JPS61211705A - Controller of plural devices - Google Patents

Abstract

PURPOSE:To facilitate rewriting of controlling programs by which plural device controller controls each belonging controller by an operator by providing a shared plural device controller between each controller corresponding to each device belonging to a group of devices and a host computer. CONSTITUTION:When a work instruction command (e) is given from a host computer (b), the procedure taught inside of a device control algorithm storing means (a) is sent by a teaching searching means (e) to a searching device (d) as a work instruction command (f). A work termination command (g) given from the device (d) finds procedure by a teaching searching device (c) and gives a command (h) of work completion to the host computer (b). A controlling program area 28 decodes command sent from a program to be written, host computer 1 and attached computers 3-5 to a device control algorithm program area 29 by data inputted from a CRT 33 and a KB 34, and processes referring to the content of memory of the device control algorithm program area 29.

Description

[Detailed Description of the Invention] [Field of Industrial Application] This invention relates to computer control of industrial machinery, and in particular, to control each device of a device group consisting of a plurality of devices via a corresponding controller, and to control the computer control of industrial machinery. This relates to computer control in which all controllers are controlled from a host computer so that the group operates as an integrated device.

[Conventional technology]

FIG. 8 is a block diagram showing the configuration of this conventional lottery device, in which (1) is a high-order IL calculator, f2]
.

+31, +41, +51, +61 are controllers 1, 2, 3, 4, 5, (8) are communication lines, (10), (11), (12) are devices A', B, C, respectively. A (10), B (1
,1),.

C(12) constitutes one device group. However, the first
The controllers 1 (2) and 2 (3) shown in the figure are not related to the control of this device group, but are related to the control of other devices, but the devices controlled by the controllers 1 (F2) and 2 (31) is not shown in Figure 1.

(13), (14), and (15) are each 1
It is the l11 line. In addition, devices A (10), B (1
1) and C(12) are processing devices, respectively, and (16) is a loader (1oader) and (1oader).
7) IT container, (18) and (19) are respectively transfer devices, and (20) is an unloader.
, (21) is a container, (22).

(23), (24), and (25) are respective detectors, and (26) is the device A (10).

This is a work processed by a device group consisting of B (11) and C (12).

Next, the operation will be explained. The host computer (1) sends commands for processing execution to the controllers 1 (2) to 5 (6) via the communication line (8), and receives a command to report completion of the device processing. Controller 1 [
21, 2 (31 is device A (1,0), B (11)
, C(12), and will therefore be omitted from the following description.

It is assumed that the control is started from the stage where the workpiece (26) is in an unprocessed state in the container (17). Controller 3 (4
) receives a work command command from the host computer (1) via the communication line (8), it operates the loader (16) of the device A (1,0) via the control line (13) 't: to load the container (
17) Takes out the workpiece (26) from device A (10)
send to. The device A (10) is, for example, a workpiece (2
6) is processed in the first step, and when this processing is completed, the workpiece (26) is sent out by the transport device (18). The detector (22) detects that the workpiece (26) is
8) When detecting that K is sent, controller 3
(4) is control! (13) Recognize this through 1
A work completion report command is sent to the upper 1' computer (1) via the g line (8).

The workpiece (26) sent to the transport device (18) is transported in the direction of the arrow in the figure. The workpiece (2) is detected by the detector (33).
6) When all are detected, device B (11) is the workpiece (26)
k import, control line (14) controller 4 via k
(5) is informed that the work (26) has been imported, and the controller 4 (5) sends the work (26) to the host computer (1).
26) sends a report command to the host computer (1) K via the communication line (8) indicating that it has been taken in by the device B (11). The host computer fl) Vi receives a command from the controller 3 (4) to report that the processing of the device A (10) for the work (26) has been completed, and the controller 4 (5)
When receiving a command to report that the workpiece (26) has been taken into the device B (l), it sends a work command command to the controller 4 (5) via the communication line (8).

When the controller 4 (5) receives a work command from the host computer (1), it controls the device B (11) to start processing via the control line (14). Processing of device B (1υ is completed and processing of device C (12) is started. Processing of device A (10) is completed and processing of device B (11) is started. When the process is completely completed, the unloader (20) will load the container (21).
) and store the workpiece (26)'r in the controller 5 (6).
sends a processing completion report command to the host computer (1) via the communication line (8).

[Problem that the invention seeks to solve]

Conventional devices are configured as described above, so when the processing between devices within one device group is tightly coupled, a system is installed in the host computer (1) to control this device group. The control program is complex, and changing the control program for the purpose of changing the processing procedure within a group of devices requires a lot of work, and it also takes a lot of time to debug the changed control program. controller unrelated to the device group (eighth
This has a problem in that it also affects the controller 1121.2F3)) in the figure, reducing the operating rate of the entire device.

This invention was made in order to solve the above-mentioned problems, and it allows an operator to easily change the control block for controlling a group of devices, and allows the host computer to respond to changes in the control of a group of devices. The aim is to ensure that the impact does not spread.

[Means for solving problems]

In this invention, a common multiple device controller is provided between each controller corresponding to each device in one device group and the host computer xm, and the host computer performs only simple control over this multiple device controller. The control program for controlling each controller to which a plurality of device controllers belong is configured so that it can be easily rewritten by an operator.

[Effect]

In the multi-device controller of the present invention, among the control procedures stored in the device control algorithm storage means, a control procedure corresponding to a command from the outside (the host computer and the attached controller) is found by the teaching content search means, and the control procedure is sent to the outside as a command. The contents of the device control algorithm storage means can be changed by the operator.

〔Example〕

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a block diagram showing an embodiment of the present invention, in which the same reference numerals as in FIG. 8 indicate the same or corresponding parts; 7) is a multi-device controller;
), (8c) are the multiple device controller (7) and the respective controllers 3f41, 4[5+, 5t6
), the communication line connecting (9) is - the upper computer (1)
and a multi-device controller (7).

FIG. 2 is a block diagram showing the internal configuration of the multiple device controller in FIG. 1, where the same reference numerals as in FIG. ) Vi device control algorithm program area, (30) is a parameter area, (31) i'l
j common bus, (32) is CRT interface, (33
) is a CRT, (34) is a keyboard (hereinafter abbreviated as KB), and (35) is a U communication interface.

FIG. 3 is a block diagram functionally displaying the function of controlling a group of devices using the configuration shown in FIG.
is the device control algorithm storage means, fbl is the host computer, fc) is the teaching content search means, tdl is the device, (el
, (fl are work order commands, (gl,
(hlt is each work completion command. The device control algorithm storage means [al in FIG. 3] is composed of the device control algorithm program area (29) and the parameter area (30) in FIG. 2, and the teaching content search means ( c.
l is the main CPU (27) and the control program area (2
8).

To functionally explain the operation of the device shown in FIG. 1 with reference to FIG. 3, when a work instruction command tel is issued from the host computer fb), the teaching contents search means fc) teaches the inside of the device control algorithm storage means fal. Sends a work command command (fle) to the device (d) for all procedures in progress. Also, sends a work completion command fg issued from the device fdl.
1 is a teaching content search means (cl) that finds the procedure and issues a work completion command fh to the host computer [bl].

In FIG. 2, a CRT (33) and a KB (34) constitute a man-machine interface, which is used by an operator to input data into the device control algorithm program area (29) and parameter area (30). '1. control program area (28) it: CRT (33
), KB (34) to the device control algorithm program area (29),
Writing program and host computer (1) and associated controllers 3f41, 4f51, 5+6)
A control program (corresponding to the teaching content search means (cl) shown in FIG. The control program does not need to be changed even if the control of the device group is changed, so RO
Stored in M. The parameter area (3) temporarily stores command parts (that is, parameters) that change due to changes in processing conditions. It is composed of RAM.

Next, the control operation of the apparatus shown in FIGS. 1 and 2 will be explained.

Figure 4 shows the macro code (m
This is a program diagram showing the definition of ``acro code'', and the contents of this program are represented by character strings displayed on the CRT (33). Therefore, if the character string shown in FIG. 4 is input using KB (34) =i to be displayed on the CRT (33), a program corresponding to this display will be displayed in the device control algorithm program area (29) and the parameter Written to area (30).

In FIG. 4, (36) means that a character part that changes due to a change in processing conditions is registered as a parameter, and (37) Vi indicates one line. one line (37)
The symbol "-#" means that the character on the left side replaces the content on the right side, and the part (36) of the content on the right side is surrounded by the symbol "/".In the part (36), for example, POI The number in the symbol "0#" in (6) represents the number of characters, and there can be 6 characters between the characters r STPMI J and r PM2 J, and they are stored in the parameter area (30) under the name r POI J. means that it has been rPOIJ, rPO2J,
The contents stored in the parameter area (30) with names such as PO3J are codes indicating, for example, lot numbers and processing conditions, and these codes are expressed in alphanumeric characters predetermined by the host computer and device. shall be taken as a thing.

Further, the alphabetic characters 1-8TJ in FIG. 4 mean the start of processing, the alphabetical characters rPMj mean parameters, and the alphanumeric characters rPMIJ, rPM2J, PM3J represent the devices AQo), B(11), respectively. C (12)
It means that the processing conditions for are indicated by the alphanumeric characters following these alphanumeric characters. For example, r STI J is r
PMI J, F'PM2J.

Work (26) as it includes both r PM3 J k
This means that when the signal flows to the entrance of each device, rsTAJ, rsTBJ, and rsTcj are sent to each device. Since rsT2J includes only rPMIJ and rPM3J, when the workpiece (26) comes to the entrance of device A (10), rsTAj is sent from the multiple device controller (7) to controller 3 (4), and then When the workpiece (26) flows into device B (11,) K, V
C is passed, and next time the workpiece (26) flows to the device C (12), rsT is sent to the controller 5 (6).
All that means is sending cjffi.

Figure 5 shows a device control program created using the defined sound of the macro code shown in Figure 4. represent. Therefore, as in the case of Fig. 4, using KB (34), the character string shown in Fig. 5 is
(a3) If the input is made as shown above, a program corresponding to this display will be written into the device control algorithm program area (29).

In Figure 5, (38) to (48) are CRT (33)
Indicates each line of the display. Also, in Figure 5, the letters "Ch"
indicates the channel number, r ah D J indicates the communication line (9), rchAJ, rchBJ, rchcj
are communication lines (8a), (8b), (8c), respectively.
) represents.

Line (38) in Figure 5 checks whether a command has been received from the communication line (9) (that is, from the host computer (1)), and if so, the character string '
& rDATAJ is written as a parameter to be replaced. (Processing when not received is not described).

Line (39) is rsT defined in macro code (Figure 4)
It is checked whether the contents of lj and the contents of rDATAj match except for the part stored in the parameter area (30). (Processing in case of non-matching is not described). If there is a match fc, it is written that among the characters of the received command, the letter sound of the parameter part is stored in the parameter area (30) as each parameter name of the macro code that matches.

Line (40) is the communication line (8a) (represented by chA).
r STA J All transmissions are described. Of the macro code r STA J, r POI (6) j takes out data from the PO1 portion of the parameter area (30) and applies it to this location.

, line (41) sets the parameter r SIG J ()
line (42) is the parameter r
It is written that if the contents of sIGJ and the contents of parameter r OFF J match, the process moves to line (43).

As shown in the macro code definition in Figure 4, the parameter r
OFF'J is set to OK.

In line (43), [sig 2 j is the signal of the detector (23) in FIG. That is, it is assumed that the logic "1" of rsig2J indicates that the workpiece (26) is being transported to the device B (11). Line (43) is [51g
2Jk parameter r SIG J is fully described. If r sjg 2 J becomes r 1 j K, r SIG J becomes rlJ, which deviates from the condition in line 49 (42) and the program moves to line (44).

Line (44) is the macro code r STB defined in Figure 4 via the communication line (8b)' to the controller 4 (5) K.
It is written that J is sent. Below (45)
, (46).

(47), (48) Vi rows (41) and (
42) , (43) , (44) Since they correspond to K, their explanation will be omitted. However, r si in line (47)
g 4 J represents the output signal of the detector (25) in FIG.

Next, FIG. 6 is a flowchart showing a program for inputting a device control algorithm program by operating a CRT (33) and a keyboard (34).
~(105) are respective steps.

In step (100), the macro code shown in FIG. 4 is input. When it is determined that the input is completed in step (101), the process moves to step (102) and the symbol "
The part surrounded by /'' is used as the parameter name, and only the necessary character area is reserved in the parameter area (30).

Next, the process moves to step (103), and - as an example, the command transmission/reception sequence shown in FIG. 5 is input. Step (1
When it is determined in step 04) that the input of the command transmission/reception sequence is complete, the process moves to step (105), and the device controls the input part of the macro code inputted in step (100) and the input part of the command transmission/reception sequence inputted in step (103). It is stored in the algorithm program area (29).

Next, FIG. 7 is a flowchart showing the process of controlling the apparatus, showing steps (200) to (206) respectively. Step (200) In VC, the host computer (1
) or controller 3F41, 4F5+, 5
Determine whether or not a command has been received from t61, and
If it is O (there is no receiver 1g), wait at the reed where there is a receiver. If received, the process moves to step (201), and a search is made to find out which one of the received commands and defined macro codes matches. Then, the process moves to step (202), and it is determined whether or not the received command matches the contents of the macro code represented by the foot.If YES, the process moves to step (203), and if NO, the process moves to step (202). It is treated as an error.

In step (203), part 9 of the received command is stored in the parameter area as a parameter name in the macro code, and the process moves to step (204).

Step (204) When moving to VC, all matching expressions in the command sequence are searched.

In the example of FIG. 5, the expression in line (39) corresponds to the above content. Next, in step (205), it is determined whether or not there is a macro code input condition in the definition of the command sequence, and Y
In the case of ES, the process moves to step (206), and in the case of NO, it is determined as an error. The input conditions for the macro code are the rows in Figure 5 (
39) means the contents in parentheses following ifO. In step (206), output processing corresponding to the input conditions is executed. In the example shown in FIG. 5, this corresponds to the expression in row (40).

As mentioned above, the host computer (1) or controller 3
Control is advanced by executing the processing procedure shown in FIG. 7 every time a command is received from (4) to 5(6).

〔Effect of the invention〕

As described above, according to the present invention, a plurality of related devices can be controlled by using a multiple device controller that allows an operator to easily input device control algorithms. This has the effect that even if an issue that requires the above occurs, it can be dealt with immediately and the impact can be prevented from spreading to the higher-level computers.

[Brief explanation of the drawing]

Fig. 1 is a block diagram showing an embodiment of the present invention, Fig. 2 is a block diagram showing the internal configuration of the multiple device controller shown in Fig. 1, and Fig. 3 is a function for controlling a group of devices using the configuration shown in Fig. 1. Fig. 4 is a program diagram showing the definition of the macro code used to control this device, and Fig. 5 is a device control diagram created using the macro code table shown in Fig. 4. A program diagram showing the program of
FIG. 6 is a flowchart showing a program for inputting the device control algorithm program, FIG. 7 is a flowchart showing the process for controlling the device, and FIG. 8 is a block diagram showing a conventional device. In the figure, (1) is the upper computer, [2+ , +31
, (4), (51. [61Vi each controller, (7) multi-device controller, (10), (11), (12) each device, (26) work, (27) multiple devices Main CPU of the controller, (28) is the control program area, (29) is the device control algorithm program area, (30) is the U parameter area, (33) is the CR
T, (34) is KB, and in the functional diagram in FIG. 3, fat is the device control algorithm storage means, (b) is the host computer, (cl is the teaching content search means, and [dl is the device). Note that the same reference numerals in each figure indicate the same or corresponding parts.

Claims (1)

[Claims] When multiple devices are integrated and controlled as one device group, each controller is provided corresponding to each device belonging to the device group and controls the corresponding device, and each controller is controlled according to commands from the host computer. and a multi-device controller that controls the computer, and the multi-device controller interprets commands from the host computer and commands from each of the controllers and sends commands to each of the controllers and the host computer. an apparatus control algorithm program area for storing an apparatus control algorithm program for the apparatus, a parameter area for storing a parameter section of the apparatus control algorithm program, and writing into the apparatus control algorithm program area and the parameter area via a man-machine interface. means, a control program area storing a control program for controlling writing to and reading from the device control algorithm program area and the parameter area, and a communication interface for the host computer and each of the controllers. A multi-device controller characterized by: