JPH07122816B2 - Sequence control method - Google Patents

Description

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

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

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

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

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

In order to control the machine that operates as shown in FIG. 7 by using such a graph set type sequence control device, first, draw a timing chart as shown in FIG. The process steps are input in the order shown in FIG.

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

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

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

For example, in the flow chart shown in FIG. 7, if the lifter does not rise to the rising limit due to some trouble, step 1 will be in the processing state forever. Since repairs etc. are not possible in this state, it is necessary to take a step to forcibly stop this process, that is, it is necessary to switch to manual operation and move this lifter by manual operation. As described above, when considering the trouble and setting the process steps including the manual operation as a flowchart, it is necessary to add this manual operation flowchart for each step, so the overall operation flowchart becomes a very complicated flowchart. Therefore, there is a problem that the advantage of the graph set expression cannot be fully utilized.

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

The present invention has been made in order to solve the problems of the conventional sequence control method, and the operation member such as a cylinder is controlled to change the operation of the sequence control device and to recover from a failure or trouble. It is an object of the present invention to provide a sequence control method that can be easily performed including recovery in the case of a stop in the middle of its operation, and that has a simple processing step program.

(Means for Solving the Problems) The present invention for achieving the above-mentioned object is achieved by activating the advancing side executing means for actuating an actuating member, such as a cylinder or a motor, in the step step direction by the advancing side starting means. , The advance side stop means, and further, the return side execution means for operating the actuating member in the reverse direction when the process step direction is activated by the return side activation means, while the return side stop means stops the return side execution means. A sequence control method in which a plurality of steps, each of which constitutes one step, is sequentially operated by the side executing means and the returning side executing means, and is connected to the advancing side starting means and the returning side stopping means. The activation start side activation means is activated when the previous step is completed, and the progression side execution means is activated when the progression side activation means is turned on under the activated state. In addition to activating the advancing side executing means when the advancing side starting means is turned on under a semi-active state, it is activated when the return side stopping means is turned on under an inactive state. The activation end side activation means connected to the advancing side stop means and the return side activation means are in a semi-active state when the advancing side activation means is turned on while the activation start side activation means is in an active state. And, when the operation of the advancing side execution means is completed and the advancing side stop means is turned on, the activation side activation means of the next step is set to the active state,
When the return-side activation means is turned on in the semi-activated or activated state, the return-side execution means is activated in the return direction, and the activation end-side activation means in one step and the activation in the next step. This is a sequence control method in which only one of the starting side activation means is activated when the other is activated.

(Operation) Next, the operation of the above-described sequence control method of the present invention will be described with reference to FIG.

When the activation starting side activating means forming one step is activated by the activation ending side activating means forming the preceding step and the advancing side starting means is turned on, the activation starting side activating means becomes inactive. The activation-side termination activation means is in a semi-activated state. Then, the advancing side executing means actuates the actuating members in the predetermined direction in the step direction. Next, when the advancing side stopping means is turned on, the activation ending side activating means is changed from the semi-active state to the activated state, and at the same time, the starting side activating means in the next step is also activated. When the return side activation means is turned on in this state, the activation end side activation means is inactivated, and the return side execution means activates the operating member in a predetermined order in a direction opposite to the step direction. Will be possible. Further, when the return side stop means is turned on, the activation start side activation means is activated and the activation end side activation means of the previous process is activated.

On the other hand, when the return-side activating means is turned on while the activation-end-side activating means is in the semi-active state, the return-side executing means is activated and the actuating members are actuated in a predetermined order in the reverse direction.

Therefore, the actuating member can be actuated for each step in the step direction or in the direction opposite to the step direction, and can be automatically started as it is even when the manual operation is switched to the automatic operation. Moreover, since the program of the processing step is also simplified, it is possible to quickly carry out the modification work and the restoration of the failure.

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

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

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

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

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

The conceptual diagram of this processing method is configured as shown in the figure, in which P0a, P1a, P2a indicates the state point as the activation start side activation means, P0b, P1b, P2b as the activation end side activation means Indicates the state point of. Further, S0a, S1a, S2a indicates the transition condition as the advancing side starting means, S0b, S1b, S2b indicates the transition condition as the advancing side stopping means, S0c, S1c, S2c are the transition conditions as the returning side starting means. , S0d, S1d, S2d
Indicates the transition condition as the return side stop means, J0A, J1A,
J2A indicates a group of execution instructions as the execution side execution means, J0B,
J1B and J2B represent execution instruction groups as return side executing means.

If the actuating member is the lifter cylinder in FIG. 5, this cylinder is actuated in the step step direction by the signal from the advancing side executing means, and further by the signal from the returning side executing means. It will operate in the opposite direction. In this case, the advancing-side starting means and stopping means, and the returning-side starting means and stopping means are each constituted by a limit switch.

Each component shown in this conceptual diagram operates as follows, as shown in the flowchart showing the basic operation shown in FIG. This operation will be described below with reference to FIG.

First, as shown in FIG. 4, when the state point P0b of the activation-end-side activating means constituting a certain process is activated by the CPU that collectively controls the operation of the sequence control device by the end of this process, The state point P1a of the activation means on the activation start side, which constitutes the next step, is activated (step 20).
In this state, for example, when the device shown in FIG. 5 is subjected to sequence control, the state where the cylinder is in the forward limit by the operation of the advancing side executing means for driving the lifter cylinder is set to, for example, the limit switch. That is, it corresponds to the state detected by the traveling-side stopping means.

Next, it is determined whether or not the transition condition S1a of the advancing side drive means that constitutes the next step described above becomes 1. That is, it is determined whether the conditions for executing the execution instruction group J1A are satisfied (step 21). The case where this transition condition is 1 corresponds to the case where the signal for starting the operation of the cylinder is input if this step is the step for operating the cylinder for the clamp 1 shown in FIG. To do. If the result of this determination is that transition condition S1a is not 1, step 22
If the transition condition S1a is 1, the state points P0b and P1a are deactivated (steps 22 and 2).
At the same time, the transition condition of the state point P1b of the activation means on the activation end side is set to the semi-active state (step 24), and the execution instruction group J1A
Is executed (step 25). As a result, for example, the cylinder for the clamp 1 described above moves forward, that is, moves in the process step direction.

Next, the transition condition S1 of the advancing-side stopping means that constitutes this step
Determine whether b is 1. That is, it is determined whether or not the conditions for ending the execution of the execution instruction group J1A are satisfied (step 26). When the transition condition S1b is 1, for example, a limit switch that detects the forward limit of the clamp 1 may be turned on. As a result of this judgment, if the transition condition S1b becomes 1, the state point P1b of the activation means on the activation end side constituting this process becomes active (step 27). State point P1b of this activation end activation means
Is activated, the state point of the activation means on the activation start side, which constitutes the next step, is activated. As this step, for example, there is a step for driving the clamp 2 in FIG. The operation in this step is similar to the control procedure for operating the clamp 1 described above.

If the transition condition S1b does not become 1 in the step 26, it means that the clamp 1 of the clamp 1 is operated even if the cylinder operating signal is issued by the advancing side executing means for moving the clamp 1 forward. Would be the case if the cylinder for failed.

In this case, the activation end side activation means constituting this process is still in the semi-activated state, and under this state, if the transition condition S1c of the return side activation means becomes 1, that is, for example, the push button. When the switch is turned on (step 2
8) The execution of the execution instruction group J1A of the forward side execution means is stopped. (Step 29). However, the above steps
If the transition condition S1c does not become 1 at 28, the execution instruction group J1A will continue to be executed.

The execution of the execution instruction group J1A is stopped, and at the same time, the instruction J1B of the return side executing means is executed to drive the operating member such as the cylinder in the returning direction (step 30). As a result, the operating member such as the cylinder is moved back by the signal from the returning side executing means until the transition condition S1d of the returning side stopping means such as the limit switch becomes 1. When this transition condition S1d becomes 1 (step 31), the state point P1a of the activation means on the activation start side which constitutes this step is activated (step 32), and at the same time, the activation means on the activation end side of the previous step. The state point P0b of is also activated.

As described above, the conceptual operation of the sequence control method according to the present invention is as shown in the flowchart of FIG. 4. Next, a more detailed operation of the sequence control method of the present invention will be described. Description will be given based on the flowcharts shown in FIGS. 4A to 4C.

As shown in FIG. 4A, first, if the state point P1a is active, the state point P0b is activated (steps 40 and 41), and the state point P1 is activated.
If a is active and the transition condition S1a is 1 (steps 42 and 43), the state point P0b is deactivated and the state point P1 is deactivated.
Transition condition S1b by deactivating a and semi-activating state point P1b
The execution instruction group J1A is executed until becomes 1 (step 44).
~ 48). When the transition condition S1b becomes 1, the state point P1b
Is activated to end the process (step 49).

On the other hand, when the transition condition S1a becomes 1 while the state point P1a is in the semi-active state (steps 50, 51), execution of the execution condition J1B is stopped,
The processing after step 44 is executed (step 5).
2). In step 42, when the state point P1a is not active, or in step 51, the transition condition S1a is 1
If not, the process ends.

Then, as shown in FIG. 4B, first, if the state point P1b is active, the state point P2a is activated (steps 60, 61), the state point P1b is active, and the transition condition S1c is 1 If so (steps 62 and 63), the state point P2a is deactivated, the state point P1b is deactivated, the state point P1a is semi-activated, and the execution instruction group J1B is executed until the transition condition S1d becomes 1 ( Steps 64-68). When the transition condition S1d becomes 1, the state point P1a is activated and the process ends (step 69).

On the other hand, when the transition point S1c becomes 1 while the state point P1b is in the semi-active state (steps 70, 71), execution of the execution condition J1A is stopped,
The processing from step 64 onwards is performed (step 7
2). In step 62, when the state point P1b is not active, or in step 71, the transition condition S1c is 1
If not, the process ends.

Further, as shown in FIG. 4C, first, if the state point P2a is active, the state point P1b is activated (steps 80 and 81), the state point P2a is active, and the transition condition S2a is 1 If there is (steps 82 and 83), the state point P1b is deactivated, the state point P2a is deactivated, the state point P2b is half activated, and the execution instruction group J2A is executed until the transition condition S2b becomes 1 ( Steps 84-88). When the transition condition S2b becomes 1, the state point P2b is activated and the process ends (step 89).

On the other hand, if the transition point S2a becomes 1 while the state point P2a is in the semi-active state (steps 90, 91), execution of the execution condition J2B is stopped,
The processing after step 84 described above is performed (step 9).
2). Incidentally, in step 82, when the state point P2a is not active, or in step 51, the transition condition S2a is 1
If not, the process ends.

Therefore, in FIG. 3, if the transition condition S1a becomes 1 again after the repair of the failure of the operating member such as the cylinder constituting the second step is completed, the operating member of this step, for example, the cylinder is the same as described above. First, the process moves in the step direction. Further, if the transition condition S0c is set to 1 in this state, the actuating member in the previous step can be moved in the returning direction, and in this manner, the first control step can be sequentially returned. Then, from the returned state, the respective operating members can be sequentially operated again in a predetermined order in the step step direction.

Therefore, when the sequence control method of the present invention is applied to control the operation of various devices, when one of the operating members such as the cylinders and motors forming the various devices is stopped due to occurrence of trouble during operation, By returning the generating member in the opposite direction, it becomes possible to operate the control device again from that state. In the conventional sequence control, when trouble occurs in some of the operating members that make up the entire device, switch to manual control and return all the operating members that make up the device to their original positions. It was necessary to operate the device from the above, but by adjusting only the troubled or broken operating member and returning it to the original position, it became possible to restart the device from that state.

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

(Effects of the Invention) As is apparent from the above description, according to the present invention, a plurality of actuating members including cylinders and motors are actuated in a predetermined order, and the advancing side starting means and the returning side stopping means are provided. The connected activation starting side activating means is activated when the previous step is completed, and activates the advancing side executing means when the advancing side starting means is turned on under the activated state. When the advancing side starting means is turned on under an active state, the advancing side executing means is activated, while when the return side stop means is turned on under an inactive state, the advancing side executing means is activated. The activation end side activation means connected to the side stop means and the return side activation means becomes a semi-active state when the advancing side activation means is turned on while the activation start side activation means is in an active state, and Side execution means When the operation is completed and the advancing side stop means is turned on, the activation side activation means of the next process is set to the activated state, while the return side activation means is activated in the semi-activated or activated state. When turned on, the return side executing means is activated in the return direction, so that the plurality of steps can be operated in a predetermined order.

Then, after one process is completed, switch to manual
Even when returning to the state of one or more previous steps, since the activation end side activation means and the activation start side activation means are activated sequentially when returning, by simply switching from the returned state to the automatic state, The device can be activated again.

Similarly, even if a trouble occurs in an operating member such as a cylinder that constitutes one process, it can be manually switched under the condition that the activation-end side activating means constituting the process is semi-activated. By operating the return-side executing means, the process can be set to a state in which it can be restarted, and after the trouble is eliminated, it is possible to automatically control the sequence and re-sequence the device.

Furthermore, since the program of the processing process can be represented as one block for each process, the program input process at the time of remodeling work or failure recovery work is simplified, and these works can be performed quickly. You can do it.

[Brief description of drawings]

FIG. 1 is a block diagram of a sequence control device embodying a sequence control method according to the present invention, FIG. 2 is a schematic configuration diagram of the sequence control device shown in FIG. 1, and FIG. 3 is a sequence control according to the present invention. FIG. 4 is a conceptual diagram showing the processing procedure of the method, FIG. 4 is a flow chart showing an example of the operation of the sequence control method according to the present invention, and FIGS. 4A to 4C are an example of the operation of the sequence control method according to the present invention. A detailed flowchart, FIGS. 5 and 6 are explanatory views of the operation of a machine that performs a simple operation, and FIG. 7 is a graph set-type sequence control device for controlling the machine as shown in FIGS. 5 and 6. The flowchart when operating. 1 ... CPU, 2 ... power supply section, 3 ... input section, 4 ... output section, 5 ... program loader.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Takayuki Kawakami 2 Takara-cho, Kanagawa-ku, Yokohama, Kanagawa Nissan Motor Co., Ltd. (72) Takatoshi Ito 2 Takara-cho, Kanagawa-ku, Yokohama, Kanagawa Nissan Motor Co., Ltd. ( 72) Inventor Kei Shimizu 2 Takaracho, Kanagawa-ku, Yokohama-shi, Kanagawa Nissan Motor Co., Ltd.

Claims (1)

[Claims] 1. An advancing side executing means for actuating an operating member composed of a cylinder, a motor and the like in a step step direction is activated by an advancing side starting means, and stopped by an advancing side stopping means,
Further, while the return side execution means for activating the operation member in the opposite direction when the process step direction is activated by the return side activation means,
A sequence control method in which a return-side stopping means is used to stop, and a plurality of steps, each of which constitutes one step, is sequentially operated by the advancing-side executing means and the returning-side executing means. When the activation start side activation means connected to the activation means and the return side stop means is activated when the previous step is completed and the advancing side activation means is turned on under the activated state. While activating the advancing side executing means and activating the advancing side executing means when the advancing side starting means is turned on under a semi-active state, the return side stop means is activated under an inactive state. When it is turned on, it is in an activated state, and the activation end side activation means connected to the advancing side stop means and the return side activation means is the activation side activation means when the activation start side activation means is in the activated state. When activated, it is activated when the advancing side executing means is finished and the advancing side stopping means is turned on to set the starting side activating means of the next step to the active state. When the return side activation means is turned on in the semi-activated or activated state, the return side execution means is activated in the return direction, and the activation end side activation means in one step and the activation in the next step A sequence control method in which only one of the initiation side activation means is activated when the other is activated.