JP2002062912A - Control unit and control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To readily handle a plurality of different situation and to simplify the control. SOLUTION: The function of each control module is generated by a job command, and the state of each control module is caused to make transition to each control module having the function generated, whereby a desired sequence is executed. Further, when a situation urgently requiring the transition of the control module state arises during the execution of the sequence, it is performed by an event command.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a technique for standardizing a computer program for control. The present invention relates to the design, modification and control of a computer program for control.
The present invention relates to a technique for simply performing remodeling or other standardization. The present invention relates to a control device in which a plurality of control modules for individually controlling a plurality of controlled elements included in one controlled system are configured in a hierarchical structure, and a control program therefor.

[0002]

2. Description of the Related Art A plurality of controlled elements are provided in one "control system", and a plurality of control modules are provided for individually controlling the plurality of controlled elements. Has been proposed for hierarchically controlling.

[0003] The applicant of the present application has proposed a technique of unifying the mode and mode transition of each control module for all control modules, and constructing a control system with parts in a hierarchical structure. Kaihei 11-
305806 and JP-A-11-338517, hereinafter referred to as prior application). Here, each control module is grasped as a component.

The prior application will be described with reference to FIGS. 10 and 11. FIG. 10 is a block diagram of the control device of the prior application. FIG. 11 is a block diagram of the control module of the prior application.
As shown in FIG. 10, a plurality of controlled elements E (1) to E (1) to E
(N) are provided, and the plurality of controlled elements E (1) to E (1) to E
A plurality of control modules M (1) to M (k + 3) are provided to individually control (n), and a structure for hierarchically controlling the plurality of control modules M (1) to M (k + 3) is provided. Proposed. Each control module M (1)
-M (k + 3) are communicated via communication lines C (1) -C (k + 3).
3) and via the communication memory COM.

Here, even if a certain control module has a mode which is not used among the basic modules, the mode is kept provided according to the basic module, and the mode and the mode transition provided in the basic module are provided. It shall not expand beyond. When it is necessary to expand, another control module is used for the design. All modes and mode transitions of the control module are unified in at least one closed control system. According to the control conditions and the conditions given by the controlled elements, design is performed for all control modes by setting parameters for the mode and the mode transition.

That is, a control device is constructed with control modules having the same mode and its transition, and each control module is activated so that only the part in charge of the control module is activated and functions.

Here, as shown in FIG. 11, the modes of the control module and the transition of the modes are a start mode ST1 for controlling the start of the corresponding controlled element, and the control mode which can directly shift from the start mode ST1. A normal operation mode ST2 for controlling the normal operation of the element, a stop mode ST3 for mutually and directly transitioning to the normal operation mode ST2 and controlling the stop of the controlled element, and a stop mode S
A transition can be made directly and directly with T3, a transition can be made directly to the start mode ST1, and a suspension mode ST4 for controlling the controlled element in the suspension state, and a transition can be made directly from the suspension mode ST4 and a transition can be made to the stop mode ST3. A reverse rotation mode ST6 for controlling the controlled element in the reverse rotation state, and a direct transition from the hold mode ST4 and a transition to the stop mode ST3, and a transition to the normal operation mode ST2 or the start mode ST1 and manual control of the controlled element A manual control mode ST5, an alarm mode ST7 that can shift from each of the above modes to generate an alarm, and an exceptional operation mode ST9 that can shift from each of the modes and temporarily perform an operation that is out of synchronization for at least a part of each mode.
And an end mode ST8 that can directly shift from the hold mode ST4 and ends the control of the controlled element.

As described above, by unifying the mode and the mode transition with the control module being common, the control module can be handled in the control system using the concept of parts, and the control system can be constructed. The control system can be updated by the concept of replacing parts, which is performed by assembling parts.

[0009]

The prior application proposed a technique for easily constructing, updating, and changing a control device having a hierarchical structure by unifying the mode of the control module and the transition of the mode. . In the prior application, a command is used to change the mode, but the type is one, and the command is not specifically examined in detail.

Here, the applicant of the present application has noticed that by applying a plurality of types of commands having different characteristics to the control device of the prior application, the control device can be made easier to use.

For example, in a situation different from the normal operation, for example, at the time of initial setting of the control device or at the time of occurrence of a fault, a convenient command is provided to cope with the situation, thereby further improving the control device of the prior application. It can be easy to use.
Alternatively, by setting the effective range of the command variably, the limitation of the controlled elements or the order of the control can be easily set.

The present invention has been made in such a background, and by using a plurality of types of commands having different characteristics, it is possible to easily cope with a plurality of different situations and to simplify the control. It is an object to provide a control device and a control method.

[0013]

SUMMARY OF THE INVENTION A first aspect of the present invention is as follows.
The control module includes a plurality of control modules for controlling a plurality of controlled elements. The plurality of control modules are configured in a tree-like hierarchical structure, and the modes and mode transitions of the control modules are common to all control modules. It is a control device provided for.

Here, the feature of the present invention is that, in the command given to each of the control modules, the command issuing source acquires in advance the right to issue the command to the control module which is the destination of the command. The first command validly received by the occupation process and valid only for the control module, and the first command validly received by the occupation process and issued by a command other than the command issuer of the lower control module of the control module. It includes a second command that is valid even for the control module that has not been occupied, and a third command that is accepted without requiring the occupation processing and is also valid for a control module below the control module. .

The first command is a job command for instructing a job for executing the function of the control module. The second command is a state command for instructing a state transition of the control module. It is desirable that the third command is an event command for changing the mode of the control module and all control modules under the control module.

However, when the control module that has received the second command performs the occupancy processing on the subordinate control module by a command issuer other than the command issuer, the control module that is subject to the occupancy control It is desirable that the state transition of the module be suppressed until the occupation process is released.

That is, a desired sequence can be executed by causing a function of each control module to be developed by a job command and causing the control module that has developed the function to transit the state of each control module by a state command. . Further, when a situation in which the state of the control module needs to be urgently changed during the execution of the sequence occurs, it can be performed by an event command.

Therefore, the job command and the state command are commands that require the occupation processing for the control module to which the command is to be sent in advance, and are effective for the control module that has been occupied. On the other hand, the event command does not need to perform the occupation processing in advance, and can arbitrarily issue a command to a predetermined control module.

The modes and mode transitions include a start mode for controlling the start of the corresponding controlled element, a normal operation mode for directly shifting from the start mode and controlling the normal operation of the controlled element, A stop mode in which the operation mode can be shifted directly and directly to control the stop of the controlled element; and a stop mode in which the stop mode can be shifted directly and directly to the start mode and the controlled element is in a suspended state. Hold mode, which can directly shift from the hold mode, and can also shift to the stop mode and control the controlled element in the reverse state, and the stop mode, which can shift directly from the hold mode. And a manual control for manually controlling the controlled element which can be shifted to the normal operation mode or the start mode. A mode, an alarm mode in which a transition can be made from each of the modes and an alarm is generated, an exceptional operation mode in which a transition can be made from each of the modes and at least a part of each mode is temporarily out of synchronization, and the hold mode And a termination mode in which the control of the controlled element can be terminated directly.

It is preferable that the start mode includes a cold start mode for creating a control file and a hot start mode for shifting from the cold start mode and writing file data to the RAM.

The normal operation mode includes an origin mode for confirming that the controlled element is at the origin, a restoring mode for returning the sequence of the automatically controlled controlled elements to a state immediately before the interruption of the sequence, It is desirable to include a preparation mode for preparing for automatic operation of the element and an operation mode for performing automatic operation of the controlled element.

The stop mode includes an emergency stop mode for urgently stopping the operation of the controlled element, a deceleration stop mode for gradually stopping the operation of the controlled element, It is desirable to include a step stop mode for stopping at breaks.

The hold mode includes a CPU halt mode capable of stopping a CPU, a control release mode for releasing the controlled element from control, and a control recovery for returning the controlled element released from control to control. It is desirable to include a mode and a diagnostic mode in which the operation status of the controlled element is converted into information and a control specification can be changed.

The alarm mode includes an abnormal stop mode in which the operation is stopped when an abnormality is detected in the operation of the controlled element, and an emergency stop mode in which an emergency stop is performed according to an external instruction regardless of the operating condition. It is desirable to include.

A second aspect of the present invention comprises a plurality of control modules for controlling a plurality of controlled elements, respectively, and the plurality of control modules are arranged in a hierarchical structure.
The mode and mode transition of each control module are as follows:
This is a control method of a control device commonly provided to all control modules.

Here, a feature of the present invention is that a job command that exerts a function of a control module is a job command issuing source that has a right to issue a job command to a control module that is a destination of the job command. The state command that is issued after performing the occupation process to obtain the state command in advance and changes the state of the control module has the right to issue the state command to the control module that is the destination of the state command. The control module and the control module under the control module are issued after performing the occupation processing acquired in advance, and the occupancy processing is not performed by the source of the state command other than the source of the state command. Transition the state of the control module,
When the tree-shaped control modules need to be changed at once in an emergency, valid event commands are issued to all control modules without performing the occupation processing.

The issuance of an event command does not require occupation processing, but the control module that is the destination of the event command performs the same processing as the occupation processing simultaneously with or after the reception of the event command. When this processing is canceled, this control module can perform an appropriate state transition according to the state of the higher-level control module.

It is preferable that the control module connected below the control module to which the event command is sent be released from the occupation state when the event command is received.

As a process equivalent to the occupation process, for example, in the control module that is the destination of the event command, information on the issue source of the event command is recorded, and the record is deleted when this process is canceled. . As a result, it is possible to recognize the validity or invalidity of the processing equivalent to the occupation by the issuer of the event command.

[0030]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The configuration of a control device according to an embodiment of the present invention will be described with reference to FIGS. FIG. 10 is a block diagram of a control device of the prior application, and FIG. 11 is a block diagram of a control module of the prior application. These are common to the embodiment of the present invention.

According to the present invention, a plurality of controlled elements E (1) to E (1) to E
A plurality of control modules M each controlling (n)
(1) to M (k + 3). The plurality of control modules M (1) to M (k + 3) are configured in a tree-like hierarchical structure, and the control modules M (1) to M (k + 3).
Is a control device commonly provided to all control modules M (1) to M (k + 3).

Here, a feature of the present invention is that a command given to each of the control modules M (1) to M (k + 3) includes a control module M (i) in which the source of the command is the destination of the command. (I is any one of 1 to k + 3), which is effectively accepted by exclusive processing (hereinafter simply referred to as “occupied”) for acquiring a right to issue a command in advance and valid only for the control module M (i). A job command and a control module M (j) (j is 1 to 1) that is effectively occupied by the occupation and is not occupied by a command issuer other than the command issuer of the lower control module of the control module M (i). k + 3, a state command that is also valid for i 、 j) and is received without requiring occupation of the control module M (i) that is the destination of the command. Vignetting The control module M
A valid event command is also included in the control module M (j) below (i).

The job command corresponds to the control module M
The state command is a command for instructing a job to execute the function of (i), and the state command is the control module M (i).
The event command is a command for changing the mode of the control module M (i) and all control modules M (j) under the control module M (i).

However, the control module M (i) that has accepted the state command is the subordinate control module M
If (j) is occupied by another state command issuer, the occupied control module M
The state transition of (j) is suppressed until the occupation is released.

The modes and mode transitions include a start mode ST1 for controlling the activation of the corresponding controlled element and a normal operation mode ST2 for directly shifting from the start mode ST1 and controlling the normal operation of the controlled element. A stop mode ST3 which can shift directly and directly to the normal operation mode ST2 and controls the stop of the controlled element; and a shift mode which can shift directly and directly to the stop mode ST3 and can shift directly to the start mode ST1. A hold mode ST4 for controlling the controlled element in a hold state;
And the reverse operation mode ST6, in which the controllable element can be switched to the reverse rotation state, and the controlled element can be switched to the reverse rotation state. Or a manual control mode ST5 capable of shifting to the start mode ST1 and manually controlling the controlled element;
From an alarm mode ST7 that can shift from each of the modes and generate an alarm, an exceptional operation mode ST9 that can shift from each of the modes and temporarily perform an operation that is out of synchronization for at least a part of each mode, and a hold mode ST4. An end mode ST8 in which control can be directly performed and the control of the controlled element is ended.

The start mode ST1 includes a cold start mode st10 for creating a control file, and a hot start mode st11 for shifting from the cold start mode st10 and writing file data to the RAM.

The normal operation mode ST2 includes an origin mode st12 for confirming that the controlled element is at the origin, a restoration mode st13 for returning the sequence of the controlled elements to be automatically operated to a state immediately before the interruption of the sequence, Preparation mode st for preparing for automatic operation of the controlled element
14 and an operation mode st15 for performing the automatic operation of the controlled element.

The stop mode ST3 includes an emergency stop mode st16 for urgently stopping the operation of the controlled element and a deceleration stop mode st1 for gradually stopping the operation of the controlled element.
7 and a step stop mode st18 for stopping the operation of the controlled element at the break of the sequence.

The hold mode ST4 includes a CPU stop mode st19 for stopping the CPU, a control release mode st20 for releasing the controlled element from control, and a return of the controlled element released from control to control. The control mode includes a control recovery mode st21 and a diagnostic mode st22 in which the operation status of the controlled element is converted into information and the control specification can be changed.

The alarm mode ST7 includes an abnormal stop mode st23 in which the operation is stopped when an abnormality is detected in the operation of the controlled element, and an emergency stop mode st24 in which an emergency stop is performed according to an external instruction irrespective of the operating condition. And

Next, the operation of each command used in the control device according to the embodiment of the present invention will be described with reference to FIGS.
First, the job command will be described. The job command is used to express the function of the control module. On the side that issues the job command, the function corresponding to the job command can be expressed in the issued control module.

From the control module, when a job command is received, if the expression function corresponding to the job command is incorporated in itself, the function can be exhibited.

When a job command is issued, it is necessary to acquire the right in advance for the control module to which the job command is issued. In the present embodiment, as described above, the right acquisition process is "occupied". It is. Note that occupation is also required when issuing a state command to be described later. Thus, the effective range of issuing and receiving the job command and the state command is limited to the control module that has occupied.

Specifically, a flag that is effective when the control module is occupied is provided in the control module, and a table that records the control module or the external system of the occupation source is provided corresponding to the flag. Further, this table also displays whether the occupancy is for a job command or a state command.

Next, the operation of the job command will be described with reference to FIG. In FIG. 1, the external system EXS occupies the control module A. Also, the control module AB
Occupy the control module AC. At this time, only the control module AB can issue a job command for the control module AC. The job command issued by the control module AB is valid only for the control module AC. Further, a job command for the control module A can be issued only by the external system EXS. Also,
The job command issued by the external system EXS is valid only for the control module A.

Next, the state command will be described. The state command is used to change the state of the control module. On the side that issues a state command, the state of the issued control module can be changed to a state corresponding to the state command. On the other hand, when the control module receives the state command, it can transition to the state corresponding to the state command. Unlike the job command, the state command has an effect on the control modules under the tree structure of the control module whose state has been changed by the state command. When issuing a state command, it is necessary to occupy the issuing destination similarly to the job command.

The operation of the state command will be described with reference to FIG. In FIG. 2, the external system EXS occupies the control module A. Further, the control module AB occupies the control module AC. Control module AC
Can be issued only by the occupying control module AB. The state command issued by the control module AB includes not only the control module AC but also the control modules ACA and
It extends to ACB, ACAA, ACAB, ACBA, ACBB.

The state command for the control module A can be issued only by the occupying external system EXS. The state commands issued by the external system EXS include the control modules AA, AB, AAA, AAB, AB
A. However, the control module AC and the control modules under the control module AC have no influence because the control module AC is occupied.

At this time, the control module whose occupancy has been released changes its state in accordance with the state command of the control module located above the control module in the tree structure. Furthermore, the control modules under its own control module also follow it. For example, when the occupation of the control module AC is released, the control module AC takes over the X state of the control module A, which is a higher order of itself on the tree structure, and controls the control modules ACA, ACB, ACAA, and ACA.
B, ACBA, and ACBB all transition to the X state.

Next, the event command will be described. The event command is used for transmitting information between control modules having high urgency. On the side that issues the event command, the state can be instantaneously transmitted to the issuing control module, and processing corresponding to the event command can be realized. When the control module receives the event command, it can transition to the processing state corresponding to the event command. The event command is valid for the control module that received it and the control modules under it. The event command is
Occupancy is not required because of the urgency.

The operation of the event command will be described with reference to FIG. In FIG. 3, the external system EXS occupies the control module A. Further, the control module AB occupies the control module AC. As described above, the event command can be issued from all control modules or the external system EXS regardless of whether or not all control modules are occupied.

For example, in FIG. 3, when an E event command is issued from the external system EXS, all the control modules AA, AB, AC,
AAA, AAB, ABA, ACA, ACB, ACAA,
An E event command is transmitted to ACAB, ACBA, and ACBB.

Next, the occupancy will be described in detail with reference to FIGS. The purpose of the occupation is to acquire the right to issue the job command and the state command to the control module attempting to operate, and to occupy the exclusive processing of the job command and the state command from the non-right acquisition control module and the external system EXS. Is held until canceled.

Thus, when a command is issued from a plurality of control modules, a collision between transmission and reception can be avoided. Further, it is possible to secure the use time of the control module that is shared between different control modules. Further, the control module at the position affected by the command on the tree structure can secure the specific state without being affected by the command until the occupation is released.

The destination that can be occupied can be issued from the control module in the system, the external system EXS, or the control module itself. When occupation is performed, there is no restriction based on the time condition, state, and tree structure. However, if they are already occupied, they cannot be occupied again and will be rejected. When the occupancy is released, there is no restriction by the time condition, the state, and the tree structure, and the occupation can always be released. However, only the occupant can be released. Occupancy is held by one control module until released, and cannot be shared by others. There is no restriction on the reception due to the time condition, state, or tree structure.

Next, the occupancy operation will be described with reference to FIG. In FIG. 4, all control modules A, AA, AB, AC, AAA, AAB, ABA, AC
A and ACB are in a certain state, and the control module AB occupies the control module AC by occupancy processing between the control modules AB and AC from a state where all control modules are not occupied. Is in the occupied state of the control module AB, and the control module AC has transited to a specific state (the Y state in the figure) by issuing a state command from the control module AB to the control module AC.

Due to the nature of state propagation of state commands down the tree, the control module AC and its lower ACA,
The ACB has completed the propagation of the state of the control module AC. At this time, the occupation of the control module AC has not been released. Thereafter, the occupation process between the external system EXS and the control module A causes the external system EXS to occupy the control module A, and the control module A enters the occupation state of the external system EXS. A specific state (X state in the figure) by issuing a state command from control to control module A
Has transitioned to

Due to the nature of state propagation of state commands to the lower level of the tree, the control module A and its lower-level control modules AA, AAA, AAB, AB, and ABA have completed propagation of the state of the control module A. Since the node including the control module AC is already occupied by the control module AB, the state of the control module A is not propagated.

FIG. 5 shows the state shown in FIG. 4 as an initial state, and immediately after the control module AB releases the occupation of the control module AC, the state of the control module A due to the nature of state propagation of the state command to the lower level of the tree. The control module AC and the control modules ACA and ACB under the control module AC are lower than the control module A.
State propagation is automatically performed and completed.

FIG. 6 shows a case where the control modules AA, AB, and AC are below the control module A having a tree structure, and the control module AB is a common component of the control modules AA and AC in terms of control configuration. In order to secure the right to use the control module AB, the control modules AA and AC will compete for the right using the exclusive operation. In such a case, the control modules AA and AC cannot occupy at the same time.

If the control module AA has acquired the occupation of the control module AB, the control module AC
Cannot be occupied by the control module AB and is not accepted until the occupation of the control module AB is released. However, this does not guarantee the occupation of the control module AC, and the occupation of the control module AA or another system may occur again.

As shown in FIG. 7, the control module AB can be occupied by the control module AB itself in order to save its own state and processing.

It should be noted that, when issuing an event command, occupancy processing is not required. However, for the control module that is the destination of the event command, processing equivalent to occupation processing is performed simultaneously with or after receiving the event command. Then, when this processing is canceled, this control module can make an appropriate state transition according to the state of the higher-level control module.

The control module connected below the control module that is the destination of the event command is released from the occupied state when the event command is received.

As a specific example of the processing equivalent to the occupation processing, the control module that is the destination of the event command records information on the issue source of the event command, and performs the same processing as the occupation of the event command. By deleting the record at the same time as the cancellation of the processing, it is possible to recognize the validity or invalidity of the processing equivalent to the occupation by the source of the event command.

Next, a specific operation of the control device according to the embodiment of the present invention will be described with reference to FIGS. FIG. 8 is a configuration diagram of a main part of the lathe. FIG. 9 is a control system diagram of the lathe. The lathe shown in FIG. 8 has servo motors SM-1, SM-2, S
M-3, hydraulic cylinders OS-1, OS-2, OS-3,
It is constituted by an oil valve OV-1. The servo motor SM-1 is for rotating the spindle, and rotates a workpiece (hereinafter, referred to as a work). This servo motor SM-1 is
Only forward rotation, not reverse rotation. Further, since the servo motor SM-1 is for rotating the work, complicated control is not required, and the servo motor SM-1 starts rotating when the work holding is completed. The servo motor SM-2 is a tool post X
It is for axis feed and performs forward and reverse rotation. The servo motor SM-3 is for feeding the tool rest Y-axis and performs forward rotation and reverse rotation. The hydraulic cylinder OS-1 is for a chuck, and drives a chuck for gripping a work. Hydraulic cylinder OS-2
Is for tailing. The hydraulic cylinder OS-3 is for a blade clamp and is used for gripping the blade. The oil valve OV-1 is used for supplying cutting oil to the work. The sensor A is used for confirming the fixed position and the origin of the chuck. The sensor B is used to confirm the presence or absence of a work. The sensor C is used to confirm the home position and the origin of the tailstock.

FIG. 9 is a control system diagram of the lathe shown in FIG. 8, and shows a hydraulic cylinder OS- as a controlled element E (1).
1. Hydraulic cylinder OS-2 as controlled element E (2)
Servo motor SM-2 as controlled element E (3), servo motor SM-3 as controlled element E (4), hydraulic cylinder OS-3 as controlled element E (5), controlled element E
The oil valve OV-1 is assigned as (6), and the control module M (1) controls the hydraulic cylinder OS-1.
The control module M (2) controls the hydraulic cylinder OS-2, the control module M (3) controls the servomotors SM-2 and SM-3, and the control module M (4) controls the hydraulic cylinder OS-3. Then, the control module M (5) controls the oil valve OV-1.

Further, the control module M (6) includes the control modules M (1) and M (2) and the servo motor S
M-1 is controlled, and the control module M (7) controls the control modules M (3), M (4), and M (5). Further, the control module M (8) is controlled by the control module M (6).
And M (7). Further, a communication memory COM that can be commonly accessed by these control modules M (1) to M (8) is provided.

The control modules M (1) to M shown in FIG.
(8) are arranged at predetermined positions, but in the initial state, as shown in FIG. 1, the respective functions have not yet been expressed. Here, by the job command,
The control modules M (1) to M (8) express their functions.

As a method of transmitting a job command, the external system EXS uses each of the control modules M (1) to M (M).
(8) one after another and transmitting the job commands one by one, and the external system EXS occupies only the control module M (8) which is the control main and transmits the job command to this. After that, the control module M
(8) is one of the lower control modules M (1) to M
The method of occupying (7) and transmitting job commands one by one, and the external system EXS occupies only the control module M (8) which is the control main, transmits the job command to this, and thereafter , Control module M (8)
Occupies the control module M (6) or M (7) and transmits the job command, and the control module M (6) or M (7) to which the job command is transmitted occupies the same or lower control module. Convey job commands,
It is conceivable that the control module to which the job command has been transmitted occupies the same or lower order control module and transmits the job command.

These methods may be selected according to the user's convenience. However, in order to reduce the processing load of the external system EXS for transmitting the job command, it is preferable to select the method or the method. Further, it is preferable to select a method for distributing the processing load for transmitting the job command to each of the control modules M (1) to M (8).

In this way, the job command
The control module M (8) controls the main control, the control module M (7) controls the tool post, the control module M (6) controls the work holding, the control module M (5) controls the valve cutting oil,
The control module M (4) controls the blade clamp, the control module M (3) controls the two-axis control XY axes, and the control module M
(2) controls the tailstock, and the control module M (1) controls the chuck.

Next, the operation of a job command, a state command, and an event command will be described by taking, as an example, a process in which the lathe shown in FIG. 8 chucks a workpiece to perform cutting. First, a state command is issued from the external system EXS to the control module M (8), which is the control main, and the control module M (8) makes a state transition from the startup mode to the normal operation mode. In the example of FIG. 8, since each of the control modules M (1) to M (7) is not occupied by another command issuing source, the control module M (8)
Control modules M (1) to M connected to
This state command propagates to (7), and each of the control modules M (1) to M (7) makes a state transition from the startup mode to the normal operation mode.

At this point, when the external system EXS issues a “start” job command to the control module M (8), the control module M (8) issues the “start” job command.
And issues a “fixed” job command to the control module M (6). When receiving the “fixed” job command, the control module M (6) issues a “chuck closed” job command to the control module M (1), and
In response to (2), a job command of “start centering” is issued.

In response to the job command “Chuck closed”,
When the control module M (1) detects that the work is set at the fixed position according to the output of the sensor B, it drives the hydraulic cylinder OS-1 to actually close the chuck.
Further, in response to the job command of “start centering”, the control module M (2) starts the centering by driving the hydraulic cylinder OS-2 while monitoring the output of the sensor C. The end of these jobs is notified to the control module M (6).

The control module M (6) notifies the control module M (8) that has issued the job command that the job for the “fixed” job command has been completed. When recognizing the end of the job for the “fixed” job command, the control module M (8) issues a “cut” job command to the control module M (7). When the control module M (7) receives the job command of “cut”, the control module M (3)
, A job command of “clamp” is issued to the control module M (4), and a job command of “lubrication” is issued to the control module M (5). Issue

In response to the job command “Move tool post”,
The control module M (3) controls the XY axes by the servo motor SM
-3 is controlled by NC to move the tool post to a predetermined position. Also, in response to the job command of "Cutting tool clamp",
The control module M (4) drives the hydraulic cylinder OS-3 to clamp a predetermined blade. The control module M (5) drives the oil valve OV-1 to perform lubrication in response to the "lubrication" job command. The work is cut into a predetermined shape by these jobs. The end of these jobs is notified to the control module M (7). The control module M (7) notifies the control module M (8), which is the source of the job command, that the job corresponding to the job command “cut” has been completed. Thus, the control module M (8) recognizes the end of the job.

When the "start" job command is issued from the external system EXS to the control module M (8) again, the above procedure is repeatedly executed. Each of the control modules M (1) to M (7) has already transitioned from the start mode to the normal operation mode.
The external system EXS does not issue a state command to the control module M (8).

During this time, the control modules M (1) to M
(8) If an emergency state transition to the alarm mode, the stop mode, the hold mode, the manual mode, the reverse mode, the exception processing mode, or the like occurs, the external system EXS
Issues an event command to the control module M (8). The event command is the control module M
(8) is transmitted to the control modules M (1) to M (7), and the control modules M (1) to M (8) make a state transition to each of the above modes quickly.

Further, the processing of the daily production target number is completed,
To end the operation on that day, use the external system EXS
Issues a state command to the control module M (8), and the control module M (8) makes a state transition from the normal operation mode to the stop mode. This state command also spreads to the control modules M (1) to M (7), and the respective control modules M (1) to M (7) also make a state transition from the normal operation mode to the stop mode, and end the operation on that day. I do.

[0081]

As described above, according to the present invention,
By using multiple types of commands with different characteristics,
It is possible to easily cope with a plurality of different situations and to simplify the control.

[Brief description of the drawings]

FIG. 1 is a diagram for explaining the operation of a job command.

FIG. 2 is a diagram for explaining an operation of a state command.

FIG. 3 is a diagram for explaining the operation of an event command.

FIG. 4 is a diagram for explaining an occupation operation.

FIG. 5 is a diagram for explaining an operation of releasing occupancy.

FIG. 6 is a view for explaining contention competition.

FIG. 7 is a view for explaining self-occupation.

FIG. 8 is a configuration diagram of a lathe.

FIG. 9 is a control system diagram of a lathe.

FIG. 10 is a configuration diagram of a control device of the prior application.

FIG. 11 is a block diagram of a control module of the prior application.

[Explanation of symbols]

A, AA, AB, AC, AAA, AAB, ABA, AC
A, ACB, ACAA, ACAB, ACBA, ACB
B, M (1) to M (k + 3) Control module C (1) to C (k + 3) Communication line COM Communication memory E (1) to E (n) Controlled element EXS External system SM-1 to 3 Servo motor OS-1 to 3 Hydraulic cylinder OV-1 Oil valve ST1 Start mode ST2 Normal operation mode ST3 Stop mode ST4 Hold mode ST5 Manual control mode ST6 Reverse mode ST7 Alarm mode ST8 End mode ST9 Exceptional operation mode st10 Cold start mode st11 Hot start mode st12 Origin mode st13 Restoration mode st14 Preparation mode st15 Operation mode st16 Emergency stop mode st17 Deceleration stop mode st18 Step stop mode st19 CPU stop mode st20 Control release mode st21 Control recovery mode st 22 Diagnosis mode st23 Abnormal stop mode st24 Emergency stop mode

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 5B076 DA04 DD01 DF09 5H209 AA06 CC03 CC07 DD06 GG06 HH04 5H220 AA05 BB05 BB12 BB13 CC05 CX01 EE06 JJ12 JJ51

Claims (10)

[Claims] 1. A control system comprising: a plurality of control modules for controlling a plurality of controlled elements, wherein the plurality of control modules are configured in a tree-like hierarchical structure; In a control device commonly provided to the control modules, the command given to each of the control modules may be an occupation process in which the command issuer acquires in advance the right to issue the command to the control module that is the destination of the command. The first command validly accepted by the control module and valid only by the control module, and the occupation process is effectively received by the occupation process and executed by a command issuing source other than the command issuing source of a lower-level control module of the control module. A second command that is also valid for the control module that is not Control apparatus characterized by comprising a lower third command effective to control modules of the control module is accepted without requiring physical. 2. The method according to claim 1, wherein the first command is a job command for instructing a job for executing a function of the control module, the second command is a state command for instructing a state transition of the control module, The control device according to claim 1, wherein the third command is an event command for changing a mode of the control module and all control modules under the control module. 3. The control module, which has received the second command, executes the occupied control when the subordinate control module is occupied by a command issuer other than the command issuer. 3. The control device according to claim 2, wherein the state transition of the module is suppressed until the occupation process is released. 4. The method according to claim 1, wherein the mode and the mode transition include: a start mode for controlling activation of a corresponding controlled element; a normal operation mode capable of directly shifting from the start mode and controlling a normal operation of the controlled element; A stop mode that can shift directly and directly to the normal operation mode and controls the stop of the controlled element; and a stop mode that can shift directly and directly to the stop mode and that can shift directly to the start mode and the controlled element. A holding mode for controlling to a holding state, a reversing mode for directly shifting from the holding mode and a mutual switching with the stop mode for controlling the controlled element to a reversing state, A method for manually controlling the controlled element, which can be shifted to a stop mode and can be shifted to the normal operation mode or the start mode. A control mode, an alarm mode in which the mode can be shifted from each of the modes and an alarm is generated, an exception operation mode in which the mode can be shifted from each of the modes and at least a part of each mode is temporarily out of synchronization, and The control device according to claim 1, further comprising: an end mode in which control can be directly shifted from the suspension mode to end the control of the controlled element. 5. The control device according to claim 4, wherein the start mode includes a cold start mode for creating a control file and a hot start mode for shifting from the cold start mode and writing file data to a RAM. 6. The normal operation mode includes an origin mode for confirming that the controlled element is at the origin, a restoration mode for returning a sequence of the controlled elements to be automatically operated to a state immediately before the interruption of the sequence, The control device according to claim 4, further comprising: a preparation mode for preparing for automatically driving the controlled element; and an operation mode for performing automatic driving of the controlled element. 7. The stop mode includes an emergency stop mode for urgently stopping the operation of the controlled element, a deceleration stop mode for gradually stopping the operation of the controlled element, and an operation of the controlled element. The control device according to claim 4, further comprising: a step stop mode for stopping at a break of a sequence. 8. The suspension mode includes a CPU halt mode capable of stopping a CPU, a control release mode for releasing the controlled element from control, and returning the controlled element released from control to control. The control device according to claim 4, further comprising: a control recovery mode; and a diagnostic mode capable of changing an operation state of the controlled element into information and changing a control specification. 9. The alarm mode includes an abnormal stop mode in which operation is stopped when an abnormality is detected in the operation of the controlled element, and an emergency stop mode in which emergency stop is performed according to an external instruction irrespective of an operation state. The control device according to claim 4, comprising: 10. A control system comprising: a plurality of control modules for controlling a plurality of controlled elements, wherein the plurality of control modules are arranged in a hierarchical structure; In the control method of the control device that is commonly provided, the job command for exerting the function of the control module is:
A state command that is issued after the job command issuer has performed an exclusive process of acquiring in advance the right to issue a job command to the control module that is the destination of the job command, and that causes the state of the control module to transition, is a state command. A command issuer issues a control module that is a subordinate of the control module by issuing the command after performing an occupation process of acquiring in advance the right to issue the state command to the control module that is the destination of the state command. When the state of the control module that has not been subjected to the occupation process is changed by an issuer of a state command other than the issuer of the state command, and it is necessary to urgently change the tree-shaped control modules all at once, All control modules without occupancy processing Control method characterized by issuing a valid event command.