JPH03196202A - Program simulation method - Google Patents

Abstract

PURPOSE:To automatically simulate a sequence action control ladder program by connecting a simulation program to the ladder program and actuating both programs after arranging the starting conditions of each program. CONSTITUTION:A simulation program connected to a sequence action control ladder program and plural action block ladder programs forming the ladder program is set into a sequence control part 51. Under such conditions, the ladder program is started by means of a control panel. Thus this ladder program operation is started. Therefore plural action step ladder elements forming each action block ladder program and plural actuator action simulation ladder elements forming each simulation program are successively and continuously actuated. Thus it is possible to automatically simulate and confirm the operation of the sequence action control ladder program.

Description

[Detailed Description of the Invention] (Industrial Application Field) The present invention is a method for checking in a simulated manner whether or not a sequence operation control program for causing equipment in a preparation line or the like to perform sequence operations operates as set. Concerning a program simulation method for

(Prior Art) In a preparation line such as an automobile assembly line, a sequence control unit with a built-in computer is provided for various installed equipment, and the sequence control unit controls the operations that each equipment should perform in sequence. It is known to perform sequence control for When such sequence control is performed, a sequence operation control program is loaded into the computer built in the sequence control unit, and the sequence control unit performs each operation control for each of the various types of equipment installed on the production line. It is assumed that the steps are sequentially advanced according to a sequence operation control program.

In this way, in order to perform sequence control over the operations of various equipment installed on the production line, a central processing unit (CPU) built into the sequence control section is used.
) The sequence operation control program loaded into the computer is, for example, in the form of a ladder, that is, a sequence operation control ladder program, and is operated according to settings before being used for actual sequence control execution. A simulation is performed to confirm whether or not this is the case. When such a simulation is performed on a sequence operation control ladder program, conventionally, simulated input/output signals corresponding to the actual operation of the equipment are applied to the sequence operation control ladder program from the outside, so that the sequence operation control ladder program is A motion control ladder program is activated.

(Problem to be Solved by the Invention) However, as described above, the simulation of the sequence operation control ladder program is performed by applying simulated input/output signals to the sequence operation control ladder program from the outside. In this case, it is required to provide a large number of switching elements to generate simulated input/output signals, and also to select the input/output signals to be applied (1) to select the order and timing in which the selected input/output signals should be applied. Settings such as
There is an inconvenience that this work must be done by a person who operates the computer built into the sequence control unit, which is a cumbersome task. Since the program is manipulated by the program, the phenomena that can be simulated are limited, and furthermore, there is a problem in that it is difficult to verify the entire program.

In view of these points, the present invention provides that the various actions to be performed are divided into a plurality of action blocks, with the maximum unit of a series of actions to be performed independently from start to finish as an action block, and that each action is divided into a plurality of action blocks. Regarding a sequence motion control ladder program for causing equipment to sequentially execute a plurality of motion steps in each of a plurality of motion blocks in a preset order when the blocks are divided into a plurality of motion steps each involving the operation of an actuator. To provide a method for simulating a program by which a simulation for checking whether the program operates as set or not can be automatically performed over the entire program with easy operation. The purpose is to

(Means and effects for solving the problem) In order to achieve the above-mentioned object, the program simulation method according to the present invention is a series of operations in which various operations to be performed by equipment are performed independently from start to finish. The equipment is divided into a plurality of operation blocks with the maximum unit of operation as an operation block, and each operation block is divided into a plurality of operation steps each involving the operation of an actuator. A plurality of movement step ladder elements are connected in a cascade, each of which is provided corresponding to each movement step and generates an output for an actuator, in order to sequentially execute a plurality of movement steps in a preset order. A sequence motion control ladder program consisting of a sequence motion control ladder program is provided corresponding to each motion step ladder element, and is activated by the actuator output generated by the motion step ladder element, and after a predetermined time, the next motion step ladder element is activated. Connecting a simulation program in which a plurality of actuator motion simulation ladder elements are connected in a cascade, and which generates a startup output for a sequence motion control ladder program to which the simulation program is connected. Accordingly, the sequence operation control ladder program and the simulation program are operated to confirm the operating state of the sequence operation control ladder program in a simulated manner.

By doing this, by starting the sequence motion control ladder program to which the simulation program is connected, input/output signals for each motion step ladder element in the sequence motion control ladder program are automatically obtained, and the sequence A state in which the operation of the motion control ladder program is continuously performed can be obtained, and the simulation of the sequence motion control ladder program can be performed with the simple operation of starting the sequence motion control ladder program. This means that everything can be done automatically.

(Example) Before explaining the program simulation method according to the present invention, an example of a sequence operation control ladder program in which simulation is performed by the program simulation method according to the present invention, and a sequence operation using the sequence operation control ladder program. A vehicle assembly line equipped with equipment to be controlled will be described with reference to FIGS. 2 to 5.

In the vehicle assembly line shown in FIGS. 2 and 3, a positioning station receives the vehicle body 11 on a pedestal 12, controls the position of the pedestal 12, and positions the body 11 on the pedestal 12. STI and the engine 14 placed at a predetermined position on the pallet 13. A docking station ST2 that combines the front suspension assembly (not shown) and the rear suspension assembly 15 with the body 11, and an engine 14 that is combined with the body 11. A fastening station ST3 for fastening and fixing the front suspension assembly and the rear suspension assembly 15 using screws is provided. Also, between the positioning station STI and the docking station ST2, a fastening station ST3 is provided that holds the body 11. An Oherhand-type transfer device 16 is provided for transporting the pallet 13, and a pallet transport device 17 for transporting the pallet 13 is provided between the docking station ST2 and the fastening station ST3.

The pedestal 12 in the positioning station STI is configured to reciprocate along the rail 18, and in the positioning station ST1, although not shown, there is a pedestal 12 disposed in relation to the pedestal 12. The pedestal 12 is moved in the direction perpendicular to the rail 18 (vehicle width direction) and the direction along the rail 18 (front-rear direction), and the front part of the body 11 placed on the pedestal 12 is measured in the vehicle width direction. positioning means (BF) for positioning at the rear of the vehicle, positioning means (BR) for positioning the rear part in the vehicle width direction, and positioning means (TL for positioning in the longitudinal direction)
) are provided, and furthermore, display reference bins (FL, FR, RL,
RR) is provided. Then, by these positioning means and the lifting reference bin, the positioning station S
A positioning device 19 at the TI is configured.

The transfer device 16 includes a guide rail 20 and a kite rail 2 which are disposed above the positioning station STI and the docking station ST2 with a hook between them.
A lift hanger frame 22 is attached to the carrier 21, and the body 11 is supported by the lift hanger frame 22. Further, the pallet conveying device 17 includes a large number of support rollers 2 each receiving the lower surface of the pallet 13.
3, a pair of conveyor rails 25L and 25R extending parallel to the guide portions 24L and 24R, each having a pallet locking portion 26 for locking the pallet 13. , each transport rail 25L
and 25R, and a near motor mechanism (not shown) for driving the pallet conveying tables 27L and 27R1 and the bash-I conveying tables 27L and 27R.

When assembling the front suspension assembly and the rear suspension assembly 15, the tonking station ST2 is equipped with a pair of left and right front struts that respectively support the struts in the front suspension assembly and the struts 15A in the rear suspension assembly 15 to take an assembly posture. Clamp arm 3QL and 30F? , and a pair of left and right rear clamp arms 31L and 31R are provided. The left and right front clamp arms 30L and 3OR are
Transport rails 25L are attached to the mounting plate parts 32L and 32R, respectively.
and 25H, and the left and right rear clamp arms 31L and 31R are attached to the mounting plates 33L and 33R, respectively, so that they can move forward and backward in the direction perpendicular to the transport rails 25L and 25R. It is attached to the left and right front clamp arms 3O.
The mutually opposing tips of L and 30R, and the mutually opposing tips of the left and right rear clamp arms 31L and 31R, are
Struts in the front suspension assembly or struts 15 in the rear suspension assembly 15
It has an engaging portion that engages with A. The mounting plate portion 32L is movable relative to the fixed base 35L by the arm slide 34L in the direction along the transport rails 25L and 25R, and the mounting plate portion 32R is movable relative to the fixed base 35R by the arm slide 34R. Transport rail 2
The mounting plate portion 33L is movable in the direction along the transport rails 25L and 25R with respect to the fixed base 37L by the arm slide 36L, and the mounting plate portion 33R is movable in the direction along the transport rails 25L and 25R. The transfer rail 25 is moved against the fixed base 37R by the arm slide 36R.
It is movable in directions along L and 25R. Therefore, the left and right front clamp arms 30L and 30R are movable back and forth and left and right with their tips engaged with the struts in the front suspension assembly.
1L and 31R are movable back and forth and left and right when their tips are engaged with the strut 15A of the rear suspension assembly 15, and the left and right front clamp arms 30L and 30R, and the arm slide 34L. and 34R2, the left and right rear clamp arms 31L and 31R1, and the arm slides 36L and 36R constitute a docking device m40.

Furthermore, the docking station ST2 includes a pair of slide rails 4IL and 41R installed to extend parallel to the transport rails 25L and 25H, and a movable member that slides along the slide rails 41L and 41R. 42, a slide device 45 consisting of a motor 43 etc. that drives a movable member 42 is provided, and the movable member 42 in this slide device 45 is provided with a movable engine support member (not shown) provided on the pallet 13. Retaining means 46 are provided for engaging the holder. Two elevating pallet reference bins 47 are also provided to position the pallet 13 at a predetermined position. The slide device 45 includes the body 11 supported by the lift hanger frame 22 in the transfer device 16.
, an engine 14 arranged on a pallet 13. When the front suspension assembly and the rear suspension assembly 15 are combined, the retaining means 46 is engaged with the movable engine support member on the barrel 13 positioned by the lifting pallet reference pin 47, and the front suspension assembly 15 is moved back and forth,
Thereby, the engine 14 is moved back and forth with respect to the body 11 to avoid interference between the body II and the engine 14.

The fastening station ST3 includes a robot 48A that performs screw tightening work to fasten the engine 14 and front suspension buff 28 assembly assembled to the body 11, and a rear suspension assembled to the body 11. A robot 48B was installed to perform screw tightening work for fastening the assembly 15, and furthermore, at the fastening station ST3, the robot 48B was also designed to position the baren 13 at a predetermined position.
Two lifting pallet reference pins 47 are provided.

In the vehicle assembly line as described above, the positioning device 19 transfer device at the positioning station STI]6.
The docking device 40 and slide device 45° pallet transport device 17 in the docking station ST2, and the robots 48A and 48B in the fastening station ST3 are controlled by the sequence control unit connected to them based on the sequence operation control ladder program. Equipment where sequence control of operations is performed (
Equipment subject to sequence control).

The operations performed by each of these sequence control target equipment are divided into operation blocks defined as the maximum unit of a series of operations that can be performed independently from start to finish. It is assumed that 12 motion blocks are obtained.

BO: Body 1 on pedestal 12 by positioning device 19
Operation block for positioning step 1 (pedestal positioning operation block).

B1: Operation block for preparing for transfer of the body 11 by the transfer device 16 (transfer device preparation operation block)
.

B2: An operation block in which the docking device 40 prepares to clamp the struts of the front suspension assembly with the left and right front clamp arms 30L and 30R, and to clamp the struts 15A of the rear suspension assembly 15 with the left and right rear clamp arms 31L and 31R ( Strut clamp preparation movement block).

B3: Operation block in which the body 11 on the pedestal 12, which has been positioned by the positioning device 19, is transferred to the lifting hanger frame 22 in the transfer device 16 and transported (transfer device receiving operation) block).

Operation block (
Slide device preparation operation block).

B5: Operation block for returning the cradle 12 to its original position by the positioning device 19 (cradle original position return operation block).

B6: Lifting hanger frame 22 in transfer device 16
The engine 4 placed on a pallet 13, the front suspension assembly struts placed on the pallet 13 and clamped by left and right front clamp arms 30L and 30R, and the front left and right rear clamp arms 30L and 30R are mounted on the body 11 supported by A motion block (engine/
Suspension docking movement block).

B7: Operation block for returning to the original position by the transfer device 16 (transfer, tear, place, return to original position operation block).

B8: Left and right front clamp arms 30L and 30R and left and right rear clamp arms 31L by docking device 40
and 31R to their original positions (clamp arm original position return operation block).

B9: The linear motor mechanism by the pallet conveying device 17 is operated, and the engine 14. An operation block (linear motor propulsion block) that transports the pallet 13 on which the body 11 with the front suspension assembly and rear suspension assembly 15 combined is placed to the fastening station ST3.

B10: An operation block (screw tightening action block) that performs screw tightening work for fastening the engine 14 and front suspension assembly combined to the body 11 by the robot l-48A.

B11: An operation block (screw tightening operation block) in which the robot 48B performs a screw tightening operation for fastening the rear suspension assembly 15 combined with the body 11.

Further, each of the above-mentioned operation blocks BO to Bll is divided into a plurality of operation steps each accompanied by an output operation. For example, for the pedestal positioning operation block BO, the positioning means BF, BR and TL, and the lifting reference Bin FL,
The operation is divided into 10 operation steps BO30-BOS9 as shown below, each of which involves the operation of FR, RL, and RR as actuators.

BO30: Operation step for checking various conditions (condition confirmation operation step).

BO3I: Operation step (BF positioning operation step) in which the positioning means BF moves the pedestal 12 and positions the front part of the body 11 in the vehicle width direction.

BO32: Operation step (BR positioning operation step) in which the cradle 12 is moved by the positioning means BR&, and the rear part of the body 11 is positioned in the vehicle width direction.

BO, S3: Operation step (T
L positioning operation step).

BO34: Operation step in which the lifting reference bin FL engages with the front left side of the body 11 (PL engagement operation step).

BO35: Operation step in which the lifting reference bin FR engages with the front right side of the body 11 (FR engagement operation step).

BO36: Operation step in which the lifting reference bin RL engages with the rear left side of the body 11 (RL engagement operation step).

BO37: Operation step in which the lifting reference bin RR engages with the rear right side of the body 11 (RR engagement operation step).

BO38 2 An operation step in which the positioning means BF returns to the original position from the state in which the front part of the body 11 has been positioned in the vehicle width direction (BF original position return operation step).

BO39: Operation step in which the positioning means BR returns to the original position from the state in which the rear part of the body 11 has been positioned in the vehicle width direction (BR original position return operation step).

Sequence control of the operation of such sequence control target equipment is performed based on a sequence operation control program loaded into a combiator built in a sequence control unit connected to the sequence control target equipment. In creating such a sequence operation control program, first, the above-mentioned operation block B is
The O-B11 is summarized into an operation block map with respective attributes as shown in Table 1.

In the operation block map of Table 1, “SC-REG
" is a 16-bit register, one is provided for each of operation blocks BO-Bll, and the step number is stored each time each operation step is executed.

is written. "FROM" refers to the immediately preceding action block that is the condition for starting the operation of the relevant action block, and "TO" refers to the action immediately following the relevant action block that is started upon completion of the action of the relevant action block. The "clear condition" indicates an action block in which the equipment related to the action block returns to its original state, and the "equipment" refers to the sequence control target equipment related to the action block.

Table 1 Furthermore, for each of the motion blocks BO-Bll, a plurality of motion steps therein are summarized into a motion step map in which the respective attributes are listed.

For example, for operation steps BO30-B2S3 in the aforementioned operation block BO, first, the input/output hook knob for the positioning device 19 as shown in Table 2 is created. In the input/output switch in Table 2, the ``comment'' indicates the content of each operation step.

Table 2 Next, by calling the comments in Table 2, an operation step map as shown in Table 3 is compiled. Further, each of the operation blocks B1 to Bll is also summarized into similar operation steps.

Table 3 Based on the data on each of the motion blocks BO to Bll and their attributes shown in the motion block map of Table 1, the interrelationships between the motion blocks BO to Bll as shown in FIG. 4 are determined. A chronologically occurring action block flowchart is formed, and the action block flowchart and the action block BO shown in Table 3 are
Based on the operation step map for the operation block BO, as shown in FIG. Operation step ladder element SRO.

A motion block cedar program BRP is created in which SRI, SR2, ... SR9 are connected in series, and a motion block flowchart and a motion step map for motion block BO shown in Table 3 are obtained in the same manner. , the motion block ladder program BRP for the motion block BO shown in FIG.
A motion block cedar program BRP for each of motion blocks 81 to Bll, which is similar to the above, is created. Then, the 12 motion block ladder programs BRP regarding each of motion blocks BO to Bll are sequentially concatenated to form a sequence motion control ladder program.

In the operation block ladder program BRP as shown in FIG. 5, STR is a start condition, STP is a stop condition, rLcO-ILC9 is an interlock condition, and MA is related to the start condition SRT. It is an output contact device, MS is an output contact device related to stop condition STP, Xo-X9 has a confirmation input contact day high station, XA-XF, X 10 to X
13 is a manual input contact device, XI is an interlock release contact device, and YO-Y9 is an output coil device.

Therefore, the sequence control target equipment whose operations are sequence-controlled by the sequence control unit sequentially executes a plurality of operation steps in each of operation blocks 81 to Bll in accordance with the sequence operation control ladder program created as described above. It is assumed that

Next, an example of a method for simulating a program according to the present invention, which is applied to a simulation of a sequence operation control ladder program for performing sequence control on the operation of equipment to be sequence controlled as described above, will be described.

FIG. 1 shows a simulation system in which an example of the program simulation method according to the present invention is implemented.
Shown together with equipment subject to sequence control. As described above, the sequence control object installation 50 is performed by the positioning device 19. Transfer bag W16. Tonking device 40. Slide device 45. It is made up of a pallet transport device 17 and robots 48A and 48B.

The simulation system includes a sequence control section 51. which is connected to a sequence control target equipment 50 and performs sequence operation control for the equipment. Operation monitor section 52 and CRT
(Cathode ray tube) operation panel section 53.

The sequence control unit 51 includes a program memory 55 in which a sequence operation control ladder program as described above and a simulation program connected thereto as described below are stored, and a transmission/reception interface 5.
The computer is configured to include a built-in CPU that is connected to the computer.

The operation monitor section 52 includes a central processing unit (CPU) 62. connected through a path line 6I. Memory 63. Input/output interface Cl10 interface) 64
It also has a keyboard 66 connected to the I10 interface 64, a CRT 67 for display, and a printer 68. Further, the CRT operation panel section 53 is connected to a CPU 72 . The memory 73 has transmitting/receiving interfaces 74 and 75, and a ■10 interface 76, and further includes a hard disk device 77 as an auxiliary memory connected to the I10 interface 76, a CRT 78 for display, and a CRT 78 for inputting data and control codes. keyboard 79, and
A touch panel 80 connected to the transmission/reception interface 74 is provided, and as shown in FIG. 6, the touch panel 80 is attached to the outer surface of the face plate portion of the CRT 7B.

A transmission/reception interface 54 and an operation monitor section 52 are connected to the CPU built in the sequence control section 51.
The transmitting/receiving interface 65 provided in the operation monitor section 52 and the transmitting/receiving interface 75 provided in the CRT operating panel section 53 are interconnected. A transmitting/receiving interface 75 is interconnected.

The CRT operation panel section 53 has a touch panel 80 attached to the outer surface of the face plate section of the CRT 78 that is entirely transparent, and when a finger or the like touches the surface, outputs a signal according to the contact position. As shown in FIG.
Sequence control unit 5 is installed on the face plate of RT78.
A plurality of operation elements W1 to W141 for controlling display switching operation elements Pl and P2, and function switching operation element Q
The operation panel consisting of an array of G, etc. is designed to be selectively displayed, and the display data that shows multiple types of operation panels selectively displayed on the face plate of the CRT 78 is provided. is stored in the hard disk device 77. When a finger or the like is brought into contact with a position on the surface of the touch panel 80 that corresponds to a selected one of the operation elements of the operation panel displayed on the face plate portion of the CRT 78, the user can obtain information from the touch panel 80 at that time. The output signal sent to the touch panel 80
C
It is supplied to the PU 72 and from the transmission/reception interface 75 to the sequence control unit 51 through its transmission/reception interface 54, thereby controlling the operation of the sequence operation control ladder program and simulation program in the sequence control unit 51.

Further, the operation monitor section 52 receives and receives program processing data indicating the operating state of the sequence operation control ladder program and simulation program in the sequence control section 51 through the transmission/reception interfaces 54 and 65, and transmits it to the CPU.
62 to obtain a display signal and an output signal based on the program processing data, and the display signal is supplied to the CRT 67 and the output signal to the printer 68 through the I10 interface 64.

Program memory 5 built into the sequence control unit 51
5, in forming the simulation program that is connected to and stored in the sequence operation control ladder program, the actuators for each operation step to be operated according to the sequence operation control ladder program in the sequence control target equipment 50 are It is assumed that it is replaced by one cylinder.

For example, operation step BO3 in operation block BO
Positioning means BF, BR and TL, which are actuators for 0-BO39, and lifting reference bins FL, F
Each of R, RL, RR, etc. is replaced with one cylinder device 90 as shown in FIG. In such a cylinder device 9o, the cylinder rod 91 has the position shown by the solid line in FIG. 8 as a reference position, and is pushed out when any of the aforementioned output coil devices YO to Y9 is activated, It takes a time corresponding to the actual actuation time of each actuator to
In the figure, when the cylinder rod 91 is in the reference position, the confirmation input contact devices X1 to X9. When XO is set and the cylinder rod 91 is in the operating position, the aforementioned confirmation input contact devices X0-X9
is set.

Based on such a cylinder device 90, as for the operation block BO, as shown in FIG. 9, actuator operation simulation ladder elements 5spo corresponding to operation steps BO30, BO3I, . . . BO38 and BO39, respectively.

SSP1, . . . 5SP8 and 5SP9 are formed, and a simulation program SIMP is created in which they are connected in series.

In such a simulation program S IMP, TO to T9 are timers, husband h and operation block B.
Measure the time corresponding to the actual actuation time of the actuator for operation step BO30-8059 in O. The simulation program SrMP is connected to the motion block ladder program BRP regarding the motion block BO, which constitutes the sequence motion control ladder program.

That is, regarding operation block BO, operation step BO3
An operation block ladder program BRP is formed by vertically connecting operation step ladder elements SRO, 5RISR2, . , operation step ladder elements SRO, SRI, SR2, .
The actual operating time of each actuator is activated by the actuator output (YO to Y9) generated by each of the operation step ladder elements SRO, SRI, SR2, ...SR9. The actuator operation simulation ladder element 5SPO, 5 is designed to generate a starting output (XO-X9) for the next operation step ladder element after a time corresponding to .
S.P.I.

. . . The simulation program SIMP, which consists of 5SP8 and 5SP9 connected in series, is connected.

And for each of the operation blocks B1-B11,
In the same manner as in the case of the operation block BO, a plurality of operation step ladder elements for each operation block, each of which is provided corresponding to each operation step and which generates an output for the actuator, are connected in a vertical manner. Each of the motion block ladder programs is provided corresponding to each motion step ladder element, and is activated by the actuator output generated by the motion step ladder element, and after a predetermined period of time, a startup output is generated for the next motion step ladder element. A simulation program is connected in which a plurality of actuator motion simulation ladder elements are connected in cascade and are designed to generate the following.

Therefore, as described above, a program in which a simulation program is connected to a sequence operation control ladder program stored in the program memory 55 built in the sequence control unit 51 includes a plurality of operations that constitute the sequence operation control ladder program. It is assumed that a simulation program SIMP regarding each of the operation blocks BO to Bll is connected to each of the block ladder programs BRP.

As described above, the program memory 55 built into the sequence control unit 51 stores the sequence operation control ladder program and the simulation program S IMP connected to each of the plurality of operation block cedar programs BRP that constitute the ladder program. CR
On the surface of the touch panel 80 attached to the outer surface of the face plate portion of the CRT 78 provided in the T operation panel portion 53, for starting the sequence operation control ladder program of the operation element notch of the operation panel displayed on the face plate portion of the CRT 78. By touching a finger or the like to a position corresponding to an object, a sequence control unit is integrated with a sequence operation control ladder program and a simulation program SIMP connected to each of the plurality of operation block ladder programs BRP constituting the sequence operation control ladder program. 51
In this step, the sequence operation control ladder program is activated to start operation of the sequence operation control ladder program. Thereby, in the sequence control unit 51, the sequence operation control ladder program and the plurality of operation block cedar programs B constituting the sequence operation control ladder program
Simulation program S connected to each RP
IMP progresses continuously with each of the plurality of motion step ladder elements constituting each motion block ladder program BRP and the plurality of actuator motion simulation ladder elements constituting each simulation program SIMP operating in sequence. It is said that
Therefore, a state is obtained in which the sequence operation control ladder program is simulated. In such a case, the sequence control section 51 sends and receives the transmission/reception interfaces 54 and 65.
In the operation monitor section 52, program processing data indicating the operating state of the sequence operation control ladder program and simulation program SIMP in the sequence control section 51 is supplied through the CRT6.
The progress status of each of the sequence operation control ladder program and simulation program S (MP) is displayed on the screen 7, and the progress status of each of the sequence operation control ladder progera 1 and simulation program S (MP) is recorded on paper by the printer 68. Based on the display on the CRT 67 or the paper output from the printer 68, it is possible to check whether each operation block ladder program BRP in the sequence operation II control ladder program is proceeding in the proper order. ,
Check whether each motion step ladder element in the motion block cedar program BRP is executed in the proper order.

Note that during the period in which the sequence motion control ladder program is being simulated, when each of the plurality of actuator motion simulation ladder elements constituting the simulation program SIMP is being executed, the CRT 67 in the motion monitor section 52 is displayed. For example, as shown in FIGS. 10A, B, and C, a display showing the cylinder device 90 shown in FIG. 8 is performed following the progress state of the actuator operation simulation ladder element. The display shown in Figure 10A is
When the cylinder rod 9 in the cylinder device 9o is at the reference position, the display shown in IO diagram B is as follows.
The display shown in FIG. 10C shows the state in which the cylinder rod 91 is between the reference position and the operating position, and the display shown in FIG. 10C shows the state in which the cylinder rod 91 is in the operating position.

(Effects of the Invention) As is clear from the above explanation, according to the program simulation method of the present invention, various operations to be performed are
The maximum unit of a series of operations that will be performed independently from start to finish is divided into multiple operation blocks, and each operation block is divided into multiple operation steps each involving the operation of an actuator. Simulations are performed to confirm whether or not the sequence operation control ladder program, which causes the equipment to sequentially execute multiple operation steps in each of multiple operation blocks in a preset order, operates as set. Simulation can be performed quickly, reliably, and automatically over the entire program by simply starting the sequence operation control ladder program.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing a simulation system in which an example of the program simulation method according to the present invention is implemented together with sequence control target equipment, and FIGS.
The figures are a schematic side view and a schematic plan view showing an example of a vehicle assembly line equipped with equipment in which sequence operation control is performed by an example of a sequence operation control ladder program in which simulation is performed by the program simulation method according to the present invention. The figure is an operation block flowchart used to explain sequence control regarding the operation of sequence-controlled equipment, and FIG. 5 is a ladder diagram showing an example of a sequence operation control ladder program in which simulation is performed by the program simulation method according to the present invention. , FIG. 6 is a schematic perspective view showing a part of the CRT operation panel in the simulation system shown in FIG. 1, and FIG. 7 is a schematic diagram for explaining the CRT operation panel in the simulation system shown in FIG. A plan view, FIG. 8 is a diagram for explaining the creation of a simulation program used in the program simulation method according to the present invention, and FIG. 9 is an example of a simulation program used in the program simulation method according to the present invention. FIGS. 10A, 10B, and 10C are schematic plan views showing an example of the display on the operation monitor section in the simulation system shown in FIG. 1. In the figure, 16 is a transfer device, 17 is a pallet transport device, 19
40 is a positioning device, 40 is a docking device, 45 is a slide device, 48A and 48B are robots, 50 is sequence control target equipment, 51 is a sequence control section, 52 is an operation monitor section, 53 is a CRT (cathode ray tube) operation panel section, 54,
65, 74 and 75 are transmitting/receiving interfaces, 55 is a program memory, 62 and 72 are central processing units (
67 is a CRT, and 68 is a printer. Figure 5

Claims (1)

[Claims] The various operations that the equipment should perform are divided into multiple operation blocks, with the maximum unit of a series of operations that are performed independently from start to finish as an operation block, and each operation block individually controls the operation of an actuator. The equipment is divided into a plurality of operation steps to cause the equipment to sequentially execute the plurality of operation steps in each of the plurality of operation blocks in a preset order, each of which is provided corresponding to each operation step. In a sequence motion control ladder program consisting of a plurality of motion step ladder elements connected in series, each motion step ladder element is provided corresponding to each motion step ladder element, and each motion step ladder element is configured to generate an output for an actuator. A simulation program in which a plurality of actuator motion simulation ladder elements are connected in a cascade, and is activated by the actuator output generated by the element and generates a startup output for the next motion step ladder element after a predetermined time. A method of simulating a program for connecting the sequence operation control ladder program, activating the sequence operation control ladder program and the simulation program, and confirming the operating state of the sequence operation control ladder program in a simulated manner.