JP7808865B2 - Control program generation device, control program generation method, and program - Google Patents

Description

The present invention relates to technology for automatically generating control programs for automated manufacturing machines equipped with multiple actuators.

A technology has been developed that automatically generates a control program for an automated manufacturing machine by recording the operations of multiple actuators installed in the automated manufacturing machine on a special operation chart (hereinafter referred to as a YOGO chart) and loading this YOGO chart into a computer (Patent Document 1). A YOGO chart is a tabular chart with multiple vertical and horizontal axes, and one of the vertical or horizontal axes is assigned to each of the multiple actuators installed in the automated manufacturing machine. The other axis of the YOGO chart represents the operation period from when the automated machine starts to finish operating, and this operation period is divided into multiple subperiods. Therefore, each square in the tabular YOGO chart corresponds to a combination of one of the multiple actuators and one of the multiple subperiods. Therefore, in a YOGO chart, the actuator that performs the operation and the subperiod in which it will operate are specified by recording the actuator's operation in the position of the square.

The basic operation of the actuator is written in the square positions of the YOGO chart. Here, the basic operation of the actuator is the most basic operation that the actuator performs, such as moving the actuator forward or backward a specified distance, or rotating it by a specified angle. Any complex operation of an automatic manufacturing machine can be broken down into the basic operations of each actuator, so the operation of the automatic manufacturing machine can be described by writing the basic operations in the square positions of the YOGO chart. Once such a YOGO chart is created, the automatic manufacturing machine can be made to perform the desired operation by repeatedly reading the contents assigned to each partial period, starting from the first, and having the actuator perform the basic operation. For this reason, the control program that operates the automatic manufacturing machine can be automatically generated from the YOGO chart.

Patent No. 6829505

However, the previously developed technology described above poses a problem in that it can easily take a long time for an automated manufacturing machine to finish operating. The reason for this is as follows: First, a control program automatically generated from a YOGO chart operates multiple actuators in the order of their partial periods. Here, when there are multiple actuators operating in the same partial period, if one of those actuators takes a long time to operate, the next partial period cannot begin operating until that actuator has finished operating. Therefore, for the other actuators, the time from when they finish operating until the last actuator finishes operating becomes a waiting time. Furthermore, if one of the multiple actuators operating in the same partial period takes a particularly long time compared to the other actuators, the waiting time becomes particularly long. When such a long waiting time occurs, the time it takes for an automated manufacturing machine to finish operating becomes longer.

This invention was made to solve the above-mentioned problems with previously developed technologies, and aims to provide technology that automatically generates control programs that shorten the time required for an automated manufacturing machine to finish operating.

In order to solve the above-mentioned problems, the control program generating device of the present invention employs the following configuration:
A control program generator (110) for generating a control program (400) for an automated manufacturing machine (10) having a plurality of actuators, comprising:
a basic operation storage unit (112) that stores basic operations in which the actuator operates in the direction of the degree of freedom of the actuator by a specified operation amount, in association with program elements that realize the basic operations;
an operation chart reading unit (111) that reads an operation chart (200) in which an operation period from when the automatic manufacturing machine starts to when it finishes its operation is divided into a plurality of partial periods, the operation of the automatic manufacturing machine is broken down into a plurality of basic operations, and the basic operations are assigned to any one of the plurality of partial periods, thereby describing the operation of the automatic manufacturing machine;
a control program generation unit (113, 114) that generates the control program for operating the automatic manufacturing machine by combining the program elements of the plurality of basic operations assigned to the plurality of partial periods on the operation chart in accordance with the order of the partial periods on the operation chart,
The operation chart read by the operation chart reading unit is
Two or more consecutive partial periods among the plurality of partial periods are grouped together to form a parallel period (210);
In the parallel period, a plurality of the partial periods and a plurality of parallel partial periods (212) that divide the parallel period are formed in parallel,
the basic operation of a selected actuator selected from the plurality of actuators is assigned to the parallel partial period of the parallel period,
the basic operation of the actuator other than the selected actuator is assigned to the partial period of the parallel period;
The control program generation unit
The program elements of the basic operations assigned to the parallel sub-periods within the parallel period are combined in accordance with the order of the parallel sub-periods;
The control program is generated by combining the program elements of the basic operations assigned to the partial periods within the parallel period in accordance with the order of the partial periods.

Furthermore, the control program generating method of the present invention corresponding to the above-mentioned control program generating device employs the following configuration:
A control program generation method for generating a control program (400) for an automated manufacturing machine (10) having a plurality of actuators by a computer, comprising:
an operation chart reading step (STEP 1) for reading an operation chart (200) in which an operation period from when the automatic manufacturing machine starts to when it finishes its operation is divided into a plurality of partial periods, the operation of the automatic manufacturing machine is decomposed into a plurality of basic operations in which the actuator moves in the direction of the degree of freedom of the actuator by a specified operation amount, and the basic operation is assigned to any one of the plurality of partial periods, thereby describing the operation of the automatic manufacturing machine;
a control program generation step (STEP 4 to STEP 6) of converting the basic operations described in the operation chart into program elements by referring to a correspondence relationship in which the basic operations described in the operation chart and program elements for realizing the basic operations are associated and stored, and combining the program elements in accordance with the order of the partial periods, thereby generating the control program for operating the automatic manufacturing machine;
The operation chart read in the operation chart reading step is
Two or more consecutive partial periods among the plurality of partial periods are grouped together to form a parallel period (210);
In the parallel period, a plurality of the partial periods and a plurality of parallel partial periods (212) that divide the parallel period are formed in parallel,
the basic operation of a selected actuator selected from the plurality of actuators is assigned to the parallel partial period of the parallel period,
the basic operation of the actuator other than the selected actuator is assigned to the partial period of the parallel period;
The control program generation step includes:
The program elements of the basic operations assigned to the parallel sub-periods within the parallel period are combined in accordance with the order of the parallel sub-periods;
The control program is generated by combining the program elements of the basic operations assigned to the partial periods within the parallel period in accordance with the order of the partial periods.

In the control program generation device and control program generation method of the present invention, the operation of an automated manufacturing machine is described by assigning basic actuator operations to multiple sub-periods on an operation chart. A control program is generated by combining program elements corresponding to the basic operations in the order of the sub-periods on the operation chart. The control program thus generated operates the automated manufacturing machine by executing the program elements of the basic operations assigned to the sub-periods, starting with the first sub-period. A parallel period set in the operation chart is formed by multiple sub-periods and multiple parallel sub-periods in parallel, and the basic operations of a selected actuator selected from multiple actuators are assigned to the parallel sub-periods of a parallel period. Furthermore, the basic operations of actuators other than the selected actuator are assigned to sub-periods within a parallel period. Within a parallel period, the program elements of the basic operations assigned to the parallel sub-periods are combined in the order of the parallel sub-periods, thereby generating a control program.

A control program generated from an operation chart executes program elements corresponding to the basic operations assigned to subperiods, starting with the first subperiod. When multiple basic operations are assigned to the same subperiod, the basic operation of the next subperiod cannot begin until the basic operation with the longest operation time among those basic operations is completed. This results in a wait time for the short-time basic operations. The greater the difference in operation time between the multiple basic operations assigned to the same subperiod, the longer the wait time, resulting in a longer operation time for the automated manufacturing machine. However, by creating parallel periods in an operation chart consisting of multiple subperiods and multiple parallel subperiods in parallel and assigning basic operations to the subperiods and parallel subperiods of a parallel period, the next parallel subperiod can begin without waiting for the completion of the basic operation in the previous subperiod, and vice versa. This prevents long wait times even when a short-time basic operation and a long-time basic operation are executed in parallel. As a result, it is possible to automatically generate control programs that shorten the time required for an automatic manufacturing machine to start and finish its operation.

Furthermore, in the control program generation device of the present invention described above, a local chart may be read in separately from the operation chart describing the operation of the automatic manufacturing machine. Here, a local chart is a small operation chart created by extracting parallel periods from the operation chart and assigning at least one basic operation of a selected actuator to each parallel sub-period of the parallel period. Then, instead of assigning at least one basic operation of a selected actuator to each parallel sub-period of the parallel period of the operation chart describing the operation of the automatic manufacturing machine, a local chart symbol unique to the local chart may be assigned to the parallel period.

In this way, the local chart can be identified based on the local chart symbol assigned to the parallel period of the operation chart, and the basic operation of the selected actuator assigned to the parallel sub-period of the parallel period of the operation chart can be identified based on the local chart. In this way, the basic operation of the selected actuator can be assigned to the parallel sub-period of the parallel period of the operation chart via the local chart, so there is no need to assign the basic operation to the parallel sub-period on the operation chart. As a result, the work of creating an operation chart and the work of understanding the contents of the operation chart become easier.

The control program generation method of the present invention can also be understood as a program for realizing the control program generation method using a computer.
A program for implementing a method for generating a control program (400) for an automated manufacturing machine (10) having a plurality of actuators using a computer, the program comprising:
an operation chart reading function (STEP 1) for reading an operation chart (200) in which an operation period from when the automatic manufacturing machine starts to when it finishes its operation is divided into a plurality of partial periods, the operation of the automatic manufacturing machine is decomposed into a plurality of basic operations in which the actuator moves in the direction of the degree of freedom of the actuator by a specified operation amount, and the basic operation is assigned to any one of the plurality of partial periods, thereby describing the operation of the automatic manufacturing machine;
a control program generation function (STEP 4 to STEP 6) that converts the basic operations described in the operation chart into program elements by referring to correspondences stored between the basic operations described in the operation chart and program elements for realizing the basic operations, and combines the program elements in accordance with the order of the partial periods to generate the control program that operates the automatic manufacturing machine;
The operation chart read by the operation chart reading function is
Two or more consecutive partial periods among the plurality of partial periods are grouped together to form a parallel period (210);
In the parallel period, a plurality of the partial periods and a plurality of parallel partial periods (212) that divide the parallel period are formed in parallel,
the basic operation of a selected actuator selected from the plurality of actuators is assigned to the parallel partial period of the parallel period,
the basic operation of the actuator other than the selected actuator is assigned to the partial period of the parallel period;
The control program generation function
The program elements of the basic operations assigned to the parallel sub-periods within the parallel period are combined in accordance with the order of the parallel sub-periods;
The control program is generated by combining the program elements of the basic operations assigned to the partial periods within the parallel period in accordance with the order of the partial periods.

By loading and executing such a program on a computer, it is possible to automatically generate a control program that shortens the time required for an automatic manufacturing machine to start and finish operating.

1 is an explanatory diagram showing the general structure of a pipe bender 10 controlled by a control device 100 of the present embodiment. 1 is a block diagram conceptually showing how a control device 100 controls the operations of various actuators Ac10 to Ac18 mounted on a pipe bender 10. FIG. FIG. 1 is an explanatory diagram of the basic principle of automatically generating a control program from a YOGO chart. FIG. 4 is an explanatory diagram of several basic movements used in the YOGO chart of FIG. 3. FIG. 10 is an explanatory diagram showing the results of classifying a number of basic actions that can be used in a YOGO chart. FIG. 2 is an explanatory diagram illustrating a portion of a YOGO chart 200. 10 is an explanatory diagram illustrating an example of how parameter values are set for parameter symbols 206b written on a YOGO chart 200. FIG. 10 is an explanatory diagram showing why a control program automatically generated from a YOGO chart 200 tends to take a long time from when an automatic manufacturing machine starts to when it finishes its operation. FIG. 2 is an explanatory diagram illustrating a YOGO chart 200 of the present embodiment in which a parallel period 210 is set. FIG. 2 is an explanatory diagram conceptually showing the structure of a YOGO chart 200 in which a parallel period 210 is set. 2 is an explanatory diagram in which a YOGO chart 200 in which a parallel period 210 is set is redrawn so that the length of an operating line 203 represents the length of the actuator operating time. FIG. 10 is an explanatory diagram illustrating another example of a YOGO chart 200 in which a parallel period 210 is set. FIG. 10 is an explanatory diagram illustrating another example of a YOGO chart 200 in which a parallel period 210 is set. FIG. 2 is an explanatory diagram of a control program generating device 110 installed in the control device 100. 10 is a flowchart of a control program generation process executed by the control program generator 110 to generate a control program from a YOGO chart 200. FIG. 2 is an explanatory diagram illustrating a YOGO chart 200 read in the control program generation process. FIG. 2 is an explanatory diagram showing a main chart 200M separated from a YOGO chart 200. FIG. 18 is an explanatory diagram showing a local chart 200L incorporated in the area surrounded by the dashed line in FIG. 17. FIG. 18 is an explanatory diagram showing a local chart 200L incorporated in the area surrounded by the two-dot chain line in FIG. 17. 10 is a flowchart of an intermediate data generation process executed during the control program generation process. FIG. 10 is an explanatory diagram illustrating intermediate data 300M generated from a main chart 200M. FIG. 10 is an explanatory diagram illustrating intermediate data 300M to which the start position and end position of a local chart 200L have been added. FIG. 10 is an explanatory diagram illustrating intermediate data 300L of a local chart 200L generated by a YOGO chart analysis process. FIG. 10 is an explanatory diagram illustrating a main program 400M generated by converting intermediate data 300M of a main chart 200M. FIG. 10 is an explanatory diagram illustrating a local program 400L generated by converting intermediate data 300L of a local chart 200L. 10 is a flowchart of the first half of the operation control process executed by the operation control device 120 using a control program. 10 is a flowchart of the second half of the operation control process. 10 is a flowchart of the first half of a local program execution process that is started in the operation control process. 10 is a flowchart of the second half of the local program execution process. FIG. 10 is an explanatory diagram illustrating a first modified example of a YOGO chart 200 on which local chart symbols 220 are entered. FIG. 10 is an explanatory diagram illustrating a local chart 200L corresponding to a local chart symbol 220 called "lclchrt1." FIG. 10 is an explanatory diagram illustrating a local chart 200L corresponding to a local chart symbol 220 called "lclchrt2." FIG. 10 is an explanatory diagram illustrating a second modified example of a YOGO chart 200 in which multiple types of local chart symbols 220 with different numbers of parallel partial periods 212 are written in the same parallel period 210. FIG. 10 is an explanatory diagram illustrating a global chart 200G. FIG. 10 is an explanatory diagram illustrating a second modified example of a YOGO chart 200 in which local chart symbols 220 and global chart symbols 230 are depicted. FIG. 10 is an explanatory diagram illustrating another aspect of the YOGO chart 200 of the second modified example.

A. Device configuration:
1 is an explanatory diagram illustrating the general external shape of a pipe bender 10. The pipe bender 10 is a type of automatic manufacturing machine that can automatically bend long pipe material into a desired shape. In the following description, the automatic manufacturing machine will be described as the pipe bender 10, but it may be any automatic manufacturing machine other than the pipe bender 10 as long as it is equipped with multiple actuators and can automatically perform multiple operations on an object, such as gripping, transporting, processing, and heating. For example, it may be an arm robot with multiple joints, or a manufacturing system that combines an arm robot with multiple joints and a transport device.

The pipe bender 10 illustrated in Figure 1 has a roughly horizontally elongated rectangular parallelepiped exterior shape, with two rails 11 installed longitudinally on the top surface of the rectangular parallelepiped. A transport unit 12 is mounted on one end (the left side in Figure 1) of the rails 11, which grips and transports the pipe material (not shown) to be processed. On the opposite side to the side on which the transport unit 12 is mounted, a processing unit 13 is mounted, which bends the pipe material (not shown). A cylindrical gripping shaft 12a protrudes from the transport unit 12, and a chuck 12b is attached to the tip of the gripping shaft 12a, which grips the pipe material (not shown). Therefore, by moving the transport unit 12 on the rails 11 while the pipe material is gripped by the chuck 12b, the pipe material can be supplied to the processing unit 13, where it can be bent.

The pipe bender 10 of this embodiment controls the feed rate of the pipe material by the movement of the transport unit 12, allowing for flexible adjustment of the bending position on the pipe material. Furthermore, the gripping shaft 12a, to which the chuck 12b is attached, can be rotated (twisted) around its axis to bend the pipe material in the desired direction. To achieve this, the transport unit 12 is equipped with an actuator Ac10 for opening and closing the chuck 12b, an actuator Ac11 for rotating the gripping shaft 12a around its axis, an actuator Ac12 for translating the gripping shaft 12a left and right relative to the axial direction, and an actuator Ac13 for moving the transport unit 12 back and forth on the rail 11. In the pipe bender 10 of this embodiment, all of these actuators Ac10 to Ac13 are AC servo motors powered by AC power. However, other drive systems (e.g., hydraulic cylinders, solenoids, pulse motors, etc.) can be used depending on the performance required of the actuators. The transport unit 12 is also equipped with sensors such as an encoder and limit switches for detecting the rotational position of the gripping shaft 12a and the movement position of the transport unit 12, but these are omitted from Figure 1 to avoid cluttering the drawing.

Mounted inside the processing unit 13 are multiple actuators Ac15, Ac16, Ac17, and Ac18 used to bend the pipe material. Furthermore, actuator Ac14 is also mounted in the space below the two rails 11. The operation of these actuators Ac14 to Ac18 will be explained in detail later. Note that encoders, contact switches, and other switches and sensors are also mounted inside the processing unit 13 and in the space below the two rails 11, but these are omitted from the illustration to avoid cluttering the drawing.

The machining unit 13 also includes multiple driver amplifiers (not shown) for driving the multiple actuators Ac10-Ac18. A driver amplifier is an electrical component with the following functions: To operate the actuators Ac10-Ac18 as desired, it is necessary to supply each actuator with a drive current of the appropriate waveform and voltage. However, the drive current to be supplied to each actuator Ac10-Ac18 differs depending on the drive method of the actuator. Furthermore, even for actuators of the same method, the drive current waveform and voltage differ depending on the actuator. Therefore, each actuator Ac10-Ac18 is provided with its own dedicated electrical component called a driver amplifier. When the control device 100, which controls the pipe bender 10, specifies the drive amount for each driver amplifier, the driver amplifier outputs the appropriate drive current to each actuator Ac10-Ac18, driving the actuators Ac10-Ac18.

Figure 2 is an explanatory diagram showing how multiple actuators Ac10-Ac18 mounted on the pipe bender 10 are connected to the control device 100 via driver amplifiers DA10-DA18. A driver amplifier DA10 is connected to actuator Ac10 to drive it, and a driver amplifier DA11 is connected to actuator Ac11 to drive it. Similarly, driver amplifiers DA12-DA18 are connected to actuators Ac12-Ac18 to drive them. Furthermore, driver amplifiers DA10-DA18 are connected to each other in series, with the driver amplifier at one end (driver amplifier DA10 in the illustrated example) connected to the control device 100. However, this connection topology is not limited to this; for example, each driver amplifier DA10-DA18 may be directly connected to the control device 100.

To bend a pipe using the pipe bender 10, it is necessary to operate the actuators Ac10-Ac18 at the appropriate timing and with the appropriate amount of movement. To achieve this, it is necessary to create a control program that runs on the control device 100 and can specify the appropriate amount of movement at the appropriate timing for the driver amplifiers DA10-DA18. Creating such a control program requires more effort than creating hardware such as the pipe bender 10.

However, the inventor of the present application has developed a technology for automatically generating control programs, which has already been patented. This patented technology breaks down the operation of an automatic manufacturing machine equipped with multiple actuators (here, pipe bender 10) into the basic operations of multiple actuators (here, actuators Ac10 to Ac18), and describes the operation of the automatic manufacturing machine by entering these basic operations on a special operation chart called a "YOGO chart." In this way, a control program can be automatically generated from a YOGO chart. Below, we will explain the principle of automatically generating a control program from a YOGO chart.

B. Principle of automatically generating a control program from a YOGO chart:
3A and 3B are explanatory diagrams illustrating the principle of automatically generating a control program for an automatic manufacturing machine (here, a pipe bender 10) using a special operation chart called a YOGO chart. A primitive YOGO chart is shown in FIG. 3A before any improvements have been made. The YOGO chart of the present embodiment, which will be described later, is an improved version of the primitive YOGO chart shown in FIG. 3A, but the principle of automatically generating a control program is the same as that of the primitive YOGO chart. Therefore, for ease of understanding, the principle of automatically generating a control program from a YOGO chart will be explained using the primitive YOGO chart shown in FIG. 3A.

As mentioned above, a YOGO chart describes the operation of an automated manufacturing machine by combining the basic operations of multiple actuators installed in the machine. Here, a basic operation of an actuator refers to a simple operation in which the actuator moves by a specified amount in the direction of its degrees of freedom. For example, for a rotating actuator such as a motor, this would be an operation to rotate by a specified angle, and for an actuator that moves forward and backward such as a cylinder, this would be an operation to move by a specified distance. Furthermore, for an actuator that moves a member that meshes with the ball screw forward and backward by rotating a ball screw using a motor, this would be an operation to either rotate the motor by a specified angle or an operation to move the member by a specified distance. Note that, below, a simple operation in which the actuator moves by a specified amount in the direction of its degrees of freedom will be referred to as a "basic operation."

In addition, in a YOGO chart, the operating period from when an automated manufacturing machine starts to when it finishes operating is divided into multiple sub-periods, and the basic operations of each actuator are assigned to one of these sub-periods, selected for each basic operation. In the example shown in Figure 3(a), the first sub-period (sub-period 1) when the automated manufacturing machine starts operating is assigned the basic operation act1 of a certain actuator, and the next sub-period (sub-period 2) is assigned the basic operations act2, act3, and act4 (by the same or a different actuator). The next sub-period (sub-period 3) is assigned the basic operations act5 and act6, the next sub-period (sub-period 4) is assigned the basic operation act7, and the next sub-period (sub-period 5) is assigned the basic operations act8 and act9.

In this way, it is possible to describe a series of operations performed by multiple actuators. That is, first, a basic action act1 is initiated by a certain actuator, and when that basic action act1 is completed, the corresponding actuators start basic actions act2, act3, and act4. When these basic actions are completed, basic actions act5 and act6 are started. When these basic actions are completed, basic action act7 is started, and when basic action act7 is completed, basic actions act8 and act9 are started, and so on. In this way, a YOGO chart describes the operation of an automatic manufacturing machine by breaking down the operation of the multiple actuators installed on that automatic manufacturing machine and assigning these basic actions to any of the partial periods.

As is clear from the above explanation, a sub-period indicates the period during which the assigned actuator operates, not the length of time. For example, the length of sub-period 1 is the time required to execute basic action act1, and the length of sub-period 2 is the longer of the times required to execute basic actions act2, act3, and act4. Therefore, the length of time of each sub-period is usually different from one another.

As mentioned above, the basic operation of an actuator is a simple operation, such as rotating a motor a certain amount or moving a cylinder forward or backward a certain amount. Therefore, programs (program elements) for causing an actuator to perform basic operations can be created in advance. For example, a program element prog1 can be created in advance to cause a certain actuator to perform basic operation act1. Similarly, program elements prog2 to prog9 can be created in advance to cause basic operations act2 to act9 to be performed.

By linking these program elements as described in the primitive YOGO chart shown in Figure 3(a), a control program for operating an automated manufacturing machine can be automatically generated. That is, as shown in Figure 3(b), program element prog1 is started first, and once program element prog1 is finished, program elements prog2 to prog4 are started. Once program elements prog2 to prog4 are finished, program elements prog5 and prog6 are started. Once program elements prog5 and prog6 are finished, program element prog7 is started. Once program element prog7 is finished, program elements prog8 and prog9 are started. In this way, program elements that cause the actuator to perform basic operations are created in advance, and multiple program elements are combined so that these program elements are started one after another in the order described in the YOGO chart. In this way, a control program for operating an automated manufacturing machine can be automatically generated from a YOGO chart.

Furthermore, while it is necessary to create all the program elements required to realize the basic operations (here, program elements prog1 to prog9), this is not particularly difficult. The reason for this is as follows. Figure 4 is an explanatory diagram showing the operation modes (rotational operation, forward/backward operation, etc.) and operation mechanisms (the general structure of the actuator) for the basic operations act1 to act9 shown in Figure 3(a). For example, basic operation act1 is an operation in which the actuator rotates, and this operation is achieved by slowing down the rotational speed of the AC servo motor's rotating shaft using a speed reducer mechanism. Furthermore, basic operation act2 is an operation in which the actuator moves forward and backward, and this operation is achieved by converting the rotational movement of the AC servo motor's rotating shaft into linear movement using a conversion mechanism. Furthermore, basic operation act3 is an operation in which the actuator moves forward and backward, and this operation is achieved by a linear servo motor.

Basic actions act4, act5, and act8 are actions in which the actuator rotates, similar to basic action act1, and are realized by combining an AC servo motor with a speed reducer. Basic actions act6 and act7 are actions in which the actuator moves forward and backward, similar to basic action act2, and are realized by combining an AC servo motor with a conversion mechanism. Basic action act9 is actions in which the actuator moves forward and backward, similar to basic action act3, and is realized by a linear servo motor.

As such, the motion mechanisms that realize basic actions act1, act4, act5, and act8 all combine AC servo motors with reduction mechanisms, and any differences exist only in the output of the AC servo motors and the reduction ratios of the reduction mechanisms. Therefore, the program elements for these basic actions can be standardized. Furthermore, the motion mechanisms that realize basic actions act2, act6, and act7 all combine AC servo motors with conversion mechanisms, so the program elements for these basic actions can be standardized. Furthermore, for similar reasons, the program elements for basic actions act3 and act9 can also be standardized. Ultimately, by preparing three program elements prog1 to prog3 as program elements to realize the nine basic actions act1 to act9, and selecting the appropriate program element according to the basic action and specifying the appropriate motion amount (such as rotation angle or movement amount), all of the basic actions act1 to act9 can be realized. Furthermore, this situation (i.e., the ability to standardize program elements that realize many basic operations) is not limited to the case shown in Figure 3, but is generally true.

Figure 5 is an explanatory diagram showing the classification of common basic movements used in YOGO charts. As shown in Figure 5, the motion patterns of basic movements (excluding special movements) can be classified as either forward/backward movements or rotational movements. Furthermore, it is almost certain that the operating mechanism for achieving forward/backward movements is either a mechanism combining an AC servo motor with a conversion mechanism, a mechanism using a linear servo motor, a mechanism using an air cylinder, or a mechanism using a hydraulic cylinder. Similarly, it is almost certain that the operating mechanism for achieving rotational movements is either a mechanism combining an AC servo motor with a reduction mechanism, or a mechanism combining a pulse motor with a reduction mechanism. Therefore, all basic movements are classified into six types: four forward/backward movements and two rotational movements. Since basic movements of the same type can be achieved using the same program elements, it is believed that preparing six program elements will be able to accommodate almost all basic movements.

The YOGO chart described below uses "operation symbols" to specify the type of basic operation. For example, the operation symbol "CNC-XA" listed on the YOGO chart represents an advance/retract operation performed by an actuator that combines an AC servo motor with a conversion mechanism. The operation symbol "CNC-XL" represents an advance/retract operation using a linear servo motor as an actuator, the operation symbol "AC" represents an advance/retract operation performed by an air cylinder, and the operation symbol "OC" represents an advance/retract operation performed by a hydraulic cylinder. The operation symbol "CNC-θA" represents a rotational operation performed by an actuator that combines an AC servo motor with a reduction mechanism, and the operation symbol "OPN-θP" represents a rotational operation performed by an actuator that combines a pulse motor with a reduction mechanism. Each program element that realizes the basic operation of each operation symbol is assigned a unique program element number. This makes it possible to identify each program element by its program element number.

C. How to fill out the YOGO chart:
FIG. 6 is an explanatory diagram of a method for describing the operation of an automatic manufacturing machine using a YOGO chart 200. In the illustrated example, the automatic manufacturing machine is equipped with five actuators, actuators A to E. As shown in FIG. 6, the YOGO chart 200 is shaped like a large table, with multiple horizontal and vertical lines intersecting each other. Hereinafter, of the multiple intersecting lines, the horizontal lines will be referred to as "partition lines" 201, and the vertical lines will be referred to as "trigger lines" 202.

The trigger lines 202 are assigned consecutive numbers starting from 1. In the example shown in Figure 6, the consecutive numbers of the trigger lines 202 below are written in the top column of the YOGO chart 200. The areas between adjacent trigger lines 202 form the partial periods described above with reference to Figure 3, and these partial periods are also assigned consecutive numbers starting from 1 (hereinafter referred to as partial period numbers). In the YOGO chart 200 shown in Figure 6, the trigger lines 202 are drawn vertically, and therefore the partial periods sandwiched between the trigger lines 202 are lined up horizontally. However, the trigger lines 202 may also be drawn horizontally, in which case multiple partial periods would be lined up vertically.

The YOGO chart 200 of this embodiment is divided into multiple horizontally elongated regions (hereinafter sometimes referred to as "rows") by multiple divider lines 201, and these horizontally elongated rows are assigned consecutive numbers (hereinafter referred to as actuator numbers) starting from 1. Actuators installed in an automated manufacturing machine are assigned to one of the multiple horizontally elongated rows. For example, if the automated manufacturing machine has five actuators, actuator A through actuator E, then, as shown in FIG. 6, actuator A is assigned to row with actuator number 1, actuator B is assigned to row with actuator number 2, and actuator C is assigned to row with actuator number 3. Similarly, actuator D is assigned to row with actuator number 4, and actuator E is assigned to row with actuator number 5.

The basic operations of actuators A-E are then written in appropriate positions on the horizontal rows to which those actuators are assigned. For example, the basic operation that actuator A will perform in subperiod 1 is written in the coordinate position of a grid where the horizontal row with actuator number 1 intersects with the vertical area (hereinafter sometimes referred to as a "column") with subperiod number 1. When writing a basic operation, write an operation line 203 on the YOGO chart 200 at the coordinate position of the grid where you want the basic operation to be written, and then write the operation symbol 206a and parameter symbol 206b on that operation line 203 to write the basic operation.

In the example shown in Figure 6, an operation line 203 having a start point 204 indicated by a white circle and an end point 205 indicated by a black circle is drawn in the square on the YOGO chart 200 corresponding to actuator number 1 and partial period number 1 (hereinafter referred to as "chart coordinates (1,1)"). A basic operation 206 is drawn on the operation line 203 using an operation symbol 206a, "CNC-XA," written after a white star, and three parameter symbols 206b written after a black star. Here, the start point 204 is drawn on trigger line 202 number 1, and the end point 205 is drawn on trigger line 202 number 2, indicating that the basic operation 206 starts at the timing of trigger line 202 number 1 and ends at the timing of trigger line 202 number 2. Furthermore, the operation symbol 206a "CNC-XA" written above the operation line 203 represents the forward/backward movement performed by an actuator that combines an AC servo motor with a conversion mechanism, as described above with reference to Figure 5. Conversely, the fact that the operation symbol 206a "CNC-XA" is written at the coordinate position of actuator number 1 indicates that actuator A corresponding to actuator number 1 is an actuator that performs forward/backward movement by combining an AC servo motor with a conversion mechanism. Furthermore, the parameter symbol 206b written below the operation symbol 206a represents the specific details of the forward/backward movement (i.e., the distance of forward/backward movement, the movement speed during forward/backward movement, and the movement torque during forward/backward movement). Details of the parameter symbol 206b will be provided later.

Furthermore, in the square for the coordinate position (chart coordinates (2,2)) where actuator number 2 and partial period number 2 are located, a basic operation 206 is written above the operation line 203 using the operation symbol 206a "CNC-θA" and three parameter symbols 206b. Here, the operation symbol 206a "CNC-θA" represents rotational operation by an actuator that combines an AC servo motor with a speed reduction mechanism. Therefore, actuator B, which corresponds to actuator number 2, is an actuator that performs rotational operation by combining an AC servo motor with a speed reduction mechanism. Furthermore, the three parameter symbols 206b written below this operation symbol 206a represent the rotation angle, rotation speed, and rotational torque. The specific numerical values (parameter values) of each parameter symbol 206b are preset for each actuator.

Figure 7 is an explanatory diagram showing how parameter values are pre-assigned to parameter symbols 206b for each actuator. The table in which parameter values are assigned to parameter symbols 206b for each actuator is called "Table B." For example, Table B shown in Figure 7(a) has five parameter symbols 206b assigned, which are the parameter symbols 206b used for Actuator A. As mentioned above, Actuator A is an actuator that moves forward and backward by combining an AC servo motor with a conversion mechanism. Therefore, the parameter values specified using parameter symbols 206b are the travel distance, travel speed, and travel torque. Correspondingly, two parameter symbols 206b, "AA-pos1" and "AA-pos2," are used to specify the travel distance, and are set to parameter values of 50 mm and 150 mm, respectively. Furthermore, two parameter symbols 206b, "AA-spd1" and "AA-spd2," are used to specify the travel speed, and are set to parameter values of 10 mm/sec and 15 mm/sec, respectively. Furthermore, parameter symbol 206b "AA-trq1" is used to specify the allowable movement torque when moving forward or backward as a ratio to the standard torque of the AC servo motor, and is set to a parameter value of 100 percent (a value that means that up to the standard torque is allowed).

Table B shown in Figure 7(b) also has five parameter symbols 206b set, which are parameter symbols 206b used for Actuator B. As mentioned above, Actuator B is an actuator that rotates by combining an AC servo motor with a speed reduction mechanism, so the parameter values specified using parameter symbols 206b are the rotation angle, rotation speed, and rotation torque. Correspondingly, two parameter symbols 206b, "AB-pos1" and "AB-pos2," are used to specify the rotation angle, and parameter values of 90 degrees and 30 degrees, respectively, are set. Furthermore, two parameter symbols 206b, "AB-spd1" and "AB-spd2," are used to specify the rotation speed, and parameter values of 15 degrees/second and 10 degrees/second, respectively, are set. Furthermore, parameter symbol 206b "AB-trq1" is used to specify the allowable rotational torque during forward and backward movement as a ratio to the standard torque of the AC servo motor, and is set to a parameter value of 100 percent (a value that means that up to the standard torque is allowed).

Similarly, the five parameter symbols 206b set in Table B of FIG. 7(c) are parameter symbols 206b used for actuator C, and the five parameter symbols 206b set in Table B of FIG. 7(d) are parameter symbols 206b used for actuator D. Furthermore, the three parameter symbols 206b set in Table B of FIG. 7(e) are parameter symbols 206b used for actuator E. The parameter symbols 206b set for each actuator are parameter symbols 206b unique to that actuator. For example, the parameter symbol 206b "AB-spd1" is a parameter symbol 206b for specifying the rotational speed for actuator B, and this parameter symbol 206b cannot be used for any other purpose.

In the YOGO chart 200, basic operations 206 are written using the operation symbols 206a and parameter symbols 206b described above. For example, in the YOGO chart 200 of Figure 6, the basic operation 206 at chart coordinates (1,1) (i.e., the coordinate position of actuator number 1 and partial period number 1) has the operation symbol 206a "CNC-XA" and the parameter symbols 206b "AA-pos1," "AA-spd1," and "AA-trq1." Therefore, this basic operation 206 is an operation to move the actuator forward or backward, with a travel distance of 50 mm, a travel speed of 10 mm/sec, and a travel torque up to the maximum allowable specified torque of the AC servo motor.

As explained above, the YOGO chart 200 is written by entering the operation symbol 206a and parameter symbol 206b of the basic operation 206 in a grid at a coordinate position determined by the actuator number and sub-period number. The actuator number at the coordinate position where the basic operation 206 is entered indicates the actuator that performs the basic operation 206, and the sub-period number indicates the timing at which the basic operation 206 is performed. Furthermore, the operation symbol 206a and parameter symbol 206b of the basic operation 206 represent the specific content of the basic operation 206. In this way, by entering the basic operation 206 at a coordinate position on the YOGO chart 200, the operation of an automated manufacturing machine can be described. For example, the YOGO chart 200 in Figure 6 first operates actuator A according to the content specified in the basic operation 206. After actuator A's operation is complete, actuators B to D are operated according to the content specified in their respective basic operations 206. After actuators B to D are completed, actuators A and E are then operated according to the content of their respective basic operations 206. Then, once the operations of actuator A and actuator E are complete, actuator C and actuator D are operated according to the contents of their respective basic operations 206. It is possible to describe a series of operations like this.

Note that, in this embodiment, the basic actions 206 are described as being written on the YOGO chart 200 using an action symbol 206a and multiple parameter symbols 206b, but the method for writing the basic actions 206 on the YOGO chart 200 is not limited to this. For example, in the example shown in FIG. 6, a table is set up that associates multiple parameter symbols 206b listed below the action symbol 206a with parameter values for those parameter symbols 206b, and a unique table symbol is set for each table. Then, instead of listing multiple parameter symbols 206b below the action symbol 206a, a table symbol for a table in which parameter values for those parameter symbols 206b are set may be written.

By recording the operation of an automatic manufacturing machine on a YOGO chart 200 in this way, it is possible to automatically generate a control program for operating the automatic manufacturing machine by converting the YOGO chart 200. However, a problem with control programs generated in this way is that the overall operating time from when the automatic manufacturing machine starts to finish operating tends to be long. The reasons for this are as follows:

D. Reasons why the overall operating time of automated manufacturing machines tends to be long:
FIG. 8 is an explanatory diagram showing why the time required for an automatic manufacturing machine to complete its operation from start to finish tends to be long when the automatic manufacturing machine is operated using a control program automatically generated from a YOGO chart 200. FIG. 8(a) illustrates a YOGO chart 200 that describes the operation of an automatic manufacturing machine equipped with five actuators A to E. In the YOGO chart 200 of FIG. 8(a), in order to avoid cluttering the illustration, only the operation symbol 206a is displayed on the operation line 203, and the parameter symbol 206b is omitted. Similarly, the parameter symbol 206b is omitted from the YOGO charts 200 of FIG. 8 and subsequent figures.

As shown in Figure 8(a), looking at the YOGO chart 200, it appears that the five actuators A to E are operating in an orderly manner in a set sequence. For example, in the second partial period from the beginning (partial period number 2), the same length of operation lines 203 are drawn for the three actuators B to D, so it appears that actuators B to D start operating simultaneously and finish operating at the same time. However, the length of the operation lines 203 drawn on the YOGO chart 200 does not represent the operating time of the actuators.

Figure 8(b) shows a YOGO chart 250 in which the length of the operating line 203 has been redrawn to correspond to the length of time each actuator operates. The elapsed time is displayed at the top of the redrawn YOGO chart 250. As shown in the YOGO chart 250 in Figure 8(b), in the first sub-period (sub-period with sub-period number 1), only actuator A operates, and the operation takes 10 seconds. Therefore, 10 seconds after the start of operation, sub-period with sub-period number 2 begins, and the three actuators B to D begin operating. Here, in the illustrated example, the operation of actuator B takes 6 seconds, the operation of actuator C takes 8 seconds, and the operation of actuator D takes 26 seconds. Therefore, for actuators B and C, the operation of their own has finished, but actuator D has not, so they are unable to complete the current sub-period (i.e., they are waiting for actuator D to finish operating). This waiting time is 20 (= 26 - 6) seconds for actuator B and 18 (= 26 - 8) seconds for actuator C.

Furthermore, when partial period number 2 ends, partial period number 3 begins, and the two actuators A and E begin operating. In the example shown, the time required for actuator A to operate during partial period number 3 is 30 seconds, and the time required for actuator E to operate is 6 seconds. Therefore, actuator E is in a state where it is waiting for actuator A to finish operating. This waiting time is 24 (= 30 - 6) seconds. After partial period number 3 ends, partial period number 4 begins, and actuator B begins operating.

When such long wait times occur, it takes longer for an automated manufacturing machine to start and finish operating. The direct cause of this situation is that, among multiple actuators operating in the same sub-period, there is an actuator that has a particularly long operating time compared to the other actuators. However, it is thought that an indirect cause is also the fact that multiple sub-periods in YOGO chart 200 are connected in a row from the first sub-period to the last sub-period. In other words, when sub-periods are connected in a row, actuators that operate at the same timing have no choice but to be assigned to the same sub-period. As a result, multiple actuators with significantly different operating times are assigned to the same sub-period, resulting in long wait times.

E. Methods for reducing the overall operating time of automated manufacturing machines:
Taking note of the above points, the inventors of the present application have devised a method for shortening the overall operating time of an automatic manufacturing machine. In this method, partial periods are parallelized in a part of the operating period of the automatic manufacturing machine (from the first partial period to the last partial period), and the operations of the partial periods are executed independently in different paralleled columns. This makes it possible to shorten the overall operating time of the automatic manufacturing machine for the following reasons.

In the YOGO chart 200 shown in Figure 8, waiting times occur in sub-periods numbered 2 and 3. Therefore, by adding new sub-periods in parallel to sub-periods numbered 2 and 3, the sub-periods are parallelized within this range (the range of sub-periods numbered 2 and 3). Then, within the range of parallelized sub-periods, actuator operation is assigned to the added sub-period in addition to the original sub-period. Note that, below, the range of parallelized sub-periods is referred to as the "parallel period." Furthermore, a new sub-period added within a parallel period is referred to as the "parallel sub-period." Furthermore, when it is necessary to distinguish the original sub-period from the parallel sub-periods, the original sub-period is referred to as the "normal sub-period."

Figure 9 illustrates a YOGO chart 200 of this embodiment in which parallel periods are set. In the illustrated example, parallel periods 210 are set in sub-periods numbered 2 and 3, and the parallel period 210 is divided into two parallel sub-periods 212. The basic operation of actuator D is assigned to the first parallel sub-period 212, labeled "S1," and the basic operation of actuator E is assigned to the second parallel sub-period 212, labeled "S2." Note that S1 and S2 are the sub-period numbers of the parallel sub-periods 212. Therefore, hereinafter, the parallel sub-period 212 labeled "S1" will be referred to as the "parallel sub-period 212 with sub-period number S1," and the parallel sub-period 212 labeled "S2" will be referred to as the "parallel sub-period 212 with sub-period number S2." In the example shown in Figure 9, actuators D and E correspond to the "selected actuators" of this invention.

Figure 10 is an explanatory diagram conceptually illustrating the structure of the YOGO chart 200 (having parallel periods 210) shown in Figure 9. As shown, among the normal sub-periods 211 with sub-period numbers 1 to 5, two parallel sub-periods 212 with sub-period numbers S1 and S2 have been added to the normal sub-periods 211 with sub-period numbers 2 and 3. Using a YOGO chart 200 with this structure, the following operations can be described:

First, the actuator assigned to the normal sub-period 211 with sub-period number 1 is operated. Once this operation is complete, the actuator assigned to the normal sub-period 211 with sub-period number 2 and the actuator assigned to the parallel sub-period 212 with sub-period number S1 are operated. Then, once the operation of the normal sub-period 211 with sub-period number 2 is complete, the actuator assigned to the normal sub-period 211 with sub-period number 3 is operated. Furthermore, once the operation of the parallel sub-period 212 with sub-period number S1 is complete, the actuator assigned to the parallel sub-period 212 with sub-period number S2 is operated. Here, the operation of the normal sub-period 211 with sub-period number 3 can begin without waiting for the end of the operation of the parallel sub-period 212 with sub-period number S1. Furthermore, the operation of the parallel sub-period 212 with sub-period number S2 can begin without waiting for the end of the operation of the normal sub-period 211 with sub-period number 2. This is because the normal sub-period 211 and the parallel sub-period 212 are sub-periods on different systems (i.e., parallel). Furthermore, the operation assigned to the normal sub-period 211 with sub-period number 4 will start after the operation of the normal sub-period 211 with sub-period number 3 has ended and the operation of the parallel sub-period 212 with sub-period number S2 has ended.

In a YOGO chart 200 with this structure, the operations of the normal sub-periods 211 are executed sequentially, starting with the first normal sub-period 211, as in a conventional YOGO chart 200. Furthermore, the operations of the parallel sub-periods 212 within the parallel period 210 are also executed sequentially, starting with the first parallel sub-period 212. Furthermore, at the point where the parallel period 210 starts (i.e., the point where the parallel sub-period 212 separates from the normal sub-period 211), the operations of the first normal sub-period 211 and the first parallel sub-period 212 within the parallel period 210 do not start until the operations of the previous normal sub-period 211 have ended. Additionally, at the point where the parallel period 210 ends (i.e., the point where the normal sub-period 211 and the parallel sub-period 212 join), the operations of the normal sub-period 211 following the parallel period 210 do not start until the operations of the last normal sub-period 211 and the last parallel sub-period 212 within the parallel period 210 have ended. Therefore, the only major difference from conventional YOGO charts is that within parallel period 210, the operations of normal sub-period 211 and parallel sub-period 212 are executed independently. Therefore, even when using a partially parallelized YOGO chart 200, it is possible to automatically generate a control program for an automatic manufacturing machine in the same way as with conventional YOGO chart 200.

As is clear from the above explanation, in a YOGO chart 200 in which parallel periods 210 are set, it is necessary to assign at least one basic actuator operation to each of the parallel sub-periods 212 formed within that parallel period 210. This is because, when the actuators are operated in order from the first parallel sub-period 212 within the parallel period 210, if there is a parallel sub-period 212 to which no basic actuator operation is assigned, it will be impossible to start operation of the parallel sub-period 212 following that parallel sub-period 212.

In addition, if an actuator has a basic operation set for parallel sub-period 212 in parallel period 210, it is best to avoid setting the basic operation for normal sub-period 211 of the same parallel period 210. This is because, during parallel period 210, the operation of normal sub-period 211 and the operation of parallel sub-period 212 are executed independently. Therefore, if the basic operation of the same actuator is assigned to normal sub-period 211 and parallel sub-period 212 within the same parallel period 210, the operation timings will overlap, and it may become impossible to execute either basic operation.

Figure 11 shows YOGO chart 250, which is a redrawing of the partially parallelized YOGO chart 200 shown in Figure 9, with the length of the operating line 203 representing the length of the actuator operating time. The elapsed time is displayed at the top of YOGO chart 250. YOGO chart 250 shown in Figure 11 differs from YOGO chart 250 shown in Figure 8(b) in that some partial periods have been parallelized, but the operating times of actuators A to E are the same. Note that in Figure 11, some of the operating lines 203 for actuators D and E are shown as dashed lines, indicating that the operation is set in parallel partial period 212.

In the YOGO chart 250 of FIG. 11, while the operation of the parallel sub-period 212 with sub-period number S1 is being executed, the normal sub-period 211 with sub-period number 2 ends and the operation of the normal sub-period 211 with sub-period number 3 begins. Also, while the operation of the normal sub-period 211 with sub-period number 3 is being executed, the operation of the parallel sub-period 212 with sub-period number S2 begins. This allows for a significant reduction in wait time, shortening the overall operating time of the automated manufacturing machine. In this way, by using a YOGO chart 200 with some parts parallelized, it is possible to shorten the overall operating time of the automated manufacturing machine.

In the example described using Figures 9 to 11, two parallel sub-periods 212 are set in a parallel period 210 that is set by combining two normal sub-periods 211. Therefore, the number of parallel sub-periods 212 formed in the parallel period 210 is the same as the number of normal sub-periods 211. However, the number of parallel sub-periods 212 in the parallel period 210 does not have to be the same as the number of normal sub-periods 211. For example, in the example shown in Figure 12(a), the parallel period 210 is formed by two normal sub-periods 211, but three parallel sub-periods 212 with sub-period numbers S1 to S3 are formed in the parallel period 210. Alternatively, in the example shown in Figure 12(b), the parallel period 210 is formed by three normal sub-periods 211, but two parallel sub-periods 212 with sub-period numbers S1 and S2 are formed in the parallel period 210.

A single YOGO chart 200 may have multiple parallel periods 210. Furthermore, these parallel periods 210 may overlap at least partially. For example, in the example shown in FIG. 13, a parallel period 210 surrounded by a dashed line is set in the range of partial period numbers 2 and 3, and two parallel partial periods 212, with partial period numbers A1 and A2, are formed within this dashed line parallel period 210. A parallel period 210 surrounded by a double-dashed line is set in the range of partial period numbers 3 to 5, and three parallel partial periods 212, with partial period numbers B1 to B3, are formed within this double-dashed line parallel period 210. In this way, a single YOGO chart 200 may have multiple parallel periods 210, and these parallel periods 210 may overlap at least partially. In the example shown in FIG. 13, actuators D, E, and G to I correspond to the "selected actuators" of this invention.

Furthermore, in the examples shown in Figures 9, 12, and 13, parallel sub-periods 212 of the same parallel period 210 are set for actuators that are adjacent to each other on the YOGO chart 200. That is, on the YOGO chart 200 of Figures 9 and 12, parallel sub-periods 212 are set for actuators D and E. Also, on the YOGO chart 200 of Figure 13, two parallel periods 210 are set, with the parallel sub-period 212 of one parallel period 210 being set for actuators D and E, and the parallel sub-period 212 of the other parallel period 210 being set for actuators G to I. However, parallel sub-periods 212 of the same parallel period 210 may also be set for actuators that are far apart on the YOGO chart 200 (for example, actuator A and actuator D).

F. Control program generator 110:
The partially parallelized YOGO chart 200 is converted into a control program by the following control program generator 110. The control program generator 110 of this embodiment is incorporated into the control device 100 together with an operation control device 120 that controls the operation of the automated manufacturing machine using the generated control program.

F-1. Overview of the control device 100 and the control program generation device 110:
FIG. 14 is an explanatory diagram of a control device 100 incorporating a control program generator 110. As shown in the figure, the control device 100 includes a chart creation unit 101, a chart storage unit 102, a control program generator 110, and an operation control device 120. Furthermore, the control program generator 110 includes a chart reading unit 111, a basic operation storage unit 112, an intermediate data generation unit 113, and an intermediate data conversion unit 114. Note that these "units" are abstract concepts that represent the functions of the control device 100 to create and store YOGO charts 200, and the functions of the control program generator 110 to read the YOGO charts 200 and generate a control program. Therefore, it does not represent that the control device 100 or the control program generator 110 is formed by combining components corresponding to these "units." In reality, these "parts" can be realized in the form of a program executed by a CPU, or in the form of an electronic circuit combining IC chips, LSIs, etc., or even in a variety of forms, such as a mixture of these.

The chart creation unit 101 is connected to the monitor screen 100m and operation input buttons 100s, and a mechanical engineer with sufficient knowledge of automated manufacturing machines such as the pipe bender 10 creates the YOGO chart 200 shown in Figures 9, 12, and 13 by operating the operation input buttons 100s while viewing the monitor screen 100m. An engineer with sufficient knowledge of the operation of automated manufacturing machines can easily create the YOGO chart 200.

In addition, in this embodiment, when entering basic actions 206 into a YOGO chart, the basic actions 206 are entered using action symbols 206a and parameter symbols 206b as a general rule, but the action symbols 206a, parameter symbols 206b, and parameter values corresponding to the parameter symbols 206b are stored in the basic action storage unit 112. Therefore, the chart creation unit 101 is able to refer to the basic action storage unit 112, and when creating a YOGO chart 200, the basic actions 206 can be entered while referring to the basic action storage unit 112. Then, once the YOGO chart 200 is completed, it is saved in the chart storage unit 102.

The chart reading unit 111 of the control program generation device 110 reads the YOGO chart 200 stored in the chart storage unit 102 and outputs it to the intermediate data generation unit 113. The intermediate data generation unit 113 analyzes the read YOGO chart 200 to generate intermediate data (described below), and then outputs the intermediate data to the intermediate data conversion unit 114. The process of generating intermediate data from a YOGO chart will be explained in detail later. Note that instead of reading the YOGO chart 200 from the chart storage unit 102, the chart reading unit 111 may read the YOGO chart 200 from a computer 50 provided separately from the control device 100.

When the intermediate data conversion unit 114 receives the intermediate data, it generates a control program from the intermediate data by referencing the basic operation storage unit 112. The method for generating a control program from the intermediate data will be explained in detail later. The obtained control program is then output to the operation control device 120, which will be described later. Note that in this embodiment, the intermediate data generation unit 113 and the intermediate data conversion unit 114 correspond to the "control program generation unit" in the present invention.

F-2. Control program generation process:
15 is a flowchart showing an outline of the control program generation process executed by the control program generator 110. As shown in the figure, the control program generation process first reads a YOGO chart (STEP 1). In this example, the YOGO chart 200 shown in FIG. 16 is read.

In the YOGO chart 200 of Figure 16, parallel periods 210 are set in two locations: in the range of partial periods with partial period numbers 3 to 7, and in the range of partial periods with partial period numbers 6 to 10. In the first parallel period 210, surrounded by a dashed line in the figure, six parallel partial periods 212 with partial period numbers A1 to A6 are formed for actuators Ac13 to Ac15, with actuator numbers M of 4 to 6. Furthermore, in the second parallel period 210, surrounded by a dashed line in the figure, three parallel partial periods 212 with partial period numbers B1 to B3 are formed for actuators Ac17 and Ac18, with actuator numbers M of 8 and 9. In the first parallel period 210, actuators Ac13 to Ac15 correspond to the "selected actuators" of the present invention, and in the second parallel period 210, actuators Ac17 and Ac18 correspond to the "selected actuators" of the present invention.

After loading the YOGO chart 200 in STEP 1 of Figure 15, the YOGO chart 200 is separated into a portion formed by the normal sub-period 211 and a portion formed by the parallel sub-period 212 (STEP 2). Note that, hereinafter, the portion of the YOGO chart 200 formed by the parallel sub-period 212 will be referred to as the "local chart." Furthermore, the portion of the YOGO chart 200 excluding the local chart (i.e., the portion formed by the normal sub-period 211) will be referred to as the "main chart."

Figure 17 is an explanatory diagram showing the main chart 200M separated from the YOGO chart 200 of Figure 16. The areas surrounded by dashed lines and double-dashed lines in the figure are the areas where local charts were incorporated. Figure 18 is an explanatory diagram showing the local chart 200L that was incorporated in the area surrounded by dashed lines in Figure 17. Figure 19 is an explanatory diagram showing the local chart 200L that was incorporated in the area surrounded by dashed lines in Figure 17. Note that in the local chart 200L extracted from the YOGO chart 200, the partial period numbers have been renumbered starting from 1 (see Figures 18 and 19).

After separating the YOGO chart 200 into the main chart 200M and the local chart 200L in STEP 2 of Figure 15, intermediate data generation processing such as the one described below is performed on the main chart 200M to generate intermediate data 300M for the main chart 200M (STEP 3).

Figure 20 is a flowchart of the intermediate data generation process. This process is executed by the intermediate data generation unit 113 in the control program generation device 110. As shown, the intermediate data generation process first initializes the partial period number N and actuator number M to "1" (STEP 10). Next, it is determined whether a basic action has been entered at chart coordinates (M, N) on the YOGO chart (here, main chart 200M) (STEP 11). Note that chart coordinates (M, N) are the coordinate position on the YOGO chart 200 specified by the combination of actuator number M and partial period number N. Immediately after initializing the partial period number N and actuator number M in STEP 10, both N and M are "1," so it is determined whether a basic action has been entered at chart coordinates (1, 1) on the YOGO chart.

In the case of the main chart 200M shown in FIG. 17, no basic action is entered at chart coordinate (1,1), so STEP 11 returns "no" and it is then determined whether or not the actuator number M has reached its final value (STEP 14). The main chart 200M shown in FIG. 17 has nine actuators Ac10 to Ac18, so the final value of actuator number M is 9. Therefore, after checking whether or not a basic action exists at chart coordinate (1,1), STEP 14 returns "no," so actuator number M is incremented by 1 (STEP 15). The incremented actuator number M is then used to again determine whether or not a basic action has been entered at chart coordinate (M,N) (STEP 11).

In this way, while the partial period number N remains at "1," the actuator number M is incremented by one, and a determination is made as to whether a basic operation has been entered at chart coordinate (M, 1). When the chart coordinate (M, 1) at which a basic operation has been entered is reached, a "yes" determination is made in STEP 11.

If the answer in STEP 11 is "yes," the action symbol 206a and parameter symbol 206b of the basic action written at that chart coordinate are read (STEP 12). In the main chart 200M illustrated in Figure 17, when the chart coordinate (3,1) is reached, the answer in STEP 11 is "yes," and the action symbol 206a and parameter symbol 206b of the basic action 206 written at the chart coordinate (3,1) on the main chart 200M are read. Note that, in order to avoid cluttering the illustration, the parameter symbol 206b is omitted from the main chart 200M in Figure 17.

Next, data including the chart coordinates (M, N) where the basic action 206 was read and the read action symbol 206a and parameter symbol 206b (hereinafter referred to as intermediate data (N, M, action symbol, numerical table)) is stored in memory (STEP 13). After the intermediate data read from the YOGO chart is stored in memory in this way (STEP 13), it is determined whether the actuator number M has reached the final value (9 in this case) (STEP 14). As a result, if the final value has not been reached (STEP 14: no), the actuator number M is incremented by 1 (STEP 15), and the process returns to STEP 11, where it is again determined whether a basic action has been entered at the chart coordinates (M, N) on the YOGO chart.

On the other hand, if actuator number M has reached its final value (STEP 14: yes), then it is determined whether partial period number N has reached its final value (STEP 16). In the main chart 200M illustrated in Figure 17, the last partial period number is 12, so the final value of partial period number N is 12.

If the sub-period number N has not yet reached its final value (STEP 16: no), the sub-period number N is incremented by one (STEP 17), the actuator number M is initialized to "1" (STEP 18), and the process returns to STEP 11 to again determine whether a basic operation has been entered at the chart coordinate (M, N) on the YOGO chart. In this way, the sub-periods with sub-period number N of 1 are checked from top to bottom, and then the sub-periods with sub-period number N of 2 are checked from top to bottom. After checking sub-period number 2, the sub-periods with sub-period number N of 3 are checked, and so on. The basic operations entered on the YOGO chart are read out and the intermediate data is stored in memory, starting with the sub-periods with the smallest sub-period number N and progressing to the largest sub-periods. This process is then repeated until it is determined that the sub-period number N has finally reached its final value (STEP 16: yes), meaning that all basic operations entered on the YOGO chart have been read out. Therefore, the intermediate data stored in memory is read out and output to the intermediate data conversion unit 114 (see Figure 14) (STEP 19).

Figure 21 shows an example of intermediate data 300M generated from the main chart 200M shown in Figure 17. As shown, intermediate data 300 is a collection of sets of data (hereinafter referred to as "data records") each consisting of a partial period number N, an actuator number M, an operation symbol 206a, and a parameter symbol 206b, arranged in that order. The partial period number N in each data record can take any value from 1 to the final value of partial period number N, and the actuator number M can take any value of the actuator number M listed on the YOGO chart. Every partial period number N on the YOGO chart is always listed in one of the data records, and every actuator number M listed on the YOGO chart is always listed in one of the data records. Once this intermediate data 300M has been output, the intermediate data generation process of Figure 20 ends, and the process returns to the control program generation process of Figure 15.

Once the intermediate data 300M for the main chart 200M has been generated in this way, the start and end positions of the local chart 200L are added to the intermediate data 300M (STEP 4). In the YOGO chart 200 shown in FIG. 16, the first parallel period 210, surrounded by a dashed dotted line, has partial period numbers set in the range of 3 to 7, so the start position of the first local chart 200L is the partial period with partial period number 3, and the end position of the local chart 200L is the partial period with partial period number 7. Therefore, a data record indicating the start of the first local chart 200L is added to the last position of the data record with partial period number 3 in the intermediate data 300. Furthermore, a data record indicating the end of the first local chart 200L is added to the last position of the data record with partial period number 7 in the intermediate data 300.

Figure 22 is an explanatory diagram showing intermediate data 300M to which the start and end positions of local chart 200L have been added. The data record (3,0,lclchrt1-str) shown in the figure is data record 207, which represents the start position of local chart 200L, and the data record (7,0,lclchrt1-end) is data record 208, which represents the end position of local chart 200L. Here, the data "lclchrt1-str" in data record 207, which represents the start position, indicates that the first local chart 200L starts, and the data "lclchrt1-end" in data record 208, which represents the end position, indicates that the first local chart 200L ends. Furthermore, the leading data in these data records indicates the partial period number at which local chart 200L starts or ends. Furthermore, the second-to-first data value in these data records is "0," indicating that these data records are data records that indicate the start or end position of the local chart 200L. That is, in normal data records (data records that indicate the basic operation of an actuator), the second-to-first data value represents the actuator number M, which is a natural number starting from "1" and therefore never "0." Therefore, the fact that the second-to-first data value in a data record is "0" indicates that these data records are not normal data records that indicate the basic operation of an actuator, but rather data records related to the local chart 200L.

Similarly, for the second local chart 200L shown in FIG. 16, the start and end positions of the local chart 200L are added to the intermediate data 300 of the main chart 200M. That is, because the partial period numbers for the second local chart 200L are set in the range of 6 to 10, the start position of the second local chart 200L is the partial period with partial period number 6, and the end position is the partial period with partial period number 10. Therefore, as shown in FIG. 22, data record 207 (6,0,lclchrt2-str) indicating the start position of the second local chart 200L is added to the last position of the data record with partial period number 6 in the intermediate data 300, and data record 208 (10,0,lclchrt2-end) indicating the end position of the second local chart 200L is added to the last position of the data record with partial period number 10. Here, the data "lclchrt2-str" indicates that the second local chart 200L is starting, and the data "lclchrt2-end" indicates that the second local chart 200L is ending.

Once the start and end positions of the local chart 200L have been added to the intermediate data 300M of the main chart 200M in this way (STEP 4 in Figure 15), intermediate data 300L for the local chart 200L is then generated (STEP 5). As mentioned above, the two local charts 200L shown in Figures 18 and 19 are extracted from the YOGO chart 200 shown in Figure 16, so the intermediate data generation process of Figure 20 is applied to each local chart 200L. In this way, the intermediate data 300L shown in Figure 23(a) is generated from the local chart 200L in Figure 18, and the intermediate data 300L shown in Figure 23(b) is generated from the local chart 200L in Figure 19.

The intermediate data 300M for the main chart 200M and the intermediate data 300L for the two local charts 200L obtained in this way are converted into their respective control programs 400 (STEP 6). Note that, hereinafter, the control program 400 obtained by converting the intermediate data 300M for the main chart 200M will be referred to as the "main program," and the control program 400 obtained by converting the intermediate data 300L for the local chart 200L will be referred to as the "local program."

Figure 24 is an explanatory diagram of the main program 400M obtained by converting the intermediate data 300M of the main chart 200M shown in Figure 22. Also, Figures 25(a) and 25(b) are explanatory diagrams of the local program 400L obtained by converting the intermediate data 300L of the local chart 200L shown in Figures 23(a) and 23(b), respectively. For ease of explanation, the local program 400L will be described first.

As shown in Figures 25(a) and 25(b), local program 400L is a collection of sets of data (i.e., data records) each consisting of a partial period number N, an actuator number M, a program element number P, and a parameter value V, arranged in that order. A comparison of the data records of intermediate data 300L shown in Figures 23(a) and 23(b) with the data records of local program 400L shown in Figures 25(a) and 25(b) reveals that in the data records of local program 400L, operation symbol 206a in the data records of intermediate data 300L is replaced with the program element number P corresponding to that operation symbol 206a, and parameter symbol 206b in the data records of intermediate data 300 is replaced with the parameter value V corresponding to that parameter symbol 206b. Each local program 400L generated in this manner is assigned a unique identification number and stored in a memory (not shown) of control program generation device 110 shown in Figure 14.

The intermediate data 300M for the main chart 200M can also be converted into the main program 400M in a similar manner. However, as described above using Figure 22, a data record 207 indicating the start position of the local chart 200L and a data record 208 indicating the end position have been added to the intermediate data 300M for the main chart 200M. These data records are converted as follows:

First, the data record 207 indicating the start position is a data record consisting of the partial period number N, "0," and data indicating the start of the local chart 200L, in that order. Here, the second data "0" indicates that this data record is a data record related to the local chart 200L. Therefore, the first two data are used as is as data for the main program 400M. The third data (data indicating the start of the local chart 200L) is converted to "1," which represents the start of the local chart 200L. Furthermore, the fourth data is stored as the identification number of the local program 400L generated from the local chart 200L. The data record 401 in the main program 400M shown in Figure 24 is a data record generated in this way from the data record 207 indicating the start position. For example, the data record 401 (3, 0, 1, 100) in Figure 24 indicates that the local program 400L started in the partial period with partial period number 3, and that the identification number of that local program 400L is "100."

The data record 208 indicating the end position is also converted in a similar manner. That is, the first two pieces of data in the data record 208 indicating the end position are used as data for the main program 400M as is. The third piece of data (the data indicating the end of the local chart 200L) is converted to "0," which represents the end of the local chart 200L. A fourth piece of data is then added, and this data stores the identification number of the local program 400L that is ending. The data record 402 in the main program 400M shown in Figure 24 is a data record generated in this way from the data record 208 indicating the end position. For example, the data record 402 (7, 0, 0, 100) in Figure 24 indicates that the local program 400L ended in the partial period with partial period number 7, and that the identification number of that local program 400L is "100."

The operation of converting intermediate data 300M and intermediate data 300L into main program 400M and local program 400L as described above is performed by the intermediate data conversion unit 114 in FIG. 14 by referencing the basic operation memory unit 112. That is, the basic operation memory unit 112 stores operation symbols 206a in association with program element numbers (see FIG. 5). Furthermore, the basic operation memory unit 112 stores parameter symbols 206b in association with parameter values V set for the parameter symbols 206b, as illustrated in FIG. 7. Therefore, by referencing these, the intermediate data conversion unit 114 replaces the operation symbols 206a and parameter symbols 206b in the intermediate data with program element numbers P and parameter values V.

Once the main program 400M and local program 400L have been generated from the intermediate data 300M and intermediate data 300L in this manner (STEP 6 in Figure 15), the generated main program 400M and local program 400L are output to the operation control device 120 (STEP 7), and the control program generation process in Figure 15 is completed.

G. Overview of controlling automated manufacturing machines using control programs:
The operation control device 120 of the control device 100 stores the control program (i.e., the main program 400M and the local program 400L) received from the control program generation device 110 in a memory not shown, and controls the operation of the automatic manufacturing machine as follows.

Figures 26 and 27 are flowcharts of the operation control process in which the operation control device 120 controls the operation of an automatic manufacturing machine using a control program. When the operation control process begins, the main program 400M stored in memory is first read (STEP 50). Then, after setting the partial period number N to 1 (STEP 51), the data record with the set partial period number N is extracted from each data record in the main program 400M (STEP 52).

Immediately after the operation control process begins, the partial period number N is set to 1, so the data record (1, 3, 1, 15, 50, 100) is extracted from the main program 400M in Figure 24. Here, the first number in the data record is the partial period number N, the second number is the actuator number M, and the third number is the program element number P. Furthermore, the fourth through sixth numbers in the record are the parameter value V specified for the program element. Therefore, the actuator to be controlled is identified based on the actuator number M in the data record (STEP 53), and a command to be output to the actuator is generated based on the program element number P and parameter value V (STEP 54).

Then, it is determined whether or not a data record 401 indicating the start of local program 400L exists among the data records with partial period number N extracted in STEP 52 (STEP 55). In the case of main program 400M in Figure 24, there is no data record 401 indicating the start of local program 400L among the data records with partial period number N of 1, so the determination in STEP 55 is "no." Then, control of the actuator operation is started by outputting the command generated in STEP 54 to the actuator to be controlled identified in STEP 53 (STEP 56).

Next, it is determined whether all actuators whose control was started in STEP 56 have finished operating (STEP 58 in Figure 27). If there are any actuators that have not yet finished operating (STEP 58: no), the determination in STEP 58 is repeated, and the system enters a standby state until all actuators have finished operating. If it is determined that all actuators have finished operating (STEP 58: yes), it is determined whether a data record indicating the end of local program 400L exists among the data records extracted in STEP 52 (STEP 59). If partial period number N is 1, there should be no data record indicating the end of local program 400L, so the determination in STEP 59 is "no."

Next, it is determined whether the partial period number N has reached its final value (STEP 61). If the partial period number N is 1, the partial period number N has not yet reached its final value (STEP 61: no), so after incrementing the partial period number N by 1 (STEP 62), the process returns to STEP 52 in FIG. 26 and extracts a data record with a new partial period number N from the main program 400M. The above-described series of operations are then performed on the extracted data record. That is, the actuator to be controlled is identified (STEP 53), a command is generated for the identified actuator (STEP 54), and it is determined whether a data record indicating the start of the local program 400L is present among the extracted data records (STEP 55). In the case of the main program 400M illustrated in FIG. 24, if a data record with a partial period number N of 2 is extracted, no data record indicating the start of the local program 400L is present. However, if a data record with a partial period number N of 3 is extracted, it is determined that a data record indicating the start of the local program 400L is present.

If it is determined in STEP 55 that no data record indicating the start of local program 400L exists (STEP 55: no), control is initiated by outputting the command generated in STEP 54 to the actuator to be controlled identified in STEP 53 (STEP 56). On the other hand, if it is determined that a data record indicating the start of local program 400L exists (STEP 55: yes), the local program 400L identified by the identification number in that data record is started (STEP 57), and then control is initiated by outputting a command to the actuator to be controlled (STEP 56). Note that starting the local program 400L initiates the local program execution process, which will be described later.

Then, a determination is made as to whether all actuators have completed operation (STEP 58 in FIG. 27). If there are actuators that have not yet completed operation (STEP 58: no), the determination in STEP 58 is repeated to enter a standby state. Then, once all actuators have completed operation (STEP 58: yes), a determination is made as to whether a data record indicating the end of local program 400L exists among the data records extracted in STEP 52 (STEP 59). If a data record indicating the end of local program 400L exists (STEP 59: yes), a determination is made as to whether the local program 400L scheduled to terminate has terminated (STEP 60). If the local program 400L has not yet terminated (STEP 60: no), the determination in STEP 60 is repeated to enter a standby state. Then, once the local program 400L scheduled to terminate has terminated (STEP 60: yes), a determination is made as to whether the partial period number N has reached its final value (STEP 61). As a result, if the partial period number N has not reached the final value (STEP 61: no), the partial period number N is incremented by one (STEP 62), and then the program returns to STEP 52 in FIG. 26 to extract the data record with the new partial period number N from the main program 400M.

In this way, after performing steps 52 to 61 while incrementing the partial period number N by one, when it is determined that the partial period number N has finally reached its final value (step 61: yes), the operation control process shown in Figures 26 and 27 ends.

Furthermore, when the local program 400L is started in STEP 57 of the above-mentioned operation control processing, the following local program execution processing begins. Figures 28 and 29 are flowcharts of the local program execution processing started during the above-mentioned operation control processing. Comparing the above-mentioned operation control processing and local program execution processing, the only difference is that the operation control processing executes the main program 400M, while the local program execution processing executes the local program 400L. Therefore, the processing content of the local program execution processing is almost the same as the processing content of the above-mentioned operation control processing, with the only difference being that another local program 400L is not started from the local program execution processing. Therefore, a brief explanation of the local program execution processing will be given, focusing on this difference.

When the local program execution process starts, the local program 400L identified by the identification number is first read (STEP 70). The identification number was specified when the local program 400L was started in the operation control process described above (see STEP 57 in Figure 26). The local program 400L was also stored in memory by the control program generation process described above with reference to Figure 15 (see STEP 7).

Next, after setting the partial period number N to 1 (STEP 71), the data record with the set partial period number N is extracted from each data record of the local program 400L (STEP 72). Then, the actuator to be controlled is identified based on the actuator number M in the data record (STEP 73), and a command to be output to the actuator is generated based on the program element number P and parameter value V (STEP 74).

The operation control process described above then determines whether a data record 401 indicating the start of a local program 400L exists (STEP 55 in Figure 26). However, in this embodiment, it is assumed that a local program 400L will not start another local program 400L, so the local program execution process does not make a determination corresponding to STEP 55 in Figure 26.

Then, a command is output to the actuator to be controlled, thereby starting control of the actuator's operation (STEP 75). Next, a determination is made as to whether all actuators have completed their operations (STEP 76). If there are any actuators that have not yet completed their operations (STEP 76: no), the determination in STEP 76 is repeated to enter a standby state. Then, once it is determined that all actuators have completed their operations (STEP 76: yes), a determination is made as to whether the partial period number N has reached its final value (STEP 77 in FIG. 29). Note that in the operation control process described above, a determination is made as to whether there is a local program 400L to be terminated (STEP 59 in FIG. 27) before determining whether the partial period number N has reached its final value. However, in this embodiment, a local program 400L is not allowed to start another local program 400L, and therefore the determination corresponding to STEP 59 in FIG. 27 is not made in the local program execution process.

If the result of determining whether partial period number N has reached the final value is that it has not (STEP 77: no), partial period number N is incremented by one (STEP 78), and then processing returns to STEP 72 of FIG. 28 to extract the data record with the new partial period number N from the local program 400L. On the other hand, if partial period number N has reached the final value (STEP 77: yes), this means that the local program 400L has ended, and the local program execution processing shown in FIGS. 28 and 29 is terminated.

As explained in detail above, by making the structure of the YOGO chart 200 a partially parallel structure, it is possible to reduce the waiting time for each actuator to operate. Therefore, by controlling the operation of an automatic manufacturing machine using a control program 400 automatically generated from the YOGO chart 200, it is possible to shorten the overall operating time from when the automatic manufacturing machine starts to when it finishes operating.

H. Variations:
There are several variations of the present embodiment described above, and the variations will be described below, focusing on the differences from the present embodiment.

H-1. First modified example:
In the above-described embodiment, the local chart 200L is directly entered into the YOGO chart 200 (see FIG. 16 ). However, it is also possible to enter a local chart symbol in the YOGO chart 200 indicating the presence of the local chart 200L, and create the local chart 200L separately from the YOGO chart 200.

Figure 30 is an explanatory diagram of a YOGO chart 200 of the first modified example, in which a local chart symbol 220 has been entered. In the illustrated example, an operating line 221 shown as a dashed dotted line is entered for actuator number M=4 and partial period number N=3 through 7. Above the operating line 221, a local chart symbol 220, "lclchrt1," is entered following a white star. The starting point 222, indicating the start position of the operating line 221, is represented by a white square, and the ending point 223, indicating the end position of the operating line 221, is represented by a black square. Similarly, for the horizontal columns (i.e., rows) in which actuator numbers M=5 and 7, an operating line 221 shown as a dashed dotted line is entered for partial period number N=3 through 7, and above the operating line 221, a local chart symbol 220, "lclchrt1," is entered. These descriptions indicate that, in the range of partial period numbers N from 3 to 7, the operations of actuators Ac13, Ac14, and Ac16, whose actuator numbers M are 4, 5, and 7, respectively, are described on the local chart 200L identified by the local chart symbol 220. Therefore, the range of partial period numbers N from 3 to 7 constitutes the parallel period 210, and in this parallel period 210, actuators Ac13, Ac14, and Ac16, whose actuator numbers M are 4, 5, and 7, correspond to the "selected actuators" of this invention.

In addition, in the YOGO chart 200 shown in Figure 30, when actuator numbers M are 8 and 9 and partial period numbers N are 6 to 10, a local chart symbol 220 reading "lclchrt2" is written above the dashed-two-dot local chart symbol 220. This indicates that when partial period numbers N are 6 to 10, the operations of actuators Ac17 and Ac18, whose actuator numbers M are 8 and 9, are also written in the local chart 200L identified by the local chart symbol 220. Therefore, the range of partial period numbers N from 6 to 10 also becomes a parallel period 210, and in this parallel period 210, actuators Ac17 and Ac18, whose actuator numbers M are 8 and 9, correspond to the "selected actuators" of this invention.

Figure 31 is an explanatory diagram illustrating a local chart 200L corresponding to the local chart symbol 220 "lclchrt1." The illustrated local chart 200L shows the basic operations of actuators Ac13, Ac14, and Ac16, with actuator numbers M of 4, 5, and 7, for six partial periods, numbered 1 through 6. The reason the actuators whose basic operations are shown in the local chart 200L are these three actuators Ac13, Ac14, and Ac16 is because the actuators shown in the YOGO chart 200 of Figure 30 with the local chart symbol 220 "lclchrt1" are these three actuators Ac13, Ac14, and Ac16. Furthermore, the parallel period 210 in the YOGO chart 200 of Figure 30 with the local chart symbol 220 "lclchrt1" is made up of five partial periods, numbered 3 through 7. Therefore, while the five partial periods with partial period numbers 3 to 7 on the YOGO chart 200 in Figure 30 progress, six partial periods on the local chart 200L shown in Figure 31 progress.

Figure 32 is an explanatory diagram illustrating a local chart 200L corresponding to the local chart symbol 220 "lclchrt2." The illustrated local chart 200L shows the basic operations of two actuators Ac17 and Ac18, whose actuator numbers M are 8 and 9, for three partial periods, numbered 1 to 3. The reason these two actuators Ac17 and Ac18 are the actuators whose basic operations are shown in the local chart 200L is because these two actuators Ac17 and Ac18 are the actuators shown in the YOGO chart 200 of Figure 30 for which the local chart symbol 220 "lclchrt2" is shown. Furthermore, the parallel period 210 shown in the YOGO chart 200 of Figure 30 for which the local chart symbol 220 "lclchrt2" is shown is made up of five partial periods, numbered 6 to 10. Therefore, while the five partial periods with partial period numbers 6 to 10 progress in the YOGO chart 200 in Figure 30, three partial periods in the local chart 200L shown in Figure 32 progress.

As described above, by marking the local chart symbol 220 on the YOGO chart 200 and creating a local chart 200L corresponding to the local chart symbol 220 separately from the YOGO chart 200, it is possible to create a YOGO chart 200 that is partially parallel to the present embodiment described above. Therefore, for the same reasons as the present embodiment described above, it is possible to shorten the overall operating time of the automatic manufacturing machine.

Furthermore, by using the method of the first variant described above, it is only necessary to write the local chart symbol 220 on the YOGO chart 200, so the writing of the YOGO chart 200 does not become complicated. As a result, it is possible to reduce the possibility of making mistakes when creating a YOGO chart 200 with some parts parallelized or when understanding the contents of the YOGO chart 200.

H-2. Second modified example:
In the first modified example described above, it has been explained that one type of local chart 200L is set for one parallel period 210. For example, in the YOGO chart 200 illustrated in Fig. 30 , a local chart 200L called "localchart1" is set for the parallel periods 210 with partial period numbers 3 to 7, and a local chart 200L called "localchart2" is set for the parallel periods 210 with partial period numbers 6 to 10. However, it is also possible to set multiple types of local charts 200L with different numbers of parallel partial periods 212 for one parallel period 210.

For example, in the YOGO chart 200 illustrated in FIG. 33, partial periods with partial period numbers 3 through 7 are grouped together into a parallel period 210. In this parallel period 210, a local chart symbol 220 called "lclchrt1" is entered for the three actuators with actuator numbers M of 4, 5, and 7, and a local chart symbol 220 called "lclchrt2" is entered for the two actuators with actuator numbers M of 8 and 9. Here, the local chart symbol 220 called "lclchrt1" indicates a local chart 200L called "localchart1" that describes operations over six partial periods (see FIG. 31), and the local chart symbol 220 called "lclchrt2" indicates a local chart 200L called "localchart2" that describes operations over three partial periods (see FIG. 32).

In this way, by setting multiple types of local charts 200L with different numbers of parallel partial periods 212 for one parallel period 210, it becomes possible to more flexibly record the operation of each actuator on the YOGO chart 200. As a result, it becomes possible to further reduce the occurrence of "waiting times" in which an actuator's operation has finished but the next operation cannot be started because another actuator's operation has not yet finished.

Furthermore, if the operations of the normal sub-period 211 within the parallel period 210 (i.e., the operations of actuators whose operations are not described in the local chart 200L) are summarized in a chart (hereinafter referred to as the global chart 200G) separate from the local chart 200L, the description of the YOGO chart 200 can be simplified.

For example, in the parallel period 210 of the YOGO chart 200 illustrated in FIG. 33, the operations of three actuators Ac13, Ac14, and Ac16 with actuator numbers M 1, 5, and 7, and two actuators Ac17 and Ac18 with actuator numbers M 8 and 9, are shown in the local chart 200L in FIGS. 31 and 32. However, the operations of the other actuators (four actuators Ac10 to Ac12 and Ac15 with actuator numbers M 1 to 3 and 6) are not shown in the local chart 200L. Therefore, the operations of these actuators are shown in the global chart 200G, as illustrated in FIG. 34. Then, in the parallel period 210 of the YOGO chart 200, by displaying a global chart symbol 230 corresponding to the global chart 200G, it may be possible to indicate that the operation of these actuators (four actuators Ac10-Ac12, Ac15 with actuator numbers M 1-3 and 6) is displayed on the global chart 200G.

In the YOGO chart 200 shown in Figure 35, a global chart symbol 230 called "glblchrt1" is written during the parallel period 210 at positions where actuator numbers M are 1 to 3 and 6. This indicates that the operation of actuators Ac10 to Ac12 and Ac15 with actuator numbers M of 1 to 3 and 6 is written in a global chart 200G called "globalchart1." As is clear from a comparison of the YOGO chart 200 in Figure 35 written using the global chart symbol 230 with the YOGO chart 200 in Figure 33 written without the global chart symbol 230, the use of the global chart symbol 230 simplifies the writing of the YOGO chart 200.

Furthermore, the YOGO chart 200 illustrated in FIG. 35 also displays information that the parallel period 210 is made up of five sub-periods (sub-periods numbered 3 to 7). However, in reality, only either the local chart symbol 220 or the global chart symbol 230 is shown throughout the five sub-periods that make up the parallel period 210, and there is little need to display that the parallel period 210 is made up of five sub-periods. Furthermore, this information can be obtained from the number of sub-periods that make up the global chart 200G, so there is no need to display it on the YOGO chart 200.

As shown in Figure 36, the five partial periods (partial periods with partial period numbers 3 to 7) that make up the parallel period 210 can be aggregated into the first partial period (partial period with partial period number 3), and the local chart symbol 220 or global chart symbol 230 can be written in this single aggregated partial period. This makes it possible to further simplify the writing of the YOGO chart 200.

The above describes the control program generation device 110 in this embodiment and modified examples, but the present invention is not limited to the above embodiment and modified examples, and can be implemented in various forms without departing from the spirit of the present invention.

For example, in the above-described embodiment and modified example, it has been explained that the parallel period 210 is not set in the local chart 200L. However, the parallel period 210 may be set in the local chart 200L, and the local chart 200L may be set in the parallel period 210 of that local chart 200L.

10... Pipe bender, 11... Rail, 12... Conveying unit,
12a...gripping shaft, 12b...chuck, 13...processing unit,
50...computer, 100...control device, 100m...monitor screen,
100s...operation input button, 101...chart creation unit,
102...chart storage unit, 110...control program generating device,
111...Chart reading unit, 112...Basic operation storage unit,
113... intermediate data generation unit, 114... intermediate data conversion unit,
120...Motion control device, 200...YOGO chart,
200G...Global chart, 200L...Local chart,
200M...Main chart, 201...Divider line, 202...Trigger line,
203...Motion line, 204...Start point, 205...End point, 206...Basic movement,
206a...operation symbol, 206b...parameter symbol,
207, 208...data records; 210...parallel period;
211... Normal partial period, 212... Parallel partial period,
220...Local chart symbol; 221...Operation line; 222...Start point;
223...End point, 230...Global chart symbol,
300, 300L, 300M... intermediate data, 400... control program,
400L...Local program, 400M...Main program,
401, 402...data records, Ac10 to Ac18...actuators,
DA10-18...driver amplifier.

Claims (4)

A control program generator (110) for generating a control program (400) for an automated manufacturing machine (10) having a plurality of actuators, comprising:
a basic operation storage unit (112) that stores basic operations in which the actuator operates in the direction of the degree of freedom of the actuator by a specified operation amount, in association with program elements that realize the basic operations;
an operation chart reading unit (111) that reads an operation chart (200) in which an operation period from when the automatic manufacturing machine starts to when it finishes its operation is divided into a plurality of partial periods, the operation of the automatic manufacturing machine is broken down into a plurality of basic operations, and the basic operations are assigned to any one of the plurality of partial periods, thereby describing the operation of the automatic manufacturing machine;
a control program generation unit (113, 114) that generates the control program for operating the automatic manufacturing machine by combining the program elements of the plurality of basic operations assigned to the plurality of partial periods on the operation chart in accordance with the order of the partial periods on the operation chart,
The operation chart read by the operation chart reading unit is
Two or more consecutive partial periods among the plurality of partial periods are grouped together to form a parallel period (210);
In the parallel period, a plurality of the partial periods and a plurality of parallel partial periods (212) that divide the parallel period are formed in parallel,
the basic operation of a selected actuator selected from the plurality of actuators is assigned to the parallel partial period of the parallel period,
the basic operation of the actuator other than the selected actuator is assigned to the partial period of the parallel period;
The control program generation unit
The program elements of the basic operations assigned to the parallel sub-periods within the parallel period are combined in accordance with the order of the parallel sub-periods;
a control program generating device for generating the control program by combining the program elements of the basic operations assigned to the partial periods within the parallel period in accordance with the order of the partial periods. 2. The control program generating device according to claim 1,
the operation chart reading unit also reads a local chart (200L) that is created for the parallel period of the operation chart and in which the basic operation of at least one of the selected actuators is assigned to each of the parallel partial periods of the parallel period, separately from the operation chart;
a local chart symbol (220) unique to the local chart is assigned to the parallel period of the operation chart read by the operation chart reading unit. A control program generation method for generating a control program (400) for an automated manufacturing machine (10) having a plurality of actuators by a computer, comprising:
an operation chart reading step (STEP 1) for reading an operation chart (200) in which an operation period from when the automatic manufacturing machine starts to when it finishes its operation is divided into a plurality of partial periods, the operation of the automatic manufacturing machine is decomposed into a plurality of basic operations in which the actuator moves in the direction of the degree of freedom of the actuator by a specified operation amount, and the basic operation is assigned to any one of the plurality of partial periods, thereby describing the operation of the automatic manufacturing machine;
a control program generation step (STEP 4 to STEP 6) of converting the basic operations described in the operation chart into program elements by referring to a correspondence relationship in which the basic operations described in the operation chart and program elements for realizing the basic operations are associated and stored, and combining the program elements in accordance with the order of the partial periods, thereby generating the control program for operating the automatic manufacturing machine;
The operation chart read in the operation chart reading step is
Two or more consecutive partial periods among the plurality of partial periods are grouped together to form a parallel period (210);
In the parallel period, a plurality of the partial periods and a plurality of parallel partial periods (212) that divide the parallel period are formed in parallel,
the basic operation of a selected actuator selected from the plurality of actuators is assigned to the parallel partial period of the parallel period,
the basic operation of the actuator other than the selected actuator is assigned to the partial period of the parallel period;
The control program generation step includes:
The program elements of the basic operations assigned to the parallel sub-periods within the parallel period are combined in accordance with the order of the parallel sub-periods;
a control program generating method for generating the control program by combining the program elements of the basic operations assigned to the partial periods within the parallel period in accordance with the order of the partial periods. A program for implementing a method for generating a control program (400) for an automated manufacturing machine (10) having a plurality of actuators using a computer, the program comprising:
an operation chart reading function (STEP 1) for reading an operation chart (200) in which an operation period from when the automatic manufacturing machine starts to when it finishes its operation is divided into a plurality of partial periods, the operation of the automatic manufacturing machine is decomposed into a plurality of basic operations in which the actuator moves in the direction of the degree of freedom of the actuator by a specified operation amount, and the basic operation is assigned to any one of the plurality of partial periods, thereby describing the operation of the automatic manufacturing machine;
a control program generation function (STEP 4 to STEP 6) that converts the basic operations described in the operation chart into program elements by referring to correspondences stored between the basic operations described in the operation chart and program elements for realizing the basic operations, and combines the program elements in accordance with the order of the partial periods to generate the control program that operates the automatic manufacturing machine;
The operation chart read by the operation chart reading function is
Two or more consecutive partial periods among the plurality of partial periods are grouped together to form a parallel period (210);
In the parallel period, a plurality of the partial periods and a plurality of parallel partial periods (212) that divide the parallel period are formed in parallel,
the basic operation of a selected actuator selected from the plurality of actuators is assigned to the parallel partial period of the parallel period,
the basic operation of the actuator other than the selected actuator is assigned to the partial period of the parallel period;
The control program generation function
The program elements of the basic operations assigned to the parallel sub-periods within the parallel period are combined in accordance with the order of the parallel sub-periods;
a function of generating the control program by combining the program elements of the basic operations assigned to the partial periods within the parallel period in accordance with the order of the partial periods.