JPH1055206A - Sequence controller - Google Patents

Abstract

(57) [Summary] (with correction) [Problem] To increase P exceeding the maximum that can be handled by one instruction without increasing the area size for storing the number of parameters (hereinafter P) in the execution format of the sequence instruction (hereinafter S). Provide a sequence control device that can be passed to S. SOLUTION: In a sequence control device having a sequence program storage unit 10 for storing S in units of rows and a sequence execution unit 20 for reading and executing S stored in 10 and within a range of a maximum P handled by S , S
10 describes a parameter command that describes a parameter that exceeds the maximum parameter described in S, and a parameter storage that stores a parameter when the sequence command is read by the sequence execution unit. A sequence execution unit that executes S as a parameter that handles the parameter stored in the parameter storage unit with the corresponding S.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a sequence control device used for controlling a machine tool or a robot, and more particularly to an improvement in a case where a large number of parameters are passed to a sequence command.

[0002]

2. Description of the Related Art Japanese Patent Laid-Open No. 4-32 proposed by the present applicant.
As disclosed in Japanese Patent Publication No. 05-2005, a sequence command is used in a sequence control device. By the way, with the complexity of sequence control in recent years, sequence commands describing control contents have also become complicated, and the number of parameters passed to the commands has been increasing. For example, in the case of a one-axis or two-axis robot such as a mounting device for electronic components, the number of parameters to be transferred can be as small as about three. However, in the case of an articulated robot having three or more axes, information on the posture is required in addition to the three-dimensional position of the fingertip, and the number of parameters to be delivered increases.

However, the upper limit of the number of parameters that can be handled by one instruction in the current sequence instruction is limited to, for example, about four. This is because the number of parameters used in a sequence instruction to be performed is not so large. Therefore, in order to cope with a complicated sequence instruction in which the number of parameters passed to the instruction is increasing, it is necessary to extend the upper limit of the number of parameters that can be handled by one instruction.
The simplest countermeasure is to set the area size for storing the number of parameters in the execution format of the sequence instruction to, for example, 2
Bits and 4 bits.

[0004]

However, when the area size for storing the number of parameters in the execution format of the sequence instruction is increased as described above, the execution format size of all the sequence instructions is increased, and as a result, the same memory is stored in the same memory. There is a problem that the capacity of a program that can be stored is reduced. The present invention solves such a problem, and it is possible to pass parameters exceeding the maximum number of parameters that can be handled by one instruction to a sequence instruction without increasing the area size for storing the number of parameters in the execution format of the sequence instruction. It is an object of the present invention to provide a sequence control device that can perform the control.

[0005]

According to the present invention to achieve the above object, the present invention provides a sequence program storage unit for storing sequence instructions in units of rows, and reads and executes the sequence instructions stored in the sequence program storage unit. In the sequence control device having the sequence execution unit 20, within the range of the maximum number of parameters handled by the sequence instruction, a parameter is described in a line where the sequence instruction is described, and the sequence is written in a line immediately before the sequence instruction. When the sequence program storage unit 10 that describes a parameter command that describes a parameter that exceeds the maximum parameter described in the sequence command and that is a parameter handled by the command, and the sequence execution unit reads the parameter command. Is the parameter Parameter storage unit 30 for storing the data
Wherein the sequence execution unit executes the sequence command as a parameter handled in the first sequence command following the parameter command, the parameter stored in the parameter storage unit.

According to the structure of the present invention, since the parameter command is provided and the parameter exceeding the maximum parameter described in the sequence command is described, the area size for storing the number of parameters in the execution format of the sequence command is stored. It is not necessary to increase the number of programs, and an increase in program capacity can be prevented. In addition, a parameter storage unit is provided so that a parameter can be used in a sequence instruction cooperating with the parameter instruction, thereby coping with a complicated sequence instruction having a large number of parameters.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the drawings. FIG. 1 is a configuration block diagram showing one embodiment of the present invention. In the figure, a sequence program storage unit 10
Stores a sequence instruction in units of rows. The sequence execution unit 20 reads out and executes the sequence command stored in the sequence program storage unit 10. When the sequence execution unit 20 reads a parameter command, the parameter storage unit 30 stores the parameter command.

Next, the parameter command will be described.
FIG. 2 is a diagram showing an example of a parameter command and a sequence command following the parameter command.
Is stored in Parameter instruction "PAR of the first line
“A” describes the number of parameters “6” followed by a specific parameter value “P6.” In the parameter command “PARA” on the next line, the number of parameters “7” and the specific The parameter value “P7” is described.If the maximum number of parameters handled by the sequence command “ABC” is five here, this sequence command “ABC”
Are described in the line where is described.

FIG. 3 is a diagram showing a case where the parameter command and the sequence command of FIG. 2 can be described by one command. The maximum number of parameters handled by the sequence command "ABC" is 7
If more than this are allowed, this sequence instruction "ABC"
All of the parameters P1 to P7 can be described in the line where is described.

The apparatus shown in FIG. 1 executes a parameter command and a sequence command separated and written on a plurality of lines as shown in FIG. 2 in the same manner as one command as shown in FIG. That is, the parameter command stored in the sequence program storage unit 10 is
The sequence execution unit 20 reads and stores it in the parameter storage unit 30. Then, when executing the sequence command following the parameter command, the sequence execution unit 20 refers to the parameter storage unit 30. Then, the sequence execution unit 20 executes the program by adding the parameters P6 and P7 to the parameters P1 to P5 of the line in which the sequence instruction “ABC” is described.

[0011]

As described above, according to the present invention, since a parameter instruction is provided and a parameter exceeding the maximum parameter described in the sequence instruction is described, the number of parameters in the execution format of the sequence instruction is described. This eliminates the need to increase the size of the area for storing the program, thereby preventing an increase in the program capacity of the sequence program storage unit 10. In addition, since the parameter storage unit 30 is provided so that parameters can be used in a sequence command cooperating with the parameter command, a complicated sequence command having a large number of parameters can be dealt with.

[Brief description of the drawings]

FIG. 1 is a configuration block diagram showing one embodiment of the present invention.

FIG. 2 is a diagram illustrating an example of a parameter command and a sequence command following the parameter command.

FIG. 3 is a diagram showing a case where the parameter command and the sequence command of FIG. 2 can be described by one command.

[Explanation of symbols]

 Reference Signs List 10 sequence program storage unit 20 sequence execution unit 30 parameter storage unit

Claims (1)

[Claims] 1. A sequence control device comprising: a sequence program storage unit (10) for storing sequence instructions in units of rows; and a sequence execution unit (20) for reading and executing the sequence instructions stored in the sequence program storage unit. In the range of the maximum number of parameters handled by the sequence instruction, parameters are described in the line where the sequence instruction is described, and the parameter handled by the sequence instruction in the line immediately before the sequence instruction, A sequence program storage unit (10) for describing a parameter command describing a parameter exceeding a maximum parameter described in the command; and a parameter for storing the parameter when the parameter command is read by the sequence execution unit. Memory ( 0), wherein the sequence execution unit executes the sequence command as a parameter to be handled by a first sequence command following the parameter command, the parameter stored in the parameter storage unit. apparatus.