CN113597584B - Display support program, computer-readable storage medium storing the program, display support method, and display support system - Google Patents

Abstract

The display support program (12 b) causes the computer (10) to execute: a parameter reading step (S11) for reading out a synchronization parameter (12 f) from a synchronization control program (12 d), wherein the synchronization control program (12 d) is configured by combining a plurality of software modules, each of which has, as input variables, identification information of a main shaft serving as a reference of operation and identification information of a slave shaft linked with the main shaft, and is described by an FBD; a mechanism element map selection step (S12) for selecting mechanism element maps (123 a-123 e) corresponding to the synchronization parameters (12 f) read in the parameter reading step (S11); a mechanism diagram generation step (S13-S16) for generating a mechanism diagram (12 g) by combining the mechanism element diagrams (123 a-123 e) selected in the mechanism element diagram selection step (S12); and a display step (S16) for displaying the mechanism map (12 g) generated in the mechanism map generation steps (S13-S16) on a display screen (14 a) of a display device (14).

Description

Display support program, computer-readable storage medium storing the program, display support method, and display support system

Technical Field

The present invention relates to a display support program, a computer-readable storage medium storing the program, a display support method, and a display support system.

Background

In the motor control, a control for matching the operation timing of the main shaft serving as the operation reference and the operation timing of the slave shaft linked with the main shaft is referred to as a synchronous control. Conventionally, the main shaft and the sub-shaft are mechanically interlocked via a cam, a gear, or the like to perform synchronous control. However, in recent years, in order to achieve a smaller size and higher performance of the device, in many cases, synchronous control is performed by individually controlling the motors to electrically interlock the main shaft and the sub-shaft.

In order to perform such synchronous control, it is necessary to create a synchronous control program, and it is generally necessary to describe the operation of a plurality of slaves. Here, for example, the functions of the respective axes such as the cam operation and the gear operation are modularized, and the modularized software modules are combined to create the synchronization control program, thereby simplifying the creation process of the synchronization control program.

The combination method of such software modules for synchronous control is roughly classified into 2 combination methods. One of them is a method of setting a software module for synchronous control as a subroutine using a general-purpose language such as a ladder language, FBD (Function Block dictionary), C language, ST (Structured Text) language, SFC (Sequence Function Chart) language, or the like.

As a technique for making the programs described in these general-purpose languages easily recognizable, for example, a technique described in patent document 1 is known, which discloses a technique for representing a control program described in a ladder diagram language by using modules that define devices for executing respective control processes by using functions, and displaying the control program on a display screen of a personal computer with an execution order added, thereby performing simulation of the control program.

Another method is a method in which mechanical components such as cams and gears corresponding to functions of various software modules are prepared in advance as a mechanism element diagram, and a user selects and arranges the mechanism element diagram to create a mechanism diagram, thereby creating a synchronization control program corresponding to the mechanism diagram. As a technique for improving the degree of freedom of a control algorithm of a program realized by a mechanism diagram, not only a mechanism element diagram prepared in advance, but also a mechanism diagram, for example, disclosed in patent document 2 discloses a technique for drawing a mechanism diagram by arranging a mechanism element diagram illustrating a synchronization relationship, and changing a setting value of a software module corresponding to the mechanism element diagram by a parameter input from the outside and changing a parameter setting of the mechanism element diagram by using a universal language.

Patent document 1: japanese laid-open patent publication No. 2009-080738

Patent document 2: japanese patent laid-open publication No. WO2016/00289

Disclosure of Invention

According to the technique of patent document 1, the execution order of the sequence program described in the ladder language can be visualized and recognized. However, the synchronous relationship between the main shaft and the slave shaft cannot be visualized. Further, according to the technique of patent document 2, compared with a method using only the mechanism diagram, by using a common language not exclusively used for synchronous control and programming realized by the mechanism diagram, it is possible to improve the degree of freedom of the control algorithm. However, since the user needs to create a job for creating a mechanism diagram in addition to a job for creating a program using a general-purpose language, the number of work steps for the user is large.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a display support program, a computer-readable storage medium storing the program, a display support method, and a display support system, which are capable of visualizing a synchronization relationship between a master axis and a slave axis in a synchronization control program described in a general-purpose language with a reduced number of man-hours.

In order to achieve the above object, the invention according to claim 1 is an invention that causes a computer to generate and display a mechanism diagram based on a synchronization control program that can be described in a plurality of general-purpose languages including FBD language or ST language, the display support program including: a parameter reading step of reading out, from a synchronization control program composed of a combination of a plurality of software modules each having, as arguments, identification information of a main shaft serving as a reference of operation and identification information of a slave shaft linked to the main shaft, synchronization parameters including function information that is information for identifying functions of the software modules, and execution sequence information indicating an execution sequence of the software modules, and written in a 1 st format; a mechanism element map selection step of selecting a mechanism element map corresponding to the function information included in the synchronization parameter stored in the parameter reading step, a mechanism element map corresponding to the identification information of the main shaft, and a mechanism element map corresponding to the identification information of the sub shaft, respectively; a mechanism diagram generation step of generating a mechanism diagram by combining the mechanism element diagrams selected in the mechanism element diagram selection step so as to have the same sequence as the execution sequence indicated by the execution sequence information included in the synchronization parameter; and

and a display step of displaying the mechanism diagram generated in the mechanism diagram generation step on a display unit, and generating the mechanism diagram after the display support program describes, in a 1 st format, the synchronization parameter read from the synchronization control program which can be described in a plurality of general-purpose languages.

ADVANTAGEOUS EFFECTS OF INVENTION

According to the present invention, the synchronization relationship between the master axis and the slave axis in the synchronization control program described in a general-purpose language not exclusively used for synchronization control can be visualized with a small number of man-hours.

Drawings

Fig. 1 is a diagram showing a display support system according to embodiment 1 of the present invention, and includes a hardware configuration of a motor control system connected to the display support system.

Fig. 2 is a diagram showing a hardware configuration of the display support system according to embodiment 1 of the present invention.

Fig. 3 is a diagram showing functional blocks of the display support system according to embodiment 1 of the present invention.

Fig. 4 is a diagram showing an example of a synchronization control program created by the display support system according to embodiment 1 of the present invention.

Fig. 5 is a diagram showing a storage format of the synchronization parameter read from the synchronization control program by the display support system according to embodiment 1 of the present invention.

Fig. 6 is a diagram showing an example of a flowchart of the mechanism diagram generation process executed by the display support system according to embodiment 1 of the present invention.

Fig. 7 is a diagram showing an example of a mechanism diagram generated by the display support system according to embodiment 1 of the present invention.

Fig. 8 is a diagram showing a display support system according to embodiment 2 of the present invention, and includes a hardware configuration of a motor control system connected to the display support system.

Fig. 9 is a diagram showing an example of a synchronization control program created by the display control apparatus according to embodiment 2 of the present invention.

Fig. 10 is a diagram showing an example of storage of synchronization parameters read from a synchronization control program by the display support system according to embodiment 2 of the present invention.

Fig. 11 is a diagram showing an example of a mechanism diagram generated by the display support system according to embodiment 2 of the present invention.

Fig. 12 is a diagram showing a display support system according to embodiment 3 of the present invention, and includes a hardware configuration of a motor control system connected to the display support system.

Fig. 13 is a diagram showing an example of a synchronization control program created by the display support system according to embodiment 3 of the present invention.

Fig. 14 is a diagram showing an example of storage of synchronization parameters read from the synchronization control program by the display support system according to embodiment 3 of the present invention.

Fig. 15 is a diagram showing an example of a mechanism diagram generated by the display support system according to embodiment 3 of the present invention.

Fig. 16 is a diagram showing a display support system according to embodiment 4 of the present invention, and includes a hardware configuration of a motor control system connected to the display support system.

Fig. 17 is a diagram showing an example of a synchronization control program created by the display control apparatus according to embodiment 4 of the present invention.

Fig. 18 is a diagram showing an example of a flowchart of the mechanism diagram generation process executed by the display support system according to embodiment 4 of the present invention.

Fig. 19 (a) is a diagram showing an example of storage of synchronization parameters read from a synchronization control program in the display support system according to embodiment 4 of the present invention when execution of the gear control module is not permitted.

Fig. 19 (b) is a diagram showing an example of storage of synchronization parameters read from a synchronization control program in the display support system according to embodiment 4 of the present invention when execution of the gear control module is permitted.

Fig. 20 (a) is a diagram showing an example of a mechanism diagram created by using a synchronization parameter when the gear control module is not permitted to execute, by the display support system according to embodiment 4 of the present invention.

Fig. 20 (b) is a diagram showing an example of a mechanism diagram created by using a synchronization parameter allowing execution of the gear control module in the display support system according to embodiment 4 of the present invention.

Fig. 21 is a diagram showing a configuration of a display support system according to embodiment 5 of the present invention.

Fig. 22 is a diagram showing an example of a clutch control module as another example of the software module.

Fig. 23 is a diagram showing an example of a differential control module as another example of a software module.

Detailed Description

Embodiment 1.

A display support program, a computer-readable storage medium storing the program, a display support method, and a display support system according to embodiment 1 of the present invention will be described with reference to fig. 1 to 7.

Fig. 1 is a diagram showing a display support system 1 according to embodiment 1 of the present invention, and includes a hardware configuration of a motor control system 20 communicably connected to the display support system 1 by a wire. The display support system 1 is realized by installing a display support program in the computer 10. In embodiment 1, the computer 10 is provided with not only a display support program but also a synchronization control program creation program (hereinafter referred to as a creation program) for creating a synchronization control program using a general-purpose language such as a ladder language, FBD, C language, ST language, and SFC language. That is, in embodiment 1, the display support system 1 is a system that creates a synchronous control program executed by the motor control system 20 with the motor control system 20 as an object, and automatically creates a mechanism map by using the created synchronous control program.

In embodiment 1, the creating program is installed in the computer 10 in addition to the display support program, but the creating program may not be installed in the computer 10. That is, the synchronous control program may not be created in advance by the display support system 1. In this case, the display assisting system 1 automatically creates the organization chart with a synchronization control program created in advance by, for example, another computer or the like as an object. Note that, in embodiment 1, a notebook computer is used as the computer 10, but the present invention is not limited to this, and other devices such as a desktop personal computer, a smart phone, and a tablet terminal may be used.

Next, the motor control system 20 to be created as the synchronous control program will be described. As shown in fig. 1, the motor control system 20 includes a motion controller 21, a 1 st motor driver 22a, a 2 nd motor driver 22b, a 3 rd motor driver 22c, a 1 st motor 23a, a 2 nd motor 23b, and a 3 rd motor 23c. The motion controller 21 performs synchronization control by writing a synchronization control program created in advance in the display support system 1 from the display support system 1 into a memory or the like, not shown, and executing the written synchronization control program.

Specifically, the motion controller 21 is connected to a 1 st motor driver 22a that outputs an operation current for operating the 1 st motor 23a to the 1 st motor 23a, and executes a synchronous control program to give a drive command to the 1 st motor driver 22 a. Similarly, the motion controller 21 is connected to a 2 nd motor driver 22b that outputs an operation current for operating the 2 nd motor 23b to the 2 nd motor 23b, and executes a synchronous control program to give a drive command to the 2 nd motor driver 22 b. Similarly, the motion controller 21 is connected to a 3 rd motor driver 22c that outputs an operation current for operating the 3 rd motor 23c to the 3 rd motor 23c, and executes a synchronous control program to give a drive command to the 3 rd motor driver 22 c.

In embodiment 1, the motor control system 20 sets the 1 st motor 23a as a main shaft serving as an operation reference, and sets the 2 nd motor 23b and the 3 rd motor 23c as slave shafts linked with the 1 st motor 23a. Then, while the 1 st motor 23a and the 2 nd motor 23b are cam-operated and the 1 st motor 23a and the 3 rd motor 23c are gear-operated, drive commands are given to the 1 st motor driver 22a to the 3 rd motor driver 22c, respectively, so that the operation timings match, thereby synchronously controlling the 1 st motor 23a to the 3 rd motor 23c. Identification numbers "M1", "S1", and "S2" are assigned to the 1 st to 3 rd motors 23a to 23c constituting the motor control system 20 as identification information for identifying them, respectively. In embodiment 1, the motor control system 20 does not include mechanical elements such as a cam and a gear, and performs synchronous control of the 1 st to 3 rd motors 23a to 23c by electrically interlocking the 1 st to 3 rd motors 23a to 23c.

The structure of the motor control system 20 is not limited to the above structure. The motor control system 20 may have mechanical elements such as a cam and a gear, and perform synchronous control of the 1 st motor 23a to the 3 rd motor 23c by mechanically interlocking the 1 st motor 23a to the 3 rd motor 23c. The 1 st motor 23a may be a slave shaft, the 2 nd motor 23b may be a master shaft, and the 3 rd motor 23c may be a slave shaft. In this case, for example, identification numbers "S1", "M1", and "S2" may be assigned to the 1 st electric motor 23a, the 2 nd electric motor 23b, and the 3 rd electric motor 23c, respectively. The 1 st to 3 rd motors 23a to 23c are assigned identification numbers, but the identification numbers are not limited to the numbers, and other information such as character strings may be used as long as they can be identified. The number of motor drivers and motors included in the motor control system 20 is not limited to the number shown in fig. 1, and can be changed as appropriate.

Fig. 2 is a diagram showing a hardware configuration of the display support system 1 according to embodiment 1. As shown in fig. 2, the display support system 1 includes a processor 11, a memory 12, an input device 13, a display device 14, and a communication device 15, and the processor 11, the memory 12, the input device 13, the display device 14, and the communication device 15 are connected to each other via a bus or the like, for example, to transmit and receive information.

The processor 11 is, for example, a CPU (Central Processing Unit). The Memory 12 is, for example, a nonvolatile or volatile semiconductor Memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash Memory, or a magnetic disk. The memory 12 stores, for example, a creation support program 12a, a display support program 12b, a mechanism element map 12c, a synchronization control program 12d, identification numbers 12e of the 1 st to 3 rd motors 23a to 23c constituting the motor control system 20 to be controlled, synchronization parameters 12f, a mechanism map 12g, and the like, as will be described later using fig. 3. Note that, the mechanism elements fig. 12c are stored in the memory 12 at the same time when the display support program 12b is installed in the memory 12. The identification number 12e is stored in the memory 12 at the same time as the synchronization control program 12d is created by executing the creation auxiliary program 12a and stored in the memory 12. The input device 13 is, for example, a keyboard, a mouse, or the like, but is not limited to a keyboard or a mouse. The display device 14 is, for example, a liquid crystal display device, and displays images such as a character string and a mechanism diagram of a synchronization control program. The communication device 15 communicates with the motor control system 20 by wire, but may be configured to communicate wirelessly.

Fig. 3 is a diagram showing a functional block diagram of a part of the display support system 1 according to embodiment 1. As shown in fig. 3, the display support system 1 is configured to have a control unit 16. The control unit 16 includes a program creating unit 16a, a parameter reading unit 16b, a mechanism element diagram selecting unit 16c, a mechanism diagram generating unit 16d, a display control unit 16e, and a communication control unit 16f. Each of the units 16a to 16f constituting the control unit 16 is realized by the processor 11 reading out the creation support program 12a and the display support program 12b from the memory 12 and executing them.

In embodiment 1, the auxiliary creation program 12a and the auxiliary display program 12b are provided to the user in a state of being written to a recording medium such as a CD (Compact Disc) -ROM or a DVD (Digital Versatile Disc) -ROM, for example, and are installed in advance in the memory 12 by the user, but the present invention is not limited to this embodiment, and the auxiliary creation program 12a and the auxiliary display program 12b may be provided to the user via a communication line such as the internet and installed in advance in the memory 12 by the user.

The program creating unit 16a is connected to the memory 12, the input device 13, the display control unit 16e, and the like. The program creating unit 16a newly creates a synchronization control program in a general-purpose language in accordance with a user operation using the input device 13. The type of the universal language to be used is input by a user operation using the input device 13 when a new creation of the synchronization control program is started. When a new synchronization control program is created, the program creating unit 16a stores the newly created synchronization control program 12d, the identification numbers 12e of the 1 st to 3 rd motors 23a to 23c constituting the motor control system 20, the created type information of the common language, and the like in the memory 12. The program creating unit 16a edits the synchronization control program 12d in a general-purpose language used when creating the synchronization control program 12d, in accordance with a user operation using the input device 13. When editing the synchronization control program 12d, the program creating unit 16a reads and edits the synchronization control program 12d before editing and the identification number 12e stored in the memory 12. When the synchronization control program is edited, the program creating unit 16a stores the edited synchronization control program 12d and the identification number 12e in the memory 12. When new creation or editing of the synchronization control program 12d is executed, the program creating unit 16a outputs an image such as a character string or a mechanism diagram displayed on the display device 14 to the display control unit 16e. The display control unit 16e controls the display of the image input from the program creating unit 16a on the display device 14. The synchronization control program 12d newly created or edited by the program creating unit 16a will be described later with reference to fig. 4.

The parameter reading unit 16b is connected to the memory 12, the input device 13, the display control unit 16e, and the like. When executing the mechanism diagram generation processing S1 described later with reference to fig. 6, the parameter reading unit 16b reads the synchronization control program 12d stored in the memory 12 and the type information of the common language in which the synchronization control program 12d is created, and reads the synchronization parameter 12f from the read synchronization control program 12d in accordance with the type of the common language. When the synchronization control parameter is read, the parameter reading unit 16b stores the read synchronization parameter 12f in the memory 12. When the synchronization parameter 12f is read from the synchronization control program 12d, the parameter reading unit 16b outputs an image such as a character string or a mechanism diagram displayed on the display device 14 to the display control unit 16e, and the display control unit 16e controls the display of the image input from the parameter reading unit 16b on the display device 14. A method of reading out the synchronization parameter 12f from the synchronization control program 12d will be described later with reference to fig. 4, and a storage form when the read-out synchronization parameter 12f is stored in the memory 12 will be described later with reference to fig. 5.

The mechanism element diagram selection unit 16c is connected to the mechanism diagram generation unit 16d, the memory 12, and the like. When executing the mechanism diagram generation process described later with reference to fig. 6, the mechanism element diagram selection unit 16c reads the synchronization parameter 12f stored in the memory 12, and selects a mechanism element diagram corresponding to the read synchronization parameter 12f from the mechanism element diagram 12c stored in advance in the memory 12. Then, the mechanism element map selection unit 16c outputs the selected mechanism element map 12c to the mechanism map generation unit 16d. In the memory 12, as the mechanical element map 12c, for example, a mechanical element map showing a synchronization relationship, such as a mechanical element map showing a cam operation, a mechanical element map showing a gear operation, a mechanical element map showing a clutch operation for smoothly stopping the slave axis in a state where the master axis is rotated, a mechanical element map showing a differential operation in which a difference in position information of the master axis of the two axes is used as an operation command of the slave axis, a mechanical element map of the master axis, and a mechanical element map of the slave axis, and the like are stored in advance.

The mechanism diagram generating unit 16d is connected to the mechanism element diagram selecting unit 16c, the display control unit 16e, the memory 12, and the like. When executing the mechanical composition generation process S1 described later with reference to fig. 6, the mechanical composition generation unit 16d reads the synchronization parameter 12f stored in the memory 12, and combines the mechanical element maps 12c selected by the mechanical element map selection unit 16c in accordance with the read synchronization parameter 12f to generate a mechanical composition 12g. The mechanism diagram generator 16d outputs an image such as a character string displayed on the display device 14 and the generated mechanism diagram to the display controller 16e, and the display controller 16e controls the display of the image input from the parameter reader 16b on the display device 14. The mechanism element fig. 12c selected in accordance with the synchronization parameter 12f is combined, and the mechanism diagram generation process for generating the mechanism diagram 12g will be described later with reference to fig. 6. An example of the mechanism diagram 12g generated by executing the mechanism diagram generation processing will be described later with reference to fig. 7.

The display control unit 16e is connected to the program creation unit 16a, the parameter reading unit 16b, the mechanism diagram generation unit 16d, the display device 14, and the like, and controls the display of the images input from these units on the display device 14.

The communication control unit 16f is connected to the memory 12, the input device 13, the communication device 15, and the like, and performs communication with an external device connected to the communication device 15. Specifically, the communication control unit 16f reads the synchronization control program 12d stored in the memory 12 in accordance with a user operation using the input device 13, and writes the read synchronization control program 12d in the memory of the motor control system 20 connected to the communication device 15.

Fig. 4 is a diagram showing an example of the synchronization control program 12d which is newly created or edited by the user of the display support system 1 according to embodiment 1 and is displayed on the display screen 14a of the display device 14. As shown in fig. 4, the synchronization control program 12d is described in FBD language, which is an example of a general language not exclusively used for synchronization control.

In the example shown in fig. 4, the synchronization control program 12d includes: a cam control module 121, which is a software module describing the function of cam operation; and a gear control module 122, which is a software module describing the function of the gear operation, and these cam control module 121 and gear control module 122 are arranged in the vertical direction so as not to be shifted in the horizontal direction on the display screen 14a.

In a program created in the FBD language, an execution order is defined based on a coordinate position of, for example, an upper left corner of each software module. Specifically, the software modules arranged above in the vertical direction on the display screen 14a are executed in an earlier order, and the software modules arranged to the left in the horizontal direction on the display screen 14a are executed in an earlier order. Therefore, in the synchronization control program 12d shown in fig. 4, since the synchronization control program 12d is composed of 2 software modules and the cam control module 121 is executed earlier than the gear control module 122, the execution order information that is information indicating the execution order of the cam control module 121 is "1" and the execution order information of the gear control module 122 is "2". When the user of the display support system 1 creates the synchronization control program 12d in the FBD language, the user can automatically determine the execution order of each software module based on the arrangement position of each software module without newly setting the execution order of each software module.

The cam control module 121 has as input variables a main shaft identification number 121a for identifying a main shaft serving as a reference of operation, an auxiliary shaft identification number 121b for identifying an auxiliary shaft linked to the main shaft, execution permission information 121c indicating whether execution by the cam control module 121 itself is permitted or not, and a cam number 121d for identifying the types of a plurality of cam curves. In embodiment 1, the cam control module 121 can designate "sine curve" as the cam number "1", designate "cycloid curve" as the cam number "2", and designate "equal acceleration curve" as the cam number "3". However, the types of the cam curves are not limited to "sine curves", "cycloid curves", and "equal acceleration curves", and the like, and are arbitrary, and the number of the types of the cam curves is not limited to "3", and is arbitrary.

The main shaft identification number 121a and the slave shaft identification number 121b are identification numbers that are set in accordance with the configuration of the motor control system 20 that is the subject of synchronous control when the user of the support system 1 creates the synchronous control program 12 d. In embodiment 1, since the 1 st motor 23a and the 2 nd motor 23b of the motor control system 20 (fig. 1) are the main shaft and the slave shaft, the "M1" that is the identification number of the 1 st motor 23a is set as the main shaft identification number and the "S1" that is the identification number of the 2 nd motor 23b is set as the slave shaft identification number.

The execution permission information 121c is an execution condition set by the user of the display support system 1 when creating the synchronization control program 12 d. In embodiment 1, the motor control system 20 sets the 1 st motor 23a as the main shaft and the 2 nd motor 23b as the slave shaft, and performs synchronous control while constantly performing cam operation, so that the execution permission information 121c is set to "ON".

The cam number 121d is a number that displays a cam curve that the user of the assist system 1 sets when creating the synchronization control program 12 d. In embodiment 1, since the 1 st motor 23a, which is a main shaft, of the motor control system 20 is synchronized with the 2 nd motor 23b, which is a slave shaft, while operating in accordance with a sinusoidal curve, for example, the cam number is set to "1", which is a number corresponding to the "sinusoidal curve".

The gear control module 122 has as input variables a main shaft identification number 122a for identifying a main shaft serving as a reference of operation, an auxiliary shaft identification number 122b for identifying an auxiliary shaft cooperating with the main shaft, execution permission information 122c indicating information for permitting or not permitting execution by the gear control module 122 itself, and a gear ratio 122d indicating a gear ratio for calculating a ratio of an auxiliary shaft position with respect to a main shaft position. Further, in embodiment 1, the gear control module 122 can designate, for example, "1" to "32" as the gear ratios. However, the gear ratio is not limited to "1" to "32", and is arbitrary.

As in the case of the cam control module 121, the main shaft identification number 122a and the driven shaft identification number 122b are identification numbers that are set in accordance with the configuration of the motor control system 20 that is the subject of synchronous control when the user of the support system 1 creates the synchronous control program 12 d. In embodiment 1, since the 1 st motor 23a of the motor control system 20 (fig. 1) is a main shaft and the 3 rd motor 23c is an auxiliary shaft, the "M1" that is the identification number of the 1 st motor 23a is a main shaft identification number and the "S2" that is the identification number of the 3 rd motor 23c is an auxiliary shaft identification number.

The execution permission information 122c is an execution condition set by the user of the display support system 1 when creating the synchronization control program 12d, as in the case of the cam control module 121. In embodiment 1, the motor control system 20 sets the 1 st motor 23a as the main shaft and the 3 rd motor 23c as the slave shaft, and performs synchronous control while causing these motors to perform gear operations all the time, so that the execution permission information 122c is set to "ON".

The gear ratio 122d is a gear ratio set by the user of the display assisting system 1 when creating the synchronization control program 12 d. In embodiment 1, the 1 st motor 23a serving as the main shaft of the motor control system 20 is synchronously controlled at the gear ratio "2" with respect to the 3 rd motor 23c serving as the slave shaft, and therefore the gear ratio is set to "2".

Fig. 5 is a diagram showing an example of a storage format of the synchronization parameter 12f read from the synchronization control program 12d in the display support system 1 according to embodiment 1 in the memory 12. With reference to fig. 5, a description will be given of a synchronization parameter reading process for reading out the synchronization parameter 12f from the synchronization control program 12d, and a storage process of the synchronization parameter 12f read out by the synchronization parameter reading process into the memory 12.

The parameter reading unit 16b determines function information, which is information for specifying the function of the software module, based on the name of the software module included in the synchronization control program 12d, and reads out the function information as the synchronization parameter 12f. The parameter reading unit 16b determines the execution order of each software module as described above, and reads the synchronization parameter 12f. The parameter reading unit 16b reads the spindle number, the slave axis number, and the execution permission information as the synchronization parameter 12f based on the input variables of the software modules included in the synchronization control program 12 d. If the parameter reading unit 16b reads the synchronization parameter 12f, the synchronization parameter 12f is stored in the memory 12 using, for example, a start tag and an end tag.

Specifically, since the synchronization control program 12d is composed of the cam control module 121 and the gear control module 122, the synchronization parameter reading unit 16b determines the function information, which is information specifying the functions of the software modules, as the "cam control module" and the "gear control module" and reads out the function information as the synchronization parameter 12f. The parameter reading section 16b writes a start tag < cam control module > and an end tag </cam control module >, and a start tag < gear control module > and an end tag </gear control module >, between the start tag < synchronization parameter > and the end tag </synchronization parameter >, with each being set back by one character.

Further, since the execution order and the input variables of the cam control module 121 are as described above, the synchronization parameter reading unit 16b determines the execution order of each software module and reads the input variables of each software module as the synchronization parameters 12f. The synchronization parameter reading unit 16b writes a start tag < execution sequence > and an end tag </execution sequence >, a start tag < spindle number > and an end tag </spindle number >, a start tag < slave axis number > and an end tag </slave axis number >, and a start tag < execution permission > and an end tag </execution permission > between the start tag < cam control module > and the end tag </cam control module >, with one character being set back each, and writes corresponding input variables between the start tag and the end tag.

Similarly, since the execution sequence and the input variables of the gear control module 122 are as described above, the parameter reading section 16b reads out the execution sequence and the input variables, and describes the start tag < execution sequence > and the end tag </execution sequence >, the start tag < spindle number > and the end tag </spindle number >, the start tag < slave spindle number > and the end tag </slave spindle number >, and the start tag < execution permission > and the end tag </execution permission, each with one character set back, between the start tag and the end tag, and describes the corresponding input variables.

The synchronization parameter reading unit 16b also describes the synchronization parameter 12f in the format shown in fig. 5 and stores it in the memory 12. As described above, since the synchronization parameter 12f is described in a format using the start tag and the end tag and stored in the memory 12, and this format is widely used, the synchronization parameter 12f is easily used also in programs other than the display support program. In embodiment 1, the synchronization parameter 12f is described in a format using a start tag and an end tag and stored in the memory 12, but the description format is not limited to the one using a tag, and may be any one using a table.

Fig. 6 is a flowchart showing the process of generating a mechanism diagram executed by the display support system 1 according to embodiment 1, and fig. 7 shows an example of a mechanism diagram generated by executing the process of generating a mechanism diagram. Next, description will be given with reference to fig. 6 and 7.

After the synchronization control program 12d is created or edited, if a predetermined user operation using the input device 13 is performed, the display support system 1, specifically, the parameter reading unit 16b, the mechanism element diagram selecting unit 16c, the mechanism diagram generating unit 16d, and the display control unit 16e constituting the control unit 16 start execution of the mechanism diagram generating process S1 shown in fig. 6.

When the execution of the mechanism diagram generation process S1 is started, the parameter reading unit 16b reads the synchronization parameter 12f from the synchronization control program 12d in accordance with the type of the common language as the process of step S11. If the synchronization parameter 12f is read, the parameter reading unit 16b stores the read synchronization parameter 12f in the memory 12 in the form shown in fig. 5, for example, as the processing of step S12.

Next, as the processing of step S13, the mechanism component diagram selection unit 16c selects a mechanism component diagram based on the synchronization parameter 12f stored in the memory 12. In the example shown in fig. 7, since the synchronization parameter 12f includes "cam control module" and "gear control module" as the function information, the mechanism element diagram selection unit 16c selects the mechanism element diagram 123b showing the cam operation and the mechanism element diagram 123d showing the gear operation corresponding to the function information from the mechanism element diagram 12 c. Since the synchronization parameter 12f includes the main shaft number "M1" and the slave shaft numbers "S1" and "S2", the mechanism element diagram selecting unit 16c selects the mechanism element diagram 123a of the main shaft "M1", the mechanism element diagram 123c of the slave shaft "S1", and the mechanism element diagram 123e of the slave shaft "S2", which correspond to the identification numbers, from the mechanism element diagram 12 c. The processing of step S13 corresponds to the mechanism element diagram selecting step.

Next, as the processing of step S14, the mechanical drawing generation unit 16d arranges all the mechanism element drawings of the main axes selected in step S13 based on the synchronization parameter 12f. Specifically, in the example shown in fig. 7, the mechanism diagram generation unit 16d selects only the mechanism element diagram 123a of the main axis "M1" as the mechanism element diagram of the main axis, and thus arranges the mechanism element diagram 123a of the main axis identification number "M1" as the processing in step S14.

Next, as the processing of step S15, the mechanical composition generation unit 16d arranges a mechanical element diagram indicating a synchronization relationship and a mechanical element diagram of the slave axis based on the synchronization parameter 12f, and generates a mechanical composition. Specifically, in the example shown in fig. 7, the cam control module 121 is stored as a software module for executing the sequence information "1", the main shaft identification number "M1" is stored as an input variable of the cam control module 121, and the slave shaft identification number "S1" is stored as an input variable of the cam control module 121 (see fig. 5), and therefore, as the processing of step S15, the mechanical pattern generation unit 16d arranges the mechanical element diagram 123b indicating the cam operation and the mechanical element diagram 123c of the slave shaft "S1" in series on the mechanical element diagram 123a of the main shaft identification number "M1".

In the example shown in fig. 7, since the gear control module 122 is stored as a software module for executing the sequence information "2", the main shaft identification number "M1" is stored as an input variable of the gear control module 122, and the slave shaft identification number "S2" is stored as an input variable of the gear control module 122 (see fig. 5), the mechanism diagram generating unit 16d arranges the mechanism element diagram 123d indicating the gear operation and the mechanism element diagram 123e of the slave shaft "S2" in series on the mechanism element diagram 123a of the main shaft "M1" as the processing of step S15.

That is, as shown in fig. 7, the mechanical pattern generating unit 16d arranges in parallel a mechanical element diagram 123b showing the cam operation and a mechanical element diagram 123c of the slave axis "S1", and a mechanical element diagram 123d showing the gear operation and a mechanical element diagram 123e of the slave axis "S2" on the mechanical element diagram 123a of the master axis "M1".

At this time, the mechanism diagram generating unit 16d arranges the mechanism element diagram 123b indicating the cam operation, the mechanism element diagram 123c indicating the slave axis "S1", the mechanism element diagram 123d indicating the gear operation, and the mechanism element diagram 123e indicating the slave axis "S2" in the same order as the execution order, that is, the mechanism element diagram 123b indicating the cam operation and the mechanism element diagram 123c indicating the slave axis "S1" in the execution order "1" on the left side of the mechanism element diagram 123d indicating the gear operation and the mechanism element diagram 123e indicating the slave axis "S2" in the execution order "2". Thereby, the mechanical diagram generating unit 16d generates the mechanical diagram 12g shown in fig. 7 and stores the generated mechanical diagram in the memory 12. The processing in steps S14 and S15 corresponds to the mechanism diagram generation step.

Next, as the processing of step S16, the display control unit 16e displays the mechanism map generated in the processing of steps S13 to S15 on the display screen 14a of the display device 14. The processing in step S16 corresponds to the display step.

In the display support system 1 according to embodiment 1 described above, the synchronization control program 12d created in FBD language, which is a general-purpose language not exclusively used for synchronization control, generates the mechanical diagram 12g indicating the synchronization relationship between the master axis and the slave axis, and displays the generated mechanical diagram 12g on the display device 14. Since no user operation is required for generating and displaying the mechanical map 12g, the synchronization relationship between the master axis and the slave axis in the synchronization control program 12d can be visualized with a small number of work steps.

In the display support system 1 according to embodiment 1, the mechanical pattern generation unit 16d arranges the mechanism element diagram 123b indicating the cam operation and the mechanism element diagram 123c of the slave axis "S1", and the mechanism element diagram 123d indicating the gear operation and the mechanism element diagram 123e of the slave axis "S2", which constitute the synchronization control program 12d, in the same order as the execution order, and generates the mechanical pattern 12g. This allows visualization with a small number of steps, not only of the synchronization relationship between the main shaft and the slave shaft, but also of the execution order of the software modules.

Embodiment 2.

In embodiment 1, the display support system 1 automatically generates the mechanism map 12g based on the synchronization control program 12d of the motor control system 20 that synchronously controls the operation of the slave axis of the two axes with respect to the master axis of the single axis. However, the synchronization control program as the mechanism-pattern generating object is not limited thereto. In embodiment 2, a mechanism diagram is automatically generated based on a synchronous control program of a motor control system that synchronously controls the operation of a slave axis of a single axis with respect to a master axis of the single axis. Embodiment 2 will be described with reference to fig. 8 to 11. The display support system 2 according to embodiment 2 is based on the display support system 1 according to embodiment 1. Therefore, redundant description is omitted below.

Fig. 8 is a diagram showing the display support system 2 according to embodiment 2 of the present invention, and includes a hardware configuration of a motor control system 20a communicably connected to the display support system 2 by a wire. In embodiment 2, the motor control system 20a omits the 3 rd motor driver 22c and the 3 rd motor 23c from the motor control system 20 of embodiment 1, and the 1 st motor 23a is set as a main shaft serving as an operation reference, and the 2 nd motor 23b is set as a slave shaft linked with the 1 st motor 23a. Identification numbers "M1" and "S1" for identifying the 1 st electric motor 23a and the 2 nd electric motor 23b constituting the motor control system 20a are assigned to the motors. In embodiment 2, the motor control system 20a does not include mechanical elements such as a cam and a gear, and performs synchronous control of the 1 st motor 23a and the 2 nd motor 23b by electrically interlocking the 1 st motor 23a and the 2 nd motor 23 b. Therefore, the motion controller 21a of embodiment 2 executes a synchronization control program 22d different from the synchronization control program 12d executed by the motion controller 21 of embodiment 1.

Fig. 9 is a diagram showing an example of the synchronization control program 22d newly created or edited by the user of the display support system 2 according to embodiment 2. The synchronization control program 22d is also described in FBD language, which is an example of a general-purpose language not exclusively used for synchronization control, similarly to the synchronization control program 12d according to embodiment 1.

As shown in fig. 9, the synchronization control program 22d includes: a gear control module 221, which is a software module describing the function of the gear operation; and a cam control module 222 that is a software module describing the function of cam operation, and the gear control module 221 and the cam control module 222 are arranged in the left-right direction so as not to be shifted in the up-down direction on the display screen 14a.

The gear control module 221 has as input variables a main shaft identification number 221a for identifying a main shaft serving as a reference of operation, an auxiliary shaft identification number 221b for identifying an auxiliary shaft interlocked with the main shaft, execution permission information 221c indicating information for permitting or not permitting execution by the gear control module 221 itself, and a gear ratio 221d indicating a gear ratio for calculating a ratio of an auxiliary shaft position with respect to a main shaft position. The gear control module 221 uses, as output variables, a main shaft identification number 221a for identifying a main shaft and an identification number for identifying a slave shaft among the input variables, and is connected to the cam control module 222 connected to the subsequent stage.

The cam control module 222 sets, as input variables, a main shaft identification number 222a for identifying a main shaft serving as a reference of operation, an auxiliary shaft identification number 222b for identifying an auxiliary shaft linked with the main shaft, execution permission information 222c indicating whether execution by the cam control module 222 itself is permitted or not, and a cam number 222d for identifying the types of the plurality of cam curves. Since the gear control module 221 and the cam control module 222 are wired as described above, the main shaft identification number 222a for identifying the main shaft is the same as the main shaft identification number output from the gear control module 221, and the slave shaft identification number 222b for identifying the slave shaft is the same as the slave shaft identification number output from the gear control module 221.

Fig. 10 is a diagram showing an example of a storage format of the synchronization parameters read from the synchronization control program 22d in the memory 12 in the display support system 2 according to embodiment 2. As shown in fig. 10, the synchronization parameter 22f read out from the synchronization control program 22d of embodiment 2 is different from the synchronization parameter 12f read out from the synchronization control program 12d of embodiment 1 shown in fig. 5 as follows. That is, in the synchronization parameter 12f, the execution order of the gear control module and the cam control module is "2" and "1", respectively, whereas in the synchronization parameter 22f, the execution order of the gear control module and the cam control module is "1" and "2", respectively, and the execution order is reversed. Note that, while the slave axis identification number of the cam control module and the slave axis identification number of the gear control module are "S1" and "S2" respectively in the synchronization parameter 12f, they are different, the slave axis number of the gear control module and the slave axis identification number of the cam control module are "S1" and they are common in the synchronization parameter 22f.

After the synchronization control program 22d is created or edited, if a predetermined user operation using the input device 13 is performed, the display support system 2 starts the execution of the mechanism diagram generation process S1 shown in fig. 6. Fig. 11 shows an example of a mechanism diagram generated by executing the mechanism diagram generation process S1. Next, description will be given with reference to fig. 6 and 11.

When the execution of the mechanism diagram generation process S1 is started, the parameter reading unit 16b reads the synchronization parameter 22f from the synchronization control program 22d in accordance with the type of the common language as the process of step S11. If the synchronization parameter 22f is read, the parameter reading unit 16b stores the read synchronization parameter 22f in the memory 12 in the form shown in fig. 10, for example, as the processing of step S12. The processing in step S11 corresponds to a parameter reading step.

Next, as the processing of step S13, the mechanism element map selection unit 16c selects a mechanism element map based on the synchronization parameter 22f stored in the memory 12. In the example shown in fig. 11, since the synchronization parameter 22f includes "gear control module" and "cam control module" as the function information, the mechanism element diagram selecting unit 16c selects the mechanism element diagram 223b showing the gear operation and the mechanism element diagram 223c showing the cam operation corresponding to the function information from the mechanism element diagram 12 c. Further, since the synchronization parameter 22f includes the main shaft number "M1" and the slave shaft number "S1", the mechanism element diagram selecting unit 16c selects the mechanism element diagram 223a of the main shaft "M1" and the mechanism element diagram 223d of the slave shaft "S1" corresponding to these identification numbers from the mechanism element diagram 12 c.

Next, as the processing of step S14, the mechanism diagram generating unit 16d arranges all the mechanism element diagrams of the main axes selected in step S13 based on the synchronization parameter 22f. Specifically, in the example shown in fig. 11, since only the mechanism element map 223a of the principal axis "M1" is selected as the mechanism element map of the principal axis, the mechanical map generation unit 16d arranges the mechanism element map 223a of the principal axis identification number "M1" as the processing of step S14.

Next, as the processing of step S15, the mechanism diagram generating unit 16d arranges a mechanism element diagram indicating a synchronization relationship and a mechanism element diagram of the slave axis based on the synchronization parameter 22f, and generates a mechanism diagram. Specifically, in the example shown in fig. 11, since the gear control module 221 is stored as a software module of the execution sequence information "1", the main shaft identification number "M1" is stored as an input variable of the gear control module 221, the slave shaft identification number "S1" is stored as an input variable of the gear control module 221, the cam control module 222 is stored as a software module of the execution sequence information "2", the main shaft identification number "M1" is stored as an input variable of the cam control module 222, and the slave shaft identification number "S1" is stored as an input variable of the cam control module 222 (see fig. 9), the mechanical composition generation unit 16d serially arranges a mechanical element diagram 223b indicating a gear operation, a mechanical element diagram 223c indicating a cam operation, and a mechanical element diagram 223d of the slave shaft S1 "on the mechanical element diagram 223a of the main shaft" M1 "as the processing of step S15.

Thereby, the mechanism pattern generating unit 16d generates the mechanism pattern 22g shown in fig. 11. At this time, the mechanism diagram generating unit 16d arranges the mechanism element diagram 223b indicating the gear operation and the mechanism element diagram 223c indicating the cam operation in the same order as the execution order, that is, arranges the mechanism element diagram 223b indicating the gear operation with the execution order "1" above the mechanism element diagram 223d indicating the cam operation with the execution order "2". In this way, the mechanical diagram generating unit 16d generates the mechanical diagram 22g shown in fig. 11 and stores the generated mechanical diagram in the memory 12.

In the display support system 2 according to embodiment 2 described above, the synchronization control program 22d created from the FBD language, which is a general-purpose language not exclusively used for synchronization control, generates the mechanism diagram 22g indicating the synchronization relationship between the master axis and the slave axis, and displays the generated mechanism diagram 22g on the display device 14. Since no user operation is required for generating and displaying the mechanism map 22g, the synchronization relationship between the master axis and the slave axis in the synchronization control program 22d can be visualized with a small number of work steps.

In the display support system 2 according to embodiment 2, the mechanical diagram generation unit 16d also arranges the mechanism element diagram 223b indicating the gear operation and the mechanism element diagram 223c indicating the cam operation, which constitute the synchronization control program 12d, in the same order as the execution order, and generates the mechanical diagram 22g. This allows visualization with a small number of steps, not only of the synchronization relationship between the main shaft and the slave shaft, but also of the execution order of the software modules.

In embodiment 2, the gear control module 221 and the cam control module 222 are wired in the synchronization control program 22d, but the wiring is not necessarily required. As in embodiment 1, if one of the input variables of the gear control module 221, that is, the main shaft identification number, coincides with one of the input variables of the cam control module 222, that is, the main shaft identification number, and one of the input variables of the gear control module 221, that is, the slave shaft identification number, coincides with one of the input variables of the cam control module 222, that is, the slave shaft identification number, these modules do not need to be wired.

Embodiment 3.

In embodiments 1 and 2, the display support systems 1 and 2 automatically generate the mechanism diagrams 12g to 22g based on the synchronization control programs 12d to 22d described in the FBD language which is a general-purpose language not exclusively used for synchronization control. The general language describing the synchronization control program is not limited to the FBD language. In embodiment 3, the display support system automatically generates a mechanism diagram based on a synchronization control program described in ST language, which is a general-purpose language not exclusively used for synchronization control. Embodiment 3 will be described with reference to fig. 12 to 14.

Fig. 12 is a diagram showing the display support system 3 according to embodiment 3, and includes a hardware configuration of a motor control system 20b communicably connected to the display support system 3 by a wire. The display support system 3 of embodiment 3 has a configuration based on the display support system 1 of embodiment 1. However, the motion controller 21b of embodiment 3 executes a synchronization control program 32d different from the synchronization control program 12d executed by the motion controller 21 of embodiment 1.

Fig. 13 is a diagram showing an example of a synchronization control program 32d newly created or edited by the user of the display support system 3 according to embodiment 3. The synchronization control program 32d is described in ST language, which is an example of a general-purpose language not exclusively used for synchronization control.

As shown in fig. 13, the synchronization control program 32d calls a gear control module, which is a software module of a function name called GearControl, in line 1, and calls a cam control module, which is a software module of a function name called CamControl, in line 2.

In the program created in the ST language, the execution sequence is earlier as the described sequence is earlier, that is, as the software modules described above in the vertical direction are earlier. Therefore, in the synchronization control program 32d shown in fig. 13, since the synchronization control program 32d calls 2 software modules and the execution sequence of the gear control module is earlier than that of the cam control module, the execution sequence information indicating the execution sequence of the gear control module is "1" and the execution sequence information of the cam control module is "2". When the user of the display support system 3 creates the synchronization control program 32d in the ST language, the user can automatically make a determination based on the description order of each software module without newly setting the execution order of each software module.

The gear control module is a software module describing a function of a gear operation, and sets, as arguments, an identification number for identifying a main shaft serving as a reference of the operation, an identification number for identifying an auxiliary shaft linked to the main shaft, and a gear ratio, which is information indicating a gear ratio used for calculating a ratio of an auxiliary shaft position with respect to the main shaft position. In embodiment 3, since the 1 st motor 23a of the motor control system 20b (fig. 12) is a main shaft and the 2 nd motor 23b is an auxiliary shaft, the identification number "M1" of the 1 st motor 23a is set as a main shaft number and the identification number "S1" of the 2 nd motor 23b is set as an auxiliary shaft number. In embodiment 3, the 1 st motor 23a serving as the main shaft of the motor control system 20b (fig. 12) is synchronously controlled at the gear ratio "2" with respect to the 3 rd motor 23c serving as the slave shaft, and thus the gear ratio is set to "2".

The cam control module is a software module describing the function of cam operation, and has as arguments an identification number specifying a main shaft serving as a reference of operation, an identification number specifying a slave shaft linked with the main shaft, and a cam number specifying the types of a plurality of cam curves. In embodiment 3, since the 1 st motor 23a of the motor control system 20b (fig. 12) is a main shaft and the 3 rd motor 23c is an auxiliary shaft, the identification number "M1" of the 1 st motor 23a is set as a main shaft identification number and the identification number "S2" of the 3 rd motor 23c is set as an auxiliary shaft identification number. In embodiment 3, since the 1 st motor 23a serving as the main shaft of the motor control system 20b (fig. 12) is synchronized with the 3 rd motor 23c serving as the slave shaft while operating in accordance with, for example, a sinusoidal curve, the cam number is set to "1" which is a number corresponding to the "sinusoidal curve".

After the synchronization control program 32d is created or edited, if a predetermined user operation using the input device 13 is performed, the display support system 3 starts the execution of the mechanism diagram generation process S1 shown in fig. 6. Fig. 14 shows an example of a mechanism diagram generated by executing the mechanism diagram generation process S1. Next, description will be given with reference to fig. 6 and 14.

When the execution of the mechanism diagram generation process S1 is started, the parameter reading unit 16b reads the synchronization parameter 32f from the synchronization control program 32d in accordance with the type of the common language as the process of step S11. If the synchronization parameter 32f is read, the parameter reading unit 16b stores the read synchronization parameter 32f in the memory 12 in the form shown in fig. 14, for example, as the processing of step S12.

Next, as the processing of step S13, the mechanism component diagram selection unit 16c selects a mechanism component diagram based on the synchronization parameter 32f stored in the memory 12. In the example shown in fig. 15, since the synchronization parameter 32f includes "gear control module" and "cam control module" as the function information, the mechanism element diagram selecting unit 16c selects the mechanism element diagram 321b showing the gear operation and the mechanism element diagram 321d showing the cam operation corresponding to the function information from the mechanism element diagram 12 c. Further, since the synchronization parameter 32f includes the main shaft number "M1", the slave shaft number "S1", and the slave shaft number "S2", the mechanism element diagram selecting unit 16c selects the mechanism element diagram 223a of the main shaft "M1", the mechanism element diagram 223d of the slave shaft "S1", and the mechanism element diagram 223e of the slave shaft "S2", which correspond to the identification numbers, from the mechanism element diagram 12c, respectively.

Next, as the processing of step S14, the mechanism diagram generating unit 16d arranges all the mechanism element diagrams of the main axes selected in step S13 based on the synchronization parameter 32f. Specifically, in the example shown in fig. 15, since only the mechanism element map 321a of the main axis "M1" is selected as the mechanism element map of the main axis, the mechanical map generating unit 16d arranges the mechanism element map 321a of the main axis identification number "M1" as the processing of step S14.

Next, as the processing of step S15, the mechanism diagram generating unit 16d arranges a mechanism element diagram indicating a synchronization relationship and a mechanism element diagram of the slave axis based on the synchronization parameter 32f, and generates a mechanism diagram.

Specifically, in the example shown in fig. 15, since the gear control module is stored as the software module of the execution sequence information "1", the main shaft identification number "M1" is stored as the argument of the gear control module, the slave shaft identification number "S1" is stored as the argument of the gear control module, and the cam control module is stored as the software module of the execution sequence information "2", the main shaft identification number "M1" is stored as the argument of the cam control module, and the slave shaft identification number "S1" is stored as the argument of the cam control module (see fig. 13), the mechanical composition generating unit 16d arranges the mechanical element diagram 321b indicating the gear operation and the mechanical element diagram 321c of the slave shaft "S1" in series on the mechanical element diagram 321a of the main shaft "M1" as the processing of step S15.

In the example shown in fig. 15, since the cam control module is stored as a software module for executing the sequence information "2", the main shaft identification number "M1" is stored as an argument of the cam control module, and the slave shaft identification number "S2" is stored as an argument of the cam control module (see fig. 14), the mechanism diagram generating unit 16d arranges the mechanism element diagram 321d indicating the cam operation and the mechanism element diagram 321e of the slave shaft "S2" in series on the mechanism element diagram 321a of the main shaft "M1" as the processing of step S15.

That is, as shown in fig. 15, the mechanical diagram generating unit 16d arranges a mechanical diagram 321b showing the gear operation, a mechanical diagram 321c of the slave axis "S1", a mechanical diagram 321d showing the cam operation, and a mechanical diagram 321e of the slave axis "S2" in parallel on a mechanical diagram 321a of the master axis "M1".

At this time, the mechanism diagram generating unit 16d arranges the mechanism element diagram 321b indicating the gear operation, the mechanism element diagram 321c indicating the slave axis "S1", the mechanism element diagram 321d indicating the cam operation, and the mechanism element diagram 321e indicating the slave axis "S2" in the same order as the execution order, that is, the mechanism element diagram 321b indicating the gear operation and the mechanism element diagram 321c indicating the slave axis "S1" in the execution order "1" are arranged above the mechanism element diagram 321d indicating the cam operation and the mechanism element diagram 321e indicating the slave axis "S2" in the execution order "2". As a result, the mechanical pattern generating unit 16d generates the mechanical pattern 32g shown in fig. 15 and stores the generated pattern in the memory 12.

In the display support system 3 according to embodiment 3 described above, a mechanism diagram 32g indicating the synchronization relationship between the master axis and the slave axis is also generated from the synchronization control program 32d created in the ST language, which is a general-purpose language not exclusively used for synchronization control, and the generated mechanism diagram 32g is displayed on the display device 14. Since no user operation is required for generating and displaying the map 32g, the synchronization relationship between the master axis and the slave axis in the synchronization control program 32d can be visualized with a small number of man-hours.

In the display support system 3 according to embodiment 3, the mechanism diagram generating unit 16d also arranges the mechanism diagram 321b showing the gear operation and the mechanism diagram 321d showing the cam operation, which constitute the synchronization control program 32d, in the same order as the execution order, and generates the mechanism diagram 32g. This allows visualization with a small number of steps, not only of the synchronization relationship between the main shaft and the slave shaft, but also of the execution order of the software modules.

Embodiment 4.

In embodiments 1 to 3, the motor control systems 20 to 20b automatically generate the mechanism patterns 12g to 32g based on the synchronization control programs 12d to 32d that are not being executed. However, the synchronization control program to be generated as the mechanism diagram is not limited to this. In embodiment 4, a motor control system automatically generates a mechanism map based on a synchronization control program being executed. Embodiment 4 will be described with reference to fig. 16 to 20. Note that the display support system and the motor control system according to embodiment 4 are also configured based on the display support system 1 and the motor control system 20 according to embodiment 1, and therefore redundant description is omitted.

Fig. 16 is a diagram showing the display support system 4 according to embodiment 4 of the present invention, and includes a hardware configuration of a motor control system 20c communicably connected to the display support system 4 by a wire. The motion controller 21c of embodiment 4 executes a synchronization control program 42d different from the synchronization control program 12d executed by the motion controller 21 of embodiment 1. Unlike the display support system 1, the display support system 4 according to embodiment 4 monitors the operation of the motor control system 20c, and reads out synchronization parameters 42f1 and 42f2, which will be described later, from the motion controller 21c at predetermined time intervals (hereinafter, also referred to as "1 st time interval") while the motion controller 21c executes the synchronization control program 42d, thereby generating the mechanism maps 42g1 and 42g2.

Fig. 17 is a diagram showing an example of a synchronization control program 42d newly created or edited by the user of the display support system 4 according to embodiment 4. The synchronization control program 42d is also described in FBD language, which is an example of a general-purpose language not exclusively used for synchronization control, in the same manner as the synchronization control program 12d according to embodiment 1 and the synchronization control program 22d according to embodiment 2.

As shown in fig. 17, the synchronization control program 42d includes: a timer module 421; a cam control module 422, which is a software module describing the function of cam operation; and a gear control module 423 that is a software module describing a function of the gear operation. The timer module 421 is disposed at the leftmost position on the display screen 14a, and the cam control module 422 and the gear control module 423 are disposed in the vertical direction so as not to be shifted in the horizontal direction on the display screen 14a.

The timer block 421 is a block that outputs OFF from the time when the motion controller 21c starts executing the synchronization control program 42d until a predetermined time (hereinafter, also referred to as a 2 nd time interval) is reached, and outputs ON after the 2 nd predetermined time interval has elapsed, for example. The timer module 421 is wired to the gear control module 423 connected at the rear stage. Incidentally, the 1 st time interval is set shorter than the 2 nd time interval.

The cam control module 422 has, as input variables, a spindle identification number 422a for identifying a spindle serving as a reference of operation, an auxiliary axis identification number 422b for identifying an auxiliary axis associated with the spindle, execution permission information 422c indicating whether execution by the cam control module 422 itself is permitted or not, and a cam number 422d for identifying the types of the plurality of cam curves. In embodiment 4, since the motor control system 20c performs synchronous control while causing the 1 st motor 23a to be the main shaft and the 2 nd motor 23b to be the slave shaft, and constantly performing cam operation, the execution permission information 422c is set to "ON".

The gear control module 423 has as input variables a main shaft identification number 423a for identifying a main shaft serving as a reference of operation, an auxiliary shaft identification number 423b for identifying an auxiliary shaft interlocked with the main shaft, execution permission information 423c indicating information for permitting or not permitting execution of the gear control module 423 itself, and a gear ratio 423d indicating a gear ratio for calculating a ratio of an auxiliary shaft position with respect to a main shaft position. In embodiment 4, since the gear control block 423 and the timer block 421 are wired as described above, the execution permission information 423c is set to "OFF" or "ON".

That is, in embodiment 4, if the motor control system 20c executes the synchronization control program 42d, the 1 st motor 23a is set as the main shaft and the 2 nd motor 23b is set as the slave shaft from the start of execution of the synchronization control program 42d until the 2 nd predetermined time is reached, and the synchronization control is performed while these are caused to perform the cam operation. After the lapse of the 2 nd predetermined time from the start of execution of the synchronization control program 42d, the motor control system 20c performs synchronization control while causing the 1 st motor 23a to be a main shaft and the 2 nd motor 23b to be an auxiliary shaft to perform cam operation, and performs synchronization control while causing the 1 st motor 23a to be a main shaft and the 3 rd motor 23c to be an auxiliary shaft to perform cam operation.

When a predetermined user operation using the input device 13 is performed while the motor control system 20c executes the synchronization control program 42d, the display support system 3 starts the execution of the mechanism diagram generation process S2 shown in fig. 18. Fig. 19 (a) and (b) show an example of the synchronization parameters 42f1 and 42f2 read out from the synchronization control program 42d by executing the mechanical composition generation process S2, and fig. 20 (a) and (b) show an example of the mechanical compositions 42g1 and 42g2 generated by executing the mechanical composition generation process S2. Next, the description will be given with reference to fig. 18, fig. 19 (a) and (b), and fig. 20 (a) and (b) at the same time. Further, the user operation is performed from the time point when the motor control system 20c starts executing the synchronization control program 42d to the time point when the 2 nd time interval has not elapsed, and the mechanism diagram generating process S2 is executed at least 1 time until the 2 nd time interval has elapsed.

When the execution of the mechanism diagram generation process S2 is started, the display support system 4 executes the processes of step S11 to step S16 described above with reference to fig. 6, and determines whether or not the 1 st time interval has elapsed from the time point at which the execution of the processes of step S11 to step S16 is started as the process of step S27 thereafter. If the 1 st time interval has not elapsed (No in the processing of step S27), the display support system 4 executes the processing of step S27 again, and if the 1 st time interval has elapsed (Yes in the processing of step S27), the display support system 4 executes the processing of step S11 to step S16 again. That is, the display support system 4 periodically executes the processing of steps S11 to S16 in units of the 1 st time interval.

Fig. 19 (a) shows a synchronization parameter 42f1 read out from the synchronization control program 42d being executed by the motor control system 20c until the 2 nd time interval elapses from the start of execution of the synchronization control program 42d by the motor control system 20c in the display support system 4, and fig. 20 (a) shows a mechanism map 42g1 generated based on the synchronization parameter 42f 1.

As shown in fig. 19 (a), since OFF is output from the timer block 421, the execution permission information of the gear control block is "OFF" in the synchronization parameter 42f 1. Therefore, as shown in fig. 19 (a), a mechanism diagram 42g1 of the mechanism diagram 424a in which the mechanism diagram 424b indicating the cam operation and the mechanism diagram 424c of the slave axis "S1" are arranged in series on the master axis "M1" is generated and displayed on the display screen 14a of the display device 14.

Fig. 19 (b) shows a synchronization parameter 42f2 read by the motor control system 20c from the synchronization control program 42d being executed after the 2 nd time interval has elapsed since the motor control system 20c started executing the synchronization control program 42d in the display support system 4, and fig. 20 (b) shows a mechanism map 42g2 generated based on the synchronization parameter 42f 2.

As shown in fig. 19 (b), since ON is output from the timer module 421, the execution permission information of the gear control module is "ON" in the synchronization parameter 42f 2. Therefore, as shown in fig. 20 (b), a mechanism diagram 42g2 of a mechanism diagram 424a in which a mechanism element diagram 424b showing a cam operation and a mechanism element diagram 424c of the slave axis "S1", a mechanism element diagram 424d showing a gear operation and a mechanism element diagram 424e of the slave axis "S2" are arranged in parallel on the master axis "M1" is generated and displayed on the display screen 14a of the display device 14.

In the display support system 4 according to embodiment 4 described above, the synchronization control program 42d created in the FBD language, which is a general-purpose language not exclusively used for synchronization control, is read while being executed by the motor control system 20c, the mechanism diagrams 42g1 and 42g2 indicating the synchronization relationship between the main shaft and the sub shaft are generated based on the synchronization control program 42d, and the generated mechanism diagrams 42g1 and 42g are displayed on the display device 14. Since no user operation is required for generating and displaying the maps 42g1 and 42g2, the synchronization relationship between the master axis and the slave axis in the synchronization control program 42d can be visualized with a small number of steps while reflecting the change in the synchronization parameters 42f1 and 42f 2.

In the display support system 4 according to embodiment 4, the mechanism diagram generating unit 16d generates the mechanism diagram 42g2 by arranging the mechanism element diagram 424b showing the cam operation and the mechanism element diagram 424d showing the gear operation, which constitute the synchronization control program 42d, in the same order as the execution order, as in the display support system 1 according to embodiment 1 and the display support system 2 according to embodiment 2. This allows visualization of not only the synchronization relationship between the main shaft and the slave shaft but also the execution order of the software modules with a small number of steps.

In the display support system 4 according to embodiment 4, the execution permission information of the gear control module 423 in the software module included in the synchronization control program 42d is changed, but the configuration is not limited to this, and the execution permission information of the cam control module 422 in the software module included in the synchronization control program 42d may be changed. Alternatively, as described in embodiment 2, the gear control module and the cam control module may be connected in series, and the execution permission information of the gear control module or the cam control module may be changed.

In the display support system 4 according to embodiment 4, the operation of the motor control system 20c is monitored, and the synchronization parameters 42f1 and 42f2 are periodically read from the motion controller 21c at 1 st time intervals while the motion controller 21c executes the synchronization control program 42d, and the mechanism maps 42g1 and 42g2 are generated, but the present invention is not limited to this configuration. Alternatively, for example, the synchronization parameter may be read from the motion controller 21c at an arbitrary timing instructed by a user operation to generate the mechanism map. Alternatively, any other processing may be executed in the display support system 4, and the synchronization parameter may be read out from the motion controller 21c to generate the mechanism diagram during the interval of the other processing.

In the display support system 4 of embodiment 4, the motion controller 21c actually executes the synchronization control program 42d, but the present invention is not limited to this configuration. Alternatively, the synchronization control program 42d may be executed by a simulator that simulates the operation of the motion controller 21 c.

Embodiment 5.

In embodiments 1 to 4, the display support systems 1 to 4 are realized by installing a display support program in a computer, but the present invention is not limited to this configuration. In embodiment 5, the display assistance program is installed in a server-client system. Embodiment 5 will be described with reference to fig. 21.

Fig. 21 is a diagram showing a configuration of the display support system 5 according to embodiment 5 of the present invention. As shown in fig. 21, the display support system 5 includes a computer 17, a display device 18, and a server 19.

The computer 17 has a configuration based on the computer 10 of the display support systems 1 to 3 according to embodiments 1 to 3. That is, the computer 17 can generate the mechanism diagram by installing the display assisting program. The computer 17 is set as a client of the server 19, and can communicate with the server 19 by wireless. The computer 17 stores the mechanism diagram generated by the computer 17 in a memory, not shown, of the server 19.

The display device 18 is configured by, for example, a smartphone, a tablet terminal, or the like. The display device 18 is set as a client of the server 19, and can communicate with the server 19 by wireless. The display device 18 transmits a request to the server 19 to transmit the mechanism diagram stored in the server 19 to the display device 18, and displays the mechanism diagram transmitted from the server 19 on the display screen 18a.

The server 19, upon receiving the mechanism map from the computer 17 set as the client of the server 19, stores the mechanism map in a memory not shown. In addition, the server 19 transmits the mechanism map stored in the memory to the display device 18 if it receives a request from the display device 18 set as a client of the server 19.

According to the display support system 5 of embodiment 5 described above, even when the computer 17 outside the display device 18 generates a mechanism diagram indicating the synchronization relationship between the main axis and the slave axis, the display device 18 can visualize the synchronization relationship.

In embodiment 5, the computer 17 and the display device 18 are set as clients of the server 19, but the configuration is not limited to this, and the computer 17 may be omitted. In this case, the server 19 executes the mechanism diagram generation process.

In the display support systems 1 to 5 according to embodiments 1 to 5, the mechanism diagram is automatically generated for the synchronization control program described in the FBD language or the ST language which is a general-purpose language not exclusively used for the synchronization control, but the language in which the synchronization control program is described is not limited to the FBD language or the ST language. Alternatively, for example, the mechanism diagram may be automatically generated for a synchronization control program described in a general-purpose language such as a ladder diagram language, a C language, or an SFC language. In short, it is sufficient to use a language that can be called for describing software modules that are in synchronization relationship, such as cam operation and gear operation.

In the display support systems according to embodiments 1 to 5, the drawing of the rotary motor is used as the mechanical element diagram of the main shaft, but the drawing of the mechanical element diagram of the main shaft is not limited to this. For example, the mapping of the linear motor may be used, or the mapping of the encoder may be used when the control is performed in synchronization with the output values of the encoder and the like from the axis. Similarly, the drawing of the slave axis is not limited to the drawing shown in the present embodiment.

In the display support systems 1 to 5 according to embodiments 1 to 5, the mechanism element diagrams showing the cam operation and the mechanism element diagrams showing the gear operation are used as the mechanism element diagrams showing the synchronization relationship, but the present invention is not limited to the mechanism element diagrams showing the synchronization relationship. For example, a mechanical element diagram showing a clutch for smoothly stopping the slave axis while rotating the master axis, a mechanical element diagram showing a differential operation in which a difference between position information of the master axis of the two axes is used as an operation command of the slave axis, or the like may be used. Fig. 22 and 23 are diagrams showing examples of a clutch control module corresponding to a mechanism element diagram showing a clutch operation and a differential control module corresponding to a mechanism element diagram showing a differential operation, respectively.

Industrial applicability

The present invention is suitable for realizing a display support program, a computer-readable storage medium storing the program, a display support method, and a display support system that generate a configuration diagram that visualizes a synchronization relationship between a master axis and a slave axis in a synchronization control program created by a general-purpose language that is not exclusively used for synchronization control.

Description of the reference symbols

1 to 5 display support systems, 10 and 17 computers, 11 processors, 12 memories (synchronous control program storage units, mechanism element diagram storage units), 12a creation support program, 12b display support program, 12c mechanism element diagram, 12d to 42d synchronous control program, 12e identification number, 12f synchronous parameter, 12g to 42g2 mechanism diagram, 13 input device, 14 and 18 display device, 14a and 18a display screen (display unit), 15 communication device, 16 control unit, 16a program creation unit, 16b parameter reading unit, 16c mechanism element diagram selection unit, 16d mechanism diagram generation unit, 16e display control unit, 16f communication control unit, 19 servers, 20 to 20c motor control systems, 21 to 21c motion controllers, 22a to 22c motor drivers, 23a 1 st motor, 23b 2 nd motor, 23c 3 rd motor, 121, 222, 321, 422 cam control module, 121a, 222a, 221a, 202a, 422a, 423a main shaft identification number, 121b, 222b, 221b, 202b, 422b, 423b from shaft identification number, 121c, 222c, 221c, 202c, 422c, 423c execution permission information, 121d, 222d, 422d cam number, 122, 221, 423 gear control module, 122d, 221d, 423d gear ratio, 123a to 123e, 223a to 223d, 321a to 321e, 424a to 424e, 621a to 622a mechanism element diagram, 421 timer module, 621 clutch control module, 622 differential control module.

Claims (7)

1. A non-transitory computer-readable storage medium storing a display support program for causing a computer to generate and display a structural diagram based on a synchronization control program that can be described in a plurality of general-purpose languages including FBD language or ST language, the display support program causing the computer to execute:

a parameter reading step of reading out, from a synchronization control program which is composed of a combination of a plurality of software modules including, as arguments, identification information of a main shaft serving as a reference of operation and identification information of a slave shaft linked to the main shaft, synchronization parameters including function information which is information for identifying functions of the software modules, and execution sequence information indicating an execution sequence of the software modules, and which is described in the general-purpose language, and storing the synchronization parameters in a 1 st format;

a mechanism element map selection step of selecting a mechanism element map corresponding to the function information included in the synchronization parameter stored in the parameter reading step, a mechanism element map corresponding to identification information of the main shaft, and a mechanism element map corresponding to identification information of the slave shaft, respectively;

a mechanism diagram generation step of generating the mechanism diagram by combining the mechanism element diagrams selected in the mechanism element diagram selection step so as to have the same order as the execution order indicated by the execution order information included in the synchronization parameter; and

a display step of displaying the mechanism diagram generated in the mechanism diagram generation step on a display unit,

the display assisting program describes the synchronization parameter read out from the synchronization control program which can be described by the plurality of general languages in the 1 st format, and then generates the mechanism diagram.

2. The non-transitory computer-readable storage medium storing a display assistance program according to claim 1, wherein,

in the mechanism diagram generating step, a mechanism element diagram corresponding to the synchronization parameter stored in the parameter reading step is selected from at least one of a mechanism element diagram indicating a gear operation and a mechanism element diagram indicating a cam operation.

3. The non-transitory computer-readable storage medium storing a display assistance program according to claim 1 or 2, wherein,

in the parameter reading step, execution permission information is read as the synchronization parameter from the synchronization control program constituted by combining the software modules including the execution permission information indicating whether execution is permitted or not as an argument.

4. The non-transitory computer-readable storage medium storing a display assistance program according to claim 1 or 2, wherein,

in the parameter reading step, while the motion controller that controls the operation of the plurality of motors is executing the synchronization control program, the synchronization parameter is read from the synchronization control program that is being executed.

5. The non-transitory computer-readable storage medium storing a display assistance program according to claim 3, wherein,

in the parameter reading step, while the motion controller that controls the operation of the plurality of motors is executing the synchronization control program, the synchronization parameter is read from the synchronization control program that is being executed.

6. A display support method for generating and displaying a mechanism diagram based on a synchronization control program that can be described in a plurality of general languages including FBD language or ST language, the display support method comprising:

a parameter reading step of reading out, from a synchronization control program which is composed of a combination of a plurality of software modules including, as arguments, identification information of a main shaft serving as a reference of operation and identification information of a slave shaft linked to the main shaft, synchronization parameters including function information which is information for identifying functions of the software modules, and execution sequence information indicating an execution sequence of the software modules, and which is described in the general-purpose language, and storing the synchronization parameters in a 1 st format;

a mechanism element map selection step of selecting a mechanism element map corresponding to the function information included in the synchronization parameter stored in the parameter reading step, a mechanism element map corresponding to identification information of the main shaft, and a mechanism element map corresponding to identification information of the sub shaft, respectively;

a mechanism diagram generation step of generating the mechanism diagram by combining the mechanism element diagrams selected in the mechanism element diagram selection step so that the execution order indicated by the execution order information included in the synchronization parameter is the same; and

a display step of displaying the mechanism diagram generated in the mechanism diagram generation step on a display unit,

the display support method describes the synchronization parameter read out from the synchronization control program which can be described by the plurality of general languages in the 1 st format, and then generates the mechanism diagram.

7. A display support system for generating and displaying a mechanism diagram based on a synchronization control program which can be described in a plurality of general languages including FBD language or ST language, the display support system comprising:

a synchronous control program storage unit that stores a synchronous control program that is configured by combining a plurality of software modules each having, as arguments, identification information of a main shaft serving as a reference of operation and identification information of a slave shaft linked to the main shaft, and that is described in the general-purpose language;

a mechanism element map storage unit that stores a mechanism element map indicating the main axis, a mechanism element map indicating the driven axis, and a mechanism element map indicating a function of the software module;

a parameter reading unit that reads out, from the synchronization control program stored in the synchronization control program storage unit, function information including identification information of the main shaft, identification information of the slave shaft, and information specifying a function of the software module, as a synchronization parameter indicating execution sequence information of an execution sequence of the software module, and stores the synchronization parameter in a 1 st format;

a mechanism element map selection unit that selects, from the mechanism element maps stored in the mechanism element map storage unit, a mechanism element map corresponding to the function information included in the synchronization parameter stored in the parameter reading unit, a mechanism element map corresponding to the identification information of the main shaft, and a mechanism element map corresponding to the identification information of the sub shaft, respectively;

a mechanism diagram generating unit that generates a mechanism diagram by combining the mechanism element diagrams selected by the mechanism element diagram selecting unit; and

a display control unit that displays the mechanism map generated by the mechanism map generating unit on a display unit,

the display support system describes the synchronization parameter read out from the synchronization control program which can be described by the plurality of general languages in the 1 st format, and then generates the mechanism diagram.

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