CN113632017B

CN113632017B - Drive control device

Info

Publication number: CN113632017B
Application number: CN201980094772.7A
Authority: CN
Inventors: 竹元宽朗
Original assignee: Mitsubishi Electric Corp
Current assignee: Mitsubishi Electric Corp
Priority date: 2019-04-02
Filing date: 2019-04-02
Publication date: 2023-09-22
Anticipated expiration: 2039-04-02
Also published as: WO2020202473A1; JPWO2020202473A1; DE112019006929T5; JP6625303B1; CN113632017A

Abstract

The drive control device controls the control target device according to a user program, and performs data sampling processing for sampling data obtained in the control of the control target device. The drive control device includes: a program creation unit (23) that creates a 2 nd user program (133) by adding a data sampling process in the conditions specified by the data sampling condition information (132) to the 1 st user program (131) based on the 1 st user program (131) that is a user program and the data sampling condition information (132) that specifies the conditions for sampling data; a control unit that controls a control target device according to a 2 nd user program (133); and a data sampling processing unit (241) that executes data sampling processing in accordance with the 2 nd user program (133).

Description

Drive control device

Technical Field

The present invention relates to a drive control device that performs control of a control target device and samples data obtained in the control of the control target device.

Background

In a factory automation (Factory Automation:FA) system, a manufacturing apparatus is used which controls a control target apparatus by using a drive control apparatus such as a programmable logic controller (Programmable Logic Controller:PLC). In addition, the programmable logic controller is also called a PLC. The stoppage of the production line due to a trouble of the manufacturing apparatus or the like may cause serious damage to the enterprise. Therefore, in the manufacturing apparatus, a function capable of rapidly conducting cause investigation when a failure occurs is demanded. Therefore, data collection during operation of the manufacturing apparatus required for investigation of the cause of the failure of the manufacturing apparatus is performed.

Patent document 1 discloses a numerical control device having a data sampling function provided with a sampling unit that takes a sample of data of a command speed and a detection speed. The sampling unit controls execution of data sampling in accordance with a sampling start instruction or a sampling end instruction included in a machining program created by a user.

The sampling unit stores the data of the command speed and the data of the detection speed in the numerical control device in a storage area allocated for sampling if the command to start sampling is transmitted from the control unit. After the control unit sends a command to start sampling to the sampling unit, the data sampling process is continued for each sampling period set in advance. If the sampling unit transmits a command to finish the sampling from the control unit, the sampling unit finishes storing the data of the command speed and the data of the detection speed in the storage area.

Patent document 1: japanese patent laid-open No. 8-137530

Disclosure of Invention

However, in order to realize the data sampling function disclosed in patent document 1, a program including a start instruction of data sampling and an end instruction of data sampling needs to be created by the user himself/herself, and there is a problem that the load of the program creation work by the user is large.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a drive control apparatus capable of reducing the load of a program creation job for a user when the user creates a program used by the drive control apparatus having a data sampling function.

In order to solve the above-described problems, it is an object of the present invention to provide a drive control device that controls a control target device according to a user program and performs a data sampling process for sampling data obtained during control of the control target device. The drive control device includes: a program creation unit that creates a 2 nd user program by adding data sampling processing in the condition specified by the data sampling condition information to the 1 st user program based on the 1 st user program as the user program and the data sampling condition information specifying the condition for sampling the data; a control unit that controls a control target device according to a 2 nd user program; and a data sampling processing unit that executes data sampling processing in accordance with the 2 nd user program.

ADVANTAGEOUS EFFECTS OF INVENTION

The drive control device according to the present invention has an effect of reducing the load of a program creation job for a user when the user creates a program used by the drive control device having a data sampling function.

Drawings

Fig. 1 is a block diagram showing a configuration of a control system according to embodiment 1 of the present invention.

Fig. 2 is a diagram showing a hardware configuration of a computer executing engineering tool software.

Fig. 3 is a diagram showing a computer functioning as an engineering tool.

Fig. 4 is a diagram showing an example of a data sampling setting screen displayed on the display unit of the engineering tool according to embodiment 1 of the present invention.

Fig. 5 is a block diagram showing the functional configuration of a PLC, a servo amplifier, and a sensor in the control system according to embodiment 1 of the present invention.

Fig. 6 is a diagram showing an example of a hardware configuration of a processing circuit according to embodiment 1 of the present invention.

Fig. 7 is a flowchart illustrating a method for creating the 2 nd user program in the PLC according to embodiment 1 of the present invention.

Fig. 8 is a diagram showing an example of data sampling condition information according to embodiment 1 of the present invention.

Fig. 9 is a schematic diagram showing an example of the 1 st user program according to embodiment 1 of the present invention.

Fig. 10 is a schematic diagram showing a 2 nd user program created by importing the data sampling condition information shown in fig. 8 into the 1 st user program shown in fig. 9.

Fig. 11 is a diagram showing an example of data sampling condition information according to embodiment 1 of the present invention.

Fig. 12 is a schematic diagram showing a 2 nd user program created by importing the data sampling condition information shown in fig. 11 into the 1 st user program shown in fig. 9.

Fig. 13 is a diagram showing an example of sampling data according to embodiment 1 of the present invention.

Fig. 14 is a diagram showing a computer functioning as an engineering tool for creating the 2 nd user program in embodiment 1 of the present invention.

Fig. 15 is a block diagram showing the functional configuration of the PLC, the servo amplifier, and the sensor in the case where the engineering tool creates the 2 nd user program in embodiment 1 of the present invention.

Fig. 16 is a flowchart illustrating a method of creating the 2 nd user program of the engineering tool in embodiment 1 of the present invention.

Detailed Description

The drive control device according to the embodiment of the present invention will be described in detail below with reference to the drawings. The present invention is not limited to the present embodiment.

Embodiment 1.

Fig. 1 is a block diagram showing a configuration of a control system 100 according to embodiment 1 of the present invention. The control system 100 is an FA system. The control system 100 has: engineering tools 1; a PLC 2; a servo amplifier 3; and a servomotor 4 having a sensor 5.

The engineering tool 1 is connected to the PLC 2 via a communication line 6, and can perform wired communication with the PLC 2. Further, the communication between the engineering tool 1 and the PLC 2 may be wireless communication. Furthermore, the engineering tool 1 is connected to the PLC 2 only when necessary.

The PLC 2 is connected to the servo amplifier 3 via a communication line 7, and can perform wired communication with the servo amplifier 3. The communication between the PLC 2 and the servo amplifier 3 may be wireless communication.

The servo amplifier 3 is connected to the servo motor 4 via a communication line 8, and can perform wired communication with the servo motor 4. The communication between the servo amplifier 3 and the servo motor 4 may be wireless communication.

The engineering tool 1 is a program creation support device that supports creation of a user program that the PLC 2 executes to control the servo amplifier 3. The engineering tool 1 is constructed by installing engineering tool software 108 on a general-purpose computer. Fig. 2 is a diagram showing a hardware configuration of a computer executing the engineering tool software 108. The computer 110 includes CPU (Central Processing Unit), RAM (Random Access Memory), ROM (Read Only Memory), 103, a storage unit 104, an input unit 105, a display unit 106, and a communication Interface 107.

The CPU101 is an arithmetic device that executes engineering tool software 108. The RAM 102 is a work area used when the CPU101 executes a program. The ROM 103 stores a program executed by the CPU101 at the time of startup of the computer 110 in a nonvolatile manner. The storage unit 104 is a device that stores information in a nonvolatile manner, and can be applied to a Hard Disk Drive (Hard Disk Drive), a solid state Drive (Solid State Drive), and the like.

The input unit 105 is a user interface for inputting information by a user, and a pointing device (a mouse, a touch panel, or the like), a keyboard, or the like can be applied. The display unit 106 is a device for displaying information, and LCD (Liquid Crystal Display), OLED (Organic Light Emitting Display), and the like can be applied. The communication I/F107 is an interface for communicating with the PLC 2 through the communication line 6.

Fig. 3 is a diagram showing a computer functioning as the engineering tool 1. Engineering tool software 108 installed in the computer 110 is stored in the storage unit 104. The CPU101 reads and executes the engineering tool software 108 stored in the storage unit 104, and the computer 110 is thereby brought into a state of functioning as the engineering tool 1. The engineering tool 1 has an editing unit 111 formed on the CPU 101.

The editing unit 111 causes the display unit 106 to display a program creation screen, and performs a process of creating or editing a 1 st user program 131 described later in accordance with a user operation performed on the input unit 105. The editing unit 111 stores the created or edited 1 st user program 131 in the storage unit 104. The function of creating and editing programs in the editing unit 111 is the same as that of an editor of a general engineering tool.

Fig. 4 is a diagram showing an example of a data sampling setting screen 121 displayed on the display unit 106 of the engineering tool 1 according to embodiment 1 of the present invention. The data sampling setting screen 121 is a setting screen for setting the data sampling condition information 132. The editing unit 111 causes the display unit 106 to display a data sampling setting screen 121 as shown in fig. 4, sets data sampling condition information 132 in accordance with a user operation performed on the input unit 105, and stores the data sampling condition information in the storage unit 104.

The data sampling condition information 132 is specification information that specifies conditions for sampling data obtained in the control of the servomotor 4 by the PLC 2 as described later. In the data sampling setting screen 121, the data sampling condition information 132 can be freely set and changed. As shown in fig. 4, the data sampling condition information 132 illustrates information such as a sampling procedure step No., a sampling start advance timing, a sampling end retard timing, sampling target data 1, sampling target data 2, and the like.

As described later, the sampling procedure step No. is procedure step instruction information for designating a procedure step of the control process executed in parallel with the data sampling process in the 1 st user program 131. Here, the step is the minimum execution unit of the program. The 1 st user program 131 is a user program that is a program executed by the PLC 2 to control the servo amplifier 3, and is a user program created by a user in the engineering tool 1. That is, it can be said that the sampling program step No. has both sampling start position specification information for specifying the start position of the data sampling process in the 1 st user program 131 and sampling end position specification information for specifying the end position of the data sampling process in the 1 st user program 131.

The sampling start advance timing is advance time specification information that specifies an advance time. The advance time is a time at which the timing of the start of the data sampling process is advanced compared with the start timing of the control process specified by the sampling procedure step no.

The sampling end delay timing is delay time specification information specifying a delay time. The delay time is a time to delay the timing of the end of the data sampling process compared with the end timing of the control process specified by the sampling procedure step No..

The sampling target data 1 is sampling data specification information for specifying the type of the 1 st data, which is the target data sampled by the PLC 2 in the data sampling process. The sampling target data 2 is sampling data specification information for specifying the type of the 2 nd data, which is the target data sampled by the PLC 2 in the data sampling process.

Fig. 5 is a block diagram showing the functional configuration of PLC 2, servo amplifier 3, and sensor 5 in control system 100 according to embodiment 1 of the present invention.

The PLC 2 is a drive control device that controls a servomotor 4, which is a control target device. The PLC 2 generates a drive command for controlling the servo amplifier 3, and transmits the drive command to the servo amplifier 3 to control the servo amplifier 3. The PLC 2 operates based on the PLC program. The PLC program is a program for executing control of the servo amplifier 3 and control of the entire PLC 2. The PLC program includes a user program that is a program for controlling the servo amplifier 3 by the PLC 2. A specific example of a PLC program is a ladder program. The PLC 2 controls the controlled device, that is, the servo motor 4, via the servo amplifier 3 based on a user program, and collects various information related to the control of the servo motor 4 from the servo amplifier 3.

The PLC 2 includes a PLC communication unit 21, a PLC storage unit 22, a program creation unit 23, and a PLC control unit 24.

The PLC communication unit 21 communicates with an external device of the PLC 2 to transmit and receive information. The PLC communication unit 21 communicates with the engineering tool 1 via the communication line 6 to transmit and receive information. The PLC communication unit 21 communicates with the engineering tool 1, and obtains the 1 st user program 131 and the data sampling condition information 132 from the engineering tool 1. The PLC communication unit 21 transmits information acquired from the engineering tool 1 to the PLC control unit 24.

The PLC communication unit 21 communicates with the servo amplifier 3 via the communication line 7 to transmit and receive information. The PLC communication unit 21 receives a drive command for controlling the servo amplifier 3 from the PLC control unit 24 and transmits the drive command to the servo amplifier 3. The PLC communication unit 21 receives data obtained by the control of the servomotor 4 by the PLC 2 from the servo amplifier 3. The PLC communication unit 21 transmits the information acquired from the servo amplifier 3 to the PLC control unit 24.

The PLC storage unit 22 stores a PLC program, information related to control of the PLC 2, and data of various states stored in the servo amplifier 3. The PLC storage 22 includes a 1 st user program storage 221, a data sampling condition storage 222, a 2 nd user program storage 223, and a sampling data storage 224.

The 1 st user program storage unit 221 stores the 1 st user program 131, which is the user program obtained from the engineering tool 1.

The data sampling condition storage unit 222 stores the data sampling condition information 132 acquired from the engineering tool 1. The data sampling condition information 132 is associated with the 1 st user program 131 stored in the 1 st user program storage unit 221, and the specific 1 st user program 131 corrected based on the data sampling condition information 132. That is, the data sampling condition information 132 corresponds one-to-one to the specific 1 st user program 131 stored in the 1 st user program storage unit 221.

The 2 nd user program storage unit 223 stores the 2 nd user program 133, which is a new user program created by the correction in the program creation unit 23 described later.

The sample data storage 224 stores sample data 134 obtained by performing data sampling processing under control of a data sampling processing unit 241 described later. The sampling data 134 is data of various states stored in the servo amplifier 3, which is obtained in the control of the servo motor 4 by the PLC 2. The sampling data 134 is exemplified by analog data, which is time-series data of the state of the operation of the servo motor 4 such as the position, speed, torque, etc. after the operation of the servo motor 4, and data of the control state in the servo amplifier 3.

The time-series data is data of various states stored in the servo amplifier 3 obtained in the control of the servo motor 4, and is data obtained by observing a phenomenon that changes continuously with the passage of time. The time-series data illustrates data indicating the state of the operation of the servomotor 4, such as the position, speed, and torque after the operation of the servomotor 4.

The program creation unit 23 creates a new user program by correcting the user program based on the 1 st user program 131 acquired from the engineering tool 1 and stored in the 1 st user program storage unit 221 and the data sampling condition information 132 acquired from the engineering tool 1 and stored in the data sampling condition storage unit 222. The program creation section 23 adds the data sampling process corresponding to the condition specified by the data sampling condition information 132 to the 1 st user program 131 to create the 2 nd user program 133. That is, the program creation unit 23 creates the 2 nd user program 133 by importing the program for creating the data sampling process by erasing the condition specified by the data sampling condition information 132 in the form of a program into the 1 st user program 131. The program creation unit 23 causes the 2 nd user program 133, which is the new created user program, to be stored in the 2 nd user program storage unit 223.

The PLC control unit 24 controls the servo amplifier 3 and controls the entire PLC 2. The PLC control unit 24 includes a data sampling processing unit 241 that performs data sampling processing for taking data of various states stored in the servo amplifier 3 from the servo amplifier 3 and storing the data in the sampled data storage unit 224.

The data sampling processing unit 241 controls data sampling processing for sampling data of various states stored in the servo amplifier 3 from the servo amplifier 3. The data sampling process is not performed at a fixed period, but is performed by transient transfer. The data sampling processing unit 241 performs data sampling processing according to the 2 nd user program 133 by the conditions specified in the 2 nd user program 133.

The PLC control unit 24 is implemented as a processing circuit having a hardware configuration shown in fig. 6, for example. Fig. 6 is a diagram showing an example of a hardware configuration of a processing circuit according to embodiment 1 of the present invention. In the case where the PLC control unit 24 is implemented by the processing circuit shown in fig. 6, the PLC control unit 24 is implemented by, for example, the processor 201 executing a program stored in the memory 202 shown in fig. 6. In addition, the above functions may be realized by a plurality of processors and a plurality of memories in cooperation. In addition, some of the functions of the PLC control unit 24 may be mounted as an electronic circuit, and the other may be implemented using the processor 201 and the memory 202.

The PLC communication unit 21 may be implemented by the processor 201 executing a program stored in the memory 202 in the same manner. The processor and the memory for implementing the PLC communication unit 21 may be the same as those for implementing the PLC control unit 24, or may be other processors and memories.

The servo amplifier 3 controls the operation of the servo motor 4, which is a control target device that drives a load device, not shown, based on a drive command transmitted from the PLC 2. The servo amplifier 3 operates based on the servo amplifier program. The servo amplifier program is a program for controlling the servo amplifier 3 to execute the operation of the servo motor 4, and controlling the entire servo amplifier 3. The servo amplifier 3 is constituted by combining a plurality of units.

The control system 100 has, as the servo amplifier 3, a 1 st servo amplifier 3A, a 2 nd servo amplifier 3B, and a 3 rd servo amplifier 3C. The 1 st servo amplifier 3A controls the operation of the 1 st servo motor 4A based on the drive command transmitted from the PLC 2. The 2 nd servo amplifier 3B controls the operation of the 2 nd servo motor 4B based on the drive command transmitted from the PLC 2. The 3 rd servo amplifier 3C controls the operation of the 3 rd servo motor 4C based on the drive command transmitted from the PLC 2. In the following, the 1 st servo amplifier 3A, the 2 nd servo amplifier 3B, and the 3 rd servo amplifier 3C are not distinguished, and are referred to as the servo amplifier 3.

The servo amplifier 3 controls the operation of the servo motor 4 based on the drive command transmitted from the PLC 2. The servo amplifier 3 has an amplifier communication section 31, an amplifier storage section 32, and an amplifier control section 33.

The amplifier communication unit 31 communicates with the PLC 2 via the communication line 7 to transmit and receive information. The amplifier communication unit 31 communicates with the servomotor 4 via the communication line 8 to transmit and receive information.

The amplifier storage unit 32 stores a servo amplifier program, data indicating the state of operation of the servo motor 4, data of various states related to control of the servo amplifier 3, and the like. A nonvolatile memory device is used as the amplifier memory unit 32 so that the stored information is not erased even when the power to the servo amplifier 3 is turned on or off. The amplifier storage unit 32 is realized by a memory, for example.

The amplifier control unit 33 controls the operation of the servomotor 4 and controls the entire servo amplifier 3. The amplifier control unit 33 causes the amplifier storage unit 32 to store the detection result, which is time-series data transmitted from the sensor 5 of the servomotor 4. The amplifier control unit 33 causes the amplifier storage unit 32 to store data of the control state of the servo amplifier 3.

The amplifier control unit 33 performs control of transmitting data of various states stored in the servo amplifier 3 obtained by the control of the servo motor 4 by the PLC 2 to the data sampling processing unit 241 of the PLC control unit 24 via the amplifier communication unit 31. The amplifier control unit 33 performs control of transmitting the data of various states stored in the amplifier storage unit 32 to the data sampling processing unit 241 of the PLC control unit 24 at a predetermined cycle in the operation of the control system 100.

The amplifier control unit 33 is implemented as a processing circuit having a hardware configuration shown in fig. 6, for example. In the case where the amplifier control unit 33 is implemented by the processing circuit shown in fig. 6, the amplifier control unit 33 is implemented by, for example, the processor 201 executing a program stored in the memory 202 shown in fig. 6. In addition, the above functions may be realized by a plurality of processors and a plurality of memories in cooperation. Further, some of the functions of the amplifier control unit 33 may be mounted as an electronic circuit, and the other may be implemented using the processor 201 and the memory 202.

The amplifier communication unit 31 may be realized by executing a program stored in the memory 202 by the processor 201 in the same manner. The processor and the memory for implementing the amplifier communication unit 31 may be the same as those for implementing the amplifier control unit 33, or may be other processors and memories.

The servo motor 4 is a device for supplying power to a shaft in the production system, and is a controlled device whose operation is controlled by the servo amplifier 3. The shaft is the shaft of the equipment in the production system. The control system 100 includes, as the servo motor 4, a 1 st servo motor 4A, a 2 nd servo motor 4B, and a 3 rd servo motor 4C. Hereinafter, the 1 st servomotor 4A, the 2 nd servomotor 4B, and the 3 rd servomotor 4C are not distinguished from each other, and are referred to as a servomotor 4.

The servomotor 4 has a sensor 5. The sensor 5 detects the state of the operation of the servomotor 4. The state of the operation detected by the sensor 5 is an item such as position, speed, torque, and temperature. The sensor 5 detects the state of the operation of the servo motor 4 at a predetermined cycle during the operation of the control system 100, and transmits the detection result to the servo amplifier 3. The sensor 5 operates based on a sensor program. The sensor program is a program for executing control of the entire sensor 5.

The control system 100 has, as the sensor 5, a 1 st sensor 5A, a 2 nd sensor 5B, and a 3 rd sensor 5C. The 1 st sensor 5A detects the state of the operation of the 1 st servo motor 4A, and transmits the detection result to the 1 st servo amplifier 3A via the communication line 9. The 2 nd sensor 5B detects the state of the operation of the 2 nd servo motor 4B, and transmits the detection result to the 2 nd servo amplifier 3B via the communication line 9. The 3 rd sensor 5C detects the state of operation of the 3 rd servo motor 4C, and transmits the detection result to the 3 rd servo amplifier 3C via the communication line 9. In the following, the sensor 5 is referred to as a 1 st sensor 5A, a 2 nd sensor 5B, and a 3 rd sensor 5C without distinction.

The sensor 5 detects the state of the operation of the servomotor 4, and sends the detection result to the servo amplifier 3. The sensor 5 has a sensor communication section 51, a detection section 52, a sensor storage section 53, and a sensor control section 54.

The sensor communication unit 51 communicates with the servo amplifier 3 via the communication line 9 to transmit and receive information.

The detection unit 52 detects the state of the operation of the servomotor 4 at predetermined periods.

The sensor storage unit 53 stores a sensor program and information related to control of the sensor 5. A nonvolatile memory device is used as the sensor storage unit 53 so that stored information is not deleted even when power is applied to the sensor 5. The sensor storage unit 53 is implemented by a memory, for example.

The sensor control unit 54 controls the entire sensor 5. The sensor control unit 54 performs control to transmit the detection result detected by the detection unit 52 to the servo amplifier 3 at a predetermined cycle.

The sensor control unit 54 is implemented as a processing circuit having a hardware configuration shown in fig. 6, for example. In the case where the sensor control unit 54 is implemented by the processing circuit shown in fig. 6, the sensor control unit 54 is implemented by, for example, the processor 201 executing a program stored in the memory 202 shown in fig. 6. In addition, the above functions may be realized by a plurality of processors and a plurality of memories in cooperation. Further, some of the functions of the sensor control unit 54 may be mounted as electronic circuits, and the other may be implemented using the processor 201 and the memory 202.

The processor 201 may execute a program stored in the memory 202 in the same manner to realize the sensor communication unit 51. The processor and the memory for implementing the sensor communication unit 51 may be the same as those for implementing the sensor control unit 54, or may be other processors and memories.

Next, a method of creating the 2 nd user program 133 in the PLC 2 having the above-described structure will be described. Fig. 7 is a flowchart illustrating a method for creating the 2 nd user program 133 in the PLC 2 according to embodiment 1 of the present invention. Here, a description will be given of a method of creating the 2 nd user program 133 for controlling the 1 st servomotor 4A by the PLC 2. The same applies to the case where the PLC 2 creates the 2 nd user program 133 for controlling the 2 nd servomotor 4B or the PLC 2 creates the 2 nd user program 133 for controlling the 3 rd servomotor 4C.

As a process at a previous stage of the PLC 2 creating the 2 nd user program 133, in the engineering tool 1, the 1 st user program 131 and the data sampling condition information 132 are created. That is, in the engineering tool 1, the editing unit 111 creates the 1 st user program 131 in accordance with the user operation performed on the input unit 105, and stores the 1 st user program in the storage unit 104. In the engineering tool 1, the editing unit 111 sets and stores the data sampling condition information 132 in the storage unit 104 in accordance with a user operation performed on the data sampling setting screen 121 by using the input unit 105. Then, the 1 st user program 131 and the data sampling condition information 132 are transmitted to the PLC 2 in accordance with the user operation performed on the input unit 105.

In step S10, the PLC 2 acquires the 1 st user program 131 and the data sampling condition information 132 from the engineering tool 1. That is, the PLC communication unit 21 of the PLC 2 receives the 1 st user program 131 and the data sampling condition information 132 transmitted from the engineering tool 1, and transmits the received data sampling condition information to the PLC control unit 24. If the 1 st user program 131 and the data sampling condition information 132 are received, the PLC control unit 24 causes the 1 st user program 131 to be stored in the 1 st user program storage unit 221 and causes the data sampling condition information 132 to be stored in the data sampling condition storage unit 222. The PLC control unit 24 causes the program creation unit 23 to start.

Next, in step S20, the program creation unit 23 determines whether or not the unused data sampling condition information 132 exists after the start-up. That is, the program creation unit 23 determines whether or not the data sampling condition information 132 is stored in the data sampling condition storage unit 222.

When it is determined that the data sampling condition information 132 is not stored in the data sampling condition storage unit 222, no is generated in step S20, and the program creation unit 23 ends the series of 2 nd user program creation processes. If it is determined that the data sampling condition information 132 is stored in the data sampling condition storage unit 222, the process goes Yes in step S20, and the process proceeds to step S30.

In step S30, the program creation unit 23 acquires and analyzes the data sampling condition information 132 stored in the data sampling condition storage unit 222. Then, in step S40, the program creation unit 23 determines whether or not the data sampling condition information 132 is normal.

If the data sampling condition information 132 is not normal, no is given in step S40, and the program creation unit 23 ends the series of 2 nd user program creation processes. If the data sampling condition information 132 is normal, yes is set in step S40, and the flow proceeds to step S50.

In step S50, the program creation unit 23 acquires the 1 st user program 131 stored in the 1 st user program storage unit 221. In step S60, the program creation unit 23 determines whether or not the acquired 1 st user program 131 has the destination of the data sampling condition information 132. That is, the program creation unit 23 determines whether or not there is an appropriate position for adding the data sampling process corresponding to the condition specified by the data sampling condition information 132 to the 1 st user program 131 obtained.

If there is No entry destination of the data sampling condition information 132, no is given in step S60, and the program creation unit 23 ends the series of 2 nd user program creation processes. If there is a destination of the data sampling condition information 132, the process goes to Yes in step S60, and the process goes to step S70.

In step S70, the program creation section 23 automatically creates the 2 nd user program 133 by appending the data sampling process corresponding to the condition specified by the data sampling condition information 132 to the 1 st user program 131. That is, the program creation unit 23 creates a data sampling program that is a program of the data sampling process among the conditions specified by the data sampling condition information 132, and imports the data sampling program into the 1 st user program 131 to create the 2 nd user program 133. The program creation unit 23 causes the 2 nd user program 133, which is the new created user program, to be stored in the 2 nd user program storage unit 223.

Then, the program creation section 23 discards the 1 st user program 131 stored in the 1 st user program storage section 221 and the data sampling condition information 132 stored in the data sampling condition storage section 222.

By performing the above processing, the 2 nd user program 133 to which the data sampling processing corresponding to the condition specified by the data sampling condition information 132 is added is created based on the 1 st user program 131 and the data sampling condition information 132.

Step S20 may be performed at the start-up of the PLC 2.

Then, if the PLC control unit 24 starts the control of the servomotor 4, the data sampling processing unit 241 analyzes the 2 nd user program 133 stored in the 2 nd user program storage unit 223, and performs the data sampling processing under the conditions specified in the 2 nd user program 133. That is, the data sampling processing unit 241 samples the condition data specified in the 2 nd user program 133 from the data of various states periodically transmitted from the servo amplifier 3 to the PLC 2 during the control of the servo motor 4. The sampled data 134 is stored in the sampled data storage 224.

Fig. 8 is a diagram showing an example of data sampling condition information 132 according to embodiment 1 of the present invention. Fig. 9 is a schematic diagram showing an example of the 1 st user program 131 according to embodiment 1 of the present invention. Fig. 10 is a schematic diagram showing a 2 nd user program 133 created by importing the data sampling condition information 132 shown in fig. 8 into the 1 st user program 131 shown in fig. 9.

The description will be made regarding the case where the 1 st user program 131 shown in fig. 9 is introduced with the data sampling condition information 132 shown in fig. 8 so that the data sampling process is executed in parallel with the process of step No.2 in the 1 st user program 131. In the data sampling condition information 132 shown in fig. 8, information of the sampling start advance timing and the sampling end retard timing is not set.

In this case, as shown in fig. 10, the step of generating the start of sampling in the data sampling program is performed by aligning the start timing of the data sampling process with the start timing of the process of step No.2, and the result is introduced into the 1 st user program 131. The step of generating the end of sampling in the data sampling program is performed by aligning the end timing of the data sampling process with the end timing of the process of step No.2, and the result is introduced into the 1 st user program 131.

In fig. 10, it is shown that the data sampling process is started in parallel at the time of starting the process of step No. 2. In fig. 10, the data sampling process is shown to be completed in parallel when the process of step No.2 is completed.

As described above, the PLC 2 can create the 2 nd user program 133 with the start timing of the data sampling process aligned with the start timing of the process of step No. 2.

Fig. 11 is a diagram showing an example of data sampling condition information 132 according to embodiment 1 of the present invention. Fig. 12 is a schematic diagram showing a 2 nd user program 133 created by importing the data sampling condition information 132 shown in fig. 11 into the 1 st user program 131 shown in fig. 9. Fig. 13 is a diagram showing an example of the sample data 134 according to embodiment 1 of the present invention.

The description will be made regarding the case where the 1 st user program 131 shown in fig. 9 is introduced with the data sampling condition information 132 shown in fig. 11 so that the data sampling process is executed in parallel with the process of step No.2 in the 1 st user program 131. The data sampling condition information 132 shown in fig. 11 is set with information of a sampling start advance timing and a sampling end retard timing.

That is, the sampling start advance timing is set to "100ms ago". Therefore, the timing at which the data sampling process starts is created in advance of the start timing of the process of step No.2 by "100 ms". The sampling end delay timing is set to "after 50 ms". Therefore, the data sampling program is created with the end timing of the data sampling process delayed by "50ms" compared with the end timing of the process of step No. 2.

In this case, as shown in fig. 12, the step of generating the sampling start in the data sampling program so that the start timing of the data sampling process is earlier than the start timing of the process of step No.2 by "100ms" is introduced into the 1 st user program 131. The step of generating the sampling end in the data sampling program so that the end timing of the data sampling process is delayed by "50ms" from the end timing of the process of step No.2 is introduced into the 1 st user program 131.

In fig. 12, it is shown that the data sampling process is started before "100ms" compared with the start timing of the process of step No. 2. In addition, in fig. 12, the data sampling process is shown to be ended after "50ms" compared with the end timing of the process of step No. 2.

As described above, by setting the information of the sampling start advance timing in the data sampling condition information 132, the PLC 2 can advance the start timing of the data sampling process from the start timing of the process of step No.2 to create the 2 nd user program 133, and can flexibly sample data. That is, the PLC 2 can adjust the position of the data sampling program in the 1 st user program 131 by setting the information of the sampling start advance timing and the sampling end delay timing, and can adjust the period during which the data sampling process is performed. Thereby, a more flexible data sampling function in the PLC 2 can be realized.

The above-described processing of step No.2 illustrates processing of changing conditions for changing the operation of a load device, not shown, driven by the servomotor 4 by turning on a specific bit, processing of writing a device value into a device memory included in the PLC storage unit 22 of the PLC 2, and the like.

The device memory is a memory in which various device values, which are updated according to the execution content, are stored if the PLC control unit 24 executes the user program. The device value is time-series data indicating a value of control information used for the control of the control target device by the PLC 2, and is data indicating a state of the control target device. In addition, the device value is a value stored in the device. The device is a name for specifying a region of the shared memory of the PLC 2, that is, a region in the device memory.

The process for changing the condition for changing the operation of the load device (not shown) driven by the servomotor 4 is exemplified by a process for changing the condition so as to position the axis (not shown) which is the load device (not shown) at the point a. In this case, the data that changes while the shaft is positioned at the point a is the current position of the shaft, and thus the data of the current position of the shaft is sampled. Further, since the movement speed of the shaft changes while the shaft is positioned at the point a, data of the movement speed of the shaft is sampled. Thus, it is possible to grasp how the current position of the shaft and the moving speed of the shaft change during the period in which the shaft is positioned at the point a.

That is, by performing the data sampling process in parallel with the process of step No.2, it is possible to grasp how the data relating to the operation of the load device changes in association with the operation change of the load device.

That is, the transition of data in the case where the setting change of the operation of the load device is performed can be confirmed. In addition, when the setting of the operation of the load device is changed, it is possible to confirm whether or not desired data has been shifted as intended. In addition, when the setting of the operation of the load device is changed, it can be checked whether or not the data is not disturbed when the data is shifted after the load device is repeatedly operated.

In the servo amplifier 3, various states of the control state in the servo amplifier 3 may be changed before the processing of step No.2 is performed. By advancing the start timing of the data sampling process from the start timing of the process of step No.2, information indicating data whose state has been changed before the process of step No.2 is executed can be collected together.

For example, in the case where the processing of step No.2 is processing for controlling the positioning operation of the load device, not shown, which is driven by the servomotor 4, it is possible to monitor and confirm whether or not the conditions for the positioning operation of the load device by the servomotor 4 are identical before the positioning operation of the load device by the servomotor 4. That is, the servo motor 4 can monitor and confirm that the required state has changed before performing the positioning operation.

Further, by setting the information of the sampling end delay timing in the data sampling condition information 132, the PLC 2 can delay the end timing of the data sampling process from the end timing of the process of step No.2 to create the 2 nd user program 133, and can flexibly sample the data.

For example, in the case where the processing of step No.2 is processing for controlling the positioning operation of the load device, not shown, driven by the servomotor 4, after the positioning operation is completed, the state of the control state in the servo amplifier 3, which is confirmed that the positioning operation is completed, may be changed. By delaying the end timing of the data sampling process from the end timing of the process of step No.2, information indicating data whose state has been changed after the process of step No.2 is executed can be collected together. Thus, after the completion of the positioning operation, it is possible to monitor and confirm whether or not the state of the control state in the servo amplifier 3 has been changed, which proves that the positioning operation has been completed. That is, after the servo motor 4 finishes the positioning operation, the required state can be monitored and confirmed.

After the completion of the positioning operation, it is possible to monitor and confirm whether or not the state of the control state in the servo amplifier 3 for switching to the next operation has been changed. That is, after the servo motor 4 finishes the positioning operation, the required state can be monitored and confirmed.

In addition, in the case where the 1 st user program 131 includes the plurality of steps No.2, the data sampling program is attached to the 1 st user program 131 for each of the plurality of steps No. 2.

It is assumed that the 1 st user program 131 acquired in step S10 is a program in which the 2 nd user program 133 to which the data sampling program has been added has been updated. In this case, the 2 nd user program 133 is also created in the same manner as described above.

Here, the program creation unit 23 automatically deletes the data sampling program added to the 1 st user program 131 acquired in step S10. Thus, it is not necessary to automatically delete the data sampling program added when the user updates the 2 nd user program 133 to which the data sampling program was added in the past by the engineering tool 1.

The 1 st user program 131 and the data sampling condition information 132 created in the engineering tool 1 may be transmitted to the PLC 2 via other devices such as a terminal device.

In addition, the 2 nd user program 133 created in the PLC 2 can be backed up to the engineering tool 1.

The servomotor 4 may be directly connected to the PLC 2.

Fig. 14 is a diagram showing a computer functioning as the engineering tool 61 for creating the 2 nd user program 133 in embodiment 1 of the present invention. Fig. 15 is a block diagram showing the functional configuration of the PLC 62, the servo amplifier 3, and the sensor 5 in the case where the engineering tool 61 creates the 2 nd user program 133 in embodiment 1 of the present invention. Fig. 16 is a flowchart for explaining a method of creating the 2 nd user program 133 in the engineering tool 61 according to embodiment 1 of the present invention. The 2 nd user program 133 created in the engineering tool 61 may be transmitted from the engineering tool 61 to the PLC 62.

The engineering tool 61 shown in fig. 14 basically has the same configuration and function as the engineering tool 1, except that it has a data sampling processing adding section and can store the 2 nd user program 133 in the storage section 104. The engineering tool 61 is implemented by executing engineering tool software 108 in a computer shown in fig. 2, similarly to the engineering tool 1. The PLC 62 shown in fig. 15 basically has the same structure and function as the PLC 2, except that it does not have the 1 st user program storage unit 221, the data sampling condition storage unit 222, and the program creation unit 23.

In this case, as shown in fig. 14, the CPU 101 executing the engineering tool software 108 in the engineering tool 61 is provided with a data sampling process adding unit 112 corresponding to the program creating unit 23 of the PLC 2. That is, the data sampling process adding section 112 adds the data sampling process corresponding to the condition specified by the data sampling condition information 132 to the 1 st user program 131 to create the 2 nd user program 133. The 2 nd user program 133 created by the data sampling process adding unit 112 is stored in the storage unit 104.

On the other hand, as shown in fig. 15, in the PLC 62, the program creation unit 23 provided in the PLC 2 does not exist.

In this case, in step S110, as the processing at the previous stage of creating the 2 nd user program 133 by the engineering tool 61, the 1 st user program 131 and the data sampling condition information 132 are created by the engineering tool 61 and stored in the storage unit 104, similarly to the case of the engineering tool 1.

In step S120, the data sampling processing adding unit 112 determines whether or not the unused data sampling condition information 132 exists. That is, the data sampling processing adding unit 112 determines whether or not the data sampling condition information 132 is stored in the storage unit 104.

If it is determined that the data sampling condition information 132 is not stored in the storage unit 104, the data sampling process adding unit 112 ends the series of 2 nd user program creation processes as No in step S120. If it is determined that the data sampling condition information 132 is stored in the storage unit 104, the process goes Yes in step S120, and the process proceeds to step S130.

In step S130, the data sampling processing adding unit 112 acquires and analyzes the data sampling condition information 132 stored in the storage unit 104. Then, in step S140, the data sampling process adding unit 112 determines whether or not the data sampling condition information 132 is normal.

If the data sampling condition information 132 is not normal, no is given in step S140, and the data sampling process adding unit 112 ends the series of 2 nd user program creation processes. If the data sampling condition information 132 is normal, the result is Yes in step S140, and the flow proceeds to step S150.

In step S150, the data sampling process adding unit 112 obtains the 1 st user program 131 stored in the storage unit 104. In step S160, the data sampling processing adding unit 112 determines whether or not the destination of the data sampling condition information 132 exists in the 1 st user program 131 acquired. That is, the data sampling process adding unit 112 determines whether or not there is an appropriate position for adding the data sampling process corresponding to the condition specified by the data sampling condition information 132 in the 1 st user program 131 obtained.

If there is No entry destination of the data sampling condition information 132, no is given in step S160, and the data sampling process adding unit 112 ends the series of 2 nd user program creation processes. If there is a destination of the data sampling condition information 132, the process goes to Yes in step S160, and the process proceeds to step S170.

In step S170, the data sampling process adding section 112 adds the data sampling process corresponding to the condition specified by the data sampling condition information 132 to the 1 st user program 131 to automatically create the 2 nd user program 133. That is, the data sampling process adding unit 112 creates a data sampling program which is a program of the data sampling process in the condition specified by the data sampling condition information 132, and imports the 1 st user program 131 to create the 2 nd user program 133. The data sampling process adding unit 112 causes the storage unit 104 to store the 2 nd user program 133, which is the new user program created.

By performing the above processing, the 2 nd user program 133 to which the data sampling processing corresponding to the condition specified by the data sampling condition information 132 is added is created in the engineering tool 61 based on the 1 st user program 131 and the data sampling condition information 132.

Then, the 2 nd user program 133 stored in the storage unit 104 is transmitted to the PLC 62 in accordance with the user operation performed on the input unit 105. The PLC 62 receives the 2 nd user program 133 transmitted from the engineering tool 61 and stores it in the 2 nd user program storage 223.

Then, if the PLC control unit 24 of the PLC 62 starts the control of the servomotor 4, the data sampling processing unit 241 analyzes the 2 nd user program 133 stored in the 2 nd user program storage unit 223, and performs the data sampling processing by the conditions specified in the 2 nd user program 133. That is, the data sampling processing unit 241 samples the condition data specified in the 2 nd user program 133 from the data of various states periodically transmitted from the servo amplifier 3 to the PLC 62 during the control of the servo motor 4. The sampled data 134 is stored in the sampled data storage 224.

As described above, the PLC 2 according to embodiment 1 can automatically add a data sampling program for realizing a data sampling function to the 1 st user program 131 created by the user, based on the user program and the data sampling condition information 132 acquired from the engineering tool 1. The setting of the data sampling condition information 132 is completed in the engineering tool 1.

Therefore, when creating a user program including a data sampling function, it is unnecessary for the user to add the data sampling program to the user program and to perform an update job such as correction of the user program. Thus, the load and the job cost of the program creation job of the user when the user program is newly created are reduced. In addition, the load and the job cost of the program update job of the user when the user program added with the data sampling function after the creation is completed in the past are reduced.

In addition, when a change is applied to a user program to which a data sampling program is added, the data sampling program also needs to be updated every time the data sampling program is changed in a part other than the data sampling program. In addition, when the user program is repaired in the case where a problem occurs in the user program, the data sampling program also needs to be updated every time the data sampling program is modified in a part other than the data sampling program. Further, the man-hour and cost of the update of the data sampling program are proportional to the size of the user program. Therefore, the above-described effect is that the larger the scale of the user program becomes, the larger.

The data sampling condition information 132 can set the type of data acquired by the data sampling function of the PLC 2, the timing of the start of data sampling, and the timing of the end of data sampling to arbitrary conditions. That is, the type and the number of data sampled by the data sampling function can be freely set. In addition, when the type and the number of data to be sampled are changed in the data sampling function, the data sampling condition information 132 can be freely changed. Thus, it is possible to create a user program corresponding to various requirements of the user. Thus, the PLC 2 can realize data sampling flexibly corresponding to various demands of users.

Therefore, according to the PLC 2 of the present embodiment 1, the load of the program creation work of the user when the user creates the program used by the drive control apparatus having the data sampling function can be reduced.

Description of the reference numerals

1. The system comprises a 61 engineering tool, 2, 62PLC,3 servo amplifier, 3A 1 st servo amplifier, 3B 2 nd servo amplifier, 3C 3 rd servo amplifier, 4 servo motor, 4A 1 st servo motor, 4B 2 nd servo motor, 4C 3 rd servo motor, 5 sensor, 5A 1 st sensor, 5B 2 nd sensor, 5C 3 rd sensor, 6, 7, 8, 9 communication lines, 21PLC communication part, 22PLC storage part, 23 program creation part, 24PLC control part, 31 amplifier communication part, 32 amplifier storage part, 33 amplifier control part, 51 sensor communication part, 52 detection part, 53 sensor storage part, 54 sensor control part, 100 control system, 101CPU,102RAM,103ROM,104 storage part, 105 input part, 106 display part, 107 communication I/F,108 engineering tool software, 110 computer, 111 edit part, 112 data sampling processing attachment part, 121 data setting picture, 1 st user program storage part, 132 user data processing part, 2 nd user program storage part, 2 sample processing part, 221, 2 nd user program processing part, 2 sample processing part, 221, 2 nd user program storage part, 2 sample processing part, 221, 2 nd user program processing part, and 2 sample processing part, 221 user program processing part, and 2 sample processing part, and 2 nd user program processing part, etc.

Claims

1. A drive control device controls a control target device in accordance with a user program, and performs a data sampling process of sampling data obtained in the control of the control target device,

the drive control device is characterized by comprising:

a program creation unit that creates a 2 nd user program by adding the data sampling process in the condition specified by the data sampling condition information to the 1 st user program based on the 1 st user program as the user program and data sampling condition information specifying a condition for sampling the data;

a control unit that controls the control target device according to the 2 nd user program; and

and a data sampling processing unit that executes the data sampling processing in accordance with the 2 nd user program.

2. The drive control apparatus according to claim 1, wherein,

the data sampling condition information includes program step instruction information that designates a program step of a control process executed in parallel with the data sampling process in the 1 st user program.

3. The drive control apparatus according to claim 2, wherein,

The data sampling condition information includes advance time specification information that specifies a time for advancing a timing of start of the data sampling process from a start timing of the control process.

4. A drive control apparatus according to claim 2 or 3, wherein,

the data sampling condition information includes delay time specification information that specifies a time for which the timing of the end of the data sampling process is delayed compared with the end timing of the control process.

5. The drive control apparatus according to any one of claims 1 to 3, characterized in that,

the 1 st user program and the data sampling condition information are created in a program creation support device that supports creation of the 1 st user program, from which the data sampling condition information is input to the drive control device.

6. The drive control apparatus according to claim 4, wherein,