Cell controller
Provided is a cell controller for controlling an operation of a machining cell including two or more machines and one or more robots as work resources, the cell controller being configured to control the operation of the machining cell based on a production program recorded with one or more processes to be executed at the time of producing only one article of a corresponding item in the machining cell among production programs prepared corresponding to one or more items produced in the machining cell.
1. A cell controller for controlling an operation of a machining cell including two or more machines and one or more robots, each of the two or more machines and the one or more robots being regarded as a plurality of work resources,
the cell controller being configured to:
receive a production program recorded with one or more processes to be executed at the time of producing only one article of a corresponding item in the machining cell among items produced in the machining cell; and
control the operation of the machining cell based on the production program,
wherein the production program includes at least one of a process number, a process name, a type of the plurality of work resources to be used, and identification information on a resource program for operating the work resource for each of the one or more processes,
wherein the cell controller comprising:
production management units provided corresponding to the items produced in the machining cell and configured to command loading of a new workpiece into the machining cell to produce an article of the corresponding item;
a plurality of sequence execution units configured to sequentially execute the one or more process recorded in the production program when receiving the command of the loading; and
a plurality of resource arbitration units provided corresponding to the plurality of work resources,
wherein a sequence execution unit, among the plurality of sequence execution units, transmits a command for a work resource, among the plurality of work resources, to a resource arbitration unit corresponding to the work resource, among the plurality of resource arbitration, and
wherein the resource arbitration unit arbitrates timing at which each of the plurality of sequence execution units uses the work resource associated with the resource arbitration unit.
2. The cell controller according to claim 1 , wherein
before execution of a current process is completed, the sequence execution unit outputs a use request for a work resource newly required in a next process to the resource arbitration unit associated with the work resource.
3. The cell controller according to claim 1 , wherein
a robot, among the one or more robots, includes one or more mounting portions on which hands are mounted,
the sequence execution unit specifies a preceding workpiece passing determination process count, in which the preceding workpiece is required to be completed when a succeeding workpiece issues a use request of the robot, corresponding to a current process when a new robot is required in a next process, and issues a use request for the robot regarding the next process after another sequence execution unit for executing a production process of a preceding workpiece starts to execute the preceding workpiece passing determination process count or issues a use request for a robot regarding the preceding workpiece passing determination process count, and
when the mounting portion used in the next process is equal to a mounting portion used in a next resource calling process of using the robot again, the preceding workpiece passing determination process count is the next resource calling process, and when the mounting portion used in the next process is different from the mounting portion used in the next resource calling process or when the next resource calling process does not exist, the preceding workpiece passing determination process count is the next process.
4. The cell controller according to claim 1 , further comprising:
a composite table storage unit configured to store a composite table recorded with two or more processes executable in parallel out of a plurality of processes that make up the production program and a composite command that allows the work resource to execute the two or more processes in parallel, wherein
when receiving execution commands for the two or more processes executable in parallel from each of two or more sequence execution units among the plurality of sequence execution units different from each other, the resource arbitration unit converts the execution commands for the two or more processes into the composite command based on the composite table and outputs the composite command to the work resource.
5. The cell controller according to claim 1 , comprising
the two or more production management units operating independently of each other, wherein
the cell controller allows the machining cell to produce articles of the items, respectively, in parallel.
6. The cell controller according to claim 1 , further comprising:
a retry determination unit configured to monitor a presence or absence of an abnormality regarding the execution of a process of the one or more processes, and, when the abnormality is detected, return to a beginning of the process in which the abnormality is detected or to a retry point set before the beginning of the process to issue a retry command for re-executing one or more processes including the process and to output the retry command to the sequence execution unit.
7. The cell controller according to claim 6 , wherein
when an alternative process is defined, by an operator, for the process designated to be re-executed by the retry command, the sequence execution unit executes the alternative process.
8. The cell controller according to claim 6 , wherein
the retry determination unit determines that the abnormality occurs at least either when an elapsed time from a start of execution of the process exceeds a predefined allowable execution time or when an error is output from the work resource during the execution of the process.
9. The cell controller according to claim 6 , further comprising:
a workpiece skip execution unit configured to execute a workpiece skip process of disposing of a current workpiece when a number of continuous retries exceeds a predefined allowable number of times.