JPH0750403B2 - Sequence control method - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a sequence control method for controlling the operation of, for example, a machine tool, and in particular, a sequence capable of easily changing operation and recovering from a failure. Regarding control method.

(Prior Art) In recent years, in the manufacturing industry and the like, it has become common to use a programmable sequence control device for controlling various production machines.

In this way, the spread of the sequence control device is that the user can easily configure a desired circuit by programming, and even when the movement of the machine is changed due to modification etc., the desired circuit can be simply reprogrammed. It is considered that this sequence control device has various characteristics that it can be operated and is inexpensive.

However, even with a sequence control device having such characteristics, since the processing method is usually a relay ladder type, when it is used for a very large production machinery, for example, this production When the program of the sequence control device that controls the mechanical device becomes very huge and complicated, and when the need for repair or modification arises, a great amount of time is required for the repair or modification (some member does not move. However, if there are dozens of such conditions, it will take a lot of time to find the cause that does not move.) . This is because the movement of the machine cannot be grasped just by looking at the ladder diagram.

In order to eliminate such a drawback of the relay ladder type, in recent years, a sequence control device whose processing method is a graph set type is being used. Since this graph set type sequence control device can input the process stroke in response to the movement of the machine, the process steps stored in the sequence control device can be performed when the above-mentioned modification or repair is performed. It is possible to immediately know the movement of the machine by outputting the output and referring to the output processing step. Therefore, modification and repair can be easily performed as compared with the relay ladder type.

In order to control the machine that operates as shown in FIG. 5 by using such a graph set type sequence control device, first, draw a timing chart as shown in FIG. The process steps are input in the order shown in FIG.

In other words, first turn on Y1 to raise the lifter (step 1), the lifter rises to the upper limit, and transition condition X1
When is turned on, Y1 is turned off and Y3 is turned on, and at the same time, Y5 is turned on and clamp 1 and clamp 2 are taken out (steps 2 and 3). Next, transition conditions X3 and X5 turn on, transition condition A
When the work is turned on, in other words, the clamp 1 and the clamp 2 move to the forward limit, and if the work is the A work,
Y3 and Y5 turn off at the same time and Y7 turns on (step 4), A
When the workpiece is processed by a predetermined amount and the transition condition X7 is turned on, Y7 is turned off and Y8 is turned on (step 5). On the other hand, when the transition conditions X3 and X5 turn on and the transition condition B work turns on, in other words, clamp 1 and clamp 2
Moves to the forward limit and the work is B work, Y3, Y
5 turns off at the same time and turns on Y9 (step 6). When the B workpiece is machined by a predetermined amount and the transition condition X9 turns on, Y9 is turned off and Y10 is turned on (step 7). Then, when the machining of the A workpiece or the B workpiece is completed and the transition conditions X8 and X10 are turned on, Y8 and Y10 are turned off and Y4 is turned on, and simultaneously Y6 is turned on and the clamp 1 and the clamp 2 are returned (step 8, 9). Further, when the clamp 1 and the clamp 2 return and the transition conditions X4 and X6 are turned on, Y4 and Y6 are turned off, Y2 is turned on and the lifter is lowered (step 10). When the lifter moves to the lower limit and transition condition X2 turns on, Y2 turns off (step 11).

As described above, in the case of the graph set type sequence control device, the processing process can be directly input based on the timing chart as shown in FIG. It can be done easily.

(Problems to be Solved by the Invention) However, the graph set type sequence control device having the above-described characteristics certainly has many advantages when only the case of automatically controlling the machine is considered. ,
Considering the case where a trouble occurs in a machine and a certain member has to be manually moved, various drawbacks occur.

For example, in the flow chart shown in FIG. 7, if the lifter does not rise to the rising limit due to some trouble, step 1 will be in the processing state forever. Since repairs etc. are not possible in this state, it is necessary to have a step to forcibly stop this process, that is, it is necessary to switch to the manual first operation and move the lifter manually. In this way, when considering the trouble and making the process steps including the manual operation into a flowchart, it is necessary to add this manual operation flowchart for each step, so the overall operation flowchart is a very complicated flowchart. There is a problem that the advantage of the graph set expression cannot be fully utilized.

Further, even if each structural part of the machine can be moved by the manual operation as described above, when the manual operation is adjusted and then the automatic operation is switched again, the processing position in the automatic operation is stopped when the manual operation is switched. Since it is left as it is, there is also a problem that after the manual operation is adjusted, it is not possible to simply switch to the automatic operation and start the operation.

The present invention has been made in order to solve the problems of the conventional sequence control device, and it is possible to easily change the operation of the sequence control device and to recover from a failure, and It is an object to provide a sequence control method whose program is simple.

(Means for Solving Problems) In the present invention for achieving the above object, the advancing side executing means for actuating an operating member including a cylinder, a motor and the like in a step step direction is connected to the advancing side starting means. While it is started by the execution condition recognition means, it is stopped by the advancing side stop means,
Further, the return side executing means for operating the operating member in the direction opposite to the step direction is activated by the execution condition recognizing means connected to the return side activating means, while being stopped by the return side stopping means, A sequence control method for sequentially operating a plurality of strokes, which constitutes one stroke by the advancing side executing means and the returning side executing means, wherein the advancing side starting means and the returning side stopping means are connected. The activated starting side activation means is activated when the previous stroke is completed, the advancing side activation means is turned on under the activated state, and the execution condition is satisfied by the execution condition recognition means. When it is judged that the advancing side executing means is activated, when the return side stopping means is turned on in the inactive state, the advancing side executing means is activated and the advancing side stopping means and the return side stopping means are activated. The activation end side activating means connected to the moving means is activated when the advancing side stopping means is turned on to set the activation side activating means of the next step to the active state, while the return side is activated in the activated state. The activation means is turned on,
Further, when the execution condition recognition means determines that the execution condition is satisfied, the return side execution means is activated.
It is characterized in that the activation end side activation means in one stroke and the activation start side activation means in the next stroke are activated when one of them is activated.

(Operation) When the sequence control device is operated by such a method, it operates as follows. This operation will be described with reference to FIG.

When the activation starting side activating means is activated and the advancing side activating means is turned on, the activation starting side activating means is deactivated, and when the execution condition recognizing means determines that the execution condition is satisfied. The operating member is operated in a predetermined order in the step direction by the advancing side executing means. Next, when the advancing side stopping means is turned on, the activation ending side activating means is activated, and at the same time, the starting side activating means of the next step is also activated. When the return side activation means is turned on in this state, the activation end side activation means is in an inactivated state,
When the execution condition recognition means determines that the execution condition is satisfied, the return side execution means can operate the operation member in a predetermined order in a direction opposite to the step direction. Further, when the return side stop means is turned on, the activation side activation means is activated and the activation end side activation means of the previous process is activated.

Therefore, not only can the actuation member be actuated in the step direction or the direction opposite to the step direction in each step, but the operation can also be an intermittent operation such as inching. Even when the manual operation is switched to the automatic operation, it can be automatically started as it is, and the program of the processing process is simplified, so that the remodeling work and the restoration of the failure can be quickly performed.

(Example) Hereinafter, the Example of this invention is described in detail based on drawing.

FIG. 2 shows a schematic configuration diagram of a sequence control device using the sequence control method according to the present invention.

As shown in the figure, the CPU 1 including an arithmetic control unit and a storage unit
The power supply unit 2, the input unit 3, and the output unit 4 are connected to the power supply unit 2, respectively. A limit switch, a push button switch, a relay contact, etc. are connected to the input section 3, and contact information of these is input. An electromagnetic switch, a solenoid valve, a lamp, etc. are connected to the output unit 4, and these drive devices operate based on the instruction of the CPU 1.

In addition, a program loader 5 for inputting a program can be connected to the CPU 1 if necessary.
When a new program is input to or the design is changed, the program loader 5 adds or changes the program.

FIG. 3 is a conceptual diagram of a processing system of a machine that operates as shown in FIGS. 5 and 6 by a sequence control device using the sequence control method according to the present invention.

The conceptual diagram of this processing method is configured as shown in FIG.
In the figure, P0 ', P1, P3, P10 indicate the state points as the activation start side activation means, P0, P2, P4, P20 indicate the state points as the activation end side activation means, and S1', S1, S5 and S10 show transition conditions as the advancing side starting means, S2 ', S2, S6 and S20 show transition conditions as the advancing side stopping means, and S3', S3, S7 and S30 show the returning side starting means. Transition conditions, S4 ', S4, S8, S40 show transition conditions as return side stopping means, J1', J1, J3, J10 show execution instruction groups as progress side executing means, J2 ', J2 , J
4, J20 indicates a group of execution instructions as return side execution means, and H
1 ', H2', H1, H2, H3, H4, H10 and H20 respectively indicate execution conditions as execution condition recognition means.

One of the constituent elements shown in this conceptual diagram operates as follows based on the flow chart showing the basic operation shown in FIG. This operation will be described below with reference to FIG.

First, when the CPU that controls the operation of the sequence control device determines that the state point P1 is active (step 20), if the state point P1 is active, the state point P0 is activated.
Is activated (step 21). Then, it is determined whether or not the state point P1 is active. If it is not active, the process is terminated (step 22). If it is active, it is determined whether the transition condition S1 is 1. That is, it is determined whether the execution instruction group J1 is ready to be executed (step
twenty three). As a result of this judgment, if the transition condition S1 is not 1, the processing of steps 22 and 23 is repeated until the transition condition S1 is 1
If so, the state points P0 and P1 are deactivated and the process proceeds to the next step. (Steps 24, 25). Next, it is determined whether the execution condition H1 is 1. That is, it is determined whether the conditions for executing the execution instruction group J1 are satisfied (step
26). As a result of this judgment, if the execution condition H1 is 1, the process proceeds to the next step to execute the execution instruction group J1 (step 27),
If the execution condition H1 is not 1, the step 28 is executed without executing the execution instruction group J1. Therefore, the execution instruction group J1 is
It is executed only when the transition condition S1 is 1 and the execution condition H1 is 1. Next, transition condition S2 is 1
To determine if. That is, the execution instruction group J1
It is determined whether the conditions for ending the execution of are satisfied (step 28). As a result of this judgment, if the transition condition S2 is not 1, the processes of steps 26 to 28 are repeated. If the execution condition H1 is 1, execution of the execution instruction group J1 is continued, and if the transition condition S2 is 1, If so, the state point P2 is activated (step 29), and the process ends.

Thus, one of the components of the conceptual diagram shown in FIG. 3 is
1 operates as described above, and the other constituent elements in the figure also operate in exactly the same manner, so that the description of the operation of these constituent elements as a whole will be omitted.

Then, each of the above-mentioned respective constituent elements conceptually operates as described above, and this operation will be described as the operation of the actual constituent members of the machine shown in FIGS. 5 and 6. become that way. This will be described by taking the operation of the clamp 1 and the clamp 2 shown in FIG. 5 as an example.

First, the lifter rises and reaches the upper limit, and the transition condition S3 ′
Is not established, that is, when the state point P1 is activated under the condition that the condition for manually shifting the lifter from the ascending limit to the descending limit is not established, at the same time, the state point P10 is activated, and the transition condition S1 and execution are executed. If the condition H1 is satisfied, the execution instruction group J1 is executed and the clamp 1 is issued. Similarly, if the transition condition S10 and the execution condition H10 are satisfied, the execution instruction group J10 is executed and the clamp 2 is executed. Give out. Then, next, it is determined whether or not the transition conditions S2 and S20 are 1 respectively. That is, it is determined whether or not the conditions for ending the execution of the execution instruction groups J1 and J10 are satisfied, in other words, whether or not the clamps 1 and 2 have moved to the output limit. As a result of this judgment, if the transition conditions S2 and S20 are not 1 respectively, the execution instruction groups J1 and J10 are continued to be executed, in other words, the clamps 1 and 2 are moved to the limit, and if the transition conditions S2 and S20 are 1. In other words, if clamps 1 and 2 have reached the limit, state points P2 and P20
Are activated respectively and the process is terminated. Then, it is determined whether the transition conditions S3 and S30 are active,
In other words, the switch for manual operation is in the ON state, and the condition for executing the execution instruction group J2, that is, whether the clamps 1 and 2 are ready to shift from the output limit to the return limit to decide. Then, when the execution condition is satisfied in this state, specifically, when the push button switch for manually shifting the clamp 1 or the clamp 2 from the output limit to the return limit is turned on, the execution condition H2 is satisfied. The clamp 1 shifts from the output limit to the return limit on the condition that the execution condition H20 is satisfied. Ie clamp
The clamps 1 and 2 operate only when the push button switch for shifting the outputs 1 and 2 from the output limit to the return limit is turned on. Next, it is determined whether or not the transition conditions S4 and S40 are 1, that is, whether or not the conditions for ending the execution of the execution instruction groups J2 and J20 are satisfied. If the conditions are satisfied, the state point P0 ′ Is activated and the process ends.

In this way, the execution instruction group that can be automatically executed and the execution instruction group that can be executed when manual operation is selected are provided for each process, so that when the machine stops for some reason during automatic operation. Even so, the operator can arbitrarily move the components of the machine by switching to the manual operation to eliminate the cause of the stop. After removing the cause of the stop, even if the manual operation is switched to the automatic operation, the machine can be automatically started from that position.

In the present embodiment, the processing content of the return-side execution instruction group is the reverse of the processing content of the advancing-side execution instruction group, but this processing content is the processing content of the advancing-side execution instruction group. It is applicable even if the same as or opposite to the above is coexisted.

(Effects of the Invention) As is apparent from the above description, according to the present invention, the execution side execution means for operating the operation member including the cylinder, the motor, and the like in the step step direction is connected to the execution side start means. The return side executing means, which is activated by the condition recognizing means, is stopped by the advancing side stopping means, and further operates the operating member in a direction opposite to the step direction, is connected to the return side activating means. By means of a sequence control method, the return side stop means is used to stop the start-up means and the return side stop means to sequentially operate a plurality of strokes, each stroke constituting one stroke. The activation start side activation means connected to the advancing side activation means and the return side stop means is activated when the previous stroke is completed, and is activated under the activated state. The advancing side activating means is turned on, and the advancing side executing means is activated when the execution condition recognizing means determines that the execution condition is satisfied, while the return side stopping means is activated under an inactive state. When is turned on, it becomes active,
While the starting end activating means connected to the advancing side stopping means and the returning side starting means is activated when the advancing side stopping means is turned on, while setting the starting side activating means in the next step to the active state, When the return side activating means is turned on in the activated state, and the execution condition recognizing means determines that the execution condition is satisfied, the return side executing means is activated and the activation end in one stroke. The side activating means and the activation starting side activating means in the next stroke are arranged so that when one of them is in the activated state, the other is also in the activated state. The operation can be performed in the direction opposite to the stepping direction, and the operation can be performed intermittently. Even when the manual operation is switched to the automatic operation, the automatic operation can be automatically performed. Furthermore, since the program of the processing process can be represented as one block for each process, the program input process at the time of remodeling work or failure recovery work is simplified, and these works can be performed quickly. You can do it.

[Brief description of drawings]

FIG. 1 is a block diagram of a sequence control device using the sequence control method according to the present invention, FIG. 2 is a schematic configuration diagram of a sequence control device using the sequence control method according to the present invention, and FIG. FIG. 4 is a conceptual diagram showing a processing method of a sequence control method according to the present invention, FIG. 4 is a flow chart showing a sequence control method according to the present invention, and FIGS. 5 and 6 are for explaining the operation of a machine that performs simple operations. FIG. 7 to be provided, FIG. 7 is a flow chart in the case of operating the machine as shown in FIGS. 5 and 6 by the sequence control device of the graph set method. 1 ... CPU, 2 ... power supply section, 3 ... input section, 4 ... output section, 5 ... program loader.

Front page continuation (72) Inventor Takayuki Kawakami 2 Takara-cho, Kanagawa-ku, Yokohama, Kanagawa Nissan Motor Co., Ltd. (72) Inventor Takatoshi Ito 2 Takara-cho, Kanagawa-ku, Yokohama, Kanagawa (72) Invention Kei Shimizu 2 Takaracho, Kanagawa-ku, Yokohama, Kanagawa Prefecture Nissan Motor Co., Ltd. (56) References JP 61-180307 (JP, A) JP 61-233804 (JP, A) JP 62-131304 (JP, A)

Claims (1)

[Claims] 1. An advancing side executing means for actuating an operating member composed of a cylinder, a motor and the like in a step step direction and an executing condition recognizing means connected to an advancing side starting means, while stopping by an advancing side stopping means. A return side executing means for operating the operating member in a direction opposite to the step direction,
The execution condition recognition means connected to the return side activation means is activated, while the return side stop means is caused to stop.
A sequence control method in which a plurality of strokes, each of which constitutes one stroke, is sequentially operated by the advancing-side executing means and the returning-side executing means, wherein the advancing-side starting means and the returning-side stopping means are connected. The activated starting side activation means is activated when the previous stroke is completed, the advancing side activation means is turned on under the activated state, and the execution condition is satisfied by the execution condition recognition means. When the return side stop means is turned on under an inactive state, the active side execution means is activated when it is determined that the advancing side execution means is activated, and the advancing side stop means and the return side activation means are connected. The activation side activating means is activated when the advancing side stopping means is turned on to set the activation side activating means in the next step to the active state, while the return side activation means is activated in the activated state. Is turned on, and when the execution condition recognition means determines that the execution condition is satisfied, the return side execution means is activated, and the activation end side activation means in one stroke and the activation start in the next stroke. A sequence control method in which one of the side activation means is brought into an activated state when the other is brought into an activated state.