WO2011074518A1

WO2011074518A1 - Control system

Info

Publication number: WO2011074518A1
Application number: PCT/JP2010/072337
Authority: WO
Inventors: 直樹水野
Original assignee: 株式会社安川電機
Priority date: 2009-12-17
Filing date: 2010-12-13
Publication date: 2011-06-23
Also published as: JP2013037383A

Abstract

Disclosed is a control system for managing/acquiring load torque information of a drive shaft that is in a state of being associated with an execution block of a program executed by a controller, and associating the information with display by the program and displaying thereof, in a control system comprising a control device and an information display device. For such uses as machine tools or transport equipment, there has been a demand to understand what portion of a program was operating when a heavy load was incurred. In addition, in the maintenance phase as well, for changes caused by aging of a machine that is in operation or such cases as occurrences of anomalies, there has been a demand not only to understand an anomalous situation, but also what part of the program in which the situation had occurred, and what kind of behavior was being shown. However, there has been no such function in particular. The disclosed control system has been created so as to acquire/manage load torque information of a drive shaft in relation to a currently executed block of a program being run by a controller, in addition to setting a given constraint torque and, in relation to a spot that has exceeded a value that has been set, modifying a state display of the program.

Description

Control system

The present invention relates to a control system including a control device for controlling control devices such as a servo motor, an inverter, and an I / O, and an information display device for displaying the internal information thereof.

Machine tools, conveyor equipment, factory control equipment, etc. use multiple drive equipment such as servo drives, inverters, and I / Os. These are called control devices).

Also, these control devices often do not have their own information display screens, and they display internal program operations and machine operating status during device setup, program development, and device maintenance / operation. In order to do this, an information display device is often attached separately.

In a machine using such a control device, the motor load torque during driving is monitored, and if this torque exceeds a certain level, an overload alarm is issued to interrupt the machine operation or It is already known to reduce the load by lowering.
At this time, regarding the location where the alarm occurred, the display color of the corresponding program location displayed on the information display device is changed and the message is displayed to indicate what kind of alarm occurred at which part This is already known.

Similarly, since the tool load increases when the tool is damaged or worn, or when the machine operating part is worn, an apparatus having a function of detecting these abnormalities by monitoring the tool load on the drive shaft is already known.
When the machine is moved using the control device, depending on the machine configuration, the load in the drive section may fluctuate greatly due to the influence of gravity or a change in the moment of inertia. In such a case, not only overload of the drive shaft is detected, but how much load is applied in each part of the program and how much margin is available for the rated torque There was a request to understand in the area.
In addition, even if an abnormality occurs due to aging, damage, wear, or biting during machining in the maintenance / maintenance phase, it occurs anywhere in the program and what behavior There was also a request to confirm whether or not Further, there is a demand for not only grasping the abnormal state but also grasping the load torque generation state in the normal state in each part of the program.
Until now, some machine tools and the like perform tool life management using acquired torque information. (For example, see Patent Document 1)
As described above, conventionally, the monitoring of the load state based on the torque information is for the purpose of detecting the overload state or for the purpose of managing the tool life of the machine tool.

JP2004-102568

When using a control device for machine tool applications, the load on the tool may fluctuate greatly depending on the cutting path when cutting is actually performed. However, there is a problem that it is difficult to intuitively understand which part of the program is loaded and how much load is associated with the program.
In addition, when operating the control device, it is necessary to monitor not only the load torque of the shaft but also various data such as voltage and temperature. The user can see how these data change during execution of the user program. There was a problem that it was difficult to grasp intuitively in association with the program.
The present invention has been made in view of such problems, and is an information display device that can intuitively display not only overload but also how much load is applied in which part of the user program in association with the program. The purpose is to provide.

In order to solve the above problem, in the first aspect of the present invention, a control device for controlling a servo motor, an inverter, an I / O device, etc., and a user program connected to the control device and executed on the control device In a control system including an information display device that displays information, torque information that changes according to a user program, and other input information, the control device communicates with the information display device via communication I / F processing unit, program execution unit for executing and controlling the user program line by line, program execution line management unit for managing the execution line of the user program being executed, and drive axis during user program execution An execution information management unit that acquires torque information and stores the torque information in association with an execution line number managed by the program execution line management unit; The display device includes a communication I / F processing unit for exchanging information with the control device via communication, and an execution line number of the user program and driving by the previous communication I / F processing unit from the execution information management unit of the control device. Displays an execution information acquisition unit for acquiring shaft torque information at regular intervals, an upper / lower limit information setting unit for setting upper and lower limit torques for each drive shaft, and a user program currently being executed The program display unit displays a line of the user program currently being executed based on the execution line number of the user program acquired from the control device, and the torque of the drive shaft is set to a preset upper limit. The location of the user program that exceeds the value or the lower limit value is configured so that the user can easily see by changing the display state of the program.

According to the second aspect of the present invention, a control device that controls a servo motor, an inverter, an I / O device, and the like, and user program information that is connected to the control device and executed on the control device, or a user program In a control system comprising an information display device that displays changing torque information and other input information, the control device includes a communication I / F processing unit for exchanging information with the information display device via communication, and a user A program execution unit for executing and controlling a program in units of lines, a program execution line management unit for managing execution lines of a user program being executed, input data from an external device, and input to an external device An external device I / F processing unit for outputting output data, and acquiring input data information from the external device during execution of the user program An execution information management unit that stores an execution line number managed in association with the execution line management unit, and the information display device includes a communication I / F processing unit for exchanging information with the control device via communication. The execution information acquisition unit for acquiring the execution line number of the user program and the input data information from the external device at regular intervals from the execution information management unit of the control device, and the input from the external device An upper / lower limit information setting unit for setting an upper limit value and a lower limit value for data, and a program display unit for displaying a user program currently being executed, wherein the program display unit executes a user program acquired from the control device The line of the user program currently being executed is displayed based on the line number, and the input data from the external device exceeds the preset upper limit value or lower limit value. For the portion of the program, by changing the display state of the program, and configured so that the user can easily visually recognized.

According to a third aspect of the present invention, in the control system according to the first aspect, the information display device includes a torque display unit for graphically displaying the torque information of the drive shaft acquired by the execution information acquisition unit, and the execution information The change state of the torque of the drive shaft can be displayed in association with the execution line number of the user program acquired by the acquisition unit.

According to a fourth aspect of the present invention, in the control system according to the third aspect, the torque information is displayed by the torque display unit in one line of the user program using all data acquired at the sampling period of the control device. The change in torque was also displayed.

In the invention according to claim 5, in the control system according to claim 3, the torque information displayed by the torque display unit uses a value obtained by averaging the data acquired in the sampling period of the control device for each row of the user program. And configured to display.

According to a sixth aspect of the present invention, in the control system according to the third aspect, the torque information is displayed by the torque display section in one line unit of the user program among the data acquired at the sampling period of the control device. It was configured to display using the peak value.

According to a seventh aspect of the present invention, in the control system according to any one of the fourth to sixth aspects, the torque information displayed by the torque display unit is graphically displayed together with the upper and lower limit values set by the upper and lower limit information setting unit. Configured to display.
In the invention according to claim 8, in the control system according to claim 2, the information display device includes an external input display unit for graphically displaying external input information of the external device acquired by the execution information acquisition unit, The change state of the external input information of the external device can be displayed in correspondence with the execution line number of the user program acquired by the execution information acquisition unit.

According to a ninth aspect of the present invention, in the control system according to the eighth aspect, the display of the external input information by the external input display unit uses all data acquired at the sampling period of the control device, and the user program 1 It was configured to display changes in external input during the line.

According to a tenth aspect of the present invention, in the control system according to the eighth aspect, the display of the external input information by the external input display unit is a value obtained by averaging the data acquired at the sampling period of the control device in units of lines of the user program. Configured to display using.

In the control system according to claim 8, in the control system according to claim 8, the display of the external input information by the external input display unit is one line unit of the user program among the data acquired at the sampling period of the control device. It was configured to display using the peak value in the middle.

According to a twelfth aspect of the present invention, in the control system according to the ninth to eleventh aspects, the external input information displayed by the external input display unit includes the upper limit value and the lower limit value set by the upper / lower limit information setting unit. Configured to display graphics.

According to the first aspect of the present invention, by changing and displaying the program display state at a location exceeding the set upper limit torque, if the machine tool is executing a command at any location in the program, It is possible to intuitively understand whether the load is applied.

This makes it possible to easily grasp which part of the program should be changed in order to reduce the tool load when performing a cutting operation. Also, if it is a transfer machine, if the set upper limit torque is exceeded, the user can easily determine where to change or improve the program, such as increasing the acceleration / deceleration time in that section or reducing the weight of the work. It becomes possible to do.

According to the second aspect of the present invention, when machining is performed with a machine tool, a semiconductor manufacturing apparatus, or the like, the factors such as temperature, pressure, voltage, and light quantity other than the axial load torque are the factors that affect the target workpiece. Various factors can be considered depending on the object to be handled. These values depend on the driving section, such as “Temperature during work transfer in process A”, “Torque value during tapping operation in work process B”, “Insufficient light intensity during bottle transport in process C”, etc. Although often affected, it is possible to easily identify the program location where these abnormalities occur.

According to the third aspect of the present invention, it is possible to intuitively understand how the torque of the drive shaft changes corresponding to the execution line of the user program.
According to the fourth aspect of the present invention, it is possible to intuitively understand how the torque of the drive shaft changes in the execution line unit of the user program.
According to the fifth aspect of the present invention, it is possible to intuitively understand how the torque of the drive shaft changes on average in the execution row unit of the user program.
According to the sixth aspect of the present invention, it is possible to intuitively understand how the torque of the drive shaft changes in the peak value in the execution line unit of the user program.
According to the seventh aspect of the present invention, it is possible to intuitively understand how the torque of the drive shaft changes in comparison with the upper limit value and the lower limit value set in the execution line unit of the user program. It becomes possible.
According to the eighth aspect of the present invention, it is possible to intuitively understand how the input from the external device changes corresponding to the execution line of the user program.
According to the ninth aspect of the present invention, it is possible to intuitively understand how the input from the external device changes in the execution line unit of the user program.
According to the tenth aspect of the present invention, it is possible to intuitively understand how the input from the external device changes on average in the execution line unit of the user program.
According to the eleventh aspect of the present invention, it is possible to intuitively understand how the input from the external device changes the peak value in the execution line unit of the user program.
According to the twelfth aspect of the present invention, it is possible to intuitively understand how the input from the external device changes in comparison with the upper limit value and the lower limit value set in the execution line unit of the user program. Is possible.

1 is an overall configuration diagram of the present invention. In the information display device to which the present invention is applied, the program display is changed and displayed for a portion where the axial load torque exceeds the upper and lower limit values. In the information display device to which the present invention is applied, the torque information acquired together with the program display is displayed as a graph corresponding to the execution block of the program. In the information display device to which the present invention is applied, the torque information acquired together with the program display is averaged for each execution line of the user program, and is displayed in a graph along with the execution block of the program. It is an example of the data structure managed by the execution information management part of a controller.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a block diagram showing the configuration of the control system of the present invention. The control system includes two information display devices connected to one control device via a communication medium, and three servo drives connected via a network or the like. 1 control device executes 4 communication I / F processing unit for processing communication with 2 information display device, 6 program execution block management unit for managing which part of the user program is currently executed, and executes the user program 7 program execution units connected to the execution line of the user program and 5 execution information management units for managing and storing load torque information and input information from external devices for each control cycle of the control device From an 8-servo I / F processor that performs interface processing with a single-axis or multi-axis 3-servo drive, and from an external device I / F processor that acquires input data from various external I / O devices Composed. 2 information display device: 13 communication I / F processing unit for processing communication with 1 control device and 12 execution information acquisition unit for reading execution information of user program managed by 5 execution information management unit of 1 control device Acquired by the 11 upper / lower limit information setting unit for the user to set an arbitrary limit torque, the 10 program display unit for displaying the execution information of the user program acquired by the 12 execution information acquisition unit, and the 12 execution information acquisition unit The torque display unit displays the torque information in a graphic corresponding to the line of the user program, and the external input information from the external device acquired by the 12 execution information acquisition unit is displayed in the graphic corresponding to the line of the user program. 15 external input display section.

1 control device, acceleration, deceleration, constant speed movement to 13 servo drives corresponding to each control cycle from the movement amount and movement speed of each axis designated by the user program created in advance by the user as shown in FIG. Give a stop or other command. FIG. 2 shows an example in which the command position and the moving speed are given to the A1 axis and the B1 axis by the MVS command. One line of this user program is also called a block. Actually, in this one block, an acceleration command, a movement command at a constant speed, a deceleration command, and a stop command are sent to the three servo drives of the A1 and B1 axes. The load torque varies depending on this command or the position of the load.

1 control device executes a user program registered in advance in 7 program execution units while managing which line of which user program is being executed in 6 program execution block management unit. Load torque information is obtained from the 3 servo drives via the 8 servo I / F processing unit for each control cycle, and the 5 execution information management unit stores the torque information for each load axis obtained for each control cycle. Stored together with program execution line data. Normally, it is managed and stored using a ring buffer or the like. FIG. 5 shows an example of load torque information managed and stored by the 6 program execution management unit. In this example, the load torques of the X1 axis and the Y1 axis for each control cycle are stored together with the execution block information. In this example, the average value and peak value of the load torque in each program block unit are also recorded.

In the 2 information display device, the 12 execution information acquisition unit reads the load information managed and stored by the 5 execution information management unit of the 1 control device, and the load corresponding to the user program and its execution line using the 10 program display unit Displays torque information. The 11 upper / lower limit information setting unit allows the user to set the upper limit and the lower limit of the load torque for each axis in advance.

FIG. 2 shows a user program in units of lines using the torque information acquired by the 5 execution information management unit and the upper / lower limit information of the load torque set by the 11 upper / lower limit information setting unit in the two-information display device. In addition, it is an example in which the user program line portion where the upper limit and the lower limit set by the actual load torque during driving are highlighted is displayed. In this example, it is possible to intuitively understand that the load torque exceeds the upper limit and the lower limit in the user program lines of

line numbers

21, 22, 23, and 28.

In FIG. 3, the user program is displayed, and the line portion of the user program in which the load torque during driving actually exceeds the upper limit and lower limit is highlighted, and the actual load corresponding to this user program line is displayed. It is an example which illustrated torque as a graph. As a result, it is possible to intuitively understand how the load torque changes in the line of the user program and how much margin is provided for the set allowable value.

In FIG. 4, instead of displaying the load torque information obtained in every control cycle in the line unit of the user program as shown in FIG. 3, an example in which the value obtained by averaging the load torque in the line unit is displayed as a graph. It is. As a result, it is possible to intuitively understand how the average torque of the load changes corresponding to the user program.

Although not shown, it is also possible to display the load torque as a graph using the peak value in the user program line unit instead of the average value.

For example, when the present invention is applied to an injection molding machine, it is necessary to grasp the temperature at the time of injection and the pressure at the time of molding when creating a user program. Also, during operation, this information during the program operation must be monitored, and if the temperature or pressure becomes abnormal, it must be determined that the operation itself is abnormal.

In such a case, a temperature sensor or a pressure sensor is attached, and 1 control device can acquire these sensor signals using 9 external device I / F processing units. Then, the 5 execution information management unit manages and stores the execution block information of the currently executed user program in association with the input information from these external devices. 2 Information display device uses information acquired from external device instead of load torque information, and displays changes in input information from external device in association with execution line of user program as shown in FIGS. It becomes possible to do.

DESCRIPTION OF SYMBOLS 1 Control apparatus 2 Information display apparatus 3 Servo drive 4 Communication I / F processing part 5 Execution information management part 6 Program execution block management part 7 Program execution part 8 Servo I / F processing part 9 External device I / F processing part 10 Program display 11 Upper / lower limit information setting unit 12 Execution information acquisition unit 13 Communication I / F processing unit 14 Torque display unit 15 External input display unit

Claims

A control device that controls servo motors, inverters, I / O devices, etc., and user program information connected to the control device and executed on the control device, torque information that changes according to the user program, and other In a control system comprising an information display device for displaying input information,
The control device includes a communication I / F processing unit for exchanging information with the information display device via communication, a program execution unit for executing and controlling a user program in units of rows, and a user being executed A program execution line management unit for managing the execution lines of the program, and execution information for acquiring torque information of the drive shaft during execution of the user program and storing it in association with the execution line numbers managed by the program execution line management unit With a management department,
The information display device includes a communication I / F processing unit for exchanging information with the control device via communication, and an execution information management unit of the control device to execute a user program by a previous communication I / F processing unit. An execution information acquisition unit for acquiring line number and drive shaft torque information at regular intervals, an upper / lower limit information setting unit for setting upper limit torque and lower limit torque for each drive axis, and currently executing A program display unit for displaying a user program;
The program display unit displays the line of the user program currently being executed based on the execution line number of the user program acquired from the control device, and the torque of the drive shaft indicates a preset upper limit value or lower limit value. A control system characterized in that a user can easily view a portion of a user program that has exceeded by changing the display state of the program.
A control device that controls servo motors, inverters, I / O devices, etc., and user program information connected to the control device and executed on the control device, torque information that changes according to the user program, and other In a control system comprising an information display device for displaying input information,
The control device includes a communication I / F processing unit for exchanging information with the information display device via communication, a program execution unit for executing and controlling a user program in units of rows, and a user being executed A program execution line management unit for managing execution lines of a program, an external device I / F processing unit for inputting input data from an external device or outputting output data to an external device, and a user program being executed An execution information management unit for acquiring input data information from an external device and storing it in association with an execution line number managed by the program execution line management unit,
The information display device includes a communication I / F processing unit for exchanging information with the control device via communication, and an execution information management unit of the control device to execute a user program by a previous communication I / F processing unit. Execution information acquisition unit for acquiring line numbers and input data information from external devices at regular intervals, upper / lower limit information setting unit for setting upper and lower limit values for input data from external devices, and current execution A program display unit that displays the user program
The program display unit displays the line of the user program currently being executed based on the execution line number of the user program acquired from the control device, and the input data from the external device has a preset upper limit value or lower limit. A control system characterized in that a user can easily view a portion of a user program that exceeds a value by changing a display state of the program.
The information display device includes a torque display unit for graphically displaying the torque information of the drive shaft acquired by the execution information acquisition unit, and is driven in correspondence with the execution line number of the user program acquired by the execution information acquisition unit. 2. The control system according to claim 1, wherein a change state of the torque of the shaft is displayed.
4. The display of torque information by the torque display unit also displays a change in torque in one line of a user program using all data acquired at a sampling period of the control device. Control system.
4. The control system according to claim 3, wherein the torque information displayed by the torque display unit is displayed by using a value obtained by averaging data acquired at a sampling period of the control device in the previous period for each row of the user program.
4. The torque information displayed by the torque display unit is displayed using a peak value in one line unit of a user program among data acquired at a sampling period of the control device. The described control system.
7. The control system according to claim 4, wherein the torque information displayed by the torque display unit is graphically displayed together with an upper limit value and a lower limit value set by the upper / lower limit information setting unit.
The information display device includes an external input display unit for graphically displaying input information from the external device acquired by the execution information acquisition unit, and corresponds to the execution line number of the user program acquired by the execution information acquisition unit. 3. The control system according to claim 2, wherein a change status of the external input information is displayed.
The display of external input information by the external input display unit also displays a change in external input in one line of a user program using all data acquired at a sampling period of the control device. 8. The control system according to 8.
9. The control according to claim 8, wherein the display of the external input information by the external input display unit is performed by using a value obtained by averaging data acquired at a sampling period of the control device in units of lines of a user program. system.
The display of external input information by the external input display unit is displayed using a peak value in one line unit of a user program among data acquired at a sampling period of the control device. Item 9. The control system according to Item 8.
12. The control system according to claim 9, wherein the external input information displayed by the external input display unit is graphically displayed together with an upper limit value and a lower limit value set by the upper / lower limit information setting unit.