WO2011114778A1 - 表示装置、表示方法、プログラム、仮想機構ライブラリ、およびコンピュータ読み取り可能な記録媒体 - Google Patents
表示装置、表示方法、プログラム、仮想機構ライブラリ、およびコンピュータ読み取り可能な記録媒体 Download PDFInfo
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- WO2011114778A1 WO2011114778A1 PCT/JP2011/051614 JP2011051614W WO2011114778A1 WO 2011114778 A1 WO2011114778 A1 WO 2011114778A1 JP 2011051614 W JP2011051614 W JP 2011051614W WO 2011114778 A1 WO2011114778 A1 WO 2011114778A1
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- virtual
- virtual mechanism
- linear motion
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
- G05B19/4068—Verifying part programme on screen, by drawing or other means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35338—Display virtual tool, locus, part to check possibility of execution next block
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/35—Nc in input of data, input till input file format
- G05B2219/35349—Display part, programmed locus and tool path, traject, dynamic locus
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Definitions
- the present invention relates to a display device, a display control method, a program, a computer-readable recording medium, and a display for displaying a motion of a control target device that is controlled by a program as a moving image of a virtual mechanism that is an electronically constructed three-dimensional model.
- the present invention relates to a virtual mechanism library stored in an apparatus and a computer-readable recording medium storing the virtual mechanism library.
- Patent Document 1 Japanese Laid-Open Patent Publication No. 2008-71350 (Patent Document 1) describes a three-dimensional model video that simulates machining of a workpiece by a machine tool operated by the control program and realistically reproduces the appearance of the machine tool and workpiece. Describes a simulation apparatus for displaying the result of the simulation.
- Patent Document 2 discloses a simulation apparatus having a sequencer, a three-dimensional simulator, and a display.
- the sequencer controls equipment using a ladder program.
- the three-dimensional simulator controls a three-dimensional model of equipment constructed in a three-dimensional virtual space by a ladder program of a sequencer, and performs a simulation of the operation of the three-dimensional model.
- the display displays the operation of the simulated 3D model.
- the simulation apparatus uses a real PLC (real programmable logic controller) that actually controls the operation of the equipment as a sequencer, connects the real PLC to the three-dimensional simulator, and uses the real PLC ladder program to generate a three-dimensional model of the equipment. Operate in virtual space.
- Patent Document 3 discloses a programming pendant (teaching device used by hand) used for teaching an industrial robot as the control program.
- the programming pendant stores a work program in which target position data of the robot is described by a movement command.
- the programming pendant graphically displays in three dimensions the trajectory of the tip of the torch held by the robot arm that moves according to the work program.
- Non-Patent Document 1 describes a three-dimensional object function synthesis system (referred to as “IntelligentBox”) that can construct an interactive three-dimensional application system by combining and synthesizing three-dimensionally displayed objects having unique functions.
- IntelligentBox a three-dimensional object function synthesis system
- JP 2008-71350 A JP 2007-265238 A Japanese Patent Laid-Open No. 2007-242054
- a machine manufacturer may provide a dedicated simulator for the machine that can display the operation using a three-dimensional model.
- the manufacturer of the machinery does not prepare a simulator.
- a dedicated simulator for the mechanical device is not provided. Even in such a case, there is a demand for confirming the motion of the control target device with a moving image in order to test a program for controlling the motion of the control target device.
- the present invention has been made in view of the above problems, and its purpose is to allow the user to understand the movement of the control target device without preparing a three-dimensional model that faithfully reproduces the appearance of each control target device. It is an object to provide a display device, a display method, a program, a virtual mechanism library, and a computer-readable recording medium.
- the display device is electronically configured to operate the control target device that operates when a command value of a position output by execution of the control program is input at a predetermined cycle. It is displayed on the screen as a moving image of a virtual mechanism that is a three-dimensional model.
- the display device includes a virtual mechanism presenting unit that presents virtual mechanism options on the screen, a virtual mechanism accepting unit that accepts a selection of one virtual mechanism from the virtual mechanism options presented by the virtual mechanism presenting unit, a control program Using an acquisition unit that acquires a series of position command values or a series of position actual measurement values, and an acquired position command value or position actual measurement value, which are execution results, for each cycle or a plurality of specified cycles
- a moving image data creating unit that creates moving image data indicating the state of the selected virtual mechanism, and a display control unit that displays a moving image using the moving image data on the screen.
- the virtual mechanism has a structure in which a plurality of mechanism elements are combined in an interlocking relationship.
- the virtual mechanism presenting unit presents at least a plurality of options of virtual mechanisms that are different from each other in the type of mechanism element or the manner of the interlocking relationship between the mechanism elements.
- the virtual mechanism has an abstracted form that is not imitation of the form of a specific control target device that can be associated with the virtual mechanism when the virtual mechanism is used by the user.
- the virtual mechanism presenting unit presents at least options of a virtual mechanism having a linear motion element as a mechanism element.
- the linear motion element includes a columnar linear motion shaft and a movable portion that moves along the linear motion shaft.
- the linear motion element is displayed in a form in which the length of the linear motion axis does not change from the start to the end of the reproduction of at least one moving image.
- the virtual mechanism receiving unit further receives an input for setting the form of the mechanism element.
- the input that is accepted by the virtual mechanism accepting unit for the linear motion element as an indispensable input for enabling use of the virtual mechanism including the linear motion element is only an input for setting the movable length of the movable part.
- the virtual mechanism presenting unit presents at least options of a virtual mechanism having a linear motion element as a mechanism element.
- the linear motion element has a columnar linear motion shaft.
- the linear motion element is displayed in a form in which the length of the linear motion shaft is changed in accordance with a change in the command value or the actual measurement value.
- the virtual mechanism presentation unit presents at least a virtual mechanism option having a rotation element as a mechanism element.
- the rotating element is a columnar body that rotates about an axis of symmetry.
- the virtual mechanism presenting unit includes at least a virtual mechanism having two linear motion elements vertically connected to each other as a mechanism element, and a virtual mechanism having three linear motion elements vertically connected to each other as a mechanism element.
- a virtual mechanism having two linear motion elements vertically connected to each other as a mechanism element
- a virtual mechanism having three linear motion elements vertically connected to each other as a mechanism element.
- the display device displays a mechanism element presenting unit that presents on the screen a selection of mechanism elements that can be used to define a virtual mechanism, and selects and selects a mechanism element that is connected to each other among the mechanism elements that are presented as options.
- a mechanism element receiving unit that receives designation of an interlocking mode between the specified mechanism elements, and a virtual mechanism that includes the selected mechanism element and in which the mechanism element interlocks in the specified manner
- the display device further includes a storage device storing a virtual mechanism library including a plurality of different virtual mechanisms.
- the virtual mechanism presentation unit presents options of virtual mechanisms included in the virtual mechanism library.
- the display device includes a virtual mechanism library including a plurality of different virtual mechanisms, a storage device storing a mechanism element library including at least one mechanism element, and a virtual mechanism created by the virtual mechanism creating unit. And a virtual mechanism registration unit for registering with.
- the virtual mechanism presentation unit presents options of virtual mechanisms included in the virtual mechanism library.
- the mechanism element presenting unit presents options for the mechanism elements included in the mechanism element library.
- the display method electronically constructs the operation of the control target device that operates by inputting the command value of the position output by the execution of the control program at a predetermined cycle. It is displayed on the screen of the display device as a moving image of the virtual mechanism that is the three-dimensional model.
- the display method includes a step in which the processor of the display device presents virtual mechanism options on the screen, a step in which the processor accepts the selection of one virtual mechanism from the presented virtual mechanism options, and the processor controls A step of acquiring a series of position command values or a series of position actual measurement values, which is the execution result of the program, and the processor uses the acquired position command values or position actual measurement values for each period or a plurality of positions.
- the virtual mechanism has a structure in which a plurality of mechanism elements are combined in an interlocking relationship.
- the processor presents at least a plurality of virtual mechanism options having different types of mechanism elements or modes of interlocking relationships between the mechanism elements.
- the virtual mechanism has an abstracted form that is not imitation of the form of a specific control target device that can be associated with the virtual mechanism when the virtual mechanism is used by the user.
- the program electronically constructs the operation of the control target device that operates by inputting the command value of the position output by the execution of the control program at a predetermined cycle. It is displayed on the screen of the display device as a moving image of the virtual mechanism that is the three-dimensional model.
- the program includes a step of presenting virtual mechanism choices on the screen, a step of accepting selection of one virtual mechanism from the presented virtual mechanism choices, and a series of position command values that are execution results of the control program.
- a step of acquiring a series of actual measured values of positions, and a moving image showing the state of the selected virtual mechanism in each cycle or in a plurality of specified cycles, using the acquired command value or actual position value of the position The display device executes a step of creating image data and a step of displaying a moving image using moving image data on a screen.
- the virtual mechanism has a structure in which a plurality of mechanism elements are combined in an interlocking relationship.
- the step of presenting virtual mechanism options on the screen at least a plurality of virtual mechanism options having different types of mechanism elements or modes of interlocking relationships between the mechanism elements are presented.
- the virtual mechanism has an abstracted form that is not imitation of the form of a specific control target device that can be associated with the virtual mechanism when the virtual mechanism is used by the user.
- a computer-readable recording medium performs an operation of a control target device that operates when a position command value output by execution of a control program is input at a predetermined cycle.
- a program to be displayed on the screen of the display device as a moving image of a virtual mechanism which is a three-dimensional model constructed electronically is stored.
- the program includes a step of presenting virtual mechanism choices on the screen, a step of accepting selection of one virtual mechanism from the presented virtual mechanism choices, and a series of position command values that are execution results of the control program.
- a step of acquiring a series of actual measured values of positions, and a moving image showing the state of the selected virtual mechanism in each cycle or in a plurality of specified cycles, using the acquired command value or actual position value of the position The display device executes a step of creating image data and a step of displaying a moving image using moving image data on a screen.
- the virtual mechanism has a structure in which a plurality of mechanism elements are combined in an interlocking relationship.
- the step of presenting virtual mechanism options on the screen at least a plurality of virtual mechanism options having different types of mechanism elements or modes of interlocking relationships between the mechanism elements are presented.
- the virtual mechanism has an abstracted form that is not imitation of the form of a specific control target device that can be associated with the virtual mechanism when the virtual mechanism is used by the user.
- the virtual mechanism library contains virtual mechanisms that are electronically constructed three-dimensional models.
- the virtual mechanism has a structure in which a plurality of mechanism elements are combined in an interlocking relationship.
- the virtual mechanism library records at least a plurality of options of virtual mechanisms having different types of mechanism elements or modes of interlocking relationships between the mechanism elements.
- the virtual mechanism has an abstracted form that is not imitation of the form of a specific control target device that can be associated with the virtual mechanism when the virtual mechanism is used by the user.
- the virtual mechanism library includes at least a virtual mechanism having two linear motion elements vertically connected to each other as a mechanism element and a virtual mechanism having three linear motion elements vertically connected to each other as a mechanism element. Record.
- the computer-readable recording medium stores a virtual mechanism library that records a virtual mechanism that is a three-dimensional model constructed electronically.
- the virtual mechanism has a structure in which a plurality of mechanism elements are combined in an interlocking relationship.
- the virtual mechanism library records at least a plurality of options of virtual mechanisms having different types of mechanism elements or modes of interlocking relationships between the mechanism elements.
- the virtual mechanism has an abstracted form that is not imitation of the form of a specific control target device that can be associated with the virtual mechanism when the virtual mechanism is used by the user.
- the virtual mechanism library includes at least a virtual mechanism having two linear motion elements vertically connected to each other as a mechanism element and a virtual mechanism having three linear motion elements vertically connected to each other as a mechanism element. Record.
- FIG. 16 is a diagram illustrating definition information of each virtual mechanism illustrated in FIGS. 8 to 15.
- FIG. 1 is a diagram showing a schematic configuration of a control system 1 according to the present embodiment.
- the control system 1 includes a PC (Personal Computer) 10, a PLC (Programmable Logic Controller) 20, a control target device 30, and a server device 40.
- PC Personal Computer
- PLC Programmable Logic Controller
- the PC (display device) 10 stores the installed PLC support program 11.
- the PC 10 stores a control program 12 created by the user.
- the CD-ROM 999 stores the PLC support program 11.
- the PLC support program 11 installed in the PC 10 is installed using the CD-ROM 999.
- the PLC 20 functions as a controller for controlling the movement of the control target device 30. That is, the PLC 20 has a so-called motion control function.
- the PLC 20 stores a control program 21 that defines control contents for the control target device 30.
- the PLC 20 is communicably connected to the PC 10.
- the control program 21 stored in the PLC 20 is sent from the PC 10. Specifically, the control program 21 is a copy of the control program 12 stored in the PC 10.
- the control target device 30 includes a motor such as a servo motor or a stepping motor.
- the control target device 30 is driven by the motor.
- a drive current is supplied to the motor from a motor driver.
- the motor driver is given a position command value for each control cycle from the PLC 20 that executes the control program.
- the motor driver supplies a drive current corresponding to the position command value to the motor.
- the motor is a servo motor
- the motor is provided with an encoder.
- the encoder detects an actual measurement value of the rotational position of the motor.
- the motor driver uses the measured value of the rotational position of the motor for feedback control.
- the PC 10 can be connected to the server device 40 via a network 50 such as the Internet.
- the PLC support program 11 can also be downloaded from the server device 40 to the PC 10.
- FIG. 2 is a block diagram showing the hardware configuration of the PC 10.
- the PC 10 includes, as main components, a CPU 901 that executes a program, a ROM (Read Only Memory) 902 that stores data in a nonvolatile manner, data created by execution of the program by the CPU 901, or A RAM 903 that stores data input via the keyboard 905 or the mouse 906 in a volatile manner, a HDD (Hard Disk Drive) 904 that stores data in a nonvolatile manner, a keyboard 905 that receives an instruction input by a user of the PC 10, and A mouse 906, a monitor 907, a CD-ROM drive 908, and a communication IF 909 are included. Each component is connected to each other by a data bus.
- a CD-ROM 999 is mounted on the CD-ROM drive 908.
- the processing in the PC 10 is realized by each hardware and software executed by the CPU 901.
- Such software may be stored in advance in the HDD 904.
- the software may be stored in a CD-ROM 999 or other storage medium and distributed as a program product.
- the software may be provided as a program product that can be downloaded by an information provider connected to the so-called Internet.
- Such software is read from the storage medium by the CD-ROM drive 908 or other reading device, or downloaded via the communication IF 909 and then temporarily stored in the HDD 904.
- the software is read from the HDD 904 by the CPU 901 and stored in the RAM 903 in the form of an executable program.
- the CPU 901 executes the program.
- PC 10 Each component constituting the PC 10 shown in the figure is a general one. Therefore, it can be said that the essential part of the present invention is software stored in the RAM 903, HDD 904, CD-ROM 999 or other storage medium, or software downloadable via a network. Since the operation of each hardware of PC 10 is well known, detailed description will not be repeated.
- Recording media are not limited to DVD-ROM, CD-ROM, FD (Flexible Disk), and hard disk, but are magnetic tape, cassette tape, optical disk (MO (Magnetic Optical Disc) / MD (Mini Disc) / DVD (Digital). Versatile Disc), IC (Integrated Circuit) card (including memory card), optical card, mask ROM, EPROM (Electronically Programmable Read-Only Memory), EEPROM (Electronically Erasable Programmable Read-Only Memory), flash ROM, and other semiconductors It may be a medium that carries a fixed program such as a memory.
- the recording medium is a non-temporary medium that can be read by the computer.
- the program here includes not only a program directly executable by the CPU but also a program in a source program format, a compressed program, an encrypted program, and the like.
- FIG. 3 is a diagram showing the configuration of the PLC support program 11.
- a user interface unit 101 a PLC interface unit 102, a control program editing unit 103, a control program simulation unit 104, and a moving image creation program unit 105 are provided.
- the moving image creation program unit 105 includes a library 111, a virtual mechanism management unit 112, and a moving image data processing unit 113.
- the library 111 includes a virtual mechanism library 1111 and a mechanism element library 1112.
- the user interface unit 101 creates a window content to be displayed on the screen of the PC 10 (the screen of the monitor 907).
- the user interface unit 101 receives user operations using a keyboard and a mouse.
- the functional configuration of the user interface unit 101 will be described later (FIG. 4).
- the control program editing unit 103 inputs and edits the control program according to instructions received from the user.
- the control program editing unit 103 also compiles when compiling is necessary to execute the control program.
- the control program editing unit 103 sends the created control program to the PLC 20 via the PLC interface unit 102.
- the control program editing unit 103 can also read the control program 21 stored in the PLC 20 and edit the read control program 21.
- the control program simulation unit 104 is a PLC 20 simulator.
- the control program simulation unit 104 simulates the operation of the PLC 20 executing the control program 21, and calculates a command value at a position that the PLC 20 should output every control cycle.
- the virtual mechanism library 1111 includes a plurality of virtual mechanisms.
- a virtual mechanism is a three-dimensional model constructed electronically.
- the virtual mechanism has a structure in which a plurality of mechanism elements are combined in an interlocking relationship.
- the virtual mechanism library 1111 records at least a plurality of virtual mechanisms that are different from each other in the type of the mechanism element or the manner of the interlocking relationship between the mechanism elements.
- the virtual mechanism has an abstracted form that is not imitation of the form of a specific control target device that can be associated with the virtual mechanism when the virtual mechanism is used by the user. That is, the virtual mechanism is designed in a simple form with little individuality so that it can be easily used as a model of various control target devices having a basic structure common to the basic structure of the virtual mechanism.
- the basic structure is a structure corresponding to a combination of mechanism elements.
- the virtual mechanism library 1111 may include a virtual mechanism in a form imitating the form of a specific control target device.
- the mechanism element library 1112 records at least one mechanism element.
- the virtual mechanism management unit 112 presents the virtual mechanism prepared in the virtual mechanism library 1111 as an option to the user via the user interface unit 101.
- the virtual mechanism management unit 112 selects a virtual mechanism according to an instruction received from the user. Furthermore, if there is content that the user should set for the selected virtual mechanism, the virtual mechanism management unit 112 also accepts the setting via the user interface unit 101.
- the virtual mechanism management unit 112 selects a mechanism element prepared in the mechanism element library 1112 via the user interface unit 101. To the user. The virtual mechanism management unit 112 selects a mechanism element in accordance with an instruction received from the user. Further, the virtual mechanism management unit 112 receives a designation operation as to which mechanism element is connected to and linked to which mechanism element via the user interface unit 101.
- the virtual mechanism management unit 112 defines a new virtual mechanism based on the content designated by the user and makes it usable, and adds the virtual mechanism that has been made available to the virtual mechanism library 1111.
- FIG. 4 is a diagram illustrating a functional configuration of the moving image data processing unit 113 and the virtual mechanism management unit 112 included in the moving image creation program unit 105.
- the moving image data processing unit 113 includes an acquisition unit 1131, a moving image data creation unit 1132, and a display control unit 1133.
- the virtual mechanism management unit 112 includes a virtual mechanism presentation unit 1121, a virtual mechanism reception unit 1122, a mechanism element presentation unit 1123, a mechanism element reception unit 1124, a virtual mechanism creation unit 1125, and a virtual mechanism registration unit 1126.
- the virtual mechanism presenting unit 1121 presents options of virtual mechanisms included in the virtual mechanism library 1111 in the library 111 on the screen of the monitor 907 via the user interface unit 101.
- the virtual mechanism presenting unit 1121 presents at least a plurality of virtual mechanism options having different types of mechanism elements or modes of interlocking relationships between the mechanism elements.
- the virtual mechanism accepting unit 1122 accepts selection of one virtual mechanism from the virtual mechanism options presented by the virtual mechanism presenting unit 1121. This selection is given by the user operating the keyboard 905 or the mouse 906.
- the acquiring unit 1131 acquires a series of position command values, which are execution results of the control program 12, from the control program simulation unit 104. In addition, the acquisition unit 1131 acquires actual measurement values of a series of positions that are execution results of the control program 12 from the PLC interface unit 102.
- the moving image data creation unit 1132 acquires a virtual mechanism that has been used after necessary settings have been completed, from the virtual mechanism library 1111 via the virtual mechanism management unit 112.
- the moving image data creation unit 1132 uses a series of position command values acquired from the control program simulation unit 104 or a series of position actual values acquired from the PLC interface unit 102 for each control cycle or a plurality of designated controls.
- the moving image data indicating the state of the selected virtual mechanism in the cycle is generated.
- the “plurality of designated control cycles” is, for example, each control cycle extracted every fixed cycle.
- the display control unit 1133 displays a moving image using the moving image data on the screen of the monitor 907 via the user interface unit 101. Thereby, the PC 10 can display a moving image of the selected virtual mechanism.
- the mechanism element presenting unit 1123 displays, on the screen of the monitor 907, the user interface unit 101 through the user interface unit 101 to select the mechanism elements that are included in the mechanism element library 1112 and can be used to define the virtual mechanism.
- the mechanism element accepting unit 1124 accepts selection of mechanism elements to be connected to each other among the mechanism elements presented as options, and designation of an interlocking mode between the selected mechanism elements. This selection and designation is given by the user operating the keyboard 905 or the mouse 906.
- the virtual mechanism creation unit 1125 creates a virtual mechanism that includes the selected mechanism element and that is linked with the mechanism element in the designated manner.
- the virtual mechanism registration unit 1126 registers the created virtual mechanism in the virtual mechanism library 1111 of the library 111.
- the moving image data processing unit 113 obtains a position of a series of the specific parts for each control period or a plurality of designated control periods corresponding to the acquired position command value.
- the moving image data processing unit 113 creates trajectory data indicating a trajectory that passes through each position of the series of specific parts in order of time.
- the moving image data creating unit 1132 of the moving image data processing unit 113 creates moving image data for displaying the spatial form of the locus as an image on the screen based on the locus data.
- the PC 10 may display the moving image in a manner in which the locus of the specific part is included in the moving image of the virtual mechanism.
- FIG. 5 is a flowchart showing processing performed by the PC 10 based on the PLC support program 11.
- PC 10 displays virtual mechanism options. That is, the virtual mechanism presentation unit 1121 displays virtual mechanism options on the screen.
- the moving image creation program unit 105 determines whether an instruction to create a virtual mechanism has been received via the user interface unit 101.
- step S6 the virtual mechanism accepting unit 1122 accepts an operation (input) for selecting a virtual mechanism.
- the virtual mechanism receiving unit 1122 sends an instruction corresponding to the received operation to the moving image data processing unit 113.
- step S8 the virtual mechanism accepting unit 1122 accepts an operation for setting the virtual mechanism.
- the virtual mechanism receiving unit 1122 sends an instruction corresponding to the received operation to the moving image data processing unit 113.
- step S10 the acquisition unit 1131 acquires the execution result of the control program.
- step S12 the moving image data processing unit 113 creates trajectory data of a specific part of the virtual mechanism.
- step S12 the moving image data creation unit 1132 displays a virtual mechanism that operates so as to be consistent with the execution result of the control program, and a moving image for displaying the spatial form of the locus of a specific part of the virtual mechanism on the screen as an image. Create image data.
- step S16 the PC 10 displays a moving image using the created moving image data.
- step S18 the PC 10 displays the mechanism element options. That is, the mechanism element presenting unit 1123 displays at least one mechanism element that can be used to define the virtual mechanism on the screen.
- the mechanism element receiving unit 1124 receives an operation for designating which mechanism element is used and which mechanism element is connected to and interlocked with the movable part of which mechanism element. That is, the mechanism element reception unit 1124 receives selection of mechanism elements that are connected to each other among the displayed mechanism elements, and designation of an interlocking mode between the selected mechanism elements.
- step S22 the virtual mechanism creation unit 1125 defines a new virtual mechanism according to the designated content. That is, the virtual mechanism creation unit 1125 creates a virtual mechanism that includes the selected mechanism element and that is interlocked with the mechanism element in the designated manner.
- step S24 the virtual mechanism registration unit 1126 registers the defined (created) virtual mechanism in the virtual mechanism library 1111.
- FIG. 6 is a diagram showing a window 120 displayed on the PC 10 when the PLC support program 11 is executed.
- window 120 includes a setting area 121, a control program editing area 122, and an image display link area 123.
- the setting area 121 is an area for inputting various settings necessary for editing and simulation of the control program 12.
- the PC 10 opens a window for selecting the virtual mechanism (see FIG. 7) as another window.
- the characters “XY mechanism” indicate that the currently selected virtual mechanism is an XY mechanism.
- the control program editing area 122 is used for the user to input a control program or to edit the control program.
- the PC 10 opens the image display screen (FIG. 17) as a separate window.
- FIG. 7 shows a window 130 for selecting a virtual mechanism.
- FIG. 7 also shows an image output on the screen of the PC 10 by executing the PLC support program 11.
- window 130 includes an area 131 indicating a virtual mechanism name, an area 132 indicating help, and an area 133 indicating an OK button.
- the PC 10 displays a list of available virtual mechanisms in the area 131 indicating the virtual mechanism name.
- the PC 10 sets the clicked virtual mechanism in a selected state.
- FIG. 7 shows a state where the XY mechanism 1311 surrounded by a rectangle is selected.
- the OK button When the user presses the OK button in this state, the selection of the XY mechanism is confirmed. If the selected virtual mechanism requires input of setting information, the PC 10 opens the virtual mechanism setting screen (FIG. 16) as a separate window.
- the PC 10 displays a description of the selected virtual mechanism in the area showing the help.
- the PC 10 opens the new virtual mechanism creation screen as a separate window. This allows the user to define a new virtual mechanism.
- Each virtual mechanism is composed of a plurality of elements (mechanism elements). If n is a natural number equal to or greater than 1, the (n + 1) th element is subordinate to the nth element. That is, an element is directly dependent on an element whose ordinal number is one less than itself. For example, the second element is directly dependent on the first element. The third element is directly dependent on the second element and indirectly dependent on the first element by the second element.
- FIG. 8 shows the first virtual mechanism. More specifically, FIG. 8 shows an XY mechanism 1800.
- an XY mechanism 1800 has a linear motion element 1810 in the X direction as a first element, and a linear motion element 1820 in the Y direction as a second element interlocked with the first element.
- the linear motion element 1810 is displayed in a form including a cylindrical linear motion shaft 1812 and a cubic movable portion 1811 that moves along the linear motion shaft 1812.
- the cross-sectional shape of the linear motion shaft 1812 is not limited to a circle, and a square or any other shape can be adopted. The same applies to each linear motion shaft described later.
- plate-like termination members 1813 perpendicular to the linear motion shaft are provided.
- the movable element 1810 has a movable length.
- the linear movement shaft 1812 is displayed as an axis having a length that allows the movable portion 1811 to move by a movable length.
- the length of the linear motion shaft 1812 is constant until the setting of the movable length is changed. Therefore, the length of the linear motion shaft 1812 is constant from the start to the end of at least one moving image.
- the linear motion element 1810 uses only the movable length as essential setting information.
- the moving image data processing unit 113 regards the minimum position in the X direction as zero.
- the PLC support program 11 may be configured to allow the user to input the maximum value and the minimum value of the movable range in the X direction. In this case, the difference between the maximum value and the minimum value is the movable length.
- the setting of the movable length in the X direction may be omitted.
- a display form is provided in which a movable portion is provided at the tip of the linear motion shaft that expands or contracts, or a base end portion of the linear motion element in the Y direction at the tip of the linear motion shaft that extends and contracts without the movable portion. It is conceivable to use a display form that directly connects the two. In these cases, the terminal member 1813 of the linearly-moving element in the X direction is displayed only on the base end side.
- the length of the linear motion shaft can be made infinitely or practically sufficiently long.
- the end of the linear motion element is not represented in the screen.
- a linear motion axis having an appropriate length is drawn at the time of starting playback of a moving image, and the display form is changed so that the display length increases to the required length whenever the length becomes insufficient.
- the PLC support program 11 may be configured. The PLC support program 11 automatically obtains the difference between the minimum value and the maximum value as the movable length when the minimum value and the maximum value of the position in the X direction to be displayed can be acquired before the display of the moving image. It may be set.
- the linear motion element 1820 is displayed in the form of a cylindrical linear motion shaft 1821 whose length expands and contracts in accordance with the change in the command value in the Y direction or the actual measurement value in the Y direction.
- the base end of the linear motion element 1820 in the Y direction is connected to the movable portion 1811 of the linear motion element 1810.
- the entire linear motion element 1820 moves in the X direction in accordance with the movement of the movable portion 1811 of the linear motion element 1810.
- the moving image data creation unit 1132 creates moving image data for changing the length of the linear motion axis.
- the user can set the movable length for the linear motion element 1820, but this setting is not essential.
- the movable length is set, even if a position in the Y direction exceeding the movable length is given, the change in the length of the linear motion shaft 1821 stops at the limit position of the movable length.
- the linear motion shaft 1821 is displayed so as to extend in the negative Y direction when given a negative position value.
- the XY coordinates of the position where the tip position of the linear motion shaft 1821 is given are shown.
- the linear motion element in the case where another linear motion element is subordinate directly or indirectly is displayed in a form having a termination member at an end not connected to the other element. Moreover, the linear motion element which the other linear motion element does not depend on directly or indirectly is displayed with the form of the expansion-contraction column which does not have a termination
- the core of the display form of the linear motion element is a line segment whose length changes according to a given position value. This line segment has no thickness.
- a line segment having a movable length is supplementarily added.
- a line segment having a movable length and a point that does not have a size that is a nucleus of a movable part that moves on the line segment may be used as the nucleus of the linear motion element.
- the second linear motion element is connected to the first linear motion element, the second linear motion element is connected to the tip of the expanding and contracting line segment that is the core of the first linear motion element (or to the point that is the core of the movable portion).
- the base end of the line segment that is the core of the linear motion element is connected.
- the shaft having the cross-sectional shape, the movable portion, and the termination member are modification elements for the line segment that is the core of the display form. Since the PLC support program 11 has a configuration that does not place importance on the physical behavior of the modifier elements, even when the modifier elements interfere with each other, the modifier elements are displayed without being overlapped.
- the design of the moving image creation program unit 105 becomes easy.
- the moving image creation program unit 105 may be designed so that the entire displayed form behaves physically realistically.
- FIG. 9 is a diagram showing the second virtual mechanism. More specifically, FIG. 9 is a view showing an XYZ mechanism 1900. Referring to FIG. 9, an XYZ mechanism 1900 is linked to the X direction linear motion element 1910 as the first element, the Y direction linear motion element 1920 as the second element, and the second element.
- the third element includes a Z-direction linear movement element 1930.
- the linear motion element 1910 includes a movable portion 1911, a linear motion shaft 1912, and a termination member 1913. Since linear motion element 1910 has the same configuration as linear motion element 1810 (FIG. 8), description of linear motion element 1910 will not be repeated.
- the linear motion element 1920 is displayed in a form including a cylindrical linear motion shaft 1922 and a cubic movable portion 1921 moving along the linear motion shaft 1922.
- the cross-sectional shape of the linear motion shaft 1922 is not limited to a circle, and a square or any other shape can be adopted.
- a plate-like terminal member 1923 perpendicular to the linear motion shaft 1922 is provided at the end (tip) of the linear motion shaft 1922 opposite to the movable portion 1911.
- the linear motion element 1930 is displayed in the form of a cylindrical linear motion shaft 1931 whose length expands and contracts in accordance with a change in the Z direction command value or the Z direction actual measurement value.
- a proximal end 1931 B of the linear motion element 1930 opposite to the distal end 1931 A is connected to the movable portion 1921.
- FIG. 10 is a diagram showing a third virtual mechanism. More specifically, FIG. 10 shows the XY ⁇ mechanism 2000. Referring to FIG. 10, XY ⁇ mechanism 2000 is linked to the X direction linear motion element 2010 as the first element, the Y direction linear motion element 2020 as the second element, and the second element.
- the third element includes a rotating element 2030 having a rotation axis in the Y direction.
- the linear motion element 2010 includes a movable portion 2011, a linear motion shaft 2012, and a termination member 2013. Since linear motion element 2010 has the same configuration as linear motion element 1810 (FIG. 8), description of linear motion element 2010 will not be repeated.
- the linear motion element 2020 is displayed in the form of a cylindrical linear motion shaft 2021 whose length expands and contracts in accordance with the change in the command value in the Y direction or the actual measurement value in the Y direction. That is, the linear motion element 2020 has the same configuration as the linear motion element 1820 (FIG. 8).
- the rotating element 2030 is displayed in the form of a cylinder that is thicker than the linear motion shaft 2021 and has a short length in the axial direction (Y direction).
- the center position of this cylinder represents the XY coordinates of the given position.
- a linear mark 2031 parallel to the axis is displayed on the side surface of the cylinder. The user can see that the rotation element 2030 is rotated by the movement of the mark 2031.
- the center of the display form of the rotating element 2030 is the center point, and the cylindrical shape is a modifier element for the center point.
- the center point has an attribute in the direction of the rotation axis and an attribute in the reference radial direction that rotates as the rotation element rotates perpendicular to the axis.
- a mark 2031 displayed on the side surface of the cylinder indicates the reference radial direction.
- the shape of the rotating element 2030 is described as a cylinder, but the shape may be a columnar body or a sphere having a polygonal cross section.
- FIG. 11 is a diagram showing a fourth virtual mechanism. More specifically, FIG. 11 is a diagram showing the XYZ ⁇ mechanism 2100.
- XYZ ⁇ mechanism 2100 is linked to the X direction linear motion element 2110 as the first element, the Y direction linear motion element 2120 as the second element linked to the first element, and the second element.
- the third element includes a linearly-moving element 2130 in the Z direction, and a rotating element 2140 having a rotation axis directed in the Z direction as a fourth element interlocked with the third element.
- the linear motion element 2110 includes a movable portion 2111, a linear motion shaft 2112, and a termination member 2113. Since linear motion element 2110 has the same configuration as linear motion element 1810 (FIG. 8), description of linear motion element 2110 will not be repeated.
- the linear motion element 2120 includes a movable portion 2121, a linear motion shaft 2122, and a termination member 2123. Since linear motion element 2120 has the same configuration as linear motion element 1920 (FIG. 9), description of linear motion element 2120 will not be repeated.
- the linear motion element 2130 is displayed in the form of a cylindrical linear motion shaft 2131 whose length expands and contracts in accordance with a change in the Z direction command value or the Z direction actual measurement value. That is, it has the same configuration as the linear motion element 1930 (FIG. 9).
- a base end 2131 ⁇ / b> B of the linear motion element 2130 is connected to the movable portion 2121.
- Rotating element 2140 is connected to tip 2131A of linear motion element 2130.
- the rotating element 2140 has the same configuration as the rotating element 2030 (FIG. 10) except that the direction of the rotation axis is the Z direction.
- FIG. 12 is a diagram showing a fifth virtual mechanism. More specifically, FIG. 12 shows the ⁇ XY mechanism 2200.
- the ⁇ XY mechanism 2200 includes a rotating element 2210 having a rotation axis in the Z direction as a first element, a linearly acting element 2220 in the X direction as a second element interlocked with the first element, and a second element.
- a Y-direction linear motion element 2230 is provided as a third element that is linked to the element. That is, the ⁇ XY mechanism 2200 is a virtual mechanism in which the XY mechanism is subordinate to the rotating element 2210.
- the linear motion element 2220 includes a movable portion 2221, a linear motion shaft 2222, and a termination member 2223.
- the linear motion element 2220 has the same configuration as the linear motion element 1810 (FIG. 8) except that one end of the linear motion shaft 2222 is connected to the rotation element 2210.
- the linear motion element 2230 includes a linear motion shaft 2231.
- the linear motion element 2230 has a configuration similar to that of the linear motion element 1820 (FIG. 8).
- the X direction, the Y direction, and the Z direction in FIGS. 8 to 11 are directions in the global coordinate system for the entire space in which the control target device 30 is placed.
- the X direction, the Y direction, and the Z direction in FIG. 12 are directions that define a local coordinate system depending on the rotation axis of the rotation element 2210.
- An X direction is defined.
- the first local Z direction is defined so as to coincide with the rotation axis direction of the rotation element.
- the first local Y direction is defined as a direction orthogonal to the first local X and the first local Z.
- the origin of the first local coordinate system coincides with the center of the rotating element.
- the second local coordinate system is the same for the part of the rotating element that depends on the second rotating element whose dependent stage is the second rotating element (the rotating element having only one rotating element in the mechanism element above the rotating element). It is prescribed.
- the first local X direction is in the global X direction (X axis direction in the global coordinate system).
- the local X direction is defined in the direction that the user feels most natural.
- the rotation element 2210 rotates counterclockwise as viewed from the minus side in the local Z direction defined by the rotation element 2210.
- FIG. 13 is a diagram showing a sixth virtual mechanism. More specifically, FIG. 13 is a view showing the X ⁇ Y mechanism 2300.
- the X ⁇ Y mechanism 2300 includes a linear movement element 2310 in the X direction as a first element, a rotation element 2320 having a rotation axis directed in the X direction as a second element, and a third element that is linked to the second element.
- a linear motion element 2330 is included as an element.
- the linear motion element 2310 includes a linear motion shaft 2311 and a terminal member 2312.
- the linear motion element 2330 is displayed in the form of a cylindrical linear motion shaft 2331 whose length expands and contracts. That is, the linear motion element 2330 has the same configuration as the linear motion element 1820 (FIG. 8).
- the movable portion 1811 of the X-direction linearly acting element 1810 which is the first element in the XY mechanism (FIG. 8) is replaced with a column of the rotating element 2320, which is the second element.
- the direction of the linear motion element 2330 is the first local X direction defined by the rotation element 2320.
- the position (rotation angle) given to the rotation element 2320 is zero, the first local X direction coincides with the global Y direction.
- FIG. 14 is a diagram showing a seventh virtual mechanism. More specifically, FIG. 14 is a diagram showing a scalar mechanism 2400.
- the scalar mechanism 2400 includes a rotating element 2410 that is a first element, an arm element 2420 that is a second element, a rotating element 2430 that is a third element, and an arm element 2440 that is a fourth element.
- a rotation element 2450 that is a fifth element, and a linear motion element 2460 that is a sixth element.
- Rotation element 2410 is a rotation element with the rotation axis directed in the Z direction.
- the rotation element 2410 is connected to the arm element 2420 in the first local X direction defined by the rotation element 2410.
- the arm element 2420 is displayed in the form of a rectangular column having a set length. However, the length of the arm element on the display is displayed shorter than the set length due to the interference with the display form of other connected elements.
- the core of the display form of the arm element 2420 is a line segment having a set length, and the quadrangular prism shape is a modification element for the line segment.
- Rotating element 2430 is a rotating element with the rotation axis directed in the Z direction.
- the rotating element 2430 defines the second local coordinate.
- the direction in which the arm element 2420 is connected to the rotation element 2430 in the second local coordinates changes according to the position (rotation angle) given to the rotation element 2430.
- the rotation angle given to the rotation element 2430 is zero, the arm element 2420 is connected to the rotation element 2430 from the minus X direction of the second local coordinate system.
- the arm element 2440 is directed to the second local X direction and connected to the rotating element 2430.
- Rotating element 2450 is a rotating element with the rotation axis directed in the Z direction.
- the rotating element 2450 defines a third local coordinate.
- the direction in which the arm element 2440 is connected to the rotation element 2450 in the third local coordinates changes according to the position (rotation angle) given to the rotation element 2450.
- the rotation angle given to the rotation element 2450 is zero, the arm element 2440 is connected to the rotation element 2450 from the minus X direction of the third local coordinate system.
- the linear motion element 2460 is a linear motion element whose axial direction is in the Z direction. More specifically, the linear motion element 2460 is displayed in the form of a cylindrical linear motion shaft 2461 whose length expands and contracts. FIG. 14 shows a state in which the linear movement shaft extends in the minus Z direction by being given a minus position.
- FIG. 15 is a diagram showing an eighth virtual mechanism. More specifically, FIG. 15 is a diagram showing a polar coordinate mechanism 2500. Referring to FIG. 15, the polar coordinate mechanism 2500 includes a rotation element 2510 as a first element, an arm element 2520 as a second element, an arm element 2530 as a third element, and a rotation element 2540 as a fourth element. And a linear motion element 2550 which is a fifth element.
- Rotating element 2510 is a rotating element with the rotation axis directed in the Z direction.
- the position (rotation angle) given to the rotation element 2510 is zero, the first local X direction coincides with the global X direction.
- the arm element 2520 is connected to the rotation element 2510 in the Z direction.
- the arm element 2530 is connected to the arm element 2520 in the first local X direction defined by the rotation element 2510.
- the rotation element 2540 is connected to the arm element 2530 with the rotation axis directed in the first local X direction.
- the second local X direction coincides with the first local Y direction.
- the linear motion element 2550 is a linear motion element connected to the rotational element 2540 in the second local X direction defined by the rotational element 2540.
- the virtual mechanism library 1111 may include, for example, a single-axis linear motion mechanism composed of only one linear motion element or a single-axis rotational mechanism composed of only one rotational element.
- FIG. 16 shows a window 140 for setting a virtual mechanism. More specifically, FIG. 16 shows a window 140 newly opened when the selection of the virtual mechanism is confirmed in the window 130 (FIG. 7) for selecting the virtual mechanism.
- the PC 10 displays the name of the selected virtual mechanism in the virtual mechanism name column 161.
- the PC 10 displays items that can be set by the virtual mechanism in the setting item column 162.
- the PC 10 receives an input of setting contents in the setting value column 163 from the user. The PC 10 corrects the set value by the input.
- the PC 10 displays the appearance of the selected virtual mechanism in the column 164 at the bottom of the screen.
- the PC 10 displays a number “1” indicating the first element, a number “2” indicating the second element, and a number “3” indicating the third element.
- the number is also displayed in front of the mechanism element name in the setting item column 162.
- “Axis J1”, “Axis J2”, and “Axis J3” in the setting value column 163 are parameters for distinguishing the motors. The same parameters are used in the control program to represent each motor.
- the default rotation direction of the rotation element is counterclockwise, but the rotation direction can be changed clockwise as shown.
- FIG. 17 is a view showing a window 140 in which a virtual mechanism and a locus of a specific part are displayed. Specifically, FIG. 17 is a diagram showing a window 140 that is opened when the image display link area 123 of FIG. 6 is clicked. FIG. 17 shows an image output on the screen of the PC 10 by executing the PLC support program 11.
- the window 140 includes an area 141 indicating the name of the currently used virtual mechanism, a triangle mark 142, a button 143 indicating setting editing, an area 144 indicating coordinate values, an axis, and a motion FB (Function Block). ), Target image display areas 146A, 146B, 146C, and 146D, a display setting area 147, a playback slide bar 151, a playback button 152, and a stop button 153.
- the playback slide bar 151 includes a playback time bar 1511 and a current time knob 1512.
- the PC 10 displays an area 141 indicating the name of the currently used virtual mechanism, a triangle mark 142, and a button 143 indicating setting editing in the upper part of the window 140.
- the PC 10 displays a playback slide bar 151, a playback button 152, and a stop button 153 at the bottom of the window 140.
- the PC 10 displays a list of virtual mechanisms.
- the PC 10 changes the currently used virtual mechanism to the selected virtual mechanism.
- the setting edit button 143 is pressed by the user, the PC 10 opens the virtual mechanism setting screen as a separate window.
- the PC 10 displays the current value of the command value for each coordinate axis in the area 144 indicating the coordinate value.
- the PC 10 displays the correspondence between the axis name used in the control program 12 and the motion FB name in the area 145 indicating the correspondence between the axis and the motion FB.
- the motion FB is a program element used in the control program 12. Specifically, the motion FB is a motion program that is blocked for each basic unit of operation such as movement from one point to another point.
- the motion FB calculates a command value for each control cycle.
- the PC 10 displays the currently working motion FB in the area 145 showing the correspondence between the axis and the motion FB.
- the PC 10 displays a projection view of the XYZ mechanism 1900 and the locus 300 with respect to the XY plane formed by the two orthogonal coordinate axes X and Y in the target image display area 146A.
- the PC 10 displays a 3D image of the XYZ mechanism 1900 and the trajectory 300 in the target image display area 146B.
- the PC 10 displays a projection view of the XYZ mechanism 1900 and the locus 300 with respect to the XZ plane formed by the two orthogonal coordinate axes X and Z in the target image display area 146C.
- the PC 10 displays a projection view of the XYZ mechanism 1900 and the trajectory 300 on the YZ plane formed by the two orthogonal coordinate axes Y and Z in the target image display area 146D.
- the PC 10 displays the display methods (“3D”, “XY”, “XY”, and “X” corresponding to the display setting region 147 so that the target image display regions 146A, 146B, 146C, and 146D are arranged according to the mutual positional relationship.
- Each button 1471 indicating "XZ", "YZ" is displayed.
- the PC 10 receives an instruction to change the arrangement of the four buttons 1471 from the user, the PC 10 changes the arrangement of the target image display areas 146A to 146D.
- the PC 10 When the user receives an instruction from the user to select any one button 1471, the PC 10 enlarges and displays the target image display area corresponding to the selected button.
- 3D display is depicted by perspective.
- the PC 10 changes the position of the viewpoint and the line-of-sight direction in the three-dimensional space according to the user's mouse operation.
- the PC 10 can change the display magnification of the display contents in each of the target image display areas 146A to 146D. Further, the PC 10 can also scroll the display content up, down, left, and right.
- the PC 10 displays the XYZ mechanism 1900 in each of the target image display areas 146A to 146D. More specifically, the PC 10 superimposes and displays the trajectory 300 of the specific part of the control target device 30 (in this embodiment, the trajectory of the position command value) and the XYZ mechanism 1900.
- the locus 300 is indicated by a curve.
- the PC 10 displays a current position marker 1990 indicating the current position at the tip 1931A of the linear movement element 1930 in the Z direction.
- the current position marker 1990 is indicated by a small sphere.
- the trajectory 300 displayed by the PC 10 is a trajectory that rises in the Z direction and draws a semicircle as a projection onto the XY coordinate plane.
- the PC 10 includes a check box 1472 for allowing the user to select whether or not to display the command value trajectory 300, and the actual trajectory 300 in the display setting area 147.
- a check box 1473 for allowing the user to select whether to display and a check box 1474 for allowing the user to select whether to display the XYZ mechanism 1900 are displayed.
- the PC 10 When displaying the XYZ mechanism 1900, the PC 10 displays a radio button 1475 for accepting a selection as to whether to operate the XYZ mechanism 1900 according to the command value or according to the actually measured value. To display.
- the PC 10 When the PC 10 does not display the XYZ mechanism 1900, the PC 10 displays only the trajectory 300. Further, when the PC 10 does not display the XYZ mechanism 1900, the PC 10 may display only the locus 300 and the current position marker 1990.
- the PC 10 displays an operation screen for setting the thickness of the locus, setting the display color of the locus, setting for displaying the coordinate axes and coordinate numerical values, and the like.
- the playback time bar 1511 represents the time required to execute the control program 12 from the beginning to the end.
- the PC 10 moves the current time knob 1512 on the playback time bar 1511 from the left to the right as the execution time of the control program 12 elapses.
- the PC 10 changes the display start time of the moving image.
- the PC 10 When the user presses the play button 152, the PC 10 starts displaying a moving image. When the user presses the stop button 153, the PC 10 stops displaying the moving image.
- the PC 10 When the display of the moving image is started, the PC 10 displays a state in which each mechanism element moves and the current position marker 1990 moves along the trajectory.
- the PC 10 describes the XYZ mechanisms 1900 at the same time in the target image display areas 146A to 146D, and synchronizes the movements of the XYZ mechanisms 1900 displayed in the target image display areas 146A to 146D.
- Each still image that is sequentially displayed constituting a moving image is a depiction of a trajectory and an XYZ mechanism 1900 in a control cycle extracted at regular intervals.
- the moving image is composed of a series of still images displayed at 60 frames per second, that is, at intervals of 16.7 ms, and the control cycle is 167 ⁇ s.
- the PC 10 can display a virtual mechanism that moves at the same speed as the actual control target device 30 by creating and sequentially displaying still images corresponding to the control cycle every 100 control cycles.
- the control cycle for creating a still image is not necessarily limited to a fixed interval. In particular, when the desired display speed cannot be achieved by one control cycle for every integer, the PC 10 creates a still image so that the average desired display speed is obtained. May be finely adjusted every time.
- the PC 10 is configured to accept a user operation for changing the interval of the control cycle for creating a still image, the user can freely increase or decrease the operation speed of the control target device 30 on the display. it can. If the PC 10 is configured to sequentially display still images in all control cycles, the user can observe the motion of the virtual mechanism in detail in slow motion.
- FIG. 18 is a view showing a window 170 for newly creating a virtual mechanism. Specifically, FIG. 18 is a diagram showing a window that is displayed when selection of the “new creation” area 1312 is confirmed in the window 130 for selecting a virtual mechanism shown in FIG.
- window 170 includes a virtual mechanism name column 171, a list 172, a creation column 173 indicating the elements of the virtual mechanism to be created, and an OK button 174 that receives an instruction to end creation of the virtual mechanism. including.
- the list 172 is composed of a column 1721 indicating the options of the mechanism element and a column 1722 indicating the options in the axial direction.
- the creation column 173 includes a column 1731 for designating a mechanism element and a column 1732 for designating an axial direction.
- the PC 10 allows the user to input a newly created virtual mechanism name in the virtual mechanism name column 171.
- FIG. 18 shows an example in which a new XY mechanism is created.
- the PC 10 causes the user to specify the type and axial direction of the mechanism element corresponding to each rank element.
- the designation is performed by a drag and drop operation from the list 172 at the bottom of the screen.
- FIG. 19 is a diagram showing definition information of each virtual mechanism exemplified in FIGS. 8 to 15.
- Each definition information indicates a correspondence relationship between the mechanism element corresponding to each rank element and the axial direction.
- the PC 10 includes a storage device that stores the virtual mechanism library 1111, a virtual mechanism presentation unit 1121, a virtual mechanism reception unit 1122, an acquisition unit 1131, a moving image data creation unit 1132, and a display control unit 1133.
- the virtual mechanism library 1111 is not necessarily built in the PC 10.
- the server apparatus 40 may include the virtual mechanism library 1111 and use it from the PC 10 via the network 50. At least some of the virtual mechanisms recorded in the virtual mechanism library 1111 have a structure in which a plurality of mechanism elements are combined in an interlocking relationship.
- the virtual mechanism includes an abstracted form that is not imitation of a form of a specific control target device that can be associated with the virtual mechanism when the virtual mechanism is used by a user.
- the virtual mechanism presentation unit 1121 presents the virtual mechanism options included in the virtual mechanism library 1111 to the user.
- the virtual mechanism presenting unit 1121 presents at least a plurality of virtual mechanism options having different types of mechanism elements or modes of interlocking relationships between the mechanism elements.
- the virtual mechanism accepting unit 1122 accepts selection of one virtual mechanism from the virtual mechanism options presented by the virtual mechanism presenting unit 1121.
- the acquisition unit 1131 acquires a series of position command values or a series of actual measurement values that are execution results of the control program.
- the moving image data creation unit 1132 uses the acquired position command value or actual position value to calculate moving image data indicating the state of the selected virtual mechanism in each control cycle or in a plurality of designated control cycles.
- Create The PC 10 includes a display control unit 1133 that displays a moving image using moving image data on a screen.
- the virtual mechanism when the user selects a virtual mechanism in which the drive structure of the virtual mechanism (the type of the mechanism element and the mode of the interlocking relationship between the mechanism elements) matches the drive structure of the control target device 30, the virtual mechanism The user can be made to understand the movement of the control target device 30 through the display of the moving image.
- the actual appearance of the control target device 30 is different from the appearance of the virtual mechanism. Will not be a big hindrance.
- the user does not need to create a three-dimensional model that reproduces the appearance of each control target device 30. Further, by using the PC 10, the user can understand the movement of the control target device 30 to a degree sufficient for the purpose of verifying the program.
- the virtual mechanism presenting unit 1121 presents at least options of a virtual mechanism having a linear motion element as a mechanism element.
- the linear motion element includes a columnar linear motion shaft and a movable portion that moves along the linear motion shaft.
- the linear motion element is displayed in a form in which the length of the linear motion axis does not change from the start to the end of the reproduction of at least one moving image.
- the linear motion element having the above configuration is an abstract form of an actual linear motion element such as a linear motion stage in which a movable part moves within a certain length range. For this reason, the user can easily understand the movement of the actual linear motion element.
- the moving image data creation unit 1132 displays the movement of the linear motion element before the start of the creation of the moving image so that the movement of the linear motion element from the start to the end of the playback of one moving image can be displayed.
- the length of the moving axis may be determined. This can be done by examining the range of command values or actual measurement values used by the moving image data creation unit 1132 for creating moving image data before starting the creation of moving image data. In this case, in order to enable the use of the virtual mechanism, it is possible that there is no essential setting information to be input by the user regarding the form of the linear motion element.
- the moving image data creation unit 1132 determines the display form of the linear motion element so that the linear motion axis has an initial length before starting the creation of the moving image. If the position exceeds the range of positions that can be displayed depending on the initial length, the length of the linear motion shaft may be changed to a length at which the position of the movable part can be displayed in the middle of the video. .
- the moving image data creation unit 1132 in order to enable the use of the virtual mechanism, it is possible to make sure that there is no essential setting information to be input by the user regarding the form of the linear motion element. is there.
- the virtual mechanism receiving unit 1122 further receives an input for setting the form of the mechanism element.
- the input that the virtual mechanism receiving unit 1122 receives as an essential input for enabling use of the virtual mechanism including the linear motion element is only an input for setting the movable length of the movable portion.
- the user can use the virtual mechanism by setting at least the movable length for the form of the linear motion element.
- the virtual mechanism presenting unit 1121 presents at least options of a virtual mechanism having a linear motion element as a mechanism element.
- the linear motion element has a columnar linear motion shaft.
- the linear motion element is displayed in a form in which the length of the linear motion shaft is changed in accordance with a change in the command value or the actual measurement value.
- the above-mentioned linear motion element is an abstract form of an actual linear motion element such as a piston / cylinder mechanism or a rack and pinion mechanism in which the length from the base end or the fixed portion to the distal end changes. For this reason, the user can easily understand the movement of the actual linear motion element.
- the PC 10 may not request an input of the upper limit of the range of change in the length of the linear motion shaft, or allow the input to not be performed. Then, in order to make the virtual mechanism usable, it is possible to make sure that there is no essential setting information to be input by the user regarding the form of the linear motion element.
- the virtual mechanism presentation unit 1121 presents at least a virtual mechanism option having a rotation element as a mechanism element.
- the rotating element is a columnar body that rotates about an axis of symmetry.
- the above rotating elements are forms of abstracting actual rotating elements such as motors and rotating shafts. For this reason, the user can easily understand the actual movement of the rotating element.
- the virtual mechanism presenting unit 1121 includes at least a virtual mechanism having two linear motion elements that are vertically connected to each other as a mechanical element, and a virtual mechanism having three linear motion elements that are vertically connected to each other as a mechanical element. And present the options.
- a virtual mechanism for example, XY mechanism having two linear motion elements connected vertically to each other as a mechanism element, or a virtual mechanism (for example, XYZ mechanism) having three linear motion elements connected perpendicular to each other as a mechanism element
- the virtual mechanism library 1111 includes these two types of virtual mechanisms as options, the versatility of the PC 10 can be increased.
- the PC 10 further includes a storage device that stores the mechanism element library 1112, a mechanism element presentation unit 1123, a mechanism element reception unit 1124, a virtual mechanism creation unit 1125, and a virtual mechanism registration unit 1126.
- the mechanism element library records at least one mechanism element.
- the mechanism element presenting unit 1123 displays on the screen the options of the mechanism elements that are included in the mechanism element library 1112 and can be used to define the virtual mechanism.
- the mechanism element accepting unit 1124 accepts selection of mechanism elements to be connected to each other among the mechanism elements presented as options, and designation of an interlocking mode between the selected mechanism elements.
- the virtual mechanism creation unit 1125 creates a virtual mechanism that includes the selected mechanism element and that is interlocked with the mechanism element in a designated manner.
- the virtual mechanism registration unit 1126 registers the created virtual mechanism in the library 111.
- the PC 10 does not provide a virtual mechanism having a mechanism element configuration that matches the mechanism element configuration of the user's control target device 30 as an option, the user creates and uses a virtual mechanism that the user needs. be able to.
- the actual linear motion element whose length from the proximal end or the fixed portion to the distal end changes is replaced with a virtual linear motion having the linear motion axis having a constant length described above. It may be expressed as an element. Conversely, a linear motion element whose length does not change may be expressed using a virtual linear motion element whose length from the proximal end or the fixed portion to the distal end changes.
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Abstract
Description
特開2008-71350号公報(特許文献1)には、上記制御プログラムによって動作する工作機械による工作物の機械加工をシミュレーションし、工作機械および工作物の外観をリアルに再現した3次元モデルの動画として当該シミュレーションの結果を表示するシミュレーション装置が記載されている。
仮想機構管理部112は、仮想機構ライブラリ1111に用意されている仮想機構を、ユーザインターフェース部101を介して選択肢としてユーザに提示する。仮想機構管理部112は、ユーザから受け付けた指示に従い、仮想機構を選択する。さらに、仮想機構管理部112は、選択された仮想機構についてユーザが設定すべき内容があれば、ユーザインターフェース部101を介して当該設定も受け付ける。
図4は、動画像作成プログラム部105に含まれる動画像データ処理部113および仮想機構管理部112の機能的構成を示した図である。図4を参照して、動画像データ処理部113は、取得部1131と、動画像データ作成部1132と、表示制御部1133とを備える。仮想機構管理部112は、仮想機構提示部1121と、仮想機構受付部1122と、機構要素提示部1123と、機構要素受付部1124と、仮想機構作成部1125と、仮想機構登録部1126とを含む。
(1)PC10は、仮想機構ライブラリ1111を格納した記憶装置、仮想機構提示部1121、仮想機構受付部1122、取得部1131、動画像データ作成部1132および表示制御部1133を備える。仮想機構ライブラリ1111は、必ずしもPC10に内蔵される必要はなく、たとえばサーバ装置40に仮想機構ライブラリ1111を備え、それをPC10からネットワーク50を経由して利用するようにしてもよい。仮想機構ライブラリ1111に収録される少なくとも一部の仮想機構は、複数の機構要素が連動関係をもって組み合わせられた構造を備える。当該仮想機構は、ユーザにおける当該仮想機構の使用の際に当該仮想機構に対応させられうる特定の制御対象装置の形態の模倣ではない抽象化された形態を備える。仮想機構提示部1121は、仮想機構ライブラリ1111に含まれている仮想機構の選択肢をユーザに提示する。仮想機構提示部1121は、少なくとも、機構要素の種類または機構要素同士の連動関係の態様が互いに異なる仮想機構の選択肢を複数提示する。仮想機構受付部1122は、仮想機構提示部1121が提示した仮想機構の選択肢の中から一つの仮想機構の選択を受け付ける。取得部1131は、制御プログラムの実行結果である、一連の位置の指令値または一連の位置の実測値を取得する。動画像データ作成部1132は、取得された位置の指令値または位置の実測値を用いて、制御周期毎または複数の指定された制御周期における上記選択された仮想機構の状態を示した動画像データを作成する。PC10は、動画像データを用いた動画を画面に表示させる表示制御部1133を備えている。
Claims (16)
- 制御プログラムの実行によって出力される位置の指令値が予め定められた周期で入力されることによって動作する制御対象装置(30)の動作を、電子的に構築された3次元モデルである仮想機構(1800,1900,2000,2100,2200,2100,2200,2300,2400,2500)の動画として画面に表示する表示装置(10)であって、
仮想機構の選択肢を前記画面に提示する仮想機構提示部(1121)と、
前記仮想機構提示部が提示した仮想機構の選択肢の中から一つの仮想機構の選択を受け付ける仮想機構受付部(1122)と、
前記制御プログラムの実行結果である、一連の前記位置の指令値または一連の前記位置の実測値を取得する取得部(1131)と、
前記取得された前記位置の指令値または前記位置の実測値を用いて、前記周期毎または複数の指定された前記周期における前記選択された仮想機構の状態を示した動画像データを作成する動画像データ作成部(1132)と、
前記動画像データを用いた動画を前記画面に表示させる表示制御部(1133)とを備え、
前記仮想機構は、複数の機構要素が連動関係をもって組み合わせられた構造を備え、
前記仮想機構提示部は、少なくとも、前記機構要素の種類または前記機構要素同士の連動関係の態様が互いに異なる仮想機構の選択肢を複数提示し、
前記仮想機構は、ユーザにおける当該仮想機構の使用の際に当該仮想機構に対応させられうる特定の制御対象装置の形態の模倣ではない抽象化された形態を備える、表示装置。 - 前記仮想機構提示部は、少なくとも、前記機構要素として直動要素を有する仮想機構の選択肢を提示し、
前記直動要素は、柱状の直動軸と、当該直動軸に沿って移動する可動部とを有し、
前記直動要素は、少なくとも1つの動画像の再生の開始から終了までの間は前記直動軸の長さが変化しない形態で表示される、請求項1に記載の表示装置。 - 前記仮想機構受付部は、さらに、前記機構要素の形態を設定するための入力を受け付け、
前記直動要素を含む前記仮想機構を使用可能とするための必須の入力として当該直動要素について前記仮想機構受付部が受け付ける前記入力は、前記可動部の可動長さを設定する入力のみである、請求項2に記載の表示装置。 - 前記仮想機構提示部は、少なくとも、前記機構要素として直動要素を有する仮想機構の選択肢を提示し、
前記直動要素は、柱状の直動軸を有し、
前記直動要素は、前記指令値または前記実測値の変化に応じて前記直動軸の長さを変化させる形態で表示される、請求項1に記載の表示装置。 - 前記仮想機構提示部は、少なくとも、前記機構要素として回転要素を有する仮想機構の選択肢を提示し、
前記回転要素は、対称軸を中心に回転する柱状体である、請求項1に記載の表示装置。 - 前記仮想機構提示部は、少なくとも、互いに垂直に接続された2つの直動要素を前記機構要素として有する仮想機構と、互いに垂直に接続された3つの直動要素を前記機構要素として有する仮想機構との選択肢を提示する、請求項1に記載の表示装置。
- 前記仮想機構の定義に利用可能な前記機構要素の選択肢を前記画面に提示する機構要素提示部(1123)と、
前記選択肢として提示されている前記機構要素のうち互いに接続する機構要素の選択と、当該選択された機構要素同士における連動の態様の指定とを受け付ける機構要素受付部(1124)と、
前記選択された機構要素を含んだ仮想機構であって、かつ前記指定された態様で当該機構要素が連動する仮想機構を作成する仮想機構作成部(1125)とをさらに備える、請求項1に記載の表示装置。 - 複数の互いに異なる前記仮想機構を含む仮想機構ライブラリを格納した記憶装置(111)をさらに備え、
前記仮想機構提示部は、前記仮想機構ライブラリに含まれている仮想機構の選択肢を提示する、請求項1に記載の表示装置。 - 複数の互いに異なる前記仮想機構を含む仮想機構ライブラリおよび少なくとも1つの機構要素を含む機構要素ライブラリを格納した記憶装置(111)と、
前記仮想機構作成部によって作成された前記仮想機構を前記仮想機構ライブラリに登録する仮想機構登録部(1126)とをさらに備え、
前記仮想機構提示部は、前記仮想機構ライブラリに含まれている仮想機構の選択肢を提示し、
前記機構要素提示部は、前記機構要素ライブラリに含まれている機構要素の選択肢を提示する、請求項7に記載の表示装置。 - 制御プログラムの実行によって出力される位置の指令値が予め定められた周期で入力されることによって動作する制御対象装置(30)の動作を、電子的に構築された3次元モデルである仮想機構(1800,1900,2000,2100,2200,2100,2200,2300,2400,2500)の動画として表示装置(10)の画面に表示する表示方法であって、
前記表示装置のプロセッサ(901)が、仮想機構の選択肢を前記画面に提示するステップ(S2)と、
前記プロセッサが、提示された前記仮想機構の選択肢の中から一つの仮想機構の選択を受け付けるステップ(S6)と、
前記プロセッサが、前記制御プログラムの実行結果である、一連の前記位置の指令値または一連の前記位置の実測値を取得するステップ(S10)と、
前記プロセッサが、前記取得された前記位置の指令値または前記位置の実測値を用いて、前記周期毎または複数の指定された前記周期における前記選択された仮想機構の状態を示した動画像データを作成するステップ(S14)と、
前記プロセッサが、前記動画像データを用いた動画を前記画面に表示させるステップ(S16)とを備え、
前記仮想機構は、複数の機構要素が連動関係をもって組み合わせられた構造を備え、
前記仮想機構の選択肢を前記画面に提示するステップでは、前記プロセッサが、少なくとも、前記機構要素の種類または機構要素同士の連動関係の態様が互いに異なる仮想機構の選択肢を複数提示し、
前記仮想機構は、ユーザにおける当該仮想機構の使用の際に当該仮想機構に対応させられうる特定の制御対象装置の形態の模倣ではない抽象化された形態を備える、表示方法。 - 制御プログラムの実行によって出力される位置の指令値が予め定められた周期で入力されることによって動作する制御対象装置(30)の動作を、電子的に構築された3次元モデルである仮想機構(1800,1900,2000,2100,2200,2100,2200,2300,2400,2500)の動画として表示装置(10)の画面に表示させるプログラムであって、
仮想機構の選択肢を前記画面に提示するステップ(S2)と、
提示された前記仮想機構の選択肢の中から一つの仮想機構の選択を受け付けるステップ(S6)と、
前記制御プログラムの実行結果である、一連の前記位置の指令値または一連の前記位置の実測値を取得するステップ(S10)と、
前記取得された前記位置の指令値または前記位置の実測値を用いて、前記周期毎または複数の指定された前記周期における前記選択された仮想機構の状態を示した動画像データを作成するステップ(S14)と、
前記動画像データを用いた動画を前記画面に表示させるステップ(S16)とを、前記表示装置に実行させ、
前記仮想機構は、複数の機構要素が連動関係をもって組み合わせられた構造を備え、
前記仮想機構の選択肢を前記画面に提示するステップでは、少なくとも、前記機構要素の種類または機構要素同士の連動関係の態様が互いに異なる仮想機構の選択肢を複数提示し、
前記仮想機構は、ユーザにおける当該仮想機構の使用の際に当該仮想機構に対応させられうる特定の制御対象装置の形態の模倣ではない抽象化された形態を備える、プログラム。 - 制御プログラムの実行によって出力される位置の指令値が予め定められた周期で入力されることによって動作する制御対象装置(30)の動作を、電子的に構築された3次元モデルである仮想機構(1800,1900,2000,2100,2200,2100,2200,2300,2400,2500)の動画として表示装置(10)の画面に表示させるプログラムを格納したコンピュータ読み取り可能な記録媒体(999)であって、
前記プログラムは、
仮想機構の選択肢を前記画面に提示するステップ(S2)と、
提示された前記仮想機構の選択肢の中から一つの仮想機構の選択を受け付けるステップ(S6)と、
前記制御プログラムの実行結果である、一連の前記位置の指令値または一連の前記位置の実測値を取得するステップ(S10)と、
前記取得された前記位置の指令値または前記位置の実測値を用いて、前記周期毎または複数の指定された前記周期における前記選択された仮想機構の状態を示した動画像データを作成するステップ(S14)と、
前記動画像データを用いた動画を前記画面に表示させるステップ(S16)とを、前記表示装置に実行させ、
前記仮想機構は、複数の機構要素が連動関係をもって組み合わせられた構造を備え、
前記仮想機構の選択肢を前記画面に提示するステップでは、少なくとも、前記機構要素の種類または機構要素同士の連動関係の態様が互いに異なる仮想機構の選択肢を複数提示し、
前記仮想機構は、ユーザにおける当該仮想機構の使用の際に当該仮想機構に対応させられうる特定の制御対象装置の形態の模倣ではない抽象化された形態を備える、コンピュータ読み取り可能な記録媒体。 - 電子的に構築された3次元モデルである仮想機構(1800,1900,2000,2100,2200,2100,2200,2300,2400,2500)を収録した仮想機構ライブラリ(1111)であって、
前記仮想機構は、複数の機構要素が連動関係をもって組み合わせられた構造を備え、
前記仮想機構ライブラリは、少なくとも、前記機構要素の種類または機構要素同士の連動関係の態様が互いに異なる仮想機構を複数収録し、
前記仮想機構は、ユーザにおける当該仮想機構の使用の際に当該仮想機構に対応させられうる特定の制御対象装置の形態の模倣ではない抽象化された形態を備える、仮想機構ライブラリ。 - 少なくとも、互いに垂直に接続された2つの直動要素を前記機構要素として有する仮想機構と、互いに垂直に接続された3つの直動要素を前記機構要素として有する仮想機構とを収録した、請求項13に記載の仮想機構ライブラリ。
- 電子的に構築された3次元モデルである仮想機構(1800,1900,2000,2100,2200,2100,2200,2300,2400,2500)を収録した仮想機構ライブラリ(1111)を格納したコンピュータ読み取り可能な記録媒体(999)であって、
前記仮想機構は、複数の機構要素が連動関係をもって組み合わせられた構造を備え、
前記仮想機構ライブラリは、少なくとも、前記機構要素の種類または機構要素同士の連動関係の態様が互いに異なる仮想機構を複数収録し、
前記仮想機構は、ユーザにおける当該仮想機構の使用の際に当該仮想機構に対応させられうる特定の制御対象装置の形態の模倣ではない抽象化された形態を備える、コンピュータ読み取り可能な記録媒体。 - 前記仮想機構ライブラリは、少なくとも、互いに垂直に接続された2つの直動要素を前記機構要素として有する仮想機構と、互いに垂直に接続された3つの直動要素を前記機構要素として有する仮想機構とを収録した、請求項15に記載のコンピュータ読み取り可能な記録媒体。
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US9507339B2 (en) | 2016-11-29 |
EP2549349A4 (en) | 2015-03-25 |
CN102804091B (zh) | 2015-12-09 |
CN102804091A (zh) | 2012-11-28 |
JP2011192019A (ja) | 2011-09-29 |
EP2549349A1 (en) | 2013-01-23 |
JP5581749B2 (ja) | 2014-09-03 |
US20130066616A1 (en) | 2013-03-14 |
EP2549349B1 (en) | 2016-11-09 |
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