JPS59168509A - Executing system of sequence control program - Google Patents

Abstract

PURPOSE:To produce easily a sequence control program by interpreting the command of a process advance type program to store the command after dividing it into a part related to the process flow and a part related to the process processing and displaying these two parts alternately. CONSTITUTION:The command of a sequence control program is converted into an internal style by a command interpreting part 1 and then divided and stored into a memory 5 which holds the process flow graphic data and a memory 6 which holds an executing object program. At the same time, these divided command are delivered to a process flow graphic display buffer memory 2 and a process display memory 3 for display 4. An operation command given from an input part 11 is stored in an operation mode table 9 via an interpreting part 7, and an executing part 8 executes a program based on the contents of the table 9. The process numbers under execution are put on the source programs restored by the memories 5 and 6 and delivered to the memories 2 and 3 via a register 10.

Description

[Detailed Description of the Invention] [Field of Application of the Invention] The present invention is directed to a programmable controller that is used to closely control devices in the manufacturing process. This invention relates to a method for executing a seedance control program that facilitates recognition of the state of the system.

[Prior art]

Programmable controllers are capable of creating programs,
There is a strong demand for ease of handling, and various attempts have been made in the past.

For example, it is possible to create a program by creating a relay circuit diagram on a programming console, and the status of contact inputs can be displayed on the relay circuit diagram.

Such a system is suitable for a conditional control program, but since the relay circuit diagram essentially represents combinatorial logic, the control operations proceed sequentially. To create a step-by-step program, you must use internal registers to hold the progress state of the control.
Advanced programming skills are required. Note that it is not possible to grasp the process progress state of the sequence when the relay circuit diagram is displayed as 0.

Other columns include alternate input of conditions for proceeding from one process to the next and a processing program for that process.

It is easy to describe a process stepwise control with a single process flow until the end, but one process flow branches into multiple processes in the middle, and these processes merge again into one process flow. It is difficult to describe the control of such a complex process flow.

Generally, in order to express a complex process flow, it is suitable to display a diagram showing the process flow, transition conditions between processes, and processing in the process on a two-dimensional display. For this purpose, a display having a wide screen or scroll function is required not only in the direction of the process flow but also in the direction perpendicular to the process flow direction.

Such a display is considerably more expensive than a general programmable controller, and is therefore impractical to apply, especially to a simple programmable controller that allows program input in the form of a process flow chart.

[Purpose of the invention]

SUMMARY OF THE INVENTION An object of the present invention is to provide a sequence control program execution method that overcomes the above-mentioned drawbacks of the prior art, allows the creation of complex step-by-step programs, and allows the progress state of the process to be easily recognized. It is in.

[Summary of the invention]

The structure of the first invention of the sequence control program execution method of the present invention is to input, interpret, and execute the sequence control program.
In a programmable controller that has the function of storing data, performing arithmetic processing, and controlling the operation of the controlled device according to the results and the contents of the given operation command, the programmable controller interprets the commands of the input process step program. After 17 minutes, it is divided into a part related to the process flow and a part related to the process processing and stored, and the process flow chart and the process processing contents are alternately switched on the display screen, respectively. Alternatively, the same screen may be divided and displayed simultaneously.

Note that each step related to the program is numbered, and the location where the program is edited or executed can be specified using the number.

In addition, the process flowchart shape data and the execution object program are separately held and stored for all input programs, and the process flowchart to be displayed on the display screen is generated from the process flowchart shape data. be.

Next, similarly, the configuration of the second invention inputs, interprets, and stores a sequence control program, performs arithmetic processing, and according to the result and the content of the given operation command,
In a programmable controller that has the function of controlling the operation of a controlled device, after commands and interpretation of the input process step program are performed, the part of the execution object program is kept, recorded, and recorded separately from other parts. By interpreting and executing the continuous operation execution object program for each process element, the continuous operation execution object program can be partially processed in response to a given operation command.

In addition, provide input ports corresponding to each operation command.
Operation commands can be input by specifying corresponding switches connected thereto, or operation commands can be input directly from the keyboard.

In addition, specify which of the above operation command input methods will be used, and input/input operation commands according to the specification.
This allows the interpretation to be switched.

Furthermore, similarly, the configuration of the third invention inputs, interprets, and stores a sequence program, performs arithmetic processing, and controls the operation of the controlled device according to the results and the contents of the given operation command. In a programmable controller that has the function of It is designed to be displayed on process flow diagrams.

Note that when the program execution state is waiting for the inter-process transition condition to be met, the state of the transition condition can also be displayed.

Furthermore, when the process being executed by the program deviates from the range of the process flowchart displayed on the display screen, the display range is changed.

Finally, in any of the above-mentioned first to third inventions, a time limit for transition between processes is set, and when the elapsed time after finishing the processing of the previous process exceeds the above-mentioned time limit, , a warning to that effect may be displayed.

[Embodiments of the invention]

Embodiments of the present invention will be described below with reference to the drawings.

First, common and comprehensive matters of each of the above-mentioned inventions will be explained.

FIG. 1 is a block diagram of an embodiment of a programmable controller to which a program execution method in 71 units according to the present invention is applied.

Here, 1 is a program command interpretation unit, 2 is a buffer memory for process flow chart display, 3 is a buffer memory for process processing display, 4 is a display, 5 is a process flow chart shape data holding memory, 6 is an execution object program holding memory, 7 is an operation command interpretation section, 8 is an execution section, 9 is an operation mode table, 10 is an execution process lister, 11 is an operation command input section, 12 is an input method specification section,
13 is an execution monitor, 14 is a time limit table, and 15 is an elapsed value register.

Commands of a sequence control program (hereinafter simply referred to as a program) are converted into an internal format by a program command interpreter 1, and the entire program is stored in a process flow chart shape data holding memory 5 and an execution object program holding memory 6 (hereinafter, respectively). Simply holding memory 5,
It's called 6. ) and are stored separately.

Since this program command is a two-dimensional figure in the form of a process flowchart, the holding memory 5 holds the figure shape, and the holding memory 6 holds the execution contents.

The program command interpreter 1 stores graphical shapes in a process flow chart backup memory (hereinafter simply referred to as buffer memory 2) in order to display them on the screen of the Nice Play 4 simultaneously with the input of program commands from a keyboard or the like.

), the sentence indicating "processing in each process" is transferred to the process processing display buffer memory 3 (hereinafter simply referred to as buffer memory 3).
output according to the screen display. Both buffer memory 2,
The contents of 3 are output to the display 4 in a video signal format.

The execution object program is interpreted and executed by the execution unit 8, and the execution method is specified by the operation command.

The driving command is input from the driving command input section 11, interpreted by the driving command interpreting section 7, and then stored in the Jk mote table 9.

The execution unit 8 executes the program according to the contents of the operation mode table 9, reads the pressure peak of the target device for braking, and sends out an operation control signal. Further, in order to display the execution status, the number of the type of work being executed is held in the execution process register 10.

The execution monitor 13 holds this execution process number and stores it in the memory 5.
The North program is superimposed on the North program restored from the internal format stored in 6 and output to buffer memory 2.3.

In addition, as another execution state monitoring function, in order to monitor the transition time from process to process (between processes), a predetermined value of each process transition time is held in a time limit table, and when the process transition condition is met. Elapsed value register 1 that holds the wait elapsed value
Compare with the contents of 5 and if the elapsed value exceeds the time limit,
The execution unit 8 performs processing to output the alarm message to the buffer memories 2 and 3.

Examples of each of the first to third inventions will be described below.

First, FIG. 2 is an explanatory diagram of the keyboard of the programming console of the programmable controller according to the sequence control program execution method of the first invention, FIG. 3 is a program input procedure diagram, and FIG. It is an explanatory diagram of a display screen.

First, the keyboard of the programming console is the second one.
As shown in Figure (a), it is composed of a process flow display key PK and ordinary alphanumeric symbol keys CK that are used to express the process contents in a sentence format.

FIG. 2(b) is an example of the display contents of the process flow display key PK.

Figure 3 shows the procedure for inputting a step-by-step program using these keys. For example, as in steps 1 and 2.3 in the figure, first specify the process flow, and then Input the conditions for the process or process transition.

The input program is divided into parts and displayed on the display of the programming console. For this purpose, the program command interpreter 1 determines whether the input program commands indicate the process flow or the processing in the process. If it is the former, it is output to the buffer memory 2, and if it is the latter, it is output to the backup memory 3.

Here, display 4 of the programming console (
Therefore, the buffer memories 2 and 3 correspond to each pixel.
The contents of the housing buffer memories 2 and 3 are transmitted as a video signal and displayed.

The process flowchart 21 and process processing contents ``-31'' are shown in Figure 4(a).
- When displaying on one screen dividedly as shown in (f), the buffer memory contents for one screen are divided into two and used, and as shown in (e) and (f) in the same figure. When switching screens and displaying them alternately, buffer memory contents for two screens are prepared and used for the process flow chart and the process processing content. In either case, each buffer memory 2, 3 is
They are managed independently, for example, each area is scrolled up and down separately.

As another example of the program input and display method, when numbering process flow elements, number each process flow element on the screen of the display 4 as shown in FIG. 4(g). , the process flow element can also be labeled in the process processing content display area.

In this way, when it is desired to display a specific part of the program for program modification, or when the program is to be partially executed, the desired section can be specified using this number, making the operation easier. Note that even if the location is specified by a number, the programming console screen can be displayed using normal program editor processing.

As mentioned above, the retention of the input/displayed program is
This is done by a holding memory 6 for execution object programs and a holding memory 5 for process flow diagram shape data, the latter being suitable for purchasing that directly corresponds to process flow drawings, and a buffer memory for process flow diagrams. Simply by continuously transferring the retained contents to 2, it is possible to display them.

Next, FIG. 5 is an explanatory diagram of the type of operation command in the S column of the program execution method of the second invention, and FIG.
Figure, Figure 7: is also the hand/tass of operation mode writing,
FIG. 8 is a block diagram of an embodiment of the operation command input section of the Pukogrammable controller, and FIG. 9 is a block diagram of an embodiment of the same type.

In this embodiment, once a continuous operation program for the controlled device is input, manual operations, step operations, etc. can be performed simply by inputting an operation command specified by a number assigned to a process element.

The execution object program is stored for each process element in the holding memory 6. When an operation command such as that shown in FIG. 5 is input, the p1 operation command interpretation section 7 determines the command type, Operation mode table 9
Then, set the flag corresponding to the command type.

The execution unit 8 examines the operation mode table 9 and interprets and executes the execution object program for each process element according to the contents thereof. Process elements (d numbers or addresses) being executed are held in the execution process register 10.

Incidentally, when an operation command is input, the execution unit 8 performs the execution procedure shown in FIG. 6. Here, as operation commands, we consider ``Start'' and ``Lock Z++ Stop'' to instruct the operation, and ``Auto'' to instruct the operation mode.

Consider ``cycle I+, +1 step'', and single action ``''.

The operation mode instruction command can be input only when the program is stopped.

When an action instruction command is input, its type is checked, and if it is locked or stopped, execution is interrupted and the system waits for the command. The difference between a lock and a stop is that in the case of a stop, the execution process register 10 is reset so that the next process to be executed is executed from the beginning.

In the case of a start command, the operation mode is changed and processing is performed accordingly. That is, in the automatic mode, after executing only one process, the contents of the executed process register 10 are updated, and this process is repeated. In the case of a cycle, the process executes one process, updates the value of the executed process register 10, checks whether it is the final process, and if it is the final process, stops execution and waits for a command. When a step is executed, only one process is executed, the (direct) of the execution process register 10 is updated, and the execution is stopped. Therefore, the next time a start command is input,
Execute the next step. When using single acting, only the specified process is executed and then stopped.

To input the same operation command, for example, as shown in Fig. g8, information on this switch is read into the operation command interpreter 7 through the digital input port IIA, which has a switch corresponding to each operation command. The procedure for interpreting the operation command from the state of this switch and writing it into the operation mode table 9 is shown in FIG.

This operation command switch can be connected to a digital input port at any address.

The method is to first define the input port address for each switch, store this in the address definition table, and then read the value of the process input port indicated by this address to know the state of the switch. Make it.

Also, instead of using the switch method as described above, you can also use a key,
There is also a method of inputting commands from W (tablet) W, but it is also possible to switch between these methods as desired. An example of this configuration is shown in FIG. This is done in the input method specification area 1 after defining the input method.
Store it in 2. The operation command interpretation section 7 includes a keyboard processing section 71, a process input reading section 72. It consists of a command interpretation central section 70, refers to the input method designation area 12, and inputs operating commands using the keyboard processing section 71 or the process input reading section 72.

Furthermore, FIG. 10 is a procedural diagram of execution monitoring processing in an embodiment of the sequence control program execution method of the third invention, FIG. 11 is a procedural diagram of execution status information display, and FIG. FIG. 13, which is an explanatory diagram of the screen display, is a procedure diagram of the same screen display.

Here, a case will be described in which a process being executed is displayed on a process flowchart on a display screen.

The execution unit 8 executes the execution object program in the holding memory 6 and stores the process element number being executed in the execution process register 10.

When the execution monitor 13 receives the currently executed process display command, it first retrieves the currently executed process element number from the executed process register 10 and searches the process flowchart shape data in the holding memory 5 for the process location corresponding to the currently executed process element number. Next, this part is transferred to the buffer memory 2, and a high-intensity control coat is added only to the part corresponding to the process element number being executed.

As a result, the process flow chart near the process being executed is displayed on the process flow diagram of the display, and the process location being executed is displayed with high brightness.The processing procedure of the execution monitor 13 shown above is shown in FIG. .

Furthermore, when the program execution state is waiting for a transition condition from one process to another, the procedure shown in Figure 11 is executed when performing processing to display the status of the process input or variable that is the transition condition. .

This process is basically the same as the execution monitor process described above, but the difference is that the execution process register 10
, whether the running process element performs in-process processing,
A flag indicating whether the transition condition between processes is to be determined is set at the nτ point. Execution part 8,
When setting the process element number, this flag is also sent.

The execution monitor 13 first checks this flag and, if the transition condition between processes is being determined, searches the execution object program for the part of this process element number,
The object of the transition conditional expression is converted back to the source program format and displayed on the display 4. Next, the values of process inputs or variables used in this formula are also examined and displayed on the display 4.

As a display method, as shown in Fig. 12, if it is a 1-bit type process control or variable, it will be displayed with high brightness when the state is °1'', and for example, +2 process and X1 in its conditional expression.
), for numeric process inputs or variables, there is a way to show the value below the line (for example, the number 10 below the symbol A on the right side of the screen).

Next, in order to continuously perform the execution status monitor shown in 1 (the processing procedure of the d1 execution monitor 13 is shown in FIG. 13), the process element number is extracted from the execution process register 10. , searches the backup memory 2 and checks whether this process element number section exists. If it is "present", a high brightness control code is output to that number section and a high brightness display is made. If "absent" updates the screen by performing the process shown in FIG. 10 described above.

Finally, FIG. 14 is a procedure diagram of process transition check processing in the sequence control program execution method of each of the first to third inventions.

This simply defines the time limit required for transition between processes, and when the time limit is exceeded, a warning 1 is displayed.

In the time limit definition procedure, first, a process flow command representing a process transition condition is input, and when a transition condition expression is input, a time limit is queried. On the other hand, if you enter a time, this value will be registered as the time limit.

The time limit table 14 stores a process element number and a time limit value for each process transition condition section.

The time limit check processing procedure of the execution unit 8 is shown in FIG. When processing an execution object program that determines process transition conditions, the elapsed value register 15 is cleared the first time the transition conditions are determined, and thereafter, this elapsed value is cleared each time the transition conditions are determined periodically. is updated and further compared with the corresponding time limit in the time limit table 14.

When the elapsed value exceeds the time limit, an honor report is displayed on the display 4.

It is clear that the following effects can be obtained in the embodiments of the invention described above.

(1) The development efficiency of sequence control programs is improved.

-4, the sequence control program includes control of conditional operations, -417r4 of sequential operations, and operation control for interpreting operation signals and performing the above two types of control.
Consists of parts.

The relay circuit diagram language, which is the standard language for conventional programmable converters, is suitable for expressing conditional operations, but
It is not suitable for expressing sequential behavior.

In addition, there is also a process step language that describes the process transition conditions and process processing contents in order, and from the beginning to the end is one language.
It is convenient for expressing sequential operations such as the sequence in a book, but it is useful for expressing sequential operations such as the sequence in a book, but when one process is divided into multiple processes that operate simultaneously, or when one process starts after waiting for the completion of multiple processes. It is not possible to describe sequential behavior with branches.

In this embodiment, complex sequential operations with branches can be easily described by creating a process flow chart on the display of the programming console using commands representing the process flow.

Here, since the process flowchart and the process process are displayed separately, up to the normally required number of parallel operations can be displayed on a display of a normal size (approximately 14 inches).

Regarding operation control, in contrast to conventional programmable controllers where the user had to create a program, this embodiment has standard commands for operation control, and all you need to do is create a program for continuous operation. , manual, step operations, etc. can be performed automatically simply by specifying operation commands. This operation command can be input using a switch attached to any process input boat, so the same operation as before can be performed.

To summarize the above, the number of man-hours required for program development is reduced by, for example, approximately 50% in the sequential operation control section, and is completely unnecessary in the operation control section. The percentage of each component in the entire program varies depending on the case, but as an average example, if conditional behavior control is 30%, sequential behavior control is 50%, and driving side (goods) is 20%, then
The overall reduction in program development man-hours is 45%, which is extremely large. In addition to reducing development man-hours, this also has the effect of making program development easier.

Generally, it is said that what is difficult in creating a sequence antibacterial program is operational control such as automatic/manual mode switching. In addition, the relay circuit performs sequential operation, and special relay circuit technology is required to realize this. According to this embodiment, there is no need to create a driving leg program, which is the most difficult task, and the sequential motion control program can be written in accordance with the motion. Therefore, it is possible to develop programs without having sequence control technology or relay circuit technology.

(2) 1. In addition to the use of the process input board, the operation panel cost can be reduced by using the keyboard of the programming console as a method for inputting the operation commands. In other words, since conventionally an operation panel is used for operation, the design of switches and switch wiring,
The cost of producing it was high. According to this embodiment,
Since operation commands can also be entered from the keyboard, equipment can be operated using the console used for programming without the need for a special operation panel.

(3) Furthermore, the ability to monitor the operating status of equipment is improved.

The monitoring function of conventional programmable controllers is to display the status of process inputs, and in order to monitor the operating status of equipment beyond that, it was necessary for the user to create a program. According to this embodiment, the progress state of the operation is displayed on the process flowchart input as a program, so that the operating state of the equipment can be seen at a glance. Furthermore, if the operation is interrupted while waiting for an external signal condition, the state of that condition signal is also displayed, making it easy to discover the cause when the equipment stops. In the case of waiting under this condition, the maximum allowable waiting time can be specified, and if this time is exceeded, a warning is automatically displayed, making equipment failure diagnosis easier. ``Furthermore, this monitor screen automatically displays the process section being executed as the operation progresses, so slow operations can be automatically monitored.

Here, by holding the process flowchart data used for monitor/screen generation in accordance with the screen format separately from the execution object, there is an effect that the process flowchart can be displayed at high speed. Conventionally, there are devices that display relay circuit diagrams input as a program in order to display the status of process inputs, but it takes time to restore this relay circuit diagram from the execution object, and it is difficult to input monitor commands. There was a problem that there was a delay between when the image was created and when it was displayed. According to this implementation, this can be done at high speed, so the state of set j%i can be immediately known.

〔Effect of the invention〕

As described in detail above, according to the present invention, it is possible to easily create a complex step-by-step program, and also to display the process flowchart and process processing separately, and to display the program on the process flowchart. The execution status can be monitored, and by specifying operation commands, it is possible to operate in each mode using a continuous operation program, which simplifies the handling of this type of programmable controller, improves efficiency, and improves serviceability. Remarkable effects on improvement and functional improvement can be obtained.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of one implementation of a programmable controller to which each sequence control program execution method according to the present invention is applied, and FIG. 2 is a programming diagram of a programmable controller according to the sequence control program execution method according to the first invention. FIG. 3 is an explanatory diagram of the console keyboard, and FIG. 4 is a program input procedure diagram, and FIG. 5 is an explanatory diagram of the program display screen.
A content explanatory diagram of operation command types in an embodiment of the sequence control program execution method of the second invention, FIG. 6 is an execution procedure diagram when inputting an operation command, and FIG. 7 is a procedure diagram for writing an operation mode. , FIG. 8 is a block diagram of an embodiment of the operation command input section of the programmable controller, FIG. 9 is a block diagram of an actual example of the same sex, and FIG. 10 is a sequence control of the third invention. FIG. 14 is a flowchart of the process for checking work type migration in the program execution method according to each of the first to third inventions. 1. Program command solution '1N, 2.3...Buffer memory, 4...Display, 5, 6.Medical memory, 7...Driving command bow stop section, 8. Execution section, 9.
. Operation mode table, 10 ・Execution work type Renstar, 11
Driving frame/to input section, 12...Input method specification section, 1
3. Execution monitor, 14.. Time limit table, 15..
Elapsed page register. , Mi-3- Agent: Patent attorney Kosaku Fukuda. 2.1. -15. , :. ni-” ・ (1 other person) C Fig. 10 12 (0-) (shi) Fig. 3 (e) (child) 1, s7 Fig. 6 q c Fig. 8g Fig. 9 Fig. 1O Fig. 11 Figure 12 Figure 13 / Leaf

Claims (1)

[Claims] 1. A function that inputs, interprets, and stores a sequence control program, performs arithmetic processing, and controls the operation of a controlled device according to the results and the contents of a given operation command. After interpreting the commands of the input process step program in the programmable controller that has
By dividing and storing it into a part related to process flow and a part related to process processing, the process flow chart and process processing contents can be displayed simultaneously by switching the display screen alternately or by dividing the same screen. A sequence control program execution method characterized by: 2. In the item described in claim 1, each step related to the step-by-step program to be input is numbered so that the editing or execution location of the program can be specified by the number. Sequence control program execution method-6 3. In the method described in claim 1 or 2, process flow diagram shape data and execution object program are separately held and stored for all input programs. A sequence 7 control program execution method in which a process flowchart to be displayed on a display screen is generated from the process flowchart shape data. 4. Setting a time limit for the transition between steps as described in claim 1, 2 or 3,
A sequence control program execution method that displays a warning when the elapsed time from the end of the previous process exceeds the above-mentioned time limit. 5. In a programmable controller that has the function of inputting, interpreting, and storing a sequence control program, performing arithmetic processing thereof, and controlling the operation of a control device according to the results and the contents of a given operation command, After interpreting the commands of the input step-by-step program,
By holding and storing part of the execution object program separately from others, and interpreting and executing the execution object program for continuous operation for each process element, it is possible to perform the continuous operation according to the given operation command. A sequence control program execution method characterized in that an execution object program can be partially processed. 6. In the device described in claim 5, an input port corresponding to each operation command is provided, and the operation command can be inputted by specifying each corresponding switch connected to the input port, or from a keyboard. A sequence control program execution method that allows direct input of operation commands. 7. A sequence control program according to claim 6, which specifies which operation command input method is to be used and switches the input and interpretation of the operation commands in accordance with the specification. Execution method. 8゜In the item described in claim 5, 6 and 7, a time limit for transition between processes is set,
A sequence control program execution method that displays a warning when the elapsed time from the end of the previous process exceeds the above-mentioned time limit. 9. In a programmable controller that has the function of inputting, interpreting, and storing a sequence control program, performing arithmetic processing on the program, and controlling the operation of the controlled device according to the results and the contents of the given operation command, the program By identifying whether the process element being executed requires in-process processing or judgment of transition conditions between processes, it is possible to display this on the process consultation diagram on the display screen. Features a sequence control program execution method. 10. The sequence control program execution method according to claim 9, wherein when the program execution state is waiting for the inter-process transition condition to be met, the state of the transition condition is also displayed. 11. In the item described in claim 9 or 10, when the process during program execution deviates from the range of the process flowchart displayed on the Diff 4 screen, the display range is changed. This is the control program execution method. 12. In the item described in claim 9, 10, or 11, a time limit for transition between processes is set, and the elapsed time from the end of the previous process is set as the time limit. A sequence control program execution method that displays an alarm when the limit is exceeded.