KR900008537B1 - The controller and its method of high level language program and off-line program - Google Patents

Abstract

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Description

Controller by advanced language and offline program and its control method

1 is a detailed block diagram of a control circuit to which the present invention is applied.

2A and 2B are flowcharts showing one embodiment of the control method of the present invention.

The present invention relates to a controller (hereinafter referred to as a controller) and a control method for moving an apparatus using a DC servo motor and a step motor, such as a robot, an automatic inserter, a machine tool using an XY table, and a program using a high-level language. The present invention relates to a control method of a controller by an offline program and an apparatus for accommodating the same.

The conventional controller relates to a control method of the controller as shown in FIG. 1 and an apparatus for accommodating the same.

Conventional controller is connected to an external device (DC motor, robot using a step motor, robot, insert airflow, etc.) as shown in Figure 1 to drive the motor and monitor the operation state of the motor interface W-axis and I / O interface unit connected to the unit, external sequence controller or switch or sensor and signal indicator, counter and digital analog converter unit, CPU board and auxiliary CPU board to control the overall operation of the controller, program and It consists of a memory board for storing position data, a teaching box for inputting the position of the motor and the shape of the mechanism, and an interfacing board for interfacing the teaching box and the CPU board.

However, the above-described conventional controller does not have an interface circuit with a printer, an auxiliary memory device, and an external computer. Therefore, it is impossible to program by a high-level language or a program by offline, so that only a repetitive operation can be instructed by location data designation.

Therefore, when using a conventional controller and its control method, the data input method for driving a device connected to the controller is limited, and the controller can be used alone, but can be controlled by one computer by connecting a peripheral controller or several controllers. There was a problem in that the system configuration was impossible, and the program of the computer itself had to be changed when the connected device was changed.

The present invention improves the above-mentioned problems and designs and manufactures a controller capable of executing a program written in another external computer, thereby providing a controller for improving work efficiency and function by replacing a program with one controller. There is a purpose.

In order to achieve the above object, in the present invention, a program loader and an operation instruction and state of a controller are displayed on an existing teaching box for a problem in which a data input method for driving a device connected to a controller is limited. The control panel can be connected to an interfacing board to use the high-level language to instruct the location data and the driving method of the device.Therefore, by interfacing with an external computer, information can be exchanged and offline programs can be executed. Allows the controller to be controlled simultaneously from an external computer.

The control method of the present invention applied to the controller as described above will be described in detail with reference to the flowchart of FIG. 2 attached to the present invention.

When the power of the controller of FIG. 1 is applied to carry out the present invention, power is applied to each part by a power supply device not shown in the drawing to operate the CPU of the CPU board to execute a program embedded in the CPU board and the memory board. Will be performed. The operation sequence of the controller by the program is the same as that of the flowchart of FIG.

When the controller starts to operate, it first initializes the memory area to be used by the CPU to the corresponding values and at the same time initializes the state of each motor shaft. Then, the program's auto run mode is executed and depending on the setting, auto run or next mode check is performed. At this time, if it is set to automatic execution mode, check whether there is a stored program, and if there is no stored program, execute the next mode and if it is set to automatic repeat execution after execution, continue to run the program. . This repetitive operation is repeated until there is a mode change, and when the mode change occurs, the controller operates in the corresponding mode.

If the program is not set to auto run mode, check whether it is in offline program mode. In the offline program mode, control is performed according to a command given from an external computer. After the control by the external computer is finished, the control is continued in the same manner as when it is not in the offline mode.

The interfacing board then outputs a greeting message to the teaching box, control panel and program loader to determine which mode to execute.

The mode setting input signal of the mode setting switch attached to the control panel is transmitted to the CPU in the CPU board through the interfacing board via the control bus and the data bus to determine the mode setting state.

The mode set by the control panel is 1) operation mode by program loader, 2) operation rod by teaching box, 3) auto-calibration mode, 4) program step execution mode, 5) program 1 cycle There are eight modes of execution mode, 6) program selection mode, 7) program automatic execution mode, and 8) offline program mode.

The above eight modes perform control according to which of the eight modes is set as in the flowchart of FIG. 2, and FIG. 2 shows which mode is set to 1) -2) -3 ) -4) -5) -6) -7) -8) is an embodiment of the present invention configured to proceed with the procedure. Since the inspection order does not affect the operation of the controller at all, even though these orders are randomly rearranged, they all perform the same operation. Therefore, the number of indexes in this order is 8! = 40320.

In the flowchart of FIG. 2, the mode of 1) to 6) is executed to the position of (C) after the corresponding routine is executed, and the mode of 7) is performed to the position of (a), and the control of 8) is performed. The mode is performed with the position of b).

1) In the operation mode by the program loader, when all control commands of the controller are given from the program loader and the transfer of control commands is completed, the controller returns to the position of (C). 2) The operation mode by the teaching box is the key of the teaching box. When the controller is controlled by the operation and the new mode is selected, the flow of control returns to the position of (C). 3) In the automatic measurement mode, the sensor and the analog analog converter, the motor interface, the W-axis and the input / output interface are controlled. The servo-pack and stepper motor drive unit executes auto-calibration, which sets all the motors and sets a reference point for performing the control, and then the control moves to (C) after the execution.

4) In the program step execution mode, user programs stored in the memory board or CPU board are divided by one step in order. To move to the next step after one step, the user executes the 'Run' switch or the program loader of the control panel. When the 'execute' switch is inputted, the input signal is transmitted to the CPU board through the interfacing board and the bus line so that the CPU receives the signal and executes the next step command.

5) Program 1 cycle execution mode is slightly different from the above 4) mode, and the program stored in the memory board or CPU board is executed once from the beginning to the end, and then it moves to (C). 6) In the program selection mode, select the program to be executed among the programs stored in the memory board or the CPU board, and then move to (C). 7) In the program automatic execution mode, move to the point (a) and Program automatic execution mode is checked. 8) In offline program mode, go to point (b) and check whether the automatic offline execution mode is executed.

This whole operation is repeatedly executed in the flow as described above, the power supplied to the controller is cut off, and the operation is stopped.

The present invention operating as described above may be configured in any number according to the type and number of motors and motor driving units connected to the controller in FIG. 1, and thus the number of counters and digital analog converters and motor interface units. Can be adjusted.

According to the present invention as described above, since a conventional controller does not use a method of programming as a high-level language using a control or a program loader by an external computer, the controllers are controlled according to the type or operation of the device to be controlled using the controller. The control panel that solves the problem of using different controllers, can control various devices by one controller, and also the operation loader and status display of the program loader and controller that inputs / modifies / executes high-level languages. Since using only a teaching box for the device operation when controlling a plurality of controllers, there is an advantage of using only one teaching box when using a plurality of controllers.

Claims (2)

Inputs the motor interface to control the DC servo motor and step motor drive signals through the motor drive unit, the W-axis and input / output interface, the teaching box to input the position of the motor and the type of the mechanism, and the program of the high-level language. And a CPU board having a program loader for performing / modifying / executing, a control panel for controlling operation instructions and a status display, an interfacing board for interfacing the teaching box, the program loader, the control panel, and a CPU, and a system control CPU. A controller by a high-level language and an offline program, characterized in that the configuration. A method of controlling a controller, the method comprising: determining a program automatic execution mode in a system initialization state, executing a stored program in a program automatic execution mode, and repeatedly executing the stored program when an automatic repeat execution command is present; and automatically executing the program. A step of executing a program in accordance with a command of an external computer in an offline program mode when the mode is not in a mode; and generating an output signal (Greeting Message) to the teaching box, the control panel, and a program loader when the program is not in the offline program mode; After the execution of the three steps, the operation mode by the program loader, the operation mode by the teaching box, the auto-calibration mode for setting the reference point, the CPU internal program 1 step execution mode, the CPU internal program 1 cycle execution mode , CPU's built-in program selection mode, the program automatic execution mode The method of controlling a controller according to the program by the high-level language to the off-line mode, the program being configured to step an an repeat the random order books and off-line programs.

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