JPS58140811A - Controllable and programmable sequence controller using branch symbol - Google Patents

Abstract

PURPOSE:To facilitate the programming work, by controlling a sequence program by means of branch symbols. CONSTITUTION:A CPU unit 10 transfers the contents of a sequence program memory 12 to I/O module 14 and controls input/ouput modules 16 and 18. An accumulator which writes the ON/OFF state of the address designated input/ output point of a sequence program is provided to the CPU10 along with a push- down stack which writes the intermediate result written to the accumulator and a branch start symbol showing a relay ladder circuit. Then the intermediate result written at the lowest place of the push-down stack is fetched out to a prescribed branch end symbol. Then a logic operation is carried out between the intermediate result and the contents of the accumulator, and the result of this operation is written to the accumulator. In such a way, the programming work is facilitated.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides a programmable sequence controller (
There is a programmable sequence controller 9KIl which enables control of sequence programs especially in the image of a relay sequence (hereinafter referred to as PC).

In general, sequence control involves combining relay elements to create a relay path, and configuring this relay circuit to make a one-time decision and to perform a sequential repetitive operation as a whole. Nowadays, programmable means using a computer is used to carry out the arithmetic processing for logically determining relay times and I/O in the sequence control. Therefore, the device that performs such sequence control is called Vrpc.

Conventionally, as a control method for this type of PC, there is a method in which the pool algebra is converted into gIL using the port-two notation method, and the execution order of the relay circuits is controlled.

A method is adopted in which a jump command is used to control one resistance circuit. Control methods using pool algebra, such as the relays shown in Figures 1 and 2,
The 2-dar circuits are expressed and controlled by the following equations.

X/-(XJ-XJ+Xj-(XJ-X7+Xf-XF
))-Xs=Y/... tl) X/, (XJ-Xj+Xj@X4), 1t=YJ ・
・・・・・・−・+2) As is clear from the above equations (1) and (2), in the control equation using pool algebra,
Even though the relay coil parts have the same form, the calculations are different. That is, in the relay ladder circuit shown in hII'rIA, the koji layer symbol after the relay line point The logical symbol is ")"
'', this ninth point, in this way, when the relay ladder circuit is programmed, the relay sequence circuit diagram and the command word cannot correspond in a proper form, and the symbol becomes complicated and becomes the command word. This makes the programmable work complicated.

Therefore, in order to overcome the above-mentioned nine conventional relay sequence circuits in PCs, the inventors of the present invention conducted a study meeting with woodmen to solve the above-mentioned problem. and for each symbol representing each instruction in the output.

A relay sequence can be created by combining a branch-interval instruction with a chain-point instruction to enable a program layer, and by configuring the branch termination instruction to be handled independently and perform arithmetic processing that performs a layer-like judgment. It was discovered that the circuit diagram and command words correspond in a 1:10 format, simplifying programming work and making PC use more efficient.

Therefore, an object of the present invention is to make it possible to perform a sequence program using branch symbols by associating a relay sequence circuit with a command word and integrally combining a branch symbol and a contact symbol. An object of the present invention is to provide a programmable sequence controller that can be easily operated.

Ninth to achieve the above object, the present invention provides a 74 sequence controller configured to read out a sequence program from a memory storing the sequence program and perform arithmetic control of input and output signals. In the input/output module twfiJ, the input/output module twfiJ transfers between the sequence program 2m 11104 module
111tThe address specification of the sequence program is written into the accumulator along with the on/off state mt* of the nine output points and the code of the branch start symbol indicating the relay 2 circuit is written into the accumulator. Bushdown stack, to write Guan Yui Zhu!
: taff, take the specified minute @ end shift/pol KN and take the Nakaseki Yume written 1 to the bottom of the bush down stack 9
Take out the contents of the accumulator and @Salted 3I! It is characterized in that it is configured so that the result is convoluted into the t accumulator.

In the previous yoy programmable sequence controller, the bushdown stack is a pit section that stores the code of one branch symbol, and an intermediate calculation result of the accumulator.
41 from the bit part to save! If you can do it, it will be suitable.

It is preferable to integrate the single-branch detailed instruction and the image point instruction so that they can be controlled by a t-branch symbol.

Next, controllable two-date with a branch symbol that goes from one to 111! Pull sequence controller PC I will clarify.

1117WA is a good example of the relay ladder display in the PC of the present invention. That is, the vertical direction and the horizontal direction are each divided into predetermined dimensions, and a grid is set, and the vertical direction at the left and right ends is set as a common. It is configured to write the symbol , and write the relay group road O branch symbol between the vertical dotted lines forming the grid at.

Next, in one output, a contact point to be displayed in the above display mode,
Output 1 minute @ instruction tII symbol is linear //@
− shall be basically used.

a, contact commands and output commands Hf, -0- not) Each of these commands is encoded and forms a command word together with an address code that defines the address.

Therefore, in the case where the relay ladder route is mapped using the dangerous relay symbol as described above, the one-way display is performed based on the following principle.

Member IJ /.

The branch from the leftmost common narrow is an l-out cuff branch. The relay ladder circuit shown in Figure a.

According to this @, it is expressed as shown in the first-bk.

Principle 2 The next 90 minutes instruction to the down branch is omitted (Part 3-a,
(See section b). The instruction code for this pigeon coop is Planqui.

Hara Makoto u1 Do not use enough Fu Fi. Therefore, the analogy is 1sj lI
According to the present invention, the relay ladder circuit shown in a lc is expressed as shown in Figure j.

The 11I order of the fit law even program is to perform the first four-gram from the top row at the left end of the relay 2-dar link, and the branch end point (code 7′ 9 is the symbol H) K Natsu 9 o 1 branch - Return to the next line after the starting point (symbol T). In addition, when there is one or more branch starting points, the process is performed from the inside. Further, at the branch end point (symbol), the process returns to the line of the branch end point (code/15). Therefore, for example, as shown in the diagram 61111Ij, the relay 2 circuit which has been amended is programmed in the order of ① to ②D.

Furthermore, the contents and operations of the instructions used in the present invention will be explained.

(1) -1) - The -m point instruction of the command is specified and the nine power point o;
Execute to write the obtained monosalt product to the red t accumulator.

This branch instruction writes the lower part of the branch symbol and the 7th accumulator's Yaseki Yushu to the bushdown stack, and writes the on/off state of the addressed 9th point to the accumulator K.
Run it so that it is fully loaded.

(3) H-+- instruction ゛This branch instruction writes 1 branch symbol and the intermediate result of the accumulator into the bushdown stack, and transfers the on/off state m of the nine points of effort to the accumulator K.
Run to install IFII.

(4) L-lhi instruction This branch instruction is executed to write the intermediate result of the branch symbol L and the accumulator to the pushdown stack, and to write the address estimated and on/off state lIk of the nine power points to the seven accumulator.

(5) -6- Instruction This output instruction outputs the on/off fluctuation of the accumulator to the output point whose address is estimated.

Execute to set the accumulator t-on.

(6) @ Instruction This branch instruction is executed according to the 70-chart shown in FIG. That is, when a branch instruction gate is read out, first, if the lowest branch symbol 7-be 1 branch symbol of the bushdown stack is T, C0UNT=COU.
Compute NT 10/ and end the * line. Also, when the lowest branch symbol of the bushdown stack is L, the lowest intermediate result of the bushdown stack (POP-B
) II - Accumulate the logical sum (Aoa = MuC x 10B) with the contents of the accumulator (Aoo), fold the result into the accumulator, and divide the result into the division symbol ti below.
tm bell routine KAru. after that.

When the branch symbol is T, take out the lowest intermediate result (POP-B) of the bushdown stack and logically AND it with the contents of the accumulator (Aaa) (Aoa=Aso
・B) Find the meeting and write the result to the accumulator.

and.

The C0UNT(Z) value is checked, and if it is 00, execution ends.

However, when the value of C0UNT is other than O, C0UNT=
The routine KIN performs the calculation of COUNT-/ and counts the number below the touched symbol.

Therefore, wFf with 1 branch symbol takes out the last intermediate result (pop-B) of the bushdown stack,
Logical sum with the contents of the accumulator (Aaa = Aoa
+11) Find f, write the result to the accumulator and execute [#! Complete.

(7)'' This branch instruction is executed according to the flowchart shown in FIG. In other words, when the ``1 branch instruction'' is found at 1, the lower limb symbol t-piece 1 branch symbol of the bush town stack 0IIIk is found at 10 o'clock, the lower intermediate result of the bush town stack (POP-B ) [
Then, find the logical sum (muoo=Aao 1B) with the contents of the accumulator (mu00) and write it to the but accumulator. Next, it descends to the bottom of the bushdown stack and examines the next branch symbol t.If the first branch symbol is other than t, the routine determines that the first branch symbol t-examines. Note that when the branch symbol is ``T'', the branch symbol on the bushdown stack is L6cii from ``T'' and executed [end]. Nine.

When the branch symbol is at the bottom, the last intermediate result of the bushdown stack (poP-B) is obtained by calculating &(mooo=Acs・Bi) based on the content of the accumulator.
The result is loaded into one cumulator Kll. And C0
When the value of UNT is 00, the execution ends. However, when the C0UNTO value is other than o, C0UNT=
Return to the COUNT-/ operation t-stroke 5 branch symbol t-turn routine. So 1 minute symbol card Ct)Wi
& is the lowest intermediate result (p
op-m) 1, find the sum of the accumulator's internal medicine (Aoo = Aoa + B) i, and the result is t
Convolution into accumulator f: End.

(8) Instructions, - "+mu instructions, + instructions, -+- instructions These b contact instructions and their branch instructions
In the execution of (4) regarding the a contact.

It is only necessary to negate the on/off state of the input point with the address finger or foot, and the other execution contents are exactly the same.

FIG. 2 is a diagram illustrating an IJ control route for a PC according to the present invention, which uses the above-mentioned series of relay symbols and performs sequence control operations according to the contents of each command. That is, in M9-, the reference code IO is the CPU unit, / is the sequence program unit, /pu11
0 module interface, /tu included 1'JMo'/
Yule, /I indicates an output module, in this case.

CPU unit IO and sequence program 2 memo 9/2
and I10 module interface/4' butterfly,
tL4: tL control path BL/.

Mutual K from address bus BLλ, data bus BLJ K
IN continues. It was bottled. 10 module interface/reference and input module 16 and output module/I 10 control bus BLu% 11
0 address bus BLj.

They are interconnected by an I10 data bus BL4.

In a PC with such a control circuit, y9TII
The KCPU is programmed based on the method described above and loaded into the KCPU program memory.
The unit IQ accumulator is turned on and C0
When the UNTo value is set to OK, the CPU unit IO outputs the sequence program from the sequence program memory 2. The sequence program read out in this way reads out the contents of each command according to the instruction code. Healthy input modules 14 and 110
Module Inme 7 Ace I In this case, in the present invention, 1 is the branching start symbol T, t- or LK of the relay ladder circuit, so that the branching island starting symbol (!: both K j bit This is accomplished by placing the T-branch end point symbol H or 9 o'clock in the unit's flush-down stack, performing program control according to the flowcharts shown in Figures 7 and 1, and placing the sequence circuit. , the memory format of the bushdown stack created is composed of multiple stages of KJl bits as shown in Figure 10, the first l bits of Jl are used for storing branch symbols, and the l bits after I & are used as intermediate bits of the accumulator. theory 311
Used for preserving ayu vermilion. Incidentally, each branch symbol is coded - for example, 7=oo.

G = oi, L = io. The intermediate calculation result of 11th A middle Yumreme is displayed as 1 normal/~ri.

Next, the sequence 1 in the present invention pclc will be summarized in 91&, and a specific example will be given.

First, as a specific example of a sequence circuit, the relay ladder (9) shown in Figure 1 is used, and the circuit shown in Figure 11 is a circuit in which the program command Kll in the PCK of the present invention is replaced.

K like this, 1111th! ! JK showing sequence-
When the power is turned on after loading the program into the sequence program memory and turning on the power, the accumulator of the CPU unit is set to the on state after the output command, and the leftmost bus bar is on, and the noodles of C0UNT are also set to the on state. It becomes O. The sequence circuit shown in Shun5li4//Yu is executed according to the procedure shown in Table 1.

Please visit m1ll/at below to learn more about the execution of the sequence.

■ →H-The instruction is read from the sequence program memory and the accumulator of the CPU unit is loaded.
-m operation of o@X/ is performed.

- "When the HH instruction is read from the sequence program memory, the contents of the accumulator (10 = I get caught up in it.

When the →H instruction is translated from the sequence program memory, the accumulator performs the operation AoowAaa.XJ, and as a result, Akiemreme kriXko.

■ '-1) - When one instruction was read from the sequence program memory, the contents of the accumulator (MU・o=XJ@XJ) along with the one-branch symbol L were written to the bottom of the bushdown stack first. Enter the contents while mumbling.

The bottom stack is KL,
T on the upper stack of Xco/XJ.

Xj is written to 1. Moreover, Xj is convoluted into the accumulator.

When read from the stack, the contents of the accumulator (mu aa = Also, #'iX4° is enriched in the accumulator.

[Yes] - When the gate instruction is read from the sequence program memory, Aoo==Aao in the accumulator
The calculation eX7 is performed, and as a result, X≦·Xj is written in the accumulator.

(2) When the H instruction is read from the sequence program memory, the CPU unit executes the sequence shown in FIG. At this time, since the lower branch symbol is the lower one, the C0UNTO value is incremented by t and the execution cycle of the 74-chard shown in FIG. 7 is completed.

@L-41 - When the instruction is read from the sequence program memory, the contents of the accumulator (A@a = It is written while mentioning the contents. Also, the accumulator KFiXI is written to.

■ -H←When the instruction is read from the sequence program memory, the accumulator performs the operation AoowAaa・Xde, and the result is Akinimre fiKFiXI@
X will be written.

``When the instruction is read from the sequence program memory, the CPU unit executes mar shown in FIG. 91. At this time, since the branch symbol at the bottom of the bushdown stack OS has been set, the logical sum of the contents of the accumulator and the intermediate result at the bottom of the bushdown stack is m, and as a result, the accumulator contains Xj −Xj.
+XI @XP C) 94 calculations 1m1N) i will be written. At this time, the contents of the bushdown stack are popped, and the bottom of the bushdown stack is TX.
z loses.

Next, the bush down stack LD wax lower 7l1llI
Since the tongue and one-branch symbol are at the bottom, the product of the contents of the accumulator and the lowest #P result of the bushdown stack is calculated, and as a result, dX is added to the Gecumulator.
The calculation result of j.(Xj.X7+XI-Xri) will be written. Also, at the time of jin, the contents of the bushdown stack are popped, leaving LX, 2.Xj at the bottom of the bushdown stack.

Next, if you check C0UNT t, you will find that its core is not O.
I can't do it. So, if we look at the lowest branch symbol tX of the pushdown stack.

The branch symbol is L. Ninth, the contents of the achiemulator and the lowest intermediate result of the bushdown stack are computed, and as a result, the achiemulator contains
The calculation result of Xj.(X4.X7+XI.Xri) is convolved. At this time, the contents of the bushdown stack are popped, leaving only T x / at the bottom of the bushdown stack.

When the bottom of the stack is pressed down.

Since the branch symbol is at the bottom, the contents of the achiemulator are ANDed with the lowest intermediate result of the bushdown stack, and the result is Performance 1 result #1 will be included. At this time, the contents of the bushdown stack are popped and the contents of the bushdown stack are emptied. Examining the 6th KsCOUNT, we get
Since the value is O, the execution cycle of the @I diagram O flowchart is ended.

■ When the −U−kanrei is read from the sequence program memory, the accumulator is loaded with the memory oa==Aoa・X.
As a result, the accumulator contains
X/(X-・XJ+Xj, (X4,X7+)l @X
9)) OKNm will be written.

When the @-@- instruction is read from the sequence program memory, the contents of the achiemerator (XIeX/-(XJ
*Xj+Xj*(X4@X7+X#@)l))) is output to the relay coil.

Achiemulator is set to /.

By executing the above sequence program, the entire construction of the sequence circuit shown in the figure can be completed.

As is clear from the foregoing, one PC according to the present invention
The K twist is that the classification start command and the contact command that constitute the relay sequence circuit are integrally combined, and the sequence program is controlled by the start symbol at minute t#, so the relay sequence circuit and the command word are It corresponds to l to l, and has the advantage that it is possible to control the sequence bloctom using m symbols, making detailed programming work easier.

Above 1 preferred 5 of the present invention! Of course, various design changes may be made without departing from the spirit of the present invention.

[Brief Description of the Drawings] Figures 1 and 3 are circuit diagrams each showing an example of a relay ladder circuit, and Figure 3 is an explanatory diagram showing a display IIl diagram of a relay ladder circuit applying PCK according to the present invention. @Reference figures a, b and #Ij figure a. bFi is an explanatory diagram showing the state m of converting the public display IIA of the conventional relay ladder circuit into the display mode of the relay ladder circuit widely used in the PCK of the present invention, where the island is the conventional relay ladder circuit % b is the display of the present invention Figure 1 shows the mode #4 of the present invention.
Figure 7 of the explanation summary showing the program hand of the relay ladder (2) path in the PC is a flowchart diagram when performing program control in the branch end point symbol-IK, l
1m2 is a control 11 route diagram showing an embodiment of the control system of the PC of the present invention,
Kitioen is a memory format diagram of the bushdown stack used in the PC of the present invention, @ii@ is a diagram of the relay ladder circuit shown in 1s/- converted into a relay ladder (b) path applied to the PC of the present invention mt FIG. /I...Output module BL/...Control ML code...Address no. FIG, 9 8- m-] FIG, 10 Knee FIG, 11

Claims (3)

[Claims] (1) A sequence program [memorizes and reads out a sequence of 10 grams from a 9-memory memory and performs input/output lI calculations].
'6 Input/output points 01 and 9 of the sequence program addressed to the CPU unit to be transferred to and from the module input/output ace
Accumulator I to write mm and relay ladder times *1
* A bushdown stack is provided in which intermediate results are written to the above-mentioned Akiemre along with the code of the branch start symbol shown, and a bushdown stack is provided at the bottom of the bushdown stack for the branch end symbol with a fixed Pk. 9th grade l
'll13iB A side-by-side WIm&7'O/ramaple sequence controller with a branch symbol that is configured to take out the 13iB vermilion, perform a field operation with the contents of the Akinimreme, and write the result to the Accumreme. (2) Scope of Claims - Glogrammaple Sequence Control of the First Record? The bushdown stack has a bit part that stores the code of one branch symbol,
A grammatical pull sequence controller that can be controlled using branch symbols and a bit section that stores intermediate calculation results of an emulator. (3) In the program 2 mapple sequence controller described in Section 1, Section 7 and Section λ of the Section 1 of Section 1 of the %Allowance Request, one branch start instruction and a zero point instruction are integrated, and this is configured to obtain IIIJIIL using a branch symbol. Nanolog 2mable sequence controller controllable by branching symbols.