JP2953514B2 - Motion program execution block division method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

The present invention relates to a method for creating and executing a motion program in a programmable controller.

2. Description of the Related Art Generally, the execution of a motion program in a programmable controller is performed as shown in a block diagram of FIG. FIG. 2 is a block diagram showing a concept of a program execution process of a programmable controller used in the motion program execution block dividing method according to the present invention and the conventional example.
Is a program stepping unit, 23 is a program storage unit, 25 is a calculation unit, 27 is a servo control unit for axis 1, and 29 is a servomotor. The program stepping unit 21 includes a program storage unit 23
With reference to the program in the above, the execution of the calculation is instructed to the calculation unit 25, and the completion is monitored. The operation unit 25 instructed to execute the operation by the program stepping unit 21 transmits the operation result to the predetermined axis 1
This is sent to the servo control unit 27. The axis 1 servo control unit 27 that receives the calculation result from the calculation unit 25 drives the servo motor 29 according to the calculation result data. Servo motor 2
The operation 9 is fed back to the axis 1 servo control unit 27 each time. FIG. 3 shows an example of a motion program stored in the program storage unit 23 shown in FIG. A row number and a block number and a motion program corresponding to the row number and the block number are written in the program storage unit shown in FIG. In FIG. 3, line numbers 1 to 3 are the first block, and the contents of the instruction are an axis movement instruction, a logical operation, and an arithmetic operation. Line number 4 is the second block and the instruction content is only the axis movement instruction, and line numbers 5 to 11 are the third block and the instruction content is the axis movement instruction and 6
The row number 12 is the fourth block, and the content of the command is only the axis movement command. As can be seen, the block structure of the motion program is determined using only the axis movement command as a token. FIG. 4A shows an execution process of the motion program, and FIG. 1B shows a processing time for each scan in the execution process of the motion program. The operation of this motion program is as follows. First, the program progress management unit 21 stores the program
Of the block number 1 (the axis movement command of the line number 1) is read out, and the execution of the corresponding block 1 is instructed to the arithmetic unit 25. The operation unit 25 that has received the instruction continuously executes the instructions in the block structure. The calculation unit 25 executes the inside of the block one by one. Depending on the type of each motion program command, there are an arithmetic command and a logical operation whose execution is completed in one scan, and an axis movement command that requires a plurality of scans until completion. The arithmetic unit executes the range executable in one scan at a time, but executes instructions that cannot be completed in one scan until the instruction is completed. For example, when executing the motion program of FIG. 3, first, the program step management unit 21 reads the axis movement instruction of the row number 1 of the block number 1 of FIG. The operation unit 25 is instructed to execute the axis movement command. Arithmetic unit 2 receiving command
Numeral 5 successively executes a logical operation and an arithmetic instruction in the same block structure. Looking at this in FIG. 4 (a), scan1
Executes the axis movement command of line number 1 in steps 2 and 2, and the processing time is 2 ms
ec, and the logical operation and the arithmetic instruction of line numbers 2 and 3 are executed only in scan3, and the processing time is 7 ms.
ec is required. Next, the axis movement command of row number 4 is block number 2 and uses 3 scans of scans 4 to 6, and this is executed in 3 msec. At the row number 5, the program step management section 21 reads the head data (axis movement command) of the block number 3 and instructs the execution section 25 to execute the corresponding block 3 to the execution section 25. The six arithmetic instructions in the structure are executed consecutively. In this case, the axis movement instruction is completed in 2 msec using 2 scans of scans 7 and 8, whereas the axis movement instruction is completed in 2 msec.
Arithmetic instructions are only one scan of the ninth scan
The processing time is as long as 19 msec.

As described above, as shown by the ninth scan arithmetic instruction in FIG. 4, there are cases where a plurality of instructions are executed in one scan in the block structure.
However, when the setting time of one scan is short, these instructions cannot be completed in the one scan. To avoid this, the instruction execution sequence should be changed so that it falls within the predetermined 1 scan.
This work of changing the instruction execution sequence not only wastes the work of creating the previous instruction execution sequence, but also requires a great deal of labor, time and expertise for the change.
In addition, there is no guarantee that an instruction execution sequence that fits within one predetermined scan can be written. So another one
One conventional solution has been to set the scan set time to the longest possible time. As described above, when only a large number of logical operations and arithmetic operations are successively instructed between a certain axis movement instruction and the next axis movement instruction, they are collectively executed in a scan set at the maximum set time. If this is done, the processing time of the controller will increase, and the processing of a part of the motion program will limit the performance of the entire controller. The present invention has been made in view of the above-described problems in the conventional motion program, and is capable of achieving a desired leveled scan without setting the scan setting time of the controller to be sufficiently long. It is an object of the present invention to provide a motion program execution block dividing method that enables a motion program to be executed at a set time.

According to the first aspect of the present invention, there is provided a method of dividing an execution block of a motion program in a programmable controller, wherein a block number is indicated for each row number of the motion program. Instructions for providing a block number table, a storage section for a motion program corresponding to the row number, a step management section for managing the step of the motion program by the block number table and the program storage section, and forming a motion program One of the features is that a block division instruction is provided, and the block division instruction is inserted into an arbitrary block position in the motion program, whereby any block in the motion program can be arbitrarily divided. . According to a second aspect of the present invention, in the execution block division method, the block division instruction is executed during a block of the scan processing that requires a scan processing time longer than a predetermined time. Further, according to the third aspect of the present invention, in a recording medium storing a content instruction of a motion program in a programmable controller together with a block number for each row number, a block division instruction for dividing the block is replaced by an instruction for forming a motion program. It is characterized by being provided as one. As described above, since a block having a long processing time per scan can be arbitrarily divided, the longest processing time per scan can be reduced.
Since the expansion and contraction of the an processing time can be suppressed, the program can be executed without changing the scan setting time of the controller.

Embodiments of the present invention will be described below with reference to FIG. FIG. 1 shows a motion program created by applying the motion program execution block dividing method according to the embodiment of the present invention to the program in FIG. 3, a processing time for each scan during execution of the program, It is a figure which shows the execution process of. That is, FIG. 1A shows an execution process of the motion program, and FIG. 1B shows the motion program stored in the program storage unit.
(C) shows the processing time for each scan in the process of executing the motion program. Next, an operation of the programmable controller to which the motion program execution block division method of the present invention is applied will be described. By applying the motion program execution block division method of the present invention, the motion program
As shown in FIG. 1B, a block division instruction is inserted by the user, and as shown in FIG.
The an processing time is shorter than the longest scanning processing time shown in FIG. The location where the above-mentioned block division instruction is inserted can be any location in any block, but is specifically determined and selected by the user. The program step management unit 21 reads the head data of the block number of the motion program shown in FIG. 1B and instructs the calculation unit 25 to execute the corresponding block. The operation unit 25 receiving the instruction continuously executes the instructions in the block. The correspondence between FIG. 1B and FIG. 1C is based on the block numbers and the order of publication. For simplicity, the axis movement command requiring 3 scans for each command is 1s
A sequence instruction requiring 1 msec processing time per scan and requiring 1 scan for each instruction is 1 scan
It is assumed that a processing time of 1 msec per n is required. Here, the block structure of the motion program is determined by using both the axis movement command and the block division command as tokens. As in the operation of the conventional system described above, the arithmetic unit 25 executes the range executable in one scan collectively, and the instruction that cannot be completed in one scan repeatedly executes the scan process until the instruction is completed. However, by applying the method of the present invention, as shown in FIG. 1 (b), a token for allowing the user to freely determine the block structure, that is, a block division instruction, is placed at a position selected by the user. Since the inserted block division instruction also functions as a token similarly to the above-described axis movement instruction, the user can suppress expansion and contraction of the scan processing time, and can reduce the scan time of the controller.
The program can be executed without changing the n set time. In the present embodiment, the token is
It is inserted as block number 4 in line number 10 in (b). The token of the block number 4 is shown in FIG.
It is recognized in scan number 10 of (c),
The processing time of 9 msec indicated by an number 10 is as shown in FIG.
Is the processing time required for the three arithmetic instructions of block number 4 shown in FIG. 5, and the above token, that is, the block division instruction of line number 9 itself, merely recognizes the existence of the instruction and is not an execution instruction. , The processing time for execution is zero. This is shown in FIG. 1A showing the execution process of the motion program.
Are processed (line numbers 6 to 8), and sc
In an10, three arithmetic instructions (line numbers 10 to 12) in the block 4 are processed by the block division instruction, and the former arithmetic instruction processing is processed in 10 msec, and the latter arithmetic instruction processing is performed in 9 msec. Is done. Therefore, in this case, the scan processing time is 10 msec.
It turns out that it is good. As described above, the conventional sc
According to the present invention, the scan processing time may be 10 msec, while the 1 scan time required for 19 msec in an9 is required. Of course, this 10 msec is merely an example, and if it is determined that one scan processing time of 10 msec is still long, the scan processing time can be further reduced by using a block division instruction again during one scan of 10 msec. The method of the present invention can be used to improve existing motion programs and to create new motion programs as well. In this way, the user can achieve the leveling of the scan processing time for all the motion programs by systematically implementing the suppression means, thereby improving the processing efficiency of the entire programmable controller. Can be measured.

According to the present invention, a new block division instruction is provided so that the block configuration of a motion program in a programmable controller can be freely set, so that an existing motion program can be executed without changing the scan setting time of the controller. It became possible to execute. Also, since a means is provided for the user to freely suppress the expansion and contraction of the processing time for each scan, the processing time for each scan in an existing or newly created motion program can be leveled, and programmable An improvement in the processing efficiency of the entire controller can also be expected.

[Brief description of the drawings]

FIG. 1 shows a motion program created by applying a motion program execution block dividing method according to an embodiment of the present invention to the program shown in FIG. 3, a processing time for each scan during execution of the program, It is a figure which shows the execution process of. (A) shows the execution process of the motion program, (b) shows the motion program stored in the program storage unit,
(C) shows the processing time for each scan in the process of executing the motion program.

FIG. 2 is a block diagram showing a concept of a program execution process of a programmable controller used in the motion program execution block dividing method according to the embodiment of the present invention.

FIG. 3 is a diagram showing a program storage unit of a program storage unit 23 shown in FIG. 2 and a stored motion program.

4A shows an execution process of the program of FIG. 3 according to the conventional processing method, and FIG. 4B shows a processing time for each scan in an execution process of the program of FIG. 3 according to the conventional processing method. It is.

[Explanation of symbols]

 21 Program Step Management Unit 23 Program Storage Unit 25 Operation Unit 27 Axis 1 Servo Control Unit 29 Servo Motor

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁶ , DB name) G05B 19/02 G05B 19/05

Claims (3)

(57) [Claims] 1. A method for dividing a motion program execution block in a programmable controller, comprising: a block number table indicating a block number for each row number of a motion program; a storage section for a motion program corresponding to the row number; And a step management unit for managing the step of the motion program by the program storage unit, and a block division instruction as one of the instructions for forming the motion program,
An execution block division method for a motion program, wherein an arbitrary block in the motion program can be arbitrarily divided by inserting the block division instruction into an arbitrary block location in the motion program. 2. The execution of the motion program according to claim 1, wherein in the execution block division method, the block division instruction is executed during a block of the scan processing in which the scan processing time is longer than a predetermined time. Block division method. 3. A recording medium for storing a motion program content instruction in a programmable controller together with a block number for each line number, wherein a block division instruction for dividing the block is provided as one of instructions for forming a motion program. Characteristic recording medium.