JPH0895612A - SFC program development equipment - Google Patents

Abstract

(57) [Summary] [Purpose] To facilitate the creation and maintenance of individual PC operation programs. [Structure] Means 240, 241, 242, 243, 24 for extracting a predetermined program element required for each individual operation program related to the normal operation program from the normal operation program for the PC created in the SFC format.
4, 245 and the extracted program element are combined,
Means 246 for automatically generating each individual operation program.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention creates a program in a sequential function chart language (hereinafter referred to as "SFC") format for programming a program executed by a programmable controller (hereinafter referred to as "PC"). The present invention relates to an SFC program development apparatus, and more particularly to an SFC program development apparatus capable of easily creating and maintaining an individual operation program for an abnormality, which is different from the normal operation program.

[0002]

2. Description of the Related Art As a programming language for a PC, S that can express the flow of control in a flow chart format.
FC is known. In SFC, the details of the control can be described using, for example, a ladder diagram.

Consider, for example, the system shown in FIG. With reference to FIG. 18, this system carries in the work stored in the work carriage 310 to the position of the jig 320 from the jig 318 using the lifter 322. The lifter 322 is provided with a traveling motor 328, a stopper 326, and a clamp 324 for holding a work. The switches operated by the operator 314 include a start push button (PB) 312 and a mat switch 316. The lifter 322 may be, for example, a hydraulic cylinder, a clamp 324 and a stopper 32.
An air cylinder is used for 6, for example.

The operation sequence of the apparatus shown in FIG. 18 is as follows. (1) The worker 314 sets the work of the work carriage 310 on the jig 318 and pushes the start PB 312.

(2) The lifter 3 is driven by the traveling motor 328.
22 runs backwards. (3) Pull out the stopper 326.

(4) The lifter 322 descends. (5) The work at the position of the jig 318 is held by the clamp 324.

(6) The lifter 322 moves up. (7) Enter the stopper 326.

(8) Travel forward. (9) Remove the stopper 326.

(10) The lifter 322 is moved down. (11) Unclamp the work.

(12) Lifter 322 is lifted. (13) Enter the stopper 326.

When this normal operation program is created in the SFC format, it becomes as shown in FIG. In FIG. 19, a rectangle represents a step, and a line connecting the rectangles and a horizontal line drawn so as to cross the rectangle represent a transition. Further, the two main lines branching from the step indicate parallel branching, and the two main lines joining are parallel merging. The alphabets and numbers attached to each step and transition are the step name and transition name. A step indicates an operation, and a transition indicates a transition condition from step to step.

In FIG. 19, step 00 starts, step 01 travels backwards, step 02 skips step, step 03 lifts down, step 04 clamps, step 05 lifts, step 16 clamps hold, step 06 stops. Enter, Step 07: Travel forward, Step 10: Remove stopper, Step 17: Hold lifter up, Step 11: Lifter middle down, Step 12: Unclamp, Step 13: Lifter up, Step 14: Stopper enter, Step 20: Lifter Rise hold, step 15 indicates the end step, respectively.

Of these, the details of the traveling / reverse program of step 01 are shown in FIG. 20 in the form of a ladder diagram. Referring to FIG. 20, this program has an interlock condition 350.
And an output 352 for traveling backward. The interlock condition 350 includes a contact point at the lifter rising end and a contact point for traveling forward. The symbol indicating the lifter rising end means electrically conducting when the contact is ON, and the symbol of the traveling forward contact electrically conducting when the setting is OFF. An output is obtained when each contact is conductive.

The interlock condition is a condition that must be held when a certain operation is performed.
For example, in the example shown in FIG. 18, when the lifter 322 moves from right to left (when retracting), the lifter 322 must be lifted to the top. Therefore, FIG.
As shown in, it is necessary to allow traveling forward only when the contact at the lifter rising end is ON. That is, the lifter rising end becomes the interlock condition.

In addition to such a program for normal operation, it is necessary to create a program (individual operation program) at the time of abnormality. Each individual operation is, for example, in order to return the machine to the normal position when the machine stops due to some trouble during the start-up operation of normal operation, the operator can visually check the status of the machine and operate the switch. Used when operating to move the machine. For example, if the limit switch is broken in a cylinder or the like, the cylinder may overshoot where it should stop. In such a case, when returning the cylinder to the original position, the individual operation program which is not a normal operation is used to return the cylinder. The device can be operated by an arbitrary procedure in each individual operation. Each operation of the device corresponding to each individual operation is called an individual operation.

FIG. 21 is a ladder diagram showing the individual operation program for the traveling / reverse program. With reference to FIG. 21, each individual operation program includes a traveling / reverse input switch 360, a limit switch 362 indicating termination of traveling / reverse, an interlock condition 364 for traveling / reverse, and an output. As the travel / reverse input switch 360, for example, a reverse button provided on the operation plate is assigned. It is up to the program designer to decide which button is assigned to this input switch. The interlock conditions 364 include a contact point at the lifter rising end and a contact point at the traveling forward position. This interlock condition matches the interlock condition of the normal operation program shown in FIG. However, in the individual operation program shown in FIG. 21, the reverse button is pressed, the limit switch at the reverse end is OFF, and the lifter moves backward only when the interlock condition is satisfied.

A start condition and an end condition are provided for each step. These are described in the transitions before and after the step. The ending condition is a condition for ending the operation of the step. For example, the ending condition when the lifter 322 moves backward in FIG. 18 is the backward end. The start condition is a condition that is confirmed when the operation is started, and a condition that may change during the operation. For example, there is a case where an input is made by a start push button or the like, or only the operation start position is determined. The start condition requires self-holding of the output, and therefore the start condition must take the form shown in rectangle 370 of the ladder diagram shown in FIG.

[0018]

As described above, in the conventional technique, the program part in normal operation is described by SFC, and the program part for abnormal time (for each individual operation) is described by the ladder diagram or the like. Therefore, it was necessary to create two programs. As a result, the PC program design time is lengthened, and the interlock condition for each individual operation program is omitted and unnecessary conditions are added.
There are problems that a mistake occurs in the program for individual operation and the program size becomes unnecessarily large.
Further, every time the PC program is modified, it is necessary to judge whether or not the individual operating program needs to be modified, and it is necessary to individually modify the program, which makes maintenance of the PC program difficult.

One means for solving this problem is disclosed in Japanese Patent Laid-Open No. 5-158512. The technique disclosed in this publication is an invention regarding a sequence controller that executes an SFC program. Referring to FIG. 23, the sequence controller 500 disclosed in Japanese Patent Laid-Open No. 5-158512 discloses an operation panel 510, an SFC program storage unit 512, a calculation execution unit 514, and a manual operation unit 51.
6, an SFC step status storage unit 518, and an I / O control unit 520. The I / O control unit 520 includes an external device 5
22 is connected and controlled.

SFC in response to a command from the operation panel 510
The program stored in program storage unit 512 is read and executed by operation execution unit 514. At this time, the active / inactive state of the step stored in the SFC step state storage unit 518 is referred to, and only the processing content of the step in the active state is calculated. The result is I
It is sent to the external device 522 via the / O control unit 520.

The operation panel 510 is provided with a switch for switching between a manual operation mode and an automatic operation mode. In the automatic operation mode, the operation as described above is performed. In the manual operation mode, the manual operation by the manual operation unit 516 is executed. A manual processing command is given to the I / O control unit 520 by operating the manual operation unit 516,
The external device 522 can be manually controlled. At this time, the active / inactive state of the step stored in the SFC step state storage unit 518 can be changed by the step active / inactive process command from the manual operation unit 516.

In the technique disclosed in Japanese Unexamined Patent Publication No. 158512/1993, a program for normal operation is created in consideration of abnormal conditions, and automatic / manual switching is performed by the operation panel 510 to activate the program at present. Each individual operation program corresponding to the step is operated. Therefore, there is a problem that only individual operations corresponding to the currently activated step can be performed. In addition, the operation sequence follows the flow of the normal operation program, and there is a problem that non-procedural control peculiar to each individual operation cannot be performed.
In order to solve such a problem, it is desirable to separate the program for normal operation and the program for individual operation.

Therefore, an object of the invention described in claim 1 is to provide an SFC program development apparatus capable of easily creating and maintaining an individual operation program of an SFC.

An object of the invention described in claim 2 is to provide an SFC program development device which can easily create and maintain an individual operation program of a PC in a wider aspect.

In a broader aspect, an object of the invention described in claim 3 is to provide an SFC program development apparatus which can create each operation program of a PC without error at the same time as creating a normal operation program and is easy to maintain. is there.

[0026]

An SFC program development apparatus according to the invention described in claim 1 is a normal operation program for a programmable controller, which is created in the SFC format, and an individual operation related to the normal operation program. It includes means for extracting a predetermined program element required for the program, and means for synthesizing the extracted program elements to automatically generate each individual operation program.

An SFC program development apparatus according to a second aspect of the present invention is the apparatus according to the first aspect, wherein the predetermined program elements are an interlock condition for each individual operation, a start condition, and an end condition. , Input switches and any combination of outputs.

An SFC program development device according to a third aspect of the present invention is the device according to the first or second aspect, wherein the means for extracting the program elements is related to each of the individual items when the normal operation program is created. It includes an input requesting means for requesting the program creator to input information necessary for the operation program, and a means for storing the information necessary for each individual operation program input via the input requesting means in association with the normal operation program. .

[0029]

According to the SFC program development apparatus of the first aspect of the present invention, predetermined program elements necessary for each individual operation program related to the normal operation program are extracted from the SFC format normal operation program and extracted. Each individual operation program is automatically generated by synthesizing the created program elements. It is possible to shorten the design time of the program for the PC and prevent an error in creating the individual operation program. Further, when the program for the PC is changed, the individual operation program can be automatically corrected accordingly, so that the maintenance of the individual operation program is facilitated.

According to the SFC program development device of the second aspect of the present invention, in addition to the function of the first aspect of the invention, the predetermined program element is an interlock condition for each individual operation, a start condition, Since the end condition, the input switch, and the output are arbitrarily combined, a program for each individual operation can be automatically created even if there is no part of the program.

According to the SFC program development apparatus of the third aspect of the present invention, in addition to the operation of the first or second aspect of the invention, when the normal operation program is created, it is necessary for each related individual operation program. Input of information is requested from the program creator and is stored in association with the normal operation program. Therefore, the information necessary for each individual operation program can be surely obtained.

[0032]

1 is a block diagram of an SFC program development apparatus 100 according to the present invention. Referring to FIG.
The FC program development device is for developing a sequencer program for the PC 102 that controls an external device via a plurality of I / Os. Power supply 1 for PC 102
04 is attached.

Referring to FIG. 1, the SFC program development apparatus 100 realizes each unit described in the above-mentioned claims together with each unit of the SFC program development apparatus 100 by executing a program having a control structure described later. And a sequencer program storage unit 1 for storing a sequencer program to be created.
18, each individual input switch storage memory 120 for storing information on each individual operation input switch for each individual operation in a format described later, a keyboard 114, a display unit 116 for displaying an SFC program and its detailed control information.
And a PC for transmitting the sequencer program stored in the sequencer program storage unit 118 to the PC 102.
The communication interface (I / F) 110 is included.

The sequencer program storage unit 118 stores the sequencer program 130 in the format shown in FIG.
To store. The sequencer program 130 includes an in-step program storage instruction 140, an in-step program 142, a transition end condition storage instruction 144,
Transition end condition 146, transition start condition storage instruction 148, transition start condition 150
In the form of ,, ..., all but the individual input switches are included. The sequencer program 130 shown in FIG.
Is contents corresponding to the programs shown in FIGS. 6 and 7.

With reference to FIG. 3, the individual input switch storage memory 120 stores each individual input switch one word at a time in the order of step numbers. In this embodiment, the maximum number of steps is four.
Up to 096 are possible, and therefore each individual input switch storage memory 120 is 8 Kbytes. For the step where each individual input switch is set, MSB (Mos
t Significant Bit) is turned on. Note that FIG. 3 has contents corresponding to FIG. 7 described later.

FIG. 4 shows the flow of processing when the normal operation program and each individual operation program are created by the SFC program development apparatus shown in FIG. Referring to FIG.
First, in step 160, the SFC display screen is displayed. S
The FC display screen is as shown in FIG. 5, and the SFC display screen 182 is displayed on the left half of the display unit 116 and the detail display screen 184 is displayed on the right half. As shown in FIG. 5, the keyboard 114 is provided with a plurality of function keys 186 (10 keys F1 to F10 in this embodiment). Of these function keys, F6 is "half zoom" for displaying the details of the step or transition on the detailed display screen 184.
The function key F10 is a "write" key indicating completion of input.

Referring again to FIG. 4, in step 161, the normal operation program is created in the SFC format. In this case, for example, as shown in FIG. 6, the SFC display screen 1
At 82, by moving the cursor 190, stopping the cursor 190 at a desired step or transition, and pressing the above-mentioned F6, the details of the transition or step corresponding to the detailed display screen 184 are displayed, and input is possible. Transition T0 with cursor 190
6 shows the display when 02 is designated, and FIG. 7 shows the display when step S02 is designated.

Referring to FIG. 6, when the transition details are created, [End] and [Start] are displayed on the screen from the beginning. The end condition 192 and the start condition 194 are set on the keyboard 114 as in the ladder diagram creation.
Input using each key (not shown). It is also possible to input only one of the start condition 192 and the end condition 194. The maximum number of contacts that can be input is 256. As described above, the input is completed by pressing F10. The created contents are converted into the format shown in FIG. 2 and stored in the sequencer program storage unit 118.

Referring to FIG. 7, when the step is selected, the in-step program and the individual input switch are input on the detail display screen 184. The in-step program is input in the ladder diagram format, and includes the interlock condition 200 and the output 202 in the case of the example shown in FIG. 7. Each individual input switch is information necessary for creating each individual operation program, and its input is requested on the input screen of this in-step program. The individual contact input switch 204 of one contact input here is stored in the individual input switch storage memory 120 (see FIG. 1) in the format shown in FIG.

FIG. 8 shows an individual operation program 210 for the output 00100 of FIG. 7, for example. Each individual operation program 210 is automatically generated from the information input on the screens shown in FIGS. 6 and 7. Note that the start condition 00000 shown in FIG. 8 is the start condition for the transition T001 shown in FIGS. 6 and 7.

The SFC display format to be considered in creating each individual operation program is mainly shown in FIG.
There are types. That is, (a) series connection, (b) selective branch, (c) selective merge, (d) parallel branch,
(E) Parallel merging.

In the series connection of (a), for example, in the case of step S02, the start condition is transition T001.
Therefore, the interlock condition is extracted from step S02, the individual input is extracted from step S02, and the end condition is extracted from the transition T002 to create the individual operation program.

In the case of the selective branch of (b), only one of the steps is advanced. A transition condition input screen in this case is shown in FIG. In this case, the termination condition is
Common to multiple branching transitions (Fig. 9
In the example of (b), it is common to T003 and T004). For example, if the ending condition is changed in the transition T003, the change is reflected in the ending condition of the transition T004. The branching condition is for determining the step destination. If these conditions are satisfied, each individual operation program can be created as in the case of (a) series connection.

Step S10 for (c) selective merging
(See FIG. 9) will be described as an example. The start condition of step S10 is common to both transitions T006 and T007. This is similar to the termination condition of the selective branch. Other conditions can be taken out in the same manner as in the case of series connection to create individual operation programs for selective merging.

In the parallel branch shown in FIG. 9D, the following information can be taken out to create each individual operation program. In the case of parallel branching, with reference to FIG. 9D, two series connections of a series connection including step S11, transition T011 and step S12 and a series connection including step S11, transition T011 and step S13 are provided. It is the same as there is. Therefore, as in the case of serial connection, the information necessary for each individual operation can be taken out, and an individual operation program for parallel branching can be created. The same applies to the case of parallel merging.

Next, FIG. 1 shows each individual operation program when the number of conditions is insufficient in creating each individual operation program.
1 (1) to (4). Among these, in the case without the start condition of FIG. 11 (1), the case without the interlock condition of FIG. 11 (2), and the case without the end condition of FIG. 11 (4), the individual items shown in FIG. Each corresponding operation item is omitted from the operation program 210 to create each individual operation program. If there is no individual input as shown in FIG. 11C, it means that the individual operation is not performed, and therefore, the individual operation program is not created.

In the case of SFC, the same output number is often used at several places. The format of each individual operation program in that case is shown in FIG. Referring to FIG. 12, the conditions extracted from one step and the transitions before and after it are defined as start condition 1, interlock 1, individual input 1, and end condition 1, and the conditions extracted from the other step and transitions before and after it are set. Start condition 2, interlock 2, individual input 2, and end condition 2. As shown in FIG. 12, an individual operation program is created for each step, and the individual operation program is created by ORing the created programs.

Hereinafter, with reference to FIGS. 13 to 17, step 164 of automatic generation of each individual operation program shown in FIG.
Will be described in detail.

Referring to FIG. 13, first, in step 220, 0 is substituted into the variable indicating the step number of SFC.

At step 221, a determination is made as to whether the step number variable indicates the final step. If it is the final step, the process ends. If it is not the final step, control proceeds to step 222. At step 222, a determination is made as to whether there is a step indicated by the step number. If there are steps, control proceeds to step 223. If not, control proceeds to step 225.

In step 223, a determination is made as to whether or not each individual input switch is designated in the step indicated by the step number. More specifically, in the individual input switch storage memory 120 shown in FIG.
A determination is made as to whether the MSB of the corresponding step number portion is ON. If there are individual input switches, control proceeds to step 224, and if not, control proceeds to step 225.

In step 224, each individual input program is created as will be described later, and control proceeds to step 225.

At step 225, 1 is added to the variable indicating the step number. Control then returns to step 221.

FIG. 14 shows details of the step 224 shown in FIG. Referring to FIG. 14, the individual input program creation processing is performed by the individual input switch extraction processing of step 240 and the step 241.
Selection merge processing, step 242 corresponding step output extraction processing, step 243 corresponding step interlock condition extraction processing, step 244 selective branch processing, step 245
End condition creating process and the combining process of step 246. These steps are executed as a series of processes as shown in FIG.

The individual input switch extraction processing of step 240 is performed by examining the contents of the individual input switch storage memory 120 shown in FIGS. If there is no individual input switch, the individual operation program is not created as described above.

The details of the selective merging process of step 241 are shown in FIG.
Shown in. Referring to FIG. 15, in step 260 of the selective merging process, it is judged whether or not the selective merging is performed immediately before this step. If it is a selective merge, the control is step 262.
Otherwise, control proceeds to step 261 respectively.

At step 261, the ending condition of the previous transition is taken out, and the selective merging process is ended.

In steps 262 to 263, the termination conditions are fetched for all of the n previous transitions 1 to n that join this step.

Subsequently, in step 264, steps 262 to 263 are performed.
The end conditions are combined by ORing the n end conditions extracted in step S3, and the selective merging process ends.

FIG. 16 shows the details of the selective branch processing performed in step 244 of FIG. Referring to FIG. 16, first, in step 280, a determination is made as to whether or not there is a selection branch immediately after that step. If it is a selective branch, control is performed in step 282, otherwise control is performed in step 281.
To each.

In step 281, the condition for starting the next transition is fetched, and the process ends. Meanwhile, steps 282-28
In 3, the n next transitions 1 of the branch destinations of the selected branch
The starting conditions of ~ n are fetched. Then, in step 284, the start condition is constructed by taking the OR of all the extracted start conditions. After step 284, the selective branching process ends.

Referring again to FIG. 14, in the ending condition creating process of step 245, the ending condition of each individual operation program is created from the starting condition obtained in step 281 or 284 shown in FIG.

FIG. 17 shows details of the combining process performed at step 246 of FIG. Referring to FIG. 17, step 30
At 0, the process of synthesizing each individual operation program is performed.
This process includes the individual input switches extracted in step 240 of FIG. 14, the end condition extracted in step 261 or 264 of FIG. 15, the output of the corresponding step extracted in step 242 of FIG. It is performed by combining the interlock condition of the corresponding step extracted in step 243 of FIG. 14 and the end condition obtained in step 245 of FIG. 14 in the format shown in FIG. It should be noted that in this case, when the conditions are insufficient, each individual operation program is created in the format shown in FIG.

A determination is then made at step 301 as to whether the same output is present. If it does not exist, the combining process ends. If present, control is step 30.
Then, the process proceeds to step 2, and the combining process with the same output is performed. This synthesizing process is as shown in FIG.

As described above, according to this embodiment, the abnormal program (for individual operation), which has been a great difficulty for the program developer to create the PC program,
It can be automatically created by creating the normal operation program in the SFC format. When creating the SFC program, the information necessary for creating the individual operation program can be obtained, so that, for example, missing of interlock conditions of each individual operation program and unnecessary duplication of conditions can be omitted. This is effective in preventing the occurrence of, and reducing the program size. Further, it is not necessary to individually create each individual operation program, and it is possible to significantly reduce the design time of the PC program. When modifying the PC program, the corresponding program for individual operation can be automatically modified by modifying the program for normal operation. Therefore, it is possible to prevent forgetting to correct each individual operation program, and further shorten the correction time, so that the maintenance of the PC program can be effectively and easily performed.

[0066]

As described above, according to the SFC program development apparatus of the first aspect of the present invention, each individual operation program is automatically generated from the SFC format normal operation program. It is possible to shorten the design time of the program for the PC and prevent an error in creating the individual operation program. Further, when the program for the PC is changed, the individual operation program can be automatically corrected accordingly, so that the maintenance of the individual operation program is facilitated. As a result, it is possible to provide the SFC program development device that can easily create and maintain each individual operation program of the PC.

According to the SFC program development apparatus of the second aspect of the present invention, in addition to the effect of the first aspect of the present invention, the program for each individual operation is automatically performed even when there is no part of the program element. Can be created. As a result, it is possible to provide an SFC program development device capable of easily creating and maintaining individual operation programs of a PC in a wider aspect.

According to the SFC program development apparatus of the third aspect of the invention, in addition to the effect of the first or second aspect of the invention, the information necessary for each related individual operation program when the normal operation program is created. Is input and stored. Therefore, the information necessary for each individual operation program is surely obtained, and the relation between each individual operation program and the normal operation program is clarified. As a result, in a broader aspect, it is possible to provide an SFC program development device in which each individual PC operation program can be created without error at the same time as the normal operation program creation and maintenance is easy.

[Brief description of drawings]

FIG. 1 is a block diagram of an SFC program development device according to an embodiment of the present invention.

FIG. 2 is a diagram schematically showing a format of a program stored in a sequencer program storage unit.

FIG. 3 is a diagram schematically showing a storage format of each individual input switch.

FIG. 4 is a flowchart showing a flow of operations of the SFC program development device.

FIG. 5 is a schematic diagram of an SFC display screen.

FIG. 6 is a diagram schematically showing an SFC display screen and a detailed display screen.

FIG. 7 is a diagram schematically showing an SFC display screen and a detailed display screen.

FIG. 8 is a ladder diagram of each individual operation program.

FIG. 9 is a diagram schematically showing a display format of SFC.

FIG. 10 is a diagram schematically showing an SFC display screen and a detailed display screen at the time of selective branch input.

FIG. 11 is a diagram schematically showing each individual operation program in the case where some of the program elements are insufficient.

FIG. 12 is a ladder diagram of each individual operation program when the same output is used at a plurality of places.

FIG. 13 is a flowchart of individual operation program creation processing.

FIG. 14 is a flowchart of an individual input program creation process.

FIG. 15 is a flowchart of a selective merging process.

FIG. 16 is a flowchart of a selective branch process.

FIG. 17 is a flowchart of a combining process.

FIG. 18 is a diagram schematically showing an example of a system for explaining a conventional technique.

19 is a diagram showing an SFC program for normal operation of the device shown in FIG.

FIG. 20 is a ladder diagram of an in-step processing program having a normal operation program.

FIG. 21 is a ladder diagram of an individual operation program.

FIG. 22 is a diagram showing a ladder diagram format of a start condition.

FIG. 23 is a block diagram of a conventional sequence controller.

[Explanation of symbols]

 100 SFC program development device 112 CPU 114 keyboard 116 display unit 118 sequencer program storage unit 120 individual input switch storage memory 182 SFC display screen 184 detailed display screen

Claims (3)

[Claims] 1. A means for extracting a predetermined program element required for each individual operation program related to the normal operation program from the normal operation program for the programmable controller created in the SFC format, and the extracted program element. And a means for automatically generating the individual operation programs. 2. The SFC program according to claim 1, wherein the predetermined program element includes an arbitrary combination of an interlock condition for each individual operation, a start condition, an end condition, an input switch, and an output. Development equipment. 3. The means for extracting a program element comprises an input requesting means for requesting a program creator to input information necessary for each related individual operation program when a normal operation program is created, and the input requesting means. 3. The SFC according to claim 1 or 2, further comprising: means for storing information input to each individual operation program, which is input in association with the normal operation program.
Program development equipment.