JPH02278302A - Program input method for program controller with positioning function - Google Patents

Abstract

PURPOSE:To facilitate a program input job by storing program steps in a sequence control part if they are for sequence control, and in a positioning control part if they are for positioning control, automatically generating the program steps for execution instruction and storing them in the sequence control part. CONSTITUTION:A programmable controller with positioning function 1 consists of the sequence control part 1A and the positioning control part 2A. Programs for sequence control and positioning control are integrally and time sequentially generated by a program generation means and are inputted to the programmable controller with positioning function 1. Respective program steps are stored in the sequence control part 1A if they are for sequence control, and in the positioning control part 2A if they are for positioning control. Then, the program steps for execution instruction of program steps for positioning control are automatically generated and are stored in the sequence control part 1A. Thus, it comes to be unnecessary to separately input sequence programs and positioning data.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a program input method for a programmable controller with a positioning function, in which programs for sequence control and positioning control images are created and input in one piece. [Prior art] No. 5m is a block diagram showing a conventional programmable controller with a positioning function.
) indicates the controller unit that performs sequence control, and OP U [111°O
Memory for the sequence 11 in which a control program called 9 is stored (1z, step management memory in which data for step management of a sequence program created by the user is stored!'L) To store the above sequence program Sequence program storage memory which is RAM + 141. One side W 'N 13 described later
1 (!: Interface (hereinafter written in /F) α
9. Work with cpucu for positioning control (described later)
It consists of I71. (2B) indicates a positioning unit that performs positioning of a controlled object (not shown) 1
0PUGII for positioning control, positioning control river memory η
, work/F (to) with the servo 14) described later.

Positioning data network memory pad 4 for storing positioning data 4. Works with the peripheral equipment 'i+31' described later/F, controller unit (IB) & place? It consists of a sofa memory for exchanging data between the decision units (2B) and a CPU αυ for sequence control.

The conventional programmable controller with positioning function is composed of the above-mentioned controller unit 1-(IB) (!-positioning unit (2B)). Connect the device to the controller unit (IB) and write the above program to the sequence program storage memory 1I4, or connect to the 1st position determining unit (2) and write the above positioning data to the positioning data storage memory (IB). (4) is a servo that drives a positioning pair (not shown).

Next, the user will be happy about the operation.The user should input the positioning data in advance from the peripheral equipment / Sae (3) through the peripheral equipment / F (to) + 3 memo for storing positioning data.
124. Also, from 1 peripheral #I + 31 peripheral T
/F (+9 to determine the 9th place)
B F C (Sequenti! 11)
Memory for storing sequences programs written in Function Chart! The apyσ9 for sequence control in the controller unit (IB) is stored in the sequence program storage memory (controller unit) (IB).
The 8FC program stored in I4 is executed by performing step management using step management memory II3. That is, by executing [positioning data specification], which data among the positioning data of the ring number stored in the first position determining data storage memory Q4 is to be used in the first position determining unit (2)'s no. By setting the "positioning data information" that specifies whether the I/Fl171. The positioning control CPU and 0 in the 5th and 1st positioning units (2B) send the positioning start command to the 0PU12υ of the positioning unit (2) via -.

Based on the "positioning data information" selected in Batza memory 1, the memory for storing data that determines the 1st place! Calculate the 9th position positioning command #L using the corresponding positioning data in 4, and perform positioning by controlling the servo 1417B via the servo I/Ffi [Problem to be solved by the invention] As shown in the figure, the program input method for a conventional program controller with a positioning function, which consists of a controller unit (IA) as a sequence control section and a positioning unit (2B) as a positioning control section, is as follows: 1υ side; 4
131 to input positioning data for multiple sheets to the positioning unit (2B).

Furthermore, the above-mentioned peripheral device (3) is used to issue a positioning start command and the above-mentioned ? ! ! The problem is that the designation of which data to use out of several positioning data must be programmed into the sequence program and input into the controller unit (IA), which is troublesome for the user. there were.

This invention was made to solve the above-mentioned problems, and provides a key program controller with a positioning function that does not require separate input of positioning data and a sequence program in which a 0 position determination start command is programmed. [Means for Solving the Problem] A program input method for a program controller with a positioning function according to the present invention is a sequence? 1lill@
A program for controlling the use and location of the station is created integrally and in chronological order using a program creation means.

The program controller with the positioning machine is input integrally and in chronological order, and if each program step constituting the program is in sequence, it is stored in the sequence controller.

If it is for position/arm position control, it is stored in the positioning system (2) section, and a program step for commanding the execution of the position/arm position control program step is automatically created and stored in the sequence control section. [Work in progress] The sequence control m and positioning separate programs in this invention are created integrally and in chronological order by a program creation means and inputted to the positioning function f=H program controller, and the above-mentioned program with positioning function is created. In the controller, each program step constituting the above program is stored in the sequence control section if it is for sequence control A, and stored in the positioning control section if it is for positioning control. A program step for the execution command will be automatically created and stored in the sequence control section (1). The angle sequence is calculated according to sides 11 to 4. Note that in FIG. 0, those indicated by the same reference numerals as those in the conventional column are the same as or correspond to those in the conventional column.

In Fig. 1, (1) is a programmable controller with a positioning function, which is composed of a sequence control section (lA) and a positioning control section (2A) (!:).
1G is the Sequence Expression Club (IA) and the 1st Order Control Music Club (2 members)! Kawabe i: as a means of creating a program
Peripheral work/F n! by a switching command from the CPU (not shown) of lft+31. 9 and sequence control section 31 (I
A) O bar, 19 or positioning 1711 + a part (
This is a multiplexer that switches and connects to one of the two buses. The penalty is the memory for storing the positioning program (the sequence control unit (IA) and the positioning control unit (
Figure 2 is a common memory shared by two people), which is a common memory shared by two people.
S F O (Sequenti9
1 Function Chllrt) This is a series of programs written in a language, and is created simultaneously with a sequence program and a positioning program. In Figure 2, 6G, (52), (54
), (55), and (57) are program steps, and (51), (53), and (55) indicate conditions for transition to instruction execution in the program steps.The above SF'C language is based on the IEO standard. It has an affinity with sequence description languages, and as a servo/motion description language, it has the feature of being able to graphically describe the synchronous activation 9 work order.

@2 In the figure, step (52) is a controller section (IA) that transfers the output of Yo (OQ T YO) * KQ to the memory DQ (MOVKo Do), etc.
For example, the sequence control command executed in step 1 is such that a chuck that grips a cutter, etc. is lowered at an address of 30 cm and a speed of 200 (positioning control commands such as ABS Y2O, F2 [10], etc.), and this step (52)
is executed if the transition condition
Step (54) is executed only when o(5') is 1. For example, a seven-stroke instruction (SE) to rotate the main shaft is executed.
TMto) and move the headstock forward at a slow speed of 30 to address 500! 1 (ABSZ500.F
30), step (55) consists of an instruction to aOW the data of the memo IJDo to the memory IJD+,
Step (52), which is the previous step, is activated and 9, for example, the transition condition x is a signal input indicating the completion of chunking.
1 only if (53) is 1.

The above steps (54) and (55) are executed. For Stella 7' (57), if there are 9 rows, the above headstock should be set to address 1.
Command to retreat to 00 at a speed of 400 (A B S
zloG.

F'400) and a command to stop the rotation of the main shaft (R8'T).
M10G), and the steps (54) and (55
) is executed, only if the transition condition X2 (56), which is a signal input indicating the completion of daily labor of the work, is true.

The above step (57) is executed. In the SFC program, the sequence 11@ command and the positioning control command can coexist.

Next, the SF as exemplified in FIG.
The input method of the O program and the operation of positioning the control 6Q1 image (not shown) will be explained below. In Figure 1, the sequence program and the positioning program 9 are written simultaneously are stored separately from the peripheral device 1j +31 to the sequence program storage memory fin of the sequence control unit CIA) or the positioning program storage memory @ of the positioning control unit (2A). 9For the step in which the positioning program is written, 1 A positioning start command program is automatically created and stored in the sequence program storage memory (14).Also, when the program is executed, the previous step of the positioning start command program is executed at the step (14).
209) Te: Write the positioning start command to the rmon memory/field.

Positioning system? cprye2ri for llll executes the corresponding positioning program in the positioning program storage memory (2) by receiving and receiving the positioning start command.

By controlling the servo (4) via the servo I/F'ffl, the position.! It's something to do in the middle! g3
The figure is a flowchart showing the operation when a program is input from the IM side device f31 to the program pull controller (1) with a positioning function, and the method of inputting the program to the controller (1) will be explained using this flowchart.

9 peripheral equipment in Figure 3! 13) is the step (Ioo
), the flowchart is executed at step (+01
), issue a switching command via the peripheral work/FO5, and set the multiplexer tte to the sequence control unit side.
9 peripheral device t 131 in step (+02).

One step of the SFC program stored in the memory (not shown) of this peripheral device el +31 is read out and input to the controller (1), at step (IO?i).

Determine if all steps of the program have been input.

If it is completed, this flowchart ends at step (II+), and if it is not completed, the peripheral device +3
1 determines whether the step of the sFc program read above is a sequence control program, outputs it if it is a sequence control program, and at step (+05), 0PUQII of the sequence control unit (IA) stores the sequence program in the memory I for storing the sequence program through the multiplexer 11θ, and returns to step (+02) 3 and the above steps (+04)
If it is not a sequence control program but a position f-curving program, 9 peripheral f: e c31 is a step (!0
6), issue a switching command via the F65,
Multiplexer (l[l is set to the positioning control unit side, and in step (+07) the positioning program is
In addition, it is stored in the memory for storing the positioning program.
In step (+08), issue a switching command via 1 peripheral work/F' QcJ, set multiplexer +te to the sequence opening side, and in step (+09),
A positioning start command program, which is a sequence program for starting the arm positioning program, is automatically created, and in step (+10), this automatically created positioning start command program is stored in the sequence program storage memory I, and step (+10) is performed. Return to +02). s? created in the 1st periphery Hiit f3) as above? The a programs are stored in memory I for storing the corresponding sequence programs.

Alternatively, it is stored in the memory surface for storing positioning programs.

Figure 4 shows the servo 14)
The positioning operation of the control target image will be explained with this flowchart, which is probably a flowchart showing the operation of the programmable core controller (1) with a positioning function that realizes the positioning fltll# of the positioning target (not shown) by do.

In FIG. 4, when flowchart A is executed in step (201), the sequence system? @ section (1A) OP
Uαυ checks whether the activation condition is satisfied in step (202) and repeats step (202) until the activation condition is satisfied. Then, when the activation condition is satisfied, step (20
5) sets the active step of step management memory (13) to the initial step, and in step (204),
It is determined whether execution of all steps of the program has been completed, and when all steps have been completed, the process returns to step (203). If execution of all steps of the program has not been completed, in step (205) one step of the sequence program storage memory cI4 is read, and in step (204) it is determined whether the step is a 9 positioning start command. 1
If the step is not a positioning start command step (20
In step 7), sequence control is executed and step (208)
When the conditions for transition to the next step are satisfied, the active step in the step management memory lIJ is incremented by 1, and the process returns to step (204). If step 9 is a positioning start command, the positioning start command is written to the common memory device in step (209).

Next, in the 41st step (221), when flowchart IB is executed, the CP of the 1st positioning control section (2A)
UθD is information 7 in the common memory (to) at step (222)? Read, common memory 1 in step (223)
It is observed whether or not a folded positioning start command has been written, and if there is no writing, the process returns to step (222).

If a new positioning start command is written to the common memory 1, the program corresponding to the 9th position and center program storage memory is accessed in step (224), and the program is accessed based on the 0 positioning command in step (225). Then, in step (226), servo/Fv3
Controls the servo 14) via the .

In step (227), it is observed whether the positioning is completed or not.

If not completed, return to step (225). Then, when the positioning is completed, proceed to step (22B).

Write the completion of positioning to common memory 1 and step (
Return to 222).

0PUnυ for sequence control is stored in the step management memory (+3 is added to the step and the step is (20
Return to 4) In the above implementation sequence, the sequence program was stored in the sequence program storage memory I and the positioning program was stored in the positioning program storage memory I by switching the multiplexer. For example, the same effect can be obtained by a method in which all the programs are transferred to the sequence control section and the positioning program is stored in the positioning program storage memory via the common memory (support).

〔Effect of the invention〕

As described above, according to the present invention, the sequence control program and the positioning control program are integrated.

And is it created in chronological order and manually created in a program controller with positioning function in the same way and in chronological order? ! 11 If it is required, it is stored in the sequence control section 9. If it is for rent control, it is stored in the positioning control section, and a program step for the execution command of the positioning control program step is automatically created. Since it is stored in the sequence control section, it is possible to obtain a program input method for a program controller with a positioning function that facilitates program input work.

4. Of course, a simple tax explanation FIG. 1 is a block diagram showing a program controller with a function of determining the position '1f by one implementation sequence using the first and second inventions, and FIG.
Figure 1 shows the program sequence written in Function (:!hI3rt), Figure 31'gJ is a flowchart showing the program input terminal '@ of the key program controller with positioning function shown in Figure 1, and Figure 4 is the same as Figure 1. A flowchart showing the operation of the program controller with positioning function shown in FIG. 5 is one side of a block showing a conventional program controller with positioning function.
In the figure, (1) is a program controller with a positioning function, (IA) is a u-sequence system for the back, (2M) is a positioning control unit, (3) is a meat side device q as a program creation means, +41 is a servo, [
1υ is a CPU for sequence control, 14] is a memory for storing a sequence program, 0 is a CPU for positioning control, q is a CPU for servo control, a is a memory for storing a positioning program, and a is a memory for storing a positioning program. 9 shows the common memory as a shared storage means. In the 9 figures, the same reference numerals indicate the same or corresponding parts. 5
5.57 = Step chart

Claims (1)

[Claims] Sequence control and positioning control programs used in a program controller with a positioning function, which is equipped with a sequence control section for sequence control of a controlled object and a positioning control section for positioning control, are created integrally and in chronological order by a program creation means. , is input integrally and chronologically into the program controller with positioning function, and if each program step constituting the program is for sequence control, it is stored in the sequence control section, and if it is for positioning control, the above program step is input to the controller with positioning function. A program input method for a program controller with a positioning function, characterized in that a program step for commanding execution of the positioning control program step is automatically created and stored in the sequence control section while storing the program step in a positioning control section.