WO2016009519A1

WO2016009519A1 - Device control system, time chart creation device, device control device, device control method, time chart creation method, and computer program

Info

Publication number: WO2016009519A1
Application number: PCT/JP2014/068963
Authority: WO
Inventors: 上塩　具宏
Original assignee: 株式会社安川電機
Priority date: 2014-07-16
Filing date: 2014-07-16
Publication date: 2016-01-21
Also published as: JP6460108B2; JPWO2016009519A1

Abstract

Control that links a plurality of time charts can be performed, as a result of a device control system (1) comprising: a time chart creation device (2) that creates a time chart (10) describing the operation of at least one device relative to a time axis; and a device control device (3) that controls the at least one device, on the basis of at least one time chart created by the time chart creation device. The time chart creation device has: a control chart creation unit (2o) that creates a control chart (12) describing a control command relative to the time axis, on a time chart; and a device chart creation unit (2p) that creates at least one device chart (11) describing the operation of the devices relative to the time axis, on a time chart. The control commands include a command for describing the operation between the plurality of time charts.

Description

Device control system, time chart creation device, device control device, device control method, time chart creation method, and computer program

The present invention relates to a device control system, a time chart creation device, a device control device, a device control method, a time chart creation method, and a computer program.

Patent Document 1 describes an automatic control program creation device that automatically creates a ladder program from a time chart.

In Patent Document 2, the time chart of the input device and the output device is edited using a personal computer, the time chart data is compiled into a machine language, and the compiled machine language is transmitted to the processing device through an interface. It is described.

JP-A-7-191717 JP 2003-228403 A

The problem to be solved by the present invention is to enable the control of interlocking a plurality of time charts when controlling the equipment based on the time chart.

The device control system according to one aspect of the present invention includes a time chart creation device that creates a time chart that describes the operation of one or more devices with respect to a time axis, and the time chart creation device that is 1 or A device control device that controls the one or more devices based on two or more time charts, and the time chart creation device is a control in which a control command is described for the time axis in the time chart. A control chart creating unit for creating a chart; and an apparatus chart creating unit for creating at least one device chart describing an operation of the device with respect to a time axis in the time chart, and the control command includes: Instructions for describing operations between a plurality of time charts are included.

Moreover, in the equipment control system according to one aspect of the present invention, the equipment control device includes an internal clock timing unit that holds an internal time for each of the one or more time charts, and counts and stops its progress. And the command for describing the operation between the plurality of time charts may include a command for switching the progress stop of the internal time.

In the device control system according to one aspect of the present invention, the command for describing the operation between the plurality of time charts includes at least a command for executing the time chart from the beginning, and interrupting execution of the time chart. Any of an instruction, an instruction for resuming execution of the time chart, an instruction for ending execution of the time chart, and an instruction for calling the time chart as a subroutine may be included.

In the device control system according to one aspect of the present invention, the command for describing the operation between the plurality of time charts further includes an exception process for switching the progress stop of the internal time according to the occurrence of an event. Instructions may be included.

In the device control system according to one aspect of the present invention, the control chart may include a normal control chart describing a control instruction other than the exception handling instruction and an exception handler describing the exception handling instruction. .

Also, a time chart creation device according to another aspect of the present invention is used in the above-described device control system.

Also, a device control apparatus according to another aspect of the present invention is used for the above-described device control system.

According to another aspect of the present invention, there is provided a device control method in which a control chart in which a control command is described with respect to a time axis is created on a time chart, and at least one device operation is described with respect to the time axis. Create one device chart, create a time chart, control one or more devices based on one or more time charts, and describe the operation between multiple time charts in the control command Instructions are included.

Further, a time chart creation method according to another aspect of the present invention is used for the above-described device control method.

Also, a computer program according to another aspect of the present invention causes a computer to function as the above-described time chart creation device.

It is the schematic of the apparatus control system which concerns on one Embodiment of this invention. It is a hardware block diagram of a time chart preparation apparatus. It is a figure which shows an example of the time chart produced and displayed by the time chart production apparatus. It is a figure which shows an example of the time chart produced and displayed by the time chart production apparatus. It is a figure which shows an example of the time chart produced and displayed by the time chart production apparatus. It is a figure which shows a crane game machine. It is a functional block diagram of the equipment control system concerning one embodiment of the present invention. It is a figure which shows the structural example of control data. It is the figure which illustrated the command used in order to perform control which links a plurality of time charts. It is the figure which showed the control chart which described the Try_Play command as exception processing. It is the figure which showed the control chart which described the Try_Call command as exception processing. It is the figure which showed the control chart which separated and showed exception processing as an exception handler. It is a flowchart which shows the procedure which produces a time chart with a time chart preparation apparatus. It is a flowchart which shows the procedure which performs a time chart based on control data by an apparatus control apparatus. It is a flowchart which shows the procedure which confirms the operation | movement of a time chart by simulation with a time chart preparation apparatus.

According to the viewpoint of the inventor of the present invention, in the ladder chart used for conventional device control, the entire control required is described by dividing it into a plurality of ladder charts appropriately for each function, etc. And may improve maintainability. The plurality of ladder charts are simultaneously read into the programmable controller and scanned.

Compared to ladder charts, time charts have a great merit in that it is easy to understand the operation of equipment intuitively. However, the time chart describes the specified operation with respect to the time axis, and when the entire control is divided into a plurality of time charts, a method for executing these multiple time charts in conjunction with each other is known. This is a limitation of the productivity and maintainability of the time chart.

Accordingly, the inventor of the present invention has invented a novel and original device control system and the like as a result of earnest research and development on performing control for interlocking a plurality of time charts in device control using a time chart. It came. The device control system and the like will be described in detail below with reference to the drawings through the embodiments.

FIG. 1 is a schematic diagram showing an example of a device control system 1 including a time chart creation device 2 and a device control device 3 according to an embodiment of the present invention. In the figure, as an example of the device control system 1, in addition to the time chart creation device 2 and the device control device 3, a servo controller 4, a switch 5 and a lamp 6 connected to the device control device 3, and a servo controller 4 A connected servo motor 7 is shown.

The device control device 3 is a device that controls operations of various devices connected to the device control device 3 based on one or more time charts. The device control device 3 here is a device of the same kind as a device generally known as a controller for industrial devices, and may be a device known as a sequencer or PLC (Programmable Logic Controller). The device control apparatus 3 does not have to control each device based only on the time chart, and can execute a general ladder program or a control program in another language in addition to the time chart. It's okay.

The time chart creation device 2 is a device that creates a time chart to be executed in the device control device 3, converts it into control data in a format that can be interpreted and executed by the device control device 3, and transfers it to the device control device 3. . The time chart creation device 2 may be a dedicated device, but is realized by executing a computer program that functions as the time chart creation device 2 using a general computer as illustrated. Such a computer program may be stored in a computer-readable information storage medium such as various optical disks and semiconductor memories, and is preferably installed in the computer from the medium. Alternatively, it may be downloaded to a computer from various information communication networks such as the Internet, or may be realized by so-called cloud computing in which the function is provided by a server at a remote location through the information communication network.

Here, the time chart means a diagram illustrating the operation of one or more devices with respect to a common time axis, and the control data is a format in which the device control apparatus 3 can recognize such a time chart. It shall mean the data converted as electronic data. The specific configuration of the time chart and control data will be described in detail later.

In addition, the device here refers to an article to be controlled as a part of the device control system 1 by the device control device 3 and performs some electrical input or output with the device control device 3. As an apparatus that performs input to the apparatus control device 3, for example, the illustrated switch 5 is used. As an apparatus that receives an output from the apparatus control apparatus 3, for example, the illustrated lamp 6 is used. For example, there is a motor controller such as the illustrated servo controller 4, and an actuator such as a servo motor 7 that is indirectly controlled by the device controller 3 via the servo controller 4 is also described in this specification. This corresponds to the equipment mentioned in the manual. The servo controller 4, the switch 5, the lamp 6, and the servo motor 7 shown in FIG. 1 are shown to exemplify the devices referred to in this specification, and the types of devices included in the device control system 1 The number varies depending on the content of control to be realized by the device control system 1.

In the above description and FIG. 1, other detailed configurations and wirings that are not necessary for the description of the present embodiment, for example, connection of a power supply line and a ground line, are omitted for the sake of simplicity. Further, the connection mode, the type of connector, and the like are not particularly limited. Further, when the device control device 3 operates, the time chart creation device 2 does not necessarily have to be connected. If control data is transferred to the device control device 3, the time chart creation device 2 is not required. The device control device 3 is operable. Further, the time chart creation device 2 is not necessarily connected to the device control device 3, and the time chart creation device 2 can create the time chart and the control data alone.

FIG. 2 is a block diagram showing a physical configuration of the time chart creation device 2. Here, the time chart creation device 2 is a general computer, and includes a CPU (Central Processing Unit) 2a, a RAM (Random Access Memory) 2b, an external storage device 2c, a GC (Graphics Controller) 2d, an input device 2e, and an I / O. (Inpur / Output) 2f is connected to each other via the data bus 2g so that electrical signals can be exchanged. Here, the external storage device 2c is a device capable of recording information statically, such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive). The signal from the GC 2d is output to a monitor 2h such as a flat panel display where the user visually recognizes the image and displayed as an image. The input device 2e is a device for a user to input information, such as a keyboard, a mouse, and a touch panel, and the I / O 2f exchanges information with an external device, here, the device control device 3 by the time chart creation device 2. Interface.

3 to 5 are diagrams each showing an example of the time chart 10 created and displayed by the time chart creating apparatus 2. Each time chart 10 includes the same number of equipment charts 11 that describe the operation of the equipment to be controlled by the time chart 10 with the horizontal axis as the time axis. The time chart 10 shown in FIGS. 3 and 4 controls one device each, and the time chart 10 shown in FIG. 5 controls seven devices. Therefore, the device chart 11 is surrounded by a frame and displayed for each device. Yes. Each time chart is numbered and distinguished. The time chart may be given a name instead of the number or in addition to the number. Here, FIG. 3 shows the time chart 1, FIG. 4 shows the time chart 2, and FIG. 5 shows the time chart 3.

Here, the device chart 11 named “coin slot” in FIG. 3 is associated with a coin slot (described later), and when a coin is inserted into the coin slot, a reference line 13 indicated by a broken line is shown. The waveform rises from, indicating that a coin insertion has been detected. 4 and 5 are associated with lamps, the position of the reference line 13 is turned off, and the position where the waveform rises from the reference line 13 is turned on. Show. The device chart 11 named “X switch” and “Y switch” in FIG. 5 is the device chart 11 associated with the push button switch, and the position of the reference line 13 is switched off, that is, the push button is pressed. The position where the waveform is shown rising from the reference line 13 is switched on, that is, the push button is being pressed. Further, on the left end of the device chart 11, an icon that easily indicates the type of the device and a name given to the device chart 11 are displayed.

The device chart 11 named “X axis”, “Y axis”, and “Z axis” is the device chart 11 associated with the motor, and the reference line indicates that the motor speed is 0, that is, the motor is stopped. It shows the state. When the waveform appears on the upper side from the position of the reference line 13, it indicates that the motor is rotating forward, and its height indicates the rotation speed. Further, when the waveform appears on the lower side from the position of the reference line 13, it indicates that the motor is reversely rotated, and similarly, the height indicates the rotational speed. That is, the waveforms shown in the device chart 11 named “X-axis”, “Y-axis”, and “Z-axis” are motor speed waveforms. Note that the position waveform of the motor may be shown instead of or in addition to the speed waveform.

Furthermore, the device chart named “hand” is a device chart 11 associated with a hand (described later) that opens and closes according to a command, and the waveform is a command that causes the position of the reference line 13 to open the hand. The position shown rising from the reference line 13 indicates a command to close the hand.

Furthermore, the time chart 10 includes a control chart 12. Unlike the device chart 11 described above, the control chart 12 is a virtual chart that is not associated with a specific device. The control chart 12 describes a control command for performing advanced control of the entire time chart 10 and for describing operations between a plurality of time charts.

The equipment chart 11 and the control chart 12 are shown with respect to a common time axis. Therefore, all the operations shown on the device chart 11 and the control commands shown on the control chart 12 are described with respect to the time axis. A time scale 14 indicating the time on the time axis is displayed at the top of the control chart 12. Here, the unit of the time scale 14 is seconds. Further, a marker 15 indicating the current time of each time chart 10 being executed is shown further above the time scale 14. When the operation described in the time chart 10 is executed, the marker 15 moves rightward in accordance with the operation, and indicates the current execution time point.

The time chart 10 shown in FIGS. 3 to 5 describes the operation of the crane game machine 20 shown in FIG. In this example, until the coin is inserted into the coin slot 28, the crane game machine 20 blinks the lamp 29 at the top of the housing and waits for the customer, and when the coin is inserted into the coin slot, the lamp 29 is turned on. Then start the crane game.

In the crane game, as is well known, while the X switch 21 that is a push button switch is being pressed, the crane 22 is moved in the X direction shown in the figure, and further the Y switch 23 that is a push button switch is being pressed. In the meantime, the crane 22 moves in the Y direction shown in the figure. Thereafter, the operation is automatically performed, the crane 22 is lowered in the Z direction, and the hand 24 that has been opened is closed. Further, the crane 22 moves up in the Z direction, and then the crane 22 moves to a position immediately above the prize acquisition port 26 which is the initial position, so that the hand 24 is opened again. In this series of operations, if the hand 25 has succeeded in grabbing the prize 25 arranged in the housing, the prize 25 is dropped to the prize acquisition port 26 and can be taken out from the prize take-out port 27. When the series of operations is completed, the crane game machine 20 blinks the lamp 29 at the top of the housing again and waits for the start of the next game.

Referring to the time chart 10 of FIGS. 3 to 5 again, how the device control apparatus 3 executes this operation will be described below.

The device control device 3 holds an internal time indicating the time on the time chart 10 for each time chart 10. In other words, three internal times are held here. The operation and control commands described in each time chart 10 are executed as the corresponding internal time progresses, that is, when each internal time arrives at the time when each operation and control command is described. Is done. This indicates that the marker 15 indicates the position of the internal time on the time scale 14 for each time chart 10.

The initial value of the internal time is 0 seconds. Here, it is assumed that the time chart 1, that is, the time chart 10 shown in FIG. 3 is executed first. As a result, the execution of the time chart 10 of FIG. 3 is started from the time of 0 seconds. The internal time progresses as the real time progresses. In this example, a label labeled “1” is described in the control chart 12 at time 0.5 seconds. This label has the same function as a label in a general computer program language, and merely indicates a specific position on the time chart 10, and has no other significance. Comparing the label in the present embodiment with the label in a general computer program language, the former points to the time on the time chart 10 as its position, while the latter points to a point on the program list or the program counter. Is different. At this time, in the time charts 2 and 3, the corresponding internal time does not advance and remains 0 seconds. Therefore, the time chart 10 of FIGS. 4 and 5 is not executed.

In the time chart 1, when the internal time reaches 1.0 second, a control command displayed as “Play (2)” is described. This is an instruction meaning that the second time chart (time chart 2) is executed from the beginning, that is, the internal time is 0 seconds. In response, the internal time in the time chart 2 also starts to advance. At this time, the internal time of the time chart 1 and the internal time of the time chart 2 proceed simultaneously, and the times indicated by the internal times do not necessarily match, and in many cases indicate different times. Thereby, the time chart 1 and the time chart 2 are executed in parallel.

In the time chart 2 of FIG. 4, the lamp 29 is turned on when the internal time 1 second after the start of execution is 1.0 second, and is turned off when the internal time 1 second later is 2.0 seconds. . Similarly, the light is turned on when the internal time is 3.0 seconds, and turned off when the internal time is 4.0 seconds. Then, when the internal time is 4.0 seconds, the control command “Jump (2)” is executed. This moves the execution position on the time chart 10 by the device control device 3 to the designated label position. This is a control transfer instruction (so-called jump instruction) known as a goto statement in many computer program languages. Here, it means that the control is transferred to the label “2” described at the time of 0 seconds. This control is realized by rewriting the internal time to 0 seconds, which is the time indicated by the label. As a result, in the time chart 2, the control from 0 second to 4.0 seconds is repeatedly executed. As a result, the lamp 29 is repeatedly turned on and off every second.

On the other hand, in the time chart 1 of FIG. 3, when the internal time further advances and reaches the time point of 1.5 seconds, a waveform indicating that the signal is turned on is described in the device chart 11 for “coin slot”. Yes. Here, the coin slot 28 is a device that detects that a coin has been inserted. And the apparatus control apparatus 3 stops the progress of the internal time about the time chart 1 until the state of the coin slot 28 corresponds to that described in the apparatus chart 11, that is, until a coin is inserted. Hold for seconds. Thereby, the apparatus control apparatus 3 waits for insertion of a coin. During this time, since the time chart 2 continues to be executed, the lamp 29 repeats blinking.

When a coin is inserted into the coin slot 28, the internal time starts to advance again, and a control command displayed as “Abort (2)” is executed at 2.0 seconds. This is a command that means to end the operation of the time chart 2. As a result, the progress of the internal time with respect to the time chart 2 is stopped, and the value is reset to 0 second. Accordingly, the blinking of the lamp 29 is stopped.

When the internal time reaches 3.0 seconds, the control command displayed as “Call (3)” is executed. This is an instruction for executing the time chart 3 as a so-called subroutine call. This command stops the progress of the internal time of the time chart 10 in which the command itself is described, here, the time chart 1 and stops the progress of the internal time of the time chart 10 to be called, here the time chart 3, ie, from the beginning. It starts from the time of 0 seconds. Therefore, thereafter, the execution of the time chart 1 is stopped until the operation described in the time chart 3 is completed.

In the time chart 3 shown in FIG. 5, when the progress of the internal time is started, the lamp 29 is immediately turned on according to the description of the device chart 11 regarding “lamp”. Further, the internal time advances, and at time 0.5 seconds, a waveform indicating that the signal is turned on is described in the device chart 11 for the “X switch”. Here, as shown in FIG. 4, the X switch 21 is a push button switch, and its signal changes when the player presses the switch. For this reason, the device control apparatus 3 matches the state of the X switch 21 described in the device chart 11, that is, stops the progress of the internal time until the X switch is pressed, and keeps it for 0.5 seconds. To do. By this control, the device control apparatus 3 performs a standby operation until the X switch 21 is pressed.

When the X switch 21 is pressed, the internal time starts to advance again. When the internal time reaches 0.6 seconds, the operation “Feed” is described in the device chart 11 for “X axis”. This operation “Feed” means that the corresponding motor is continuously rotated at a predetermined speed. Therefore, while the operation “Feed” is valid, the device control apparatus 3 continues to rotate the X-axis motor.

Then, when the internal time reaches 1.0 second, a waveform indicating that the signal is turned off is described in the device chart 11 for the “X switch”. Also in this case, as before, the device control apparatus 3 stops the internal time until the state of the X switch 21 matches that described in the device chart 11, that is, until the X switch is released. Hold for seconds. With this control, the device control apparatus 3 performs an operation of waiting until the X switch 21 is released. During this time, since the operation “Feed” of the X-axis motor is effective, the X-axis motor continues to rotate.

When the X switch 21 is released, the internal time starts to advance again. When the internal time reaches 1.1 seconds, the operation “Hold” is described in the device chart 11 for “X axis”, which means that the operation “Feed” is finished. Therefore, when the internal time is 1.1 seconds, the device control device 3 stops the X-axis motor.

With the above operation, the control of moving the crane 22 in the X direction while the X switch 21 is pressed is realized. Furthermore, when the internal time is between 1.5 seconds and 2.1 seconds, the description of the device chart 11 for the “Y switch” and the device chart 11 for the “Y axis” is exactly the same as in the case of the X axis. Control of moving the crane 22 in the Y direction while the Y switch 23 is pressed is realized.

Thereafter, the internal time advances to a time point of 2.5 seconds, and as shown in the device chart 11 for “Z-axis”, the device control device 3 uses the specified velocity waveform for the Z-axis motor and the internal time is 4 Rotate in the negative direction until 5 seconds. As a result, the crane 22 is automatically lowered by a predetermined distance in the Z direction.

Subsequently, when the internal time reaches 5.0 seconds, a waveform indicating that the signal is turned on is described in the device chart 11 for “hand”. Here, the hand 24 in FIG. 4 is operated to close while the signal from the device control device 3 is on and open while the signal is off (the power to open and close the hand 24). Any mechanism may be used as the source (an appropriate device such as an electromagnetic solenoid or a pneumatic actuator may be used). Therefore, at this time, the hand 24 is closed and closed.

Furthermore, when the internal time is 6.0 seconds, the operation “Home” is described in the device chart 11 for “Z axis”. This operation “Home” means an operation for returning the corresponding motor to the home position at a predetermined speed. Therefore, by this operation “Home”, the Z-axis rotates forward toward the origin position, and the crane 22 automatically rises in the Z direction. Then, the device control device 3 stops the progress of the internal time until the home position return operation is completed, that is, until the home position return signal is input from the Z-axis motor, and holds it for 6.0 seconds. As a result, the device control apparatus 3 performs an operation of waiting until the origin return operation of the Z-axis motor is completed. When the return to origin of the Z-axis motor is completed, the internal time starts to advance again.

Then, when the internal time reaches 6.5 seconds, the operation “Home” is described in both the device chart 11 for “X axis” and the device chart 11 for “Y axis”. As a result, as in the previous Z-axis, the device control apparatus 3 instructs the origin return operation to both the X-axis and the Y-axis, and stops the progress of the internal time and waits until the operation is completed. As a result, the crane 22 returns to its initial position, that is, a position directly above the prize acquisition port 26.

When the internal time advances to 7.0 seconds after completion of the origin return operation for both the X axis and the Y axis, a waveform indicating that the signal is turned off is described in the device chart 11 for “hand”. Therefore, the hand 24 opens at this point. If the prize 25 is successfully gripped by the hand 24, the prize 25 will fall into the prize acquisition port 26.

This completes the series of crane game operations, but the internal time further advances to 8.0 seconds. At this time, the lamp 29 is turned off, and a control command “Return” is described in the control chart 12. This control command means returning the control to the time point called by the Call command. Here, the progress of the internal time for the time chart 3 itself is stopped, and the internal time in the time chart 1 of FIG. Progression will be resumed from 3.0 seconds.

Returning to the time chart 1 of FIG. 3 again, when the internal time reaches 4.0 seconds, a jump instruction labeled “Jump (1)” is executed. As a result, in this example, execution is shifted to the time point of 0.5 seconds. Thereafter, the series of operations described above are repeatedly executed.

Here, the control command in the present specification does not indicate the operation of the device, but is a command for controlling the internal operation of the device control apparatus 3 when executing the time chart. This control instruction is equivalent to a control instruction or control syntax in a general computer program language, such as the jump instruction described above, and execution stop of the time chart 10 used for operating a plurality of time charts. Instructions to control are included. Therefore, the control command rewrites the internal time used as a program counter corresponding to a so-called program counter in a general computer program language in the present embodiment, and the internals of the time chart 10 other than the time chart 10 being executed. This includes something that controls the time stoppage.

Thereby, when there are a plurality of time charts 10, it is possible to interlock each time chart 10 and finely control its progress stop. Therefore, for example, even when large-scale control is required, a time chart 10 is created for each module included in the system, and overall control is realized by controlling the execution stop of each time chart 10, etc. The productivity and maintainability can be improved.

A control command or control syntax in a general computer programming language is a command that changes the execution order of instructions to a sequence other than normal sequential execution. It can be said that the execution order is changed to an order other than the described time. Further, advanced control as used in this specification refers to control in which the execution order of control is changed to an order other than that described by a control instruction, unlike simple sequential execution. That is, in the present embodiment, since the time chart 10 includes the control chart 12 in which the control command is described with respect to the time axis, it is possible to describe advanced control on the time chart 10, and the time chart 10 By including the control command data indicating the control command associated with the time in the control data obtained by converting the above, advanced control based on the time chart 10 can be executed.

As shown in FIG. 3, the control command is described by designating the time on the control chart 12 displayed separately from the device chart 11. Thereby, when contacting the time chart 10, it is possible to grasp at a glance the description of the part related to the execution order of the control and the interlocking of the plurality of time charts 10. In other words, the control chart 12 is displayed in a manner that can be distinguished from the device chart 11, thereby preventing a situation in which the control command is buried in the description of the operation of the device and is difficult to recognize. As a result, the readability of the time chart 10 increases, and the productivity of the time chart 10 increases, such as the maintenance and reuse of corrections and the like being facilitated.

FIG. 7 is a functional block diagram of the device control system 1 according to the present embodiment. The functional blocks shown here are shown focusing on the functions of the devices included in the device control system 1, particularly the time chart creation device 2 and the device control device 3. There is no physical configuration corresponding to 1. Some functional blocks are realized by the CPU 2a of the time chart creation device 2 and a general-purpose or dedicated information processing device such as a processor included in the device control device 3 executing specific software, and some functional blocks are time charts. This may be realized by allocating a specific storage area to the information storage device such as the RAM 2b of the creation device 2 or the memory included in the device control device 3.

The time chart creation device 2 includes a time chart creation unit 2i, a conversion unit 2j, and a transmission unit 2k. More preferably, a time chart simulating unit 2m and a device simulating unit 2n are also provided.

The time chart creation unit 2i is a part that displays a time chart on the monitor 2h in a manner as shown in FIG. 3, for example, receives an input from the input device 2e, creates a time chart, and creates a control chart. A chart creation unit 2o and a device chart creation unit 2p for creating a device chart are included. When creating the time chart, the time chart creation unit 2i preferably includes an appropriate GUI (Graphical User Interface) so that an input instruction from the user is easy. Such a GUI can be described, for example, by referring to FIG. 3 when the control chart creation unit 2o points to a specific time on the reference line 13 of the control chart 12 with an arbitrary pointing device. For example, a selection of an appropriate control command is displayed, or a dialog for inputting necessary information is displayed. In the device chart creation unit 2p, when a specific time on the reference line 13 of the device chart 11 is pointed in the same manner, descriptions of operations that can be described are displayed, or a dialog is displayed.

The conversion unit 2j is a part that converts the time chart created by the time chart creation unit 2i into control data. Here, as shown in FIG. 3, the time chart 10 includes a control chart 12, and control commands are described on the control chart 12. However, as described above, the control chart 12 is not associated with a specific device, but is a virtual chart for improving the readability of the time chart 10 related to advanced control. Therefore, when the control based on the time chart is executed in the device control device 3, it is not always necessary to explicitly show the control chart. That is, if the control data converted from the time chart includes data indicating that it is a control command, the device control device 3 itself executes control according to the time chart without recognizing the control chart itself. Is possible. Therefore, the control data is described in the control chart included in the time chart, the control instruction data indicating the control instruction associated with the time, and the apparatus described in the device chart included in the time chart and associated with the time. The operation data indicating the operation is included.

The control data converted by the conversion unit 2j is transmitted to the device control apparatus 3 by the transmission unit 2k, held in a control data holding unit 3a described later, and read and executed as necessary. Here, generally, when the data amount of information indicating the time chart itself created in the time chart creation device 2 is compared with the data amount of the control data converted by the conversion unit 2j, the data amount of the control data is Is smaller. Therefore, by creating and transmitting the control data on the time chart creating apparatus 2 side, the amount of data that must be communicated and the amount of data that must be held by the control data holding unit 3a are reduced. Further, it is not necessary to separately prepare an engine for decoding the time chart on the device control device 3 side, and capacity reduction and high-speed operation are possible. Furthermore, when the specification of the time chart is changed, it is only necessary to change the specification of the conversion unit 2j on the time chart creation device 2 side, and it is usually unnecessary to change the firmware etc. on the device control device 3 side. Is possible.

By the way, as described above, the specific configuration and format of the control data includes at least the operation data indicating the operation of the device linked to the time and the control command data indicating the control command linked to the time. Any material may be used as long as it is contained. That is, the data format of the control data may be a text format or a binary format. For example, when the electronic file indicating the control data is in a text format, the file may be in an array format such as a so-called csv format or an xml format.

FIG. 8 is a diagram showing a configuration example of control data. As an example, the control data has initialization data as an item at the beginning of the file, and then the necessary number of operation data and control data follow. At the end of the file, if necessary, eof (End Of File) indicating the end of the control data is added. Here, the control data is csv format data, and each item is shown separated by a comma.

The initialization data is data including information on the time chart itself, various information necessary for executing the time chart, for example, information on the equipment connected to the equipment control device 3. For example, necessary information is shown in a format such as “ENTRY =“ value ”;... Specifically, in the case of the time chart 10 shown in FIG. 3 in which the time chart number is “1”, the project name is “crane game”, and the producer name is “yaskawa”, as an example, “CHARTNUM =” 1 ”; PROJECTNAME =“ crane game ”; AUTHOR =“ yaskawa ”; M1 =“ COINSLOT ””, etc. Here, “CHARTNUM” indicated as ENTRY indicates the time chart number, “PROJECTNAME” indicates the project name, “AUTHER” indicates the creator, and “M1” indicates the type of the device connected to the device control device 3. Is shown. Of course, if necessary, more information may be included in the initialization data.

In addition, the operation data is data including the target device of the operation data, the time at which the operation is described, and the content of the operation, and is represented in a format such as “time; device number; operation”, for example. . For example, in the device chart 11 for the “X switch” in FIG. 5, if the operation is shown at the time of 0.5 seconds, “0.5; M2; ON” is set.

The same applies to the control command data. The data includes control instruction data, the time when the control command is described, and the content of the control command. For example, in the case of the Play instruction shown in FIG. 3, “1.0; C; Play 2” or the like. Here, “C” indicates a control command, and “Play2” indicates a command for starting execution of the time chart 2.

Returning to FIG. 7, the device control apparatus 3 holds the control data transferred to the control data holding unit 3a. Moreover, the apparatus control apparatus 3 has the internal time clock part 3b, and clocks internal time. Here, the internal timekeeping unit 3b holds a plurality of internal times corresponding to each of the plurality of time charts, and can hold the value independently and switch the progress stop. Thereby, the execution stop of a plurality of time charts can be controlled based on the progress stop of the internal time. The traveling speed of the internal time measured by the internal time counting unit 3b is normally the same as the traveling speed of the real time, but it may be different. That is, the advance speed of the internal time may be faster or slower than the real time. The ratio of the internal speed to the real time speed is known as the override factor, and this override factor can be adjusted as necessary to speed up or slow down the time chart. You can do it.

The control data held in the control data holding unit 3a is read by the control data reading unit 3c according to the progress of the internal time measured by the internal time counting unit 3b. The function of the control data reading unit 3c is to read operation data and control command data having a time corresponding to the internal time for each time chart. If the read data is control command data, the control data execution unit 3d In addition, if the read data is operation data, the operation data indicates output to the device, or the device output execution unit 3e indicates that the operation data indicates input from the device. , And sent to the internal time stop unit 3f.

The control command execution unit 3d interprets and executes the control command data. When the control command controls execution stop between a plurality of time charts, the internal time counting unit 3b is instructed to stop or rewrite the internal time corresponding to the time chart to be controlled. become. When the control instruction is a control instruction or a control syntax, the condition for executing the instruction is normally indicated, and as a result, the control transfer on the time chart is shown. As a result of the interpretation, control such as rewriting the internal time held in the internal timekeeping unit 3b is performed as necessary.

The device output execution unit 3e interprets the operation data and outputs a signal necessary for realizing the operation of the device. As a result, each device performs an operation as described in the time chart.

The internal time stop unit 3f interprets the operation data, and stops the progress of the internal time corresponding to the time chart in the internal time counter 3b until the input from the device matches the data described in the time chart. It is a part to do. Thereby, the device control apparatus 3 performs an operation such as waiting until a specific switch is pressed, for example.

By the way, in the control command that can be used in the device control system 1 according to the present embodiment, the command used for performing the control for interlocking a plurality of time charts is exemplified as shown in FIG.

“Play (n)” shown in FIG. 9 is an instruction for executing the n-th time chart from the beginning as described above. When this command is executed, the internal time for the nth time chart is reset to 0 seconds, and further its progress is started. As a result, in addition to the time chart 10 currently being executed, the time chart designated by the same instruction is executed in parallel. Here, the designation of the time chart to be executed is not necessarily based on the number, and the name assigned to the time chart may be used. The same applies hereinafter.

“Pause (n)” is an instruction for interrupting execution of the nth time chart. When this command is executed, the progress of the internal time for the nth time chart is stopped. As a result, the execution of the nth time chart is interrupted. Here, the value of the internal time when the progress is stopped is held as it is.

“Continue (n)” is an instruction to resume execution of the nth time chart. When this command is executed, the internal time for the nth time chart resumes from the currently held internal time. As a result, the execution of the nth time chart is resumed from the time when the execution is interrupted by the Pause instruction, for example.

As described above, “Abort (n)” terminates the execution of the nth time chart. When this instruction is executed, the progress of the internal time for the nth time chart is stopped, The value is reset to 0 seconds.

“Call (n)” is a so-called subroutine call as described above, and calls the n-th time chart as a subroutine. When this command is executed, the progress of the internal time in the time chart in which this command is described is stopped, the internal time for the nth time chart is reset to 0 seconds and the progress is started. When the Return instruction described in the nth time chart is executed or the operation is completed, the progress of the internal time is resumed.

As described above, in the present embodiment, at least a command for executing the time chart from the beginning, a command for interrupting the execution of the time chart, and restarting the execution of the time chart in the control command for controlling execution stop between the plurality of time charts Instruction to end execution of the time chart, and an instruction to call the time chart as a subroutine. Thereby, it is possible to easily and flexibly describe the control for interlocking a plurality of time charts. In the above description, it has been described that any control command for controlling execution stop between a plurality of time charts controls execution stop of time charts other than the time chart in which such control instruction is described. May be controlled to stop the execution of the time chart itself. Alternatively, the execution of the time chart itself describing the control command may be prohibited.

Furthermore, in this embodiment, an exception processing instruction for performing so-called exception processing may be included in an instruction used for performing control for interlocking a plurality of time charts. The exception processing instruction here is to perform specific exception processing in response to occurrence of some event, for example, an error. This event may be predetermined as a so-called error (for example, an error generated by the device control device 3 itself, an error generated by a device such as a servo controller connected to the device control device 3), or the user May be able to set events. As an event to be set for exception processing, for example, pressing an emergency stop button can be considered. Hereinafter, an event that should cause exception handling is simply referred to as an event.

FIG. 10A is an example in which the nth time chart is executed in the control chart 12 when exception occurs as exception processing. In this example, the Try_Play command, which is a control command described at the time of 1.0 second, means the start of event occurrence monitoring, and the Try_E command, which is a control command written at the time of 4.0 seconds. Means the end of event occurrence monitoring. That is, if an event occurs in a section of 1.0 to 4.0 seconds that is a section between the Try_Play instruction and the Try_E instruction, exception processing is performed.

If an event occurs within the interval of 1.0 to 4.0 seconds, the device control device 3 executes the above-described Play (n) command as an exception process. That is, in parallel with the time chart in which the Try_Play instruction and the Try_E instruction are described, the nth time chart is executed from the time when the internal time is 0 second.

FIG. 10B shows an example in which a subroutine call is performed in the control chart 12 when an exception occurs as exception processing. In this case, the Try_Call instruction, which is a control instruction described at the time of 1.0 second, means the start of event occurrence monitoring as in the previous Try_Play instruction, and the Try_E instruction indicates the end of event occurrence monitoring. This means that, even in this example, if an event occurs within a section of 1.0 to 4.0 seconds, exception handling is performed.

When an event occurs in the interval of 1.0 to 4.0 seconds, the device control device 3 executes the above Call (n) command as an exception process. That is, the progress of the internal time of the time chart in which the Try_Play instruction and the Try_E instruction are described is stopped, and the nth time chart is executed from the time when the internal time is 0 second. When the Return instruction is executed in the nth time chart or when the operation is completed, the progress of the internal time is resumed from the time when the progress is stopped.

In the above example, exception handling instructions (Try_Play instruction, Try_Call instruction, Try_E instruction) are described on the control chart 12 as with other control instructions. However, in order to make it easier for the time chart creator to understand, exception handling instructions are described. The control chart describing the processing instruction may be described in a chart different from a normal control instruction (control instruction other than the exception processing instruction).

FIG. 10C is a diagram illustrating an example in which an exception handling instruction is described in an exception handler 12b, which is a chart that is distinguished from a normal control instruction, that is, a normal control chart 12a that describes a control instruction other than an exception handling instruction. is there. Here, the exception handler 12b is also a kind of the control chart 12 because it is a virtual chart that is not associated with a specific device. Therefore, in this example, the control chart 12 includes a normal control chart 12a and an exception handler 12b.

As described above, an exception processing instruction that rewrites the internal time in accordance with a specific event may be included in an instruction used to perform control for interlocking a plurality of time charts. Thereby, the interlocking control between a plurality of time charts can be made more flexible and advanced.

FIG. 11 is a flowchart showing a procedure for creating a time chart by the time chart creating apparatus 2. In this procedure, as shown in the figure, first, a control chart creation unit 2o of the time chart creation unit 2i of the time chart creation device 2 creates a control chart on the GUI, and a device chart creation unit 2p creates a device chart on the GUI ( Next, the time chart created by the conversion unit 2j is converted into control data (step S2), and the finally converted control data is transmitted to the device control apparatus 3 by the transmission unit 2k (step S3). .

FIG. 12 is a flowchart showing a procedure for executing a time chart by the device control device 3 based on the control data. First, the internal time counting unit 3b of the device control device 3 sets the internal time for each time chart to 0 seconds, which is an initial value (step S4). At this time, the internal time is set to advance only for a representative time chart, for example, the first time chart. Subsequently, the control data reading unit 3c determines whether or not there is control command data or operation data having a time corresponding to the internal time for each time chart, and reads the data if it exists. (Step S5). In this operation, when a plurality of data exist at the same time, it is determined that the data no longer exists when the reading of all the plurality of data is completed.

If neither the control command data nor the operation data corresponding to the current internal time exists, the end of the time chart is determined in a subsequent step S6. This determination is affirmed when neither control command data nor operation data corresponding to the time after the current internal time exists. The specific method of this determination is not particularly limited. For example, the time when control command data or operation data was last described in the initialization data of the control data is described in advance, or the control data is searched. This can be easily realized by extracting the time described as the latest time. Alternatively, the end of the operation may be explicitly described as a control command on the time chart.

When the execution of the time chart is finished, the process proceeds to step S8, and the progress of the internal time is stopped. In subsequent step S9, it is determined whether or not the progress of all internal times has been stopped. If the determination is affirmative, the device control device 3 ends the operation. Otherwise, the process returns to step S5.

If the execution of the time chart is not terminated in step S6, the process further proceeds to step S7, and the internal time counter 3b updates the internal time currently in progress. The internal time is updated so that the internal time is advanced by a predetermined amount at a predetermined timing. For example, 1 ms is added to the internal time every time the actual time advances by 1 ms. Since this update is not performed for the currently stopped internal time, its value does not change. When the internal time is updated, the process returns to step S5 again and is repeated thereafter.

If there is control instruction data or operation data corresponding to the current internal time in step S5, the process proceeds to step S10, and the control is branched depending on whether the data is control instruction data or operation data. If it is the control command data, the process proceeds to step S11, where the control command execution unit 3d interprets the control command data, switches the advance / stop of the internal time as necessary, and rewrites the value. Thereafter, the control returns to step S5 again.

On the other hand, if the data is operation data in step S10, the process further proceeds to step S12, and does the operation data mean output to the device or input from the device? Is determined. If it means output, the process proceeds to step S13, and output to the device according to the operation data is executed by the device output execution unit 3e. Thereafter, the control is returned to step S5.

If it is determined in step S12 that the operation data represents an input, the process proceeds to step S14, and whether or not the input from the device matches the operation indicated by the operation data by the internal time stop unit 3f. Is determined. If not coincident, the progress of the corresponding internal time is stopped in step S15, and the process returns to step S5 again. Thus, the progress of the internal time in the time chart is stopped until the input from the device matches the operation indicated in the operation data. If both match in step S14, the process proceeds to step S16, and if stopped, the progress of the internal time is resumed. Thereafter, the process returns to step S5.

As shown in FIG. 7, the time chart creation device 2 may further include a time chart simulation unit 2m and a device simulation unit 2n. The time chart simulating unit 2m and the device simulating unit 2n are configured to confirm the operation of the time chart created by the time chart creating device 2 by simulation without actually executing it using the device control device 3. It is.

More specifically, the time chart simulating unit 2m reproduces the same operation as when the device control apparatus 3 executes control data on the time chart creating apparatus 2 based on the time chart. The device simulation unit 2n reproduces the operation of the device scheduled to be connected to the device control device 3 on the time chart creating device 2.

The operation and control described in the reproduced time chart, and the status of each device are displayed on the monitor 2h of the time chart creation device 2. At this time, the internal time during reproduction is shown as the position of the marker 15 shown in FIGS. Thereby, since the operation of the created time chart can be confirmed without actually constructing the device control system 1, so-called debugging work such as discovery and correction of the trouble of the time chart can be performed easily and inexpensively. it can.

FIG. 13 is a flowchart showing a procedure for confirming the operation of the time chart by simulation by the time chart creating apparatus 2.

First, in step S17, the operation of the time chart is reproduced by the time chart simulator 2m. In the subsequent step S18, the operation of the device is reproduced by the device simulation unit 2n. Further, in step S19, it is determined whether or not to end the simulation, and if the execution of the time chart has not ended or if the end of the simulation is not supported by the user, the process returns to step S17 and is repeated thereafter. When ending the simulation, the time chart creating apparatus 2 ends the simulation as it is.

The configurations of the embodiments described above are shown as specific examples, and the invention disclosed in this specification is not intended to be limited to the configurations of these specific examples. Those skilled in the art may appropriately change various modifications to the disclosed embodiments, for example, the shape, number, arrangement, etc. of each member or part thereof, and the control shown in the flowchart has an equivalent function. It may be replaced with another control. It should be understood that the technical scope of the invention disclosed herein includes such modifications.

Claims

A time chart creation device for creating a time chart describing the operation of one or more devices with respect to a time axis;
A device control device that controls the one or more devices based on one or more time charts created by the time chart creating device;
With
The time chart creation device includes:
In the time chart, a control chart creating unit that creates a control chart describing a control command with respect to the time axis, and
In the time chart, a device chart creating unit that creates at least one device chart describing the operation of the device with respect to the time axis, and
Have
The device control system, wherein the control command includes a command for describing an operation between a plurality of time charts.
The device control device
Holding an internal time for each of the one or more time charts, and having an internal clock timing unit that counts and stops the progress while measuring the time,
The command for describing the operation between the plurality of time charts includes a command for switching the progress stop of the internal time.
The device control system according to claim 1.
The instruction for describing the operation between the plurality of time charts includes at least an instruction for executing the time chart from the beginning, an instruction for interrupting the execution of the time chart, an instruction for restarting the execution of the time chart, and execution of the time chart. Includes either an instruction to end the process or an instruction to call the time chart as a subroutine.
The device control system according to claim 2.
The instruction for describing the operation between the plurality of time charts further includes an exception processing instruction for switching the progress stop of the internal time according to the occurrence of an event.
The device control system according to claim 3.
The control chart includes a normal control chart describing a control instruction other than the exception handling instruction, and an exception handler describing the exception handling instruction.
The device control system according to claim 4.
A time chart creation device used in the device control system according to claim 1.
The apparatus control apparatus used for the apparatus control system of Claim 1.
In the time chart, create a control chart that describes the control command for the time axis, create at least one equipment chart that describes the operation of the equipment for the time axis, create a time chart,
Controlling one or more devices based on one or more time charts,
The control command includes a command for describing an operation between a plurality of time charts.
Device control method.
A time chart creation method used in the device control method according to claim 8.
A computer program for causing a computer to function as the time chart creation device according to claim 6.