JPH08339211A - Automated machine controller - Google Patents

Abstract

PURPOSE: To safely and surely perform the monitoring and the start/stop of the operation of every equipment in all operation processes by assigning a program that integrates and describes only specific operations of plural devices to an independent task. CONSTITUTION: A main controller 400 is provided with a host control part 100 which controls a total operation procedure and a position control part 200 which controls the position of a robot 500. The part 100 includes a CPU 101 which carries out its processing based on a program, a ROM 102 which stores various processing programs, a fixed parameter, etc., and a RAM 13 which stores a variable parameter, etc., or is used as a work area. Then a means is added to store the data showing the operation states of one or plural devices together with a means which interprets the stored data. Thus a program that integrates and describes only specific operations of one or plural devices is assigned to an independent task. As a result, it is possible to totally manage the operation states of devices constructing an automated machine toy securing arbitration among these devices and in parallel to the operations of them.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for an automatic machine equipped with one or a plurality of devices.

[0002]

2. Description of the Related Art As a control device for an automatic machine having a plurality of devices, a single CPU, an arbitrary program in which the operations of a plurality of devices are written in independent tasks by a multitasking method in an operation command interpreter. Discloses a method of independently operating in parallel under the control of a multitasking OS with publication numbers 04-092902 and 092903.

In this case, for each task, as shown in FIG. 10, a monitoring program for operating switches and sensors of one device, an interlock with another device, a normal operation program, and a process when an error occurs Programs are written and each device operates according to the programs.

FIG. 10 is a block diagram of software of an automatic board mounting apparatus as a conventional example.

As shown in FIG. 10, a conventional program processing mode is such that, for each interpretation execution means (task) of the operation program of each device, a monitor program for operating switches of each device and a sensor input, and other devices. Interlocks, normal operating programs, and processing when errors occur.

[0006]

However, in the above-mentioned conventional example, in the tasks individually assigned to each device, the operation switch monitoring program of the equipment, the interlock with other equipment and the normal operation program, Since the processing program when an error occurs is written, the following problems have occurred. 1. In order to be prepared for irregular operation switch input and signal input from operators and devices during emergencies, it is necessary to describe the original sequence operation and unsteady operation in the operation program of each device assigned to the task. . As a result, the structure of the program becomes complicated and the processing speed decreases. 2. Since it is necessary to perform interlock processing with another device during execution of the operation program, it is necessary to create the program in consideration of the operation process and operation timing of the other device. 3. Since another device has stopped due to an error, even if it is desired to immediately stop the operating device, it cannot be stopped immediately because of the operation processing of each task, interlock, and communication between tasks. 4. When the operation is interrupted due to an error, it is difficult to put all the devices in a safe state depending on the operation timing. 5. Since there was no program that started at the same time when the power of the control unit was turned on, it was difficult to initialize internal flags and parameters that should be performed only when the power was turned on. 6. Since there was no program to start when the power was turned on, it was not possible to grasp the operating status of equipment equipped only with operation switches and sensor inputs. Therefore, when the power supply to the control device is cut off for some reason during the execution of the operation program, the sensor input of the operated switch or the like cannot be detected.

Therefore, as a problem to be solved by the present invention, in parallel with the operation of each device constituting the automatic machine, the operation state is comprehensively managed while arbitrating each device, and the operation monitoring / control of each device is performed. The purpose is to start and stop safely and reliably in all operating processes.

[0008]

[Means for Solving the Problems] and

As a configuration of the present invention for solving the above-mentioned problems, claim 1 allocates an operation program of each device to a plurality of tasks in an automatic machine equipped with one or a plurality of devices, A control device for controlling in parallel includes means for storing data indicating an operating state of the one or more devices and means for interpreting the stored data, and a specific operation of the one or more devices. It is an automatic machine control device characterized by allocating programs described by integrating only the above to independent tasks. As a result, the operation program of each device assigned to the task can be configured by almost only the original sequence operation, and the structure of the program is simplified.

According to a second aspect of the present invention, the specific operation includes monitoring the operating status of the one or more devices by the stored data, interlocking the tasks by the stored data, and 2. The control device for an automatic machine according to claim 1, wherein the control commands are start and stop commands for tasks of the one or more devices. As a result, by referring to the data, the operating state of each device can be always grasped, so that the task that integrates the above-described specific operation can be easily realized from each device.

According to a third aspect of the present invention, the operation program of the one or more devices is stored in the storage means of data indicating an operation state of the device itself, an operation step and a detection end provided in the device, The control device for an automatic machine according to claim 2, wherein an interlock of the operating end in the operation process is described. As a result, only when the operating state changes in the sequence describing the individual operating steps, it is sufficient to write the data representing it in the storage area.
Further, the task that integrates the above-described specific operation based on the data manages the task itself that executes the operation program, so that the structure of the program is simplified.

According to a fourth aspect of the present invention, it is determined whether or not the program described by integrating only the specific operation is started when the power of the control device is turned on.
It is the control device of the automatic machine described. As a result, it is possible to reliably execute processing such as initialization required only when the power of the control device is turned on. Further, since the setting states of all the operation switches can be grasped before the operation of each device is started, the individual operation of each device can be performed only by the operation switch.

[0012] According to a fifth aspect of the present invention, the program in which only the specific movement is integrated and described, and the movement program are written in a robot language.
It is the control device of the automatic machine described. This makes it possible to write all programs in the order of operation, which makes it easy to understand and develop operation programs.

According to a sixth aspect of the present invention, each task assigned to the operation program of the one or more apparatuses can be suspended even while the control apparatus is operating. It is the control device of the automatic machine described. As a result, even during the sequence operation of the entire automatic machine, it becomes easy to temporarily suspend (stack) the task corresponding to the device whose actual operation is suspended under the control of the multi-task OS.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.

First, the system configuration of an automatic substrate mounting apparatus to which the present invention is applied will be described with reference to FIG.

FIG. 1 is a system configuration diagram of an automatic board mounting apparatus to which an embodiment of the present invention is applied.

In the figure, a robot 500 which is an assembly robot.
Has a finger (not shown) for gripping and moving the work at the tip of the arm. A component supply device (hereinafter referred to as a stick) 600 separates the components in the stick one by one by a cylinder (not shown) and slides them down to a component supply position.
The stocker 700 is equipped with a magazine 701 in which a plurality of works 702 are arranged in a predetermined arrangement, and the magazine 701 is moved to a work supply position of the robot 500 by an unillustrated induction motor (a servo motor may be used). The robot 500 holds one work 702 from the stick 600 or the stocker 700, and mounts the work 702 at a predetermined position on the substrate 900 that is pre-positioned at the mounting position of the work by the conveyor 800 that is a substrate transfer device. Reference numeral 820 denotes a manual operation unit of the conveyor 800. Robot 500, stick 600, stocker 70
0 and the operation of the conveyor 800 and the like are controlled by the main controller 4
00. The main control device 400 includes a personal computer 30 that performs operation monitoring and data analysis.
0 and a display unit, a teaching pendant (hereinafter, TP) for inputting various parameters and operation change points for specifying the operation, and a switch for operating the device alone or for inputting the operation mode of the entire system A control panel 302 with groups is connected.

Next, the structure of main controller 400 will be described with reference to FIG.

FIG. 2 is a diagram showing the configuration of a main control unit to which an embodiment of the present invention is applied.

In the figure, main controller 400 has a host controller 100 for controlling the overall operation procedure and a position controller 200 for controlling the position of robot 500 in accordance with instructions from host controller 100. The upper control unit 100 is used as a CPU 101 that executes processing in accordance with a program, a ROM 102 that stores various processing programs and fixed parameters, and a RA that is used as a storage area for variable parameters and a work area.
It has M103. Note that the ROM and RA in this embodiment are
The contents of M will be described later. The serial I / F 104 and the serial I / F 105 are the personal computer 3 that edits operation programs and operation points.
00 and the teaching pendant 301.
The serial I / F 106 communicates with the position control unit 200 that controls the positioning of the robot 500. Serial I
A robot I / O 550 and a stick I / O 107 are input / output units for remote operation of the robot 500, the stick 600, the stocker 700, and the conveyor 800.
/ O650, Stocker I / O750, and Conveyor I
It is an interface that is connected to the / O850 via a serial transmission line and controls the input / output of each device. Parallel I / O 108 is for turning on / off LEDs and solenoids.
It is an interface for control, switch input, and sensor input. The position control unit 200 is connected to the NC motor 60, the NC motor 62, and the encoder detector 61 and encoder detector 63 of each motor, which are the drive units of the robot 500, and rotates by a required amount according to an instruction from the host control unit 100. Let In addition, processing for origin detection and abnormal operation is performed based on information from the sensor group 64 such as the origin sensor and the overrun sensor.

The operation of one embodiment of the present invention will be described in detail based on the above apparatus configuration.

In order to solve the problems of the conventional processing mode described with reference to FIG. 10 described above, a key scan portion, error processing and interlocking of operations between devices, and activation / stop of tasks of each device. A command (hereinafter, drive task) is created by separating commands from tasks assigned to each device and by supervising those processes.

First, the software structure of this embodiment is shown in FIG.
Will be described with reference to.

FIG. 3 is a block diagram of software of the main controller as an embodiment of the present invention.

As shown in the figure, the operation program in which the actual detailed operation of each device and the detailed interlock in the device are described is assigned to the robot task, stick task, stocker task, conveyor task, and Pseudo parallel processing is performed under the control of the task OS. Further, a drive task processing program for starting / stopping those tasks, managing key scanning of each device, error management, interlocking, etc. is also processed in pseudo parallel with the tasks of each device under the control of the multitasking OS. In addition, each task
Sequential interpretation and execution of each line is performed according to the operation program in each task. The drive task refers to the data written in the common variable part by the operation program of each device according to the operation, and while interlocking the tasks, scans the switches and sensor inputs to constantly grasp the state of the entire system, Control the start and stop of each task. Further, it is possible to monitor the error state of the entire system and instantly cause each task to appropriately perform processing in accordance with the content of the error in any device.

Next, referring to FIGS. 4 and 5, the ROM 1
02, the contents of the RAM 103 will be described.

FIG. 4 shows a ROM as an embodiment of the present invention.
2 is a configuration diagram of software stored in 102. FIG.

In the figure, reference numeral 121 stores a program for interpreting and executing operation programs of the robot 500, the stick 600, the stocker 700, and the conveyor 800 (hereinafter, each device) described in a high-level language. 122
Stores a program for editing the operation program of each device by the personal computer 300 or TP301 which is an input / output device. Reference numeral 123 stores a program for teaching an operation point of the robot 500 from the personal computer 300 or TP301 and editing point data or the like. A program for operating the ON / OFF of the output of the I / O unit of each device from the personal computer 300 or TP 301 is stored in 124. 125 is a personal computer 300 or TP
Reference numeral 301 stores a program for monitoring input information of the I / O unit of each device. Reference numeral 126 stores a program for editing the input / output signal allocation table and the I / O attribute area by the personal computer 300 or TP301. A multitasking OS program is stored in 120, and each device operates as a CP by operating the aforementioned program group in a multitasking environment.
Operates independently by U101. Reference numeral 127 denotes another control program, which is a storage unit for system programs such as serial communication and I / O serial communication.

FIG. 5 shows a RAM as an embodiment of the present invention.
FIG. 3 is a configuration diagram of software stored in 103.

In the figure, reference numeral 130 is a storage unit for the operation program of the robot 500. Reference numeral 131 is a storage unit for teaching points of the robot 500. 132 is the stick 6
00 is an operation program storage unit. A storage unit 133 stores the operation program of the stocker 700. 134
Is a storage unit for the operation program of the conveyor 800.
Reference numeral 135 indicates a scan (hereinafter referred to as a key scan) of operation switches provided in each device and an operating state of each device,
It is a storage unit of a program that performs a process of starting and stopping an operation program of each device. Reference numeral 136 is a storage unit for storing input / output signal allocation states. An I / O attribute area 137 stores input / output information data of the I / O unit and an input / output attribute table for selecting and designating input or output.
A common variable unit 138 is used by the operation task of each device to write an operation state, an error code, and the like.

Next, the flow of the program processing of the drive task will be described with reference to FIGS.

FIG. 6 is a flow chart showing an outline of a drive task program as an embodiment of the present invention.

In the figure, when the main controller 400 is turned on, the multitask OS starts the drive task if the switch designating the start of the drive task is ON when the power is turned on. In step S1, a flag that needs to be initialized is initialized, and in steps S2 to S5, operation management of tasks of each device is performed. Then, in step S6, error processing of each device is performed. The drive task is basically for managing the execution task of each device. However, when a serious error occurs, each device may be directly stopped in the error processing (step S6).

Next, details of the above-mentioned steps will be described.

FIG. 7 is a flowchart of stick operation management as an embodiment of the present invention.

In the figure, the stick 600 is pressed in step S35.
Determine if the is operating normally. In step S36, it is determined whether or not an error has occurred in the stick 600, and if an error has occurred, the execution task of the stick 600 is forcibly stopped (step S40). Step S37
Then, it is determined whether or not the stick 600 is operating.
In step S38, it is checked whether or not there is a component at the component supply position. If there is no component, the process proceeds to step S39, where the stick task is activated and the component output program is executed to output the component.

Next, the process of starting the stocker 700 will be described with reference to FIGS. 8A and 8B.

FIGS. 8A and 8B are flowcharts of operation management of the stocker as an embodiment of the present invention.

In the figure, it is checked in step S11 whether the stocker 700 is normal. In step S12, the error flag from the stocker 700 is checked. If there is an error, the execution task of the stocker 700 is forcibly stopped in step S27. Stocker 700 in step S13
Is operating, and it is determined in step S14 whether or not the power has just been turned on. Immediately after the power is turned on, the stocker task is activated, and the initialization program in the stocker operation program is instructed to be initialized (step S28). In the command "START 4; 2" of step S28 in this embodiment, 4 is a stocker task, and 3 is the number of the operation program (initialization program in this case) in the task. Commands of other steps have the same configuration. Step S15
The operation changeover switch of the stocker 700 is read with. In step S16, the automatic / manual mode switch is determined,
In the automatic mode, the process proceeds to step S17, and in the manual mode, the process proceeds to step S20. In step S17, it is determined whether or not there is a pallet, and in step S18, it is determined whether or not there is a pallet replacement request. In step S19, the stocker task is activated and pallet exchange is performed by the pallet exchange program. In the case of the manual mode, the ON / OFF of the start switch is confirmed in step S22, and step S29
~ In step S32, depending on the state of the operation switch read in step S15, the stocker task is activated together with an instruction to execute each operation program in the stocker task, and the pallet (not shown) is loaded or unloaded, and the elevator is moved up or down. Let

Although a detailed description of the start-up processing of the robot 500 and the conveyor 800 is omitted, by referring to the common variable section 138 of each apparatus in advance, the same key scan, status check, error check, whether or not in operation, The start / stop control of the robot 500 and the conveyor 800 is performed while determining the presence / absence of an interlock between each device and an operation request.

9A and 9B are flowcharts of error processing as an embodiment of the present invention.

In the figure, an error is detected in each device in steps S41 to S56, and when an error occurs, an error code is set and the error is displayed on the personal computer 300 or TP301.
In the error detection of the stick 600, the remaining amount of components is monitored (step S43), and when the quantity is less than a predetermined number, the main controller 400 or the personal computer 300 also issues an alarm (step S48). Similarly, in the error detection of the stocker 700, the remaining amount of the magazine 701 is monitored (step S50), and when it is less than the predetermined number, the main controller 400 or the personal computer 300 also issues an alarm (step S53). Step S5
In step 7, when a serious error occurs that the continuous operation of each device is impossible, the operation of each device is directly stopped without executing the execution task in step S58. Further, in a device in which forced interruption of the operation is dangerous, the output is output in step S
It is released at 59 and each device is brought into a safe state (for example, an emergency stop in the state where the induction motor is ON for vertically starting the stocker 700). In step S60,
After confirming that there is no error in each device, error display and error code cancellation are performed in step S61. Then, in step S62, it is checked whether or not the device is being activated. If the device is being activated, the activation output is turned on (step S63), and if it is not activated, the activation output is turned off (step S6).
4).

In this way, the drive task monitors the input state of the operation switch and the input of each sensor, and issues a command to start or stop each device while arbitrating the operation of each device.

The main controller 400 also has a DIP switch (not shown) for switching whether to activate the drive task when the power is turned on. The state of the switch is checked via the multitask OS when the power is turned on, and
In the case of N, the drive task is activated. By starting the drive task from the time when the power is turned on, it becomes possible to initialize internal flags for various processes, to operate only by operating switches, and to manage the state of each device. When the DIP switch is turned off, the drive task is not activated, so that the program and data can be edited.
The switching means may be operated by the personal computer 300 or TP301 instead of the DIP switch.

<Effects of Embodiment> (1) By referring to the common variable section 138, switches and sensor inputs are scanned while interlocking tasks assigned to each device, and the state of the entire automatic machine is checked. The operation task of each device assigned to the task is released from those processes by the drive task that controls the start and stop of the task of each device in a centralized manner We were able to. This simplifies the structure of the program and improves the processing speed. Furthermore, in operating devices, changes in operating switches and instantaneous sensor inputs are no longer overlooked, and operations corresponding to those inputs can be immediately executed. (2) Integrating key scan processing, which is always provided for irregular operation switch input and signal input from the operator and each device from emergency, into the drive task, so the actual operation is temporarily performed during the sequence operation of the entire automatic machine. It becomes easy to temporarily suspend (stack) the task corresponding to the stopped device under the control of the multitask OS. As a result, only the task of the operating device and drive task can
Since 101 can be exclusively used, the processing speed is further improved. (3) Since the operating state of each device is constantly known, complicated interlocks between the devices can be easily taken, and mistakes in programming can be reduced. (4) Since the error processing of each device is integrated into the drive task, each device can be quickly brought to a safe state when a serious error occurs in a certain device that constitutes the automatic machine. (5) With the switch for setting whether or not to start the processing of the drive task when the power is turned on, it is possible to reliably execute the processing such as initialization required only when the main controller 400 is turned on. Furthermore, since the setting state of all the operation switches can be grasped before the operation of each device is started by the monitoring function of the drive task, each device can be independently operated only by the operation switch of the operation panel 302. (6) Since the drive task does not stop while the main control device 400 is operating, the state of each device can always be accurately grasped, and a secondary malfunction may occur when restarting operation after an error. It can be done smoothly without. (7) RO for all device tasks and drive tasks
Since the CPU 101 can execute the program stored in the operation program interpretation execution unit of M102, only one CPU is required, which is advantageous in terms of cost. (8) Since the operation programs on all tasks including the drive task can be written in the robot language, all the programs can be written in the operation order, which makes the development of the operation programs easy to understand.

In the embodiment, the drive task program is written in the robot language, but it is not limited to this.

At least one device constituting the automatic machine is
If so, the effect of the present invention will appear. Further, it goes without saying that the present invention can be applied to the case where it is achieved by supplying a program to a system or an apparatus.

[0048]

As described above, according to the present invention, in parallel with the operation of each device that constitutes an automatic machine, the operating state is comprehensively managed while arbitrating each device, and the operation of each device is controlled. Operation monitoring / starting / stopping can be performed safely and reliably in all operation processes. That is, it is possible to bring about effects such as improvement of operability, improvement of development efficiency of operation programs and maintainability, and ensuring of safety in case of malfunction.

[0049]

[Brief description of drawings]

FIG. 1 is a system configuration diagram of an automatic substrate mounting apparatus to which an embodiment of the present invention is applied.

FIG. 2 is a diagram showing a configuration of a main control device to which an embodiment of the present invention is applied.

FIG. 3 is a configuration diagram of main controller software as one embodiment of the present invention.

FIG. 4 is a configuration diagram of software stored in a ROM 102 according to an embodiment of the present invention.

FIG. 5 is a configuration diagram of software stored in a RAM 103 according to an embodiment of the present invention.

FIG. 6 is a flowchart showing an outline of a drive task program as an embodiment of the present invention.

FIG. 7 is a flowchart of stick operation management according to an embodiment of the present invention.

FIG. 8A is a flowchart of operation management of a stocker as an embodiment of the present invention.

FIG. 8B is a flow chart of operation management of the stocker as one embodiment of the present invention.

FIG. 9A is a flowchart of error processing according to an embodiment of the present invention.

FIG. 9B is a flowchart of error processing according to an embodiment of the present invention.

FIG. 10 is a software configuration diagram of an automatic board mounting apparatus as a conventional example.

[Explanation of symbols]

 60 NC Motor 61 Encoder Detector 62 NC Motor 63 Encoder Detector 64 Sensor Group 100 Upper Control Unit 101 CPU 102 ROM 103 RAM 104 Serial I / F 105 Serial I / F 106 Serial I / F 107 Serial I / F 108 Parallel I / O 120 multi-task OS program section 121 operation program interpretation execution section 122 operation program editing section 123 operation point teaching section 124 I / O output operation section 125 I / O input monitoring section 126 I / O attribute management section 127 other control sections 130 Robot Operation Program 131 Robot Teaching Point 132 Stick Operation Program 133 Stocker Operation Program 134 Conveyor Operation Program 135 Key Scan Program 136 I / O Allocation Table 137 I / O attribute area 138 Common variable part of each device 200 Position control part 300 Personal computer 301 Teaching pendant (TP) 302 Control panel 400 Main control device 500 Robot 550 Robot I / O 600 Parts supply device (stick) 650 Stick I / O 700 Stocker 701 Magazine 702 Work 750 Stocker I / O 800 Conveyor 820 Manual operation part 850 Conveyor I / O 900 Board

Claims (6)

[Claims] 1. A control device in an automatic machine comprising one or a plurality of devices, wherein an operation program of each device is individually assigned to a plurality of tasks and is controlled in parallel. It is provided with a means for storing data indicating an operating state and a means for interpreting the stored data, and assigns a program in which only specific operations of the one or more devices are described and described to independent tasks. And automatic machine control device. 2. The specific operation includes monitoring an operating state of the one or more devices by the stored data, interlocking the tasks by the stored data, and the one operation. 2. The control device for an automatic machine according to claim 1, wherein the command is a command to start and stop tasks of a plurality of devices. 3. An operation program of the one or more devices is stored in the storage means of data indicating an operation state of the device itself, and an operation step and a detection end and an operation end provided in the device. 3. The control device for an automatic machine according to claim 2, wherein an interlock in the operation step of is described. 4. The control device for an automatic machine according to claim 1, wherein it is determined whether or not the program described by integrating only the specific operation is started up when the power of the control device is turned on. 5. The control device for an automatic machine according to claim 1, wherein the program in which only the specific operation is integrally described and the operation program are written in a robot language. 6. The automatic system according to claim 1, wherein each task assigned to the operation program of the one or more devices can be suspended even while the control device is operating. Machine control device.