JPS60263208A - Factory automation system - Google Patents

Abstract

PURPOSE:To standardize a software, and to execute easily its extension and change by interposing a local area network between a central managing system and each working cell, and executing a data transmission between each unit in accordance with a prescribed protocol. CONSTITUTION:When a production schedule is inputted from a host device, a main computer of a central managing system 102 instructs to carry a work to a prescribed working cell, and to carry a jig and a tool to a tool room, etc. to a physical distribution system 107 through a local area network 103 in accordance with a protocol, also reads out a program and a robot control data from a program file, and transfers them to an NC device and a robot control device of the working cell by the protocol. When it is ended, a report is received from each of them. When the preparation is completed, a machine work by the working cell is executed, and when it is ended, its information is received. Thereafter, the computer exeuctes the same processing in accordance with the production schedule, and in the end, the machine work corresponding to the production shedule is executed automatically.

Description

[Detailed Description of the Invention] <Industrial Application Field> The present invention is applicable to factory automation systems (
In particular, each unit with a built-in processor that makes up the central management system and the units with built-in processors such as the NC device and robot control device that make up each processing cell are connected to a four-cal area network (referred to as an FA system).
LAN) via one cable (one communication line), control commands and data are transferred between each unit according to a predetermined protocol, and each processing cell is connected to the machine according to the production management of the central management system. FA that performs processing
Regarding the system.

<Prior Art> In a situation where the price of materials and labor costs are rising and there is a shift from mass production to high-mix low-volume production, a production system that does not have higher efficiency is required.

For this reason, we have installed a large number of processing cells including numerically controlled machine tools and four bots, as well as a logistics system including automated warehouses and automated guided vehicles, and a central management system controls the operation of these processing cells and logistics systems according to the production schedule. schedule operation, logistics control), the operating status of each processing cell and automated guided vehicle, and the progress status of each processing cell.
Outputs to equipment, and also stores NC programs in a managed manner.
FA systems that perform other management (e.g., modification, deletion, transfer, etc.) are in the spotlight.

<Problems to be solved by the invention> By the way, in the conventional F'A system, a large number of N'C devices and robot control devices are each connected to one control computer, and the DI/DO control and the Control commands and data are exchanged between each device. However, as the number of cables increases in the overhanging configuration,
As the load on the control computer increases, a large computer is required, and data must be sent and received using DI/Do control for each NC device and robot control device, making the software difficult. expansion,
Changes required software modifications, which was not desirable.

Therefore, an object of the present invention is to be able to exchange data without relying on Dr/Do control, and it is only necessary to incorporate standard software, and furthermore, there is no need to change the software when expanding or changing the system. The purpose of the present invention is to provide an FA system that is small in size and can be used as a control computer.

Another object of the present invention is to create an FA that allows the required system to be constructed in a short period of time and that allows for easy expansion and modification of the system.
The goal is to provide a system.

Means for Solving Problems> FIG. 1 is a schematic configuration diagram of an FA system according to the present invention.
. is a processing cell, each of which has at least an NC device with a built-in processor, a machine tool controlled by the NC device, a robot control device with a built-in processor, and a robot controlled by the robot control device. 10
Reference numeral 7 denotes a distribution system, which includes an automatic warehouse, an automatic guided vehicle, and a distribution control computer, and appropriately transports workpieces to predetermined processing cells or imports processed parts. 102, each processing cell 104a, . . . , 10 according to a production schedule given from a host device (not shown)
5a..., 106a... and a central management system that performs operational control, processing program management, centralized abnormality monitoring, etc. of the logistics system 107, and 103 connects each of the processing cells and the central management system 1 logistics system so that they can communicate with each other. It is a local area network (LAN).

Each processing cell 104a..., 105a..., 10'6a...
The NC device, robot control device, and units with built-in processors (e.g., main and sub computers, program files, etc.) constituting the central management system 102 are connected to the local computer via one cable, respectively.
It is connected to an area network (LAN) 103, and control commands and data are transferred between each unit according to a predetermined protocol, and each processing cell performs machining under the control of a central management system.

Functions> Units with a built-in processor (NaC device, robot control device) included in the processing cells 104a..., 105a..., 106a..., units with a built-in processor (main and sub computers, program files, etc.) are frame data according to a predetermined protocol, i.e., data start code, data source code, data destination code, control command,
Generates frame data with transfer data and data end code as one unit, and sends it to the local area network (
LAN) 103 transmits control commands and transfer data to the receiving unit based on the receiving destination code included in the frame data.

For example, when a production schedule is input from a host device (not shown), the main computer of the central management system 102, based on the production schedule, transports the workpiece to a predetermined processing cell to the logistics system 107 according to the protocol, or to the setup area and tool room. In addition, the main computer reads a predetermined machine program and robot control data from the program file, and sends these to the N of each processing cell.
The data is transferred to the C device and the robot control device using the above protocol. Lever logistics system 1 that completes the transportation of workpieces and jigs
07 reports the completion of the transfer to the main computer, and when the processing cell finishes receiving the cannibal program and low pot control data, it reports the completion of reception to the main computer of the central management system 102 using the aforementioned protocol. When preparations for machining are completed as described above, the main computer of the central management system instructs each machining cell to start operation, and machining is performed by the machining cells. When machining is completed, the machining cell notifies the main computer of this fact, and the computer thereafter performs the same processing as described above according to the production schedule, and finally machining according to the production schedule is automatically performed.

<Embodiment> FIG. 2 is an overall block diagram of the FA system according to the present invention, in which 101 is a host device, 102 is a central management system, 103 is a LAN, and 104, 105, and 106 are processing cells each consisting of a plurality of processing cells. Cell group 1o7 is a logistics control system.

The central management system 102 is the main computer 102
a, a program file 102C1 configured by a subcomputer 102b, a large number of cannibal programs, a large capacity memory (for example, a magnetic disk) for storing robot control data, and a processor; automatically creates cannibal programs and robot control data; The automatic programming device 102d stores the program in the program file 102c, and is connected to the subcomputer 102b to record (a) the operating status of the processing cells, automated warehouses, and automatic guided vehicles, and (b) the daily data for each processing cell. Alternatively, a color display device 102e that displays one month's production progress, a printer 102f that is connected to the main computer 102a and similarly prints out the operating status, production progress, schedule list for each processing cell, etc., and a LAN.
Programmable controller forming part of 103
(PC) configuration LAN unit 102g.

The main computer 102a is connected to the host device 101 and receives production schedules and other data from the host device, and also controls the operation of the processing cell and logistics control system 107 according to the production schedule, and also controls the printer 102f to perform processing. It prints schedule lists, operation lists, production progress lists, etc. for each cell, and performs various other controls.

The subcomputer 102b is connected to the main computer via the LAN unit 102g, outputs commands from the main computer to the logistics control system 107, and uses data sent from the logistics control system to check the operation results of each processing cell. , production results and other data are displayed on the color display device 102e.

Program file 102c combines automatic programming device 102d and main computer 102a,
Transfer data at high speed. and (a) a Canadian program created by the automatic programming device 102d;
Register (storage) robot control data in the built-in memory, (b) modify the already created cannibal program, and (C) modify the cannibal program stored in the built-in memory according to instructions from the main computer 102a. , robot control data is directly transferred to the processing cell according to a predetermined protocol and stored in its memory, and (d) the machine program requested from the operation panel of the processing cell is transferred to the processing cell in n ways.

The LAN unit 102g that constitutes a part of the LAN includes
Main computer 102 a1 sub computer 10
2b, program file 102C each has one R
3232C transmission line (metal cable) MLI, ML2,
Connected via ML3. Note that an optical fiber may be used as the transmission path. Also, LAN10
2g includes a plurality of lower-level LAN units 103a, which will be described later.
.

103b and 103c are connected via one optical fiber OFI, OF2, and OF3, respectively. As shown in Figure 3, each LAN unit has a main microprocessor unit L1 with built-in RAM, and a ROM
It has a board L2, serial ports L3, L4, and L5 to which a plurality of R8232C transmission lines are connected, and buffer parts L6 and L7 each having a built-in RAM to which a plurality of optical fibers are connected, and each part is connected to a bus line. They are interconnected by a BS.

LAN unit 103a that constitutes LAN 103,
103b and 103c are provided for each processing cell group 104, 105, and 106 each consisting of a plurality of processing cells, and each of the LAN units 103a to 103c
103C is one optical fiber 0Fi (i=
1.2.3) to the LAN unit 102g of the central management system. Also, processing cell group 104.10
5. The NC device and robot control device of each processing cell that make up the 106 are connected to a corresponding LAN unit via one R8232C transmission line or optical fiber) 10
3a, 103b, and 103c.

The processing cell group 104 includes three processing cells 104a.

104b1104c, and the processing cell group 105 has two processing cells LO5a and 105b, and the processing cell group 106
has two processing cells 106 all 06b, each processing cell has an NC device (CNC) with a built-in processor, and
It has a machine tool MT controlled by the C device, a robot control device RBC with a built-in processor, and a robot RB controlled by the robot control device.

The logistics control system 107 has a logistics control computer 107a, an automated warehouse 107b, and an automatic guided vehicle 107C, and moves workpieces from the automated warehouse to predetermined processing cells based on instructions from the central management system 102 according to the production schedule. The processed parts are transported from the processing cell to the automated warehouse, and furthermore, each processing cell, automated warehouse,
Outputs the operating status of automatic guided vehicles, production progress status, etc. to the central management system.

Units with built-in processors (main, sub computers 101a, 101b) connected to the LAN unit
, program file 101c, NC device CNC10bot control device RBC, etc.) is called a station.
LAN 1 is connected between each station of the central management system 102 and each processing cell station under the control of the AN 103.
The following data transmission is performed under the control of 03. Now, each station generates frame data having a transmission format according to a predetermined protocol, that is, a data start code, a data source code, a data receiving destination code, a control command, transfer data, and a data end code are treated as one unit. The LAN 103 generates frame data to transmit the control command and transfer data to the receiving unit based on the receiving destination code included in the frame data. FIG. 4 is an explanatory diagram explaining the transmission format. One frame data consists of data start code (STX), message text (MESSAGE TEXT), end of text (ET'X), block check character ( BCC), and the message text consists of (,) source code (SRC), (b) destination code (DES), (c) transmission type (X
) and transmit f John subtype (YYY) and data format or command extension (
222) Yosuseru control command (xlYYY, ZZZ)
, (d) includes transfer data (DT).

Now, as shown in FIG.
, 5T12, 5T13 to receiving station 5, respectively.
Transmitting side LAN unit L at T21.5T22.5T23
If data AAA...A, BBB...B, and CCC...C are to be transferred via the ANI and receiving side LAN unit LAN 2, each transmitting station 5T1i (
i=1.2.3) generates data AAA..., BBB..., CCC... in the transmission format shown in Figure 4, and sends them through the transmission path (metal cable or optical fiber). The data is input to the transmitting side LAN unit LAN1 via the transmitting side LAN unit LAN1. Sending side LAN unit LAN 1
stores the data from each sending station in the buffer section BFI.
After storing these data in I, BF12, and BF13, these data are output to the transmission line OF from the serial port SPI in the order of ABCABCAB...ABCABC along with a synchronizing signal.

As described above, the above data sent from the transmitting side LAN unit LAN1 is read by the processor via the serial port SP2 of the receiving side LAN unit LAN2, and then the receiving destination's buffer units BF21, BF22,
BF23 to AAA...A1B'B B...B, CCC
. . . are rearranged into station C and input to station 5T21.5T22.5T23 via the corresponding transmission path.

Now, when a production schedule is input from the host device 101 to the central management system 102, the main computer 102a of the central management system 102 sends control commands to each processing cell and logistics control system in the transmission format based on the production schedule. and transmit data.

That is, the logistics control system 107 is instructed to transport a workpiece to a predetermined processing cell or a jig or tool to a setup area or tool room, and the program file 102C is instructed to send a predetermined NC device or robot control device. Instructs to send nibprogram and robot control data.

As a result, workpieces and jigs are transferred, and the program file 102c transfers predetermined machine programs and robot control data to the LAN unit 102g according to a predetermined protocol.

NG device CN of each processing cell via 103a to 103c
C. Transfer to robot controller RBC.

When the transportation of workpieces and jigs is completed, the logistics control computer 107a of the logistics control system 107
reports the completion of transportation to the central management system 102, and each processing cell sends a message to the LAN units 1038 to 103c, 102 after receiving the Canadian program and robot control data.
The completion of reception of the Canadian program is reported to the main computer 102a of the central management system 102 via g. Once the machining preparations are completed as described above, the main computer
02a instructs each machining cell to start operation, and machining is performed by the machining cell. When the machining is completed, the machining cell notifies the main computer of the fact, and the computer then performs the same process as above according to the production schedule, and finally the machining is automatically performed according to the production schedule. Become.

In addition, when displaying operating results, production results, etc. on the color display device 102e or printing output on the printer 102f is required, the main computer 102a
Alternatively, the subcomputer 102b uses data sent from the logistics control system 107 to create an operation record table, a production record table, and other data for each processing cell, and displays them on the color display device 102e or outputs them to the printer 102f. .

The above explanation has mainly been about data transmission between the units of the central management system and the processing cells or logistics control system, but there is no master-slave relationship among the units connected to the LAN, and all the units are directly connected to each other. Data can be transmitted freely. Also, the above is a case where the processing cell is controlled according to the production schedule, but
It is also possible to request a predetermined cannibal program from each processing cell and perform processing based on the cannibal program without being managed by a central management system.

FIG. 6 is a block diagram of another FA system according to the present invention, and the same parts as in FIG. 2 are given the same reference numerals.

Note that the difference between FIG. 6 and FIG. 2 is (a) In FIG. Although it has a hierarchical structure, it is connected in a loop in FIG. 6 (OFI to OF4 are optical fibers). (b) The setup list 2 is connected to the LAN unit 103a.
01 is connected via one R3232C transmission line or optical fiber.

<Effects of the Invention> As described above in detail, according to the present invention, a plurality of processing cells including an NC device with a built-in processor, a machine tool, a robot control device with a built-in processor, and a robot are provided, and A central management system that at least controls the operation of the processing cells according to a production schedule, and a local area network (LAN) that connects each of the processing cells and the central management system in a communicable manner, and each of the processing cells Each unit with a built-in processor that constitutes the NC device, robot control device, and central management system is connected to the LAN via one cable (R3232C metal cable or optical fiber), and each unit is Control commands and data are transferred between the machines, and the machining cells are configured to perform machining under the control of the central management system, so data can be transmitted without using DI/DO control as in the past. Data transmission can be performed between any stations connected to a LAN, and each station and LAN unit only needs to have standard software installed, and the software does not need to be modified when expanding or changing the system. There is no. Furthermore, the main computer of the central management system can be made small, and the system can be easily expanded and changed, and the system can be constructed in a short time.

[Brief explanation of drawings]

FIG. 1 is a schematic explanatory diagram of the present invention, FIG. 2 is a block diagram of the first embodiment of the FA system according to the present invention, and FIG.
FIG. 4 is a block diagram of the N unit, FIG. 4 is an explanatory diagram of data transmission format, FIG. 5 is an explanatory diagram of data transmission control by LAN, and FIG. 6 is a block diagram of a second embodiment of the FA system according to the present invention. 101...Host device, 132...Central management system, 102a...Main computer, 102b subcomputer, 102c...Program file, 103...LAN, 103a, 103b. 103c... LAN unit, 104.105.
106... Processing cell group, 104a to 10'4c, 105a to 105b, 10
6a to 106b...processing cell, CNC---NC device,
RBC...Robot control device patent applicant Chiki Saito, agent for FANUC Co., Ltd., patent attorney

Claims (4)

[Claims] (1) Central management that provides multiple processing cells including an NC device with a built-in processor, a machine tool, a four-bot control device with a built-in processor, and a robot, and at least controls the operation of the processing cells according to the production schedule. a local area network that connects each of the processing cells and the central management system in a communicable manner; The units are each connected to the local area network via one communication line, and control commands and data are transferred between each unit according to a predetermined protocol, and the processing cells perform machining operations under the control of a central management system. A factory automation system that performs the following. (2) Each unit transmits a data start code, data source code, data receiver (i destination:
The local area network generates frame data in which one unit is a command, control command, transfer data, and data end code, and the local area network generates a control command, transfer data based on the destination code included in the frame data. The factory automation system 0 according to claim 1, characterized in that the factory automation system 0 transmits (3) The central management system includes a main computer connected to a host computer, a program/file unit with a built-in processor that stores multiple NC programs and robot control data, a display device, and a subsystem that controls the display device. computer and
The main and sub computers and program file units each have a LAN unit configured as a programmable controller connected via one communication line, and the local area network is provided for each of the plurality of processing cells. Each of these LAN units is connected to the LAN unit of the central management system, and the NC device and robot control device of the corresponding processing cell are connected via one communication line. A factory automation system according to claim 1, wherein the factory automation system is connected to the factory automation system. (4) Automated warehouse, automatic guided vehicle, and logistics control: A logistics control system with a heater is installed, and the logistics control computer is connected to a subcomputer of the central management system, and the logistics control system is integrated into the central management system. The factory automation system according to claim 3, wherein the factory automation system performs physical distribution control in accordance with instructions from the factory automation system.