JPH01112303A - programmable controller system - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a programmable controller system,
-Layer In detail, in a programmable controller system that drives and controls a controlled object such as a machine tool based on a sequence program, an interlock condition related to the controlled object is defined and memorized as a logical formula, and when the interlock condition is satisfied, The present invention relates to a programmable controller system that facilitates setting and cancellation of interlock conditions by being configured to display the interlock conditions.

[Background of the Invention] In general, in order to reduce the number of personnel and improve work efficiency in equipment such as machine tools or industrial robots, the operating procedures are set by sequence programs.

In this case, the sequence program is sequentially processed by a sequencer and supplied as a control signal to a device such as a machine tool. Therefore, the device operates based on the control signal, and after performing a predetermined operation, outputs a detection signal from a limit switch or the like as a transition state to the sequencer. On the other hand, the sequencer executes the next sequence program based on the detection signal and issues the next operation command to the device.

By the way, when creating such a sequence program, for example, a ladder diagram is created using relay symbols, and then logical formulas are obtained from this ladder diagram and sequentially input into a sequencer.

Here, the work of creating a ladder diagram and the work of finding a logical formula from the ladder diagram require specialized knowledge regarding sequence control. In this case, the ladder diagram not only describes the sequence of the controlled object, but also describes the interlock conditions. Therefore, it is extremely difficult to change or modify the interlock conditions because the work affects the entire ladder diagram.

On the other hand, when a controlled object is driven based on the sequence program created in this manner, if a malfunction such as a device failure occurs in the controlled object and an interlock condition is satisfied, the controlled object is abnormally stopped. In this case, the operator must return the controlled object to its original position and repair the malfunctioning part. However, if the operator is not familiar with the interlock conditions, the interlock cannot be released. As a result, it becomes impossible to return the controlled object to its original position without the help of an operator who has specialized knowledge regarding the interlock conditions of the controlled object that has stopped abnormally, resulting in the inconvenience of spending a long time on repairs. do.

[Object of the Invention] The present invention has been made in order to overcome the above-mentioned disadvantages, and includes defining an interlock condition regarding a controlled object using a logical formula and storing it in a storage means, so that the interlock condition is satisfied. By displaying the interlock condition when the interlock condition is established, it is easy to set and change the interlock condition, and it is also possible to confirm the cancellation method when the interlock condition is established, making it programmable to take prompt action. The purpose is to provide a controller system.

[Means for Achieving the Object] In order to achieve the above object, the present invention provides a programmable controller system that drives and controls a controlled object such as a machine tool based on a sequence program, in which interlock conditions related to the controlled object are stored. and a display means for displaying the interlock condition when it is confirmed that the interlock condition is established during driving of the controlled object.

[Embodiments] Next, preferred embodiments of the programmable controller system according to the present invention will be described in detail with reference to the accompanying drawings.

In FIG. 1, reference numeral 2 indicates a programmable controller system according to the present invention, and the programmer file controller system 2 includes a keyboard 4, a CRT 6 as a display, and a function key switch 8.
Equipped with a general-purpose operation panel 10 equipped with pushbutton switches 9, etc., and having a program creation function or a monitor function described later, and electronic components such as a RAM that stores programs created using the general-purpose operation panel 10. A control unit 12 consisting of a printed circuit board, and a machining center (hereinafter referred to as M/C)
Slave I as a parallel I10 interface that transmits and receives parallel data between machine tools 16 such as
It basically consists of 10 units 18. here,
As can be easily understood from the figure, the components of the main unit, namely, the general-purpose work panel 10, the control unit 12), the slave I 10 unit 18, and the machine tool 16, are connected in series using connectors or the like and can be removed from each other. It is.

FIG. 2 shows a more detailed block diagram of the programmable controller system 2 shown in FIG. As can be understood from the figure, the general-purpose operation panel 10 includes the keyboard 4, CR
T6, key switch 8, button switch 9, floppy disk 20 for backing up created programs, and ROM for storing system programs.
22) Consists of a RAM 24 having a program load area and an I10 table, which will be described later, etc., an interface 26, and a CPU 28, and these blocks are connected by system path lines 29, respectively.

In this case, the system program M stored in the ROM 22 in the general-purpose operation panel 10 is a program creation mode system program M in which programming is performed by inputting a program from the keyboard 4, etc., as shown in FIG.
1. , a check mode system program M 1 b for manually operating the machine tool 16 and checking the program, and a program execution mode system program M 1 for executing the program.
The PU 28 controls each element constituting the general-purpose operation panel 10 while checking the contents of these system programs M. Further, the memory area of the RAM 24 in the general-purpose operation panel 10 is divided as shown in FIG. That is, work area M. is a memory area for temporarily storing intermediate results during program execution, program load areas M and b are memory areas for storing the created program and interlock conditions to be described later, and edit buffer Mtc is a memory area for temporarily storing intermediate results during program execution. is the keyboard 4 of the general-purpose operation panel 10
This is the memory area where programming is performed using, for example, the I10 table M□, which stores the name and I10 status (high level or low level) of the I10 terminal of the slave I10 unit 18 in real time. This is a table to keep it.

The general-purpose operation panel 10 configured as described above is connected to an interface 30 in the control unit 12 via an interface 26. Note that these interfaces 26
and interface 30, for example, R3232C
A serial interface based on the protocol or optical interfaces 32a and 32b are employed. In either case, a general-purpose operation panel 10 and a control unit 12
Parallel data within is converted to serial data and data is sent and received.

The control unit 12 includes an interface 30, a CPU 34,
Interrupt controller 36, timer 38, ROM2O, RA
The M42 and the interface 44 are connected to each other by a system path line 46, respectively. FIG. 4a shows a memory area for a system program stored in ROM 40 in control unit 12, and FIG. 4 also shows a memory area in RAM 42 in control unit 12. In this case, the ROM 40 includes a program execution interpreter M3B for sequentially translating and executing the source program into machine language, and a plurality of execution programs DP, which will be described later, are executed in parallel to operate the plurality of machine tools 16 at the same time. a task monitor program M3b prepared for the purpose of, for example, a task monitor program M3b, and a console-to-operation panel communication program M3. and slave I1
Slave I10 for communicating with 0 unit 18
A program error check program M3. that performs a parity check during communication with the communication programs M and 4. is included.

On the other hand, the RAM 42 includes a work area M41 and an execution program storage area M4b consisting of eight program areas α to α8 for storing execution programs DP consisting of a plurality of execution programs DP to D P a and interlock conditions. , an I10 buffer M4c that stores the state of the I10 terminal of the slave I10 unit 18, and a program management information area M4 that stores information for task management. and a function setting area M48. FIG. 5 is a diagram showing the connection relationship between the memory areas in the ROM 40 and the memory areas in the RAM 42 described above.

The control unit 12 configured in this way is connected to the slave I, the interface in the 10 unit 18a, and the ace 46a via the interface 44, for example, by a serial interface based on the R3232C protocol. Note that the slave I10 unit 18 in FIG.
As shown in the figure, slave I10 units 18a to 1
It is possible to connect a plurality of units as 8f, and these can be made compatible by, for example, writing the designation of the I10 unit in the execution program DP to DPb. . These slave I10 units 18a to 18f are respectively composed of serial interfaces 46a to 46f and parallel interfaces 48a to 48f as I10 terminals, and the respective components are connected to system path lines 50a to 50.
They are connected by 0f. Here, the parallel interfaces 48a to 48f are parallel 0UT52a.
It is comprised of parallel INs 54a to 54f, which store or transmit and receive IN information and OUT information related to a plurality of machine tools 16a to 16f.

Note that the IN information or OUT information is the confirmation information sent from the machine tool to the slave I10 unit, and the latter is command information sent from the slave I10 unit to the machine tool.

Here, among the machine tools 16, the machine tool 16a is configured as shown in FIG. 6, for example. This machine tool 16a
A drill 56 is used to perform drilling on a workpiece W, and is basically composed of a processing section 58 and a processed section 60. In the processing section 58, a feed motor 64 that moves the drill 56 toward the workpiece W is fixed on a base 62.

In this case, a ball screw 68 extending toward the workpiece 60 is integrally attached to the drive shaft 66 of the feeding mocro 4, and a movable table 70 is hinged to the ball screw 68. The movable table 70 has a rotating shaft 72 of the drill 56.
A drill drive motor 74 including a spindle unit that supports the drill is attached. Here, the position of the moving table 70 is detected by three glue switches LSI to LS3 arranged along the ball screw 68. That is, the limit switch LSI detects that the movable table 70 is at the retreat end, and the limit switch LS2 detects that the movable table 70 is at the cutting start point of the drill 56. Further, the limit switch LS3 detects that the moving table 70 is at the forward end.

On the other hand, in the workpiece part 60, a workpiece mounting table 8 is mounted on the base 76.
0 is fixed, and the workpiece W is positioned and fixed to the workpiece mounting base 8o by a clamp jig 82. That is, the clamp jig 82 includes a clamp cylinder 84 fixed to the workpiece mount 80 and a support member 88 whose one end is pivoted to the cylinder rod 86 of the clamp cylinder 84 and whose middle part is fixed to the workpiece mount 80. The work W is positioned and fixed by the other end of the clamp member 90. in this case,
The clamped state and unclamped state of the workpiece W by the clamp jig 82 are detected by two glue mint switches LS4 and LS5, respectively.

Here, as shown in FIG. 7, the parallel 0UT 52a and parallel IN 54a, which serve as buffers constituting the parallel interface 48a of the slave I10 unit 18a, control the operation from the general-purpose operation panel 10 or control unit 12 for the machine tool 16a. An 8-bit parallel 0UT52a that indicates a command as a flag, and an 8-bit parallel 0UT 52a that indicates a transition state of the machine tool 16a based on the operation command as a flag.
It is configured like a bit parallel IN 54a.

In this case, the bit state is 1 in parallel 0UT52a.
At this time, it is assumed that a predetermined operation command shown in FIG. 7 is issued to the machine tool 16a. Also, parallel lN54a
Now, it is assumed that a predetermined bit state becomes 1 when the start push button or limit switches LSI to LS5 of the machine tool 16a are turned on.

The programmable controller system according to this embodiment is basically configured as described above, and its operation and effects will be explained next.

First, the programmable controller system according to the present invention has three modes: (1) program creation mode (programming mode) (2) check mode (2) program execution mode. Here, the first programming mode is the keyboard 4 and CRT 6 in the general-purpose operation panel 10.
etc., input the program and interlock conditions (described later) into the program load area M2b in the RAM 24 based on the given time chart and input/output correspondence table (described later), or perform programming. In this mode, a subroutine program that has already been registered is edited while being programmed using the edit buffer Mzc. In addition, in the second check mode, the machine tool 16 is operated based on the program data created in the programming mode, and the limit switch L is activated.
This mode is for accurately adjusting the positions of SI to LS5, etc., or for manually operating the machine tool 10 using the button switch 9. Furthermore, the third program execution mode is a mode in which the machine tool 16 is actually operated automatically on the production line.

Therefore, first, the programming mode will be explained. In this case, the operating procedure of the machine tool 16a is set as a time chart shown in FIG. That is, according to this time chart, the clamp jig 82 is activated by pressing the start push button (not shown) of the machine tool 16a.
is clamped, and the movable table 70 in the processing section 58 moves forward from the retreat end to the cutting start point. Next, the drive motor 74 is driven to rotate the drill 56 and start cutting work. When the moving table 70 moves to the forward end, the rotation of the drill 56 stops, and then the moving table 70 moves to the backward end. Finally, the clamp jig 82 becomes unclamped, and the series of operations ends.

Next, a programming mode is selected using the function key switch 8 on the general-purpose operation panel IO, and inputting operations for input/output correspondence table 91 and interlock condition table 92 and program creation operations are performed using keyboard 4.

Here, the input/output correspondence table 91 shows the functional operational relationship between each actuator that drives the machine tool 16a and the limit switches LSI to LS5, etc.
Created as shown in the figure. In this case, "number" is the contact number of each actuator, limit switch LSI to L85, etc. [Type J (in, out and 5ol) is a response from limit switch LSI to L35, etc. to slave I10 unit 18a, slave I
10 Indicates that the command is an operation command from the unit 18a to an actuator or solenoid. [Confirmation LSJ is the limit switch LS that responds to the command from the slave I10 unit 18a to the actuator.
Indicates the "number" of I to LS5. "Paired operation" refers to actuators that perform a sequence as a pair. Further, "part names" indicate specific operation contents of the actuators, limit switches LSI to LS5, and the like.

The interlock condition table 92 defines combinations of prohibited operations of the machine tool 16a, and is created as shown in FIG. 10. In this case, the "number" is the contact number mentioned above, and the "code" indicates that the data is an interlock condition when it is O. Also, "logical expression" indicates an interlock condition, & is an and condition, and ! is a knot condition. Although not shown, the OR condition can be represented by /, etc.

The input/output correspondence table 91 and interlock condition table 92 created as described above are stored in the edit buffer M2.
is stored in Therefore, the operator displays the input/output correspondence table 91 on the CRT 6 and performs a predetermined programming operation based on this input/output correspondence table 91. In this case, the execution program DP, as shown in FIG.
It is described as a sequential pair of IN commands from a. The execution program DPI, input/output correspondence table 91, and interlock condition table 92 created in this way are stored on the floppy disk 2 via the program load area Mzb of the RAM 24.
0 and serial interface 2.
RA in the control unit 2 from the general-purpose operation panel 10 through 6.
The data is transferred to M42 through the interface 30.

The memory area of the RAM 42 is divided as shown in FIG. 4, and the input/output correspondence table 91, interlock condition table 92, and execution program DP are stored in the program area α1°.

Here, in the programmable controller system 2 according to the present invention, programming can be performed without actually operating the machine tool 16a as described above, and the programmable controller system 2 can be connected to the machine tool 16a using the general-purpose operation panel 10. It is also possible to actually connect the system 2 and perform programming by so-called teaching.

Next, the operator selects check mode.

In this case, a machine tool 16a is installed in the control unit 12 and the slave 10 unit 18a. In this check mode, the machine tool 16a is actually operated every 1 to 2 steps according to the execution program DP shown in FIG. I do. In this case, adjustment of the positions of the limit switches LSI to LS5, checking of the program, etc. are performed.

Next, when the operator selects the program execution mode on the general-purpose operation panel 10, the machine tool 16a is automatically operated to actually machine the workpiece W. Therefore, the processing procedure of the execution program DP shown in FIG. 11 will be explained according to the flowchart shown in FIG. 12.

First, the machine tool 16a is started by pressing the start push button of the machine tool 16a, and the parallel lN
54a is read (STPa). In addition,
During the step 2 program shown in FIG. 11, 54a-5
indicates that it is the 5th bit data of the parallel IN 54a (the same applies hereafter). In this case, the data of the parallel IN 54a is transmitted to the control unit 12 through the system path line 5Qa in the slave I10 unit 18a and via the interfaces 46a and 44. 11087 of RAM42 in
The latest information is always loaded into the 77M4c (see Figure 4), so this information and the execution program D P
5TPb), and if these data match, the execution program DP is advanced by one step (STPc). In this case, the program counter exists as a 2-byte register in the program management information area M4d shown in FIG. Then, increment the number by +1. When the confirmation in step 2 is completed, the execution program DPI in step 3 is executed (ST
Pd). Next, the execution program DP+ is further advanced by +1 step (STPe), and if the program has not finished (STPf), the parallel l is started again.
Comparing the data of N54a and the data of step 4 (
STpa,b), if they match, execute program D
Step P+ by +1 and execute the instruction (STPc
Sd). The machine tool 16a operates according to the time chart shown in FIG. 8 by sequentially repeating the above operations in full steps, that is, until the execution program D P t is completed.

Here, if a trouble occurs while the machine tool 16 is operating in the program execution mode and the machine tool 16 stops abnormally, the operator must return the operating elements such as actuators that make up the machine tool 16 to their original positions. It is necessary to investigate the cause of the trouble and perform repairs.

In this case, the operator first selects the check mode on the general-purpose operation panel IO. Next, the input/output correspondence table 91 is displayed on the CRT 6, and the input/output correspondence table 91 is
A desired actuator is selected, and an operation command for returning the actuator to its original position is input using the pushbutton switch 9. General-purpose operation panel 10 is RO
M22 check mode system program M1b
The machine tool 16a is operated according to the following.

Therefore, the check mode system program Mlb
First, the contact number of the actuator related to the operation command is made to correspond to the number in the interlock condition table 92, and if there is a corresponding contact number, the current state of the machine tool 16a is set in the interlock condition table 92. A check is made to see if a predetermined logical formula is satisfied. For example, if the limit switch LS3 that detects the state of cutting feed is on and the drill 56 is not rotating due to a failure of the drill drive motor 74, the Psocie button switch 9
If a command to move the machining unit 58 forward is input from the machine, there is a risk that the workpiece W or the drill 56 will be damaged.

In this case, check mode system program M1
b detects that the interlock condition r3 & 151J of contact number 12 in FIG.
0, outputs a warning display command to the effect that the interlock condition has been met. Therefore, the general-purpose operation panel 10 displays the interlock conditions in Japanese on the CRTS, for example, as shown in FIG. Therefore, the operator can know how to cancel the interlock condition based on the interlock condition displayed on the CRT 6. As a result, even if the operator has no prior knowledge regarding the interlock conditions for the machine tool 16a, the operator can release the interlock based on the display on the CRT 6 and, for example,
6a can be returned to its original position and repairs and adjustments can be easily made to the malfunctioning part.

[Effects of the Invention] As described above, according to the present invention, in a programmable controller system that drives and controls a controlled object such as a machine tool based on a sequence program, interlock conditions related to the controlled object are defined and stored in a logical formula. The interlock condition is checked when the controlled object is driven, and the interlock condition is displayed when the interlock condition is established. Therefore, the operator can very easily confirm the method for canceling the interlock condition based on the display. At this time, the operator can release the interlock, drive the controlled object, and move the desired operating portion to the original position, etc., without having any knowledge regarding the interlock conditions. Further, since the interlock condition can be defined as a logical expression independently of the sequence program, there is an advantage that it is extremely easy to change or modify the interlock condition.

Although the present invention has been described above with reference to preferred embodiments, the present invention is not limited to these embodiments.
Of course, various improvements and changes in design are possible without departing from the gist of the present invention.

[Brief explanation of the drawing]

Figure 1 is a schematic block diagram of the programmable controller system according to the present invention, Figure 2 is a detailed block diagram of the programmable controller system according to the present invention, and Figure 3a is an explanation of the memory area of the ROM stored in the general-purpose operation panel. Figure 3 is an explanatory diagram of the RAM memory area stored in the general-purpose operation panel, Figure 4 a is an explanatory diagram of the ROM memory area stored in the control unit, and Figure 4 is an explanatory diagram of the ROM memory area stored in the control unit. 5 is a diagram showing the connection relationship between the ROM and RAM memory areas stored in the control unit, and FIG. 6 is an explanatory diagram of the memory area of the RAM stored in the control unit. The configuration diagram of the machine tool shown in Figure 7 shows the parallel IN in the slave I10 unit.
, an explanatory diagram of the data allocation of parallel OUT, FIG. 8 is a time chart showing the operation procedure of the machine tool shown in FIG. 6, and FIG. 9 is an explanatory diagram of the input/output correspondence table created in the programmable controller system according to the present invention. , FIG. 1O is an explanatory diagram of an interlock condition table created in the programmable controller system according to the present invention, FIG. 11 is an explanatory diagram of a sequence program created in the programmable controller system according to the present invention, and FIG. FIG. 11 is a flowchart showing the processing procedure of the sequence program, and FIG. 13 is an explanatory diagram of interlock conditions displayed on the display. 2...Programmable controller system 4...
Keyboard 6...CRTlo...General purpose operation panel 12...Control unit 16...Machine tool 18...Slave I10 unit 463~46f...Serial interface 483~
48f...Parallel interface 56...Drill 58...Machining section 60...Working part
62...Base 64...Feeding motor
6B... Ball screw 70... Moving table
72... Rotating shaft 74... Drill drive motor 80... Workpiece mounting base 82... Clamp jig 84... Clamp cylinder 86... Cylinder rod 90... Clamp member 91... - Input/output correspondence table 92...Interlock condition table LSI to LS5...Limit switch DP...Execution program W...Ware α1 to α,...Program area FIG, 3 (a) ( b) FIG.8

Claims (2)

[Claims] (1) In a programmable controller system that drives and controls a controlled object such as a machine tool based on a sequence program, there is provided a storage means for storing interlock conditions related to the controlled object, and a storage means for storing interlock conditions related to the controlled object, and a storage means for storing the interlock condition when driving the controlled object. A programmable controller system comprising: display means for displaying the interlock condition when confirmed. (2) In the system according to claim 1,
A programmable controller system in which interlock conditions are defined by logical expressions and stored in storage means.