JPS62221705A - Automatic teaching and reproducing device - Google Patents

Abstract

PURPOSE:To attain the automatic control of a controlled system and furthermore to perform teaching and reproduction of manual operations by a memory part of smaller capacity, by storing successively the control forms of manual operations and then reproducing these stored control forms. CONSTITUTION:The control forms of manual operations are successively stored and then reproduced. An element setting process means STM decides previously a level element, an edge element or a timer element to recognize an input device. A teaching process means THM has a function to store successively the simulated operations of the controlled system carried out by an operator. A reproduction process means PBM has a function to control the controlled system in a desired state based on the storage contents of the means THM. When a basic program stored in a ROM is started, the state of a mode changeover switch M provided to a program device PGM is supplied at first. Then a mode is decided in steps 6b, 6c and 6d respectively. Then the processing is shifted to the means STM with the element setting mode, to the means THM with the teaching mode and to the means PBM with the reproduction mode respectively. Thus the prescribed processing is carried out.

Description

[Detailed Description of the Invention] [Industrial Application] The present invention is a sequence control device that inputs the state of a controlled object in the form of a large number of binary signals and performs binary control of the controlled object according to the state of these signals. The present invention relates to an automatic teaching/reproduction control device suitable for use in.

[Conventional technology]

2 from an input device that detects the state of the controlled object in binary state.
It is equipped with an input section for inputting a value signal, and an output section for outputting a binary signal to an output device that controls and operates the previous dpi control target in a binary state, and includes two of the input devices stored in advance in 1.1. A sequence control device that controls the output device to a predetermined state according to value conditions sets the relationship between input and output in advance using pool algebra or the like, and stores a block diagram created based on the kneading in the storage unit. 7. Then, the actual program 't'Ti/(-) controls the controlled object to the desired state.
It is extremely difficult to create a program for control operations such as overhead cranes, where the swing of a suspended load requires a minimum Q'C at the destination. Therefore, the current situation is that the control operation of this persimmon has conventionally relied solely on manual operation based on the operator's experience.

The controlled object is manually operated by the operator, the operations are memorized sequentially, and the controlled object is reproduced.
As long as you control the system, the above problems can be solved. In view of this possibility, we manually operated the control target to sequentially memorize the binary states of the input/output devices at predetermined time intervals, and sequentially reproduced all the peaks and valleys of this memory. There is something.

One of the most important examples of the technique of handles is the 55-4
No. 4644 9% 1986-206908 9% 1982
-176414, published in Japanese Patent Application Laid-open No. 55-43614.

[Invention or problem to be solved]

The form of control in manual operation is controlled at predetermined time intervals.
In the conventional device that uses quaternary storage, it is not possible to achieve precise control unless the time interval for capturing status information of input/output devices is shortened. However, if this time interval is shortened, the capacity of the storage section for storing the various operations of the controlled object becomes enormous, which is not practical in a sequence control device.

The present invention has been made in view of the above points, and its purpose is to improve the control form in manual operation.
By storing and reproducing the data, it is possible to automatically control the controlled object, and with a smaller storage capacity,
The object of the present invention is to obtain an automatic teaching/4Q production case that can teach manual operation and produce tI'+.

[Failure to solve the problem]

In sequence control 1, each Sakaki push-down switch.

Multiple input states such as limit switches are combined,
The output state is determined by the condition of this combination. When these input states are analyzed, they can be divided into three elements. One of them is the state of the input device, that is, ON,
The level element corresponding to OFF, the second is the stopping edge corresponding to the state change point of the input device, the edge element that changes the change at the falling edge, and the third is the time from the state change point of the input device This is a timer element that is passed in time.

The present invention focuses on the fact that in sequence control, the output state is determined by the state of a plurality of inputs, and the input state is substituted by three elements. The desired purpose can be achieved by detecting a change in the output state at the time of the change, storing the input/output state at the time of the change in 111th order, and dividing the publication year.

That is, according to the present invention, the state storage means includes a large number of unit state storage sections that store state information of input devices, for at least one arbitrary input device, together with time elapsed information from the time when the state of the device changes. , and a switching means for specifying manual/automatic operation of the control target. and detecting means for detecting a change in the state of the output device based on the manual operation designation information from the switching means, and responsive to each change detection information from the detecting means, the input device at each point in time and teaching processing means for sequentially storing binary state information and time elapsed information in each unit state storage section of the state storage means. Furthermore, the state of the input device is sequentially detected based on the automatic operation command information from the switching means, and the state of the input device at each time period is compared with the corresponding storage contents of each unit state storage section. a reproduction process for controlling the output device based on a time signal for the output device stored in the unit state storage unit VC in response to the detection of the coincidence by the determination device; Have the means.

[Effect]

With the above configuration, when the controlled object is manually operated, the detection means constantly monitors the state change of the output device, and if there is a change at t, the teaching processing means collects the state information of each input device at the time of the change. , 1 in each unit state storage section of the state storage means.
Stores 111th order. Therefore, since what is stored in the state storage means is the state of various input/output devices when the state of the output device changes, the storage capacity of the state storage means becomes extremely small when storing a series of operations of the controlled object.

During playback, the state of the state storage means or the input device is constantly monitored, the storage contents of each unit storage section of the state storage means are checked to determine the point of control operation of the output device, and the playback process is performed based on this. Controlling and creating a means or output device to a desired state.

As described above, the control object is controlled by the VC in the same manner as if it were operated by the operator.

〔Example〕

An embodiment of the present invention will be explained below with reference to the drawings. FIG. 2 schematically shows an overhead crane, which is an example of a controlled object. Use this overhead crane to transport a load P from land A or K to Bj1! ! When moving to a wide area, it is generally not necessary to limit the swing of the load P between A and B dyeing areas, and to not wait when the B area is reached. Normally, such overhead crane load swing control requires complicated calculations.

However, experienced crane operators have been performing this standby operation for many years. In the past, it was possible to stop the crane from waiting by having the operator perform a manual simulation operation, sequentially memorizing the operation pattern, and reproducing it.

FIG. 3(a) shows the speed pattern of the cart T when the load P is stuck on the ground or B. This speed pattern can be realized by ON-OFF control of the trolley T shown in FIG.
a is a trolley movement output signal that drives the trolley T to move, b is an automatic mode input signal indicating that it is in automatic operation mode, C is an input signal from a drive start button etc. that instructs to start driving, d is a stop of the trolley T This is an input signal from a limit switch or the like placed at position ST. In the embodiment described later, during the teaching operation during manual simulation driving, the trolley movement output signal a
or read as a manual output pattern, other signals,
C and d will be recessed as input cover turns.

FIG. 5 is a block diagram showing the overall configuration of the embodiment.

The EIB is a system bus, and includes a microprocessor MPU (hereinafter referred to as single cMPU), a read bus,
Only storage device EOM (hereinafter referred to as ROM),
Random access storage RAM (hereinafter simply referred to as RAM)
That's what it means. ), process input/output interface & [P engineering 0. and a programming device tPGM as an input device. The ROMK stores the basic program of the gods, which will be described later, for storing and reproducing the manual simulated operation of the controlled object, and the RAM stores the state'bv information of the tree output device when the manual simulated operation is performed, and the basic program. Various storage units are set up to store various information necessary for executing the program. The process input/output interface device P0 includes a large number of input/output circuits for inputting and outputting status information of input devices such as sleeve push button switches and limit switches, and output devices such as electromagnetic contactors. Each of the input/output circuits is connected to a predetermined input/output device. Furthermore, each of these circuits is configured so that the MPU can read or write the state as necessary when executing the basic program stored in the ROM, and each circuit has a different address. It is an assignment. By specifying the address, the MPU can read or write the status of the H1-defined input/output device. The program device PGM has a large number of keys KB, etc., and display sections DS and P.
It is possible to instruct the setting of each loincloth, switching of modes, etc., which will be described later. In particular, the mode changeover switch M provided in the grogram device PGM is an element setting/manual/automatic changeover switch, and each mode is designated by this switch. Iji 9DBP is input information from the program device PGM,
Alternatively, it is used to notify the operator of various commands from the equipment side.

The basic program stored in the ROM will be explained below. FIG. 6 is a flowchart showing an outline of the portrait storage program. This basic program is divided into three major parts. That is, the element setter gzsTM, the teaching processing means THM, and the reproduction processing means PBM. The element setting processing means ST'M sets the input devices connected to each input circuit of the process input/output interface device ftPIO to the three elements described above, that is, the level element, the edge element,
This is to set in advance which timer element is to be recognized. The teaching processing means THM has a function of sequentially storing simulated operations of the controlled object by the driver, and the reproducing processing means PBM
has a finger that controls the controlled object to a desired state based on this internal answer. When this basic program is started, it is distributed to the program device PGM in step 6a.
i! eL, input the state of the mode changeover switch M.

Then, in steps 6b, '6c, and 6d, the mode is added, and if it is this or element setting mode, the process is carried out in step 6.
The process is transferred to the element setting processing means STM indicated by θ, and if it is a manual operation mode, that is, a teaching mode, the process is performed in step 6.
Transfer to the teaching processing means THM indicated by f, automatic operation mode,
That is, in the reproduction mode, the processing is transferred to the reproduction processing unit 49PBMK shown in step 6g, and predetermined processing is executed.

Each of the processing means STM, THM, and PBM will be explained in detail below. Note that each of these processing means EITM,
When executing THM and PBM, various storage units are allocated to RA and M as shown in FIG. ELM is an element setting storage unit, and is an interface device for process use.
The same number of unit element storage units ESMI as the input circuits of kPIo,
88M2. .......

Equipped with ESMi, each storage section EEIMI, ESM2゜...
..., ESMi correspond to each of the input terminals of the processor input/output interface device PIO.

Each unit element storage unit ESMI, 88M2.・・・・・・
, ESMi further sets and stores any of the following elements: level element, rising edge element, falling edge element, rising timer element, and falling timer element. TCM is a temporary state memory unit, which has the same number of unit memory units TOMI, TC! as the input circuits of the process input/output interface device P/O. M2. ......,T
CMm, and each memory section corresponds to each of the input circuits.

Unit storage units TOMI, TOM2. .=., each TOMm further includes a storage section Ma that stores status information of input/output devices connected to the corresponding input/output N path, and a storage section Mb that stores timer elapsed values.

In this case, if the corresponding input/output circuit is not recognized as a timer element, the storage section Mb of the storage section does not feel usable. TM is a state storage section, which consists of a large number of unit state storage sections TMI, TM2゜..., TMn, and each unit state storage section TMl, TM2 . −・・
-, TMn has the same structure as the temporary state storage section TCM, and further includes a storage section OUT for storing the output state. Each of these unit state storage units TMI, TM2 .・
..., TMn is the state of the corresponding input/output device at that time every time a state change occurs in the output device during manual simulation operation by the driver! P3 information etc. are stored 111 times.

BBAD, EADP, TOMP, TMP,
0UTP is various storage units that are set in advance to predetermined addresses in the RAM when executing the program.

Hereinafter, referring to FIG. 7, step 6e is shown in FIG.

Each of the element setting processing means STM, teaching processing means THM, and reproduction processing means PBM indicated by 6f and 6g will be explained in detail.

FIG. 8 is a flowchart showing the element setting processing means STM. When the means STM is activated, it first clears the element setting storage ESM in step 8a. Next, in step 8b, input of the address of the input device for element setting is requested. Based on this request, the operator
Enter the specified address from the GM.

In the case of this embodiment, the end of the processing of the means STM is determined based on the fact that this input address is predetermined specific information. Step 8c is this determination process. When the process is finished, the address information input in step 8b is stored in the element setting address storage section E set at a predetermined address in the RAM in step 8d.
Temporarily stored in SAD. Subsequently, in step 8θ, elements recognized by the input device are input. The elements are any of the above-mentioned level elements, rising edge elements, falling edge elements, rising timer elements, and falling timer elements, and in this embodiment, the level element is "L" and the rising edge element is rE.
The falling edge element is input as ``UJ'', the falling edge element as ``rnD'', the rising timer element as rTUJ, and the falling timer element as ``TD''.

Therefore, based on predetermined factors, the operator
J, rEUJ, rEDJ, rTUJ, rTDJ
Input one of the following on the program device [PGM key KB]. In step 8f, this inputted element information is stored in the element setting address storage section EEI A DK, and in the unit element storage section BSMI, E of the address corresponding to the stored address.
EIM2. . . . is stored in FiSMi, and the processing is performed in step 8bK. After that, steps 8b, '8c,
Repeat steps 8d, 8e, and 8f to set the desired recognition element to the desired input device connected to the process input/output interface device P. The following can be said about each input device (i), (c), (d) in Fig. 4. That is, rLJ is set because the automatic mode manual input is a level element, rTUJ is set because the operation start button input C is a rising timer element, and rEDJ is set because the limit manual input d is a falling edge element.
is set.

FIG. 1 is a flowchart showing the teaching processing means TI(M). When the means THM is activated, first, in step 1a, the temporary state memory TOM, the state memory m'rM,
and buttons (tan EADP, TOMP.

Initialize TMP. Pointer EADP points to each unit memory unit EEIMI, ESM2 .・・・
. . . is a pointer that specifies sequential scanning of ESMi,
Pointer TOMP indicates each unit storage unit TOMI, TCM2 . .......

This is a pointer that sequentially scans and specifies TOMm, and pointer TMP points to each unit storage unit TMl, TM2 of the state storage unit TM.
．． . . . is a pointer that specifies sequential scanning of TMn. These pointers EADP,T.

MP and TMP are placed at preset addresses in the RAM as shown in FIG. Each pointer EADP, TOMP
, TMP, the start addresses of the corresponding storage units BSM, TOM, and TM are specified. In the subsequent step] b, it is determined whether the teaching process has ended. This is determined by reading the indicated position of the mode changeover switch M arranged on the block diagram PGM. If the process is not completed, the process goes to step IC. In this step, the state of the input device connected to the input circuit of the process input/output interface device P is stored in the corresponding temporary state storage unit TOM.
Each unit storage unit TOMI.

TOM2. ......, 1111th order is stored in TOMm. When storing this, the elements whose settings have been stored in the element setting storage section B8MK are referred to.

FIG. 9 shows the input state acquisition means 1 shown in this step IC.
This is a flowchart showing 00R, and this flowchart will be explained below. When the OCR is activated, the element setting address pointer P is set in step 9a.
Reads the contents of the address specified by ADP. Next, step 9b.

Is the content read by 9ci and 9d level rLJ?
Determine whether it is edge rEJ or timer ITJ.

If the level is rLJ, the process moves to step 9e, and if the level is rEJ, the process moves to step 9tK, and the timer I
If TJ, move the process to step 9g, step 9e
As shown in FIG. 10, the level processing means LVL shown in FIG. 10 reads the state of the input device at the corresponding address in step 10a. In step 10b, this state is ON.
or OFF', and if it is ON, in step 10C, the unit memory TOM1. of the temporary state memory TOM specified by the pointer TOMP is stored. TCM2. ......, TOM
m4C"l" is stored, and if it is OFF, in step 10d, 0" is stored in the unit storage units TOMI, TOM2.-.TOMm of the temporary state storage unit TOM specified by the pointer TOMP, and the processing of the level processing means LVL is performed. end.

FIG. 11 is a 70-chart of the edge processing means EDG shown in step 9f.

The processing means EDG first reads the contents of the address specified by the element setting address pointer EADP in step lla. In the following step llb, it is determined whether the element in question is a rising edge element. If this is a rising edge element, it is determined in step llc whether or not the rising edge has changed. Then, if there is a change in the rising edge, the unit storage unit TCM1. of the temporary state storage unit TOM specified by the pointer TOMP is determined in step '11d. TOM2. ...
....

TOMmK"l" is stored, and if there is no change in the rising edge, the unit storage units TCMI and TCM2 of the temporary state storage unit TCM specified by the pointer TCiMP are stored in step lie.
．． −． TC! Mm["O' is memorized. Step 1l
In the determination of kl, if h is not a rising edge element, the element is a falling edge element, and in step Ilf it is determined whether or not there is a change in the falling edge. Then, when the falling edge changes anH, the pointer TOMP is set at step l1g.
The unit storage unit T of the temporary state storage unit TOM specified by .

Ml, TOM2. --, TOMmI/C
I′ 1 ” is set to 1 and if it does not change to a falling edge, in step 11h, the unit storage units TCMI, TO of the temporary state storage unit TOM specified by the pointer TC!MP are stored.
M2.・・・・・・．

TOMmK"O" is stored and the corresponding edge processing means EDG
Terminates the process. FIG. 12 is a 70-chart of the timer processing means TMR shown in step 9g. The processing means TMR first reads the contents of the address specified by the element setting address pointer EADP in step 12a.

In the following step 12b, it is determined whether the element in question is a rising edge timer element. If this is a rising edge timer element, it is determined in step 12c whether or not the literary edge has changed. 7. If there is a change in the rising edge, step 12 (in step i, the unit storage units TOM1, TOM2, etc. of the temporary state storage unit TOM specified by the pointer TOMP are
..., resets the timer elapsed value area Mb of TOMm. If there is no change in the rising edge, step 1
In step 2e, it is determined whether or not the timer elapsed value area Mb is intended to be reset. If it has already been reset, go to step 12.
At f, the value of the current timer elapsed value area Mb is updated by "+1#".

If the element has not been reset, do not execute step 12f (end the process).If the element in step 12b is not a rising edge timer element, then proceed to step 12g since C is a falling edge timer element. In step 12g, it is determined whether or not there is a change in the falling edge.

Then, if there is a change in the falling edge, step 12h
unit storage units TOMI, TOM2 . of the temporary state storage unit TOM specified by the pointer TOMP. ......TC!
Reset the timer elapsed value area Mb of Mm. If there is no change in the falling edge, it is determined in step 121 whether the timer elapsed value area Mb has been reset. If i''L has already been reset, the value in the timer elapsed value area Mb is updated by +1M in step 12j. If the reset has not been completed, the process ends without executing step 12j.

Based on the determinations in steps 9b, 9c, and 9d in FIG.
When the processing of 19r bars in steps 9c, 9f, and 9g is completed, the pointers EADP and TO are set in the next step 9h.
MPff: History is new. In the subsequent step 91, it is determined whether the pointer EADPO value has scanned and specified all the addresses in the element setting storage section ESM, and if not, fL returns the process to step 9a and repeats the above process. and,
When all addresses in the element setting storage unit ESM are scanned and specified, the process ends.

When the above processing is completed, the processing returns to FIG. 1, and step 1d is executed. This step 1d reads the manual output pattern, that is, reads the status of the output device connected to the output circuit of the process input/output interface device P/O. Then, in step 1θ, it is determined whether there is a change in the state of the output device. This was last time, storage unit 0U
This is done by comparing the contents stored in the TP with the contents just read. As a result, if there is no change, the process returns to step lb and the above process is repeated. When the change is 6i, in step 1f, the contents captured this time, that is, the "ON, OFF" status, are written to the memory location OUTP.Then, in the next step Ig, the contents of the temporary state memory TOM and the manual output pattern memory 0UTPO are written as Unit state storage units TMI, TM2.・pointer TMP points to
..., TMnK memory registration.絖〈In step 1h, unit state storage units TMI, TM2 .・・・・・・
, TMn, and the pointer TMP sequentially scans and specifies the next unit state storage unit TMI, TM2 .・
・・・・・・．

Update to specify TMn. In step 11,
It is determined whether the pointer TMP has specified an excess of the state storage section TM, and if it has not exceeded the specified value, the processing returns to step 1b and the above processing is repeated.

If it exceeds the limit, an abnormal output is generated in step 1j and the process is terminated. In the above iterative process, step 1
When the teaching is completed in step b, the processing of the means THM is ended.

By executing the teaching processing means THM as described above, the state information of each input/output device at each time point at the time of state change of the output device is stored in each unit state storage unit TMI, TM2 .
. . . are sequentially assigned to TMn. This is the fourth
The explanation will be as follows with reference to the figures. That is,
The trolley movement output a that becomes a manual cover turn is time TI, T.
2. T3. The state changes at T4. Therefore, time T
The relevant output a in I, and each person's power, c, d
The information on the output a at time T2 and the information on each person's power, c, d is stored in the unit information storage section TM2, and the information on the output a at time T2 is stored in the unit information storage section TM2. T4
The output a and the information on each person's output a, c, and a are stored in the unit information storage unit TM3. Stored in TM4.

Note that TDI, TD2. TD3 is a timer elapsed value stored in the timer elapsed value area Mb of the storage unit corresponding to the input C.

FIG. 13 is a flowchart showing the regeneration processing means PBM. When the regeneration processing means PBM is started, first step 1 is performed.
3a, temporary state memory TOM and pointer KADP
, TOMP, and TMP are initialized. Next, step 1
In step 3b, it is determined whether the reproduction process is finished. This is, for example, a mode changeover switch M placed in the program device BGM.
The state of 23.

Determine by reading. If the result of the determination is that the reproduction has not ended, step 13c is executed.

This step is the execution of the above-described input state capturing means 100R shown in FIG. From this K, the status information of each input device at the relevant time point is stored in the temporary storage unit TCM. In the following step 13 (1), the status information of each input/output device in the temporary storage unit TCM imported in step 13c and the unit status storage unit T pointed to by the pointer TMP are stored.
The contents of MI, TM2, . If they do not match, the process returns to step 13b and the above process is repeated. ; Then, in step 13c, the contents of the temporary storage unit TOM are sequentially updated. In step 13b, the status information of each input/output device in the temporary storage unit TOM and the unit status storage units TMI and TM2 pointed to by the pointer TMP are stored.
．． . . . If the contents of the corresponding self-memory section of TMn match, the unit status memory section TMI pointed to by the pointer TMP goes to step 13e.

7M2. . . . Outputs the output pattern and 24° information stored in the TMnK memory, and controls and operates the corresponding output device.

In step 13f, unit state storage units TM1.7M2.
......, pointer TM that specifies sequential scanning of TMn
P, the pointer TMP is the next unit state storage unit TMI
, TM2. After updating to specify TMn, the process returns to step 131) to prepare for the next output. Thereafter, the above process is repeatedly executed to control the control object to a desired state based on the contents stored in the temporary state storage section TM.

To operate the apparatus of the embodiment configured as described above, first, switch the mode selector switch M of the program ktpaM to the element setting mode, and select the desired input device connected to the process input/output interface device P. Set the elements to be recognized. Next, the mode selector switch M of the program device PGM is switched to the teaching processing mode, and the controlled object is operated manually. As a result, the device sequentially stores its operating state in the storage section. In addition, the program installation [
By switching the mode selector switch M of the PGM to the regeneration processing mode and performing the first 1ilJ operation, the previous manual operation can be faithfully reproduced. In other words, fl configured as in the example changes the control form in hand@operation to jl
By reproducing this information, it is possible to automatically control the controlled object, and when the controlled object is manually operated, the detection means shown in step 1e constantly monitors the state change of the output device, and The status of various input/output devices is memorized only when there is a change. Therefore, when storing a series of operations of a controlled object, each item stored in the storage section becomes extremely small.

〔Effect of the invention〕

As is clear from the above description, according to the present invention, the control mode for manual operation is stored in the 11mth order, and the controlled object is controlled automatically by reproducing the 11mth order. You can control ff1J and have a smaller capacity. 1.1 copy allows you to memorize manual operations,
II+ can serve its own wA storage/reproduction device.

[Brief explanation of drawings]

Fig. 1 is a flowchart showing teaching processing + twisting according to an embodiment of the present invention, and Fig. 2 is a flowchart showing teaching processing + twisting according to an embodiment of the present invention. A schematic diagram of an overhead crane showing an example of ttlJm target, Figure 3 is a time chart showing the operating status of the overhead crane shown in Figure 2, Figure 4 is a time chart showing each extraction output signal, and Figure 5 is a time chart showing the operating status of the overhead crane shown in Figure 2. FIG. 6 is a flowchart showing an example of the overall processing operation; FIG. 7 is a diagram showing the configuration of the storage unit; FIG. 8 is a flowchart showing an example of the element setting processing means; FIG. 9 is a flowchart showing an example of the input/output status capturing means, FIG. 10 is a flowchart showing an example of the level processing means, FIG. 11 is a flowchart showing an example of the edge processing means, and FIG. 12 is a flowchart showing an example of the timer processing means. Flowchart showing an example. FIG. 13 is a flowchart showing an example of the reproduction processing means. TM: state storage means, M: switching release, Id, 1θ: detection means, THM: teaching processing means, 13c, 13d: state determining means, PBM: Niu processing hand representation patent attorney small
Katsuo Kawa, 27. $1 Figure, 28. Calculation 2 Figure $ 6 Figure resistance ζ, go to Q

Claims (1)

[Claims] 2 from an input device that detects the state of the controlled object in binary state.
an input section for inputting a value signal; and an output section for outputting a binary signal to an output device that controls and operates the controlled object in a binary state, and according to binary conditions of the input device stored in advance in a storage section. In a sequence control device that controls the output device to a predetermined state, a unit state memory stores state information of the input device, for at least one arbitrary input device, together with time elapsed information from the time when the state of the device changes. a state storage means having a large number of units, a switching means for specifying manual/automatic operation of the control target, and a detection means for detecting a change in the state of the output device based on manual operation specification information from the switching means, In response to each piece of change detection information from the detection means, binary state information of the input device at each point in time is stored in each unit state memory of the state storage means together with time elapsed information for at least the arbitrary input device. The state of the input device is sequentially detected based on the teaching processing means sequentially stored in the unit and the automatic operation command information from the switching means, and the state of the input device at each point of time is stored in the corresponding unit state storage section. comprising a state determining means for comparing the stored contents with the stored contents and detecting a match, and controlling the output device based on the information for the output device stored in the unit state storage section in response to the coincidence detection by the determining means. An automatic teaching/reproducing device comprising a reproducing processing means.