JPS60132206A - Sequence controller - Google Patents

Abstract

PURPOSE:To execute an actual working debug by storing an input signal address, etc., when generating a sequence program, reading the contents of this address, and using them as a start condition of a sequence step. CONSTITUTION:A flag of a memory address prescribed in advance in accordance with a condition unit No. is set or reset in advance. By a teaching program, the contents of a condition address group are displayed at every step No., and if an addition and a change are required, an operator executes the addition and the change at every step No. By a play pack processng program, the advance processing is executed at every one step, information of the step No. and the contents of said condition address group are compared, and if they coincide with each other, the processing as per the teaching is executed. If they are different from each other. Its step is not advanced, other processing program is executed, and thereafter the processing is returned to this program, and the comparison is repeated again.

Description

DETAILED DESCRIPTION OF THE INVENTION FIELD OF INDUSTRIAL APPLICATION The present invention relates to a runx controller used for controlling automatic machines such as production equipment.

The configuration of the conventional example and its problems A sequence controller that relies on conventional notware (d1) can be roughly divided into a circuit diagram method and an operation diagram method. There is a motion diagram method.

・There are flowchart formats, etc., but in any case, when creating a sequence program, there is a notation method for handling various symbols and signal systems to construct notation diagrams such as circuit diagrams and operation diagrams, and each dedicated command word from the notation diagram. It is necessary to acquire advanced specialized knowledge such as coding methods to replace In addition, when processing conditions and outputs, the operator must carefully consider the combinations of conditions and outputs and select and set them one by one.Furthermore, in the case of complex systems, two or more systems must be used. It is necessary to take into account the conditions and output flow to avoid mutual interference between the set contents and other settings. In addition, since the conventional 7-ken controller uses a program creation method based on precents, it is difficult to determine if there are any defects in the initial program.

This is done through desk depacking, which examines notation diagrams and coding levels, and actual depacking after the controlled object and controller are connected, but in desk depacking, defects are extracted from among complex timing and complicated conditional outputs. has its own limitations, and in actual Depack, it takes time to analyze defects, such as when multiple defects are intricately related, and
Eliminating defects in one area may have complex effects on other areas and create new defects.

As mentioned above, conventional sequence controllers have problems such as complicated setting work that requires highly specialized knowledge and judgment on the part of the operator, and a great deal of effort and time required to resolve defects. There was a point.

Purpose of the Invention The present invention solves the above-mentioned problems of the conventional technology.It is an object of the present invention to solve the above-mentioned problems with the conventional technology. A condition that automatically reads necessary conditions from the controlled unit via the input/output unit and sets and stores them as startup conditions in order to reduce the occurrence of program defects without the noise of complicated setting operations that require judgment. Output processing means and teaching means that combine the processing means and related outputs to form a single operation, and create a program while actually causing the controlled unit to perform the operation intended by the operator via the input/output unit. The present invention provides a sequence controller characterized by having a playback means that enables immediate depacking after teaching.

Structure of the Invention In order to achieve the object of the present invention, the sequence controller of the present invention includes an operation section for inputting and outputting sequence control information, an input/output section for processing input/output signals from a controlled section, and a control section for inputting and outputting sequence control information. step information group storage means for storing each step of the entire sequence; condition processing means for recording the condition information group and its current state information; and output processing means for storing the operation information group and executing the corresponding operation. , consists of a teaching means for creating a program, and a playback means for reproducing and executing the teaching content.This structure allows the input signal addresses, etc., to be preset and stored as a group of condition information from the operation unit in advance when creating a sequence program. If you do.

Based on this condition information group, the current status information of each part of the applicable condition information group is automatically read individually from the measured part (goods) via the input/output unit, and stored as a start condition for the corresponding step in pairs with each condition information. By doing so, it has the effect of eliminating the need for complicated setting work that requires a high level of judgment. In addition, if output signal addresses etc. are preset and memorized as a group of operation information from the operation unit in advance, a complex combination of tagata can be treated as one operation, and it can be sent to the controlled unit via the input/output unit. By performing actual operation on the other hand, actual depacking can be performed step by step, and the same effect as that of the condition processing means can be obtained. Furthermore, the teaching means that repeatedly uses the condition processing and output processing to create the entire sequence program, and the playback means that reproduces and executes the taught sequence program, are configured to apply necessary conditions according to commands from the operation unit. Automatically reads data from the measurement department via the input/output section, treats the combination of complex outputs as a single operation, and transfers the operation intended by the worker to the controlled a1 section via the input/output section. By creating a program while actually doing it and making it possible to depack it immediately, there is no need for advanced specialized prior knowledge.
It has the effect of significantly reducing the occurrence of program defects by eliminating complicated setting work that requires a high level of judgment.

DESCRIPTION OF EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1(a) shows a basic control configuration based on an embodiment of the present invention, in which 1 stores an operation system program and a step information group related to a sequence, 2 a user program such as a condition information group, an operation information group, and data. ROM to
, a storage unit consisting of a RAM, 2 a central processing unit having an input/output unit based on the memory contents of the storage unit 1 and arithmetic functions, 3 an operation switch to be measured, and various detection inputs. .

The input/output section consists of an electric circuit that processes input signals such as various data inputs, various monitor outputs, output signals that drive solenoids, motors, etc. 4 is an input/output section that processes various data settings and controller startup, mode switching, stopping, etc. The operation section 5 is composed of operation switches for performing the operation and a character screen display as a monitor function, etc., and 5 is for various input/output side diagonal and A break (goods) section consisting of equipment, 6 & IR, the storage section 1. a central processing section 2. an input/output section 3. an operation section 4, and a sequence controller which is a nailing section that executes sequence control for the controlled section. 9.

In the above configuration, the central processing section 2 of the sequence controller 5a stores a group of condition information, a group of operation information, etc. input via the operation section 4 in the storage section 1. Also sequence
When creating a program, the above stored contents are stored in a step information group as part of the step information based on predetermined processing, and the stored contents and the operating section 4 are transmitted to the controlled section 5 via the input/output section 3. Regulation of input and output (goods) based on the directives of
Do the following.

FIG. 1(b) shows a configuration based on one embodiment of the operation section 4. As shown in FIG. 4a is a character screen display device (hereinafter referred to as screen) that displays sequence information etc. consisting of characters, symbols, etc.;
b is composed of operation switches for performing various settings such as condition information and operation information, and switching of each I such as teaching and playback.

The basic functions of 6 Suinochi will be explained below.

rT/Cl U For timer/counter commands, if you specify a constant and input signal address using the numeric keypad described later, the standby state sequence will start when the specified time elapses or when the input signal from the corresponding input signal address is counted up.・Switch for setting rules such as advancing from step to next step.

rMJ is for parallel processing instructions, and is a setting switch used when multiple sequence controls are executed simultaneously.

"SJ is for a scan command, and in a sequence step where this command is set, it is a so-called scanning function control setting switch that advances to the next step even if the ≧1 starting condition is not satisfied during sequence execution.

"J" (r: r, for the jump instruction. In the sequence step where this instruction is set, if the corresponding startup condition is satisfied when the /- step is executed, the specified sequence step
This is a switch for making side settings such as advancing to a step.

lTs E Lj This is a setting switch for the ld select command and used when switching condition information, operation information, etc., to preset mode, teaching mode, playback mode, etc.

"0" ~ r9J flJ rWJ rONJ rOFF
l is a switch used when setting the various commands mentioned above;
~ "9" is a so-called numeric keypad for setting various constants, etc.
"C" is for clearing various settings, rWJ is for storing various settings and starting various processes, and "ON'J" is for clearing various settings.

[0F FJ is a switch that completely sets the address of the corresponding input/output signal as ON or OFF condition when presetting condition information and operation information.

It consists of 16 switches, and the switches in each part are operation unit switches that have the function of handling multiple output signal addresses, etc. in advance as a combination or operation unit. When starting or stopping the conveyor in a conveyor, set the corresponding output address so that when any operation unit switch is on, the conveyor motor and clutch are turned on and the brake is turned off.
For example, if the corresponding operation unit switch is turned on during teaching, which will be described in detail later, the conveyance motor, clutch, and brake V-key will output the settings as described above, and if turned off, each output will be inverted with respect to the settings. The above function settings are.

1) Use the 1J operation switch 4b. The procedure will be explained in detail later using a flowchart.

Note that IT/Cl rMj ISJ rJJ are part of the optional functions in this embodiment, and [PSWJ is 16 switches in this embodiment, but any number may be attached depending on the control scale.

FIG. 2 (d) shows the memory configuration of the storage section. Program addresses m to n-1 contain setting information such as a group of condition information and a group of operation information input through the operation section, constants of timers and counters, etc. They are stored as a group. From program address n to p-1, the above memory contents are stored as part of step information based on predetermined processing. From program address p to ql, according to the specifications of the 7-can controller of the present invention. In addition, as a storage medium (d program address m to 1)-14, volatile storage elements (core memory, non-volatile RA
M, etc.), and programs can be written and changed instantly. Program addresses p to qf [Although it is configured with ROM, the storage medium only needs to be able to write and change the program immediately and be guaranteed against power outages.

FIG. 3 shows the format of the condition information group stored in the storage unit, which has a condition group unit corresponding to each applicable research object, and each condition unit has a plurality of condition addresses (addresses of input signals, flags, etc.). ).

By overlapping a plurality of condition units, a dedicated condition group can be set for sequence jy during sequence branch processing and parallel processing, so there is an advantage that programming can be performed without causing condition interference between sequences.

FIG. 4 (d) The format of the operation information group stored in the storage unit has a corresponding operation unit for each target of destruction (goods), and a plurality of output addresses (output signals and flags) for each operation unit. etc.) and a status flag F that indicates whether the output is on or off.When outputting a sequence, the output can be set for each operation without having to set each output point by point. Operation setting work, etc. to be performed can be done efficiently.

FIG. 6 shows the format of the step information group stored in the storage unit, in which sequence step 'Fj has a step information group unit, and 6 is a group of starting conditions for starting the corresponding step. It is made up of a group of condition addresses stored in correspondence with the condition unit numbers described in 1. and a status flag F indicating whether the content of each condition address is off or off. 7
is a group of operation information for the corresponding step, which is composed of a group of operation unit numbers explained in FIG. 4 and a status flag F indicating whether the content of each operation number is on or off. Note that by handling the operation degree number instead of the output address as the operation information group, we have secured information that is expandable within a certain storage capacity, but if there is sufficient storage capacity, the output address may be stored directly. . Further, when the status flag F is on during sequence execution, the output contents of the corresponding operation unit number are executed in -ff manner, and when it is off, the output contents are conjoined and executed. This eliminates the need to set the output information when the status flag F is off as operation information, so the setting work can be done with about half the effort and time compared to conventional methods, and the storage capacity can be reduced to 1J. ing. 8 is a group of malicious information for each step, including timer and counter type designation information, jump destination designation information for jumping from the relevant step to a specific step, and various step progress designations for moving from the gradual step to the next step. It has a structure that corresponds to a wide variety of requests from the sequence side.

FIG. 6 shows an overview of the operator/yeon/stem program explained in FIG. 9a, 9 is an initial processing program that performs initial clearing of all output bits.
b' and 9c are discrimination programs for each process. 1○ is a preset processing program for storing the condition address shown in FIG. 3 and the output address and status flag F shown in FIG. 4.

Reference numeral 11 denotes a processing block dram for storing the start condition group, operation information group, and various information group expirations explained in FIG. This is a processing program to do this. 'A detailed explanation of each processing program in 10, 11, and 12 above will be given below. Note that "Return 7" in the following explanation indicates a return to the starting address of the discrimination program 9a in FIG. 6.) FIG. Ask whether to set conditions or operation using a method that will not be explained. If 1 condition is set, go to step S2. In S3, request the condition unit number in Fig. 3, and
If o is set, in steps 84 to S8, the memory address determined by arranging the MNO is stored in the register RO, and the cent flag 5F is set to 1. Also, for operation settings, go to S9. In S1○, request the operation rank number shown in FIG. 4, and in S11 to S15, store the predetermined memory address of N''6 in register
It is stored in O and the cent flag SF is set to 0.

In the next 817 to S19, the address input contents are registered in register R.
1 is stored in 320, 5F=1, that is, if the condition is set, the processing in 321 to 323 is not completed, and if 5F=0, that is, the operation setting, in 821 to S23, the status flag Fe is set to indicate whether the corresponding output address is on or off. Add 11 power to Tonrelisk R1. Light [S24-S26. The contents stored in register R1 are stored in the memory address indicated by register RO, and the memory address is incremented by 1. Next 827
Displays the write contents determined by a method not explained in 82.
8. If the setting is over at 329, the process proceeds to the process after the over-processing, and if the setting is not completed, the setting is repeated from 317, and if the setting is not completed, the process proceeds to the next process. Also S30-S33
Clear the settings and process all setting errors, S1
6. At S34, the setting is stopped, and if the set is completed, the process returns.

Through the software processing described above, the various types of storage shown in FIGS. 3 and 4 can be carried out quickly and reliably in an interactive manner.

FIG. 8 and FIG. 9 are explanatory diagrams regarding the Teichinda processing program and screen display. In routines T1 (routines will be omitted hereafter) to T6, the program number and step number are specified on the screen 13. If requested with the mark and set, the operation unit SW is enabled at T6. That is, when the corresponding operation unit SW is on, the output contents set for operation in the preset process are executed as they are, and when it is off, the output contents are combined and executed.

At 'ry,'r8, the condition address group set in the preset process matching the program number and the current state of the valley are displayed on the screen. Screen 14 is (7) Toki (D display example, PROGRAM No. 1tsVc The matching condition address is called out on the screen at the bottom of INPUT CH [K in this example 1° to 1○20) If the current state is on. The mark "." is inserted, and if it is off, it is left unmarked. 'r9. T10. T15゜If the input condition is displayed on the screen at TI6, 3WO for "Light-"
The corresponding conditions are memorized in N, and if there is a change such as addition or deletion, the desired new state can be created by operating the operation unit SW, or the change can be made using a change method that will not be explained before writing. Good. At T11, the operation unit swl is disabled to maintain the state of the leg to be measured, and the output set can be freely set. If the desired output is set with the operation unit SW in TI2, 5WNOf: will be displayed at the bottom of 0UTPUT on the screen 16, and if the operation setting state is on, a mark "." will be added, and if it is off, it will be left unmarked. There is (
In this example, the angle is 1° to 47°).

T13. T14. T17. Once the settings are completed on Tla,
The optical operation information is stored in the 5WON for "Light", and if there are changes such as additions or deletions, it is only necessary to change the setting of the operation unit SW or change it using a change method that will not be explained before writing. . At T19 and T20, the actual operation explained at T6 is performed based on the operation unit SW setting at the time of writing (step amplification is performed, and screen 1
Displays the status as shown in 6). That is, AtJ
The INPU shows how each condition has changed due to the actual operation T19.
Automatically displayed on TCHEC:K.

T21. If the program step exceeds at T22, other program processing which will not be described is performed, and if the teaching puff is completed, the program returns; if not, the program branches to T6 and performs new teaching.

It should be noted that the above two processing screens are part of the embodiment, and explanations regarding various information such as timers and counters are omitted. Through the above processing, the information for each step shown in FIG. 5 can be stored.
This can be done quickly and reliably by teaching.

Figures 10 (a) l (b) and Figure 11 show the playback processing program and screen display, showing whether the playbank is performed continuously or in steps of routines P1 (routines will be omitted hereafter) to P3. CF-1 if continuous
Then, programs No. 1 to Nσn are continuously processed in parallel. At the time of 1 step, one step progress processing is performed at each start. In this example, details regarding the one-step progression process are omitted to avoid complication. P
4, the step number pointer shown in FIG. 6 is used to specify the step number. Is it step N at the initial/year start? 51 is shown. P
5, go to the step processing routine in Figure 1Q (b),
Corresponding step N at P2O, Pll.

Read out the information on the screen 17 and determine whether the corresponding input matches the memory contents) 1 L If they match, PI3. PI3. The PI3 performs the actual operation according to the teaching contents, and after incrementing the step number pointer by 1, returns to the next program processing in Fig. 10 e). If there is no match, the program returns immediately and performs the primary program processing. Processing program number similar to the above
2 to program No. 1 (processing from P6 to P7). P8° If there is a stop command at P9, the process is stopped using a processing method that will not be described and then returns. It also returns in the same way if an exceptional factor such as a sequence abnormality or power down is detected. If there is no return factor, P4 again
Playback is executed from the processing of . When 5TEP1 is executed, screen 18 is displayed. Through the above processing, the step information of programs No. 1 to No. 1 to Program No. (each program has step number n shown in FIG. 5) stored in the teaching explained in FIG. 8 can be played back in parallel, easily, reliably, and immediately. Depacking is carried out.

Effects of the Invention As described above, the sequence controller of the present invention includes an operation section, an input/output section, a condition processing means, an output processing means,
It consists of a teaching means and a playback means. When creating a sequence program, if the corresponding input signal address etc. is preset and memorized in advance, the data will be transmitted from the controlled part to the input/output part for each sequence step based on the preset contents. By automatically reading the current state information of the corresponding input signal address and storing it as the activation condition of the corresponding sequence step, there is an effect that no advanced specialized prior knowledge is required. By storing presets, you can treat a complex combination of outputs as one operation based on the preset contents, and by performing the actual operation, you can perform actual depacking for each step. This method has the effect of not requiring complicated setting work that requires a high degree of judgment, and the processing of the conditions and outputs can be sequentially repeated using a teaching means to actually perform the operation as intended by the operator. By creating a program and immediately depacking it using playback means, there is no need for the highly specialized knowledge of notation and coding methods that was required in the past. It does not require complicated work that requires a high degree of judgment when checking for mutual interference with the computer and processing settings, and it also has the effect of quickly eliminating program defects, and its practical effects are significant. There is.

[Brief explanation of the drawing]

FIG. 1(iL) is a diagram showing the basic control configuration based on the embodiment of the present invention, FIG. 1(b) is a diagram showing the operating section based on the embodiment of the present invention, and FIG. 3 is an explanatory diagram of the format of the condition information group, FIG. 4 is an explanatory diagram of the format of the operation information group, FIG. 5 is an explanatory diagram of the format of the step information group, and FIG. 6 is a diagram showing the memory configuration. 7 is a diagram showing an outline of an operation program, FIG. 7 is a diagram showing a preset processing program, FIG. 8 is a diagram showing a teaching processing program 11 and a RAM, and FIG. 9 is an explanatory diagram regarding screen display. :', kI o Figure (a) l (b) il-t Diagram showing the playback processing program, FIG. 11 is a diagram related to screen display. 3...Input/output section, 4...Operation section, 5.
...Break control part, 611...Lateral part, 6.
... Condition information group, 7... Operation information group, 1o
. . . Precent processing, 11 . . . Teaching processing, 12 . . . Playback processing. Name of agent: Patent attorney Toshio Nakao (1st person)
Figure (OJ's figure 2 figure 3

Claims (1)

[Claims] An operation section having an operation switch and an operation display, an input/output section that processes input/output signals from a controlled section having input/output devices to be controlled by the sequence controller, and the controlled section. Sequence control data for
A step information group storage means for storing for each step and the address of the input signal from the controlled section are combined and preset stored as a condition information group, and when storing the conditions for each sequence step, the corresponding condition information group and the fi controlled a condition processing means for storing current state information of each part of the corresponding condition information group automatically read from the input/output section from the input/output section into the step information group storage means as a starting condition for the corresponding step; The address of the output signal and the output information are combined for each movement unit and stored as a movement information group, and when storing the movement for each sequence steno knob, the movement information group is stored in the step information group storage means based on the command for each movement unit. an output processing means that stores the operation information of the relevant step and executes the relevant operation on the controlled unit via the input/output unit, and repeatedly uses the condition processing means and the output processing means; Kens
This controller has a teaching 71 means for creating a program and a playback means for reproducing and executing the taught sequence program.