JP7604918B2 - PROGRAM GENERATION DEVICE, PROGRAM GENERATION PROGRAM, AND PROGRAM GENERATION METHOD - Google Patents

Description

This technology relates to a program generation device, a program generation program, and a program generation method.

In the field of factory automation (FA), robots are used in a variety of applications. These applications require a program to be executed by a control device such as a programmable logic controller (PLC), and a program to control the robot.

Technologies have been proposed to make it easier to create such programs. For example, JP 2019-018250 A (Patent Document 1) discloses a programming device that reduces the amount of work required by an operator to create a robot's operation program.

In addition, JP 2018-118330 A (Patent Document 2) discloses a computing device that can automatically generate coordinated movements of multiple robots in a short period of time.

JP 2019-018250 A JP 2018-118330 A

In applications that include robots, it is necessary to directly or indirectly link the program executed by the control device with the program for controlling the robot. In contrast, the technology disclosed in the above-mentioned prior art documents focuses on the generation of programs for operating the robot, and does not take into account the program executed by the control device.

The aim of this technology is to provide a solution that makes it easy to generate the programs required for applications that include robots.

A program generation device according to an embodiment of the present technology includes a rendering unit that virtually represents a target device in a virtual space, an acquisition unit that acquires a user's specification of the operation content of the target device, and a program generation unit that generates an IEC program and a robot program based on the specified operation content.

With this configuration, a user can generate an IEC program and a robot program for operating a target device in a real environment simply by specifying the operation details of the target device in a virtual space, so even a user with little knowledge about program generation can generate the program required for operation.

The acquisition unit may generate an action definition that specifies the specified action content. With this configuration, the user only needs to specify the action of the target device in the virtual space without having to be aware of the generation of action definitions, etc., so even users with little specialized knowledge can use it. Furthermore, by generating an action definition that specifies the specified action content, IEC programs and robot programs can be generated more reliably.

The program generation device may further include a reception unit that receives changes to the action definition made by the user. With this configuration, the user can check the action definition that specifies the specified action content, and then make corrections, etc., as necessary.

The program generation unit may further generate information that specifies the execution order between the IEC program and the robot program. This configuration allows for more accurate control in cases where the robot and other mechanisms need to be operated in sync.

The information that specifies the execution order between the IEC program and the robot program may include instructions to update values referenced by the IEC program and the robot program. With this configuration, in an environment in which the IEC program and the robot program are executed in parallel, processing can proceed while maintaining an interlock between the two programs.

The information that specifies the execution order between the IEC program and the robot program may include a table that specifies the timing for executing the IEC program and the robot program. With this configuration, the execution order of the IEC program and the robot program can be explicitly specified.

The program generation device may further include a generation unit that generates information for virtually expressing the target device in a virtual space from the design data of the target device. With this configuration, the target device can be easily reproduced in a virtual space from design data such as CAD data.

The program generation device may further include a simulator that reproduces the operation of the target device based on the IEC program and the robot program. With this configuration, the operation of the generated IEC program and the robot program can be easily confirmed.

A program generation program according to another embodiment of the present technology causes a computer to execute the steps of virtually representing a target device in a virtual space, acquiring a user's specification of the operation content of the target device, and generating an IEC program and a robot program based on the specified operation content.

A program generation method according to yet another embodiment of the present technology includes the steps of virtually representing a target device in a virtual space, acquiring a user's specification of the operation content of the target device, and generating an IEC program and a robot program based on the specified operation content.

This technology makes it easy to generate the programs required for applications that include robots.

FIG. 2 is a schematic diagram showing main functions of the program generating device according to the present embodiment. 1 is a schematic diagram illustrating an outline of a system configuration of a control system according to an embodiment of the present invention. 2 is a schematic diagram illustrating an example of a hardware configuration of a control device that constitutes the control system according to the present embodiment. FIG. FIG. 2 is a schematic diagram showing an example of a hardware configuration of a robot controller that constitutes the control system according to the present embodiment. FIG. 2 is a schematic diagram showing an example of a hardware configuration of a motor driver that constitutes the control system according to the present embodiment. 2 is a schematic diagram illustrating an example of a hardware configuration of a support device that constitutes the control system according to the present embodiment. FIG. 2 is a schematic diagram showing a more detailed configuration of a development program installed in a support device according to the present embodiment; FIG. 1 is a schematic diagram showing an example of a target device created in a virtual space using a support device according to an embodiment of the present invention; 9 is a diagram for explaining an example of a procedure for setting a first operation of the target device shown in FIG. 8 . 9 is a diagram for explaining an example of a procedure for setting a second operation of the target device shown in FIG. 8 . 9 is a diagram for explaining an example of a procedure for setting a third operation of the target device shown in FIG. 8 . 9 is a diagram for explaining an example of a procedure for setting a fourth operation of the target device shown in FIG. 8 . 9 is a diagram for explaining an example of a procedure for setting a fifth operation of the target device shown in FIG. 8 . 11 is a diagram showing an example of an operation definition generated by a support device according to the present embodiment; FIG. 15 shows an example of an IEC program generated according to the operation definition shown in FIG. 14. 15 shows an example of a robot program generated in accordance with the operation definition shown in FIG. 14 . 15 shows an example of an execution order management program generated in accordance with the operation definition shown in FIG. 14. FIG. 15 is a diagram showing an example in which a user has made corrections or changes to the action definition shown in FIG. 14. 6 is a flowchart showing a processing procedure relating to program generation by the support device according to the present embodiment.

The embodiment of the present technology will be described in detail with reference to the drawings. Note that the same or equivalent parts in the drawings will be given the same reference numerals and their description will not be repeated.

<A. Application Examples>
First, an example of a situation in which the present technology is applied will be described. FIG. 1 is a schematic diagram showing main functions of a program generation device according to the present embodiment. FIG. 1 shows a support device 400 as an example of a program generation device according to the present embodiment. The support device 400 has a drawing function for virtually expressing a target device in a virtual space. A user specifies the operation content of the target device, and the support device 400 acquires the operation content specified by the user. Then, the support device 400 generates an IEC program 1104 and a robot program 1106 based on the specified operation content.

By providing such a configuration, it is easy to generate the programs required for applications that include robots.

The program generation device may be realized as any information processing device instead of the support device 400, and some or all of the required functions may be realized using multiple processor resources.

<B. Control System Configuration>
Next, a configuration of a control system 1 including a program generating device according to this embodiment will be described.

(b1: Overall configuration)
2 is a schematic diagram outlining a system configuration of a control system 1 according to the present embodiment. Referring to Fig. 2, the control system 1 includes a control device 100, and a robot controller 250 and a motor driver 350 that are network-connected to the control device 100 via a field network 10.

The control device 100 exchanges data with devices connected to the field network 10 and executes the processes described below. The control device 100 may typically be realized by a PLC.

The robot controller 250 is responsible for controlling the robot 200. More specifically, the robot controller 250 functions as an interface with the robot 200, and outputs commands to drive the robot 200 according to commands from the control device 100, and also acquires state values of the robot 200 and outputs them to the control device 100.

The motor driver 350 is responsible for controlling the motor 300 that drives an arbitrary mechanism (not shown). More specifically, the motor driver 350 functions as an interface between the mechanism and outputs commands to the corresponding motor 300 to drive the axes that make up the mechanism according to commands from the control device 100, and also acquires the state value of the motor 300 and outputs it to the control device 100.

For the field network 10, EtherCAT (registered trademark) or EtherNet/IP, which are protocols for industrial networks, can be used. When EtherCAT is used as the protocol, data can be exchanged between the control device 100 and devices connected to the field network 10 at regular intervals of, for example, several hundred microseconds to several milliseconds. By exchanging data at such regular intervals, the robot 200 and mechanisms included in the control system 1 can be controlled at high speed and with high precision.

The control device 100 may be connected to the display device 500 and the server device 600 via a higher-level network 20. The higher-level network 20 may use a protocol for industrial networks such as EtherNet/IP.

A support device 400 may be connected to the control device 100 for installing user programs to be executed by the control device 100 and for performing various settings. The support device 400 is an example of a program generation device according to this embodiment.

Below, we will explain an example of the hardware configuration of the main devices that make up the control system 1 shown in Figure 2.

(b2: control device 100)
Fig. 3 is a schematic diagram showing an example of a hardware configuration of a control device 100 constituting the control system 1 according to the present embodiment. Referring to Fig. 3, the control device 100 includes a processor 102, a main memory 104, a storage 110, a memory card interface 112, a host network controller 106, a field network controller 108, a local bus controller 116, and a USB controller 120 providing a USB (Universal Serial Bus) interface. These components are connected via a processor bus 118.

The processor 102 corresponds to a calculation processing unit that executes control calculations, and is composed of a CPU (Central Processing Unit) and a GPU (Graphics Processing Unit), etc. Specifically, the processor 102 reads out a program stored in the storage 110, expands it in the main memory 104, and executes it to realize control calculations for a control target.

The main memory 104 is composed of a volatile storage device such as a dynamic random access memory (DRAM) or a static random access memory (SRAM). The storage 110 is composed of a non-volatile storage device such as a solid state drive (SSD) or a hard disk drive (HDD).

Storage 110 stores a system program 1102 for implementing basic functions, as well as an IEC program 1104 and a robot program 1106 created according to the object to be controlled.

The IEC program 1104 includes instructions necessary to realize processes other than the process of controlling the robot 200 in the control system 1 according to this embodiment. The IEC program 1104 may typically include sequence instructions and motion instructions. The IEC program 1104 may be written in any language defined in IEC 61131-3 established by the International Electrotechnical Commission (IEC). However, the IEC program 1104 may include a program written in a manufacturer-specific language other than a language defined in IEC 61131-3. The IEC program 1104 is also referred to as a "PLC program" because it is a basic program executed by the PLC.

The robot program 1106 includes instructions for controlling the robot 200. The robot program 1106 may include instructions written in a predetermined programming language (e.g., a programming language for robot control such as V+ language, or a programming language related to NC control such as G-code).

The memory card interface 112 accepts a memory card 114, which is an example of a removable storage medium. The memory card interface 112 is capable of reading and writing any data to the memory card 114.

The upper network controller 106 exchanges data with any information processing device (such as the display device 500 and server device 600 shown in FIG. 2) via the upper network 20.

The field network controller 108 exchanges data with each device via the field network 10.

The local bus controller 116 exchanges data with any of the functional units 130 included in the control device 100 via the local bus 122. The functional units 130 include, for example, an analog I/O unit responsible for input and/or output of analog signals, a digital I/O unit responsible for input and/or output of digital signals, and a counter unit that receives pulses from an encoder or the like.

The USB controller 120 exchanges data with any information processing device (such as the support device 400) via a USB connection.

(b3: robot controller 250)
4 is a schematic diagram showing an example of a hardware configuration of a robot controller 250 constituting the control system 1 according to the present embodiment. Referring to FIG. 4, the robot controller 250 includes:
The robot controller 250 includes a field network controller 252 and a control processing circuit 260 .

The field network controller 252 mainly exchanges data with the control device 100 via the field network 10.

The control processing circuit 260 executes the calculations required to drive the robot 200. As an example, the control processing circuit 260 includes a processor 262, a main memory 264, a storage 270, and an interface circuit 268.

The processor 262 executes control calculations to drive the robot 200. The main memory 264 is composed of, for example, a volatile storage device such as a DRAM or SRAM. The storage 270 is composed of, for example, a non-volatile storage device such as an SSD or HDD.

The storage 270 stores a system program 272 for implementing control for driving the robot 200. The system program 272 includes instructions for executing control calculations related to the operation of the robot 200, and instructions related to the interface with the robot 200.

The interface circuit 268 exchanges data with the robot 200 .
(b4: motor driver 350)
5 is a schematic diagram showing an example of a hardware configuration of a motor driver 350 constituting the control system 1 according to the present embodiment. Referring to FIG. 5, the motor driver 350 includes a field network controller 352, a control processing circuit 360, and a drive circuit 380.

The field network controller 352 mainly exchanges data with the control device 100 via the field network 10.

The control processing circuit 360 executes the calculations required to control the motor 300. As an example, the control processing circuit 360 includes a processor 362, a main memory 364, and a storage 370.

The processor 362 executes control calculations related to the motor 300. The main memory 364 is composed of, for example, a volatile storage device such as a DRAM or SRAM. The storage 370 is composed of, for example, a non-volatile storage device such as an SSD or HDD.

Storage 370 stores a system program 372 for implementing drive control of motor 300. System program 372 includes instructions for executing control calculations related to the operation of motor 300, and instructions related to the interface with motor 300.

The drive circuit 380 includes a converter circuit and an inverter circuit, and generates power of the specified voltage, current, and phase according to the command value calculated by the control processing circuit 360, and supplies it to the motor 300.

Motor 300 is mechanically coupled to one of the shafts that make up the mechanism. As motor 300, a motor with characteristics that correspond to the mechanism to be driven can be used. For example, as motor 300, any of an induction motor, a synchronous motor, a permanent magnet motor, and a reluctance motor may be used, and not only a rotary motor but also a linear motor may be used.

(b5: support device 400)
Fig. 6 is a schematic diagram showing an example of a hardware configuration of a support device 400 constituting the control system 1 according to the present embodiment. With reference to Fig. 6, the support device 400 includes a processor 402 such as a CPU or an MPU, a main memory 404, a storage 410, a network controller 420, a USB controller 424, an input unit 426, and a display unit 428. These components are connected via a bus 408.

The processor 402 reads various programs stored in the storage 410, expands them into the main memory 404, and executes them to realize the processing required by the support device 400.

Storage 410 is configured, for example, with a HDD or SSD. Storage 410 typically stores an OS 412 and a development program 414 for implementing the processing described below. Note that storage 410 may also store necessary programs other than the programs shown in FIG. 6.

The network controller 420 exchanges data with any information processing device via any network.

The USB controller 424 exchanges data with any information processing device via a USB connection.

The input unit 426 is composed of a mouse, keyboard, touch panel, etc., and accepts instructions from the user. The display unit 428 is composed of a display, various indicators, etc., and outputs processing results from the processor 402, etc.

The support device 400 may have an optical drive 406. The optical drive 406 reads a computer-readable program from a recording medium 407 (e.g., an optical recording medium such as a DVD (Digital Versatile Disc)) that non-transiently stores the program, and stores the program in the storage 410 or the like.

The various programs executed by the support device 400 may be installed via a computer-readable recording medium 407, or may be installed by downloading from any server on the network.

(b6: display device 500)
The display device 500 constituting the control system 1 according to the present embodiment may be realized, for example, by using a general-purpose personal computer. A basic hardware configuration example of the display device 500 is well known, so A detailed explanation will not be given here.

(b7: server device 600)
The server device 600 constituting the control system 1 according to the present embodiment may be realized by using a general-purpose personal computer, for example. A basic hardware configuration example of the server device 600 is well known, so a detailed description will not be given here.

(b8: Other forms)
Although Figures 3 to 6 show configuration examples in which required functions are provided by one or more processors executing programs, some or all of these provided functions may be implemented using dedicated hardware circuits (e.g., an ASIC (Application Specific Integrated Circuit) or an FPGA (Field-Programmable Gate Array)).

C. Development Program
Fig. 7 is a schematic diagram showing a more detailed configuration of the development program 414 installed in the support device 400 according to the present embodiment. Referring to Fig. 7, the development program 414 includes, as main elements, a drawing engine 430, an operation acquisition engine 432, a simulator 434, a program generation management engine 436, an IEC program generation engine 438, and a robot program generation engine 440.

The drawing engine 430 corresponds to a drawing unit that virtually represents the target device in a virtual space. The drawing engine 430 draws any device in a virtual space by referring to the device settings 470. The device settings 470 include information about the target device, and may be automatically generated from design data such as computer-aided design (CAD) data, as described below. In addition, the user may add information about any device that is the target to the device settings 470.

In this specification, any device or mechanism set in the virtual space is collectively referred to as the "target device." However, the "target device" does not have to be configured as a complete device, and is a concept that can include a partial mechanism or part of a device.

The operation acquisition engine 432 corresponds to an acquisition unit that acquires the user's specification of the operation content of the target device. More specifically, the operation acquisition engine 432 generates an operation definition 460 based on the acquired user operation. The operation definition 460 is information that specifies the operation content specified by the user. As described below, the operation definition 460 describes the content of the user's operation, and serves as a basis for generating the IEC program 1104 and the robot program 1106.

The simulator 434 emulates the operation of the set device or mechanism. That is, the simulator 434 reproduces the operation of the target device based on the IEC program 1104 and the robot program 1106. Behavior information from the simulator 434 (e.g., the position and speed of each part over time) is output to the drawing engine 430. The drawing engine 430 reproduces the operation of the device or mechanism in a virtual space based on the behavior information from the simulator 434.

The program generation management engine 436 manages the program generation process by the IEC program generation engine 438 and the robot program generation engine 440, and generates the execution order management program 1108 as described below.

The IEC program generation engine 438 references the operation definition 460 to generate the required IEC program 1104.

The robot program generation engine 440 references the operation definition 460 to generate the required robot program 1106.

In this way, the program generation management engine 436, the IEC program generation engine 438, and the robot program generation engine 440 correspond to a program generation unit that generates the IEC program 1104 and the robot program 1106 based on the operation content specified by the user.

The execution order management program 1108 is an example of information that specifies the execution order between the IEC program 1104 and the robot program 1106. Instead of the execution order management program 1108, or together with the execution order management program 1108, a table that specifies the execution order may be prepared.

The simulator 434 can also emulate the control device 100, and can also reproduce the operation of devices and mechanisms by referring to the generated programs (IEC program 1104, robot program 1106, execution order management program 1108).

D. Example of Generation Procedure
Next, an example of a procedure for generating a program using support device 400 according to the present embodiment will be described.

Figure 8 is a schematic diagram showing an example of a target device created in a virtual space using the support device 400 according to this embodiment. With reference to Figure 8, a user can virtually create any target device in the virtual space 450 provided by the support device 400. Figure 8 shows an example of a target device including a robot, a robot slider for driving the robot, and two sliders. In reality, the robot slider and the two sliders are each driven by a motor 300 and a motor driver 350 (see Figure 2). The robot is also controlled by a robot controller 250 (see Figure 2).

The IEC program 1104 (see FIG. 3) is used to control the robot slider and each of the two sliders, and the robot program 1106 (see FIG. 3) is used to control the robot. The support device 400 according to this embodiment generates the IEC program 1104 and the robot program 1106 by the user performing operations as described below.

First, the operation of the control device shown in Figure 8 will be described. The slider 1 moves the movable tray 1, which has three shelves and can hold three pallets, in a predetermined direction. In the initial state, an empty pallet (a pallet with no work placed on it) is stored in the movable tray 1. The robot picks up the empty pallet from the movable tray 1 and places it in the work area. After the work is completed, the robot returns the pallet with the work placed on it to the movable tray 1.

The slider 2 moves the movable tray 2 that supplies the workpieces along a predetermined direction. In the initial state, the movable tray 2 has a workpiece placed on it, and the robot picks up the workpiece from the movable tray 2.

The robot slider moves the robot from slider 1 to the work area and then to slider 2. In the work area, the robot places a workpiece on an empty pallet. That is, the robot performs the following operations:

(1) An empty pallet on the shelf of movable tray 1 of slider 1 is picked up by the arm at the tip and placed in the work area. (2) A workpiece placed on movable tray 2 of slider 2 is picked up by the suction mechanism at the tip and placed on the pallet in the work area. (3) A pallet is picked from the work area and placed on the shelf of movable tray 1 of slider 1. Below, an example of an operating procedure for realizing the processing described above is explained.

Figure 9 is a diagram for explaining an example of a procedure for setting the first operation of the target device shown in Figure 8. Referring to Figure 9, as the first operation, an operation is set in which the mobile tray 1 is moved close to the robot so that the robot can pick up a pallet from the mobile tray 1.

More specifically, the user specifies the start and end positions of the slider 1 using a mouse or other means. Note that in the virtual space 450, the position of the moving tray 1 can be changed as desired, and the user can check the movement and position on the support device 400.

The user may specify the start and end positions of slider 1 by selecting and moving moving tray 1 with a mouse in virtual space 450, or may specify the start and end positions of slider 1 by inputting or changing corresponding parameters with a keyboard.

Figure 10 is a diagram for explaining an example of a procedure for setting the second operation of the target device shown in Figure 8. Referring to Figure 10, as the second operation, an operation is set in which the robot slider moves the robot to the vicinity of the moving tray 1 so that the robot can pick up a pallet from the moving tray 1.

More specifically, the user specifies the start and end positions of the robot slider using a mouse or other means. Note that the position of the robot can be changed as desired in the virtual space 450, and the user can check the movement and position on the support device 400.

The user may specify the start and end positions of the robot slider by selecting and moving the robot with a mouse in the virtual space 450, or may specify the start and end positions of the robot slider by inputting or changing corresponding parameters with a keyboard.

Figure 11 is a diagram for explaining an example of a procedure for setting the third operation of the target device shown in Figure 8. Referring to Figure 11, as the third operation, the trajectory of the arm at the tip of the robot is set (the robot is taught) so that the robot can pick up a pallet from the moving tray 1.

More specifically, the user specifies the trajectory of the arm at the tip of the robot by operating a mouse or the like. Alternatively, the user may specify the trajectory of the arm at the tip of the robot by inputting or changing corresponding parameters by operating a keyboard. Furthermore, or alternatively, the user may specify the trajectory of the arm at the tip of the robot by displaying a teaching pendant object on the display unit 428 of the support device 400 and performing operations on the displayed teaching pendant object.

Figure 12 is a diagram for explaining an example of a procedure for setting the fourth operation of the target device shown in Figure 8. Referring to Figure 12, as the fourth operation, an operation is set in which the robot slider moves the robot to the vicinity of the work area so that the robot can place the pallet picked up by the robot from the moving tray 1 in the work area.

More specifically, the user specifies the start and end positions of the robot slider using a mouse or other means. Note that the position of the robot can be changed as desired in the virtual space 450, and the user can check the movement and position on the support device 400.

The user may specify the start and end positions of the robot slider by selecting and moving the robot with a mouse in the virtual space 450, or may specify the start and end positions of the robot slider by inputting or changing corresponding parameters with a keyboard.

Figure 13 is a diagram for explaining an example of a procedure for setting the fifth operation of the target device shown in Figure 8. Referring to Figure 13, as the fifth operation, a trajectory of the arm at the tip of the robot is set so that the robot places the pallet picked up from the moving tray 1 in the work area.

More specifically, the user specifies the trajectory of the arm at the tip of the robot by operating a mouse or the like. Alternatively, the user may specify the trajectory of the arm at the tip of the robot by inputting or changing corresponding parameters by operating a keyboard. Furthermore, or alternatively, the user may specify the trajectory of the arm at the tip of the robot by displaying a teaching pendant object on the display unit 428 of the support device 400 and performing operations on the displayed teaching pendant object.

The operations of the target device are set in sequence in the same manner. More specifically, as the sixth operation, an operation is set in which the moving tray 2 is moved to the vicinity of the robot so that the robot can pick up the work from the moving tray 2. As the seventh operation, an operation is set in which the robot slider moves the robot to the vicinity of the moving tray 2 so that the robot can pick up the work from the moving tray 2. As the eighth operation, an trajectory of the arm at the tip of the robot is set so that the robot can pick up the work from the moving tray 2. As the ninth operation, an operation is set in which the robot slider moves the robot to the vicinity of the work area so that the robot can place the work picked up from the moving tray 2 on a pallet in the work area. As the tenth operation, an trajectory of the arm at the tip of the robot is set so that the robot can place the work picked up from the moving tray 2 on a pallet in the work area. Furthermore, an operation is set to move the pallet on which the work is placed to the moving tray 1.

By following the above steps, the user specifies the operation of the target device for each element. The support device 400 generates the operation definition 460 according to the operation procedure by the user.

Figure 14 is a diagram showing an example of an action definition 460 generated by the support device 400 according to this embodiment. For simplicity of explanation, the following description focuses on the first to fifth actions.

Referring to FIG. 14, the operation definition 460 includes a sequence column 461 indicating the sequence of operations, an operation target column 462 indicating the operation target, a mechanism type column 463 indicating the mechanism type, and an operation content column 464 indicating the operation content.

The order column 461 stores a number indicating the order set by the user. For each number stored in the order column 461, the operation target is defined in the operation target column 462, the mechanism type is defined in the mechanism type column 463, and the operation content is defined in the operation content column 464.

In the example shown in FIG. 14, the mechanism type column 463 stores "slider" and/or "robot." Basically, the operation for which "slider" is stored is realized by the IEC program 1104, and the operation for which "robot" is stored is realized by the robot program 1106.

Code for the IEC program 1104 and robot program 1106 is generated according to the corresponding operation target and operation content.

Figure 15 shows an example of an IEC program 1104 generated according to the operation definition 460 shown in Figure 14. Figure 16 shows an example of a robot program 1106 generated according to the operation definition 460 shown in Figure 14.

The IEC program 1104 shown in FIG. 15 describes commands for implementing the initialization process, as well as commands corresponding to the first, second, and fourth operations. In the example shown in FIG. 15, a motion command (MC_MoveAbsolute) is used to move the slider (position control), but when applying to a rotation mechanism rather than a slider, a different motion command may be used.

The robot program 1106 shown in FIG. 16 contains instructions corresponding to the third and fifth operations.

In this way, the support device 400 automatically generates the IEC program 1104 and the robot program 1106 in response to the operations specified by the user in the virtual space 450. Note that an execution order management program may be generated to realize the processing operation order and interlock between the IEC program 1104 and the robot program 1106.

Figure 17 shows an example of an execution order management program 1108 generated according to the operation definition 460 shown in Figure 14. Referring to Figure 17, the execution order management program 1108 includes an instruction to sequentially update (increment) a variable Index (flag) that can be commonly referenced by the IEC program 1104 and the robot program 1106. By sequentially updating the variable Index and setting the variable Index as an execution condition for each operation, it is also possible to synchronize processing between the IEC program 1104 and the robot program 1106.

Thus, the execution order management program 1108, which is an example of information that specifies the execution order between the IEC program 1104 and the robot program 1106, includes instructions to update values referenced by the IEC program 1104 and the robot program 1106.

Instead of generating the execution order management program 1108, a table or any definition describing the execution order of the IEC program 1104 and the robot program 1106 may be generated. In other words, as another example of information that specifies the execution order between the IEC program 1104 and the robot program 1106, a table that specifies the timing for executing the IEC program 1104 and the robot program 1106 may be used.

E. Modifying/changing the operation definition
The support device 400 can automatically generate the IEC program 1104 and the robot program 1106 based on the operation definition 460 shown in FIG. 14, but the user can also modify or change the operation definition 460, which is a kind of intermediate data.

For example, the user can specify the motion and motion procedure of the mechanism and robot included in the target device in the virtual space 450, and then refer to the generated motion definition 460 to evaluate the appropriateness of the motion. The user can change values such as the travel distance, target coordinates, and speed defined in the motion definition 460 as necessary. It is also possible to perform a simulation in the virtual space 450 based on the changed motion definition 460, and the appropriateness of the motion can be confirmed by the simulation.

Figure 18 is a diagram showing an example in which the user has modified or changed the action definition 460 shown in Figure 14. With reference to Figure 18, for example, the second action does not conflict with the first action, so it has been modified to execute the two actions in parallel.

For the original fourth motion, a simulation in virtual space 450 determined that the distance traveled needed to be modified, and the value of the distance traveled was changed. Similarly, for the original fifth motion, the path was revised to add passing points to create a smoother trajectory.

In this way, the support device 400 may have a reception unit that accepts changes made by the user to the operation definition 460.

According to the support device 400 of this embodiment, a new IEC program 1104 and robot program 1106 are automatically generated simply by modifying or changing the understandable numerical values described in the operation definition 460. This allows even an equipment designer who is unable to program the IEC program 1104 and robot program 1106 to easily specify the operation of the entire equipment and check the specified operation.

F. Processing Procedure
Next, an example of a processing procedure for program generation by the support device 400 according to the present embodiment will be described.

Figure 19 is a flowchart showing the processing steps for program generation by the support device 400 according to this embodiment. Each step shown in Figure 19 is typically realized by the processor 402 of the support device 400 executing the development program 414.

Referring to FIG. 19, the support device 400 accepts the settings of the target device by the user (step S100). Then, the support device 400 virtually represents the target device in a virtual space (step S102). Note that the support device 400 may read data from outside in the form of device settings 470 (FIG. 7).

Then, the support device 400 accepts the setting operation by the user (step S104) and sequentially generates the operation definition 460 (step S106). That is, the support device 400 acquires the user's specification of the operation content of the target device. Then, the support device 400 judges whether the setting operation by the user has been completed (step S108). If the setting operation by the user has not been completed (NO in step S108), the processing from step S102 onwards is repeated.

If the user's setting operation has been completed (YES in step S108), the support device 400 determines whether the user has requested the display of the operation definition 460 (step S110).

When the user requests the display of the action definition 460 (YES in step S110), the support device 400 displays the generated action definition 460 (step S112), accepts the user's modification or change operation (step S114), and changes the action definition 460 in accordance with the accepted content (step S116).

If the user has not requested that the action definition 460 be displayed (NO in step S110), steps S112 to S116 are skipped.

Next, the support device 400 determines whether the user has requested program generation (step S118). If the user has requested program generation (YES in step S118), the support device 400 generates the IEC program 1104, the robot program 1106, and the execution order management program 1108 based on the operation definition 460 that describes the specified operation content (step S120).

This completes the process of program generation by the support device 400. The generated programs (IEC program 1104, robot program 1106, and execution order management program 1108) are transferred from the support device 400 to the control device 100 in response to user operations.

<G. Additional Functions>
As described above, the device setting 470 may be implemented with a function of automatically generating the device setting 470 from design data such as CAD data. In this case, the shape of the target workpiece may also be automatically generated from the CAD data.

When such CAD data is available, the direction and plane in which the mechanism and robot move may be specified. For example, in a manufacturing device including a mechanism such as an XYZ stage and a robot, the trajectory of the robot may be set based on the XY plane of the XYZ stage. More specifically, the robot may be restricted to only operate parallel to the XY plane, and the user may be assisted in inputting settings according to this operation restriction. By placing restrictions on such user settings, the user can more easily set the operation. Furthermore, more accurate control that is synchronized between the mechanism and the robot can be achieved.

In this way, the support device 400 may have a generation function for generating information (device settings 470) for virtually representing the target device in a virtual space from design data of the target device, such as CAD data.

It is also easy to create a program that moves the robot along the target surface of the workpiece (for example, painting a surface with a certain inclination). When moving the robot along a surface with a certain inclination, it is preferable to apply logic that performs known coordinate transformation.

The target surface of the workpiece as described above may be identified from a group of coordinates of an object in virtual space, rather than from CAD data. For example, a corresponding group of coordinates is calculated for the exposed surface of the workpiece. Therefore, the exposed surface can be identified by interpolating the calculated group of coordinates.

As described above, the support device 400 according to this embodiment is also capable of performing a simulation according to the generated program. The results of such a simulation are rendered (reproduced) in a virtual space, so that the user can check the validity of the generated program in advance while referring to the reproduced mechanism and robot operation.

<H. Notes>
The present embodiment as described above includes the following technical idea.
[Configuration 1]
A rendering unit (430) that virtually represents a target device in a virtual space (450);
An acquisition unit (432) that acquires a user's designation of the operation content of the target device;
and a program generating unit (436, 438, 440) that generates an IEC program (1104) and a robot program (1106) based on the specified operation content.
[Configuration 2]
2. The program generating device according to configuration 1, wherein the acquisition unit generates an operation definition (460) that specifies the specified operation content.
[Configuration 3]
3. The program generating device according to configuration 2, further comprising a reception unit that receives changes to the operation definition made by a user.
[Configuration 4]
The program generation device according to any one of configurations 1 to 3, wherein the program generation unit further generates information (1108) that specifies an execution order between the IEC program and the robot program.
[Configuration 5]
The program generating device of configuration 4, wherein the information defining the execution order between the IEC program and the robot program includes an instruction to update values referenced by the IEC program and the robot program.
[Configuration 6]
The program generation device according to configuration 4 or 5, wherein the information defining the execution order between the IEC program and the robot program includes a table defining the timing of executing the IEC program and the robot program.
[Configuration 7]
The program generation device according to any one of configurations 1 to 6, further comprising a generation unit that generates information for virtually expressing the target device in the virtual space from design data of the target device.
[Configuration 8]
The program generating device according to any one of configurations 1 to 7, further comprising a simulator (434) that reproduces the operation of the target device based on the IEC program and the robot program.
[Configuration 9]
A computer (400)
A step (S102) of virtually representing a target device in a virtual space;
A step of acquiring a user's designation of the operation content of the target device (S106);
and generating an IEC program and a robot program based on the specified operation content (S120).
[Configuration 10]
A step (S102) of virtually representing a target device in a virtual space;
A step of acquiring a user's designation of the operation content of the target device (S106);
and generating (S120) an IEC program and a robot program based on the specified operation content.

I. Advantages
According to the control system 1 of this embodiment, a user can generate an IEC program and a robot program for operating a target device in a real environment simply by specifying the operation content of the target device in a virtual space, so that even a user with little knowledge about program generation can generate a program required for operation.

The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is indicated by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims.

1 Control system, 10 Field network, 20 Upper network, 100 Control device, 102, 262, 362, 402 Processor, 104, 264, 364, 404 Main memory, 106 Upper network controller, 108, 252, 352 Field network controller, 110, 270, 370, 410 Storage, 112 Memory card interface, 114 Memory card, 116 Local bus controller, 118 Processor bus, 120, 424 USB controller, 122 Local bus, 130 Functional unit, 200 Robot, 250 Robot controller, 260, 360 Control processing circuit, 268 Interface circuit, 272, 372, 1102 System program, 300 Motor, 350 Motor driver, 380 Drive circuit, 400 Support device, 406 Optical drive, 407 Recording medium, 408 bus, 412 OS, 414 development program, 420 network controller, 426 input unit, 428 display unit, 430 drawing engine, 432 operation acquisition engine, 434 simulator, 436 program generation management engine, 438 generation engine, 440 robot program generation engine, 450 virtual space, 460 operation definition, 461 sequence column, 462 operation target column, 463 mechanism type column, 464 operation content column, 470 device setting, 500 display device, 600 server device, 1104 IEC program, 1106 robot program, 1108 execution order management program.

Claims (8)

a rendering unit that virtually represents a target device in a virtual space;
an acquisition unit that acquires a user's designation of the operation content of the target device;
a program generating unit that generates an IEC program , a robot program , and information that specifies an execution order between the IEC program and the robot program based on the specified operation content ,
A program generation device, wherein information specifying the execution order between the IEC program and the robot program includes instructions that are independent of the IEC program and the robot program and that update values referenced by the IEC program and the robot program . The program generation device according to claim 1, wherein the acquisition unit generates an operation definition that specifies the specified operation content. The program generation device according to claim 2, further comprising a reception unit that receives changes to the operation definition by a user. A program generation device according to any one of claims 1 to 3, wherein the information specifying the execution order between the IEC program and the robot program includes a table specifying the timing of executing the IEC program and the robot program. 5. The program generating device according to claim 1, further comprising a generating unit that generates information for virtually expressing the target device in the virtual space from design data of the target device. The program generating device according to claim 1 , further comprising a simulator that reproduces an operation of the target device based on the IEC program and the robot program. On the computer,
A step of virtually representing a target device in a virtual space;
obtaining a user's designation of an operation content of the target device;
generating an IEC program , a robot program , and information defining an execution sequence between the IEC program and the robot program based on the specified operation content ;
A program generation program, in which information specifying the execution order between the IEC program and the robot program includes instructions that are independent of the IEC program and the robot program and that update values referenced by the IEC program and the robot program . A step of virtually representing a target device in a virtual space;
obtaining a user's designation of an operation content of the target device;
generating an IEC program , a robot program , and information defining an execution sequence between the IEC program and the robot program based on the specified operation content ;
A program generation method, in which information specifying the execution order between the IEC program and the robot program includes instructions that are independent of the IEC program and the robot program and that update values referenced by the IEC program and the robot program .

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