WO2022168336A1

WO2022168336A1 - Control device, control method, and control program

Info

Publication number: WO2022168336A1
Application number: PCT/JP2021/009183
Authority: WO
Inventors: 征彦仲野; 哲司若年
Original assignee: オムロン株式会社
Priority date: 2021-02-03
Filing date: 2021-03-09
Publication date: 2022-08-11
Also published as: JP2022118822A

Abstract

This control device includes: a first program execution unit that executes, for every predetermined cycle, a first user program including a sequence command; a second program execution unit that sequentially interprets and executes a second user program written in a predetermined programming language; and an execution management unit that manages, in accordance with transition of a state machine having a plurality of states, execution of a first user definition process prescribed as the first user program and a second user definition process prescribed as the second user program. The execution management unit causes transition of the state machine in accordance with occurrence of predetermined one or more events, and determines, upon occurrence of transition in the state machine, a user definition process to be executed, the user definition process being associated with the transition.

Description

Control device, control method and control program

The present invention relates to a control device, control method and control program.

FA (Factory Automation) technology using control devices such as PLCs (Programmable Controllers) is widely used in various production sites. With recent advances in ICT (Information and Communication Technology), controllers can now control robots, machine tools, and the like in addition to conventional sequence control.

For example, Japanese Patent Laying-Open No. 2019-036043 (Patent Document 1) discloses a configuration in which a single control device realizes control calculations according to a plurality of types of programs with different execution formats.

JP 2019-036043 A

　When executing multiple types of programs with different execution formats as described above for a common control target, it is necessary to design so that the processing content to be executed can be appropriately shared among the programs. It is an object of the present invention to provide a technique for facilitating programming of such a plurality of types of programs with different execution formats.

According to one aspect of the present invention, a control device for controlling a controlled object is provided. The control device includes a first program execution unit that executes a first user program including sequence instructions at predetermined intervals, and a second program execution unit that sequentially interprets and executes a second user program written in a predetermined programming language. and managing the execution of a first user-defined process defined as a first user program and a second user-defined process defined as a second user program according to the transition of a state machine having a plurality of states. and an execution manager. The execution management unit transitions the state machine in response to the occurrence of one or more predetermined events, and determines user-defined processing to be executed corresponding to the transition when the state machine transitions. .

According to this configuration, the execution management section determines the user-defined processing to be executed in the first program execution section and the second program execution section, respectively. It is possible to reduce the time and effort of describing such processing. This facilitates programming of multiple types of programs with different execution formats.

Arbitrary user-defined processing may be set in association with each transition that can occur in the state machine. According to this configuration, it is possible to easily set arbitrary processing according to the controlled object without changing the program.

User-defined processing associated with each transition that can occur in the state machine may be set via a user interface screen. According to this configuration, it is possible to easily set the user-defined process associated with the transition.

The execution management unit may execute user-defined processing according to a predetermined execution form. The execution forms include a first execution form that is executed only once when transitioning to the corresponding state, a second execution form that continues to be executed during the period of existence in the corresponding state, and a transition from the corresponding state to another state. and a third mode of execution that is sometimes executed only once. According to this configuration, it is possible to set the execution form of the user-defined process according to the controlled object.

Even if the conditions for transitioning the state machine are satisfied, the execution management unit may wait until the execution of the corresponding user-defined process is completed before transitioning. According to this configuration, even if there is a user-defined process that is executed over a predetermined cycle, it is possible to reduce the possibility that the user-defined process will affect a new state.

The state machine may include states that transition according to acquisition and release of control rights for the controlled object. According to this configuration, it is possible to reduce the programming effort related to acquisition and release of the control right for the controlled object.

The state machine may be defined in association with the state machine corresponding to the operating state of the controlled object. According to this configuration, necessary user-defined processing can be set according to the operating state of the controlled object.

According to another aspect of the present invention, there is provided a control method executed by a control device for controlling a controlled object. A control method comprises the steps of managing a state machine having a plurality of states, and according to a transition of the state machine, a first user-defined process defined as a first user program including sequence instructions, and a predetermined programming language. a step of managing execution of a second user-defined process defined as a written second user program; a step of executing the first user-defined process at predetermined intervals; and a step of sequentially interpreting the second user-defined process. and performing steps. Managing the state machine includes transitioning the state machine in response to occurrence of one or more predetermined events. Managing execution includes determining, when a transition occurs in the state machine, a user-defined process associated with the transition to be executed.

A control program according to still another aspect of the present invention provides a control device for controlling a controlled object, managing a state machine having a plurality of states; managing the execution of a first user-defined process defined as a user program and a second user-defined process defined as a second user program written in a predetermined programming language; A step of executing at predetermined intervals and a step of sequentially interpreting and executing the second user-defined process are executed. Managing the state machine includes transitioning the state machine in response to occurrence of one or more predetermined events. Managing execution includes determining, when a transition occurs in the state machine, a user-defined process associated with the transition to be executed.

According to the present invention, programming of multiple types of programs with different execution formats can be facilitated.

1 is a schematic diagram showing a system configuration example of a control system according to an embodiment; FIG. It is a figure which shows the example of application of the control apparatus which concerns on this Embodiment. FIG. 2 is a schematic diagram showing a hardware configuration example of a control device that configures the control system according to the present embodiment; FIG. 2 is a schematic diagram showing a hardware configuration example of a support device that configures the control system according to the present embodiment; FIG. 3 is a schematic diagram showing the configuration of a program execution environment in the control device according to the embodiment; FIG. 5 is a diagram for explaining an example of a processing procedure when common processing is implemented in an IEC program in the control device according to the present embodiment; FIG. 2 is a diagram for explaining an outline of execution management of a user program in the control device according to the embodiment; FIG. 3 is a schematic diagram showing an example of a state machine for managing execution of user programs in the control device according to the present embodiment; FIG. FIG. 5 is a schematic diagram showing an example of a user interface screen for defining user-defined process settings in the control device according to the embodiment; 4 is a flow chart showing a processing procedure relating to execution management of a user program in the control device according to the present embodiment; 4 is a time chart showing an example of a processing order for executing a user program in the control device according to the present embodiment; 4 is a time chart showing an example of a processing order for executing a user program in the control device according to the present embodiment;

Embodiments of the present invention will be described in detail with reference to the drawings. The same or corresponding parts in the drawings are denoted by the same reference numerals, and the description thereof will not be repeated.

<A. Application example>
First, a system configuration example of the control system 1 according to the present embodiment will be described.

FIG. 1 is a schematic diagram showing a system configuration example of a control system 1 according to this embodiment. Referring to FIG. 1, control system 1 includes a control device 100 for controlling a controlled object, a robot controller 250 network-connected to control device 100 via field network 10, and a servo controller 350. .

The control device 100 periodically exchanges data with devices connected to the field network 10 and executes processing as described later. The control device 100 may typically be realized by a PLC (Programmable Logic Controller).

A teaching pendant 400 is connected to the control device 100 . The teaching pendant 400 is used by an operator to manually operate the position of the robot 200 for teaching.

The robot controller 250 is in charge of controlling the robot 200. More specifically, the robot controller 250 functions as an interface with the robot 200, outputs commands for driving the robot 200 in accordance with commands from the control device 100, and obtains state information of the robot 200. and output to the control device 100 .

For the robot 200, any robot such as a vertical articulated robot, a horizontal articulated (scalar) robot, a parallel link robot, or an orthogonal robot can be adopted.

The servo controller 350 is in charge of controlling the servo motor 300. More specifically, servo controller 350 rotationally drives servo motor 300 according to a command from control device 100 , acquires state information of servo motor 300 , and outputs the information to control device 100 .

The servomotor 300 is mechanically coupled to any mechanism or robot, and drives the mechanism or robot by rotation. The servomotor 300 is not limited to the name of a servomotor, and may be an induction motor, a synchronous motor, a permanent magnet motor, or a reluctance motor. You may

For the field network 10, protocols for industrial networks such as EtherCAT (registered trademark) and EtherNet/IP can be used. When EtherCAT is adopted as the protocol, data can be updated between the control device 100 and devices connected to the field network 10 at regular intervals of several hundred microseconds to several milliseconds, for example.

The control device 100 may be connected to the display device 600 and the server device 700 via the host network 20 . For the upper network 20, a protocol for industrial networks such as EtherNet/IP can be used.

The control device 100 may be connected to a support device 500 for installing user programs (the IEC program 150 and the application program 160, which will be described later) executed by the control device 100 and performing various settings.

FIG. 2 is a diagram showing an application example of the control device 100 according to the present embodiment. Referring to FIG. 2, control device 100 includes an IEC program execution unit 130 that executes IEC program 150 at predetermined intervals, and an application program execution unit 134 that sequentially interprets and executes application program 160 .

The IEC program 150 includes one or more user-defined processes 152. Application programs 160 also include one or more user-defined processes 162 .

The control device 100 includes an execution management unit 132 that selects an IEC program 150 (user-defined processing 152) and an application program 160 (user-defined processing 162) and causes an IEC program execution unit 130 and an application program execution unit 134 to execute them.

The execution management unit 132 has a state machine 180 containing multiple states. The execution management unit 132 transitions the state machine 180 in response to the occurrence of one or more predetermined events, and when the state machine 180 transitions, executes user-defined processing associated with the transition. 152, 162 are determined.

In this way, execution management unit 132 selects user-defined processes (programs) to be executed in IEC program execution unit 130 and application program execution unit 134, respectively. It is possible to reduce the time and effort of describing such processing. This facilitates programming of multiple types of programs with different execution formats.

<B. Hardware configuration example>
Next, an example of hardware configuration of main devices constituting the control system 1 shown in FIG. 1 will be described.

(b1: control device 100)
FIG. 3 is a schematic diagram showing a hardware configuration example of the control device 100 that configures the control system 1 according to the present embodiment. Referring to FIG. 3, control device 100 includes processor 102, main memory 104, storage 110, memory card interface 112, host network controller 106, field network controller 108, local bus controller 116, USB and a USB controller 120 that provides a (Universal Serial Bus) interface. These components are connected via processor bus 118 .

The processor 102 corresponds to an arithmetic processing unit that executes control arithmetic, and is composed of a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), and the like. Specifically, the processor 102 reads a program stored in the storage 110, develops it in the main memory 104, and executes it, thereby implementing control calculations for the controlled object.

The main memory 104 is composed of volatile storage devices such as DRAM (Dynamic Random Access Memory) and SRAM (Static Random Access Memory). The storage 110 is configured by, for example, a non-volatile storage device such as SSD (Solid State Drive) or HDD (Hard Disk Drive).

The storage 110 stores a system program 111 for realizing basic functions, a user program (IEC program 150 and application program 160) created according to the object to be controlled, and the like.

The IEC program 150 includes instructions for realizing main control other than the control of the robot 200 in the control system 1. An IEC program 150 may typically include sequence instructions and motion instructions. The IEC program 150 may be written in any language defined by IEC61131-3 defined by the International Electrotechnical Commission (IEC). However, the IEC program 150 may include a program written in a manufacturer's own language other than the language defined by IEC61131-3.

The application program 160 includes instructions for controlling the operation of the robot 200. The application program 160 may include instructions written in a predetermined programming language (for example, programming language for robot control such as V+ language or programming language for NC control such as G code). Note that the application program 160 is not limited to the application for controlling the operation of the robot 200, and can be used for the application for controlling an NC-controlled machine tool or any mechanism, for example. For convenience of explanation, the case where the application program 160 controls the robot 200 will be mainly exemplified below.

The memory card interface 112 accepts a memory card 114, which is an example of a removable storage medium. The memory card interface 112 is capable of reading/writing arbitrary data from/to the memory card 114 .

The host network controller 106 exchanges data with arbitrary information processing devices (such as the display device 600 and the server device 700 shown in FIG. 1) via the host network 20 .

The field network controller 108 exchanges data with each device via the field network 10. In the system configuration example shown in FIG. 1 , the field network controller 108 may function as a communication master of the field network 10 .

The local bus controller 116 exchanges data with any functional unit 124 included in the control device 100 via the local bus 122 . The functional unit 124 is, for example, an analog I/O unit responsible for inputting and/or outputting analog signals, a digital I/O unit responsible for inputting and/or outputting digital signals, a counter unit accepting pulses from encoders, etc. And so on.

The USB controller 120 exchanges data with any information processing device (such as the support device 500) via a USB connection.

(b2: robot controller 250)
The main components of the robot controller 250 are a network controller that exchanges data with the control device 100 , a processing circuit that executes arithmetic processing necessary to drive the robot 200 , and data exchange with the robot 200 . and interface circuits to interact with.

(b3: servo controller 350)
The main components of the servo controller 350 are a network controller that exchanges data with the control device 100 , a processing circuit that performs arithmetic processing necessary to drive the servo motors 300 , and power that is supplied to the servo motors 300 . and a drive circuit for generating

(b4: teaching pendant 400)
The main components of the teaching pendant 400 include an interface for exchanging data with the control device 100, an input section for receiving operations on the robot 200, and a display section for displaying various information.

(b5: support device 500)
The support device 500 that configures the control system 1 according to the present embodiment may be realized using a general-purpose personal computer as an example.

FIG. 4 is a schematic diagram showing a hardware configuration example of the support device 500 that configures the control system 1 according to the present embodiment. 4, support device 500 includes processor 502 such as a CPU or MPU, main memory 504, input unit 506, display unit 508, storage 510, network controller 516, USB controller 518, and an optical drive 520 . These components are connected via bus 524 .

The processor 502 reads out various programs stored in the storage 510, develops them in the main memory 504, and executes them, thereby developing user programs (IEC programs 150 and application programs 160) executed by the control device 100. Provide processing.

The storage 510 is composed of, for example, non-volatile storage devices such as SSDs and HDDs. The storage 510 typically includes an OS 512, a development program 514 for creating a user program to be executed in the control device 100, debugging the created user program, defining the system configuration, setting various parameters, and the like. is stored. The storage 510 may store necessary programs other than the programs shown in FIG.

The input unit 506 is composed of a keyboard, mouse, etc., and receives user operations. A display unit 508 includes a display, various indicators, a printer, and the like, and outputs processing results from the processor 502 and the like.

A network controller 516 controls the exchange of data with other devices via any network. The USB controller 518 controls data exchange with the control device 100 via a USB connection.

The support device 500 has an optical drive 520, and from a recording medium 522 (for example, an optical recording medium such as a DVD (Digital Versatile Disc)) that stores a computer-readable program non-transitory, The stored program is read and installed in the storage 510 or the like.

Various programs executed by the support device 500 may be installed via the computer-readable recording medium 522, or may be installed by downloading from a server device on the network. Also, the functions provided by the support device 500 according to the present embodiment may be realized by using some of the modules provided by the OS 512 .

(b6: display device 600)
Display device 600 configuring control system 1 according to the present embodiment may be realized using a general-purpose personal computer as an example. Since the basic hardware configuration example of the display device 600 is well known, detailed description thereof will not be given here.

(b7: server device 700)
Server device 700 that configures control system 1 according to the present embodiment may be realized using a general-purpose personal computer as an example. Since the basic hardware configuration example of the server device 700 is well known, detailed description thereof will not be given here.

(b8: other forms)
3 and 4 show configuration examples in which one or more processors execute programs to provide necessary functions. It may be implemented using a hardware circuit (for example, ASIC (Application Specific Integrated Circuit) or FPGA (Field-Programmable Gate Array)).

<C. Execution of IEC Program and Application Program>
Next, execution of user programs (IEC program 150 and application program 160) in control device 100 according to the present embodiment will be described.

FIG. 5 is a schematic diagram showing the configuration of the program execution environment in control device 100 according to the present embodiment. Referring to FIG. 5 , control device 100 includes an IEC program executing portion 130 , an application program executing portion 134 , a data managing portion 142 and an execution managing portion 132 .

The IEC program execution unit 130 executes the IEC program 150, which is a user program including sequence instructions, at predetermined intervals. Note that the IEC program 150 includes motion instructions in addition to sequence instructions.

The application program execution unit 134 sequentially interprets and executes an application program 160, which is a user program written in a predetermined programming language. Application program 160 typically includes instructions for controlling robot 200 . Application program execution unit 134 includes interpreter 136 , cache 138 , and command generation unit 140 .

The interpreter 136 sequentially interprets the application program 160 to generate intermediate code. The generated intermediate code is queued (enqueued) in the cache 138 . The command generator 140 refers to the intermediate code queued in the cache 138 each time and transmits the command to the target robot 200 .

The data management unit 142 holds data necessary for program execution. The data held by the data management unit 142 is refreshed (updated) at predetermined intervals. The data management unit 142 includes an IO data area 144 for holding input/output data, an internal data area 146 and a shared area 148 for holding working data used inside the control device 100 . Shared area 148 stores data that can be commonly referred to by IEC program execution unit 130 and application program execution unit 134 . The data management unit 142 may manage data in the form of variables.

The execution management unit 132 manages execution of user programs in the IEC program execution unit 130 and the application program execution unit 134 . Details of the execution management unit 132 will be described later.

<D. Issue>
Next, problems that may occur in executing the user program shown in FIG. 5 will be described.

The control device 100 according to the present embodiment can execute the IEC program 150 and the application program 160 in parallel. Each user program can be assigned roles as follows, for example.

That is, the application program 160 programs the robot 200 to perform predetermined operations such as assembly and processing, and the IEC program 150 includes peripheral devices, sensors, actuators, and the like related to the operation of the robot 200. You may program so that the operation|movement which was made may be implement|achieved.

On the other hand, the IEC program 150 and the application program 160 have different execution formats. It is also necessary to program common processing for systems and robots, such as behavior when detecting signals, according to the execution format.

Therefore, by implementing common processing in one program, it is possible to reduce the trouble of having to describe common processing in each program, but another problem may arise in that the program itself becomes more complicated.

FIG. 6 is a diagram for explaining an example of a processing procedure when common processing is implemented in the IEC program 150 in the control device 100 according to this embodiment.

Referring to FIG. 6, when an event for executing common processing occurs, the application program 160 executes processing for releasing the control right for the target robot 200 (step S1).

Subsequently, the IEC program 150 is notified that the control right has been released (step S2). The application program 160 waits for completion of the processing in the IEC program 150 (step S3).

In response to the notification from the application program 160, the IEC program 150 executes a process of acquiring control (step S4). Then, the IEC program 150 executes common processing (step S5). After the common processing is executed, the control right is released (step S6), and the application program 160 is notified of the release of the control right (step S7).

Then, the application program 160 executes a process of acquiring the control right (step S8), and restarts the process (step S9).

As shown in FIG. 6, if common processing is collectively implemented in one program, acquisition and release of the control right for the robot 200 to be controlled, interlock between programs, timing adjustment, etc. are required, and the program itself becomes complicated. , the reusability also decreases.

<E. Solution>
Next, a configuration for solving the problems described above will be described.

FIG. 7 is a diagram for explaining an overview of user program execution management in the control device 100 according to the present embodiment. Referring to FIG. 7, execution management unit 132 has state machine 180, and according to the transition of state machine 180, user defined process 152 defined as IEC program 150 and application program 160 defined as It manages the execution of the user-defined process 162 that has been created. The execution management unit 132 is provided with a user-defined process setting 133 that defines the correspondence relationship between the transition of the state machine 180 and the user-defined process to be executed.

The user-defined process 152 may be defined as one of multiple programs included in the IEC program 150, or may be defined as part of the program included in the IEC program 150. Similarly, user-defined process 162 may be defined as one of a plurality of programs included in application program 160 or may be defined as part of a program included in application program 160 .

<F. state machine 180>
Next, an example of the state machine 180 for managing execution of user programs will be described.

FIG. 8 is a schematic diagram showing an example of a state machine 180 for managing execution of user programs in the control device 100 according to this embodiment.

The state machine 180 shown in FIG. 8 includes an operation management state and a program execution management state. The motion management state corresponds to a state machine corresponding to the motion state of the controlled object (for example, the entire system including the robot 200).

More specifically, the operation management states include an operating state 182, a decelerating and stopping state 183, a stopping state 184, an invalid state 185, an error decelerating and stopping state 186, and a teaching pendant controlling state 187. including.

The operating state 182, the decelerating and stopping state 183, and the stopping state 184 occur when the control device 100 has acquired control (control acquired state 181).

Here, the right to control the controlled object (for example, the robot 200) means the right to transmit commands to the controlled object. In control system 1 , robot 200 can be controlled from both control device 100 and teaching pendant 400 . That is, when the user operates the teaching pendant 400 to control the robot 200, priority is given to the command value or command according to the user's operation. Also, in the control device 100 , the robot 200 can be controlled from both the IEC program 150 and the application program 160 . Therefore, management using control rights is performed in order to exclusively determine a single entity that controls the robot 200 .

The operating state 182 means that the robot 200 is operating, the decelerating and stopping state 183 means that the robot 200 is decelerating toward the stopped state, and the stopping state 184 means that the robot 200 is stopped. The robot 200 is controlled by commands written in the application program 160 to enter one of these states.

The invalid state 185 means the process of exchanging control rights, and occurs in the process in which the control device 100 acquires or releases control rights and in the process in which the teaching pendant 400 acquires or releases control rights. An initial state such as immediately after power-on also corresponds to the invalid state 185 .

The error deceleration stop state 186 means a state in which some abnormality has occurred and the robot 200 is decelerating toward a stop state.

The teaching pendant in control state 187 means that the user is operating the teaching pendant 400 to control the robot 200 .

The following program execution management states are defined in association with such operation management states.

More specifically, the state machine 180 has a control right acquisition state 191, a control right release state 192, a control right acquisition (TP) state 193, and a control right release (TP) state 194 as program execution management states. , and an abnormal release state 195 . In addition, "TP" means a teaching pendant.

The execution management unit 132 of the control device 100 transitions the program execution management state of the state machine 180 in response to the occurrence of one or more predetermined events.

A control right acquisition state 191 and a control right acquisition (TP) state 193 are included in the invalid state 185 and occur in the process in which the control device 100 and the teaching pendant 400 respectively acquire control rights. More specifically, when the execution of the instruction for acquiring the control included in the IEC program 150 or the application program 160 is completed, the state transitions to the control acquisition state 191 . Also, when the user changes the mode of the teaching pendant 400 from “Auto” to “Manual”, the state transitions to the control privilege acquisition (TP) state 193 .

When the execution of the preset user-defined process is completed in the control right acquisition state 191, the state transitions to the stopped state 184. In addition, in the control privilege acquisition (TP) state 193, when the execution of the preset user-defined process is completed, the transition to the teaching pendant control state 187 is made.

The control right release state 192 is included in the stopping state 184 and occurs in the process in which the control device 100 releases the control right. More specifically, the control right release state 192 is transitioned to when the execution of the instruction for releasing the control right included in the IEC program 150 or the application program 160 is completed. In the control right release state 192 , when execution of preset user-defined processing is completed, the state transitions to the invalid state 185 .

A control release (TP) state 194 is included in the teaching pendant controlling state 187 and occurs in the process of the teaching pendant 400 releasing control. More specifically, when the user changes the mode of the teaching pendant 400 from “Manual” to “Auto”, it transitions to the control right release (TP) state 194 . In the control right release (TP) state 194, when execution of preset user-defined processing is completed, a transition is made to an invalid state 185. FIG.

In this way, the state machine 180 includes, as program execution management states, transition states according to the acquisition and release of control rights for controlled objects.

An error release state 195 is included in the error deceleration stop state 186 and occurs in the process of releasing an error that has occurred. More specifically, when the cancellation of the abnormality that has occurred is completed, the state transitions to the abnormality cancellation state 195 . When execution of preset user-defined processing is completed in the anomaly release state 195 , the state transitions to the invalid state 185 .

As shown in FIG. 8, the program execution management states (control right acquisition state 191, control right release state 192, control right acquisition (TP) state 193, control right release (TP) state 194, and error release state 195) are: Even if the conditions for transitioning the state machine 180 are satisfied, the transition is made after the execution of the corresponding user-defined process is completed.

The operation management states are not limited to the states shown in FIG. 8, and other states may be added or some states may be omitted. Also, the program execution management state is not limited to the states shown in FIG. 8, and any state can be defined. Also, the conditions for causing the transition are not limited to the conditions shown in FIG. 8, and arbitrary conditions can be added or set. If no user-defined process is set as a transition condition, the transition may occur without waiting for the execution of the user-defined process to be completed.

In the control device 100, arbitrary user-defined processing can be set in association with each transition that can occur in the state machine 180 (transition of the program execution management state). User-defined processing can include both IEC programs 150 and application programs 160 . The setting contents of the user-defined process are defined in the user-defined process setting 133. FIG.

The execution management unit 132 of the control device 100 refers to the user-defined process setting 133 and, when a transition occurs in the state machine 180, determines the user-defined process to be executed corresponding to the transition.

Also, the execution management unit 132 of the control device 100 causes the user-defined process to be executed according to a predetermined execution form. As an execution mode of the user-defined process, for example, it may be possible to select from three types of candidates: (1) entry, (2) do, and (3) exit. More specifically, (1) entry is an execution form that is executed only once when transitioning to the corresponding state. (2) do is an execution form that continues to be executed during the period in which the corresponding state exists. (3) exit is an execution form that is executed only once when transitioning from the corresponding state to another state.

At least one of the above (1) to (3) may be included as a candidate for the execution form of the user-defined process. In other words, it is not necessary to include all of the above (1) to (3) as candidates for execution forms of user-defined processing.

In this way, the control device 100 according to the present embodiment can execute arbitrary user-defined processing upon acquisition and release of control rights and when an event such as an abnormality occurs.

FIG. 9 is a schematic diagram showing an example of a user interface screen 550 that defines the user-defined processing settings 133 in the control device 100 according to this embodiment. User interface screen 550 shown in FIG. 9 is typically output to display unit 508 of support device 500 or the like by processor 502 of support device 500 executing development program 514 .

Referring to FIG. 9, user interface screen 550 includes program execution setting table 560 .

The program execution setting table 560 includes a state column 571, an execution mode column 572, an IEC program column 573, and an application program column 574.

The state column 571 includes control right acquisition rows 561 corresponding to the control right acquisition state 191, the control right release state 192, the control right acquisition (TP) state 193, the control right release (TP) state 194, and the abnormal release state 195, respectively. , a control right release line 562, a control right acquisition (TP) line 563, a control right release (TP) line 564, and an error release line 565.

The execution mode column 572 defines three types of execution modes, an entry row 566, a do row 567, and an exit row 568, associated with each state.

The user sets a program for implementing user-defined processing in the IEC program column 573 and/or the application program column 574 in association with the desired state and execution mode.

In the example shown in FIG. 9, "program1" is set as the IEC program 150 and "program100" is set as the application program 160 in association with the entry line 566 of the control right acquisition line 561. Also, “program2” is set as the IEC program 150 in association with the do line 567 of the control right acquisition line 561 .

In the above setting example, when a transition to the control right acquisition state 191 occurs, "program1" and "program100" are executed only once, and "program2" is executed every time during the period in which the control right acquisition state 191 exists. It will be executed cyclically.

The setting contents for the program execution setting table 560 in FIG. 9 are stored as the user-defined process settings 133. Thus, user-defined processing associated with each possible transition in state machine 180 is set via user interface screen 550 .

Note that FIG. 9 illustrates user-defined processing that is executed according to the transition of the state machine 180, but normally, without depending on the transition of the state machine 180, a constant or predetermined condition is established. There are also optional user programs (IEC programs 150 and application programs 160) that are executed from time to time. That is, it is assumed that the user-defined process shown in FIG. 9 is executed in addition to the normal user program execution process.

<G. Processing procedure>
Next, a processing procedure relating to execution management of a user program in control device 100 according to the present embodiment will be described.

FIG. 10 is a flow chart showing a processing procedure related to user program execution management in the control device 100 according to the present embodiment. Each step shown in FIG. 10 is typically implemented by processor 102 of control device 100 executing system program 111 .

Referring to FIG. 10, when a new control cycle arrives (YES in step S100), control device 100 outputs the command value calculated in the previous control cycle (step S102), and uses it in the current control cycle. An input value is acquired (step S104).

The control device 100 determines whether an event that can cause a transition of the state machine 180 has occurred (step S106).

When an event that can cause a transition of state machine 180 occurs (YES in step S106), control device 100 determines whether user-defined processing of application program 160 is set in association with "exit" of the current state. (step S108).

If user-defined processing of application program 160 has been set in association with "exit" of the current state (YES in step S108), control device 100 executes the set user-defined processing (application program 160). Start up (step S110).

If the user-defined process of the application program 160 is not set in association with "exit" of the current state (NO in step S108), the process of step S110 is skipped.

Subsequently, the control device 100 determines whether or not user-defined processing of the IEC program 150 is set in association with "exit" of the current state (step S112).

If the user-defined process of IEC program 150 has been set in association with "exit" of the current state (YES in step S112), control device 100 executes the set user-defined process (IEC program 150). Execute (step S114).

If the user-defined process of the IEC program 150 is not set in association with "exit" of the current state (NO in step S112), the process of step S114 is skipped.

On the other hand, if an event that may cause a transition of state machine 180 has not occurred (NO in step S106), or after step S114, control device 100 determines that the user-defined process associated with "exit" is being executed. (step S116). If the user-defined process associated with "exit" is being executed (YES in step S116), control device 100 determines whether or not the user-defined process associated with "exit" has been completed. (Step S118). If execution of the user-defined process associated with "exit" has not been completed (NO in step S118), control device 100 waits for the arrival of the next control cycle.

If the user-defined process associated with "exit" has been completed (YES in step S118), the control device 100 transitions the state machine 180 to a new state (step S120). Note that even if there is no user-defined process associated with "exit", the process of step S120 is executed. In this manner, the control device 100 performs processing for managing the state machine 180 having multiple states.

On the other hand, if the user-defined process associated with "exit" is not being executed (NO in step S116), the processes of steps S118 and S120 are skipped.

Subsequently, the control device 100 determines whether or not the state machine 180 has transitioned to a new state (step S122).

If state machine 180 has transitioned to a new state (YES in step S122), control device 100 sets user-defined processing of application program 160 in association with the new state "entry". It is determined whether or not there is (step S124).

If the user-defined process of application program 160 has been set in association with the new state "entry" (YES in step S124), control device 100 executes the set user-defined process (application program 160). Start up (step S126).

If the user-defined process of the application program 160 is not set in association with the new state "entry" (NO in step S124), the process of step S126 is skipped.

Subsequently, the control device 100 determines whether or not user-defined processing of the IEC program 150 is set in association with the new state "entry" (step S128).

If the user-defined process of IEC program 150 has been set in association with the new state "entry" (YES in step S128), control device 100 executes the set user-defined process (IEC program 150). Execute (step S130).

If the user-defined process of the IEC program 150 is not set in association with the new state "entry" (NO in step S128), the process of step S130 is skipped.

Then, the control device 100 waits for the arrival of the next control cycle.
On the other hand, if state machine 180 has not transitioned to a new state (NO in step S122), control device 100 sets user-defined processing of application program 160 in association with the current state of "do". It is determined whether or not it is set (step S132).

If the user-defined process of application program 160 has been set in association with the current state of "do" (YES in step S132), control device 100 executes the set user-defined process (application program 160). Start up (step S134).

If the user-defined process of the application program 160 is not set in association with "do" of the current state (NO in step S132), the process of step S134 is skipped.

Subsequently, the control device 100 determines whether or not user-defined processing of the IEC program 150 is set in association with the current state "do" (step S136).

If the user-defined process of IEC program 150 has been set in association with the current state "do" (YES in step S136), control device 100 executes the set user-defined process (IEC program 150). Execute (step S138).

If the user-defined process of the IEC program 150 is not set in association with "do" of the current state (NO in step S136), the process of step S138 is skipped.

Then, the control device 100 waits for the arrival of the next control cycle.
With the processing procedure as described above, execution management of arbitrary user-defined processing according to the state can be realized. That is, the control device 100 manages the execution of the user-defined process specified as the IEC program 150 and the user-defined process specified as the application program 160 according to the transition of the state machine 180 (steps S106, S108). , S112, S116, S124, S128, S132, S136).

Then, the control device 100 executes user-defined processing defined as the IEC program 150 at predetermined intervals (S114, S130, S138), and sequentially interprets and executes user-defined processing defined as the application program 160. (S110, S126, S134).

Next, the processing order and the like relating to the execution of the above-described user-defined processing will be described.
FIG. 11 and FIG. 12 are time charts showing an example of the processing order for executing the user program in control device 100 according to the present embodiment. FIG. 11 shows an example of executing user-defined processing in association with "entry", and FIG. 12 shows an example of executing user-defined processing in association with "do".

Referring to FIG. 11, the control device 100 repeatedly executes the fixed period execution task 170 every control period T1. The periodic execution task 170 is set as a high priority task. The periodic execution task 170 includes input/output refresh processing 171 , application input processing 172 , transition monitoring processing 173 , IEC program execution processing 174 and application output processing 175 .

The input/output refresh process 171 includes a process of outputting the command value calculated in the previous control cycle and a process of acquiring the input value used in the current control cycle.

The application input processing 172 includes processing for acquiring input values necessary for executing the application program 160 .

The transition monitoring processing 173 monitors whether an event that causes any of the transitions included in the state machine 180 has occurred.

IEC program execution processing 174 includes processing for executing IEC program 150 .
Application output processing 175 includes processing for calculating command values by executing application program 160 . Note that the application output processing 175 mainly includes arithmetic processing according to intermediate codes generated by sequentially interpreting the application program 160 .

The application program 160 is executed in parallel with the periodic execution task 170 . The application program 160 is executed sequentially over a period of time longer than the control period T1. Therefore, the execution processing of the application program 160 may be temporarily interrupted while the periodic execution task 170 is being executed.

The application program 160 may be one or more programs executed in parallel. For example, assume an application program 177 for causing the robot 200 to perform basic operations, and an application program 178 for defining behavior when an abnormality occurs.

In the example shown in FIG. 11, when an event causing a transition is detected in the transition monitoring process 173 in the control cycle T1 starting at time t2, the user-defined process 176 (IEC program 150) associated with "entry" is executed. executed. In this case, the time required for the IEC program execution process 174 is extended by the execution time of the user-defined process 176 .

Also, the application program 178 associated with "entry" is started. Note that it may take a plurality of control cycles T1 to complete execution of the started application program 178 . In this case, the state transitions to a new state upon completion of execution of the application program 178 .

In the example shown in FIG. 12, when an event causing a transition is detected in the transition monitoring process 173 in the control cycle T1 starting at time t2, a transition to a new state can occur.

Then, the user-defined process 176 (IEC program 150) associated with "do" is repeatedly executed every control cycle T1. In this case, the time required for the IEC program execution process 174 is extended by the execution time of the user-defined process 176 .

Also, the application program 178 associated with "do" is started. It may take a plurality of control cycles T1 to complete the execution of the started application program 178, but as long as the conditions are satisfied, the application program 178 may be started again after the completion of execution.

<H. Note>
The present embodiment as described above includes the following technical ideas.

[Configuration 1]
A control device (100) for controlling a controlled object,
a first program execution unit (130) that executes a first user program (150) including sequence instructions at predetermined intervals;
a second program execution unit (134) that sequentially interprets and executes a second user program (160) written in a predetermined programming language;
A first user-defined process (152) defined as the first user program and a second user-defined process defined as the second user program according to the transition of a state machine (180) having a plurality of states. (162), an execution management unit (132) for managing the execution of
The execution management unit
transitioning the state machine in response to the occurrence of one or more predetermined events;
A control device that, when a transition occurs in the state machine, determines a user-defined process to be executed associated with the transition.

[Configuration 2]
2. The controller of arrangement 1, wherein arbitrary user-defined processing can be set (133) associated with each possible transition of the state machine.

[Configuration 3]
3. The controller of arrangement 2, wherein a user-defined process associated with each possible transition of the state machine is set via a user interface screen (550).

[Configuration 4]
The control device according to any one of configurations 1 to 3, wherein the execution management unit executes user-defined processing according to a predetermined execution form.

[Configuration 5]
The execution forms include a first execution form that is executed only once when transitioning to the corresponding state, a second execution form that is continuously executed during the period in which the corresponding state exists, and a transition from the corresponding state to another state. 5. The controller of arrangement 4, selected from candidates including at least one of a third mode of execution and a third mode of execution that is executed only once when

[Configuration 6]
The control device according to any one of configurations 1 to 5, wherein even when a condition for transitioning the state machine is satisfied, the execution management unit waits for the completion of execution of the corresponding user-defined process to make the transition. .

[Configuration 7]
7. The control device according to any one of configurations 1 to 6, wherein the state machine includes states (191, 192, 193, 194) that transition according to acquisition and release of control right for the controlled object.

[Configuration 8]
The control device according to any one of configurations 1 to 7, wherein the state machine is defined in association with state machines (182, 183, 184, 185, 186, 187) corresponding to operating states of the controlled object. .

[Configuration 9]
A control method executed by a control device (100) for controlling a controlled object, comprising:
managing a state machine with multiple states (S120);
A first user-defined process defined as a first user program containing sequence instructions and a second user-defined process defined as a second user program written in a predetermined programming language according to the transition of the state machine. (S106, S108, S112, S116, S124, S128, S132, S136) for managing the execution of
a step of executing the first user-defined process at predetermined intervals (S114, S130, S138);
A step of sequentially interpreting and executing the second user-defined process (S110, S126, S134);
managing the state machine includes transitioning the state machine in response to the occurrence of one or more predetermined events;
A control method, wherein managing execution includes determining a user-defined process to be executed associated with a transition when the state machine transitions.

[Configuration 10]
A control program (111) for a control device (100) for controlling a controlled object,
managing a state machine with multiple states (S120);
A first user-defined process defined as a first user program containing sequence instructions and a second user-defined process defined as a second user program written in a predetermined programming language according to the transition of the state machine. (S106, S108, S112, S116, S124, S128, S132, S136) for managing the execution of
a step of executing the first user-defined process at predetermined intervals (S114, S130, S138);
causing a step (S110, S126, S134) of sequentially interpreting and executing the second user-defined process,
managing the state machine includes transitioning the state machine in response to the occurrence of one or more predetermined events;
A control program according to claim 1, wherein the step of managing execution includes, when a transition occurs in the state machine, determining a user-defined process to be executed associated with the transition.

<I. Advantage>
In the control system 1 according to the present embodiment, a state machine is used to manage the state of the control device 100, and when some transition occurs in the state machine, arbitrary user-defined processing associated with the transition can be executed. Therefore, it is possible to reduce the need to implement processing such as interlocking between programs, thereby facilitating programming.

The embodiments disclosed this time should be considered illustrative in all respects and not restrictive. The scope of the present invention is indicated by the scope of the claims rather than the above description, and is intended to include all modifications within the scope and meaning equivalent to the scope of the claims.

1 control system, 10 field network, 20 upper network, 100 control device, 102, 502 processor, 104, 504 main memory, 106 upper network controller, 108 field network controller, 110, 510 storage, 111 system program, 112 memory card interface , 114 memory card, 116 local bus controller, 118 processor bus, 120, 518 USB controller, 122 local bus, 124 function unit, 130 IEC program execution unit, 132 execution management unit, 133 user-defined processing settings, 134 application program execution unit , 136 interpreter, 138 cache, 140 command generation unit, 142 data management unit, 144 data area, 146 internal data area, 148 shared area, 150 IEC program, 152, 162, 176 user-defined processing, 160, 177, 178 application program , 170 periodic execution task, 171 input/output refresh processing, 172 application input processing, 173 transition monitoring processing, 174 IEC program execution processing, 175 application output processing, 180 state machine, 181 control right acquired state, 182 running state, 183 Deceleration stop state, 184 Stop state, 185 Invalid state, 186 Error deceleration stop state, 187 Teaching pendant control state, 191 Control right acquisition state, 192 Control right release state, 193 Control right acquisition (TP) state, 194 Control right release (TP) state, 195 Abnormal release state, 200 Robot, 250 Robot controller, 300 Servo motor, 350 Servo controller, 400 Teaching pendant, 500 Support device, 506 Input section, 508 Display section, 512 OS, 514 Development Program, 516 network controller, 520 optical drive, 522 recording medium, 524 bus, 550 user interface screen, 560 program execution setting table, 561 control right acquisition line, 562 control right release line, 563 control right acquisition (TP) line, 564 Control right release (TP) line, 565 abnormal release line, 566 entry line, 567 do line, 568 e xit row, 571 state column, 572 execution mode column, 573 IEC program column, 574 application program column, 600 display device, 700 server device, T1 control cycle.

Claims

A control device for controlling a controlled object,
a first program execution unit that executes a first user program including sequence instructions at predetermined intervals;
a second program execution unit that sequentially interprets and executes a second user program written in a predetermined programming language;
managing the execution of a first user-defined process specified as the first user program and a second user-defined process specified as the second user program according to transitions of a state machine having a plurality of states; an execution management unit;
The execution management unit
transitioning the state machine in response to the occurrence of one or more predetermined events;
A control device that, when a transition occurs in the state machine, determines a user-defined process to be executed associated with the transition.
The control device according to claim 1, wherein arbitrary user-defined processing can be set in association with each transition that can occur in the state machine.
3. The control device according to claim 2, wherein user-defined processing associated with each transition that can occur in said state machine is set via a user interface screen.
The control device according to any one of claims 1 to 3, wherein the execution management unit causes user-defined processing to be executed according to a predetermined execution form.
The execution forms include a first execution form that is executed only once when transitioning to the corresponding state, a second execution form that is continuously executed during the period in which the corresponding state exists, and a transition from the corresponding state to another state. 5. The controller of claim 4, selected from candidates including at least one of a third mode of execution that is executed only once when
6. The control according to any one of claims 1 to 5, wherein, even when a condition for transitioning the state machine is satisfied, the execution management unit waits for completion of execution of a corresponding user-defined process before transitioning the state machine. Device.
The control device according to any one of claims 1 to 6, wherein said state machine includes states transitioned according to acquisition and release of control right for said controlled object.
The control device according to any one of claims 1 to 7, wherein the state machine is defined in association with a state machine corresponding to the operating state of the controlled object.
A control method executed by a control device for controlling a controlled object,
managing a state machine having multiple states;
A first user-defined process defined as a first user program containing sequence instructions and a second user-defined process defined as a second user program written in a predetermined programming language according to the transition of the state machine. a step of managing the execution of
a step of executing the first user-defined process every predetermined period;
sequentially interpreting and executing the second user-defined process;
managing the state machine includes transitioning the state machine in response to the occurrence of one or more predetermined events;
A control method, wherein managing execution includes determining a user-defined process to be executed associated with a transition when the state machine transitions.
A control program, a control device for controlling a controlled object,
managing a state machine having multiple states;
A first user-defined process defined as a first user program containing sequence instructions and a second user-defined process defined as a second user program written in a predetermined programming language according to the transition of the state machine. a step of managing the execution of
a step of executing the first user-defined process every predetermined period;
a step of sequentially interpreting and executing the second user-defined process;
managing the state machine includes transitioning the state machine in response to the occurrence of one or more predetermined events;
A control program according to claim 1, wherein the step of managing execution includes, when a transition occurs in the state machine, determining a user-defined process to be executed associated with the transition.