JPS60164810A - History reproducing system - Google Patents

Abstract

PURPOSE:To reduce the quantity of history data to be stored by reproducing a history of operation sequence on a basis of discriminating information stored in the third storage means and operation commands corresponding to discriminating information. CONSTITUTION:In a general controller 30, a history data storage part 407 stores synchronizing exclusive step numbers sent from an operation start discriminating part 401 and times received from a timer device in a history data table 41 in the order of reception. A history data reading part 300 reads out synchronizing exclusive step numbers and their reception times from the table 41 in the order of reception and sends them to a start operation reading part 301. The reading part 301 reads out start operation numbers corresponding to sent synchronizing exclusive step numbers from a synchronizing exclusive step definition table 42 and sends them to a history data transmitting part 303. The transmitting part 303 displays sent start operation numbers and their times on a monitor screen. Thus, a history display device 37 reproduces operation states of individual equipments in accordance with synchronizing exclusive step numbers.

Description

Detailed Description of the Invention [Field of Application of the Invention] The present invention is an operation control system for a plurality of processing equipment groups such as industrial robots. The present invention relates to a history reproduction method suitable for reducing the amount of data.

[Background of the invention]

Recently, factory automation (FA) has been attracting attention, and in the field of FA, there are many demands for efficient processing and assembly work by combining automatic processing machines, robots, etc.

Conventionally, in order to repeatedly perform a series of cooperative operations by combining teaching/playback type robots and automatic processing machines, it is necessary to establish an interlock between them and to obtain historical data for reproducing the operations.

Figure 1 is an example of constructing a parts mounting station using two robots.

In the first factor, 10 is a parts supply device, 11 is a parts handling robot, 12 is a parts positioning device, 13 is a rotating tape, and 14 is a screw tightening device.

Bot 15 is a pallet during parts installation work. 16 is a trolley for transporting unprocessed ball 1.1F U pallets.

Reference numeral 18 indicates a traveling guide line for the cart, and reference numeral 19 indicates a kite rail for setting and taking out pallets. Note that 00,
9 can be expanded and contracted as needed from the cart 17 side 〇The parts hand link robot 11 is connected to the parts supply device 10
The parts are handled and transported to the pallet 15 on the rotary table 13 via the part positioning device 12, and the screw tightening robot 14 performs screw tightening work on the parts placed on the pallet 15.The screw tightened parts are completed. is carried out from the rotary table 13 by the cart 17 together with the pallet 15.

On the other hand, Figure 2 shows the operation sequence of each equipment group explained in Figure 1. Blocks 100 to 10 in Figure 2
9 indicates the degree operation of each of the above equipment (indication of teaching data and control program). Arrows connecting each block indicate interfaces for synchronizing and excluding each unit operation (operating points 100 to 109). Indicates a lock relationship. This indicates that the action written in the unit action at the end point of the arrow will be activated when the IIYh action applied to the unit action at the starting point of the arrow is completed.・One degree action may be the end point of multiple arrows. If so, it will be activated when all unit operations written in the degree operations at the starting point of those arrows have been completed.

Conventionally, synchronization between multiple facilities as shown in FIG.

In order to realize an operation sequence that includes exclusion - When teaching or programming each operation sequence to multiple robots or the control device of a processing machine, set the interlock signal 0N10FF and the command to wait for the interlock signal, Teaching data or programs are created by embedding them in advance before and after each unit operation that is to be operated synchronously or exclusively. That is, the operation start-up sequence shown in FIG. 2 is programmed as is.

When controlling multiple pieces of equipment using this method, the Ri history data can be collected by skin-linking the state of the external contacts between the pieces of equipment at a fixed period (for example, 0.1 seconds), and using the 0N10FF data. How to memorize the status (Self-diagnosis capability in control systems, automation,
Volume 28, No. 5.

pp. 25-293, and a method of storing only the external contacts whose state has changed at the time when 0N10FF' of the external contact is changed. However, these methods have the disadvantage that as the work station becomes more complex, the amount of historical data to be stored becomes enormous, and due to the memory capacity, it is not possible to store enough desired data to reproduce the operating status of each piece of equipment.

Furthermore, even when historical data is stored in an external storage device such as a magnetic drum, the amount of historical data to be stored is large and it takes time to transfer it. I couldn't remember it.

Furthermore, in order to reproduce the operational status of each piece of equipment from the external contact status stored as historical data, it is necessary to check which external contact corresponds to which operation, which requires time and effort.

[Purpose of the invention]

The purpose of the present invention is to eliminate the drawbacks of the prior art as described above,
The object of the present invention is to provide a history reproduction method that can reduce the amount of history data to be stored in order to reproduce the operating state of each piece of equipment.

C. Summary of the Invention] In order to achieve the above object, the present invention teaches an automatic machine such as a robot to memorize the starting order relationship of each degree motion created by combining unit motion groups taught or programmed in advance. It has a first storage means and a second storage means for storing operation commands for starting each of the unit operations; in a control system that configures a series of operation sequences including synchronization or exclusion, during execution of an operation sequence. A third storage unit that primarily stores identification information when each unit operation is activated.
storage means, configured to reproduce the operation history from the identification information stored in the third storage means and the operation command corresponding to the identification information, thereby reducing the amount of historical data. There is something special about what you did.

[Embodiments of the invention]

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

The 30th is a block diagram showing one embodiment of the present invention.

30 is an overall control unit, and 31 is a memory for overall control.

37 is a history display device; 38 is a monitor terminal; 39 is a timer device; 41 in the overall control memory 31 is a table for storing history data; and 42, 43, and 44 are for storing overall control information. It is a table to keep◎32,
33 is a robot control device, 34.35 is a memory for robot operation teaching data, 36 is a relay control panel, 11.14 is a playback type robot, 11 is a parts hand link robot, and 14 is a screw tightening robot] 12 is a component positioning device, and 13 is a rotary table.

First, a method for storing the operation sequence shown in the second section in the tables 42, 43, and 44 in the overall control memory 31 will be described. Table 42 is a synchronization exclusive step definition table. In FIG. 2, unit operations that are waiting for an interlock signal for synchronization or exclusion (startup wait operations) and unit operations that are interlocked (completion wait operations) Register a combination of

FIG. 4 shows the specific table structure. In the figure, for example, in synchronization exclusive step 1, the operation 104 of removing the pallet 15 carrying the screw-tightened parts from the rotary table 13 and the completion of the operation 100 in which the cart 17 carrying the unprocessed pallet 16 arrives at a predetermined position. is currently being awaited. In order to interlock these two operations 100 and 104 and the operation 101 of placing the unprocessed pallet 16 on the one-turn table 13 from being executed simultaneously, the operation 101 is registered as a start-waiting operation.

The 41st operation (100° 104 in the above synchronous exclusive step 1) of the completion waiting operation registered in each synchronous exclusive step has been started and completed, and the unit operation of the start waiting operation (1-1 in the above synchronous exclusive step 1) has been started and completed. r, 101) are all waiting for activation, the unit operation of the activation waiting operation is activated.

Information regarding the execution status of the unit operation of each facility, indicated by the completion waiting operation and start-up waiting operation in FIG. 4, is registered in the operation management table 43 in the form shown in FIG. 5.

In FIG. 5, the startup management state 50 includes a startup waiting state and a startup state, and the startup waiting state is indicated by 0° and the starting state is indicated by 1°. You can see how far the sequence has progressed.

The operation status 51 in the next column includes operation complete and operation status.
Completed operation is indicated by 1 degree, and operation is indicated by 2 degrees.

This makes it possible to know whether the unit operation corresponding to the started operation has been completed or is currently being executed. Message A52 in the next column is a pointer that provides a starting point for searching for control information to be transmitted to each facility from among the control information stored in the control message table 44.

The control message table 44 includes the overall control device 3.
0 corresponds to the operator activated according to the synchronous exclusive step definition table 42° and the operation management table 43, and the central control device 30 registers the control information to be transmitted to each facility in the form shown in FIG.

In FIG. 6, control information Im (m=l, 2°...)
is the startup program shop J rn (m=1. 2.
・) is based on v1 parameters.

The overall control device 30 uses tables 42, 43, and 44 to perform synchronous exclusive control of the operations of a plurality of equipment groups. In addition, the history data table 41 provided in the general control memory 31 in the same way as the above-mentioned tables 42, 43, and 44 includes the synchronized exclusive step shop started and its time (the unit is This is a table that stores the seconds) in order. In FIG. 7, the synchronization exclusive step number "0" is for storing the time from the start of one work at one-minute intervals.

The configuration of the overall control device 30 is shown in FIG. 8, and its operation will be explained below. In FIG. 8, 401 is an operation start determination section, 402 &! Start-up operation reader.

403 is an operation management information updating section, 404 is a control message reading section, 405 is a completion signal latch section, 406 is a control message transmitting section, and 407 is a history data storage section.

The operation start determination unit 401 determines the synchronization-jul and other step definition tables 42. 412 and 414) to read out the operations waiting for completion and the operations waiting to be started, their activation management states, and operating states from the operation management table 43. A synchronized exclusive stepper whose standby point is waiting for activation is selected and sent to the activation operation reading section 402 and the history data storage section 407 (arrows 413, 426). The startup operation reading unit 402 first reads the synchronous exclusive step definition table 4.
2 to read out the corresponding startup standby point (arrow 411),
Send it to the control message succession unit 404 (arrow 419)
. Then, the activation management status of the corresponding operator in the operation management table 43 shown in FIG. 5 is set to activated, and the operation status is set to active (arrow 415).

The control message reading unit 404 is the activation operator continuous output unit 40.
Based on the action Affi sent from 2, the message sender to be sent is read out from the action management table 4'3 (arrow 41
6) Read the control information and destination address corresponding to this message shop from the control message table 44 (arrow 418), and send it to the control message transmitter 406 (arrow 4).
22). Then, the message destination and activation point are notified to the operation management update unit 403 (arrow 420).

The control message transmitter 406 decodes the destination address and transmits the control information to the control device of the corresponding equipment (arrow 424).

Each piece of equipment executes a unit operation taught or programmed in advance in accordance with the control information sent from the general control unit 30, and sends a completion signal to the completion signal latch unit 405 when the execution of the unit operation is completed (arrow 423 ).

The operation management information update section 403 refers to the contents of the latched completion signal and updates the operation state of the corresponding operation module from the operating state to the operation completed state based on the information received from the control message reading section 404. Its contents are stored in the operation management table 43 (arrow 417).

The history data storage unit 407 receives the synchronization exclusive step response (arrow 426) sent from the operation start determination unit 401 (arrow 426) and the time received from the timer device 39 (arrow 428) according to the flowchart shown in FIG. Stored in the history data table 41 (arrow 427; 901 in FIG. 9)
,902°905). At this time, if the history data is less than the capacity of the history data table 41, the write pointer is incremented by 1 (91g903, 906), but if it exceeds the capacity, the write pointer is returned to the beginning (9th prisoner 903. 904
). In addition, an interrupt occurs from the timer device 39 at a fixed period (w, every minute in the case of Figure 7). In this case, the time is stored with the same ship exclusive step set to 0. By repeating the action,
In accordance with the operation sequence stored in the table in the integrated control memory 31, synchronous exclusive control is performed in starting unit operations of a plurality of facilities.

The activated synchronous exclusive step and its time are stored in the history data table 41 as history data.

Next, the configuration of the history display device 37 is shown in FIG. 10, and its operation will be explained. When the command latch unit 302 receives a history display command from the monitor terminal (arrow 309), it activates the history data reading unit 300 (arrow 307).

The history data reading unit 300 reads out the synchronous exclusive step shops and their times from the history data table 41 in order of earliest time according to the flowchart shown in FIG.
), and is sent to the i-motion operation reading unit 301 (arrow 305). The above read operation will be explained below with reference to FIG.

Set the value of the read pointer of the history data reading unit 300 to the value of the write pointer of the history data table 41 (I
'll). If the maximum write value is smaller than the read pointer, reset the continuous pointer to 1° (1
13). After setting the read pointer in this manner, the synchronous exclusive step indicated by the read pointer and its time are read (114). The history data reading unit 300 reads the read synchronized exclusive step shop and its time and reads it into the starting operation sequence unit 301.
(115), and the write pointer is decremented by 1 each time one synchronous exclusive step shop and its time are read, and the reading is repeated until the value matches the read pointer (115).
13,117).

Returning again to FIG. 10, the operation of the history display device m1.37 will be explained.

The starting action reading unit 301 reads out the starting waiting action for the sent synchronous exclusive step from the synchronous exclusive step definition table 42 (arrow 306) and sends it to the history data transmitting unit 303 (arrow 308).

The history data transmitting unit 303 displays the sent activation waiting device and its time on the monitor screen (arrow 310).

History display device 37ij: Through the above operations, the operating state of each facility can be reproduced from the synchronous exclusive step store stored as history data.

According to this embodiment, the historical data is as follows:
Each time a synchronous exclusive step is activated during an operation sequence, only the synchronous exclusive step and its time are stored. Then, the synchronous exclusive steps A stored as history data are read out in the order of the earliest startup time, and the startup wait operation corresponding to the synchronous exclusive step A is determined from the control data originally used to execute the operation sequence.・It is possible to reproduce the operating status of each piece of equipment.

Thereby, the operating state of each piece of equipment can be easily reproduced using control data without inputting separate history recovery data.

This embodiment can reduce the amount of history data by half or less compared to the conventional method of storing only changes in ON10FF of two external contacts.

Note that in this embodiment, the activation time for each synchronous exclusive step shop is also stored, but if you wish to express only the order of operation of each piece of equipment, the time in the history data table 41 can be omitted. can do. Furthermore, although the history display device 37 and the overall control device 30 are provided independently, it is also possible to integrate them into one device.

〔Effect of the invention〕

As explained above, according to the history reproduction method of the present invention,
It is possible to reduce the amount of historical data that must be stored in order to reproduce the operating state of each piece of equipment.

[Brief explanation of the drawing]

Figure 1 is a configuration diagram of a parts mounting station using two robots, and Figure 2 shows the synchronous exclusive operation sequence of Figure 1.
3 is a configuration diagram of a control system showing an embodiment of the present invention, FIG. 4 is a configuration diagram of the synchronous exclusive step definition table of FIG. 3, and FIG. 5 is a configuration diagram of the operation management table of FIG. 3.・FIG. 6 is a configuration diagram of the control message table shown in FIG. 3.・FIG. 7 is a configuration diagram of the history data table shown in FIG. 3. Figure 8 is a block diagram of the general control device in Figure 3, and Figure 9 is a diagram of the overall control device in Figure 8.
Flowchart showing the processing of the history data storage unit in Figure 10 is a block diagram of the history display device in Figure 8, and Figure 11 is a flowchart showing the processing of the history data reading unit in Figure 10. - Overall control device, 31... Memory for overall control, 37... History display device, 41... History data table, 42... Synchronous exclusive step definition table, 4
3... Operation management table 44... Control message table 2300... History data succession section, 301...
・・Start-up operation reading section・302...Command latch section, 1st part, 7'th Z figure'9f χ 10 Continued from Figure 1st page 0 Inventor Kunio Hase Hitachi University Mikamachika Factory 62-

Claims (1)

[Scope of Claims] 1. A first storage means for storing the activation order relationship of each unit operation created by combining a group of unit operations taught or programmed in advance to an automatic machine such as a robot; and each of the units. In a control system comprising a second storage means for storing operation commands for starting an operation and configuring a series of operation sequences including synchronization or exclusion, each unit operation is activated during execution of the operation sequence. At the same time, a third storage means for sequentially storing the identification information is provided, and the history of the operation sequence is reproduced from the identification information stored in the third storage means and the operation command corresponding to the identification information. A history reproduction method characterized by: 2. The history reproduction method according to claim 1, wherein the identification information stored in the third storage means includes a time relationship in which each unit operation was activated.