JPS5927311A - Work cell controller - Google Patents

Abstract

PURPOSE:To connect a titled controller to a host device, and also to reduce the load of the host device, by providing an interface circuit to the host device, and also setting a work cell to an editing mode and an operating mode. CONSTITUTION:A cell controller 1' is connected to a host device through a transmission interface circuit 18. Also, when work instructing information is received, a processor 10 in the controller 1' sets a numerical control device 2 and a robot control device 4 to an editing mode. Subsequently, the work instructing information is stored in the respective memories 21, 41. Thereafter, the numerical control device 2 and the robot control device 4 are set to an operating mode, and a machine tool 3 and a robot 5 are controlled in accordance with contents of the memories 21, 41. In this way, connection to the host device can be executed, and also the load of the host device in case when the work instructing information is sent out can be reduced.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a work cell controller that controls the entire processing cell comprised of other automated equipment, and particularly to a work cell controller that reduces the burden on the host device when connected to the host device.

In recent years, factory automation systems have been rapidly developed with the aim of unmanning manufacturing processes. For example, a processing cell consisting of an industrial robot, a numerically controlled machine tool, and automated equipment such as a monitor is installed, and when an unprocessed part is transported to the processing cell, the industrial robot picks up the part and
Set it on a numerically controlled machine tool, process the parts with the machine tool,
A system has been developed in which an industrial robot picks up the machined part from the machine tool after machining is completed and carries it to a designated location repeatedly.

As shown in FIG. 1, in this system, a numerical control device 2 that controls a machine tool 3, a robot control device 4 that controls a robot 5, and a monitor device 6 are connected to a sequencer 1, and the sequencer 1 controls these devices. Sea fence control,
It was intended to perform the desired work. On the other hand, with the aim of automating the entire factory, we installed a central control system consisting of a host computer in the center, and each cell was connected to it.
It is desired to construct a system that provides work instruction information to cells, receives work status information from cells, and manages work progress. However, in the conventional configuration, the sequencer 1 itself does not have an interface function with one type of higher-level machine, so building this system is impossible.Also, even if the sequencer 1 is equipped with an interface function,
In order to provide work instruction information from the host device to the numerical control device 2, etc., there is a drawback that the load on the device increases.Therefore, an object of the present invention is to enable connection with the host device. In addition, it is an object of the present invention to provide a work cell controller that can reduce the load when transmitting work instruction information to a host device.

Hereinafter, the present invention will be explained in detail with reference to Examples.

FIG. 2 is an overall view of one embodiment of the present invention. In the figure, the same parts as in FIG. 1 are indicated by the same symbols. SL, which issues work instruction information, receives signals indicating the work progress of each cell, and grasps the progress of the entire factory.
N is a serial loop line, which is a data highway in which cables are wired in a loop and connects the cell group central control device CIC and each cell. 1' is a cell controller, a numerical controller t 2 , and a robot controller d.

It is connected to the monitor device 6 and controls these in sequence,
Data is exchanged with the cell group central control unit CIC via the serial loop line SLN'i. The operation of the embodiment shown in FIG. 2 will now be described.

When the cell controller 1', which will be described later, controls the numerical control device 2, robot control device, and monitor device 6 to complete the work preparation process, it sends a preparation completion signal to the serial loop line SLN via the built-in transmission interface circuit. , and notify the cell group central control device CIC. The serial loop 8LN is configured so that a signal is placed on an empty slot and the signal of the slot is received at a designated destination.Next, the cell group central control device CIC transmits the day's work instruction information (
tape number, number of operating days, etc.) to the serial loop line SL.
N to the transmission interface circuit, which feeds it to the designated device 2.4. Thereafter, the cell controller 1' performs sequence processing to be described later, sequence-controls the numerical control device 2, robot control device [4, and monitor device 6], and causes the machine tool 3 and robot 5 to work on the supplied parts. . Conversely, the numerical control device 2 and robot control device 4 send a completion signal (
work status information) to the serial loop line SLN via the transmission interface circuit, and the cell group central management device C
Notify IC:. As a result, the cell group central management device C
IC can grasp the work progress status.

On the other hand, the cell group central control device CIC gives a control program, which is the work content, to each device 2.4, and the machine tool 3.4. The work content of the robot 5 can also be changed. 0 In other words, the cell group central control device Or load the control program into the memory of the robot control device 4.

! @3 Figure is a block diagram of an embodiment of the present invention, and in the figure,
1' is a cell controller, 10 is a processor that performs predetermined arithmetic processing based on a control program, and 11 is a program memory that stores the control program executed by the processor 10. Now, the control programs are (1) a sequence program for work, (2) a power supply/disconnection program, and (
It includes 3) an initial processing program, and (4) a work self-answer setting processing program. 12 is a data memory, which stores the calculation results of the processor 10, 15 is an input/output board, and 14 is an operation panel. Operation panel 14
As shown in the front view of Fig. 4, there is a power switch PW that commands power on/off of each device, an initial switch 0■ (that commands home return of each device), and a run switch RU that commands the start of operation of each device. N, has a mode switch MI) for instructing the input mode, and a numeric keypad TK for inputting the number of commands 11G.The input modes include operation count input mode, program selection mode, etc., and the corresponding mode switch MI) After pressing, numeric keypad Ll+
l() to input the command α value.Furthermore, the operation panel 1
4 refers to the display means.

Numerical display I)P that displays input data and output data,
Alarm display section AL that displays alarm output, and operation mode display section C that opens when manual mode is in operation count mode.
T, includes a selection mode display section PS that lights up when the input mode is program selection mode, and each display section AL, CT, P8
The numerical data when is lit is displayed on the numerical display DP.

15a, ISa, 17 are contact interface circuits, which are respectively connected to the numerical control section ri2, robot control section R4,
Connected to the monitor device 6 and transmits the signal I) I/DO (contact)
15b and 16b are data interface circuits, which are used to communicate with the numerical controller 2 and the robot controller, respectively. 4 is connected to 1<8-232 ('interface, which mainly exchanges data (information) in full duplex, 18 is a transmission and interface circuit, and 1.7 real loop line. When the data on SLN indicates the address of the cell controller 1' or the devices 2.A and 6 connected to it, it is taken in, and an empty front on the serial loop lines Sl and N is detected, and the data is transferred to the serial loop. The cell group central control device CIC is
It exchanges signals through an R8-232C interface and has an internal network control unit, traffic buffer, etc. 19 is an address/data bus connecting these. 2o is a control section of the numerical control device 2, which numerically controls the machine tool 3; 21 is a memory, which stores numerical control data, etc.; 40 is a control section of the robot control device 4, which controls the machine tool 3. What controls 4
A memory 1 stores control data for the robot 5 and the like. The numerical control device 2 and the robot control device 4 input data from the outside in the edit mode to the control unit 20.40.
captures the control program in the memory 21.41, stores it in the memo 1121.41, and transfers the control program in the memory 21.41 to the control unit 20.40 in the operation mode.
Next, we will explain the operation of the configuration of the example configuration shown in the vg3 diagram. The processor 10 is notified via the port 13 and the path 19. This allows processor 1
0 sequentially reads and executes power-on/off programs from the program memory 11.

That is, the processor 10 first passes the power-on command to the robot control device 4 and the robot 5 through a pass 19 and a power-on command.
This is transmitted to the robot control device 4 via the contact interface circuit 16g, and the robot control device 4% turns on the power of the robot 5. When the power-on of the robot control device 4 and the robot 5 is completed, a power-on completion signal is notified from the robot control device 4 to the processor 10 via the contact interface circuit 16a and the path 19. This allows processor 1
0 confirms that the robot control device 4 and the robot 5 are powered on, and then transmits a power-on command to the monitor device 6 via the path 19 and the contact interface circuit 17 to turn on the power of the monitor device B. As for the monitor device 6, the overload detection function of the main spindle motor of the machine 3, the machine tool 3, etc.
This is the detection display function of the dimension measurement sensor. Monitor device 6
When the power supply is completed, the contact interface circuit 1
7. The input completion signal is notified to the processor 10 via the path 19, and this is confirmed. Finally, the processor 10 sends a power-on command to the bus 19 and the contact interface circuit 15a.
It is transmitted to the numerical control device 2 via the numerical control device N2, and turns on the power to the numerical control device N2 and the machine tool B. When the numerical control device 2 and the machine tool 6 are powered on, a power-on completion signal is sent from the numerical control device 2 to the contact interface circuit 15a and the bus 19.
If the power-on completion signal is not notified even after a predetermined period of time has elapsed after sending the power-on command, the processor 10 is notified via the bus 19 and the input/output board. Operation panel 14 via 13
The alarm indicators A and L are lit (2, the corresponding alarm code f is displayed on the numerical display 1) and the operator is notified. In case of power off, press IM source switch P.
W is turned off, and the processor 10 sequentially issues an electrolytic cutting command in the reverse order to that described above. In this case, instead of the power-on completion signal, each device 2, 4.6 issues an acceptance signal when it receives a power-off command, and the processor 10 issues the next power-off command. When this power-on is completed, a power-on completion signal is sent from the processor 10 to the serial roofline 8 via the node 19 and the transmission interface circuit 18.
1 and N, and is notified to the cell group central control device 1:(:1(:).

(2) Initial processing After the power is turned on, the operator
When you press 4, the initial signal is input/output port) 3,
The processor jO is notified via the bus 19, and the processor 10 sequentially reads and executes the initial processing program in the program memo 1111σ. The robot control section 4 causes the robot 5 to return to the origin.Next, the processor 10 transmits the origin return command to the numerical controller 2 via the bus 19 and the contact interface circuit 15a, and the machine tool 3 to return to the origin. The processor 10 sends a clear command to the shell layer via the node 19 and the contact interface circuit 17 to the monitor device B to clear the processing monitoring device 6. Alternatively, the initial processing may be executed automatically.Work preparation is completed through the power-on processing and initial processing described above, and these are referred to as work preparation processing.This initial processing completion signal is the same as the power-on signal described above. Similarly, from the processor 10 to the cell group central control device C
The information is transmitted to the IC, and communication with the cell group centralized control unit 97CIC becomes possible.

(3) Work content setting process When these are completed, select a control program to execute the work according to the work schedule for the day. The work content is stored in the memory 41 of the robot control device 4 and the memory 21 of the numerical control device 2. A plurality of control programs are stored corresponding to the following.

This includes an online control mode in which work instructions are issued from the cell group centralized control system @ (IC), and an offline control mode in which work instructions are issued from the operation panel 14. Cell crowd center 1
Since the @1 device can receive data from 1C and the cell controller i', the cell group central control device CIC sends work instruction information to the serial loop line 8LN. The work instruction information includes a tape number and the number of rows to be used for selecting a control program for the work. When the transmission interface circuit 18 of the cell controller 1' identifies that the information is addressed to its own address, it takes in the work instruction information on the serial loop line SLN and transmits it to the processor 10 via the bus 19. , the work content setting processing program is stored in program memory 1.
Read and execute from 1. That is, the processor 10 sends the edit mode command to the bus 19 and the contact interface circuit 15a.
, ISa to the control section 20 of the numerical control device 2 and the control section 40 of the robot control section ft4.
．． 10 into edit mode. The response to this is from the control unit 20 and dO to the contact interface circuit 15a1.
The processor 1o is notified via the 16a1 bus 19.

Next, the processor 10 transmits the cropping instruction information to the control unit 20. via the bus 19 and the data interface circuits 15b, 1, 61). dO, respectively to memory 21.
41. The response to this is from the control unit 20.
40 to data interface circuit j5b, 16b,
The processor 1o is notified via the bus 19. Further, the processor 10 has a bus 19 and a contact interface circuit 1.
5a, 16a to send a run (memory) mode command to the control unit 20.10, which controls the control unit 20.40, the response of which is the same as for the edit mode command.

Thereafter, a work start command is sent to the control unit 2 via the processor 10 bus 19 and the contact interface circuits 15a and 16a.
0.40, and the control unit 20.40 outputs the memory 21°4.
The machine tool 3 and robot 5 are controlled by executing the process based on the contents of step 1.

In addition, when a control program for a work is sent from the cell group central control device CI C to each memo 121.4j of the 1111 device 2 and the robot control device 4, the same control is performed by the cell controller 1'. Do→Do〇■ Offline control mode This is used when work instruction information is not sent from the cell group central control system (#, CO:) or when there is an emergency loft change, and the operator instructs the program selection mode. Press the mode switch MD to select the program selection mode.
Enter the tape (program) number using the numeric keypad TK. As a result, the selection mode display section PS lights up, and the input program number is displayed on the numerical display])PK. This selection mode command and program number are transmitted to the processor 10 via the input/output port 13 and the bus 19.
0 sequentially reads out work content setting processing programs from the program memory 11 and executes them. That is, the processor 10 controls the control unit 20.4 in the same way as in the online control mode described above.
0? Enter edit mode, then store tape number in memory 21.4
1 and set the control unit 20.40 to the operating mode.

Next, the same number of work operations, ie, work part number, is inputted in the same manner according to the work schedule. In this case, the control unit 4o of the robot control device 4 normally counts the number of operations.

Therefore, the operator presses the mode switch MT) which instructs the operation count manual mode to set the operation count manual mode, and inputs the operation count using the numeric keypad TK.

From this K, the operation mode display section P8 lights up and the input operation cycle is displayed on the numerical display DP. This operation mode command and the number of operations are transmitted to the processor 10 via the input/output board 13 and the bus 19, and the processor 10 sequentially reads out the program content setting processing program from the program memory 11 and executes it. control section 4
0 is set as the edit mode, and then the number of operations is transmitted to the robot control device 4, the control section 40 stores it in the memory 41 as the number of commanded operations, and further causes the control section AO to enter the operation mode.

(4) Sea fence processing After completing these processes, when the operator presses the run switch RLIN, a work start command is sent to the input/output boat 13 and bus 1.
9 to the processor 10. Not required in online control mode.

As a result, the processor 10 sequentially reads and executes the sequence programs in the program memory 11.

That is, the processor 10 gives a work start command to the robot system (I\ll device Δ) via the bus 19 and the contact interface circuit 16a, and in the robot control device 4, the control unit 4
0 executes the aforementioned selected control program in the memory 41 to control the robot 5. For example, if the robot 5 picks up a part and transfers it to the chuck of the machine tool 3, a completion signal is sent to the contact interface circuit 1 after the transfer is completed.
6a, to the processor 10 via the bus 19. Next, the processor 10 connects the bus 19 to the contact interface circuit 1.
A work start command is given to the numerical control device 2 via the numerical control device 5a, and in the numerical control device 2, the control unit 20 executes the selected control program in the memory 21 to control the machine tool 3, and controls the parts installed by the robot 5. Process. During this time, the monitor device 6 monitors the operation of the machine tool 3, and if any abnormality is found, it is notified to the processor 10 via the contact interface circuit 17 and the bus 19. The processor 10 thereby connects the numerical control device 2 to the bus 19 and the contact interface circuit 15.
A command to stop the work is given to stop the operation of the machine tool 3, and at the same time, the alarm display section AL of the operation panel 14 is lit up via the node 19 and the input/output 4 sheet 15, and the corresponding alarm code is displayed on the numerical display section. 1) Display it on P.

When the machine tool 3 finishes machining the parts, the numerical fit controller 2 sends a completion signal to the contact interface circuit 15a,
Notify processor 10 via path 19.

The processor 10 gives work (commands) to the robot control device 4 via the bus 19 and the contact interface circuit 16a. In the robot control device 4, the city controller 40 executes the control program in the memory 41, Controlling the throat 5, the robot 5 removes the machined part 11 from the machine tool 6,
Transport it to the designated storage location. As a result, the robot control device 4
completion signal 7% contact interface circuit 16B,)
The 7° processor 10 then sends the above-mentioned work start command to the robot controller 19.
It is given to the throat control device 4 and repeats the same operation.
l! Compare the number of operation of signal 1 with the number of operation of signal 1, and if they match, send the work completion signal to contact interface circuit 16a.
, ] (notifies the processor 10 via step 19, and thereafter the processor 10 receives a command to start the next work 3Fl,
7-Do not perform Kunins processing. The processor 10 lights up the work completion indicator on the operation panel 1d via the bus 19 and input/output boat 13 to notify the operator.

Sea fence processing is as described above, but the status of each device can be centrally monitored on the operation panel 14 using the completion signal described above. That is, when the processor 10 receives the above-mentioned completion signal, the processor 10
The progress status is displayed in numerical values on the numerical display section 1'))' of the operation panel 14 via. Similarly, the number of operations is also displayed.

The above-mentioned completion signal and work completion signal are sent from the processor 10 to the serial loop line SLN via the path 19 and the transmission interface circuit 18, and are notified to the cell group central control device SLN, where they are used to grasp the progress of the work, etc.

As explained above, according to the present invention, in a work cell controller that controls a work cell including a numerical city 1j general work machine and an industrial robot, an interface circuit for exchanging data with a host device and , a control unit for performing the sea fence control, and when the control unit receives work instruction information from the host device via the interface circuit, the control unit controls the 116 units of the sea value control work machine or industrial robot. After setting the numerically controlled working machine or industrial robot to a mode and storing the work instruction information in a memo of the numerically controlled working machine or industrial robot, the numerically controlled working machine or industrial robot is set to the operating mode. , it is possible to connect to higher-level equipment r), automation of the entire factory can be achieved, and since FT+IIM in the cell is performed by a dedicated cell controller, the effect of enabling appropriate load distribution is diminished.

In addition, when the host device sends out work instruction information, there is no need to send control signals that accompany the signal format of numerically controlled work machines and industrial robots, so the load can be significantly reduced by 7%. Although the present invention has been described with reference to one embodiment, the present invention is not limited to the above-mentioned embodiment, and various modifications can be made in accordance with the spirit of the present invention, and these may be considered within the scope of the present invention. 0 is not excluded from

[Brief explanation of drawings]

Fig. 1 is an explanatory diagram of the conventional configuration, Fig. 2 is an overall view of an embodiment of the present invention, Fig. 3 is an 11 block diagram of an embodiment of the present invention, and Fig. 4 is an operation panel of the configuration of the embodiment of Fig. 6. It is an explanatory diagram. In the figure, 1'... Cell controller, 2... Numerical control unit (sound, 6... Machine tool, 4... Robot control device, 5... Robot, 6... Monitor device, 10 ...
10 setza (control unit), 11... program memory,
18...Transmission interface circuit. Patent applicant Representative of FANUC Co., Ltd. Patent attorney Sangai Tsuji (1 person)

Claims (1)

[Scope of Claims] (11) A work cell controller for sea fence control of a work cell including a numerically controlled work machine and an industrial robot, comprising an interface circuit for exchanging data with a host device; and a control unit for processing the work instruction information, and when the control unit receives work instruction information from the host device via the interface circuit, it puts the numerically controlled work machine or industrial robot into an editing mode and edits the work instruction information. A work cell controller characterized in that the numerically controlled working machine or industrial robot is put into an operation mode after storing the information in the memory of the numerically controlled working machine or industrial robot. (2) The numerically controlled working machine or the industrial robot The industrial robot is configured to receive and receive editing mode and operation mode commands in accordance with a first signal form, and to receive and receive information in accordance with a second signal form, and the control unit controls the first signal according to the work instruction information. Issues the editing mode and operation mode commands in the signal form,
The work cell controller according to claim 1, wherein the work instruction information is sent in the second signal form. (3) The first signal form is a contact interface, and the second signal form is an R8-252 ('interface).
The work cell controller described in section 2).