JP3890746B2 - Command generation processing automatic generation method and sequence program automatic generation apparatus for common processing routine - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an automatic generation method of command input processing for a common processing routine, an automatic program generation device, and a recording medium on which an automatic generation program is recorded.
[0002]
[Prior art]
Programmable controllers are used for machine operations or factory conveyor control. In order to control a device with a programmable controller, it is necessary to create a sequence program that defines the control operation of the programmable controller. When creating a sequence program, a mechanical engineer without programming knowledge describes the operation specifications of the machine in an operation flow, and based on this, a person in charge of programming creates a flowchart of the sequence program. In this case, since the meaning of each element is different in the two flows, it is necessary for the person in charge of programming to create a program flow by interpreting the contents of each element in the operation flow. This is program development itself and depends on a person in charge of programming, and it is difficult to perfectly match the operation flow with the program flow. Therefore, in order to solve such problems, the present inventor previously proposed a method for automatically generating a sequence program from an operation flow describing a sequence operation of a device to be controlled in Japanese Patent Application No. 9-354522. .
[0003]
By the way, in the above-mentioned application, a common processing routine for conveyors, robots, and the like is defined as parts. However, it is conceivable that control instructions for these parts are defined as commands. If it is not permitted to give a plurality of commands simultaneously to a component having a plurality of executable commands, it is necessary to exclusively manage the commands so that a plurality of commands are not given to the component at the same time.
[0004]
FIG. 23 is a diagram showing input / output terminals when stop, carry-in, and carry-out commands are defined for the components of the robots 1 and 2, and FIG. 24 is a diagram showing internal processing of the components.
As shown in FIG. 23, when a command terminal for stopping, carrying in, etc. is provided on a part, an nC1 check process for performing exclusive management of the command as an internal process of the part as shown in FIG. 24 and the check result is an error. In this case, the user needs to create an error output process for outputting an error as an internal process of the component.
[0005]
[Problems to be solved by the invention]
However, if you create a check program that performs exclusive management of commands as internal processing of parts, users who are not accustomed to program creation will be able to check even if they create command processing programs such as stop and carry-in Forgetting to create the program may cause inconvenience in controlling the equipment.
[0006]
In addition, the method of creating a check program as an internal process of parts requires that error information be output to the main routine for each part, and correspondingly, a variable for storing the error information of each part is stored on the main routine side. It is necessary to define and secure a memory area for storing the variable. In addition to this, it is necessary to describe processing for component errors in the main processing. As the number of parts increases, the required memory capacity increases accordingly, which is a problem in effectively utilizing the memory.
[0007]
An object of the present invention is to automatically generate a command input process for a common process routine.
[0008]
[Means for Solving the Problems]
The present invention is an automatic generation method of command input processing for a common processing routine of a sequence program generated based on an operation flow describing a sequence operation of a device to be controlled, which is executed by each element of the operation flow Active information indicating whether or not the element is possible, execution information indicating whether or not the element has been executed, and hold information that puts the execution of the element on hold are generated, and each element of the operation flow is generated. Correspondingly, a step process of executing the process of the element when the active information of the element is active and the executed information is not executed, and setting the executed information of the element to executed, and the active information of the element is active When the executed information is executed and the hold information is not held, the transition process for changing the active information of the element to inactive, changing the executed information to not executed, and transferring the execution right to the next element. The process of enabling only the command specified on the command input screen of the part that is the control target device and invalidating the other command and performing the exclusive management of the command is called the common processing routine. It is generated as the command input process in the routine.
[0009]
According to the present invention, there is no inconvenience that different commands are simultaneously given to the common processing routine.
[0010]
In addition, when a check program is created inside each common processing routine, error information is notified to the main routine when the check result is an error. Therefore, an area for storing error information for each common processing routine is stored in the memory. It is necessary to secure it. According to the second aspect of the present invention, since the program for performing exclusive management is generated as a part of the main routine, it is not necessary to notify error information from the common processing routine to the main routine. Therefore, it is not necessary to provide an area for storing error information from the common processing routine in the memory, and the memory capacity can be saved. In addition to this, it is not necessary to describe processing for component errors in the main routine.
[0011]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings. A method for automatically generating a sequence program from an operation flow describing a sequence operation of a device to be controlled, which is a premise of the present invention, will be described.
[0012]
FIG. 1 is a block diagram of a sequence program creation device according to an embodiment of the present invention.
When the user operates the keyboard 11 and the mouse 12 to input operation flow elements and element connection information, the flow drawing processing unit 15 in the apparatus main body 13 displays an operation flow corresponding to the input data on the display 14. At the same time, the element data of each element is written in the net file 16. Parts such as robots and conveyors described in the operation flow and used in the sequence program are stored in the parts database 17.
[0013]
The compiler 18 performs processing shown in FIG. 2 based on the element data of the net file 16 and the component data of the component database 17, that is, a processing sequence file generation process ST 201 for determining the processing sequence of each element, and will be described later based on the processing sequence file. Range from the flow element process generation process ST202 that generates the step process and the transition process to be performed, the component function block FB activation method of the part database 17, the component process generation process ST203 that generates the part process according to the task specification, and the element data of the net file 16 When the designated data is searched and the range is designated, the range designation processing generation process ST204 for creating the range designation process for each range designation number is executed.
[0014]
As a result, a sequence program 19 including flow element processing, component processing, range specification processing, and the like is generated by the compiler 18 and output to the programmable logic controller PLC 20.
[0015]
The net file 16 is a file configured by collecting a plurality of element data created for each element of the operation flow by the flow drawing processing unit 15, and includes an element number determined in the order of element arrangement under a certain rule. , Element type (for example, start, command, wait, parallel branch, selective branch, parallel merge, selective merge, END, RETURN, REPEAT), destination element number, destination element number, destination element number, Destination element number, the item to be executed in that element (for example, if the type is a command, the value to be input to each terminal of the component), and the range specification number and range if that element is specified as a range It is comprised from the inside position (entrance or inside or exit). The range number further includes range designation information including an event, that is, a monitoring type indicating whether event change monitoring or timer monitoring is performed, a time for timer monitoring, and a signal name for event monitoring. Consists of.
[0016]
When the net file 16 is created as described above, a processing order file 40 as shown in FIG. 4 is created based on the net file 16. The processing contents of the processing sequence file creation process ST201 in FIG. 2 will be described below with reference to the flowchart in FIG.
[0017]
First, “1” is set in the pointer P, the element number n1 of the element data whose element type starts from the net file 16 is obtained, and the element number n1 and the number of data (in this case, the element type is start) The number of data “1” is set at the head of the processing order file (FIG. 3, ST301), whereby the element number n1 of the start element as data is added to the address 1 of the processing order file 40 of FIG. Is stored.
[0018]
Next, the data D1 at the address pointed to by the pointer P of the processing order file 40 and the number of data k1 are acquired (ST302). When there are a plurality of data d as the data D1, it is determined in the next step ST303 whether the data d1 in the data D1 is only an element number or an element number and a destination element number.
[0019]
If it is determined in step ST303 that it is an element number, the process proceeds to step ST304, and element number-destination element number set processing is executed. If it is determined that the element number and destination element number are included, the process proceeds to step ST305. Advance element number set processing is executed.
[0020]
Next, the element number setting process in step ST305 of FIG. 3 will be described with reference to FIG.
First, it is determined whether or not the destination element number of the element d1 is stored at the address indicated by the pointer P1 + 1 of the processing order file 40 (FIG. 5, ST501). In the initial state, since no data is stored in the address pointed to by the pointer P1 + 1, the process proceeds to step ST402, and the destination element number of the element d1 is stored as the element number of the next element in the address pointed to by the pointer P1 + 1. Then, it is determined whether or not the above process has been repeated for the number of data k1 times (ST503).
[0021]
6A to 6D are diagrams illustrating an example of a processing order file created by the element number setting process described above. The processing order file 40 includes an element number cell composed of element numbers, and an element number composed of element numbers and destination element numbers + destination element number cells.
[0022]
FIG. 6A shows that when the pointer P1 points to the address “5” where the element number n1 and the destination element number n2 are stored, the destination element is set to the next address “6” of the processing order file 40a. The number n2 is stored. Then, the destination element of the element n2 is searched from the net file 16, and the element number n2 of the element n2 and the element number of the destination element are stored in the next address “7”. That is, the element number and the element number + the destination element number are alternately stored in the processing order file 40a. The element number in which the element number and the destination element number are stored + the element number in the destination element number cell exists in the element number cell arranged immediately before the cell, and the element number + the destination element number cell The destination element number will be in the element number cell next to that cell.
[0023]
Similarly, in FIG. 6B, when the element number of the cell pointed to by the pointer P1 is n1 and the destination element numbers of the connection destinations are n2, n3, and n4, 1 is added to the address next to the address pointed to by the pointer P1. This indicates that the destination element numbers of the previous cell are stored as element numbers n2, n3, and n4.
[0024]
FIG. 6C shows a case where the element number of the destination element of the element n1, n2, n3 of the cell pointed by the pointer P1 is n4, and the destination element number n4 is set as the element number n4 at the next address P1 + 1. Stored.
[0025]
FIG. 6D shows the case where the element numbers of the destination elements of the elements n1, n2, and n3 of the cell pointed to by the pointer P1 are n4, n5, and n6, respectively, and the element number of the cell at the next address of the pointer P1. Destination element numbers n4, n5 and n6 are stored.
[0026]
Returning to FIG. 3, when the element number-destination element number setting process in step ST304 is completed and the data d1 is not END, RETURN, or REPEAT in the determination in step ST306, or when the element number setting process in step ST305 is completed. Then, the process proceeds to step ST307, "1" is added to the pointer P1, and the processes after step ST302 are repeated. If END, RETURN, or REPEAT is detected as an element, the processing order file creation processing is terminated.
[0027]
If the processing order file is created from the operation flow as described above, the flow element process is generated based on the processing order file.
FIG. 7 is a flowchart showing the process contents of the flow element process generation process ST202 of FIG.
[0028]
First, the pointer P1 is initialized (FIG. 7, ST701). Next, the data D1 and the number of data k1 are read from the address specified by the pointer P1 of the processing order file 40 (ST702). And it is discriminate | determined whether data are memorize | stored in the applicable address of the processing order file 40 (ST703).
[0029]
If it is determined in step ST703 that data is stored in the processing order file 40, it is determined whether the data type is an element number or element number-destination element number (ST704). If the data type is an element number, the step process generation process of step ST705 is executed. If the data type is an element number-destination element number, the transition process generation process of step ST706 is executed. When the generation of the step process or the transition process is completed, the pointer P1 is incremented, the process returns to ST702, and the above process is repeated.
[0030]
Here, the processing contents of step processing generation processing ST705 in FIG. 7 will be described with reference to FIG.
First, the data d1 in the data D1 at the address specified by the pointer P1 of the processing order file is read, and a step skeleton corresponding to the data d1 is generated (FIG. 8, ST801).
[0031]
In this embodiment, for each element of the operation flow, an active flag (active information) indicating whether or not the element is executable and an executed flag (executed already) indicating whether or not the element has been executed Information) and a hold flag (hold information) that puts the element on hold, and manages the execution order of the processing corresponding to the element. Then, the process corresponding to the element is divided into a step process that is an execution process of the element itself and a transition process that moves the token to the next element, and the step process and transition process of each element are automatically generated from the operation flow. ing.
[0032]
Specifically, when the activation flag of an element is turned on and the executed flag is turned off in the step process, the process of the element itself is executed. When the process is completed, the executed flag of the element is turned on. When the upstream element activation flag is on, the execution flag is on, and the hold flag is off in the transition process, the activation flag and execution flag for that element are turned off and the activation flag for the next element is turned on. The token (execution right) is transferred to the next element so that the next element can be executed.
[0033]
The above step skeleton generation process ST801 is a process for generating a step process having a basic configuration as shown in FIG. In the basic step processing, step ST901 for determining whether or not the active flag of element n is on and the executed flag is off, and when the active flag is on and the executed flag is off, the executed flag is turned on. It consists of step ST902.
[0034]
In addition, as shown in FIG. 9B, the basic transition process determines whether the activation flag of the upstream element n is on, the executed flag is on, and the hold flag is off. Step ST903 When the active flag of the upstream element n is on, the executed flag is on, and the hold flag is off, the active flag of the upstream element n is turned off, the executed flag is turned off, and the token is transferred to the downstream element n1. Step ST904 for turning on the activation flag of the next element n1 for transfer.
[0035]
These basic step processing and basic transition processing are added with processing of the element itself (for example, command, branch, etc.), condition determination processing, etc., and step processing and transition processing of each element are generated.
[0036]
Returning to FIG. 8, when the step skeleton is generated, the element type of the element d1 is read from the net file 16, and it is determined whether the element type is command, wait, RETURN, or others (FIG. 8, ST802).
[0037]
If the element type is a command or waiting, the process proceeds to step ST803 to generate a component terminal input process for setting component parameters. If the component is a functional component that is called only when an element of the operation flow is executed, a component process that calls a component function block in the component database 17 is generated. If the part is a continuous part that operates independently of the progress of the flow, or if it is a permanent part and the startup task is generated and is a separate task from the program, the part processing is performed by the part processing generation process (FIG. 2, ST203). Generated.
[0038]
Here, the component terminal input processing in step ST803 will be described with reference to FIG.
The part name used in the step element created by the flow drawing processing unit 15 (see FIG. 1) is acquired from the net file 16 (see FIG. 1) (FIG. 17, ST1701).
[0039]
Next, the component database 17 (see FIG. 1) is searched based on the component name, and all input terminal information is acquired (FIG. 17, ST1702).
Then, a command for this part is acquired from the net file 16, and only the command is validated for one searched input terminal, and a process for invalidating the other command is generated (FIG. 17, ST1703).
[0040]
Further, based on the information in the net file 16, similar processing is generated for the remaining input terminals (FIG. 17, ST1704).
As a result, when a command for a part is set, an exclusive process for the command is automatically generated, so that it is not necessary for the user to create a check program as a part of the part processing as in the past. Forgetting, it is possible to prevent inconvenience in operation due to the simultaneous description of a plurality of commands.
[0041]
In addition, since no checking process is required in the part, it is not necessary to output error information from the part to the main routine. This eliminates the need to define error information of parts used in the main routine as variables and secure an area for storing the variables in the memory, so that the memory capacity can be constrained and processing for part errors is unnecessary. Become.
[0042]
If it is determined in step ST802 that the element type of the data d1 is RETURN, the RETURN generation process in step ST804 is executed. If the element type of the data d1 is other than command, wait, and RETURN, the process proceeds to step ST805 without executing any processing. In step ST805, it is determined whether or not the step process generation process for the number of data k1 times has been executed. If the step process is executed k1 times, the process returns to the original process.
[0043]
FIG. 10 is a diagram showing an outline of a sequence program generated from the operation flow by the above-described sequence program creation device.
In this operation flow, a stop command is given to the motor 1 after giving a command to move the conveyor 1 by 1 m. This entire operation flow is periodically executed as task 1, and motor 1 processing is executed as task 2 every 5 ms.
[0044]
By the processing order file creation process described above, a processing order file 40 corresponding to the operation flow is created, and further, step processing and transition processing are generated based on the processing order file 40. As shown in FIG. From the first element “start” and the second element, step 1 processing of step processing, tran 1-2 processing of transition processing, and step 2 processing of step processing are generated. Processing is generated.
[0045]
By the sequence program automatic generation method described above, a step process for each element of the operation flow and a transition process for connecting the elements and determining the conditions are generated, and the process for starting the process of moving the conveyor 1 is a component process. A process for starting the motor 1 process and the like and a range specifying process are generated every 5 ms.
[0046]
Next, a process for automatically generating an exclusive process for a part as a part of the main routine when the sequence program is automatically generated as described above will be described.
When creating a part to be called from the main routine, the user sets the input / output terminal name of the part and its attribute, for example, the data type.
[0047]
FIG. 11 shows a terminal setting screen, in which “command” is selected from the terminal types such as “command”, “state”, “input”, and the terminal names are “stop”, “carry in”, “carry out”. And select “BOOT” as the respective data type. Here, “BOOT” is data represented by ON / OFF of 1 bit. Other input / output terminals, terminal names such as states, and attributes can be set in the same manner.
[0048]
FIG. 12 is a diagram illustrating a data structure in the component database 17 of components set on the command terminal setting screen. The part name, terminal name (command, status indicates the type of terminal), and data type are stored as a pair of data.
[0049]
FIG. 13 is a diagram illustrating input / output terminals of a component based on a definition method in which a control instruction for the component is defined as a command. In the present embodiment, since the command check process is not performed inside the component, an error output terminal for outputting an error when an error is detected by the command check process is unnecessary.
[0050]
FIG. 14 is a diagram showing internal processing of components. When "stop", "carrying in", or "carrying out" are set as commands for the part names "Robot 1, Robot 2", stop processing to stop the robot operation, carry-in processing to carry in / out parts etc. to the robot, carry-out Processing, control output processing for outputting stop output, carry-out output, and carry-out output from the output terminal based on those processes, output of stop completion, carry-in completion, carry-out completion indicating that the commanded operation is completed The state output process to be performed is created by the user, but the nC1 check process and the error output process shown in FIG. 23 are not necessary.
[0051]
Next, FIG. 15 is a diagram showing an input screen for inputting a command for a component after the setting of the input / output terminals is completed as described above. The input screen of FIG. 16 shows a case where a command is input based on the operation flow “stop robot 1” of FIG.
[0052]
In the command input screen, when the user clicks the arrow button in the command column of the screen, the commands, “stop”, “carrying in”, and “carrying out” set in the setting screen of the input / output terminals of the parts in FIG. Since the menu is displayed, the user selects a command defined in the operation flow from the displayed commands. Furthermore, a device number is set as a parameter. The parameter is information that modifies the command, and is used when it is desired to give detailed settings to the part simultaneously with the command. Since the robot 1 used in this example carries parts into and out of a plurality of assembly machines, a device number for designating the assembly machine is necessary when giving a command. Is specified as a parameter.
[0053]
Next, an example of a program generated by the automatic program generation method according to the present invention is shown in FIGS. This program is created from the operation flow shown in FIG.
[0054]
First, in the initial setting process of FIG. 18, a 1-bit value “1” is loaded (“LD BOOT # 1”), the value is set to a variable “INIFLG”, and an activation flag of element 1 that is an operation flow start element ” Store in STS1 [1] "and the active flag" STS1 [4] "of element 4.
[0055]
Next, the start number of each process is set, the maximum process number “KTNO_MAX” is “256”, the effective range designation number “HNO_MAX” is “0”, the effective element number “YNO_MAX” is “5”, and the effective terminal number ” “3” is set as TRNO_MAX ”.
[0056]
Further, variable names used in this program, for example, activation flags “STS1 [1]”, “STS2 [1]”... Are converted into variable names “STS_1”, “STS2_1”.
[0057]
Similarly, the variable name for pause in the flow of FIG. 19 and the variable name for transition processing are converted.
Next, the value of the variable “PG_PSE [1]” for temporarily stopping the program is loaded into the accumulator, and it is determined whether or not the value is “0” (“JMPCN FLWCNT1” in FIG. 19). If the variable “PG_PSE [1]” is “1”, the process jumps to the part processing of “FLWCNT1” at the end of the flow, and if it is “0”, the process proceeds to the next step.
[0058]
In the next step, the element 1 step process “ACT1” is executed. In this step processing, the value of the activation flag “STS1 [1]” of the element 1 is loaded into the accumulator (“LD STS1 [1]”), and the contents of the accumulator and the executed flag “STS2 [1]” of the element 1 are loaded. The logical product with the inverted value is obtained ("ANDNSTS2 [1]"). Then, it is determined whether or not the operation result is “0”. If the operation result is “0”, that is, if the element 1 is inactive or has been executed, the process jumps to “ACT1E” and the operation result is “ If “1”, that is, if element 1 is active and not executed, the process proceeds to the next step (“JMPCN ACT1E”).
[0059]
When element 1 is active and not executed, it is necessary to execute the process of element 1. In this case, since element 1 is a “start element”, the process of element 1 is not executed. The executed flag “STS2 [1]” of the element 1 is set (“S STS2 [1]”), and the element 1 is set to the executed state. Thereafter, the integer type numerical value “1” is loaded into the accumulator (“LD INT # 1”), and the contents of the accumulator are stored in the variable “PG_STR1 [1]” as the number of active tokens of the element 1.
[0060]
Next, when the element 1 is active and has been executed, a transition process (* transition 1-3 *) for transferring the execution right from the element 1 to the element 3 is executed. In this transition process, the activation of the element 1 is executed. The value of the flag “STS1 [1]” is loaded into the accumulator, the logical product of the contents of the accumulator and the value of the executed flag “STS2 [1]” is taken (“AND STS2 [1]”), and the result and element ANDed with the inverted value of the hold flag “STS3 [1]” of 1 (“ANDN STS3 [1]”), it is determined whether the result is “0”, and the result is “ If “0”, that is, if element 1 is inactive, not executed, or suspended, jump to “TRN1out1”, and if the result is “1”, that is, element 1 is active, executed, and inactive If on hold, next Tsu proceed to the flop. The calculation result is stored in “TRN1 [1]”.
[0061]
If element 1 is active, has been executed, and is not on hold, the active flag “STS1 [1]” of element 1 is reset (“R STS1 [1]”), and the executed flag “STS2 [ 1] "is reset and the activation flag" STS1 [3] "of the element 3 is set (" S STS1 [3] ").
[0062]
As a result, element 1 becomes inactive and not executed, element 3 becomes active, and the execution right moves from element 1 to element 3. In FIG. 19, the instruction “R” means a reset instruction, and “S” means a set instruction. Element 3 corresponds to an element for stopping the robot in the operation flow of FIG. 16, element 1 corresponds to a start element, and element 2 described later corresponds to an end element.
[0063]
Next, the step process ACT3 of the element 3 is executed. First, the value of the activation flag “STS1 [3]” of the element 3 is loaded into the accumulator, and the logical product of the contents of the accumulator and the inverted value of the executed flag “STS2 [3]” of the element 3 is obtained. . Then, it is determined whether or not the operation result is “0”. If the operation result is “0”, that is, if the element 3 is inactive or has been executed, “transition processing” (* transition 3-2 * If the calculation result is “1”, the element 3 is active and not executed, the process proceeds to the next step.
[0064]
When the element 3 is active and not executed, the execution terminal “STS2 [3]” of the element 3 is set and executed in FIG. 20 (“S STS2 [3]”), and then the command terminal Initialize the.
[0065]
First, a process of clearing a variable is executed in order to initialize the command terminal of the robot 1 defined as a part. A 1-bit value “0” is loaded into the accumulator (“LD OOL # 0”), and the contents of the accumulator are stored in the variable “FLWFN00001_stop” (“ST FLWFN00001_stop”). Initialization is performed in the same way for the carry-in and carry-out commands. Further, the numerical value “0” is stored in the variable “FLWFN00001_device”, and the device number of the component parameter is initialized to “0”.
[0066]
Next, in order to give a command to stop the robot 1, the 1-bit value “1” is loaded into the accumulator (LD BOOT # 1), and the contents of the accumulator are stored in the variable “FLWFN00001_stop” (“ST FLWFN00001_device "). Thus," 1 "is set to the variable" FLWFN00001_stop "for giving a command to the robot 1.
[0067]
Further, the numerical value “0” is loaded into the accumulator (LD INT # 0 ”), and the contents of the accumulator are loaded into the variable“ FLWFN00001_device. ”Thus, the variable“ FLWFN00001_device ”that specifies the device number of the target device is loaded. “0” is set as the device number. In this case, the initial value and the actual device number are the same. Further, “1” is stored in the input data control flag “FCNT [1]”.
[0068]
As described above, only the command input on the command input screen for the component is validated, and the process of invalidating the other commands is automatically generated as the process of the element 3 of the main routine. This eliminates the need for the user to create a check process for performing exclusive management of commands for parts as a part of the part process, so that the user forgets to create the check process and inconveniences the operation of the control target device. Disappear.
[0069]
When the step process of element 3 is completed, the transition process of element 3-2 is executed. In this transition processing, the value of the activation flag “STS1 [3]” of element 3 is loaded into the accumulator, the logical product of the contents of the accumulator and the executed flag “STS2 [3]” is taken, and the result and the pending flag The logical product of the inverted value of “STS3 [3]” is obtained, and the result is stored in the variable “TRN1 [2]”. Then, it is determined whether or not the operation result is “0”. If the operation result is “0”, that is, if the element 3 is inactive, not executed, or suspended, the process jumps to the “TRN2out1E” step. If the element 3 is active, executed, and not pending, the process proceeds to the next step (“JMPCN TRN2out1E”).
[0070]
If element 3 is active, executed, and not on hold, the active flag “STS1 [3]” of element 3 is reset to inactive, and the executed flag “STS2 [3]” is reset to Execution is performed, the activation flag “STS1 [2]” of element 2 is set, and the execution right is transferred to element 2.
[0071]
Next, the step process of element 2 is executed. In this step process, the value of the activation flag “STS1 [2]” of the element 2 is loaded into the accumulator, and the logic between the contents of the accumulator and the value of the executed flag “STS2 [2]” of the element 2 is inverted. Take the product. Then, it is determined whether or not the calculation result is “0”. If the calculation result is “0”, that is, if the element 2 is inactive or has been executed, the process jumps to the “ACT2E” step. If 2 is active and not executed, proceed to the next step.
[0072]
In the next step, since element 2 is an end element, no processing is executed, and the executed flag “STS2 [2]” of element 2 is set to be executed. Further, the integer type numerical value “0” is stored in the variable “PG_STR1 [1]”, and the number of active tokens is set to “0”.
[0073]
Next, in the transition process ACT2E of the end element 2, the value of the activation flag “STS1 [2]” of the element 2 is loaded into the accumulator, and the logic between the contents of the accumulator and the value of the executed flag “STS2 [2]” The product is taken, and the logical product of the result and the inverted value of the hold flag “STS3 [2]”. Then, it is determined whether or not the operation result is “0”. If the operation result is “0”, that is, if the element 2 is inactive, not executed, or suspended, the process jumps to the “TRN2ENDE” step. If the calculation result is “1”, the process proceeds to the next step.
[0074]
If the calculation result is “1”, element 2 is active, has been executed, and is not on hold, the element 2 activation flag “STS1 [2]” is reset to deactivate element 2 and element 2 The executed flag “STS2 [2]” is reset to make it unexecuted.
[0075]
Next, processing for calling a component and giving a command will be described. First, the value of the input data control flag “FCNT [1]” is loaded into the accumulator (“LD FCNT [1]”), and it is determined whether or not the content of the accumulator is “0”. It is determined whether it is set. When the accumulator is “0”, that is, when the input data control flag is not set, the process jumps to the “FNCCNT1” step, and when the accumulator is “1” and the input data control flag is set, the process proceeds to the next step. .
[0076]
In the next step, the value of the variable “FLWFN00001_stop” is loaded into the accumulator, and the contents of the accumulator are stored as instructions for the parts of the robot 1 (“ST robot 1._stop” in FIG. 21). Similarly, the values of the carry-in and carry-out variables are set as commands for the robot 1. Also, the device number “0” stored in the variable “FLWFN0001” is set as the device number of the parameter of the robot 1.
[0077]
With the processing described above, for example, only the command selected by the user on the command input screen for the component in FIG. 15 becomes “1” and the other commands become “0”. Only commands are valid, and other commands such as loading and unloading are invalid.
[0078]
Finally, the parts processing of the robot 1 is called (“CAL robot 1”). Then, the 1-bit value “0” is set in the input data control flag “FCNT [1]” to reset the control flag. Further, the information of “stop complete” at the output terminal of the part indicating whether or not the robot 1 is in the stop complete state is loaded, and the information is stored in the variable “FLWFN00001_stop complete”. Similarly, the information “loading complete”, which is an output terminal indicating whether or not the robot 1 is in the loading completion state, is loaded, and the information is stored in the variable “FLWFN00001_loading completion”. In addition, information “loading complete”, which is an output terminal indicating whether or not the robot 1 is in the state of unloading, is loaded, and the information is stored in the variable “FLWFN00001_unloading completion”. By these processes, the state of the robot 1 is stored in the above-described variable, and the state of the robot 1 can be recognized by reading the variable in the main routine.
[0079]
According to the above-described embodiment, when a command for a part is set by a user, a process for enabling only the set command and invalidating other commands is automatically generated. There is no need to create a check process inside the component process. Accordingly, it is possible to prevent a problem that the user forgets to create the check process and different commands are simultaneously given to one component. In addition, since it is not necessary to create check processing as internal processing of component processing, it is not necessary for each component to output error information for notifying the main routine of the check result. This eliminates the need to define variables for storing error information for those parts even when there are a large number of parts and to secure an area for storing those variables in the memory, thus saving memory capacity accordingly. can do. In addition, since it is not necessary to provide a process for processing error information defined by variables in the main routine, the program is simplified accordingly.
[0080]
Further, the automatic generation program of the sequence program according to the present invention is stored in a storage medium such as the floppy disk 2201 and the CDROM 2202 shown in FIG. 22, and the storage medium is driven by the medium of the information processing apparatus (personal computer or the like) 2203. A reading sequence program may be automatically generated by an apparatus (floppy disk driver, CDROM driver, etc.) 2204. Alternatively, the automatic generation program is stored in a storage device such as a hard disk of the program provider's computer, transferred to the user's computer by communication, stored in the hard disk, and the sequence program is generated using the automatic generation program You may do it.
[0081]
According to the embodiment described above, an active flag, an executed flag, and a hold flag are provided for each element of the operation flow, and when these flags satisfy a certain condition, the execution right is passed to the next element. Therefore, it is possible to automatically generate a process corresponding to an element of the operation flow and a program that passes the execution right to the next element when the process of the element is completed.
[0082]
In the present embodiment, step processing and transition processing corresponding to each element of the operation flow are automatically generated, so steps and transitions that occur when a person in charge of programming creates a program as in the past are omitted. Disappears. Further, since a transition process is always generated between the step processes, the user need not pay attention to the description order of the steps and transitions as in the sequential function chart. Furthermore, when changing the specifications, if only the operation flow is changed, a sequence program corresponding to the operation flow is created, so only the sequence program is changed as in the prior art, and the operation flow is different from the actual program. There is no problem.
[0083]
In the past, it was necessary to design software for describing the flow for each task required for the operation of the component to be used and exchanging data between the tasks. Since parts can be described, these operations are unnecessary. As a result, the user does not need to consider whether or not a used component such as a motor operates in another task, and can generate a sequence program simply by describing the machine operation itself.
[0084]
In the above-described embodiment, a case has been described in which a program for exclusively managing commands is automatically generated when a sequence program is automatically generated. However, the present invention can also be applied to a case in which other programs are automatically generated. .
[0085]
【The invention's effect】
According to the present invention, it is possible to automatically generate a program for performing exclusive management of a command for a common processing routine, so that it is possible to prevent a user from forgetting to create a command check program and inconvenience in processing. Also, by creating a program for performing exclusive management of commands for the common processing routine on the main routine side instead of inside the common processing routine, it is not necessary to notify the main routine of error information from the common processing routine. As a result, even when there are a plurality of common processing routines, it is not necessary to secure a memory area for storing each error information, so that the memory capacity can be saved.
[Brief description of the drawings]
FIG. 1 is a block diagram of a sequence program creation device according to an embodiment.
FIG. 2 is a diagram showing processing contents of a compiler 18;
FIG. 3 is a diagram illustrating processing order file creation processing;
4 is a diagram showing an example of the configuration of a processing order file 40. FIG.
FIG. 5 is a diagram illustrating an element number setting process.
FIGS. 6A to 6D are diagrams showing an example of a processing order file.
FIG. 7 is a diagram illustrating a flow element process generation process.
FIG. 8 is a diagram illustrating a step process generation process.
FIG. 9 is a diagram illustrating a basic configuration of step processing and transition processing.
FIG. 10 is a diagram illustrating an example of a sequence program generated from an operation flow.
FIG. 11 is a diagram illustrating a setting screen for component terminals.
FIG. 12 is a diagram illustrating a data structure of component data.
13 is a diagram showing input / output terminals of components registered in the component database 17. FIG.
FIG. 14 is a diagram showing internal processing of a component.
FIG. 15 is a diagram showing a command input screen.
FIG. 16 is a diagram showing an operation flow creation screen;
FIG. 17 is a flowchart for generating component terminal input processing;
FIG. 18 is a diagram (part 1) illustrating an example of a sequence program;
FIG. 19 is a second diagram illustrating an example of a sequence program;
FIG. 20 is a third diagram illustrating an example of a sequence program;
FIG. 21 is a diagram (part 4) illustrating an example of a sequence program;
FIG. 22 is an explanatory diagram in the case of using a storage medium.
FIG. 23 is a diagram showing input / output terminals of a component when a plurality of commands are defined for the component.
FIG. 24 is a diagram showing internal processing of a component when a plurality of commands are defined for the component.
[Explanation of symbols]
16 Net file
17 Parts database
18 Compiler
40 Processing order file

Claims (6)

An automatic generation method of command input processing for a common processing routine of a sequence program generated based on an operation flow describing a sequence operation of a control target device,
Active information indicating whether or not the element can be executed for each element of the operation flow, executed information indicating whether or not the element has been executed, and hold information for putting the execution of the element on hold Produces
A step process of executing the process of the element when the activation information of the element is active and the executed information is not executed in correspondence with each element of the operation flow, and setting the executed information of the element to executed. When the active information of the element is active, the executed information is executed, and the hold information is non-hold, the active information of the element is changed to inactive, the executed information is changed to non-executed, and the execution right is set to the next element. And create a transition process to move
Only the command specified on the command input screen of the component that is the device to be controlled is enabled, the other command is disabled , and the exclusive management of the command is performed, the process in the main routine that calls the common processing routine A method for automatically generating command input processing for a common processing routine generated as command input processing . The command input processing for validating only the command specified on the command input screen for the component is generated as part of the processing of the element of the main routine after the command for the component is initialized. A method for automatically generating command input processing for the common processing routine according to claim 1. The step of generating the step process and the transition process includes the step of determining whether or not the activation information of the element is active and the executed information has been executed for each element, and the activation information of the element is active. And when the executed information is not executed, whether the executed information is executed and whether the active information of the element is active, the executed information is executed, and the hold information is not held A step of determining whether or not the activation information of the element is active, the executed information is executed, and the hold information is non-hold, the active information is changed to inactive and the executed information is changed to non-executed, own elements active information by the active command input processing for a common processing routine according to claim 1 or 2, wherein generating a transition process comprising the step of moving to the next element of the execution right Generation method. A sequence program automatic generation device that automatically generates a sequence program based on an operation flow describing a sequence operation of a control target device,
Active information indicating whether or not the element can be executed for each element of the operation flow, executed information indicating whether or not the element has been executed, and hold information for putting the execution of the element on hold Execution information generating means for generating
A step process of executing the process of the element when the activation information of the element is active and the executed information is not executed in correspondence with each element of the operation flow, and setting the executed information of the element to executed. When the active information of the element is active, the executed information is executed, and the hold information is non-hold, the active information of the element is changed to inactive, the executed information is changed to non-executed, and the execution right is changed to the next element A step of generating a transition process to be moved and a transition process generating means;
Only the command specified on the command input screen of the component that is the device to be controlled is enabled, the other command is disabled , and the exclusive management of the command is performed, the process in the main routine that calls the common processing routine An apparatus for automatically generating a sequence program, comprising command input processing generating means for generating command input processing. The command input process generation means performs a process of validating only the command specified on the command input screen of the part after initializing the command of the part, as a part of the process of the element of the main routine The automatic generation apparatus of the sequence program of Claim 4 produced | generated as these. The step and the transition process generation means determine whether the activation information of the element is active and the executed information has been executed for each element, and the active information of the element is active and executed When the information is not executed, the executed information is set to executed Determining whether the activation information of the element is active, executed information is executed, and whether the hold information is non-hold, and the active information of the element is active and executed information Has been executed and the hold information is not held, the step of changing the activation information to inactive and the execution information to not executed, activating the activation information of the next element and transferring the execution right to the next element 6. The sequence program automatic generation device according to claim 4 or 5, wherein a transition process comprising:

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