculating the deviation between the 8 standard rotational speed and the detected actual rotational speed, and controlling the fuel injection amount by displacing the rack of the engine's fuel injection pump according to this deviation. This is to bring the engine speed closer to the target value, but since there is a KJI constant relationship between the rack displacement amount and engine speed for each type of engine and fuel injection pump, the specific KJI value corresponding to the deviation is determined. The cassette has a rack displacement amount (corresponding to the rated load value corresponding to the working radius in the above embodiment), which is stored in the storage means of the cassette for each type, and is installed in the control device as necessary. In addition, if the total torque reaction force of each hydraulic pump becomes larger than the maximum torque of the engine, the engine will stop, so to prevent this, the deviation value is corrected and the tilt angle of the hydraulic pump is controlled. The coefficient value is obtained to adjust the tilt angle of the hydraulic pump. In this case as well, the correction value and the coefficient value to be corrected are stored in the storage means of the cassette for each type of engine and hydraulic pump. or,
A storage means storing a diagnostic program for diagnosing the state of the control device may be stored in a separate cassette and attached to the control device as needed to perform diagnosis.

As described above, the present invention can be applied to any control device that selectively uses a data cassette and a diagnostic cassette.

Furthermore, in the above embodiments, it is first determined whether or not it is the first specific value, and then it is determined whether or not it is the second specific value, but the determination is not necessarily made in this order. There is no need,
It is also possible to first determine whether or not it is the second specific value, and then determine whether or not it is the first specific value.

Furthermore, the address position of each address map is as follows.

For example, although the specific address has been described as being at the top position, it does not necessarily have to be at such a specific position, and may be at any position.

As explained above, in the present invention, a first storage device is stored at the same specific address of a storage device that stores data unique to a mechanical device to be monitored and controlled, and a storage device that stores a processing program for diagnosis. Since the specific value and the second specific value are stored and the specific value is read out to detect which storage means is attached, the number of connectors can be reduced to one, and the control program and diagnosis Program changeover switches and buffer circuits can be omitted, making operation easier. Furthermore, it is possible to prevent the control device from operating abnormally due to the installation of a different cassette.

[Brief explanation of the drawing]

Figure 1 is a side view of the schematic configuration of the crane, Figure 2 is a block diagram of the moment limiter, and Figure 3! 1 is a flowchart for explaining the operation of the moment limiter, and FIG. 4 is a block diagram of a moment limiter using a cassette.
FIG. 5 is a block diagram of a paper-memory construction using a cassette according to an embodiment of the present invention, and FIG. 6 is a block diagram showing a part of the paper-memory map shown in FIG. 5 in more detail.
Figures 7 (1), (2), and (3) are diagrams showing the memory map of each memory shown in Figures 5 and 6, and Figure 8 shows the operation of the moment limiter shown in Figures 5 and 6. It is a flow chart for explanation. 6...Load detector, 7...Angle detector, 8.8a...Moment limiter calculation device, 9...Multiple sensor, 10...・
...A/D converter, 11-...-MPU, 12512
g, -, 13*31゜41...ROM,
14...-RAM, lf--output circuit, 18...selection signal generation circuit, 2G...
...Alarm device, 21-...Automatic stop output terminal, 29
...Connector, 30...7 data cables, 40...Diagnostic cassette. -; 1ra Figure 2 Figure 3 Figure 6 Figure 7 Country Cυ

Claims (1)

[Claims]! 6 arithmetic means for performing a calculation for generating a monitoring/control signal based on the data from the monitored control section 9 of the mechanical device and data specific to the mechanical device; a second storage means having an address in which the unique data is stored and a specific address in which the first specific value is stored; a first cassette containing the means, an address that stores a diagnostic program for diagnosing the state of the control device, and an address that is the same as the specific address that stores a second specific value that is different from the first specific value. a second cassette containing the third storage means; and a connector for selectively attaching and detaching the first and second cassettes; means for reading out the value of the specific address of the storage stage of the cassette attached to the connector at the start of operation of the apparatus;
means for determining which specific value among the specific values read out, means for transferring control to the processing program when the read value is the first specific value, and means for transferring control to the processing program when the read value is the first specific value; 1. A control device using a cassette, comprising means for transferring control to the diagnostic program when the specified value is reached. 2. Calculating means for performing calculations for generating monitoring and control signals based on information from the monitored e-control unit of the mechanical device and data specific to the mechanical device, and a processing program for the calculating means stored therein. #11 In the control device equipped with a storage means, a second storage means has an address in which the possession data is stored and a specific address in which the first specific value is stored. A first cassette containing the second storage means, an address storing a diagnostic program for diagnosing the state of the control device, and the specific address storing a second specific value different from the first specific value. and a third storage means having the same address as !, and this third storage means! a second cassette containing the second cassette, and a connector for selectively and detachably attaching the first and second cassettes, and storing means for storing the cassette attached to the connector when the control device starts operating. means for determining which of the first and second specific values the read value is, and a means for determining which specific value the read value is from the first specific address; means for transferring control to the processing program when the successive values are the second specific value; means for transferring control to the diagnostic program when the successive values are the second specific value; 1. A control device using a cassette, comprising means for notifying a cassette installation failure when the value is a value other than a specific value.