JPS6236564B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a sequence controller, and more specifically, it is equipped with a microprocessor, a memory, and a keyboard, a program is set in the memory by the keyboard, and when a step condition is met, the program is executed next. The present invention relates to a step-by-step sequence controller that uses a so-called "stoward program" method.

The present inventors set up and execute multiple series of programs in parallel, and linked a predetermined step of one series with a predetermined step of another series using an internal flag as a medium, thereby making it possible to communicate between different programs. We have proposed a sequence controller that can control program transitions arbitrarily and in accordance with the progress of phenomena. The present invention has been made in this regard.

An object of the present invention is to operate multiple series (blocks) of programs in parallel in a step-by-step sequence controller, and to provide a block selection terminal and "reset" and "stop" functions that can be controlled externally.
It is an object of the present invention to provide a sequence controller which is provided with external control input terminals such as "step", "start" and "process stop", and which can perform external control for each block by a combination of both terminals.

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a three-block parallel program according to the present invention will be described below with reference to the drawings.

FIG. 1 shows the configuration of a console front panel according to an embodiment of the present invention.

In the upper left corner is an input/internal flag indicator 1 that displays either the input signal or internal flag as a lamp.
An output display 2 for displaying the output signal with a lamp is provided at the upper right stage. There are 32 inputs and outputs numbered 01 to 32, and 16 internal flags numbered 33 to 48.The internal flag display also serves as the input display lamps numbered 01 to 16. are doing.

In the middle row, from the left, there is a block display 3 that displays the W, X, and Y blocks with lamps, a step display 4 that displays the step number numerically, TIM (time), CNT (count), AND, OR, JMP. (jump), RPT (repetition) SET, 2-OR/AND, etc., and the meaning of the three types of data A, B, and C for each operation. Teaching board 6, data displays 7, 8, and 9 consisting of two-digit numerical displays that display the contents of operation data A, B, and C, operating status display that displays machine operating status such as POWER, RUN, etc. The lamps 10 are arranged in parallel. In addition, data display devices 7, 8, 9
The decimal point display indicates the reset state (NOT) of the internal flag.

A keyboard 11 is provided at the center of the lower stage. Types of keys include number keys 0 to 9, key to instruct timer "TIM", key to instruct counter "CNT", key to instruct AND logic "AND", key to instruct OR logic "OR", jump key. Key "JMP" to instruct repeat, key "RPT" to instruct repeat, key "SET" to instruct setting or resetting of internal flag, 2-AND or 2-OR
``2AND/OR'' key to instruct program termination, ``END'' key to instruct program termination, ``RET'' key to instruct to stop operation when external interrupt occurs, ``NOP'' key to instruct no operation, Key "NOT" to instruct inversion, key "W" to instruct data writing, key "OUT" to instruct output,
Key “PSET” to instruct process set, output
There is a key ``ON'' to instruct ON, a key ``OFF'' to instruct output OFF, a key ``IR'' to check the state of internal flags, and a key ``BLC-INC'' to instruct block switching. In addition, the above “ON”
The "OFF" and "IR" keys are the operating keys for the externally connected cassette tape recorder, "VERI" and "REC."
Also serves as "PLAY".

A mode changeover switch 12 is provided at the lower right end. The modes selected by this switch 12 are "program mode" and "lock mode".
There are three types of "monitor modes". The program mode is used when setting a program from the keyboard 11 into the built-in memory. Lock mode is a mode used when executing control as a sequence controller, and only the "IR" key on the keyboard functions effectively. The monitor mode is a mode used to monitor the contents of a program during control execution, and only the "IR" and "BLC-INC" keys on the keyboard function effectively. The external control input selection switch 13 consists of two return type switches, one of which is used to input "start" or "step", and the other is used to input "reset" or "output ON".
-OFF”. A return type switch is normally located in the center position, and a signal is input only while the switch is pressed up or down with a finger. Each contact of these external control input switches is connected in parallel with the external contact shown in FIG. In the figure, 14 is a terminal for externally connecting a cassette type digital magnetic tape deck.

FIG. 2 shows the electrical configuration of the embodiment of the present invention. The entire device consists of a microprocessor 21 and a bus line 22 connected to the microprocessor, with various module circuits and various memories connected thereto.

Each input signal from the keyboard 11 is converted into a code signal, temporarily stored in the key input interface 24, and sent to the data bus 221 by operating the "W" key. The display device 25 is the first
As explained with the figure, it is composed of an input/internal flag display 1, an output display 2, a block display 3, a step display 4, an operation display 5, and data displays 7, 8, and 9. Each display device is driven and controlled by a display interface 26 which takes in data from a data bus 221 in accordance with control signals from an address bus 222.

32 input terminals I ₁ to _{I 32} are input module 27
are connected to the data bus 221 and sequentially scanned by the data selector built into the input module 27, and the selected signals are sent to the data bus 221 and sent to the CPU 2.
1. The data selector is controlled by address bus 222.

Output signals sent from the sequence controller to the controlled object are outputted to 32 output terminals O ₁ to O ₃₂ via the output module 28 . The output module 28 has a built-in latch circuit with a 32-bit capacity corresponding to each output terminal line, and continues to maintain its output state until the stepping condition is satisfied. The output module 28 is controlled by the address bus 222 and operates by taking in signals from the data bus 221.

Also connected to the bus line 22 is a tape deck interface 34 for externally connecting an audio cassette type magnetic tape.

The memory consists of a system program area 29, a user program area 30, and a working area 31. The system program area 29 consists of read-only memory;
Various routine programs executed in cooperation with the CPU 21 are permanently stored. The user program area 30 is made up of a random access memory, and is an area that can be written or changed using the keyboard 11, and is made up of three program areas W, X, and Y, which will be described later. The working area 31 also consists of random access memory, and is connected to the user program area 30 to W,
It consists of an area for extracting and temporarily storing only the program contents of the step being executed in each block X and Y, and internal flags Nos. 33 to 48.
The CPU 21 performs output control based on these contents. Note that the internal flags are controlled by programming and are used as step conditions in the same way as the inputs _I1 to _I32 .

The structure of the program command words stored in the user program area 30 is shown in FIG. This consists of an 8-bit instruction code 301 that indicates the type of operation, SET-A, and SET-A that indicate the step condition.
Indicates whether the control command to be output after the step condition is satisfied is "ON" or "OFF" for the code 302 with a 3 x 8 bit configuration consisting of B and SET-C and 32 output terminals. It consists of a 32-bit output setting code 303.

The user program area 30 is composed of an area for storing a plurality of program command words shown in FIG. 3, and an example of the overall configuration thereof is shown in FIG. 4. That is, it is composed of W, X, Y3 blocks, and each block is composed of 85 steps from step 01 to step 85.

The external control input 33 is composed of a block selection input and a control input, and these inputs are combined so that each block can be operated from the outside. Input block selection and select “Block W” and “Block X”
There is a ``block Y'' and control inputs include ``reset'', ``stop'', ``step'', ``start'', and ``process stop''. The selected signal is sent to the data bus 221 and taken into the CPU 21. FIG. 7 shows a diagram of the connection terminals arranged on the back surface of the controller, together with the external contacts 34...34.

The functions of each input will be explained below.

When the "reset" input turns ON, operation stops and all outputs are turned OFF, the display device displays the contents of step 0, the contents of various counters return to 0, and all internal flag states are reset. .

When the "stop" input turns ON, operation stops at the step being executed and all outputs turn OFF. However, the internal state is preserved as is. When the "start" input is turned ON, operation starts according to the program from the step being displayed. If the steps are different for each block, operation starts from each different step. When the "process stop" input is turned ON, the progress of the process counter is stopped at the step being executed, and the output status, count timer status, etc. are maintained. Each time the "step" input is turned ON, the process counter is incremented by one step, and the display contents, output status, etc. change accordingly. However, the contents of the timer and counter during counting are cleared at the same time as the next step.

Using such a function, for example, if you want to manually advance a specific block during automatic driving,
By turning on both the block input and the "process stop" input, the progress of that block is stopped, and then the "step" input is turned on.
Manual operation can be performed at any timing by repeating OFF.

An outline of the configuration of the CPU 21 is shown in FIG. A commercially available microprocessor can be used for this.

The CPU 21 includes a timing and control unit 211 including a clock generator, and an instruction decoder 21.
2. Program counter 2 for sending address signals to the instruction register 213, arithmetic unit 214, accumulator 215, and address bus 222.
16, an address buffer 217, a group of other registers 218, a data buffer 219 for sending and receiving data to and from a data bus 221, etc., and each register group 218 stores each program step of the sequence controller. Process step counter 2 defined for each block
24. Clock counter 225 for each block;
Each block includes a counting counter 226 for counting the number of input pulse signals, and a block counter 227 consisting of a ternary ring for outputting WXY block control signals. Data bus 221 consists of 8 lines, and address bus 222 consists of 16 lines.

Next, how the contents of the instruction words of the user program shown in FIG. 3 are determined depending on the type of operation will be explained with reference to FIG. 6.

In the case of the "TIM" command for setting time, as shown in FIG. 6A, minutes are set in SET-A, seconds in SET-B, and 1/10 second in SET-C. Therefore,
You can freely set the time from 0 to 99 minutes 59 seconds 9.

In the case of the "CNT" command that sets the count value, the 6th
As shown in FIG. B, the input terminal number is specified in SET-A, and the count value is set in the four digits SET-B to SET-C. Therefore, a maximum of 9999 can be set.

In the case of the logical operation "AND" instruction, as shown in Figure 6C, input terminal numbers are specified for SET-A, SET-B, and SET-C, and a signal "1" arrives at any input terminal. When this happens, the step condition is satisfied.

For logical operation "OR" instruction, SET-A,
Input terminal numbers are designated for SET-B and SET-C, and the step condition is satisfied when a signal "1" arrives at any one input terminal.

In the case of jump "JMP" command, as shown in Figure 6D, the step condition is satisfied when the input signal of the input terminal number specified in SET-A becomes "1", and then Jump to the specified step. In this command, SET-C and output setting area are not used.

In the case of a repeat "RPT" command, as shown in FIG. 6E, the number of repetitions to be repeated is initially set in SET-A, and the step number to be jumped next during repetition is set in SET-B. Also running CPU21
Under the control of , the contents of SET-A are decremented by -1 each time it is repeated. In this command,
SET-C and output setting area are not used.

In the case of an "END" command indicating the end of the program, the program immediately jumps to the step designated by SET-A, as shown in FIG. 6F. especially,
If the designated step of SET-A is number 0 or 1, the program will continue to start. In this command, SET-B, SET-C, and output designation area are not used.

For the "RET" instruction that specifies return,
Jumps to the original step that was being executed immediately before the external interrupt occurred. In this instruction, Figure 6G
As shown in , none of SET-A, B, C and output setting areas are used.

In the case of a "NOP" instruction that instructs a non-operation, nothing is executed in that step and the process immediately proceeds to the next step. This is useful for steps that are no longer needed due to program changes. Therefore, in the case of this command, none of SET-A, B, C and output setting areas are used, as shown in FIG. 6H.

Negative logic operation "NOT" instruction is not used alone, but "AND", "OR", "CNT", "JMP", "SET"
It is used in conjunction with other commands related to input such as, and is used to modify the input signal. That is, the sixth
As shown in FIG. 1, the input states "1" or "0" of the input terminal numbers designated as SET-A, B, and C are inverted and logically operated.

In the case of the "SET" command that sets internal flags according to input conditions, as shown in Figure 6 J,
Specify the input terminal number in SET-A, SET-B,
Specify the internal flag number in SET-C. At this time, when used together with "NOT", it becomes a reset command for the internal flag, and the data display 8 or 9
The decimal point lights up to indicate this.

Interrupt acceptance processing is performed by specifying one of the input terminals I ₁ to I ₃₂ and the step to jump to, without providing any particular interrupt input terminal. In other words, if "JMP" shown in Figure 6D is set in step 00 of each block, when a signal comes to the input specified in SET-A, it will jump to the step specified in SET-B, and the jump will be Interrupt programs preset after the previous step are executed preferentially.

FIG. 8 shows an excerpt of the main part of a program sheet when three WXY blocks are operated in parallel according to the above embodiment, and FIG. 9 shows an explanatory diagram of its operation.

Link operations between blocks are performed by using the state of internal flags as step conditions for each block. In the "SET" command, when the input condition of SET-A is 00, SET-B and SET are unconditionally
-The internal flag specified by C is set or reset. Therefore, when internal flags 33 and 34 are set at step a of block W, the AND logic of step 1 of block Step forward to
Three blocks proceed in parallel. When internal flag No. 33 is reset by the "SET" command at step c of block Similarly, when internal flag No. 34 is reset by the "SET" command at step d of block Y, it is reset at step e of block W.
The AND logic is established and the program of block Y is integrated into W.

The display during this time is that in the lock mode during operation, "RUN" on the lamp display 10 is lit as long as any block among WXY is operating, and when the mode changeover switch 12 is switched to monitor mode during operation. When the block is selected, the lamp ``RUN'' lights up only when the selected block, that is, the block whose lamp on block display 3 is lit, is in operation, so operate the keys ``BLC-INC'' in sequence to select the block. By switching the blocks, you can individually recognize which blocks are in operation. Also, in lock mode while driving,
Data displays 7, 8, and 9 are block W, respectively.
Displays the step numbers of X and Y being executed.
All three blocks of execution steps can be recognized at the same time.

Using such a link function, three blocks can be connected in cascade and operated in series. In this case, the display contents of the data displays 7, 8, and 9 will be "85, 85, 10" if, for example, both WX blocks are at the 10th step of the Y block after all programs have been completed. From this display, it can be recognized that the Y block is being executed.

Furthermore, if it is desired to start each block W, X, and Y at the same time, the external control inputs can be used to turn on each of the block W, block X, block Y, and start inputs.

According to the present invention, a single sequence controller can control a plurality of control objects while relating them to each other.

[Brief explanation of the drawing]

1 to 9 are drawings related to an embodiment of the present invention, and FIG. 1 is an external front view thereof, and FIG.
3 is a block diagram of the electric circuit, FIG. 3 is a diagram showing the configuration of program command words stored in the user program area 30, FIG. 4 is a diagram showing the step configuration of the user program area 30, and FIG.
21, FIG. 6 is a diagram showing an example of the contents of the instruction word shown in FIG. The figure is an excerpt of a main part of a program sheet when a plurality of blocks are operated in parallel, and FIG. 9 is an explanatory diagram of the operation of the program shown in FIG. 8. 1... Input and internal flag display, 2... Output display, 3... Block display, 11... Keyboard, 21... CPU, 29... System program area, 30... User program area,
31... Working area.

Claims (1)

[Claims] 1. A plurality of input signal terminals, a plurality of output signal terminals, a program memory that stores data specifying the type of operation, step conditions, and output command data for each process step, and a program memory that stores the operation information in the program memory. A sequence controller is equipped with a keyboard for writing the types of data, data values, etc., and a central processing unit, and the program advances to the next step when step conditions are met. A block selection input that selects each of the above-mentioned blocks individually from the outside, increments of the step being executed, stopping the output of that step, stopping the step of the step being executed, starting the program, manual increments. 1. A step-by-step sequence controller, characterized in that it is provided with control inputs such as the following, and is configured such that a program for each block can be externally controlled by a combination of the block selection input and the control input.