JP3858448B2 - Actuator teaching device and welding control system using the same - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
  The present inventionSusCan be easily created and modifiedActuator teaching device and welding control system using the sameAbout.
[0002]
[Prior art]
  Many production machines have traditionally been operated by sequence control, but their operation tends to be complicated.sequenceIt takes a lot of time to create a program. For this reason, various techniques for shortening the creation time have been developed.
[0003]
  As an example of the technique for shortening the creation time, for example, one disclosed in Japanese Patent Laid-Open No. 7-141007 can be exemplified.
[0004]
  The technology disclosed in this publication moves each actuator by manual operation, sequentially teaches the operation sequence and operation contents of each actuator, and specifies the operation completion state of the taught actuator and the current state of other actuators. It is memorized as an input pattern, and at the time of playback, the memorized operation can be reproduced by sequentially reading out the memorized input pattern.
[0005]
[Problems to be solved by the invention]
  However, in the method of creating such a sequence program, the ladder program-1 stepOne by oneAlthough it can be said that it is a technology that can contribute to shortening the time in that there is no need to input, on the other hand, since the teaching device can not be done unless the teaching device is completely completed, There is a problem that manufacturing / installation and sequence program creation cannot be performed in parallel.
[0006]
  Also, if teaching work is performed with the sensor mounting position detection sensor position slightly deviating from the original position, it will be taught if the timing of the operation with other actuators is slightly different. It is conceivable that a state different from the state to be taught is taught, and if this is detected later, the desired work cannot be performed at the time of playback, so that re-teaching must be performed. Furthermore, when the operation of the production machine is changed, there are still many problems to be improved, such as a re-teaching operation by actually moving the machine for the changed operation.
[0007]
  The present invention has been made in order to solve such a conventional problem.SusCan be easily created and modifiedActuator teaching device and welding control system using the sameThe purpose is to provide.
[0008]
[Means for Solving the Problems]
  The present invention for achieving the above objectIn order to be able to set various conditions such as the selection of the actuator to be taught, the operation conditions of the actuator, the operation sequence, and the conditions for proceeding with the processing, the actuator teaching apparatus according to One display unit that displays a menu for prompting input and a numeric keypad for inputting the various conditions at different timings, and the display screen by pressing the menu or numeric keypad displayed on the display screen of the display unit Transition means for sequentially transitioning the display contents of the display, and the transition means first displays at least a “parameter setting” button and a “monitor” button as a menu on the display unit. If the “Set parameters” button is pressed, the “Actuator input / output settings” And a button of “car type detection setting” and a button of “step content teaching” are displayed. When the button of “actuator input / output setting” is pressed, a numeric keypad for selecting the actuator is displayed, and the numeric keypad is displayed. By selectively pressing, the actuator to be taught can be selected and the operation order of the actuator can be set. As the next menu, at least the “exit SOL address” button and the “return SOL address” When the “exit SOL address” button is pressed, the numeric keypad for inputting the output SOL (solenoid) address is pressed, and the “return SOL address” button is pressed. In such a case, the ten keys for inputting the address of the return side SOL are respectively displayed, and each ten key is selectively pressed. The output side SOL address and the return side SOL address, which are the operating conditions, can be set, and a plurality of “exit limit LS” buttons and a plurality of “return limit LS” buttons are displayed as the next menu. When the “end limit LS” button is pressed, a numeric keypad for inputting the address of the end limit LS (limit switch) is used. When the “return limit LS” button is pressed, the return limit is set. The ten key for inputting the LS address is displayed, and the operation limit LS address and the return limit LS address can be set by selectively pressing each ten key. And
[0009]
  A welding control system according to the present invention for achieving the above object includes a teaching pendant including the actuator teaching device according to any one of claims 1 to 6, a welding machine, a solenoid, and the like according to the teaching of the teaching pendant. A control panel for operating the control target of the control unit, and a work connected to the control panel, which is used when manually moving the control target or forcing the operator to operate a button for safety of work. An operation button for a person.
[0010]
【The invention's effect】
  According to the present invention configured as described aboveAccording to the actuator teaching device, setting of various conditions such as selection of an actuator to be taught, operation conditions of the actuator, operation order, and conditions for proceeding to the next process are performed by using a menu and a numeric keypad displayed on the display unit. Therefore, it is only necessary to input the parameters in the order in which the input is prompted. Therefore, it is possible to create a sequence program without assembling a ladder sequence simply by inputting parameters.
[0011]
  Moreover, it concerns on this invention comprised as mentioned above.According to the welding control system, setting of various conditions such as selection of an actuator to be taught, operation conditions of the actuator, operation order, and conditions for proceeding to the next process are performed using a menu and a numeric keypad displayed on the display unit. Based on Therefore, as long as it is performed in the order in which the input is prompted, it is possible to create a sequence program for operating the welding control system without forming a ladder sequence.
[0012]
DETAILED DESCRIPTION OF THE INVENTION
  The present inventionActuator teaching device and welding control system using the sameCan actually create a sequence program without building a ladder sequence, only on the desk without actually moving the machine.TheIt is a method that can be executed in the same way as a sequence program.
[0013]
  This method is generally performed by the following procedure.
[0014]
  First,For each actuatorSet the solenoid valve, limit switch, interlock, delay time, etc. (operating conditions) to be assigned to. Next, SuFor each step, an actuator is assigned (which actuator is assigned to which address), and conditions for proceeding to the next step are set. And at the time of playback, one step while watching these set conditionsOne by oneProceed with the process and move the actuator as instructed.
[0015]
  When the sequence program created in such a procedure is played back, the production machine can be made to perform a desired operation in the same manner as a conventional sequence program.
[0016]
  In the following, the present inventionActuator teaching device and welding control system using the sameWill be described in detail with reference to the drawings.
[0017]
  FIG. 1 is a diagram showing a schematic configuration of a sequence control apparatus for implementing the method of the present invention.
[0018]
  As shown in the figure, a control panel (programmable controller) 10 includes various sensors (for example, limit switches (LS) 20A and 20B) for detecting the operation limits of various actuators and valves for operating the actuators back and forth. (For example, a solenoid valve 25) is connected, and the operator standby and confirmation operations are performed by the operator operation buttons 15.
[0019]
  For example, if you want to move the actuator manually, if you want to move the device automatically, or if you want to force the operator to press the button to ensure work safety, The operation button 15 is operated. The teaching pendant 35 can be connected to the control panel 10 via the connector 30 when teaching parameters. Therefore, data is input by operating the teaching pendant 35 (described later).
[0020]
  The general operation of this apparatus is as follows. From the teaching pendant 35, “sensor address”, “solenoid address” as actuator parameters, “vehicle type detection input address”, “vehicle type detection pattern”, step operation parameters as actuator parameters are set by the operator's operation. The “operation order of each actuator”, “operation condition”, “standby of the operator operation button”, and the like are input. Here, the operator operation button is operated to ensure the safety of the operator when the operator operates the jig among the various operation buttons included in the operator operation button 15. It is a button.
[0021]
  The data instructed in this way by the teaching pendant 35 is stored as teaching data in the control panel 10. That is, the operation sequence and operation conditions of each actuator, the limit switch and solenoid address for each actuator, and the like are stored.
[0022]
  The stored teaching data is stored for each step while checking the state of the operation limit (out limit, return limit) of each stored actuator, the vehicle type detection, and the state of the operator operation button (ON or OFF). Are played back sequentially.
[0023]
  FIG. 2 is a block diagram showing the configuration of only the part related to the present invention, in particular, in the control panel 10 shown in FIG. In the control panel 10, a storage unit 12 that stores teaching data (the above-described various parameters) input by the teaching pendant 35 and a production machine that is a control target based on the teaching data stored in the storage unit 12 are actually installed. And a playback unit 14 for controlling.
[0024]
  The playback unit 14 detects various connected sensors 20A and the like (in FIG. 1, only two sensors are shown for simplification, but actually 30 to 40 sensors are connected). The storage unit 12 stores the status (whether each actuator has reached the operation limit, etc.) and the detection status (such as whether the vehicle type detection pattern has been matched or the operator operation button 15 has been pressed) of the operator operation button 15 etc. Compared with the teaching data, an operation completion check unit 14A that determines whether or not an operation as taught is performed, and various actuators 25 and the like based on the determination in the operation completion check unit 14A and the teaching data of the recording unit 12 And an operation unit 14B that is actually operated. The schematic device configuration is as described above, and is almost the same as a general sequence control device.
[0025]
  Next, an outline of the sequence control method of the present invention will be described. The sequence control method of the present invention has the greatest feature in the structure of data to be taught. The data is roughly composed of the following three.
[0026]
  (1) Actuator parameters From the address of the solenoid valve that moves the actuator out / return, the address of the sensor such as a limit switch that checks the arrival of the operating limit of the actuator, and the delay time of the delay timer that delays the operation It is a configured parameter. When changing the operating condition of one actuator, the setting of this actuator parameter may be changed.
[0027]
  (2) Vehicle type detection parameter When a panel to be attached to the vehicle is set, register the destination of the panel, the address of the sensor that checks the presence of the panel, and the ON / OFF pattern of the sensor that performs this check It is a parameter.
[0028]
  (3) Step operation parameter This data is(I)Which actuator moves,(Ii)What conditions must be met to move to the next step (operating conditions),(Iii)Is the step END, etc.TheIt is a parameter that is configured for each step.
[0029]
  Figure 3AA specific example of the actuator parameter set individually for each actuator is shown.
[0030]
  Looking at the actuator 1, the address of the “exit solenoid valve” assigned to this actuator is H0700, the address of the “return solenoid valve” is H0701, and the address of the “brake solenoid” is H702. These solenoid addresses correspond to output coils in a ladder sequence. For example, when the operation of the actuator 1 is instructed (during playback), the output side solenoid address “0700” is first turned ON, and this ON turns on the output coil of Y700. The solenoid valve connected to is operated, and the actuator 1 is moved out.
[0031]
  Further, the address of “out limit LS1” assigned to this actuator is H0900, and the address of “return limit LS1” is H0908. These LS addresses correspond to input contacts in a ladder sequence. For example, when the input contact of X0900 is turned ON, the output limit LS1 address “0900” is turned ON, and the operation completion check unit 14A in FIG. Judge that it has reached. Since 10 is set as the timer value, a delay time of 1 second is set for the operation of the actuator 1.
[0032]
  In addition, the limit limit interlock and the return limit interlock are set. Even if the actuator output / return command is input, this interlock information is included if this interlock information is included. This is to prevent operation of the corresponding actuator containing.
[0033]
  For example, when the limit interlock is H0202, it is expressed as 0000001000000010 as described in the lower side of FIG. 3, which means that the actuators 2 and 10 must be at the limit. Is shown. When the limit state of all actuators is 00000011111100010, the logical sum of this limit interlock and the limit state of the actuator is calculated, and this result becomes 0000001000000010. Equal to the limit interlock. Therefore, since the actuators 2 and 10 are at the limit, the actuator 1 is allowed to move forward (toward the limit).
[0034]
  FIG. 4 shows a specific example of the vehicle type detection parameter.
[0035]
  As the vehicle type detection pattern, vehicle type detection 1 to vehicle type detection 32 are set, and the respective input addresses are assigned as H1000, H1001, H102A,. This set input address is assigned to each sensor. For example, when the input contact of X1000 is turned on (sensor is turned on), the address “1000” set as the vehicle type detection 1 is turned on, and the operation completion check unit 14A in FIG. 2 recognizes that this address is turned on. Thus, it is determined that the sensor assigned as the vehicle type detection 1 is turned on.
[0036]
  The vehicle type detection pattern is set from 1 to 16. The vehicle type detection pattern is a pattern indicating a combination of vehicle type detection. For example, the vehicle type detection pattern 1 is set such that the conditions are satisfied when the vehicle type detection 1 and the vehicle type detection 2 are combined.
[0037]
  For example, as shown in the lower part of the figure, the vehicle type detection 1 address H1000 corresponds to the contact address X1000 of the sensor 1, and the vehicle type detection 2 address H1001 corresponds to the contact address X1001 of the sensor 2. Therefore, when the sensor 1 and the sensor 2 are turned on, both “1000” and “1001” are turned on. By the way, the address of H00000003 in the vehicle type detection pattern 1 indicates 00000000000000000000000000000011. Therefore, in the vehicle type detection pattern 1, when both the vehicle type detection 1 and the vehicle type detection 2 are ON, in other words, the sensors having addresses “1000” and “1001”, that is, the sensor 1 and the sensor 2 are turned ON simultaneously. It is established when
[0038]
  FIG. 5 shows a specific example of the step operation parameter.
[0039]
  (I)“Exit-side actuator” and “Return-side actuator” indicate “which actuator moves”. H0001 and the like described on the right side of these indicate addresses assigned to the actuators.
[0040]
  For example, the output side actuator H0001 (output side actuator 1) indicates 0000000000000001 as described in the lower side of the figure, and the return side actuator H0002 (return side actuator 2) indicates 0000000000000010. Is shown. At the time of playback, the actuator on which the signal “1” stands is operated.
[0041]
  That is, in step 1, since the outgoing actuator 1 is initially set, the actuator 1 is started in accordance with the operating conditions of the actuator 1 set in the actuator parameters. At the same time, since the return actuator 2 is set, the actuator 2 is returned according to the operation conditions of the actuator 2 set by the actuator parameter.
[0042]
  Note that actuators 1 to 16 are assigned to each bit of the actuator register from the right side corresponding to the bit. For example, the actuator 10 is assigned to the tenth bit from the right of this register.
[0043]
  (Ii) “Vehicle type detection pattern NO”, “Wait for operator operation button”, and “Timer value” indicate “what conditions should be satisfied to proceed to the next step”. These are processed (checked) after the operation of the actuator is completed (in step 1, after the processing of the operation of the output side actuator 1 and the return side actuator 2 is completed).
[0044]
  For example, “vehicle type detection pattern NO1” is for waiting until a desired sensor ON / OFF state matches.
[0045]
  This vehicle type detection pattern is set as the vehicle type detection patterns 1 to 16 in the vehicle type detection parameter of FIG. 4, and since the vehicle type detection pattern 1 is set in step 1, as described in FIG. 1 and vehicle type detection 2 are combined, the conditions are satisfied, and after confirming that the sensors with addresses “1000” and “1001”, that is, sensor 1 and sensor 2 are simultaneously ON, The operation button for standby is processed.
[0046]
  Specifically, the vehicle type detection pattern is set as follows. For example, if the vehicle type requires a panel, the sensor connected to the X1000 address is set to turn on. If the vehicle type is “panel domestic”, it is connected to the X1001 address. The sensor connected to the address of X102A is set to be turned on when the panel export is set to “panel export”. In these cases, the vehicle type detection 1 is set to ON. The respective addresses are set such that “1000”, the vehicle type detection 2 is “1001”, and the vehicle type detection 3 is “102A”.
[0047]
  If the vehicle type detection pattern 1 is set to “with panel + domestic panel” and the vehicle type detection pattern 2 is set to “with panel + panel export”, the address of the vehicle type detection pattern 1 is H00000003, The address of 2 is set to H00000005.
[0048]
  “Wait for operator operation button” is used to determine whether or not the operator operation button 15 has been pressed by the operator, and H0001 described on the right side indicates that the operator operation button 15 has been pressed. (The next process is not performed).
[0049]
  The timer is used for delaying the processing, and the time obtained by multiplying the value described on the right side by 0.1 second becomes the delay time. Since “0” is described in Step 1, there is no delay time due to the timer. For example, when this is described as 5, the delay time is 0.1 × 5 = 0.5 seconds.
[0050]
  (Ii) If “Step END” indicates “Program END” and the address described on the right side is set to H0000, the program END is turned OFF and the program is Go to the next step. On the other hand, if it is set to HFFFF, the program END is turned ON, and after the processing of the step where this setting has been completed, the process returns to step 1.
[0051]
  When each parameter as shown in FIGS. 3 to 5 is set by the teaching pendant 35, when this is played back, the following operation is performed.
[0052]
  According to the step operation parameter of FIG. 5, first, the output side actuator and the return side actuator operate simultaneously. In this case, “0000000000000001” and “0000000000000010” are set in the respective registers on the output side and the return side, and the solenoid valves corresponding to these bits operate. Therefore, both the output side actuator and the return side actuator corresponding to the designated address actually move. Specifically, the output side actuator 1 performs an “out” operation, and the return side actuator 2 performs a “return” operation. However, the condition is that the output side and return side interlock conditions set as actuator parameters are not met.
[0053]
  When this process ends and the output actuator 1 reaches the limit and the return actuator 2 reaches the limit, a plurality of sensors (LS) set as the vehicle type detection pattern 1 are turned on (sensor 1 and sensor 2 are ON) until the predetermined operator operation button 15 is further pressed, immediately after the vehicle type detection pattern 1 is detected and the predetermined operator operation button 15 is pressed. The next step 2 is processed (since the delay time of the timer is not set).
[0054]
  Next, in step 2, only the output side actuator operates. This is because the address of “0000000000000000000” is input to the register of the return side actuator, and as a result, the return side actuator to be operated is not specified. Since neither the vehicle type detection pattern, the standby of the operator operation button 15 nor the delay time of the timer is set (the designation and installation values of these addresses are all 0), in this step, in the end, The processing proceeds to the next step only by performing processing for operating only the actuator.
[0055]
  In step n, which is the last step, only the return side actuator corresponding to the address of H000F is operated (the return side actuators 1 to 4 are returned simultaneously), and the flow returns to step 1 (HFFFF is set as the program END) It will be).
[0056]
  The outline of the present invention is as described above. Next, the present inventionActuator teaching deviceThis control method will be described in more detail based on a flowchart and the like.
[0057]
  FIG. 6 shows a sequence according to the present invention.programIt is a flowchart which shows operation | movement of a teaching mode among control methods. In this flowchart, processing for creating tables as shown in FIGS. 3 to 5 is conceptually performed.
[0058]
  The operator first selects an operation step using the teaching pendant 35. This is different for each car modelsequenceIt is a required choice because it is designed to create a program, for example, for any vehicle type, such as for Bluebird, Cima, etc.sequenceThis is a process for classifying whether to create a program (S1).
[0059]
  When the selection of the vehicle type is completed, the next actuator to be moved out / returned is selected. The processing so far is performed while viewing the following screen of the teaching pendant.
[0060]
  In the display part of the teaching pendant 35,First, FIG.A menu screen like this is displayed. When the “parameter setting” button is operated on this screen, a parameter setting menu screen as shown in FIG. 8 is displayed. When the “actuator input / output setting” button is pressed on this screen, a screen on which a numeric keypad as shown in FIG. 9 is displayed in order to input the actuator parameters shown in FIG. 3 is displayed. The operator selects NO of the actuator using the numeric key displayed on this screen. For example, when inputting the actuator parameters shown in FIG. 3, when trying to input parameters related to the actuator 1, “1” on the screen shown in FIG. 9 is pressed. With this operation, the actuator 1 is selected.
[0061]
  Then, an operation for setting the solenoid address and the like on the outlet side and the return side of the selected actuator is performed on the screens shown in FIGS. For example, when setting the address of the outlet solenoid valve related to the actuator 1 to “H0700”, the screen of FIG. 10 is displayed and the “output SOL address” button is pressed, and the address is displayed on the screen of FIG. Press the button. Specifically, “0”, “7”, “0”, “0”, “ENT” are pressed. With this operation, the setting of the address of the outlet solenoid valve corresponding to the actuator 1 is completed. After returning to the screen of FIG. 10 after this setting is completed, the input “0700” is displayed as an address on the right side of the “out SOL address” button.
[0062]
  Next, when setting the address of the limit LS1 related to the actuator 1 to “H0900”, the screen of FIG. 11 is displayed and the button of “Limit LS1” is pressed, and the address is displayed on the screen of FIG. Press the button. Specifically, “0”, “9”, “0”, “0”, “ENT” are pressed. With this operation, the setting of the address of the limit LS1 corresponding to the actuator 1 is completed. Returning to the screen of FIG. 12 after this setting is completed, the input “0900” is displayed as an address on the right side of the “Exit limit LS1” button. When setting the address of the return limit LS1 related to the actuator 1, the same input is made on a screen as shown in FIG. 13 (S2). Then, after the operation limit of the output side actuator and the return side actuator is confirmed, a signal to be checked, that is, a vehicle type detection parameter is input.
[0063]
  Up to 32 sensor input addresses can be set for vehicle type detection, as shown in FIG. When setting the vehicle type detection, first, select the screen of FIG. 14 (return to the screen of FIG. 8 and press the “car type detection setting” button), and the “detect” button on the screen is selected. Press. By this operation, a numeric keypad display screen shown in FIG. 15 appears. For example, when the input address “H1000” of the sensor input contact is to be assigned to “vehicle type detection 1” (see FIG. 4), first, “1” on the screen of FIG. 15 is pressed and “ENT” is pressed. 14, the screen returns to the screen shown in FIG. 14. On this screen, the “car type detection address” is further pressed, thereby switching to the screen shown in FIG. 16. Therefore, the button corresponding to the address is pressed on this screen. Specifically, “1”, “0”, “0”, and “0” are pressed. Finally, when “ENT” is pressed, the setting of the address of the output limit LS1 corresponding to the actuator 1 is completed. The same operation is performed for the vehicle type detection 2, the vehicle type detection 3, and the like.
[0064]
  Next, the vehicle type detection pattern is set. This setting can be made up to 16 as shown in FIG. When setting the vehicle type detection pattern, first, the screen of FIG. 14 is selected, and the “matrix” button on the screen is pressed. By this operation, the numeric keypad display screen shown in FIG. 17 appears. For example, when assigning “vehicle type detection 1” and “vehicle type detection 2” to “vehicle type detection pattern 1” (see FIG. 4), press “1” on the screen of FIG. Press “1” and “2”. By this operation, vehicle type detection 1 and vehicle type detection 2 are assigned as the vehicle type detection pattern 1. By this operation, the address of the vehicle type detection pattern 1 is automatically converted as “H00000003” and stored in the storage unit 12.
[0065]
  Finally, step operation parameters are set. This parameter includes the setting of the actuator address for each of the output side and the return side, the setting of the vehicle type detection pattern NO, the setting of whether or not the operator operation button 15 is on standby, the setting of the delay time of the timer, and the setting of the presence or absence of the program END It is about.
[0066]
  To make this input, the screen returns to the screen shown in FIG. 8 and the “step content teach” button is pressed. By this operation, the screen is switched to the screen shown in FIG. 19, and a step is first selected. Usually, since the input from step 1 is performed, the “step” button is pressed, and step 1 (this character is displayed on the right side of the “step” button) is pressed “select”. Select by. By this selection, the screen is switched to the screen shown in FIG. In this screen, when inputting the address H0001 (see FIG. 5) of the output actuator, the “Exit actuator” button is pressed. Since this screen is switched to the screen shown in FIG. 21, the button corresponding to the address is pressed on this screen. Specifically, “1” is pressed. When the address of the return actuator is set to H0002, similarly, the “return actuator” button is pressed on the screen shown in FIG. Since this operation switches to the screen shown in FIG. 22, “2” is pressed on this screen.
[0067]
  In addition, the setting of the vehicle type detection pattern NO, the setting of whether or not the operator operation button 15 is on standby, and the setting of the delay time of the timer are set in the same manner using the numeric keypad on the screen.
[0068]
  The screen of FIG. 7 includes a “monitor” button. When this button is pressed, the setting contents such as the actuator parameters and the vehicle type detection parameters (matrix) set so far can be monitored. For example, when monitoring the operation status related to the actuator parameter, it is possible to confirm which actuator limit / return limit switch is ON on the screen as shown in FIG. Further, when monitoring the ON / OFF status relating to the vehicle type detection matrix, it is possible to confirm what type of vehicle detection matrix is established on the screen as shown in FIG. 24 (S3). .
[0069]
  Finally, a “program END” is set to indicate whether to end the program at this step or advance to the next step. If you do not want to end the program at the current input step, press the “ENDOFF” button on the screen of FIG. 20 and select “END OFF”, while you want to end the program at this step, Press the same button and select “END OFF”. If it is desired to end the program in the next step, the input is ended without pressing this button (S4, S5).
[0070]
  The teaching data is input by performing the above processing. As is clear from the above explanation, this teaching data can be input if the operation sequence of the actuator is determined in advance without actually moving the production machine, so that the machine is not actually completed. However, if it is known how the actuators are operated and under what conditions the actuators are moved, it is possible to see the design drawings.
[0071]
  In other words, the address of the output / return solenoid for operating the actuator, the address of the solenoid for applying the brake, the address of the limit switch for detecting that the actuator has reached the output / return limit, during the output / return operation The delay time, the operating conditions (interlock) at the time of the return / return operation, etc. are described in order for each actuator. Next, which actuator is to be operated in turn is described step by step, and the next step By describing the conditions for proceeding the process, a series of operation programs can be created.
[0072]
  Even if a step is added or the operation of the actuator is changed, it can be easily handled by changing the description of the step or the actuator without modifying other steps as in the ladder sequence. Is possible.
[0073]
  Next, a process for operating the production machine based on the data taught as described above will be described based on the flowcharts shown in FIGS. When the program starts, first select the program for the corresponding car model. This is because, since the data is input for each vehicle type when the program is taught, it is necessary to select which vehicle type data is used to control the operation of the actuator. Specifically, a group of step operation parameters is selected (S10).
[0074]
  When the program is selected, the process is performed from step 1 of the selected step operation parameter. As shown in FIG. 5, since the exit side actuator H0001 is set at the very beginning of step 1, the exit operation of the actuator 1 is processed (S11). Specifically, this recognition process is performed by processing a flowchart as shown in FIGS.
[0075]
  First, the NO of the actuator is set to 1, and it is determined whether or not the actuator 1 is set to be out (S21, S22). In Step 1, since the actuator 1 is set to “out” (the output side actuator is set), the actuator parameters describing the operating conditions related to the actuator 1 are viewed. The actuator 1 is set with an output limit interlock H0202 and a return limit interlock H0004 as conditions under which the actuator can perform a forward operation (operation toward the limit). As conditions for performing (operation toward return limit), the same limit interlock H0202 and return limit interlock H0004 as in the limit limit are set. In this case, it is also determined whether the limit interlock is the same as the limit and whether the limit interlock is the same as the limit.
[0076]
  Specifically, since the limit interlock is set to H0202, this is expressed as “0000001000000010” in binary notation, so that the interlock is based on the condition that the actuators 2 and 10 are the limit. On the other hand, whether or not the actuators 2 and 10 are at the limit is also determined in the actual machine state. This means that “the limit interlock is the same as the limit”. When the actuators 2 and 10 are at the limit, the member moved by the actuators 2 and 10 is in a position where it does not interfere with the member moved by the actuator 1. Similarly, since the return limit interlock is set to H0004, when this is expressed in binary notation, it becomes “0000000000000100”. Therefore, for the interlock on condition that the actuator 3 is at the limit. Thus, it is determined whether or not the actual state of the machine is the return limit of the actuator 3. Therefore, if the actuators 2 and 10 are at the limit and the actuator 3 is at the return limit, the actuator 1 can be freely released and returned (S23 to 25, S28, S29). .
[0077]
  In the case of step advance, specifically, when working in the normal operation sequence, the address of the output solenoid set in the actuator 1 is read, and the output contact “0700” corresponding to this address “0700” is read. “Y700” is turned ON. As a result, the solenoid valve for moving the actuator 1 is turned on, and the actuator 1 is moved out. However, this operation can be performed on the condition that the actuators 2 and 10 are at the limit and the actuator 3 is at the limit (S26, S27).
[0078]
  On the other hand, in the case of step reversal, specifically, for example, when a trouble such as wrong setting of a workpiece occurs during work, there is a case where the operation of the sequence program is desired to be returned by one step. In this case, a step backward operation is performed. This operation is called step backward. In the case of this step backward, the address of the return solenoid set in the actuator 1 is read, and the output contact “Y701” corresponding to this address “0701” is turned ON. As a result, the solenoid valve for returning the actuator 1 is turned ON, and the actuator 1 returns. However, as described above, this operation can be performed on condition that the output limit / return limit interlock is normal (S30, S31).
[0079]
  Next, it is determined whether the actuator is set to return. In the case of the actuator 1, since the return is not set (in the case of step 1), the actuator is set to the actuator 2 (S32, S38, S43).
[0080]
  When the NO of the actuator is set to 2, it is determined whether or not the actuator 2 is set to be out (S22). Since the actuator 2 is not set to output, it is determined whether or not it is set to return (S32). In Step 2, since the actuator 2 is set to “return” (the return side actuator is set), the actuator parameters describing the operation conditions related to the actuator 2 are viewed. The actuator 2 is not set with an output limit interlock and a return limit interlock as conditions under which this actuator can move forward (operation toward the limit). For example, the same condition as in the case of the actuator 1, that is, the same limit interlock H0202 and the limit limit interlock H0004 as the limit limit are set. When the step moves backward, it is determined whether the limit interlock is the same as the limit and whether the limit interlock is the same as the limit (S33 to 35, S39, S40).
[0081]
  In the case of step advance, the address of the return solenoid set in the actuator 2 is read, and the output contact “Y705” corresponding to this address “0705” is turned ON. As a result, the solenoid valve for returning the actuator 2 is turned ON, and the actuator 2 returns. However, since the limit interlock that can perform this operation is not set, although the determinations in S34 and S35 are made, the operation can be freely performed in practice (S36 and S37).
[0082]
  On the other hand, in the case of step backward, the address of the outlet solenoid set in the actuator 2 is read, and the output contact “Y704” corresponding to this address “0704” is turned ON. As a result, the solenoid valve for moving the actuator 2 is turned on, and the actuator 2 is moved out. However, this operation can be performed under the condition that the actuator 3 which is the return limit interlock is in the return limit (S41, S42).
[0083]
  Such processing is sequentially performed on the actuators 1 to 16 (S38). When this process ends, the process returns to the main flowchart and the determination in S12 is made.
[0084]
  When the operation of the actuator is started by the above processing, it is next determined whether the operated actuator has reached the limit or return limit. This determination is made by the processing of the flowchart of FIG.
[0085]
  First, when “NO” of the actuator is set to 1 (S51) and the output of the actuator is ON, it is determined whether or not the actuator has reached the limit (S52, S53). If the return output is ON, it is determined whether or not the actuator has reached the return limit (S54, S55).
[0086]
  For example, according to the operation of step 1 in FIG. 5, the actuator 1 is to be moved out and the actuator 2 is to be returned, but the fact that the actuator 1 has reached the limit is shown in FIG. 3 is determined by turning on the corresponding contact of LS (limit switch) for detecting the limit, X0900 (because the address of the limit LS1 of the actuator 1 is set to H0900). In addition, the actuator 2 has reached the return limit because the corresponding contact of the LS (limit switch) for detecting the return limit as shown in FIG. 3, X0911 (the address of the return limit LS1 of the actuator 2 is set to H0911. ) Is turned on.
[0087]
  The arrival of the limit and the return limit as described above are sequentially detected from the actuators 1 to 16 while judging the ON / OFF state of the limit LS and the limit LS set in the actuator parameters (S56, S57). When the arrival of the limit and return limit is recognized, the process returns to the main flowchart, and then the determination of S13 is made.
[0088]
  When the operation of the actuator is completed, it is next determined whether or not the vehicle type detection pattern is in a specified pattern detection state. As shown in FIG. 5, when the vehicle type detection pattern is set to 1, the condition of the vehicle type detection pattern 1 is satisfied only when the sensor 1 and the sensor 2 are turned on simultaneously (FIG. 4). Vehicle type detection parameters). The determination as to whether or not this condition is satisfied is performed by the processing of the flowchart of FIG.
[0089]
  First, the sensor NO is set to 1 (S61), and if it is necessary to check whether the sensor 1 is ON or OFF, the ON / OFF state of the sensor is determined (S62). , S63). The above processing is performed in order from sensor No. 1 to 32 (S64, S65).
[0090]
  As a result of this determination, if both the sensor 1 and the sensor 2 are ON, the conditions of the vehicle type detection pattern 1 have been met, and the process returns to the main flowchart, and then the determination of S14 is made. become.
[0091]
  As described above, when the operation of the desired actuator is completed and the condition of the vehicle type detection parameter is satisfied, it is determined whether or not the operation button for the operator has been operated. As described above, this operation is a step forward when the normal operation is performed (when the work is properly set and the normal work is possible), and therefore the address “0000” is set in the program END. If it is set, the step is advanced by 1 and the processing of the next step 2 (see step operation parameter in FIG. 5) is performed (S14 to S16, S19).
[0092]
  On the other hand, if the work set is incomplete and it is not possible to proceed to the next processing, an instruction to return the step can be given by the operator operation button. If this instruction is given, the step (FIG. 5) is given. Unlike step 1, 2, etc. of the above, it means that one process is returned within the step) (S18).
[0093]
  At the end of the step, “FFFF” is set as the address of the program END.CaseThe same processing as described above is performed after returning to the first step (step 1).
[0094]
  Thus, at the time of teaching, as parameters for moving the equipment, as a block of the actual address of the actuator, a block of the operation content, and a block of the operation sequence,Per blockWhen the parameter is stored and played back, the operation content is read out and the associated actuator is operated, so the sensor attached to the actuator has failed or has been changed to another address.WasIn this case, conventionally, the ladder sequence circuit must be changed or teaching must be performed again. However, according to the present invention, it is possible to cope with such a case by simply changing the parameters. Therefore, the time required for the change is shortened.
[0095]
  In the step operation parameter, when stepping forward, the actuator that moves out and the actuator that moves back are described separately, so the program is written separately for forward and backward movement as before. There is no need to do it.
[0096]
  Furthermore, since the data structure (how to summarize) can be realized by simply inputting parameters, even if there is no knowledge of the sequence circuit, the operation sequence of the actuator If the input / output address of the actuator to be operated is known, a program can be created.
[0097]
  In addition, since the program can be created even when the target machine is not actually completed, the overall time required for creating the production machine can be shortened.
[0098]
  The parameters shown in FIGS. 3 to 5 input according to the processing of FIG. 6 and the programs for performing the processing shown in FIGS. 26 to 29 using these parameters are a CDROM, floppy disk, etc. that can be read by a computer. The production machine can be controlled based on the storage data read from the recording medium at the time of playback or the like.
[0099]
  Next, a second embodiment of the present invention will be described. FIG. 30 implements the method of the present invention.Welding control systemFIG. 2 is a diagram showing a schematic configuration, and the basic configuration is the same as that of the apparatus shown in FIG. However, the second embodiment is different in that the welding machine 16 is connected to the control panel 10 and the welding gun valve 26 is connected.
[0100]
  The welding machine 16 performs spot welding or the like on the vehicle body, and its operation is controlled based on a signal from the welding machine 10. The welding gun valve 26 is an air valve for pressurizing the electrode tip of the welding gun, and its operation is also controlled based on a signal from the welding machine 10. When the welding machine is operated manually, an operation panel having a function as a teaching pendant is connected instead of the teaching pendant 35.
[0101]
  FIG. 31 is a block diagram showing the configuration of only the portion related to the present invention, among the configuration of the control panel shown in FIG. The configuration is the same as the block diagram shown in FIG. However, since the welding machine 16 is connected to the control panel 10, signals from the welding machine 16 and the welding gun valve 26 are input to the operation completion check unit 14A. A function for checking the completion of the operation of the welding gun valve 26 is added. In addition, a function of outputting a signal for controlling the operation of the welding machine 16 and the welding gun valve 26 is added to the operation unit 14B.
[0102]
  In this way, when the welding machine 16 is connected, the data structure described in the first embodiment, that is, the three parameters of the actuator parameter, the vehicle type detection parameter, and the step operation parameter are shown in FIG. Additional welding parameters need to be added.
[0103]
  For example, when welding a panel of an automobile, this welding parameter includes an address of a welding gun for pressurizing and welding the panel (a welding gun parameter to be described later), and a program NO output to each welding machine when the welding is performed. This is a parameter for registering a combination of guns used in welding (welding gun pattern), conceptually as shown in FIG.
[0104]
  As shown in FIG. 32, the welding gun parameters constituting a part of the welding parameters can register addresses for 32 welding guns. H2000, H2002, H2004,... Are assigned to the output addresses of the respective welding guns. For example, if this output address is assigned as shown in the figure, when the welding gun 2 is operated, the operation unit 14B shown in FIG. 31 has a coil with a Y2002H address corresponding to the output address H2002 (with a sequencer). Will be turned on. Since the address “2002” set as the welding gun 2 is turned on when the coil of this address is turned on, the operation completion check unit 14A in FIG. 31 recognizes the ON state of the address, and thereby the welding gun 2 is turned on. Judging.
[0105]
  The welding parameters are conceptually configured as the welding patterns (1 to 16) in FIG. As this welding pattern, 16 types of settings are possible. Each type of pattern is composed of a program NO and a welding gun pattern used in each welding machine. For example, if the welding pattern is set as shown in FIG. 33, since the welding gun pattern is set to H00000001, the welding gun 1 pressurizes and welds the panel. The program of program NO1 is output to the welder (WT1) 1 and the welder 16, and the program of program NO2 is output to the welder 2, respectively. In the case of the welding pattern 2, since the welding gun pattern is H00000007, the welding guns 1, 2, and 3 press and weld the panels. In this case, each welding machine has a program No. 3 program. Are output to the welding machines (WT1) 1, 2, and 16, respectively.
[0106]
  FIG. 34 shows step operation parameters when a welder is added as equipment (control target). This step operation parameter is different only in that a welding pattern NO is added to each step of the step operation parameter shown in FIG.
[0107]
  Although there are portions that overlap with those of the first embodiment, these operating parameters will be described in detail.
[0108]
  (I) “Exiting actuator” and “Returning actuator” indicate “which actuator moves”, and H0001 and the like described on the right side of these indicate addresses assigned to the actuators.
[0109]
  For example, the output side actuator H0001 (output side actuator 1) indicates 0000000000000001 as described in the lower side of the figure, and the return side actuator H0002 (return side actuator 2) indicates 0000000000000010. Is shown. At the time of playback, the actuator on which the signal “1” stands is operated.
[0110]
  That is, in step 1, since the outgoing actuator 1 is initially set, the actuator 1 is started in accordance with the operating conditions of the actuator 1 set in the actuator parameters. At the same time, since the return actuator 2 is set, the actuator 2 is returned according to the operation conditions of the actuator 2 set by the actuator parameter.
[0111]
  Note that actuators 1 to 16 are assigned to each bit of the actuator register from the right side corresponding to the bit. For example, the actuator 10 is assigned to the tenth bit from the right of this register.
[0112]
  (Ii) “Vehicle type detection pattern NO”, “Wait for operator operation button”, and “Timer value” indicate “what conditions should be satisfied to proceed to the next step”. These are processed (checked) after the operation of the actuator is completed (in step 1, after the processing of the operation of the output side actuator 1 and the return side actuator 2 is completed). For example, “vehicle type detection pattern NO1” is for waiting until a desired sensor ON / OFF state matches.
[0113]
  This vehicle type detection pattern is set as the vehicle type detection patterns 1 to 16 in the vehicle type detection parameter of FIG. 4, and since the vehicle type detection pattern 1 is set in step 1, as described in FIG. 1 and vehicle type detection 2 are combined, the conditions are satisfied, and after confirming that the sensors with addresses “1000” and “1001”, that is, sensor 1 and sensor 2 are simultaneously ON, The operation button for standby is processed.
[0114]
  Specifically, the vehicle type detection pattern is set as follows. For example, if the vehicle type requires a panel, the sensor connected to the X1000 address is set to turn on. If the vehicle type is “panel domestic”, it is connected to the X1001 address. The sensor connected to the address of X102A is set to be turned on when the panel export is set to “panel export”. In these cases, the vehicle type detection 1 is set to ON. The respective addresses are set such that “1000”, the vehicle type detection 2 is “1001”, and the vehicle type detection 3 is “102A”.
[0115]
  If the vehicle type detection pattern 1 is set to “with panel + domestic panel” and the vehicle type detection pattern 2 is set to “with panel + panel export”, the address of the vehicle type detection pattern 1 is H00000003, The address of 2 is set to H00000005.
[0116]
  “Wait for operator operation button” is used to determine whether or not the operator operation button 15 has been pressed by the operator, and H0001 described on the right side indicates that the operator operation button 15 has been pressed. (The next process is not performed).
[0117]
  The timer is used for delaying the processing, and the time obtained by multiplying the value described on the right side by 0.1 second becomes the delay time. Since “0” is described in Step 1, there is no delay time due to the timer. For example, when this is described as 5, the delay time is 0.1 × 5 = 0.5 seconds.
[0118]
  (iii) “Welding work to be performed” indicates “welding pattern NO”, and the numbers described on the right side of these indicate which of the welding patterns shown in FIG. 33 is executed. Used to select whether or not. In the case of Step 1 shown in FIG. 34, since “1” is set as the welding pattern NO, welding according to the welding pattern 1 shown in FIG. 33 is performed.
[0119]
  That is, in the step in which the welding pattern NO is set to “1”, the welding gun 1 pressurizes and welds the panel.After a certain time has elapsed since the pressurization was started, each welding machine The program NO1 is output to the welding machine (WT1) 1 and the welding machine 16, and the program NO2 is output to the welding machine 2, respectively.
[0120]
  Each welding machine performs welding according to the output program, and outputs a welding completion signal when the welding is completed. The completion of welding is recognized by the operation completion check unit 14A that has received this welding completion signal.
[0121]
  (Iv) If “Step END” indicates “Program END” and the address described on the right side is set to H0000, the program END is turned OFF and the program is Go to the next step. On the other hand, if it is set to HFFFF, the program END is turned ON, and after the processing of the step where this setting has been completed, the process returns to step 1.
[0122]
  The parameters shown in FIGS. 32 and 33 are set by operating the connected operation panel instead of the teaching pendant 35, and the operation parameters shown in FIG. 34 are configured. become.
[0123]
  According to the step operation parameter of FIG. 34, first, the output side actuator and the return side actuator operate simultaneously. In this case, “0000000000000001” and “0000000000000010” are set in the respective registers on the output side and the return side, and the solenoid valves corresponding to these bits operate. Therefore, both the output side actuator and the return side actuator corresponding to the designated address actually move. Specifically, the output side actuator 1 performs an “out” operation, and the return side actuator 2 performs a “return” operation. However, the condition is that the output side and return side interlock conditions set as actuator parameters are not met.
[0124]
  When this process ends and the output actuator 1 reaches the limit and the return actuator 2 reaches the limit, a plurality of sensors (LS) set as the vehicle type detection pattern 1 are turned on (sensor 1 and sensor 2 are When the vehicle type detection pattern 1 is detected, the work of the welding pattern 1 is performed by the welding machine. In this case, since the welding pattern 1 is set as shown in FIG. 33, the welding gun 1 pressurizes and welds the panel according to the setting of the welding gun pattern “00000001”. After a certain period of time has elapsed since the start of pressurization, the program NO1 program is output to the welding machine (WT1) 1 and the welding machine 16, and the program NO2 program is output to the welding machine 2, respectively. Each welding machine performs welding according to the output program, and outputs a welding completion signal when the welding is completed. The completion of welding is recognized by the operation completion check unit 14A that has received this welding completion signal.
[0125]
  When the end of the welding operation is confirmed, the process waits until the predetermined operator operation button 15 is pressed, and immediately sets the timer delay time on the condition that the predetermined operator operation button 15 is pressed. The process of the next step 2 is performed.
[0126]
  Next, in step 2, only the output side actuator operates. This is because the address of “0000000000000000000” is input to the register of the return side actuator, and as a result, the return side actuator to be operated is not specified. Since neither the vehicle type detection pattern, the standby of the operator operation button 15 nor the delay time of the timer is set (the designation and installation values of these addresses are all 0), in this step, in the end, After the actuator is operated and the work of the welding putter 3 (specific settings are not described in FIG. 33) is performed, the process proceeds to the next step.
[0127]
  In step n, which is the last step, only the return side actuator corresponding to the address of H000F is operated to perform the work of the welding pattern 1 (the return side actuators 1 to 4 are returned simultaneously), and the flow returns to step 1. (HFFFF is set as the program END).
[0128]
  The outline of the second embodiment is as described above. Next, the present invention in this embodimentWelding control systemThis control method will be described in more detail based on a flowchart and the like.
[0129]
  FIG. 35 is related to the present invention.Welding control systemIt is a flowchart which shows operation | movement of the teaching mode in this embodiment among control methods. In the flowchart, conceptually, processing for creating tables as shown in FIGS. 3, 4, and 32 to 34 is performed.
[0130]
  The operator first selects an operation step using the operation panel. This is a choice that is required because a separate program is created for each vehicle type. For example, to classify which vehicle type the program is created for, such as for Bluebird, Cima, etc. (S71). When the selection of the vehicle type is completed, the next actuator to be moved out / returned is selected. Since the processing up to this point is exactly the same as the processing in the flowchart shown in FIG. 6, the description of the processing is omitted here (S72).
[0131]
  Next, the operator selects a welding pattern NO using the operation panel. Note that up to 32 solenoid output addresses can be set for the welding gun. This welding gun is set while looking at the following screen on the operation panel.
[0132]
  On the display of the operation panel,First,A menu screen as shown in FIG. 36 is displayed. When the “welding setting” button is operated on this screen, a welding setting menu screen as shown in FIG. 37 is displayed. For example, when “H300” is to be assigned to the welding gun 1 as the output address of the solenoid valve, the “welding gun details” button displayed on this screen is pressed. Since the screen is switched to the screen shown in FIG. 38 by this operation, the “welding SOL No” button is pressed. With this operation, the screen shown in FIG. 15 appears. Press “1” and “ENT”. With this, the welding solenoid NO1 is selected, and at the same time, the screen returns to the screen of FIG. When the “Out SOL” button is pressed on this screen, the screen is switched to the screen shown in FIG. 11 and the keys on this screen are pressed as “3”, “0”, “0”, “ENT”. With the above operation, “H300” is assigned to the welding gun 1 as the output address of the solenoid valve. The solenoid valve output address is also assigned to the welding guns 2 and 3 by the same operation.
[0133]
  Next, it is set which welding gun is pressurized when welding and what number the welding program of each welding machine is. For example, when setting for turning on the welding guns 1, 2, and 3 is performed, the button "Welding matrix NO" is pressed on the screen of FIG. With this operation, the screen shown in FIG. 15 appears. Press “1” and “ENT”. With this, the welding pattern NO1 is selected, and at the same time, the screen returns to the screen of FIG. When the “welding matrix setting” button is pressed on this screen, the screen is switched to the screen shown in FIG. 39, and the keys on this screen are pressed as “1”, “2”, “3”, “ENT”, and “return” button. Press. Through the above operation, 1, 2, and 3 are set as welding guns to be pressurized when the welding pattern NO1 is selected. For the welding patterns 2 and 3, a welding gun to be pressurized by the same operation is assigned.
[0134]
  Then, the welding program is set. For example, when the welding program 1 is set for the welding machine 1 in the welding pattern NO1, the “W / T NO” button is pressed on the screen of FIG. With this operation, the screen shown in FIG. 15 appears. Press “1” and “ENT”. With this, the welding machine 1 is selected, and at the same time, the screen returns to the screen of FIG. When the “PROGRAM NO” button is pressed on this screen, the screen shown in FIG. 15 appears again, and “1” and “ENT” are pressed. As a result, the program NO1 is set in the welding machine 1. For the welding patterns 2 and 3, a program is assigned to each welding machine by the same operation.
[0135]
  Finally, set which step of which program to perform welding. When the “welding matrix setting” button is pressed on the screen of FIG. 37, the screen is switched to the screen shown in FIG. For example, when welding pattern 1 is performed in step 5 of program 1, the “program NO” button is pressed on the screen of FIG. 40 to call up the screen shown in FIG. Press “1” and “ENT” on this screen. With this operation, the program 1 is set. As a result of this operation, the screen is switched to FIG. 40, and the “NO” button is pressed to call the screen shown in FIG. On this screen, "5" and "ENT" are pressed to return to the screen shown in FIG. With this operation, step 5 is selected. Then, the “Welding Matrix NO” button is pressed, the screen shown in FIG. 15 is called, and “1” and “ENT” are pressed. With this operation, the welding pattern 1 is set. By performing the above operation, a desired welding pattern is set in a desired step of a desired program (S73).
[0136]
  Thereafter, processing for setting a signal to be checked at the operation limit or setting the program END is performed (S74 to S77). These procedures are exactly the same as the processing of S3 to S6 shown in FIG. Since there is, the description is abbreviate | omitted.
[0137]
  Next, based on the flowcharts shown in FIGS. 41 and 42, a process for operating the production machine based on the data taught as described above will be described. In the flowchart of FIG. 41, the same processing as the processing of the flowchart shown in FIG. 25 is performed except for the processing of steps S83 and S84, and thus the description of the processing of other steps is omitted.
[0138]
  When the welding pattern NO is set in the step operation parameter of FIG. 34, a welding operation is performed according to the NO, and the process proceeds to the next process after the completion of welding. This welding operation is performed simultaneously with the actuator exit / return process (S83, S84).
[0139]
  The flowchart shown in FIG. 42 is a subroutine flowchart of step S83 in FIG. First, when the welding pattern NO is set, the set welding pattern NO is read. For example, in step 1 of the step operation pattern of FIG. 34, since “1” is set as the welding pattern NO, the welding pattern “1” is read (S101). Next, the welding gun pattern set in the read welding pattern is read out. In the above example, since the welding gun pattern of H00000001 is set for the welding pattern 1, this is read (S102). And each address of the welding gun set to the read welding gun pattern is read. In the above example, since H00000001 is read as the welding gun pattern, the address H2000 corresponding to the welding gun 1 in FIG. 32 is read (S103). The sequencer turns on the coil of the address corresponding to the read address. In the above example, the coil Y2000 corresponding to H2000 is turned on (S104).
[0140]
  When the coil is turned on, the solenoid valve is opened, and the welding gun starts pressurizing the panel. The welding machine program is started on condition that a certain time has elapsed since the coil was turned on. In the above example, as shown in FIG. 33, the welding machine 1 executes the program 1, the welding machine 2 executes the program 2, and the welding machine 16 executes the program 1 (S105, S106). . On the condition that the completion of welding is confirmed by the operation completion check unit 14A, the welding process in step 1 is ended (S107).
[0141]
  Thus, at the time of teaching, as parameters for moving the equipment, as a block of the actual address of the actuator, a block of the operation content, and a block of the operation sequence,Per blockWhen the parameter is stored and played back, the operation content is read out and the associated actuator is operated, so the sensor attached to the actuator has failed or has been changed to another address.WasIn this case, conventionally, the ladder sequence circuit must be changed or teaching must be performed again. However, according to the present invention, it is possible to cope with such a case by simply changing the parameters. Therefore, the time required for the change is shortened.
[0142]
  In the step operation parameter, when stepping forward, the actuator that moves out and the actuator that moves back are described separately, so the program is written separately for forward and backward movement as before. There is no need to do it.
[0143]
  Furthermore, since the data structure (how to summarize) can be realized by simply inputting parameters, even if there is no knowledge of the sequence circuit, the operation sequence of the actuator If the input / output address of the actuator to be operated is known, a program can be created.
[0144]
  In addition, since the program can be created even when the target machine is not actually completed, the overall time required for creating the production machine can be shortened.
[Brief description of the drawings]
FIG. 1 is a diagram showing a schematic configuration of a sequence control apparatus for implementing a method of the present invention.
FIG. 2 is a block diagram showing a configuration of only a portion related to the present invention, among the configuration of the control panel shown in FIG.
[Fig. 3]For each actuatorThis is a specific example of the actuator parameter set in (1).
FIG. 4 shows a specific example of a vehicle type detection parameter.
FIG. 5 shows a specific example of step operation parameters.
FIG. 6 is a flowchart showing an operation in a teaching mode.
FIG. 7 is a menu screen of a teaching pendant.
FIG. 8 is a menu screen for setting parameters of a teaching pendant.
FIG. 9 is an actuator selection screen.
FIG. 10 is an actuator address setting screen.
FIG. 11 is an actuator address setting screen.
FIG. 12 is a screen for setting an actuator address.
FIG. 13 is an actuator address setting screen.
FIG. 14 is a menu screen for vehicle type detection setting of a teaching pendant.
FIG. 15 is a screen for setting a vehicle type detection NO.
FIG. 16 is a screen for setting an address of a sensor corresponding to vehicle type detection NO.
FIG. 17 is a screen for setting a vehicle type detection pattern NO.
FIG. 18 is a screen for setting a vehicle type detection pattern NO.
FIG. 19 is a menu screen for teaching the step contents of the teach pendant.
FIG. 20 is a menu screen for teaching the step contents of the teaching pendant.
FIG. 21 is an actuator address setting screen.
FIG. 22 is an actuator address setting screen.
FIG. 23 is a diagram illustrating an example of a monitor screen.
FIG. 24 is a diagram showing an example of a monitor screen.
FIG. 25 is a flowchart processed during playback.
FIG. 26 is a flowchart processed during playback.
FIG. 27 is a flowchart processed during playback.
FIG. 28 is a flowchart processed during playback.
FIG. 29 is a flowchart processed during playback.
FIG. 30 is a diagram showing a schematic configuration of a sequence control apparatus for carrying out the method of the present invention.
FIG. 31 is a block diagram showing the configuration of only the portion related to the present invention, in particular, in the configuration of the control panel shown in FIG.
FIG. 32 shows specific examples of welding gun parameters.
FIG. 33 shows a specific example of a welding pattern.
FIG. 34 shows a specific example of step operation parameters.
FIG. 35 is a flowchart showing an operation in a teaching mode according to the second embodiment.
FIG. 36 is a parameter setting menu screen;
FIG. 37 is a menu screen for welding setting.
FIG. 38 is a menu screen for welding settings.
FIG. 39: WeldingSettingIt is a screen.
FIG. 40 is a menu screen for welding settings.
FIG. 41 is a flowchart processed during playback.
FIG. 42 is a flowchart processed during playback.
[Explanation of symbols]
    10 ... Control panel,
    12 ... storage unit,
    14 ... Playback section,
    15 ... Operator operation buttons,
    30 ... Connector,
    35 ... Teaching pendant.

Claims (7)

In order to be able to set various conditions such as the selection of the actuator to be taught, the operation conditions of the actuator, the operation sequence, and the conditions for proceeding to the next process, One display unit for displaying the numeric keypad for inputting the various conditions at different timings;
Transition means for sequentially transitioning the display contents of the display screen by pressing the menu or numeric keypad displayed on the display screen of the display unit;
With
The transition means is for the display unit.
As a menu, first display at least the “Set parameters” button and the “Monitor” button.
When the “parameter setting” button is pressed, the “actuator input / output setting” button, the “vehicle type detection setting” button, and the “step content teach” button are displayed as the next menu,
When the “actuator input / output setting” button is pressed, a numeric keypad for selecting the actuator is displayed.
By selectively pressing the numeric keypad, the actuator to be taught can be selected and the operation order of the actuator can be set.
As the next menu, at least the “exit SOL address” button and the “return SOL address” button are displayed,
When the “exit SOL address” button is pressed, a numeric keypad for inputting the output SOL (solenoid) address is displayed. When the “return SOL address” button is pressed, the return side Display the numeric keypad for entering the SOL address,
By selectively pressing each numeric keypad, the output side SOL address and the return side SOL address which are the operation conditions can be set.
As the next menu, a plurality of “exit limit LS” buttons and a plurality of “return limit LS” buttons are displayed.
When the “end limit LS” button is pressed, a numeric keypad for inputting the address of the end limit LS (limit switch) is displayed. When the “return limit LS” button is pressed, the return limit LS Display the numeric keypad to enter the address of
An actuator teaching apparatus characterized in that the operation limit LS address and return limit LS address can be set by selectively pressing each numeric keypad. The transition means is for the display unit.
As a menu, first display at least the “Set parameters” button and the “Monitor” button.
When the “parameter setting” button is pressed, the “actuator input / output setting” button, the “vehicle type detection setting” button, and the “step content teach” button are displayed as the next menu,
When the “car model detection setting” button is pressed, the “detect” button, the “car model detection address” button, and the “matrix” button are displayed as the next menu,
Furthermore, when the “detect” button is pressed, a numeric keypad for inputting the vehicle type detection number is displayed,
The vehicle type detection number can be set by selectively pressing the numeric keypad,
Furthermore, when the menu is returned and the “vehicle type detection address” button is pressed, a numeric keypad for inputting the vehicle type detection address is displayed.
2. The actuator teaching apparatus according to claim 1, wherein setting of vehicle type detection, which is one of the conditions for proceeding with the processing, can be performed by selectively pressing the numeric keypad. The transition means is for the display unit.
As a menu, first display at least the “Set parameters” button and the “Monitor” button.
When the “parameter setting” button is pressed, the “actuator input / output setting” button, the “vehicle type detection setting” button, and the “step content teach” button are displayed as the next menu,
When the “car model detection setting” button is pressed, the “detect” button, the “car model detection address” button, and the “matrix” button are displayed as the next menu,
Furthermore, when the “matrix” button is pressed, a numeric keypad for inputting a vehicle type detection pattern by combining a plurality of vehicle type detections is displayed.
2. The vehicle type detection pattern, which is one of the conditions for proceeding with the process, can be set by selectively pressing the numeric keypad. Actuator teaching device. The transition means is for the display unit.
As a menu, first display at least the “Set parameters” button and the “Monitor” button.
When the “parameter setting” button is pressed, the “actuator input / output setting” button, the “vehicle type detection setting” button, and the “step content teach” button are displayed as the next menu,
When the “Step content teach” button is pressed, the “Table No” button and the “Step No” button are displayed.
When the “step No” button is pressed, the “exit actuator” button, the “return actuator” button, the “matrix No” button, the “operator operation button standby” button, the “timer” ”Button is displayed,
When the “Exit Actuator” button is pressed, enter the numeric keypad for entering the output actuator address. When the “Return Actuator” button is pressed, enter the return actuator address. When the “Matrix No” button is pressed, the numeric keys for inputting the matrix No are displayed respectively.
The input side actuator address can be input by selectively pressing the numeric keypad for inputting the output side actuator address, and the return side actuator by selectively pressing the numeric keypad for inputting the return side actuator address. Address can be input, the matrix number can be input by selectively pressing the numeric keypad for inputting the matrix No., and the menu and the numeric keypad are pressed by pressing the “wait for operator operation button” button. The generic operation button for an operator can be set to a standby state, and a delay time for shifting the process to the next can be set by pressing a "timer" button. 2. The actuator teaching apparatus according to 1. The transition means is for the display unit.
As a menu, first display at least the “Set parameters” button and the “Monitor” button.
2. The actuator teaching apparatus according to claim 1, wherein when the “monitor” button is pressed, the setting state of the actuator of the limit limit and the return limit and the setting state of the vehicle type detection are monitored. The transition means is for the display unit.
First, display at least the “Set parameters” button and the “Monitor” button as a menu.
When the button for “setting parameters” is pressed, at least the button for “welding setting” is displayed as the next menu,
When the “Welding Setting” button is pressed, at least the “Welding Gun Details” button is displayed,
When the “Welding gun details” button is pressed, at least the “Welding SOLNo”, “Welding matrix No” and “Welding matrix setting” buttons are displayed,
When the “Welding SOLNo” button is pressed, a numeric keypad for setting the address of the SOL (solenoid) valve is displayed.
The address can be set to the SOL valve by selectively pressing the numeric keypad,
When the “Welding matrix No” button is pressed, a numeric keypad for setting the welding pattern No. is displayed.
The welding pattern No. can be set by selectively pressing the numeric keypad,
When the “welding matrix setting” button is pressed, a numeric keypad for assigning a welding gun to be pressed when a set welding pattern No. is selected is displayed.
2. The actuator teaching apparatus according to claim 1, wherein a welding gun to be pressed can be assigned by selectively pressing the numeric keypad. A teaching pendant comprising the actuator teaching device according to claim 1;
A control panel for operating a controlled object such as a welding machine or a solenoid according to the teaching of the teaching pendant;
An operator operation button connected to the control panel, which is used when manually moving the control object or forcing the operator to perform a button operation in order to ensure work safety,
A welding control system comprising:

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