JP7227655B2 - conveyor system - Google Patents

Description

TECHNICAL FIELD The present invention relates to a conveyor system having a conveyor device, an abnormality diagnosis device used therein, an abnormality diagnosis program, and a computer-readable recording medium recording the abnormality diagnosis program.

2. Description of the Related Art Conventionally, there has been known an abnormality detection device that detects an abnormality that occurs in a conveyor device (see, for example, Patent Document 1). When an abnormality occurs, it is necessary to eliminate the abnormality and restart the operation of the conveyor system. However, in order to eliminate the abnormality, it is necessary to investigate the cause of the occurrence of the abnormality.

Therefore, conventionally, an instruction manual or the like includes a list of presumed causes of anomalies for each type of anomaly. In addition, depending on the type of abnormality, a list of presumed causes is displayed on a help screen.

JP-A-55-101505

However, when an abnormality occurs, the user must refer to a list of possible causes, which is troublesome. Further, since the causes described in the list are only presumed, it is necessary to confirm whether or not the presumed causes are correct. Moreover, depending on the type of abnormality, it may be difficult to confirm whether or not the presumed cause is correct without specialized knowledge.

SUMMARY OF THE INVENTION An object of the present invention is to provide a conveyor system, an abnormality diagnosis device, an abnormality diagnosis program, and a computer-readable recording medium recording the abnormality diagnosis program, in which, when an abnormality occurs, it is easy to know the cause or how to deal with it. It is to be.

A conveyor system according to one aspect of the present invention includes a conveyor device that conveys a conveyed object, an abnormality detection unit capable of detecting a plurality of types of abnormality in the conveyor device, and based on the type of abnormality detected by the abnormality detection unit, an abnormality diagnosis unit that acquires clue information that serves as a clue for diagnosing the cause of the detected abnormality, and estimates the cause of the detected abnormality based on the acquired clue information. .

In addition, the abnormality diagnosis device according to one aspect of the present invention is configured to detect, based on the types of abnormality detected by an abnormality detection unit capable of detecting a plurality of types of abnormality in a conveyor device for conveying goods, the detection of the detected type of abnormality. An abnormality diagnosing unit is provided for acquiring clue information that serves as a clue for diagnosing a cause, and estimating the cause of the detected abnormality based on the acquired clue information.

Further, the abnormality diagnosis program according to one aspect of the present invention is based on the type of abnormality detected by an abnormality detection unit capable of detecting a plurality of types of abnormality in a conveyor device that conveys goods, and identifies the detected type of abnormality. The computer is caused to function as an abnormality diagnosis unit that acquires clue information that serves as a clue for diagnosing the cause, and estimates the cause of the detected abnormality based on the acquired clue information.

Further, a computer-readable recording medium recording an abnormality diagnosis program according to one aspect of the present invention is based on the type of abnormality detected by an abnormality detection unit capable of detecting a plurality of types of abnormality in a conveyor device that conveys a conveyed object. , a computer as an abnormality diagnosis unit that acquires clue information that serves as a clue for diagnosing the cause of the detected abnormality, and estimates the cause of the detected abnormality based on the acquired clue information Record an anomaly diagnosis program that works.

It is a block diagram showing an example of composition of a conveyor system concerning one embodiment of the present invention. FIG. 4 is a perspective view showing an example of the configuration of a straight transport module that constitutes a straight zone; 2 is a perspective view showing an example of the configuration of zones Z1 to Z3 shown in FIG. 1; FIG. FIG. 4 is a perspective view showing an example of a configuration of a turning module that constitutes a turning zone including a branch zone; Figure 5 is an exploded perspective view of the turning module shown in Figure 4; 2 is a perspective view showing a state in which zones Z4, Z5, Z6 and Z8 shown in FIG. 1 are connected; FIG. 2 is a block diagram showing an example of a configuration of a host controller shown in FIG. 1; FIG. 2 is a block diagram showing an example of an electrical configuration of the zones shown in FIG. 1; FIG. 2 is a block diagram showing an example of an electrical configuration of the zones shown in FIG. 1; FIG. FIG. 10 is an explanatory diagram for explaining abnormality detection processing of the local abnormality detection unit shown in FIGS. 8 and 9; FIG. FIG. 10 is an explanatory diagram schematically showing the motor block shown in FIGS. 8 and 9; FIG. 4 is a flowchart showing an example of induced voltage error detection processing and induced voltage error processing by a conveyor system using an abnormality diagnosis program according to an embodiment of the present invention; 4 is a flowchart showing an example of induced voltage error detection processing and induced voltage error processing by a conveyor system using an abnormality diagnosis program according to an embodiment of the present invention; 5 is a flow chart showing an example of jam error detection processing and jam error processing by the conveyor system using the abnormality diagnosis program according to one embodiment of the present invention; 5 is a flow chart showing an example of jam error detection processing and jam error processing by the conveyor system using the abnormality diagnosis program according to one embodiment of the present invention; 5 is a flow chart showing an example of motor power off error detection processing and motor power off error processing by the conveyor system using the abnormality diagnosis program according to one embodiment of the present invention. 5 is a flow chart showing an example of motor power off error detection processing and motor power off error processing by the conveyor system using the abnormality diagnosis program according to one embodiment of the present invention. 5 is a flowchart showing an example of motor disconnection error detection processing and motor disconnection error processing by the conveyor system using the abnormality diagnosis program according to one embodiment of the present invention. 5 is a flowchart showing an example of motor disconnection error detection processing and motor disconnection error processing by the conveyor system using the abnormality diagnosis program according to one embodiment of the present invention. 5 is a flow chart showing an example of lifting error detection processing and lifting error processing by the conveyor system using the abnormality diagnosis program according to one embodiment of the present invention. 5 is a flow chart showing an example of lifting error detection processing and lifting error processing by the conveyor system using the abnormality diagnosis program according to one embodiment of the present invention. 5 is a flow chart showing an example of low voltage error detection processing and low voltage error processing by the conveyor system using the abnormality diagnosis program according to one embodiment of the present invention; 5 is a flow chart showing an example of low voltage error detection processing and low voltage error processing by the conveyor system using the abnormality diagnosis program according to one embodiment of the present invention; 5 is a flow chart showing an example of low voltage error detection processing and low voltage error processing by the conveyor system using the abnormality diagnosis program according to one embodiment of the present invention; 4 is a flowchart showing an example of motor lock error detection processing and motor lock error processing by the conveyor system using the abnormality diagnosis program according to one embodiment of the present invention; 4 is a flowchart showing an example of motor lock error detection processing and motor lock error processing by the conveyor system using the abnormality diagnosis program according to one embodiment of the present invention; 5 is a flow chart showing an example of substrate thermal error detection processing and substrate thermal error processing by the conveyor system using the abnormality diagnosis program according to one embodiment of the present invention. 5 is a flow chart showing an example of substrate thermal error detection processing and substrate thermal error processing by the conveyor system using the abnormality diagnosis program according to one embodiment of the present invention. 5 is a flow chart showing an example of substrate thermal error detection processing and substrate thermal error processing by the conveyor system using the abnormality diagnosis program according to one embodiment of the present invention. 5 is a flowchart showing an example of motor thermal error detection processing and motor thermal error processing by the conveyor system using the abnormality diagnosis program according to one embodiment of the present invention; 5 is a flowchart showing an example of motor thermal error detection processing and motor thermal error processing by the conveyor system using the abnormality diagnosis program according to one embodiment of the present invention; FIG. 4 is an explanatory diagram in tabular form showing an example of local address information stored in a zone setting value storage unit; It is a flowchart which shows an example of the communication error detection process between locales by a conveyor system using the abnormality-diagnosis program which concerns on one Embodiment of this invention, and a communication error process between locales. It is a flowchart which shows an example of the communication error detection process between locales by a conveyor system using the abnormality-diagnosis program which concerns on one Embodiment of this invention, and a communication error process between locales.

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment according to the present invention will be described below with reference to the drawings. It should be noted that the same reference numerals in each figure indicate the same configuration, and the description thereof will be omitted. FIG. 1 is a block diagram showing an example of the configuration of a conveyor system according to one embodiment of the present invention. A conveyor system 1 shown in FIG. 1 includes a conveyor device 2, a host controller 3 (abnormality diagnosis device), and power supply units PS1 and PS2. The host controller 3 corresponds to an example of an abnormality diagnosis device.

The conveying route of the conveyor device 2 is divided into a plurality of zones Z1 to Z11. Zones Z1 to Z11 will be collectively referred to as zone Z hereinafter. The conveyor device 2 is intended for conveying objects of generally constant size, such as pallets, containers, and trays. Each zone Z is often long enough to accommodate at least one conveyed article.

The type of each zone Z includes a straight zone in which the article to be conveyed goes straight, and a direction change zone in which the article can be conveyed in a direction intersecting the straight traveling direction. The straight zone includes a first straight zone having one driving roller 5a and a second straight zone having two driving rollers 5a, which will be described later. The direction changing zone includes a branching zone in which straight traveling and direction change can be selected and the conveying direction can be branched.

In FIG. 1, the type of each zone is indicated by an arrow. A straight arrow indicates a straight zone, a zone with one straight arrow indicates a first straight zone, and a zone with two straight arrows indicates a second straight zone. A curved arrow indicates a turning zone, and a diverging arrow indicates a diverging zone of a turning zone. These are examples of the types of zone Z, and other types of zones may of course be included.

Note that the arrangement of each type of zone Z shown in FIG. 1 is described for convenience of explanation, and does not necessarily show the arrangement of zones Z suitable for actual operation.

Zones Z1 to Z11 are each composed of one transfer module M1 to M11. Hereinafter, the transport modules M1 to M11 are collectively referred to as a transport module M. The types of transport modules M include a straight transport module Ms that forms a straight zone and a direction change module Mt that forms a direction change zone.

The transport modules M1 to M11 include a transport mechanism and local controllers ZC1 to ZC11 that control the operation of the transport mechanism. That is, zones Z1-Z11 have corresponding local controllers ZC1-ZC11, respectively.

Local controllers ZC1 to ZC11 are collectively referred to as local controller ZC. In addition, the transfer modules M constituting each zone Z are simply referred to as zones Z. FIG.

The local controllers ZC1 to ZC11 and the host controller 3 are connected via a communication cable 4 so that data can be sent and received. Each local controller ZC and the host controller 3 may be enabled to communicate by a communication method such as Ethernet (registered trademark), or may be enabled to communicate wirelessly without using the communication cable 4. is not limited.

The power supply units PS1 and PS2 are power supply units that output a driving power supply voltage Vd for driving the motors in each zone Z. FIG. For example, the power supply unit PS1 supplies the driving power supply voltage Vd to the zones Z1 to Z5 through the power cable CBL1, and the power supply unit PS2 supplies the driving power supply voltage Vd to the zones Z6 to Z11 through the power supply cable CBL2. do. The drive power supply voltage Vd is, for example, 24V.

An operating power supply voltage for operating each local controller ZC is supplied from a power supply system (not shown) separate from the power supply units PS1 and PS2.

FIG. 2 is a perspective view showing an example of the configuration of the straight transport modules Ms that make up the straight zone. The straight transport module Ms shown in FIG. 2 is a so-called roller conveyor. The straight transport module Ms includes a transport mechanism, a local controller ZC, and a load sensor 8 . The conveying mechanism includes a drive roller 5a containing a motor, a plurality of driven rollers 5b that are driven to rotate by the drive roller 5a, a pair of side frames 6, 6 that axially support the drive roller 5a and the driven roller 5b at predetermined intervals, A transmission belt 7 is provided. Hereinafter, the drive roller 5a and the driven roller 5b are collectively referred to as the transport roller 5. As shown in FIG.

A transmission belt 7 is wound around adjacent conveying rollers 5 in the straight conveying module Ms. As a result, the rotational driving force of the drive roller 5a is transmitted to the other driven rollers 5b via the transmission belt 7, and each driven roller 5b is driven to rotate with respect to the drive roller 5a. The upper surface of the conveying roller 5 forms a conveying path for a conveyed object.

The drive roller 5a is rotationally driven according to a control signal from the local controller ZC. As a result, the local controller ZC can control the transportation of the article in the straight transportation module Ms, that is, the zone Z.

The straight transport module Ms shown in FIG. 2 is a straight transport module Ms for the first straight zone provided with one drive roller 5a. The straight transport module Ms for the second straight zone has two drive rollers 5a. Hereinafter, the straight transfer module Ms for the first straight zone will be referred to as straight transfer module Ms1, and the straight transfer module Ms for the second straight zone will be referred to as straight transfer module Ms2.

Note that the straight conveying module Ms shown in FIG. 2 is an example, and the number of conveying rollers 5 for each zone Z can be arbitrarily increased or decreased. Also, although an example in which the zone Z is a roller conveyor has been shown, the zone Z may be configured by a conveying mechanism other than the roller conveyor, such as a belt conveyor.

The load sensor 8 is arranged on the side frames 6, 6 near the downstream end thereof, for example. The load sensor 8 is, for example, a transmissive photoelectric sensor, and has a light emitting side on one side of the side frames 6 and a light receiving side on the other side. A pair of light emitting side and light receiving side functions as one sensor. . The presence sensor 8 detects the presence or absence of a transported object on the transport path of the straight transport module Ms, and outputs the detection signal to the local controller ZC.

In the following description, it is assumed that the load sensor 8 and the boundary sensor 9, which will be described later, are turned on when an article is detected and turned off when not detected. The on/off logic may be reversed.

FIG. 3 is a perspective view showing an example of the configuration of zones Z1 to Z3 shown in FIG. As indicated by arrows in FIG. 1, zones Z1 and Z2 are first straight zones and zone Z3 is a second straight zone. A zone Z3 is composed of a straight transport module Ms2 having two drive rollers 5a, and the straight transport modules Ms1, Ms1, and Ms2 are connected to form zones Z1 to Z3.

FIG. 4 is a perspective view showing an example of the configuration of a direction change module Mt that constitutes a direction change zone including a branch zone. 5 is an exploded perspective view of the turning module Mt shown in FIG. 4. FIG. FIG. 6 is a perspective view showing a state in which zones Z4, Z5, Z6 and Z8 shown in FIG. 1 are connected. The direction change module Mt shown in FIG. 4 can switch the transport direction of the transported object between multiple directions by switching the carry-in direction and the carry-out direction.

The direction change module Mt includes a direction change mechanism, a local controller ZC, an elevation controller 21 to be described later, a load sensor 8 (not shown), and a plurality of boundary sensors 9 . The direction changing mechanism is composed of a main conveyor 11, a sub-conveyor 12, and an elevating device 13 shown in FIG. The main transport conveyor 11 includes a plurality of belts 14 and a drive roller 15 around which the plurality of belts 14 are wound. The drive roller 15 incorporates a motor and is rotationally driven according to a control signal from the local controller ZC. The upper surfaces of the plurality of belts 14 serve as the conveying path of the main conveyer 11 . The conveying direction of the main conveyer 11 coincides with the conveying direction of the conveyor device 2 .

The sub-conveyor 12 is a so-called roller conveyor. The sub-conveyor 12 includes a plurality of rollers 16 and a belt 17 for interlocking rotation of these rollers 16 . One of the plurality of rollers 16 is, for example, a drive roller containing a motor. The drive roller is rotationally driven according to a control signal from the local controller ZC.

Each roller 16 is arranged so as to be positioned between the belts 14 of the main transport conveyor 11 . The upper surface of each roller 16 serves as a conveying path for the sub-conveyor 12 . The conveying direction of the sub-conveyor 12 is perpendicular to the conveying direction of the main conveyer 11 , that is, the conveying direction of the conveyor device 2 .

The lifting device 13 includes a pair of direct acting cams 18 , an elevating motor 19 that rotates according to a control signal from the elevating controller 21 , and a rack and motor that slides the pair of direct acting cams 18 by driving force of the lifting motor 19 . A pinion mechanism 20 is provided. The main conveyor 11 and the sub-conveyor 12 move up and down according to the slide position of the linear cam 18 .

The lifting motor 19 drives the rack-and-pinion mechanism 20 via a gear mechanism (not shown) to change the position of the direct-acting cam 18, thereby causing the main conveyor 11 to protrude above the sub-conveyor 12. , and a direction change posture in which the sub-conveyor 12 is projected above the main conveyor 11 can be switched.

A later-described drive control unit 51b of the local controller ZC instructs the elevation controller 21 to change its attitude by outputting a direction instruction signal indicating the straight or cross direction of transport to the elevation controller 21 .

The local controller ZC (driving control unit 51b) drives the main transport conveyor 11 in a state in which the elevation controller 21 causes the direction change module Mt to move straight, thereby causing the article to travel straight. In addition, the local controller ZC (driving control unit 51b) drives the sub-conveyor 12 in a state in which the direction change module Mt is in the direction change posture by the elevation controller 21, thereby moving the article to be conveyed in the direction intersecting the straight traveling direction. be transported to Thereby, the direction changing module Mt can switch the conveying direction of the conveyed object.

Note that the direction changing module Mt only needs to be able to switch the conveying direction of the conveyed object, and is not limited to an example in which the conveying direction is switched by controlling the elevation of the main conveyer 11 and the subconveyor 12 .

2 and 4, for each transport module M, the upstream direction in the transport direction is D1, the downstream direction in the transport direction is D2, the right direction in the transport direction is D3, and the left direction in the transport direction is D3. It is indicated by each symbol of D4.

Zone Z4 is on the upstream side (direction D1) in the conveying direction of zone Z5, zone Z6 is on the downstream side (direction D2) in the conveying direction of zone Z5, and zone Z8 is on the right side (direction D3) in the conveying direction of zone Z5. are connected. Zone Z5 is a direction change module Mt, and zones Z4, Z6 and Z8 are a straight transfer module Ms1.

The boundary sensor 9 is, for example, a photoelectric sensor similar to the load sensor 8, and a pair of a light emitting side and a light receiving side functions as one sensor. The load sensor 8 and the boundary sensor 9 are not limited to transmissive photoelectric sensors, and may be reflective photoelectric sensors or the like.

The boundary sensor 9 detects a transported object W at the boundary between the zone Z5 and another adjacent zone Z, and outputs the detection signal to the local controller ZC of the zone Z5 (direction change module Mt). The boundary sensor 9 is a part of the direction change module Mt of the zone Z5, but it is sufficient if it can detect the conveyed object W at the boundary with the other zone Z. For example, as shown in FIG. A boundary sensor 9 may be arranged on the other zone Z side.

FIG. 6 shows an example in which another zone Z is not connected to the left side of the zone Z5 in the conveying direction (direction D4), but another zone Z may be connected to the direction D4 as well. Also, the same direction changing module Mt as that for zone Z5 can be used as the transport module M7 for zone Z7.

FIG. 7 is a block diagram showing an example of the configuration of the host controller 3 shown in FIG. 1. As shown in FIG. The host controller 3 shown in FIG. 7 stores a calculation unit 30, a display 34, a keyboard 35, a mouse 36, a communication IF unit 37, a layout information storage unit 38 (motor information storage unit, configuration information storage unit), and an abnormality history. An abnormality history storage unit 39 is provided.

The host controller 3 is configured using an information processing device such as a personal computer, for example. The display 34 is a display device using, for example, a liquid crystal display device or an organic EL (Electro-Luminescence) panel.

The communication IF unit 37 is, for example, a communication interface circuit such as Ethernet (registered trademark). The communication IF section 37 is configured to be able to transmit and receive data to and from each local controller ZC via the communication cable 4 .

In the layout information storage unit 38, layout information indicating the layout of each zone Z is stored in advance. Further, in the layout information storage unit 38, an address (communication address) assigned to each zone Z, zone type information of each zone Z, and motor information are stored in advance in association with each zone Z. FIG. The layout information storage unit 38 stores in advance power supply system information indicating to which zone Z the driving power supply voltage Vd is supplied from each of the power supply units PS1 and PS2.

For example, in the case of the conveyor device 2 shown in FIG. 1, the arrangement information is such that zones Z1 to Z7 are connected in series, zone Z8 is connected to the direction D3 (right side of the transport direction) of zone Z5, and direction D2 of zone Z8 (the transport direction is right). This information indicates that zone Z9 is connected in the direction downstream), zone Z10 is connected in direction D3 of zone Z7, and zone Z11 is connected in direction D2 of zone Z10.

A local communication unit 57 (described later) of each local controller ZC is given an address for identifying itself. The address assigned to the local communication unit 57 is also the address of the local controller ZC and the zone Z that includes the local communication unit 57 . The address of each zone Z is stored in the layout information storage unit 38 in advance.

In the example shown in FIG. 1, it is assumed that the subscript of the code of each zone Z represents the address. For example, the address of zone Z1 is 1 and the address of zone Z9 is 9.

The layout information storage section 38 that stores the arrangement information and the address of each zone Z corresponds to an example of the configuration information storage section.

The zone type information is information indicating the type of each zone Z. FIG. The types of each zone Z include a straight zone (first straight zone, second straight zone), a turning zone, and the like. In the example shown in FIG. 1, zones Z1, Z2, Z4, Z6, Z8-Z11 are first straight zones, zone Z3 is a second straight zone, and zones Z5 and Z7 are turning zones.

The motor information is information indicating the mode of connection of the motor 61 in each zone Z. FIG. Specifically, each zone Z is provided with a plurality of connectors CN1 for connecting the motors 61, and the motor information indicates whether or not the motor 61 should be connected to each connector CN1.

The calculation unit 30 includes, for example, a CPU (Central Processing Unit) that executes predetermined calculation processing, a RAM (Random Access Memory) that temporarily stores data, a non-volatile memory such as a HDD (Hard Disk Drive) or an SSD (Solid State Drive). It is composed of a physical storage device, a timer circuit, peripheral circuits thereof, and the like.

The storage device described above stores, for example, an abnormality diagnosis program according to an embodiment of the present invention. This storage device is also used as a layout information storage section 38 and an abnormality history storage section 39 . The calculation unit 30 functions as a transport control unit 31, an abnormality diagnosis unit 32, and an abnormality history record processing unit 33 by executing programs stored in the storage device described above.

The transport control unit 31 transmits instructions, data, etc. to each local controller ZC via the communication IF unit 37, and receives data, etc. from each local controller ZC via the communication IF unit 37, thereby controlling the conveyor device 2. control behavior. Hereinafter, the operation of the computing unit 30 (the abnormality diagnosis unit 32, the transport control unit 31, the abnormality history recording processing unit 33) to communicate with the zone Z via the communication IF unit 37 is simply referred to as the operation unit 30 (the abnormality diagnosis unit 32, etc. ) communicates, obtains, accesses, etc.

In addition, the calculation unit 30 (abnormality diagnosis unit 32, etc.) requests the local controller ZC of each zone Z to request the information of the set value storage unit 58, the program storage unit 59, and the terminal voltage detection unit 63 in each zone Z , the detection values of the driving voltage detection unit 64 and the like are transmitted from the local controller ZC and acquired by simply causing the calculation unit 30 (abnormality diagnosis unit 32 and the like) to store the set value storage unit 58 and the like of each zone Z. It is described as accessing and retrieving the component.

Based on the type of abnormality detected in each zone Z, the abnormality diagnosis unit 32 acquires clue information that serves as a clue for diagnosing the cause of the detected abnormality. Infer the cause of the detected anomaly based on the information.

The abnormality diagnosis unit 32 provides an induced voltage error (first error), a jam error (second error), a motor power off error (third error), a motor unconnected error (fourth error), and an elevation error (fifth error). , low voltage error (6th error), motor lock error (7th error), board thermal error (8th error), motor thermal error (9th error), and local communication error (10th error) Perform processing such as estimation.

That is, the abnormality diagnosis unit 32 performs induced voltage error processing, jam error processing, motor power off error processing, motor unconnected error processing, elevation error processing, low voltage error processing, motor lock error processing, board thermal error processing, motor thermal error processing, and so on. process, and local-to-local communication error handling.

The abnormality history record processing unit 33 associates the abnormality detected in each zone Z with the cause of the abnormality estimated by the abnormality diagnosis unit 32 corresponding to the detected abnormality, and accumulates them in the abnormality history storage unit 39. to be recorded.

8 and 9 are block diagrams showing an example of the electrical configuration of zone Z shown in FIG. FIG. 8 shows the configuration of the straight transport module Ms used in the straight zone, and FIG. 9 shows the configuration of the direction change module Mt used in the direction change zone.

With reference to FIG. 8, the straight transport module Ms includes a local controller ZC, a motor block 60, and a load sensor 8. As shown in FIG. The local controller ZC includes a control section 50 , a local communication section 57 , a set value storage section 58 and a program storage section 59 . The motor block 60 includes a motor 61, a motor drive circuit 62, a terminal voltage detector 63, a drive voltage detector 64, a current detector 66, a circuit temperature detector 67, a motor temperature detector 68, and hall elements H1, H2, H3. Prepare.

The local communication unit 57 is a communication interface circuit of the same communication method as the communication IF unit 37 of the host controller 3 . The local communication unit 57 is configured to be able to transmit and receive data to and from other local controllers ZC and the host controller 3 via the communication cable 4 . The local communication unit 57 is set with its own address.

After that, the control unit 50 (drive control units 51a and 51b, speed control unit 52, motor connection detection unit 53, rotation detection unit 54, local abnormality detection units 56a and 56b) detects other zone Z through the local communication unit 57. and communication with the host controller 3 is simply communicated by the control unit 50 (drive control units 51a and 51b, speed control unit 52, motor connection detection unit 53, rotation detection unit 54, local abnormality detection units 56a and 56b). It is described as obtaining, accessing, etc.

The setting value storage unit 58 stores speed setting, jam determination time tj, motor connection information, switching monitoring time tlm, current limit value Ilim, circuit temperature determination value Tcref, and local address information. The setting value storage unit 58 includes a speed setting storage unit, a jam determination time storage unit, a motor connection information storage unit, a switching monitoring time storage unit, a current limit value storage unit, a circuit temperature determination value storage unit, and a local communication setting storage unit. This corresponds to one example.

The information stored in the set value storage unit 58 can be transmitted to the host controller 3 according to instructions from the host controller 3 and can be changed according to instructions from the host controller 3 .

The speed setting indicates the speed at which the own zone Z should convey the goods. The jam judgment time tj is a judgment time for judging jamming based on the time during which the load sensor 8 detects the conveyed article.

The motor connection information is information indicating whether or not the motor 61 should be connected to each connector CN1 in one or a plurality of motor blocks 60 provided in the zone Z of itself. For convenience, if port numbers 1, 2, . indicates whether or not the motor 61 should be connected to the connector CN1.

The switching monitoring time tlm is a judgment time for judging an elevation error. The current limit value Ilim is the upper limit of the motor current flowing through the motor 61 . Circuit temperature determination value Tcref is a determination value for determining whether the circuit temperature of motor drive circuit 62 is abnormal.

The local address information is information indicating an address assigned to another zone Z adjacent to its own zone.

A program to be executed by the control unit 50 and program identification information for identifying the program stored in the program storage unit 59, whether the program is the first program P1 or the second program P2, are stored in the program storage unit 59. are stored in advance.

A first program P1 and program identification information indicating the first program P1 are stored in the program storage unit 59 of the straight transport module Ms. A second program P2 and program identification information indicating the second program P2 are stored in the program storage unit 59 of the direction change module Mt, which will be described later. The program identification information may be, for example, the name of the program, code number, or symbol.

The local controller ZC of the straight transport module Ms and the local controller ZC of the direction change module Mt use the same hardware. The local controller ZC functions as a local controller ZC for the straight conveying module Ms by storing the first program P1 in the program storage unit 59, and stores the second program P2 in the program storage unit 59 to change the direction. It functions as a local controller ZC for the module Mt.

The control unit 50 includes, for example, a CPU that executes predetermined arithmetic processing, a RAM that temporarily stores data, a non-volatile storage element such as a flash memory, a timer circuit, peripheral circuits thereof, and the like. . A set value storage unit 58 and a program storage unit 59 are configured by the above-described storage elements and the like.

By executing the first program P1 stored in the program storage unit 59, the control unit 50 controls the drive control unit 51a, the speed control unit 52, the motor connection detection unit 53, the rotation detection unit 54, and the local abnormality detection. It functions as the section 56a (first abnormality detection section).

The drive control unit 51a controls the conveyance of the article in its own zone Z by controlling the drive of the motor 61 via the motor drive circuit 62. FIG.

The speed control unit 52 outputs an instruction signal to the motor drive circuit 62 so that the conveying speed of the article to be conveyed in its own zone Z becomes the speed indicated by the speed setting stored in the set value storage unit 58. It controls the rotation speed of the motor 61 .

FIG. 10 is an explanatory diagram for explaining the abnormality detection processing of the local abnormality detection units 56a and 56b shown in FIGS. The local abnormality detection unit 56a shown in FIG. 8 performs induced voltage error detection processing, jam error detection processing, motor power off error detection processing, motor unconnected error detection processing, low voltage error detection processing, motor lock error detection processing, substrate thermal An error detection process, a motor thermal error detection process, and an inter-local communication error detection process are executed.

In the straight transport module Ms (FIG. 8), the motor 61 is a motor that drives the drive roller 5a (built into the drive roller 5a). Although one motor block 60 is shown in FIG. 8, the motor blocks 60 are provided in the same number as the motors 61 for driving the conveyance, and two motor blocks 60 are provided in the second straight zone having two drive rollers 5a. be done.

Note that even in the first straight zone, a plurality of portions other than the motor 61 in the motor block 60 may be provided in advance, and only the motor 61 may be increased or decreased as necessary. As a result, even for zones Z in which the number of motors 61 used is different, the sharing rate of portions other than the motors 61 of the motor block 60 is improved.

The motor drive circuit 62 is a so-called motor driver circuit. A motor drive circuit 62 drives the motor 61 according to a control signal from the control section 50 .

The terminal voltage detection section 63 and the drive voltage detection section 64 are so-called voltage detection circuits, and can be configured using, for example, voltage dividing resistors and an analog-to-digital converter. The current detection unit 66 is a so-called current detection circuit, and can be configured using, for example, a shunt resistor and an analog-to-digital converter. As the circuit temperature detector 67 and the motor temperature detector 68, for example, temperature sensors such as thermocouples can be used.

FIG. 11 is an explanatory diagram schematically showing the motor block 60 shown in FIGS. 8 and 9. As shown in FIG. One terminal of the motor 61 is connected to the motor drive circuit 62 via the terminal T1 of the connector CN1 and the current detector 66, and the other terminal of the motor 61 is connected to the motor drive circuit 62 via the terminal T2 of the connector CN1. It is Thereby, the current detection unit 66 detects the motor current Im flowing through the motor 61 and outputs the detected value to the control unit 50 .

A terminal voltage detector 63 is connected between the terminal T1 and the terminal T2. Thereby, the terminal voltage detector 63 detects the terminal voltage Vt of the motor 61 and outputs the detected value to the controller 50 .

The motor drive circuit 62 is connected to the power supply section PS1 or PS2 via the terminals T6 and T7 of the connector CN2 and the power cable CBL1 or CBL2. The motor drive circuit 62 supplies the driving power supply voltage Vd supplied from the power supply section PS1 or PS2 to the motor 61 by switching according to the control signal from the control section 50 .

The driving voltage detection unit 64 detects the voltage between the input terminals of the motor driving circuit 62, that is, the driving power supply voltage Vd supplied from the power supply unit PS1 or the power supply unit PS2 to the motor driving circuit 62, and outputs the detected value to the control unit. 50.

In FIG. 11, the motor 61 is cut perpendicularly to the axial direction, and the polarities on the outer peripheral surface side of the rotor 61a of the motor 61 are indicated by N and S. As shown in FIG. The Hall elements H1 and H3 are arranged to face the magnets of the same polarity of the rotor 61a, and the Hall element H2 is arranged to face the magnets of different polarities from those of the Hall elements H1 and H3. The Hall elements H1, H2, H3 are connected to the controller 50 via terminals T3, T4, T5 of the connector CN1.

As a result, for example, when the Hall elements H1, H2 and H3 output H level when detecting the N pole, in the state of FIG. 11, the output signals of the Hall elements H1, H2 and H3 are (H, L, H ). When the motor 61 rotates, the output signals of the Hall elements H1, H2, H3 are (L, H, L), (H, L, H), (L, H, L), (H, L, H). . . , the (H, L, H) signal pattern and the (L, H, L) signal pattern are alternately repeated. The Hall elements H1, H2 and H3 may of course output an H level when the S pole is detected.

The rotation detector 54 determines that the motor 61 is rotating when the output signal patterns of the Hall elements H1, H2, H3 repeat (H, L, H) and (L, H, L). , the rotational state of the motor 61 is detected. Note that the rotation detection unit 54 is not limited to detecting the rotation state of the motor 61 based on the output signals of the hall elements H1, H2, H3 as long as it can detect the rotation state of the motor 61.

When the Hall elements H1, H2, H3 all have the same signal, that is, when the signal pattern is (L, L, L) or (H, H, H), the motor connection detection unit 53 detects that the connector CN1 is Determine that it is not connected. That is, when the connector CN1 is connected and the output signals of the Hall elements H1, H2 and H3 are output to the control unit 50, the output signals of the Hall elements H1, H2 and H3 are (H, L, H) or (L , H, L). Therefore, when the output signals of the Hall elements H1, H2 and H3 are all the same signal, the motor connection detector 53 can determine that the connector CN1 of the motor 61 is not connected.

Incidentally, when the connector CN1 of the motor 61 is not connected, the contact failure of the connector CN1 is also included.

A motor temperature detection unit 68 is attached to the motor 61 to detect a motor temperature Tm of the motor 61 and outputs the detected value to the control unit 50 . Circuit temperature detector 67 is attached to the circuit board of motor drive circuit 62 , detects circuit temperature Tc of motor drive circuit 62 , and outputs the detected value to controller 50 .

A plurality of motor drive circuits 62 may be formed on one circuit board. In this case, even when a plurality of motor blocks 60 are used, only one circuit temperature detector 67 is required.

Referring to FIG. 9, the direction change module Mt differs from the straight transport module Ms in that it further includes a boundary sensor 9, an elevation motor 19, and an elevation controller 21 (switching response signal output section). The local controller ZC of the direction change module Mt is different from the local controller ZC of the straight transport module Ms. It is different in that it functions as a drive control section 51b and a local abnormality detection section 56b (second abnormality detection section) instead of . Hereinafter, the drive control units 51a and 51b are collectively referred to as the drive control unit 51. As shown in FIG.

The drive control unit 51 reads the current limit value Ilim stored in the set value storage unit 58 and controls the motor drive circuit 62 so that the motor current flowing through the motor 61 does not exceed the current limit value Ilim.

Otherwise, the direction change module Mt is electrically configured in the same manner as the straight transport module Ms, so the description thereof will be omitted, and the characteristic points of the direction change module Mt will be described.

The elevation controller 21 of the direction change module Mt is configured using a so-called microcomputer. The elevation controller 21 drives the elevation motor 19 in response to a direction instruction signal indicating the conveying direction from the control unit 50, thereby changing the posture of the direction change module Mt between the straight forward posture and the direction change posture. . After the posture change is completed, the elevation controller 21 outputs a switching response signal indicating that the transfer direction has been switched to the control unit 50 .

The elevation controller 21 corresponds to an example of a switching response signal output section. The switching response signal may also serve as a signal indicating the changed transport direction, that is, which of the main transport conveyor 11 and the sub-transport conveyor 12 is on the top.

The turning module Mt ( FIG. 9 ) has two motor blocks 60 . The motor 61 of one motor block 60 is a motor that drives the drive roller 15 of the main conveyor 11 , and the motor 61 of the other motor block 60 is a motor that drives the roller 16 of the sub conveyor 12 .

The drive control unit 51b controls the transport in each direction by controlling the drive roller 15 of the main transport conveyor 11, the roller 16 of the sub-transport conveyor 12, and the elevation controller 21. FIG.

The local abnormality detection section 56b performs an up/down error detection process in addition to the same error detection process as the local abnormality detection section 56a. Hereinafter, the local abnormality detection units 56a and 56b are collectively referred to as the local abnormality detection unit 56. FIG. The entirety of the plurality of local anomaly detectors 56 provided in each zone Z corresponds to an example of an anomaly detector.

Note that the present invention is not limited to the example in which each zone Z is provided with the local abnormality detection unit 56 . For example, the host controller 3 may include an abnormality detection section that detects an abnormality in each zone Z. FIG. Each zone Z may not include the local abnormality detection section 56 and may transmit information necessary for abnormality detection to the host controller 3 .

Next, the operation of the conveyor system 1 configured as described above will be described. Each type of abnormality will be described below.
<Induced voltage error (first error)>

A process related to the induced voltage error will be described. 12 and 13 are flowcharts showing an example of induced voltage error detection processing and induced voltage error processing by the conveyor system 1 using the abnormality diagnosis program according to one embodiment of the present invention.

First, the local abnormality detection unit 56 of the local controller ZC detects the terminal voltage Vt detected by the terminal voltage detection unit 63 and the setting value of the driving power supply voltage Vd for driving the motor (the voltage value when no load is normal). is compared with a terminal judgment voltage Vtref preset to a higher voltage (step S1).

The power supply units PS1 and PS2 output, for example, 24 V as the driving power supply voltage Vd when the load is normal. The terminal determination voltage Vtref is set to a voltage higher than 24V, such as 40V or 60V.

When the terminal voltage Vt exceeds the terminal determination voltage Vtref (YES in step S1), the local abnormality detection unit 56 detects an abnormality of the type induced voltage error in the target zone, which is its own zone. and information indicating an induced voltage error to the host controller 3 (step S2).

Steps S1 and S2 correspond to an example of induced voltage error detection processing. According to the induced voltage error detection process, it is possible to detect a state in which the motor 61 is rotated by an external force and is generating power. Further, according to the processing of steps S1 and S2, based on the terminal voltage Vt, which is difficult to check without specialized knowledge, an induced voltage error caused by the motor 61 being rotated by an external force can be easily detected. can do.

Next, in the host controller 3, the abnormality diagnosis unit 32 notifies the target zone, that is, the zone where the induced voltage error is detected, by displaying a message to the effect that the induced voltage error has occurred on the display 34, for example (step S3).

Then, for example, when the user inputs an investigation instruction using the keyboard 35 or the mouse 36 (YES in step S4), the abnormality diagnosis unit 32 executes the induced voltage error processing in and after step S5. If not (NO in step S4), the process is terminated.

In step S5, the abnormality diagnosis unit 32 accesses the set value storage unit 58 of the target zone and a plurality of zones upstream in the transport direction from the target zone, and determines the speed setting A of the target zone and the speed of the transported product from the target zone. The speed settings B of a plurality of zones on the upstream side in the conveying direction are acquired as clue information (step S5: (a1)).

Next, the abnormality diagnosis unit 32 compares the speed setting A of the target zone with the speed setting B of the adjacent zone adjacent to the upstream side of the target zone (step S6). Then, when the speed setting B of the adjacent zone is equal to or lower than the speed setting A (NO in step S6), the abnormality diagnosis unit 32 issues a message indicating that the conveyed object is being pushed from the outside (second probable cause). , a message (second coping method) to the effect that the transported object should not be pushed from the outside is displayed on the display 34 (step S7: (a3)), and the process is terminated.

On the other hand, when speed setting B in the adjacent zone is faster than speed setting A (YES in step S6), a message indicating that speed setting A in the target zone is inappropriate (first probable cause), A message (first coping method) to the effect that the speed setting of the target zone and the upstream zone should be corrected by, for example, matching is displayed on the display 34 to notify the user (step S11: (a2)).

Then, for example, when the user inputs an instruction for automatic correction using the keyboard 35 or the mouse 36 (YES in step S12), the abnormality diagnosis unit 32 selects the speed setting B obtained in step S5. The speed setting with the largest number of speed settings having the same speed is searched (step S13: (a4)).

Next, the abnormality diagnosis unit 32 accesses the set value storage unit 58 of the target zone to store the searched speed setting speed as a new speed setting (step S14: (a5)), and ends the process. .

In step S13, for example, when the target zone is zone Z5 and the plurality of upstream zones are zones Z1 to Z4, the speed setting for zones Z1, Z2, and Z4 is 30 cm/sec, and the speed setting for zone Z3 is 40 cm/sec. If so, there are three speed settings for 30 cm/s and one speed setting for 40 cm/s. In this case, the speed setting with the highest number is the speed setting of 30 cm/sec. Therefore, 30 cm/s is sought. Then, in step S14, the speed of 30 cm/s is set in the set value storage unit 58 of the target zone Z5.

When the speed setting B of the zone adjacent to the upstream of the target zone is faster than the speed setting A of the target zone (YES in step S6), the conveyed product sent from the upstream to the target zone is inertially The sheet is sent to the target zone at a speed higher than the transport speed of the transport rollers 5 in the target zone.

As a result, the driving roller 5a is forcibly rotated by the transported object, and the motor 61 of the driving roller 5a is forcibly rotated. In this case, the motor 61 functions as a generator, and the terminal voltage Vt of the motor 61 is superimposed on the drive power supply voltage Vd and the generated voltage exceeds the terminal determination voltage Vtref, causing an induced voltage error.

Therefore, when the speed setting B is faster than the speed setting A (YES in step S6), the first presumed cause and the first coping method can be determined (step S11).

Further, when an induced voltage error occurs even though the speed setting B is equal to or lower than the speed setting A, the motor 61 will not generate power due to the inertia of the conveyed object sent from upstream to the target zone. Therefore, it is conceivable that the conveyed object is pushed from the outside, for example, by the user pushing it by hand. As a result, the second presumed cause and the second coping method can be determined (step S7).

In addition, if the speed difference between the zones Z is large, smooth transport cannot be performed. Therefore, in many cases, it is highly possible that the speed setting of each zone Z is the same speed. . Therefore, the speed setting of the target zone can be corrected to an appropriate speed by the processing of steps S13 and S14.

As described above, according to the processing of steps S1 to S14, when an induced voltage error occurs, the user can be notified of the presumed cause and how to deal with it. Easier to know how. Further, according to steps S13 and S14, the cause of the induced voltage error can be automatically eliminated.

According to the processing of steps S1 to S14, when an induced voltage error is detected, induced voltage error processing is executed by the abnormality diagnosis unit 32, and speed setting B in the adjacent zone is faster than speed setting A. (YES in step S6), the new speed setting is stored. Further, according to the processing of steps S1 to S14, it is possible to detect an induced voltage error based on the terminal voltage Vt, which is difficult to check without expert knowledge, and to notify the cause or countermeasure thereof, or to inform the user of the occurrence of the error. The cause can be automatically eliminated. Therefore, even a user without specialized knowledge can easily deal with the abnormality.

The processing may be continued without executing steps S4 and S12 and waiting for the user's confirmation operation. Also, in step S5, only one speed setting B of the zone adjacent to the target zone on the upstream side in the transport direction may be acquired, and steps S12 to S14 may not be executed. Also, step S7 may not be executed, and step S11 may not be executed.
<Jam error (second error)>

Processing related to jam errors will be described. 14 and 15 are flowcharts showing an example of jam error detection processing and jam error processing by the conveyor system 1 using the abnormality diagnosis program according to one embodiment of the present invention.

First, the local abnormality detection section 56 of the local controller ZC refers to the zone sensor 8, and when the zone sensor 8 continues to be on beyond the jam judgment time tj stored in the set value storage section 58 (step S21 YES), an abnormality of type jam error is detected in the target zone, which is its own zone, and information indicating its own zone and information indicating a jam error are transmitted to the host controller 3 (step S22).

Steps S21 and S22 correspond to an example of jam error detection processing.

Next, in the host controller 3, the abnormality diagnosis unit 32 notifies by displaying a message indicating that a jam error has occurred in the target zone, that is, the zone in which the jam error has been detected, on the display 34, for example (step S23). .

Then, for example, when the user inputs an investigation instruction using the keyboard 35 or the mouse 36 (YES in step S24), the abnormality diagnosis section 32 executes the jam error processing from step S25 onwards, while there is no investigation instruction from the user. If so (NO in step S24), the process is terminated.

In step S25, the abnormality diagnosis unit 32 refers to the layout information storage unit 38 and acquires the zone type information of the target zone as clue information (step S25: (b1)). The abnormality diagnosis unit 32 may access the target zone and acquire the zone type information.

Next, the abnormality diagnosis unit 32 determines whether or not the target zone is a turn change zone based on the zone type information (step S26: (b1)), and if the target zone is not a turn change zone (step S26 NO), and the process proceeds to step S31.

If the target zone is a direction change zone (YES in step S26), the abnormality diagnosis unit 32 accesses the local controller ZC of the target zone and acquires the detection state of each boundary sensor 9 as clue information (step S27). : (b2)).

When the number of ON boundary sensors 9 out of the boundary sensors 9 is 0 or 1 (NO in step S28), the process proceeds to step S31.

On the other hand, when a plurality of boundary sensors 9 are on (YES in step S28), a message (third probable cause) to the effect that a conveyed object exists at a plurality of boundaries between the target zone and other zones, and a direction A message (third coping method) to the effect that the conveyed goods in the conversion zone are to be moved manually is displayed on the display 34, or the like (step S29: (b3)), and the process is terminated.

Here, if the target zone is the direction change zone (YES in step S26), and if the plurality of boundary sensors 9 of the direction change zone are turned on, the plurality of boundary sensors 9 in directions intersecting each other, for example A case where the boundary sensor 9 in the direction D1 and the boundary sensor 9 in the direction D3 are turned on, and a case where two boundary sensors 9 in the straight direction, for example, the boundary sensors 9 in the directions D1 and D2 are turned on can be considered. .

When a plurality of boundary sensors 9 in mutually intersecting directions are turned on, it is considered that two conveyed articles interfere with each other in the direction change zone and are caught, resulting in jamming. When the two boundary sensors 9 in the straight direction are turned on, it is conceivable that the length of the conveyed product is longer than the length of the direction change module Mt in the conveying direction. An object longer than the length of the direction change module Mt in the conveying direction interferes with the conveying mechanism and is caught and jammed when trying to send it out in the cross direction (directions D3 and D4).

Therefore, when the plurality of boundary sensors 9 are ON (YES in step S28), the third probable cause and the third coping method can be determined.

On the other hand, in step S31, the abnormality diagnosis section 32 accesses the set value storage section 58 of the target zone and acquires the jam determination time tj as clue information (step S31: (c1)).

Next, the abnormality diagnosis unit 32 compares the acquired jam determination time tj with a preset jam reference time t0 (step S32). YES), a message to the effect that the jam determination time tj of the target zone is inappropriate (fourth probable cause) and a message to the effect that the jam determination time tj of the target zone should be changed (fourth countermeasure) are displayed on the display 34. (step S33: (c2)).

The jam reference time t0 is set in advance as the minimum required time for judging the jamming. The user can arbitrarily change the jam determination time tj of each zone Z. FIG. Therefore, when the jam determination time tj is less than the jam reference time t0 (YES in step S32), the jam determination time tj is set to 0 because an inappropriate time is set or the jam determination time tj is not set. It is thought that it is becoming. Therefore, it is possible to determine the fourth presumed cause and the fourth coping method (step S33).

Then, for example, when the user inputs an instruction for automatic correction using the keyboard 35 or the mouse 36 (YES in step S34), the abnormality diagnosis section 32 accesses the set value storage section 58 of a plurality of zones Z, and determines the jam determination time. tj is acquired as clue information (step S35: (c4)), and among the obtained plural jam determination times tj, the jam determination time tj with the largest number of jam determination times tj having the same time is searched (step S35: (c4)). S36: (c4)).

Next, the abnormality diagnosis unit 32 accesses the set value storage unit 58 of the target zone and stores the found jam determination time tj in the set value storage unit 58 as a new jam determination time tj (step S37: (c5)), and terminate the process.

In step S36, when the plurality of jam determination times tj acquired are, for example, 30 seconds, 30 seconds, 50 seconds, 30 seconds, and 50 seconds, there are three jam determination times tj of 30 seconds and 50 seconds. There are two judgment times tj. In this case, the most frequent jam determination time tj is 30 seconds. Therefore, 30 seconds is set in the set value storage unit 58 of the target zone. Therefore, according to steps S35 to S37, it is possible to automatically eliminate the cause of the jam error.

Note that instead of steps S35 to S37, the abnormality diagnosis unit 32 stores an initial jam determination time preset as an appropriate initial value (default value) of the jam determination time tj in the setting value storage unit 58 of the target zone. It may be stored as a new jam determination time tj (c3).

Thus, even if the user sets an inappropriate time as the jam determination time tj, the cause of the jam error can be automatically resolved by initializing the jam determination time tj to the initial value. It becomes possible.

On the other hand, if the jam determination time tj is equal to or greater than the jam reference time t0 in step S32 (NO in step S32), the abnormality diagnosis unit 32 presumes that the cause is jamming of the transport path or an error in the load sensor 8. A message to the effect that it has been detected and a message to the effect that the coping method is to remove the conveyed article or check the presence sensor 8 is displayed on the display 34 to inform the operator (step S38).

If the jam determination time tj is equal to or greater than the jam reference time t0 (NO in step S32), the jam error is not detected due to the jam determination time tj. There is a possibility that the presence sensor 8 has been turned on due to an erroneous detection. Possible causes of erroneous detection by the load sensor 8 include, for example, misalignment of the optical axis of the light-emitting portion of the load sensor 8 and the light-receiving portion thereof, and failure of the load sensor 8 itself. Therefore, the presumed cause and coping method in step S38 can be determined.

As described above, according to the processing of steps S21 to S38, when a jam error occurs, the user can be notified of the presumed cause and countermeasures thereof. It becomes easier to know Further, according to the processing of steps S27 to S29, it is possible to notify the user of the presumed cause and coping method based on the detection state of the boundary sensor 9, which is difficult to investigate without specialized knowledge. Even a user without specialized knowledge can easily know the cause or how to deal with it.

According to the processing of steps S21 to S38, when a jam error is detected, the jam error processing of steps S25 to S38 is executed by the abnormality diagnosis unit 32, and when the jam determination time tj is less than the jam reference time t0 (step YES at S32), a new jam determination time tj is stored.

Note that the processing may be continued without executing steps S24 and S34 and waiting for the user's confirmation operation. Alternatively, the process may proceed from YES in step S24 to step S31 without executing steps S25 to S29. Further, step S33 may not be executed, step S38 may not be executed, steps S34 to S37 may not be executed, and steps S31 to S38 may not be executed.

Further, when the plurality of boundary sensors 9 are turned on in step S21 (YES in step S21), the local abnormality detection unit 56b of the direction change zone (direction change module Mt) proceeds to step S22 to detect a jam error. may be detected.
<Motor power off error (third error)>

A process related to a motor power off error will be described. 16 and 17 are flowcharts showing an example of motor power OFF error detection processing and motor power OFF error processing by the conveyor system 1 using the abnormality diagnosis program according to one embodiment of the present invention.

First, the local abnormality detector 56 of the local controller ZC checks whether or not the drive power supply voltage Vd detected by its own drive voltage detector 64 is substantially 0V (step S41). “Substantially 0V” means that a voltage corresponding to a detection error of the drive voltage detection unit 64 or a noise voltage is regarded as 0V.

When the driving power supply voltage Vd is substantially 0 V (YES in step S41), the local abnormality detection unit 56 detects an abnormality of the type motor power off error in the target zone, which is its own zone, and information indicating the zone and information indicating a motor power off error to the host controller 3 (step S42).

Steps S41 and S42 correspond to an example of motor power off error detection processing.

Next, in the host controller 3, the abnormality diagnosing section 32 notifies by displaying, for example, on the display 34, a message to the effect that the motor power OFF error has occurred in the target zone, that is, the zone in which the motor power OFF error has been detected. (Step S43).

Then, for example, when the user inputs an investigation instruction using the keyboard 35 or the mouse 36 (YES in step S44), the abnormality diagnosis unit 32 executes motor power off error processing in steps S45 and thereafter, while If there is no (NO in step S44), the process is terminated.

In step S45, the abnormality diagnosis unit 32 accesses the drive voltage detection unit 64 of another zone Z that receives power supply voltage from the same power supply unit as the target zone, and detects the drive power supply voltage of the other zone Z. Vd is acquired as clue information (step S45: (d1)).

Referring to FIG. 1, for example, if the target zone is zone Z1, zones Z2 to Z5 that receive power supply from the same power supply unit PS1 based on the power supply system information stored in layout information storage unit 38. The drive power supply voltage Vd of any one of the zones Z may be acquired.

Next, the abnormality diagnosis unit 32 checks whether the drive power supply voltage Vd of another zone acquired in step S45 is substantially 0 V (step S46), and if it is substantially 0 V (step YES in S46), a message to the effect that the power supply unit that supplies power to the target zone does not output the drive power supply voltage Vd (fifth probable cause 1), and the power supply unit supplies the drive power supply voltage Vd to the target zone. A message to the effect that the cable for the power supply is disconnected (fifth probable cause 2), a message to the effect that the power supply that supplies power to the target zone should be checked (fifth remedy 1), and a message from the power supply to the target zone A message (fifth countermeasure 2) to the effect that the cable for supplying the drive power supply voltage Vd should be checked is displayed on the display 34 or the like (step S47: (d2)), and the process is terminated.

If the driving power supply voltage Vd is substantially 0 V in a zone other than the target zone (YES in step S46), the part common to the target zone and the other zone, that is, the power supply unit or the power cable is abnormal. It can be assumed that there is Therefore, it is possible to determine the fifth presumed causes 1 and 2 and the fifth countermeasures 1 and 2.

On the other hand, when the drive power supply voltage Vd of another zone obtained in step S45 is not substantially 0 V (NO in step S46), the abnormality diagnosis unit 32 determines that the connector CN2 of the target zone is disconnected, or A message to the effect that the connector CN2 has poor contact (sixth probable cause) and a message to the effect that the connector CN2 of the target zone should be connected or disconnected is displayed on the display 34 to notify the user (step S48: (d3)). ).

If the driving power supply voltage Vd is not substantially 0 V in a zone other than the target zone (NO in step S46), it can be estimated that the power supply system of only the target zone is the cause. Therefore, it is possible to determine the sixth presumed cause and the sixth coping method.

As described above, according to the processing of steps S41 to S48, when a motor power-off error occurs, the user can be notified of the presumed cause and countermeasures. It becomes easier to know how to deal with it. Further, according to the processing of steps S41 to S48, it is possible to inform the cause of the motor power off error or the coping method based on the driving power supply voltage Vd of a plurality of zones, which is difficult to check without expert knowledge. can be done. Therefore, even a user without specialized knowledge can easily deal with the abnormality.

According to the processing of steps S41 to S48, when a motor power OFF error is detected, the abnormality diagnosis unit 32 executes motor power OFF error processing. Note that the processing may be continued without executing step S44 and waiting for the user's confirmation operation. Also, step S47 may not be executed, and step S48 may not be executed.

When the drive power supply voltage Vd is substantially 0V, the local abnormality detection unit 56 of each zone Z detects a motor power supply off error in steps S41 and S42, respectively. Therefore, in step S46, instead of checking whether the drive power supply voltage Vd of another zone is substantially 0 V, it is checked whether a motor power off error is detected in another zone, If it has been detected, the process may proceed to step S47 as YES in step S46, and if it has not been detected, the process may proceed to step S48 as NO in step S46.
<Motor unconnected error (fourth error)>

Processing regarding the motor disconnection error will be described. 18 and 19 are flowcharts showing an example of motor disconnection error detection processing and motor disconnection error processing by the conveyor system 1 using the abnormality diagnosis program according to one embodiment of the present invention.

First, the local abnormality detection unit 56 of the local controller ZC refers to the detection result of whether or not the motor 61 is connected to each connector CN1 by the motor connection detection unit 53, and detects the motor connection stored in the set value storage unit 58 of itself. It is checked whether or not the motor 61 is connected to the connector CN1, which the information indicates should be connected to the motor (step S51).

Then, when there is a connector CN1 to which the motor 61 should be connected but the motor 61 is not connected (YES in step S52), the local abnormality detection unit 56 detects that the type is not the motor in the target zone which is its own zone. The abnormal connection error is detected, and the information indicating the own zone and the information indicating the motor disconnection error are transmitted to the host controller 3 (step S53).

Steps S51 to S53 correspond to an example of motor disconnection error detection processing.

Next, in the host controller 3, the abnormality diagnosing section 32 notifies the target zone, that is, the zone in which the motor disconnection error is detected, by displaying a message to the effect that the motor disconnection error has occurred on the display 34, for example. (Step S54).

Then, for example, when the user inputs an investigation instruction using the keyboard 35 or the mouse 36 (YES in step S55), the abnormality diagnosis unit 32 executes the motor disconnection error in step S56 and after, while the user's investigation instruction is received. If not (NO in step S55), the process is terminated.

In step S56, the abnormality diagnosis unit 32 accesses the set value storage unit 58 of the target zone and acquires motor connection information as clue information (step S56: (e1)).

Next, the abnormality diagnosis unit 32 confirms whether or not the motor connection information of the target zone matches the connection mode of the motor 61 indicated by the motor information stored in the layout information storage unit 38 of the host controller 3. (step S57: (e2)). Specifically, it is checked whether the connector CN<b>1 for which the motor connection information of the target zone indicates no connection is also indicated as no connection in the motor information in the layout information storage unit 38 .

Then, if they do not match (NO in step S61: (e2)), the motor connection information of the target zone is considered to be incorrect, so a message indicating that the motor connection information of the target zone is inappropriate (second Seven probable causes) and a message to the effect that the motor connection information of the target zone should be changed (seventh coping method) are displayed on the display 34 (step S62: (e2)), and the process is terminated. .

On the other hand, if they match (YES in step S61), it is considered that the motor 61 that should be connected is not connected. A message to that effect and a message to the effect that the motor 61 should be connected to the connector CN1 of the target zone as a coping method are displayed on the display 34 (step S63).

As described above, according to the processing of steps S51 to S63, when a motor disconnection error occurs, the user can be notified of the presumed cause and countermeasures. It becomes easier to know how to deal with it. Further, according to the processing of steps S51 to S63, it is possible to detect a motor unconnected error based on whether or not the motor 61 is connected, which is difficult to check without expert knowledge, and to inform the user of the cause or how to deal with it. . Therefore, even a user without specialized knowledge can easily deal with the abnormality.

According to the processing of steps S51 to S63, when a motor disconnection error is detected, the abnormality diagnosis unit 32 executes motor disconnection error processing. Note that the process may be continued without executing step S55 and waiting for the user's confirmation operation. Also, step S62 may not be executed, and step S63 may not be executed.
<lifting error (fifth error)>

Processing related to elevation errors will be described. 20 and 21 are flow charts showing an example of lifting error detection processing and lifting error processing by the conveyor system 1 using the abnormality diagnosis program according to one embodiment of the present invention.

First, the drive control unit 51b for the direction change zone (direction change module Mt) in the local controller ZC outputs a direction instruction signal for instructing the change of posture so as to change the posture of the direction change module Mt to the posture corresponding to the destination of the transported article. to the elevation controller 21 .

Next, the local abnormality detection section 56b counts the elapsed time after the drive control section 51b outputs the direction instruction signal. The local abnormality detection unit 56b monitors whether or not the control unit 50 receives the switching response signal before the switching monitoring time tlm elapses after the drive control unit 51b outputs the direction instruction signal (step S72). Then, if the switching response signal is not received before the switching monitoring time tlm elapses (NO in step S72), the local abnormality detection unit 56b detects an abnormality whose type is an elevation error in the target zone, which is its own zone. The information indicating the own zone and the information indicating the ascending/descending error are transmitted to the host controller 3 (step S73).

Steps S72 and S73 correspond to an example of a lifting error detection process. According to the lifting error detection process, it is possible to know whether or not the direction change in the direction change module Mt has been completed normally. It is easy to prevent jamming of conveyed goods.

Next, in the host controller 3, the abnormality diagnosis unit 32 notifies the target zone, that is, the zone in which the elevation error was detected, by displaying a message to the effect that the elevation error has occurred on the display 34, for example (step S74). .

Then, for example, when the user inputs an investigation instruction using the keyboard 35 or the mouse 36 (YES in step S75), the abnormality diagnosis unit 32 executes the elevation error processing from step S76 onwards, while there is no investigation instruction from the user. If so (NO in step S75), the process is terminated.

In step S76, the abnormality diagnosis unit 32 reads the zone type information indicating the type of the target zone from the layout information storage unit 38 and acquires it as clue information (step S76: (f1)). When the zone type information of the target zone indicates a type different from that of the direction change zone (NO in step S77), the abnormality diagnosis unit 32 determines that the program stored in the program storage unit 59 of the target zone is incorrect. A message (eighth probable cause) and a message to the effect that the program stored in the program storage unit 59 of the target zone should be changed to a correct program (eighth coping method) are displayed on the display 34 to notify ( Step S78: (f1)), the process ends.

In step S72, it is the elevation controller 21 provided only in the direction change module Mt in the direction change zone that outputs the switching response signal. On the other hand, if the target zone is not the direction change zone in step S77 (NO in step S77), the elevation controller 21 does not exist in the target zone, so it is natural that the switching response signal is not received in step S72. be.

Further, if the target zone is not a turn zone, the process in which the drive control unit 51b in the turn zone outputs a direction instruction signal in step S71, and the local abnormality detection unit 56b in the turn zone in steps S72 and S73 It means that the process that detects the lifting error is being executed erroneously.

Here, as described above, in the local controller ZC for the direction change zone, the second program P2 for the direction change zone is stored in the program storage unit 59, so that the control unit 50 controls the drive control unit 51b and local abnormality detection. It functions as part 56b. On the other hand, when the first program P1 for the straight zone is stored in the program storage section 59, the control section 50 functions as the drive control section 51a and the local abnormality detection section 56a, and steps S71 to S73 are not executed.

For this reason, in step S77, if the target zone is not the turning zone (NO in step S77), the second program P2 for the turning zone is erroneously stored in the program storage unit 59 of zone Z, which is not the turning zone. was stored, it is considered that the elevation error was erroneously detected. Therefore, the eighth presumed cause and the eighth coping method can be determined (step S78).

On the other hand, in step S77, when the zone type information of the target zone indicates the direction change zone (YES in step S77), the abnormality diagnosis unit 32 proceeds to step S81.

In step S81, the abnormality diagnosis unit 32 accesses the target zone setting value storage unit 58 and acquires the switching monitoring time tlm stored in the target zone setting value storage unit 58 as clue information (step S81: ( f2)).

Next, the abnormality diagnosis unit 32 compares the acquired switching monitoring time tlm with the initial switching monitoring time tlm0 (step S82). As the initial switching monitoring time tlm0, the time required for the elevation controller 21 to output the switching response signal after receiving the direction instruction signal is set in advance. It is preferable to store the initial switching monitoring time tlm0 in the set value storage unit 58 in advance as a default value.

Then, if the switching monitoring time tlm is shorter than the initial switching monitoring time tlm0 (YES in step S82), the abnormality diagnosis unit 32 issues a message indicating that the switching monitoring time tlm of the target zone is inappropriate (the ninth probable cause). , and a message to the effect that the switching monitoring time tlm of the target zone should be changed (the ninth coping method) are displayed on the display 34 (step S83: (f3)).

If the switching monitoring time tlm is shorter than the initial switching monitoring time tlm0 (YES in step S82), either the user has changed the switching monitoring time tlm stored in the set value storage unit 58 to an inappropriate value, or the switching monitoring time has changed. There is a high possibility that tlm is not stored (set) in the set value storage unit 58 . Therefore, the ninth probable cause and the ninth coping method can be determined (step S83).

Then, for example, when the user inputs an instruction for automatic correction using the keyboard 35 or the mouse 36 (YES in step S84), the abnormality diagnosis unit 32 accesses the set value storage unit 58 of the target zone, and determines the initial switching monitoring time. tlm0 is stored as a new switching monitoring time tlm (step S85). As a result, it is possible to automatically eliminate the lifting error.

On the other hand, if the switching monitoring time tlm is equal to or greater than the initial switching monitoring time tlm0 (NO in step S82), it is considered that the switching monitoring time tlm is not the cause. A message to the effect that the local controller ZC is defective and a message to the effect that the corrective action is to turn on the power of the target zone again or to replace the local controller ZC are displayed on the display 34 to inform the user (step S86).

As described above, according to the processing of steps S71 to S86, when an ascending/descending error occurs, the user can be notified of the probable cause and how to deal with it. becomes easier to know. Further, according to step S85, the cause of the elevation error can be automatically resolved.

According to the processes of steps S71 to S86, when an elevation error is detected, the abnormality diagnosis section 32 executes an elevation error process.

The processing may be continued without executing steps S75 and S84 and waiting for the user's confirmation operation. Further, step S78 may not be executed, step S83 may not be executed, and step S86 may not be executed. Alternatively, steps S81 to S86 may not be executed. Alternatively, if YES in step S75 without executing steps S76 to S78, the process may proceed to step S81. However, by executing steps S71 to S86 and executing steps S81 to S86 after the judgments of steps S76 and S77 are executed with priority, it is possible to judge a more appropriate cause or remedy. , more preferred.
<Low voltage error (6th error)>

A process related to a low voltage error will be described. 22 to 24 are flowcharts showing an example of low voltage error detection processing and low voltage error processing by the conveyor system 1 using the abnormality diagnosis program according to one embodiment of the present invention.

First, the local abnormality detection unit 56 of the local controller ZC compares the drive power supply voltage Vd detected by its own drive voltage detection unit 64 with a preset drive determination voltage Vdref (step S91). The drive determination voltage Vdref is set to a voltage lower than the driving power supply voltage Vd output from the power supply units PS1 and PS2 in the normal no-load state, for example, 15V.

When the drive power supply voltage Vd is less than the drive determination voltage Vdref (YES in step S91), the local abnormality detection unit 56 detects an abnormality of the low voltage error type in the target zone, which is its own zone. The information indicating the zone and the information indicating the low voltage error are transmitted to the host controller 3 (step S92).

Steps S91 and S92 correspond to an example of low voltage error detection processing.

Next, in the host controller 3, the abnormality diagnosis unit 32 notifies the target zone, that is, the zone where the low voltage error is detected, by displaying a message to the effect that the low voltage error has occurred on the display 34, for example (step S93).

Then, for example, when the user inputs an investigation instruction using the keyboard 35 or the mouse 36 (YES in step S94), the abnormality diagnosis unit 32 executes the low voltage error processing in and after step S95. If not (NO in step S94), the process is terminated.

In step S95, the abnormality diagnosis unit 32 accesses the drive voltage detection unit 64 of the target zone and acquires the drive power supply voltage Vd newly detected by the drive voltage detection unit 64 as clue information (step S95: ( g1)).

Then, when the newly detected drive power supply voltage Vd is substantially 0 (YES in step S96), the abnormality diagnosis unit 32 issues a message indicating that an abnormality has occurred in the motor drive circuit 62 (the tenth probable cause). ) and a message to the effect that the motor drive circuit 62 should be replaced or repaired (tenth coping method) are displayed on the display 34 (step S97: (g2)), and the process ends.

Here, when the motor drive circuit 62 is provided with a fuse, the malfunction of the motor drive circuit 62 includes blowout of the fuse, and the repair of the motor drive circuit 62 includes replacement of the fuse.

On the other hand, if the newly detected driving power supply voltage Vd is not substantially 0 (NO in step S96), the process proceeds to step S101. In step S101, the abnormality diagnosis unit 32 compares the newly detected drive power supply voltage Vd with the drive determination voltage Vdref (step S101).

When the drive power supply voltage Vd is less than the drive determination voltage Vdref (YES in step S101), the abnormality diagnosis unit 32 determines that the capacity of the power supply unit for supplying the drive power supply voltage Vd to the motor drive circuit 62 in the target zone is insufficient. The display 34 displays a message (eleventh probable cause) to the effect that a (step S102: (g3)).

On the other hand, in step S101, when the drive power supply voltage Vd is equal to or higher than the drive determination voltage Vdref (NO in step S101), the abnormality diagnosis unit 32 causes the display 34 to display a message prompting removal of the transported object in the target zone. (step S103: (g4)).

When the user removes the transported object from the target zone according to the guidance display, for example, the user uses the keyboard 35 or the mouse 36 to input an instruction to continue the low voltage error processing (YES in step S104), the abnormality diagnosis unit 32 While instructing the local controller ZC of the target zone to drive the motor 61 by the motor drive circuit 62, the motor current Im detected by the current detector 66 is acquired as clue information (step S105: (g5)).

In this case, the motor current in a low-load state in which the motor 61 is not subjected to the load caused by the transportation of the conveyed object is obtained as the motor current Im.

Next, the abnormality diagnosis unit 32 compares the motor current Im and the rated current value Is of the motor 61 (step S111). A catalog value of the motor 61 can be used as the rated current value Is.

Then, when the motor current Im exceeds the rated current value Is (YES in step S111), the abnormality diagnosis unit 32 generates a message (12th probable cause) indicating that an abnormality has occurred in the motor 61 in the target zone. A message (twelfth coping method) to the effect that the motor 61 should be replaced is displayed on the display 34 (step S112: (g6)), and the process is terminated.

The conveyor device 2 is designed so that the current flowing through the motor 61 is equal to or less than the rated current value Is in the operating state of conveying the goods. Therefore, when the motor current Im exceeds the rated current value Is (YES in step S111) despite the low load, an event that should not occur in terms of design has occurred. Therefore, the 12th probable cause and the 12th coping method can be determined.

On the other hand, when the motor current Im is equal to or less than the rated current value Is (NO in step S111), the motor current Im is within the design assumption. Therefore, when the motor current Im is equal to or less than the rated current value Is (NO in step S111), the abnormality diagnosis unit 32 generates a message (13th probable cause) indicating that the motor 61 in the target zone is overloaded, and A message to the effect that the weight of the transported product in the zone should be reduced or the motor 61 should be added (the thirteenth coping method) is displayed on the display 34 (step S113: (g7)), and the process ends. .

Overload is the main factor that increases the motor current within the normal range, weight reduction of the transported item is a means of reducing the load on the motors 61, and adding more motors 61 reduces the load per motor 61. It is a means to reduce Therefore, the thirteenth probable cause and the thirteenth coping method can be determined. The straight transport module Ms2 shown in FIG. 3 corresponds to an example in which the motor 61 is added by adding the drive roller 5a containing the motor 61 to the straight transport module Ms1.

As described above, according to the processing of steps S91 to S113, when a low voltage error occurs, it is possible to inform the user of the presumed cause and how to deal with it. Easier to know how. Further, according to the processing of steps S91 to S102, it is possible to detect a low voltage error based on the driving power supply voltage Vd, which is difficult to check without expert knowledge, and inform the cause or countermeasure thereof. Further, according to the processing of steps S105 to S113, it is possible to inform the cause of the abnormality or the coping method based on the motor current Im, which is difficult to check without expert knowledge. Therefore, even a user without specialized knowledge can easily deal with the abnormality.

According to the processing of steps S91 to S113, when a low voltage error is detected, the low voltage error processing is performed by the abnormality diagnosis unit 32, and after the guidance is notified in step S103, the processing from step S105 onward is performed. .

The processing may be continued without executing steps S94 and S104 and waiting for the user's confirmation operation. Step S97 may not be executed, step S102 may not be executed, step S112 may not be executed, step S113 may not be executed, and steps S103 to S113 may not be executed. may
<Motor lock error (7th error)>

A process related to a motor lock error will be described. 25 and 26 are flowcharts showing an example of motor lock error detection processing and motor lock error processing by the conveyor system 1 using the abnormality diagnosis program according to one embodiment of the present invention.

First, in the local abnormality detection section 56 of the local controller ZC, the rotation detection section 54 detects that the motor 61 is not rotating while the drive control section 51 is controlling the motor 61 to rotate. The duration time tc of the state of being on is measured (step S121). Then, the local abnormality detection unit 56 compares the duration tc with a preset rotation determination time trref (step S122), and when the duration tc exceeds the rotation determination time trref (YES in step S122), The local abnormality detection unit 56 detects an abnormality whose type is a motor lock error in the target zone, which is its own zone, and transmits information indicating its own zone and information indicating the motor lock error to the host controller 3 (step S123). ).

Steps S121 to S123 correspond to an example of motor lock error detection processing. According to the motor lock error detection process, it is possible to detect a state in which the motor 61 does not rotate even though the motor 61 is being rotated. Further, according to the processing of steps S121 to S123, based on the duration tc, which is difficult to check without expert knowledge, a motor lock error in which the motor 61 cannot be rotated even if an attempt is made is easily detected. be able to.

Next, in the host controller 3, the abnormality diagnosing unit 32 notifies the target zone, that is, the zone in which the motor lock error has been detected, by displaying a message to the effect that the motor lock error has occurred on the display 34, for example (step S124).

Then, for example, when the user inputs an investigation instruction using the keyboard 35 or the mouse 36 (YES in step S125), the abnormality diagnosis unit 32 executes the motor lock error processing from step S126 onwards. If not (NO in step S125), the process is terminated.

In step S126, the abnormality diagnosis unit 32 accesses the target zone setting value storage unit 58 and acquires the current limit value Ilim stored in the target zone setting value storage unit 58 as clue information (step S126: ( h1)).

Next, the abnormality diagnosis unit 32 compares the acquired current limit value Ilim with a preset initial current limit value Ilim0 (step S127). When the current limit value Ilim is smaller than the initial current limit value Ilim0 (YES in step S127), the abnormality diagnosis unit 32 sends a message to the effect that the setting of the current limit value Ilim in the target zone is inappropriate (14th probable cause). and a message (fourteenth coping method) to the effect that the setting of the current limit value Ilim of the target zone should be changed is displayed on the display 34 (step S128: (h2)), and the process is terminated.

The initial current limit value Ilim0 is, for example, a current value stored in the set value storage unit 58 as a default value for the current limit value Ilim. When the current limit value Ilim is smaller than the initial current limit value Ilim0 (YES in step S127), there is a high possibility that the user changed the current limit value Ilim stored in the set value storage unit 58 to an inappropriate value. Therefore, the 14th presumed cause and the 14th coping method can be determined (step S128).

On the other hand, when the current limit value Ilim is equal to or greater than the initial current limit value Ilim0 (NO in step S127), the abnormality diagnosis unit 32 shifts the process to step S131.

In step S131, the abnormality diagnosis unit 32 refers to the zone sensor 8 of the target zone, and determines whether or not the zone sensor 8 has been turned on longer than the jam determination time tj stored in the set value storage unit 58. That is, the information as to whether or not the object zone is jammed is checked as clue information (step S131: (h3)).

Then, if the load sensor 8 continues to be on beyond the jam determination time tj (YES in step S131), the abnormality diagnosis unit 32 outputs a message (15th probable cause) and a message to the effect that the transported article should be removed from the target zone (fifteenth coping method) are displayed on the display 34 (step S132: (h4)), and the process is terminated.

On the other hand, if no jamming has occurred in the target zone (NO in step S131), the abnormality diagnosis unit 32 outputs a message to the effect that an abnormality has occurred in the motor 61 in the target zone as the presumed cause and A message to the effect that the motor 61 should be replaced is displayed on the display 34 (step S133), and the process ends.

As described above, according to the processing of steps S121 to S133, when a motor lock error occurs, it is possible to notify the user of the presumed cause and how to deal with it. Easier to know how. Further, according to the processing of steps S121 to S133, it is possible to detect a motor lock error based on the duration tc, which is difficult to check without expert knowledge, and to inform the cause or countermeasures thereof. Therefore, even a user without specialized knowledge can easily deal with the abnormality.

According to the processing of steps S121 to S133, when a motor lock error is detected, the abnormality diagnosis section 32 executes motor lock error processing.

Note that the process may be continued without executing step S125 and waiting for the user's confirmation operation. Further, step S128 may not be executed, step S132 may not be executed, step S133 may not be executed, and steps S131 to S133 may not be executed.
<Board thermal error (8th error)>

Processing related to board thermal errors will be described. 27 to 29 are flowcharts showing an example of board thermal error detection processing and board thermal error processing by the conveyor system 1 using the abnormality diagnosis program according to one embodiment of the present invention.

First, the local abnormality detection unit 56 of the local controller ZC compares the circuit temperature Tc of the motor drive circuit 62 detected by the circuit temperature detection unit 67 with the circuit temperature determination value Tcref prestored in the set value storage unit 58. (step S141). When the circuit temperature Tc exceeds the circuit temperature determination value Tcref (YES in step S141), the local abnormality detection unit 56 detects an abnormality of the substrate thermal error type in the target zone, which is its own zone. The information indicating the zone and the information indicating the substrate thermal error are transmitted to the host controller 3 (step S142).

Steps S141 and S142 correspond to an example of substrate thermal error detection processing.

Next, in the host controller 3, the abnormality diagnosis unit 32 notifies the target zone, ie, the zone where the board thermal error is detected, by displaying a message to the effect that the board thermal error has occurred on the display 34, for example (step S143).

Then, for example, when the user inputs an investigation instruction using the keyboard 35 or the mouse 36 (YES in step S144), the abnormality diagnosis unit 32 executes substrate thermal error processing in steps S145 and subsequent steps, while executing the investigation instruction of the user. If there is no (NO in step S144), the process is terminated.

In step S145, the abnormality diagnosis unit 32 accesses the set value storage unit 58 of the target zone and acquires the circuit temperature determination value Tcref stored in the set value storage unit 58 as clue information (step S145).

Next, the abnormality diagnosis unit 32 compares the circuit temperature determination value Tcref of the target zone with the initial circuit temperature determination value Tcref0 (step S146). When the circuit temperature determination value Tcref indicates a temperature lower than the initial circuit temperature determination value Tcref0 (YES in step S146), the abnormality diagnosis unit 32 indicates that the setting of the circuit temperature determination value Tcref for the target zone is inappropriate. (sixteenth presumed cause) and a message (sixteenth coping method) to the effect that the circuit temperature judgment value Tcref of the target zone should be changed to a higher temperature is displayed on the display 34 to notify (step S147: (i1)), and terminate the process.

The initial circuit temperature determination value Tcref0 is, for example, a current value stored in the set value storage unit 58 as the default value of the circuit temperature determination value Tcref. When the circuit temperature determination value Tcref is lower than the initial circuit temperature determination value Tcref0 (YES in step S147), there is a possibility that the user changed the circuit temperature determination value Tcref stored in the set value storage unit 58 to an inappropriate value. is high. Therefore, the 16th probable cause and the 16th coping method can be determined (step S147).

On the other hand, when circuit temperature determination value Tcref is equal to or greater than initial circuit temperature determination value Tcref0 (NO in step S146), abnormality diagnosis unit 32 proceeds to step S151.

In step S151, the abnormality diagnosis unit 32 accesses the local controller ZC of the target zone and acquires as clue information whether or not the local abnormality detection unit 56 of the target zone newly detects a substrate thermal error at the present time. (step S151: (i2)).

If a board thermal error is newly detected (YES in step S152), that is, if the board thermal error cannot be cleared, the time from when the board thermal error was detected in steps S141 and S142 to the present time has elapsed. This means that the circuit temperature Tc still does not drop, that is, the abnormally high temperature state of the motor drive circuit 62 continues. Then, the reason why the circuit temperature Tc is high is not a temporary temperature rise due to the operating state of the target zone, but an abnormality such as a short circuit failure of the motor drive circuit 62 itself, or a failure of the circuit temperature detection unit 67. It is considered that there is a high possibility that it is an abnormality such as

Therefore, when a substrate thermal error is newly detected (YES in step S152), the abnormality diagnosis unit 32 generates a message indicating that the motor drive circuit 62 or the circuit temperature detection unit 67 in the target zone is abnormal as the presumed cause, and As a countermeasure, a message to the effect that the motor drive circuit 62 or the circuit temperature detector 67 in the target zone should be repaired is displayed on the display 34 (step S153), and the process is terminated.

Abnormality of the circuit temperature detection unit 67 includes disconnection of the cable connecting the circuit temperature detection unit 67 to the control unit 50 . The repair of the circuit temperature detector 67 includes replacement of the circuit temperature detector 67 and repair or replacement of the cable connecting the circuit temperature detector 67 to the controller 50 .

On the other hand, if no board thermal error is newly detected (NO in step S152), that is, if the board thermal error has been cleared, the abnormality diagnosis unit 32 displays a message on the display 34 prompting removal of the transported object in the target zone. The information is notified by, for example, guidance display (step S154: (i3)).

When the user removes the transported object from the target zone according to the guidance display, for example, the user uses the keyboard 35 or the mouse 36 to input an instruction to continue the substrate thermal error processing (YES in step S155), the abnormality diagnosis unit 32 While instructing the local controller ZC of the target zone to drive the motor 61 by the motor drive circuit 62, the motor current Im detected by the current detector 66 is acquired as clue information (step S156: (i4)).

In this case, the motor current Im can be obtained as the motor current Im when the motor 61 is in a low-load state in which no load is applied to the motor 61 due to the transportation of the conveyed object.

Next, the abnormality diagnosis unit 32 compares the motor current Im and the rated current value Is of the motor 61 (step S161).

Then, when the motor current Im exceeds the rated current value Is (YES in step S161), the abnormality diagnosis unit 32 determines that there is an overload of the motor 61 in the target zone not caused by the transported object or an abnormality of the motor 61. message (17th probable cause) and a message (17th coping method) to the effect that the load on the motor 61 in the target zone not caused by the transported object should be reduced or the motor 61 should be replaced (17th coping method). is notified (step S162: (i5)), and the process ends.

In step S156, since the motor current Im is detected when the target zone is idled after removing the transported object from the target zone, the motor current Im exceeds the rated current value Is, which should not exceed the designed value. If so (YES in step S161), it can be determined that the substrate thermal error is not caused by an overload caused by the transported object, such as an overload due to the transported object being too heavy.

As an example of an overload that is not caused by a transported object and is caused by idling after the transported object has been removed, there is a case where the number of driven rollers 5b driven per drive roller 5a is excessive. Alternatively, there is a case where the drive resistance when driving the drive roller 5a and the driven roller 5b is abnormally increased due to a malfunction of the transport mechanism.

Also, when the motor 61 is in an abnormal state such as a failure, the motor current Im may exceed the rated current value Is. Therefore, the 17th probable cause and the 17th coping method can be determined.

On the other hand, when the motor current Im does not exceed the rated current value Is (NO in step S161), the motor current Im is within the assumed design range. It is considered that the overcurrent causing the temperature rise of the circuit 62 has been eliminated. Therefore, it is highly probable that the substrate thermal error that occurred in the target zone was caused by an overload caused by the transported object, such as an overload due to the transported object being too heavy.

Therefore, when the motor current Im does not exceed the rated current value Is (NO in step S161), the abnormality diagnosis unit 32 outputs a message to the effect that the estimated cause is an overload of the motor 61 caused by the transported object in the target zone, and As a countermeasure, a message is displayed on the display 34 to the effect that the load of the motor 61 in the target zone due to the transported object should be reduced (step S163), and the process ends. In order to reduce the load caused by the transported object, the transported object should be lightened.

As described above, according to the processing of steps S141 to S163, when a substrate thermal error occurs, the user can be informed of the presumed cause and how to deal with it. Easier to know how. Further, according to the processing of steps S141 to S154, it is possible to detect a substrate thermal error based on the circuit temperature Tc, which is difficult to check without expert knowledge, and inform the cause or countermeasures thereof. Therefore, even a user without specialized knowledge can easily deal with the abnormality. Further, according to the processing of steps S156 to S163, it is possible to inform the cause of the abnormality or the coping method based on the motor current Im, which is difficult to check without expert knowledge. Therefore, even a user without specialized knowledge can easily deal with the abnormality.

According to the processing of steps S141 to S163, when a board thermal error is detected, board thermal error processing by the abnormality diagnosis section 32 is executed. The processing may be continued without executing steps S144 and S155 and waiting for the user's confirmation operation. Further, step S153 may not be executed, step S162 may not be executed, step S163 may not be executed, and steps S151 to S163 may not be executed. Alternatively, when YES in step S144, the process may proceed to step S151 without executing steps S145 to S147.
<Motor thermal error (9th error)>

Processing regarding a motor thermal error will be described. 30 and 31 are flowcharts showing an example of motor thermal error detection processing and motor thermal error processing by the conveyor system 1 using the abnormality diagnosis program according to one embodiment of the present invention.

First, the local abnormality detection unit 56 of the local controller ZC compares the motor temperature Tm of the motor 61 detected by the motor temperature detection unit 68 with the motor temperature determination value Tmref pre-stored in the set value storage unit 58 ( step S171). When the motor temperature Tm exceeds the motor temperature determination value Tmref (YES in step S171), the local abnormality detection unit 56 detects an abnormality of type motor thermal error in the target zone, which is its own zone. The information indicating the zone and the information indicating the motor thermal error are transmitted to the host controller 3 (step S172).

Steps S171 and S172 correspond to an example of motor thermal error detection processing.

Next, in the host controller 3, the abnormality diagnosis unit 32 reports the occurrence of the motor thermal error in the target zone, ie, the zone in which the motor thermal error is detected, by displaying, for example, a message on the display 34 (step S173).

Then, for example, when the user inputs an investigation instruction using the keyboard 35 or the mouse 36 (YES in step S174), the abnormality diagnosis unit 32 executes the motor thermal error processing from step S175 onwards, while the user's investigation instruction is received. If not (NO in step S174), the process is terminated.

In step S175, the abnormality diagnosis section 32 accesses the local controller ZC of the target zone and acquires as clue information whether or not a motor thermal error is newly detected by the local abnormality detection section 56 of the target zone at this time. (step S175: (j1)).

If a motor thermal error is newly detected (YES in step S176), that is, if the motor thermal error cannot be canceled, the time from when the motor thermal error was detected in steps S171 and S172 to the present time has elapsed. This means that the motor temperature Tm still does not drop, that is, the abnormally high temperature state of the motor 61 continues. Then, the cause of the high motor temperature Tm is not a temporary temperature rise due to the operating state of the target zone, but an abnormality such as a short circuit failure of the motor 61 itself, or a failure of the motor temperature detection unit 68. It is highly likely that this is an anomaly.

Therefore, when a motor thermal error is newly detected (YES in step S176), the abnormality diagnosis unit 32 generates a message indicating that the motor 61 in the target zone or the motor temperature detection unit 68 is abnormal as the presumed cause, and a coping method. and a message to the effect that the motor 61 or the motor temperature detector 68 in the target zone should be repaired is displayed on the display 34 (step S177), and the process ends.

Abnormality of the motor temperature detection unit 68 includes disconnection of the cable connecting the motor temperature detection unit 68 to the control unit 50 . Repairing the motor temperature detector 68 includes replacing the motor temperature detector 68 and repairing or replacing the cable connecting the motor temperature detector 68 to the controller 50 .

On the other hand, if no new motor thermal error has been detected (NO in step S176), that is, if the motor thermal error has been cleared, the abnormality diagnosis unit 32 displays a message on the display 34 prompting removal of the transported object from the target zone. The information is notified by, for example, guidance display (step S181: (j2)).

When the user removes the transported object from the target zone according to the guidance display, for example, the user uses the keyboard 35 or the mouse 36 to input an instruction to continue motor thermal error processing (YES in step S182), the abnormality diagnosis unit 32 The local controller ZC of the target zone is instructed to drive the motor 61 by the motor drive circuit 62, and the motor current Im detected by the current detection unit 66 is acquired as clue information (step S183: (j3)).

In this case, a motor current in a low-load state in which the motor 61 is not subjected to a load caused by conveying a conveyed object is obtained as the motor current Im.

Next, the abnormality diagnosis unit 32 compares the motor current Im and the rated current value Is of the motor 61 (step S184).

Then, when the motor current Im exceeds the rated current value Is (YES in step S184), the abnormality diagnosis unit 32 determines that there is an overload of the motor 61 in the target zone that is not caused by the transported object, or an abnormality of the motor 61 has occurred. (eighteenth presumed cause) and a message to the effect that the load on the motor 61 in the target zone that is not caused by the transported object should be reduced or the motor 61 should be replaced (eighteenth coping method). is notified (step S185: (j4)), and the process ends.

In step S183, since the motor current Im is detected when the target zone is idled after removing the transported object from the target zone, the motor current Im exceeds the rated current value Is which should not exceed the designed value. If so (YES in step S184), it can be determined that the motor thermal error is not caused by an overload caused by the transported object, such as an overload due to the transported object being too heavy.

As an example of an overload that is not caused by a transported object and is caused by idling after the transported object has been removed, there is a case where the number of driven rollers 5b driven per drive roller 5a is excessive. Alternatively, there is a case where the drive resistance when driving the drive roller 5a and the driven roller 5b is abnormally increased due to a malfunction of the transport mechanism.

Also, when the motor 61 is in an abnormal state such as a failure, the motor current Im may exceed the rated current value Is. Therefore, the 18th probable cause and the 18th coping method can be determined.

On the other hand, when the motor current Im does not exceed the rated current value Is (NO in step S184), the motor current Im is within the assumed design range, and the motor 61 It is considered that the overcurrent that causes the temperature rise of the capacitor has been eliminated. Therefore, it is highly probable that the motor thermal error that occurred in the target zone was caused by an overload caused by the transported object, such as an overload due to the transported object being too heavy.

Therefore, when the motor current Im does not exceed the rated current value Is (NO in step S184), the abnormality diagnosis unit 32 outputs a message to the effect that the estimated cause is an overload of the motor 61 caused by the transported object in the target zone, and As a countermeasure, a message is displayed on the display 34 to the effect that the load of the motor 61 in the target zone due to the transported object should be reduced (step S186), and the process ends. In order to reduce the load caused by the transported object, the transported object should be lightened.

As described above, according to the processing of steps S171 to S186, when a motor thermal error occurs, it is possible to notify the user of the presumed cause and how to deal with it. Easier to know how. Further, according to the processing of steps S171 to S181, it is possible to detect a motor thermal error based on the motor temperature Tm, which is difficult to check without expert knowledge, and to notify the cause or countermeasures thereof. Further, according to the processing of steps S183 to S186, it is possible to inform the cause of the abnormality or the coping method based on the motor current Im, which is difficult to check without expert knowledge. Therefore, even a user without specialized knowledge can easily deal with the abnormality.

According to the processing of steps S171 to S186, when a motor thermal error is detected, the abnormality diagnosis section 32 executes motor thermal error processing. The processing may be continued without executing steps S174 and S182 and waiting for the user's confirmation operation. Also, step S177 may not be executed, step S185 may not be executed, step S186 may not be executed, and steps S181 to S186 may not be executed.
<Inter-local communication error (10th error)>

A description will be given of processing related to an inter-local communication error. First, the local address information stored in the set value storage unit 58 of each zone Z will be described. FIG. 32 is a table-format explanatory diagram showing an example of the local address information A5 stored in the set value storage unit 58 of the zone Z5.

As shown in FIG. 1, the zone Z5 is adjacent to the zone Z4 on the direction D1 side, adjacent to the zone Z6 on the direction D2 side, and adjacent to the zone Z8 on the direction D3 side. The local address information A5 associates the adjacent direction D1 with the address 4, the adjacent direction D2 with the address 6, and the adjacent direction D3 with the address 8, corresponding to such arrangement of the zone Z. FIG. Similar to the local address information A5, the local address information of another zone Z also associates the adjacency direction with respect to the own node and the address of another adjacent zone Z. FIG.

Although FIG. 32 does not divide the data for transmission and reception, the local address information may be composed of a data table for transmission and a data table for reception.

The local communication unit 57 of each zone Z refers to the setting value storage unit 58 of its own zone, and based on the local address information stored in the setting value storage unit 58, communicates with other zones. Each local communication unit 57 monitors the response time from the time of transmission until the response is returned when communicating with the local communication units 57 of other zones, and the response time exceeds the predetermined response monitoring time. Time out, that is, when communication is not possible.

33 and 34 are flowcharts showing an example of inter-local communication error detection processing and inter-local communication error processing by the conveyor system 1 using the abnormality diagnosis program according to one embodiment of the present invention.

First, when a timeout occurs in the local communication unit 57 (YES in step S191), the local abnormality detection unit 56 of the local controller ZC detects an abnormality whose type is an inter-local communication error in the target zone, which is its own zone. , the information indicating the zone of its own and the information indicating the inter-local communication error are transmitted to the host controller 3 (step S192).

Steps S191 and S192 correspond to an example of inter-local communication error detection processing.

Next, in the host controller 3, the abnormality diagnosing unit 32 notifies by displaying, for example, on the display 34, a message to the effect that an inter-local communication error has occurred in the target zone, that is, the zone in which the inter-local communication error has been detected. (Step S193).

Then, for example, when the user inputs an investigation instruction using the keyboard 35 or the mouse 36 (YES in step S194), the abnormality diagnosis unit 32 executes the inter-local communication error processing from step S195 onwards, while If there is no (NO in step S194), the process is terminated.

In step S195, the abnormality diagnosis unit 32 accesses the setting value storage unit 58 of the target zone and acquires the local address information stored in the setting value storage unit 58 as clue information (step S195: (k1) ).

Next, the abnormality diagnosis unit 32 determines consistency between the local address information of the target zone, the layout information stored in the layout information storage unit 38, and the address of each zone (step S196: (k2)). If so (YES in step S197), the abnormality diagnosis unit 32 issues a message indicating that the probable cause is a disconnection of the communication cable 4 or power off due to no supply of operating power supply voltage to the communication partner zone, and a countermeasure. As a method, a message to the effect that confirmation of the connection of the communication cable 4 or confirmation of the supply of the power supply voltage for operation to the communication partner zone (adjacent zone of the target zone) should be confirmed is displayed on the display 34 (step S198), the process ends. Disconnection of the communication cable 4 includes non-connection or poor contact of the communication connector.

The layout information storage unit 38 stores arrangement information indicating the arrangement of zones Z1 to Z11 and address information indicating addresses 1 to 11 of zones Z1 to Z11 as shown in FIG. Therefore, when the target zone is zone Z5, for example, the abnormality diagnosis unit 32 compares the local address information A5 shown in FIG. 32 with the arrangement information and address information shown in FIG. can judge.

On the other hand, if it is determined in step S197 that there is no consistency (NO in step S197), the abnormality diagnosis unit 32 sends a message (19th probable cause) to the effect that the local address information of the target zone is inappropriate, and A message to the effect that the local address information of the target zone should be corrected (the 19th coping method) is displayed on the display 34 or the like (step S201: (k3)).

Then, for example, when the user inputs an instruction for automatic correction using the keyboard 35 or the mouse 36 (YES in step S202), the abnormality diagnosis unit 32 stores the layout information and the addresses of each zone stored in the layout information storage unit 38. (step S203: (k4)).

According to the arrangement information and address information shown in FIG. 1, for example, when the target zone is zone Z5, zone Z4 with address 4 is adjacent to the direction D1 side, zone Z6 with address 6 is adjacent to the direction D2 side, It can be seen that zone Z8 of address 8 is adjacent to direction D3. Therefore, the abnormality diagnosis unit 32 can generate the correct local address information A5 shown in FIG. 32 based on the arrangement information and the addresses of each zone stored in the layout information storage unit 38.

Next, the abnormality diagnosis unit 32 accesses the set value storage unit 58 of the target zone to store the generated new local address information as new local address information (step S204: (k4)).

As described above, according to the processing of steps S191 to S204, when an inter-local communication error occurs, the user can be notified of the presumed cause and countermeasures. It becomes easier to know how to deal with it. Further, according to steps S203 and S204, the cause of the local communication error can be automatically resolved.

According to the processing of steps S191 to S204, when an inter-local communication error is detected, the abnormality diagnosis unit 32 executes inter-local communication error processing, and when the local address information of the target zone does not match (in step S197 NO), new local address information is generated and stored in the target zone.

The processing may be continued without executing steps S194 and S202 and waiting for the user's confirmation operation. Further, step S198 may not be executed, step S201 may not be executed, and steps S202 to S204 may not be executed.

Note that steps S7, S11, S29, S33, S38, S47, S48, S62, S63, S78, S83, S86, S97, S102, S112, S113, S128, S132, S133, S147, S153, S162, S163, S177 , S185 and S186, only one of the estimated cause and the coping method may be notified.

Also, the above-mentioned messages may have substantially the same meaning as those messages, and are not limited to the expressions of those messages themselves. In addition, the notification by the abnormality diagnosis unit 32 is not limited to being displayed on the display 34, and may be notified by, for example, transmitting to the outside through communication, and various notification methods can be employed.

In addition, processing related to low voltage error (sixth error), motor lock error (seventh error), substrate thermal error (eighth error), and motor thermal error (ninth error) is divided into multiple zones. It can also be applied to a conveyor system using a conveyor device that does not have one.

In addition, the local abnormality detection unit 56 detects an induced voltage error (first error), a jam error (second error), a motor power off error (third error), a motor unconnected error (fourth error), an elevation error (second 5 error), low voltage error (6th error), motor lock error (7th error), board thermal error (8th error), motor thermal error (9th error), and inter-local communication error (10th error) At least one of them should be detectable. Further, the abnormality diagnosis unit 32 only needs to be able to execute processing related to at least one of the first to tenth errors.

The abnormality history record processing unit 33 records at least one of the abnormality detected in each zone Z as described above, and the estimated cause and coping method of the abnormality estimated by the abnormality diagnosis unit 32 corresponding to the detected abnormality. are associated with each other and cumulatively recorded in the abnormality history storage unit 39 as an abnormality history.

The abnormality history stored in the abnormality history storage unit 39 in this way can be used to analyze the cause of each abnormality, and can be easily used to improve the conveyor system 1 .

According to the conveyor system, the abnormality diagnosis device, the abnormality diagnosis program, and the computer-readable recording medium recording the abnormality diagnosis program configured as described above, it is easy to know the cause or countermeasure when an abnormality occurs. is.

This application is based on Japanese Patent Application No. 2019-073017 filed on April 5, 2019, the contents of which are incorporated herein. It should be noted that the specific embodiments or examples described in the section for carrying out the invention merely clarify the technical content of the present invention, and the present invention is based on such specific examples. It should not be interpreted narrowly by limiting only

1 Conveyor system 2 Conveyor device 3 Host controller (abnormality diagnosis device)
4 Communication cable 5 Transport rollers 5a, 15 Drive roller 5b Driven rollers 6, 6 Side frame 7 Transmission belt 8 Inventory sensor 9 Boundary sensor 11 Main transport conveyor 12 Sub-transport conveyor 13 Lifting device 14, 17 Belt 16 Roller 18 Linear cam 19 lift motor 20 rack and pinion mechanism 21 lift controller (switching response signal output unit)
30 calculation unit 31 transport control unit 32 abnormality diagnosis unit 33 abnormality history recording processing unit 34 display 35 keyboard 36 mouse 37 communication IF unit 38 layout information storage unit (motor information storage unit, configuration information storage unit)
39 abnormality history storage unit 50 control units 51, 51a, 51b drive control unit 52 speed control unit 53 motor connection detection unit 54 rotation detection unit 56 local abnormality detection unit (abnormality detection unit)
56a Local anomaly detector (first anomaly detector)
56b Local anomaly detector (second anomaly detector)
57 local communication unit 58 set value storage unit 59 program storage unit 60 motor block 61 motor 61a rotor 62 motor drive circuit 63 terminal voltage detection unit 64 drive voltage detection unit 66 current detection unit 67 circuit temperature detection unit 68 motor temperature detection unit A5 Local address information CBL1, CBL2 Power cable CN1, CN2 Connector D1, D2, D3, D4 Direction H1, H2, H3 Hall element Ilim Current limit value Ilim0 Initial current limit value Im Motor current Is Rated current value M, M1 to M11 Transfer module Ms, Ms1, Ms2 Straight transfer module Mt Direction change module P1 First program P2 Second program PS1, PS2 Power supply unit PS2 Power supply unit t0 Jam reference time T1 to T7 Terminal Tc Circuit temperature tc Duration time Tcref Circuit temperature judgment value Tcref0 Initial circuit Temperature judgment value tj Jam judgment time tlm Switching monitoring time tlm0 Initial switching monitoring time Tm Motor temperature Tmref Motor temperature judgment value trref Rotation judgment time Vd Drive power supply voltage Vdref Drive judgment voltage Vt Terminal voltage Vtref Terminal judgment voltage W Conveyed goods Z, Z1 ~Z11 Zone ZC, ZC1~ZC11 Local controller

Claims (29)

a conveyor device for conveying an object;
an abnormality detection unit capable of detecting a plurality of types of abnormality in the conveyor device;
Based on the type of abnormality detected by the abnormality detection unit, clue information is acquired as a clue for diagnosing the cause of the detected type of abnormality, and based on the acquired clue information. an abnormality diagnosis unit for estimating the cause of the detected abnormality ,
The conveyor device is divided into a plurality of zones along the conveying direction of the conveyed object,
In each zone,
a motor that generates a driving force for the transport in its own zone;
a terminal voltage detection unit for detecting a terminal voltage of the motor,
The abnormality detection section has a terminal determination voltage preset to a voltage higher than a driving power supply voltage for driving the motor when the terminal voltage detected by one of the terminal voltage detection sections of the zones is set in advance. When higher, the conveyor system detects the abnormality with the type as the first error in the target zone, which is the zone to which any of the terminal voltage detection units belongs. Each zone further includes:
a speed setting storage unit for pre-storing the speed setting of the conveying;
a speed control unit that controls the speed of the conveying according to the speed setting;
When the abnormality detected by the abnormality detection unit is the first error, the abnormality diagnosis unit
(a1) acquiring the speed setting of the target zone and the speed setting of a zone on the upstream side of the target zone in the conveying direction of the conveyed product as the clue information;
(a2) Based on the clue information obtained in (a1), when the speed setting of the upstream zone is faster than the speed setting of the target zone, the first probable cause and the second Inform the user of at least one of the coping methods,
The first presumed cause is that the speed setting of the target zone is inappropriate,
2. The conveyor system of claim 1 , wherein said first remedy is to modify the speed setting of said zone of interest. When the abnormality detected by the abnormality detection unit is the first error, the abnormality diagnosis unit
(a1) acquiring the speed setting of the target zone and the speed setting of a zone on the upstream side of the target zone in the conveying direction of the conveyed product as the clue information;
(a3) Based on the clue information obtained in (a1), when the speed setting of the upstream zone is equal to or lower than the speed setting of the target zone, the second estimated cause and the second countermeasure signaling at least one of the methods;
The second presumed cause is that the conveyed object is pushed from the outside,
3. The conveyor system according to claim 1 or 2 , wherein said second coping method is to prevent said transported object from being pushed from the outside. Further, in (a1), the abnormality diagnosis unit acquires, as the clue information, a speed setting of a zone on the upstream side in the conveying direction of the conveyed article from the target zone, corresponding to a plurality of zones,
(a4) When the speed setting of the zone adjacent to the upstream side is higher than the speed setting of the target zone, the set speed is higher than the speed setting of the plurality of zones on the upstream side in the conveying direction. find the speed setting with the highest number of identical speed settings,
(a5) The conveyor system according to claim 2 , wherein the speed of the speed setting searched in (a4) is stored as a new speed setting in the speed setting storage unit of the target zone. a conveyor device for conveying an object;
an abnormality detection unit capable of detecting a plurality of types of abnormality in the conveyor device;
Based on the type of abnormality detected by the abnormality detection unit, clue information is acquired as a clue for diagnosing the cause of the detected type of abnormality, and based on the acquired clue information. an abnormality diagnosis unit for estimating the cause of the detected abnormality,
The conveyor device is divided into a plurality of zones along the conveying direction of the conveyed object,
The plurality of zones includes a straight zone in which the article to be conveyed goes straight and a direction change zone in which the article to be conveyed can be conveyed in a direction intersecting with the straight traveling direction,
The straight zone and the direction change zone are provided with a load sensor for detecting the presence or absence of the transported object in its own zone,
The direction change zone is further provided with a boundary sensor for detecting the presence or absence of the conveyed object at at least two of the boundaries between the self zone and other adjacent zones,
Each of the zones further comprises a jam judgment time storage section for pre-storing the jam judgment time of its own zone,
When the time period during which any one of the zone sensors of each zone detects that the transported object is present exceeds the jam determination time, the abnormality detection section detects the presence of the transported object in the zone to which one of the zone sensors belongs. Detecting the abnormality with the type as a second error in a certain target zone,
When the abnormality detected by the abnormality detection unit is the second error, the abnormality diagnosis unit
(b1) acquiring zone type information indicating the type of the target zone as the clue information, and determining whether the target zone is the turning zone based on the zone type information;
(b2) in (b1) above, when the target zone is the turn-changing zone, acquiring the detection state of each of the boundary sensors in the target zone as the clue information;
(b3) when more than one of the detection states of the boundary sensors acquired in (b2) indicates that the transported object is present, notifying the user of at least one of the third estimated cause and the third coping method;
The third probable cause is that the transported object exists in a plurality of boundaries between the target zone and other zones,
The conveyor system, wherein the third countermeasure is to manually move the conveyed article in the turning zone. 6. The conveyor system according to claim 5 , wherein said abnormality detection unit further detects said abnormality as said type as a second error when two or more said boundary sensors detect that said conveyed object exists in said direction change zone. . a conveyor device for conveying an object;
an abnormality detection unit capable of detecting a plurality of types of abnormality in the conveyor device;
Based on the type of abnormality detected by the abnormality detection unit, clue information is acquired as a clue for diagnosing the cause of the detected type of abnormality, and based on the acquired clue information. an abnormality diagnosis unit for estimating the cause of the detected abnormality,
The conveyor device is divided into a plurality of zones along the conveying direction of the conveyed object,
Each zone is
a load sensor that detects the presence or absence of the transported object within its own zone;
a jam determination time storage unit that stores in advance the jam determination time of its own zone;
The abnormality detection unit determines that the time during which any one of the zone sensors of each zone detects that the conveyed article is present is the jam determination time of the target zone to which one of the zone sensors belongs. when exceeding, detecting the abnormality with the type as a second error corresponding to the target zone;
When the abnormality detected by the abnormality detection unit is the second error, the abnormality diagnosis unit
(c1) acquiring the jam determination time stored in the jam determination time storage unit of the target zone as the clue information;
(c2) if the jam determination time acquired in (c1) is less than a preset jam reference time, notify the user of at least one of the fourth presumed cause and the fourth coping method;
the fourth presumed cause is that the jam determination time of the target zone is inappropriate;
In the conveyor system, the fourth coping method is to change the jam determination time of the target zone. The abnormality diagnosis unit further
(c3) In the above (c2), if the jam determination time is less than the jam reference time, a preset initial jam determination time is stored in the jam determination time storage section of the target zone as a new jam determination time. 8. The conveyor system of claim 7 , stored as . The abnormality diagnosis unit further
(c4) In the above (c2), if the jam determination time is less than the jam reference time, the jam determination times of the plurality of zones are acquired as the clue information, and among the plurality of jam determination times, , search for the jam judgment time with the largest number of jam judgment times with the same time,
(c5) The conveyor system according to claim 7 , wherein the jam determination time searched for in (c4) is stored as a new jam determination time in the jam determination time storage section of the target zone. a conveyor device for conveying an object;
an abnormality detection unit capable of detecting a plurality of types of abnormality in the conveyor device;
Based on the type of abnormality detected by the abnormality detection unit, clue information is acquired as a clue for diagnosing the cause of the detected type of abnormality, and based on the acquired clue information. an abnormality diagnosis unit for estimating the cause of the detected abnormality,
The conveyor device is divided into a plurality of zones along the conveying direction of the conveyed object,
In each zone,
a motor that generates a driving force for the transport in its own zone;
a motor drive circuit for controlling the drive of the motor;
a driving voltage detection unit for detecting a driving power supply voltage supplied to the motor driving circuit,
The conveyor system further comprises a power supply unit that supplies the drive power supply voltage to the motor drive circuits of the plurality of zones,
When the drive power supply voltage detected by any one of the drive voltage detectors of each zone is substantially zero, the abnormality detector detects a target zone to which any one of the drive voltage detectors belongs. in detecting the abnormality with the type as a third error;
When the abnormality detected by the abnormality detection unit is the third error, the abnormality diagnosis unit
(d1) acquiring at least one of information indicating the driving power supply voltage and information indicating whether or not the third error is detected in a zone other than the target zone as the clue information;
(d2) in (d1), when the acquired information in the other zone indicates at least one of the driving power supply voltage being substantially zero and the detection of the third error; Informing the user of at least one of the fifth presumed cause and the fifth remedy,
The fifth probable cause is that the power supply unit does not output the driving power supply voltage, and that the cable for supplying the driving power supply voltage from the power supply unit to the target zone is broken. at least one of
In the conveyor system, the fifth coping method is confirmation of the power supply unit and confirmation of a cable for supplying the driving power supply voltage from the power supply unit to the target zone. the motor drive circuit of each zone includes a connector for receiving the driving power supply voltage from the power supply unit;
The abnormality diagnosis unit further
(d3) In (d1), when the acquired information in the other zone does not indicate that the driving power supply voltage is substantially zero or that the third error is detected; Notify at least one of the sixth probable cause and the sixth remedy,
the sixth probable cause is at least one of disconnection of the connector and poor contact of the connector;
11. The conveyor system according to claim 10 , wherein said sixth coping method is at least one of connecting said connector and detaching said connector. a conveyor device for conveying an object;
an abnormality detection unit capable of detecting a plurality of types of abnormality in the conveyor device;
Based on the type of abnormality detected by the abnormality detection unit, clue information is acquired as a clue for diagnosing the cause of the detected type of abnormality, and based on the acquired clue information an abnormality diagnosis unit for estimating the cause of the detected abnormality,
The conveyor device is divided into a plurality of zones along the conveying direction of the conveyed object,
The plurality of zones includes a plurality of different types of zones,
In each zone,
a motor that generates a driving force for the transport in its own zone;
a plurality of connectors for connecting the motor;
a motor connection detection unit that detects whether or not the motor is connected to each connector;
a motor connection information storage unit for pre-storing motor connection information indicating whether or not the motor should be connected to each of the connectors;
The abnormality detection unit detects that the motor is not connected to a connector to which the motor should be connected according to the motor connection information in a target zone, which is one of the plurality of zones. is detected by the motor connection detection unit, detecting the abnormality with the type as a fourth error in the target zone;
The conveyor system comprises:
further comprising a motor information storage unit that stores in advance motor information indicating the connection mode of the motor in each zone;
When the abnormality detected by the abnormality detection unit is the fourth error, the abnormality diagnosis unit
(e1) acquiring the motor connection information stored in the motor connection information storage unit of the target zone as the clue information;
(e2) Confirm whether or not the motor connection information of the target zone obtained in (e1) matches the motor connection mode indicated by the motor information stored in the motor information storage unit. and if not consistent, notify the user of at least one of the seventh presumed cause and the seventh coping method,
the seventh probable cause is that the motor connection information of the target zone is inappropriate;
The seventh coping method is the conveyor system, wherein the motor connection information of the target zone is changed. a conveyor device for conveying an object;
an abnormality detection unit capable of detecting a plurality of types of abnormality in the conveyor device;
Based on the type of abnormality detected by the abnormality detection unit, clue information is acquired as a clue for diagnosing the cause of the detected type of abnormality, and based on the acquired clue information. an abnormality diagnosis unit for estimating the cause of the detected abnormality,
The conveyor device is divided into a plurality of zones along the conveying direction of the conveyed object,
The plurality of zones includes a straight zone in which the article to be conveyed goes straight and a direction change zone in which the article to be conveyed can be conveyed in a direction intersecting with the straight traveling direction,
In the straight zone and the turning zone,
a program storage unit for storing programs;
a control unit that functions as the abnormality detection unit by executing the program,
The program storage unit provided in the direction change zone stores a first program for instructing the conveying direction by the control unit and for causing the control unit to function as the first abnormality detection unit. scheduled,
The program storage unit provided in the straight zone is planned to store a second program for causing the control unit to function as the second abnormality detection unit different from the first abnormality detection unit,
The direction change zone is provided with a switching response signal output unit for outputting a switching response signal indicating that the own transport direction has been switched according to the instruction of the transport direction by the control unit to the control unit. be
In the second abnormality detection section, the control section receives the switching response signal before a preset switching monitoring time elapses after the control section instructs the conveying direction in its own zone. If not, the conveyor system detects said anomaly with said type as a fifth error. If the abnormality detected by the abnormality detection unit in any one of the zones is the fifth error, the abnormality diagnosis unit
(f1) If zone type information indicating the type of the target zone, which is the zone in which the fifth error is detected, is acquired as the clue information, and the zone type information indicates a type different from the direction change zone, Inform the user of at least one of the eighth probable cause and the eighth coping method,
The eighth probable cause is that the program stored in the program storage unit of the target zone is incorrect,
14. The conveyor system according to claim 13 , wherein the eighth coping method is to change the program stored in the program storage unit of the target zone. The direction change zone further includes a switching monitoring time storage unit that stores the switching monitoring time in advance,
If the abnormality detected by the abnormality detection unit in any one of the zones is the fifth error, the abnormality diagnosis unit
(f2) acquiring the switching monitoring time of the target zone, which is the zone in which the fifth error was detected, as the clue information;
(f3) if the switching monitoring time obtained in (f2) is shorter than a preset initial switching monitoring time, notify the user of at least one of the ninth probable cause and the ninth coping method;
The ninth probable cause is that the switching monitoring time of the target zone is inappropriate,
15. The conveyor system according to claim 13 or 14 , wherein said ninth coping method is to change said switching monitoring time of said target zone. a conveyor device for conveying an object;
an abnormality detection unit capable of detecting a plurality of types of abnormality in the conveyor device;
Based on the type of abnormality detected by the abnormality detection unit, clue information is acquired as a clue for diagnosing the cause of the detected type of abnormality, and based on the acquired clue information. an abnormality diagnosis unit that estimates the cause of the detected abnormality;
a motor that generates a driving force for conveying the conveyed object;
a motor drive circuit for controlling the drive of the motor;
a driving voltage detection unit that detects a driving power supply voltage supplied to the motor driving circuit,
the abnormality detection unit detects the abnormality as a sixth error as the type when the drive power supply voltage detected by the drive voltage detection unit is lower than a preset drive determination voltage;
When the abnormality detected by the abnormality detection unit is the sixth error, the abnormality diagnosis unit
(g1) A conveyor system that acquires the drive power supply voltage newly detected by the drive voltage detector as the clue information. The abnormality diagnosis unit
(g2) when the driving power supply voltage obtained in (g1) is substantially zero, notifying the user of at least one of the tenth estimated cause and the tenth coping method;
The tenth presumed cause is an abnormality in the motor drive circuit,
17. The conveyor system according to claim 16 , wherein said tenth countermeasure is replacement or repair of said motor drive circuit. The abnormality diagnosis unit
(g3) When the drive power supply voltage obtained in (g1) is not substantially zero and is lower than the drive determination voltage, informing the user of at least one of an eleventh estimated cause and an eleventh countermeasure. death,
The eleventh presumed cause is insufficient capacity of a power supply unit that supplies the drive power supply voltage to the motor drive circuit,
18. The conveyor system according to claim 16 or 17 , wherein the eleventh coping method is to increase the capacity of the power supply unit. further comprising a current detection unit that detects a motor current flowing through the motor,
The abnormality diagnosis unit
(g4) when the drive power supply voltage obtained in (g1) is equal to or higher than the drive determination voltage, notifying the user of a guide prompting the user to remove the transported object;
(g5) after (g4), while driving the motor by the motor drive circuit, the motor current detected by the current detection unit is acquired as the clue information;
(g6) when the motor current obtained in (g5) is greater than a preset rated current value, notifying the user of at least one of the twelfth presumed cause and the twelfth coping method;
the twelfth presumed cause is an abnormality of the motor;
The conveyor system according to any one of claims 16 to 18 , wherein said twelfth coping method is replacement of said motor. further comprising a current detection unit that detects a motor current flowing through the motor,
The abnormality diagnosis unit
(g4) when the drive power supply voltage obtained in (g1) is equal to or higher than the drive determination voltage, notifying the user of a guide prompting the user to remove the transported object;
(g5) after (g4), while driving the motor by the motor drive circuit, the motor current detected by the current detection unit is acquired as the clue information;
(g7) when the motor current obtained in (g5) is equal to or less than a preset rated current value, notifying the user of at least one of the thirteenth estimated cause and the thirteenth coping method;
The thirteenth presumed cause is an overload of the motor,
The conveyor system according to any one of claims 16 to 19 , wherein the thirteenth coping method is at least one of reducing the weight of the conveyed object and adding a motor. a conveyor device for conveying an object;
an abnormality detection unit capable of detecting a plurality of types of abnormality in the conveyor device;
Based on the type of abnormality detected by the abnormality detection unit, clue information is acquired as a clue for diagnosing the cause of the detected type of abnormality, and based on the acquired clue information. an abnormality diagnosis unit that estimates the cause of the detected abnormality;
a motor that generates a driving force for conveying the conveyed object;
a drive control unit that controls driving of the motor;
A rotation detection unit that detects the rotation state of the motor,
The abnormality detection unit determines a rotation determination time in which a state in which the rotation detection unit detects that the motor is not rotating during a period in which the drive control unit controls the motor to rotate is set in advance. Conveyor system for detecting said anomaly as a seventh error of said type when continued beyond . further comprising a current limit value storage unit that stores in advance a current limit value that is an upper limit value of the motor current flowing through the motor;
The drive control unit controls the motor current so as not to exceed the current limit value,
When the abnormality detected by the abnormality detection unit is the seventh error, the abnormality diagnosis unit
(h1) acquiring the current limit value stored in the current limit value storage unit as the clue information;
(h2) when the current limit value obtained in (h1) is smaller than a preset initial current limit value, notifying at least one of a fourteenth probable cause and a fourteenth coping method;
The fourteenth presumed cause is that the setting of the current limit value is inappropriate,
22. The conveyor system according to claim 21 , wherein said fourteenth coping method is to change the setting of said current limit value. When the abnormality detected by the abnormality detection unit is the seventh error, the abnormality diagnosis unit
(h3) acquiring, as the clue information, the presence or absence of clogging of the transported product in the transport path of the conveyor device;
(h4) when the clue information obtained in (h3) indicates that the conveying path is clogged, notifying at least one of a fifteenth probable cause and a fifteenth coping method;
The fifteenth presumed cause is that the conveyed product is clogged in the conveying path,
23. The conveyor system according to claim 21 or 22 , wherein said fifteenth countermeasure is to remove said conveyed article from said conveying path. a conveyor device for conveying an object;
an abnormality detection unit capable of detecting a plurality of types of abnormality in the conveyor device;
Based on the type of abnormality detected by the abnormality detection unit, clue information is acquired as a clue for diagnosing the cause of the detected type of abnormality, and based on the acquired clue information. an abnormality diagnosis unit that estimates the cause of the detected abnormality;
a motor that generates a driving force for conveying the conveyed object;
a motor drive circuit for controlling the drive of the motor;
a circuit temperature detection unit that detects a circuit temperature of the motor drive circuit;
a circuit temperature determination value storage unit that stores in advance a circuit temperature determination value for determining an abnormality;
when the circuit temperature exceeds the circuit temperature determination value, the abnormality detection unit detects the abnormality with the type as an eighth error;
When the abnormality detected by the abnormality detection unit is the eighth error, the abnormality diagnosis unit
(i1) When the circuit temperature determination value stored in the circuit temperature determination value storage unit is acquired as the clue information, and the circuit temperature determination value indicates a temperature lower than a preset initial circuit temperature determination value. , informing the user of at least one of the 16th probable cause and the 16th coping method,
The sixteenth presumed cause is that the setting of the circuit temperature determination value is inappropriate.
In the conveyor system, the sixteenth coping method is to change the circuit temperature determination value stored in the circuit temperature determination value storage section to a higher temperature. a motor that generates a driving force for conveying the conveyed object;
a motor drive circuit for controlling the drive of the motor;
a circuit temperature detection unit that detects a circuit temperature of the motor drive circuit;
a circuit temperature determination value storage unit that stores in advance a circuit temperature determination value for determining an abnormality;
a current detection unit that detects a motor current flowing through the motor,
when the circuit temperature exceeds the circuit temperature determination value, the abnormality detection unit detects the abnormality with the type as an eighth error;
When the abnormality detected by the abnormality detection unit is the eighth error, the abnormality diagnosis unit
(i2) acquiring as the clue information whether or not the abnormality of the eighth error is newly detected by the abnormality detection unit at the present time;
(i3) In the above (i2), when the abnormality of the eighth error is not detected, notifying the user of guidance prompting the user to remove the conveyed object;
(i4) after (i3), while driving the motor by the motor drive circuit, the motor current detected by the current detection unit is acquired as the clue information;
(i5) when the motor current obtained in (i4) is greater than a preset rated current value, notifying the user of at least one of the 17th probable cause and the 17th coping method;
the seventeenth presumed cause is at least one of an overload of the motor not caused by the conveyed object and an abnormality of the motor;
25. The conveyor system according to claim 24 , wherein the seventeenth coping method is at least one of reducing the load on the motor not caused by the conveyed object and replacing the motor. a conveyor device for conveying an object;
an abnormality detection unit capable of detecting a plurality of types of abnormality in the conveyor device;
Based on the type of abnormality detected by the abnormality detection unit, clue information is acquired as a clue for diagnosing the cause of the detected type of abnormality, and based on the acquired clue information. an abnormality diagnosis unit that estimates the cause of the detected abnormality;
a motor that generates a driving force for conveying the conveyed object;
a motor drive circuit for controlling the drive of the motor;
a motor temperature detection unit that detects a motor temperature , which is the temperature of the motor;
a current detection unit that detects a motor current flowing through the motor,
The abnormality detection unit detects the abnormality as a ninth error as the type when the motor temperature exceeds a preset motor temperature determination value,
When the abnormality detected by the abnormality detection unit is the ninth error, the abnormality diagnosis unit
(j1) acquiring as the clue information whether or not the abnormality of the ninth error is newly detected by the abnormality detection unit at the present time;
(j2) in (j1), when the abnormality detection unit does not newly detect the abnormality of the ninth error, notifying the user of guidance prompting the user to remove the conveyed object;
(j3) after (j2), while driving the motor by the motor drive circuit, the motor current detected by the current detection unit is acquired as the clue information;
(j4) when the motor current obtained in (j3) is greater than a preset rated current value, notifying the user of at least one of the eighteenth estimated cause and the eighteenth coping method;
the eighteenth presumed cause is at least one of an overload of the motor not caused by the conveyed object and an abnormality of the motor;
In the conveyor system, the eighteenth coping method is at least one of reducing the load on the motor not caused by the conveyed object and replacing the motor. a conveyor device for conveying an object;
an abnormality detection unit capable of detecting a plurality of types of abnormality in the conveyor device;
Based on the type of abnormality detected by the abnormality detection unit, clue information is acquired as a clue for diagnosing the cause of the detected type of abnormality, and based on the acquired clue information. an abnormality diagnosis unit for estimating the cause of the detected abnormality,
The conveyor device is divided into a plurality of zones along the conveying direction of the conveyed object,
In each zone,
a local communication unit to which an address for identifying itself is assigned;
a local communication setting storage unit for storing local address information indicating an address assigned to a local communication unit of another zone adjacent to the self zone;
The local communication unit is capable of communicating with local communication units in other zones based on the address indicated by the local address information,
The abnormality detection unit detects the abnormality with the type as a tenth error when the local communication unit of each zone cannot communicate with the local communication unit of another zone,
The conveyor system comprises:
further comprising a configuration information storage unit that stores arrangement information indicating the arrangement of each zone and an address assigned to each zone;
When the abnormality detected by the abnormality detection unit is the tenth error, the abnormality diagnosis unit
(k1) acquiring, as the clue information, the local address information stored in the local communication setting storage unit of the target zone, which is the zone in which the abnormality was detected;
(k2) determining whether the local address information acquired in (k1) matches the arrangement information and the addresses of the zones stored in the configuration information storage unit;
(k3) if the result of the determination in (k2) above is not consistent, notify at least one of the 19th probable cause and the 19th coping method;
The nineteenth probable cause is that the local address information of the target zone is inappropriate,
The nineteenth coping method is a conveyor system in which the local address information of the target zone is modified. The abnormality diagnosis unit
(k4) If the result of determination in (k2) is that there is no match, the local address information of the target zone is newly updated based on the arrangement information and the addresses of the zones stored in the configuration information storage unit. 28. The conveyor system of claim 27 , wherein the new local address information is stored as new local address information in the local communication settings storage of the target zone. an anomaly history storage unit that stores an anomaly history;
Abnormalities detected by the abnormality detecting unit and causes of the abnormalities estimated by the abnormality diagnosing unit corresponding to the detected abnormalities are associated with each other and cumulatively recorded in the abnormality history storage unit. A conveyor system according to any preceding claim, further comprising a processing section.

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