JP2001255902A - Dual-port memory and its data transferring method and control system using the dual-port memory - Google Patents

Abstract

PROBLEM TO BE SOLVED: To efficiently exchange data at the time of exchanging (transferring) data via a DPRAM. SOLUTION: The prescribed storage position of each data to be transferred is decided in a data storage area 40B. A data update flag, indicating whether the data at each prescribed storage position on a data storage area 40B are updated, is stored in a data update flag storage area 40A. The origin of data transfer turns on data to be transferred to a DPRAM this time, that is, a data update flag corresponding to the data to be updated. The destination of data transfer extracts only the data, whose data update flag is turned on from the data storage area 40B by referring to the data update flag storage area 40A.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a dual port memory, a data transfer method thereof, and a control system using the dual port memory.

[0002]

2. Description of the Related Art FIG. 7 is a diagram showing an example of a control system, in which an electric motor 103 is shown as an example of a control object, and a motor drive control device 101 is shown as an example of a control device. The electric motor 103 is, for example, an induction motor, a synchronous motor, or the like. For example, the control device 101 controls the electric motor 103 at a variable speed.
The motor drive control device 101 is a kind of IC card equipped with a dedicated processor for numerical operation for operating a large-scale or complicated control program at a high speed and a high-speed memory (hereinafter referred to as a technology card; TC102) is optionally detachable. In addition, a DPRAM (Dual Port RAM; dual port memory) accessible from both the control device 101 and the TC 102 is provided.

[0003] Control device 101, TC102 and DPRAM
The connection with the irrespective of the physical connection form. Any form is possible as long as data can be read from and written to any address of the DPRAM from both the control device 101 and the TC 102. The mounting position of the DPRAM may be any position as long as it is logically accessible from both the control device 101 and the TC 102 (therefore, the DPRAM and its mounting position are not shown in the figure). Therefore, the DPRAM is often mounted in the TC 102 because it is not always mounted on the control device 101.

The load 104 simply means that a load is applied to the electric motor 103. TC102
Here, is used to cause some or all of the calculations of the software incorporated in the control device 101 to be performed in place of the control device 101. that time,
The control device 101 and the TC 102 exchange data with each other via the DPRAM. That is, the control device 101
Data required for the operation to be performed by TC102 is stored in DPRAM
, And the TC 102 reads data from the DPRAM and executes an operation. The TC 102 calculates the calculation result as D
The control device 101 writes the data in the PRAM,
Read from M. (The reason why data is not directly transmitted and received between the control device 101 and the TC 102 is that various adverse effects occur. That is, the control device 101 (the C device).
PU) directly accesses the local bus in the TC 102. (1) The CPU-T of the control device 101
It is necessary to arbitrate bus access between the CPUs of the C102. (2) There is a possibility that resources other than the data memory in the TC 102 may be changed by the CPU of the control device 101. TC by access
If the local bus in the PC 102 is used, the operation speed of the TC 102 becomes slow, and the like. As will be described later, the CPU of each of the control device 101 and the TC 102 temporarily transfers data from the DPRAM to its own data memory without directly using the data read from the DPRAM for the operation. Reads data and executes operation. This is because when the data stored in the DPRAM is directly used for the operation, for example, TC
During execution of the calculation in 102, the control device 101
This is because a normal operation cannot be guaranteed if the data is changed (for example, when the same data is referred to a plurality of times in one operation, if the data is changed halfway, I don't know.) In addition, the "data transfer from the DPRAM to the own data memory" is performed at a time other than when the own operation is being performed.

FIG. 8 is a calculation model diagram of the control device and the TC. FIG. 1 illustrates an example of the calculation of the control device and the TC by modeling, and does not show an actual configuration.
Therefore, in the figure, it may seem that the data stored in the DPRAM 130 is directly used for the calculation. However, in actuality, as described above, the data is transferred from the DPRAM 130 to its own data memory (not shown). The data is read from the data memory and the operation is executed.

In FIG. 1, a control device 110 performs an operation on an external input (for example, measurement data such as the rotation speed and torque of the electric motor 103) and outputs an operation result. Although FIG. 1 shows a model with one input and one output for simplicity, a plurality of inputs and outputs may actually exist. Further, the entire operation is divided into a plurality of operations as shown in FIG. 1 (tentatively, operations A to Z), and a model is obtained by sequentially executing the operations to obtain an overall operation result. Although each of the plurality of operations has one input and one output in the figure, there may actually be a plurality of inputs and outputs.

On the other hand, the TC 120 is provided with replacement operations (operations A 'to Z') for each of the operations A to Z of the control device 110. Here, the operations A to Z are actually executed by the CPU by executing a program stored in the program memory. However, usually, the program memory is a ROM and cannot be rewritten. On the other hand, in actual control and operation, there is a case where it is desired to change a part of the program on the way. Alternatively, it may be necessary to perform a process for executing one of the two types of operations according to the input value (for example, depending on whether the input value exceeds a predetermined threshold). In such a situation, if necessary, a part of the program of the control device 110 (one or more of the operations A to Z) may be replaced by another program (operations A ′ to Z ′) prepared on the TC 120 side.
The program is executed in place of the corresponding program. In the figure, as an example,
The operation model is shown in which the operation A is replaced by the operation A ′, and as a result, the processing “input → operation A ′ → operation B →... → operation Z → output” is performed as a whole operation. The replacement of the operation is not always fixed. For example, when the operation to be executed changes according to the input value, the replacement of the operation naturally changes dynamically during the control. Also in the example shown in FIG.
For example, it may be “input → operation A → operation B ′ →... → operation Z → output”.

[0008] Then, the control device 110 transfers a part (possibly all) of the program to the TC1.
In the case where the processing is executed in step 20, data used in the calculation is transferred to the DPRAM 130. For example, in the example shown in the drawing, the operation A ′ is executed by the TC 120 in place of the operation A, so that the input data (input data a) that should have been used in the operation A is passed to the operation A ′ by a predetermined amount. It is stored in a storage area (a storage area indicated by input data a in FIG. 3). The control device 110 stores data used for the calculation in its own data memory (not shown), and transfers the input data a from this data memory to the DPRAM 130.

The TC 120 reads the input data a stored in the DPRAM 130 and stores it in its own data memory (not shown). Then, the operation A ′ is executed using the input data a stored in the data memory, and the operation result is stored in the data memory. This operation result data (output data a ′) is transferred to the DPRAM 130 and stored in a storage area indicated by the output data a ′ in FIG.

The control device 110 takes out the operation result (output data a ') from the DPRAM 130, and subsequently executes the operation B (in the example shown in the figure) using the output data a' as an input. Thereafter, in this example, the control device 110 sequentially executes the operations B to Z without replacing the operation with the TC 120, thereby outputting the operation result as the entire operation, and terminating the process.

Further, since the TC 120 is equipped with a processor dedicated to numerical computation, a high-speed memory, and the like, it is relatively expensive. Therefore, for example, in a system having a plurality of control devices 110 as shown in FIG. 9 (here, m devices from control devices 110-1 to 110-m), the TC12
0 is mounted on only one of the control devices 110 (in the figure, mounted on the control device 110-1), and a link integrated circuit card (link card 140-1) is connected between the control devices 110.
To 140-m) so that one TC 120 is used by a plurality of control devices 110.

In this case, the TC 120 stores a replacement operation for each control device in its program memory, similarly to the operations A 'to Z'. This means that even if there are two or more same operations, only one operation is not stored and shared, but the operation for replacement is separately stored for each control device. This is because the calculation may be performed using a variable held inside the operation in addition to the input data (for example, the value of the previous input data is held and compared with the value of the current input data, etc.). ).

Here, as described above, the technology card (TC) basically performs a part or all of the operation of the software incorporated in the control device in place of the control device. However, it is not an arithmetic device that simply executes a required operation using given input data and returns a result.

The technology card in this example has an operation model of the control device (as in the above examples A ′ to Z ′,
(The input data used for each operation is common, although it is slightly different from the operation model of the control device itself.) According to this operation model (regardless of whether the operation result output is used by the control device) or not, And output. For example, if the input data given to the TC is a torque command value of a motor instructed / input by a user or the like, and if a calculation result corresponding thereto is a current torque value, the torque command value does not change (the user or the like). Even if no new instruction / input is required, it is necessary to perform an operation according to the operation model and output the current torque value. Accordingly, the TC performs the calculation even when the control device does not use the calculation result (for example, in the example of FIG. 8, the TC actually performs the calculation B ′ and the like. However, the control device performs this calculation. Since the result of the operation B is used without using the result, the process of “input → operation A ′ → operation B →... → operation Z → output” is performed as described above. Become). Therefore, the TC side needs to hold all the same data as the data handled by the control device (that is, it is necessary to reproduce the data structure of the data memory of the control device in its own data memory). Further, from now on, in the case of the system as shown in FIG. 9, the TC needs to hold all the contents of the data memories of the plurality of control devices.

The link card 140 is not used only for sharing one TC between a plurality of control devices. The link card 140 is originally used for performing a synchronous operation or the like between a plurality of control devices. (Since the control data of the control device is only notified to other control devices, the link card 140 has a relatively high computational load. ), A buffer or the like, in which data notified from the own device to the other device and data notified from the other device to the self are temporarily stored.

[0016]

As described above, TC
In, the calculation is executed regardless of whether or not the calculation result is used on the control device side. Therefore, it is necessary to hold all the contents of the current data memory on the control device side. Therefore, it is not necessary to read out the input data whose contents do not change from the DPRAM one by one, and it is sufficient to execute the calculation using the data stored in the data memory of the TC. There was a problem that it was not possible to know which data was updated by the other party, and eventually all data had to be read from the DPRAM. For this reason, there is a problem that it takes time to transfer data, and the meaning of using TC which can perform high-speed operation as a part of the operation of the control device is reduced.

Further, in the case where a single TC handles calculations of a plurality of control devices as in the system shown in FIG. 9, data of all control devices (data of a data memory used for calculation)
, The number of control devices that can be handled by one TC is limited, or the amount of data that can be used for each control device needs to be limited due to the limitation of the capacity of the DPRAM.

An object of the present invention is to enable a data transfer process to be performed at high speed by exchanging only updated data in a system for mutually transferring data via a DPRAM. An object of the present invention is to make it possible to perform data transfer even when data transfer is not restricted or transfer data is stored discontinuously in a transfer source / destination memory.

[0019]

According to a first aspect of the present invention, there is provided a dual port memory for mediating data transfer, a data storage means for storing data to be transferred at predetermined storage locations, and the data storage. Data update flag storage means for storing a flag indicating whether or not data stored in the storage location is updated corresponding to each storage location of the means.

By using the dual-port memory having the above configuration, high-speed data transfer can be achieved, for example. The data transfer method according to claim 2 is
A data storage unit for storing the data to be transferred in a predetermined storage location, and indicating whether the data stored in the storage location has been updated for each storage location of the data storage unit. A data update flag storage means for storing a flag, wherein the data transfer source stores the data to be transferred each time data is transferred to the dual port memory. The switching of the flag corresponding to the position is controlled, and the data transfer destination fetches the data whose flag corresponding to the storage position is switched from the dual port memory.

According to the above-described data transfer method, the data transfer destination can know which data has been updated this time (that is, the data required by itself) by referring to the flag. Data transfer volume can be reduced (ie,
Speeds up data transfer).

The dual-port memory is used in a control system provided with a technology card that executes an operation that partially replaces the operation performed by the control device. 4. A control system for transferring data via a dual port memory between a control device and a technology card that executes an operation that partially replaces an operation performed by the control device, as described in claim 3, wherein the dual port Memory is
Data storage means for storing each data transferred between the control device and the technology card in a predetermined storage location, and data stored in the storage location corresponding to each storage location of the data storage means. And a data update flag storing means for storing a flag indicating whether or not the data has been updated, wherein the control device or the technology card is configured such that, when the control device or the technology card becomes a data transfer source, the control device or the technology card transfers the data to the dual port memory each time. A flag corresponding to a predetermined storage position for storing data to be transferred is controlled to be switched, and when the device itself becomes a data transfer destination, data stored in a storage position where the corresponding flag is switched is taken out from the dual port memory.

A technology card usually has a high-speed operation function, and enables the high-speed data transfer using the dual-port memory, thereby fully utilizing the significance of using the technology card. Become like

According to a fourth aspect of the present invention, in a dual port memory for mediating data transfer, data storage means for storing data to be transferred at predetermined storage locations, and each storage of the data storage means. Data update flag storage means for storing a flag indicating whether or not data stored in the storage location has been updated for each location, and an identification number of a group to which the updated data belongs is written. And an identification number storage area.

[0025] By using the dual port memory having the above-described structure and employing a data transfer method as described in claim 5, data transfer independent of the memory capacity of the dual port memory becomes possible.

According to a fifth aspect of the present invention, there is provided a data transfer method, comprising: data storage means for storing data to be transferred at respective predetermined storage locations; and data stored at the storage location corresponding to each storage location of the data storage means. Data update flag storing means for storing a flag indicating whether or not the updated data is updated, and an identification number storage area in which the identification number of the group to which the updated data belongs is written. A data transfer source that controls switching of a flag corresponding to a predetermined storage location for storing the data to be transferred each time data is transferred to the dual port memory, and to which the data to be transferred belongs. The identification number of the group is written in the identification number storage area, and the data transfer destination refers to the flag and the identification number storage area, The data flag is switched corresponding extraction from the dual port memory, and stores the data in the data areas allocated to the group to which the data belongs in its own data memory.

According to the above data transfer method, even when the amount of transfer data to be handled is larger than the memory capacity of the dual port memory, all the transfer data is divided into a plurality of groups smaller than the memory capacity of the dual port memory and handled. Therefore, data transfer independent of the memory capacity of the dual port memory can be performed.

According to a sixth aspect of the present invention, in a dual port memory for mediating data transfer, data storage means for sequentially storing data to be transferred, and all data to be mediated by the dual port memory And a flag storage unit for storing a flag indicating whether or not the data is stored in the data storage unit, corresponding to the data storage position in the transfer source / destination memory.

According to the dual-port memory having the above configuration, the storage location of each data is not determined in advance. Thus, it is possible to determine the type of each data (that is, which data has been transferred for use in which operation).

By using the dual-port memory having the above-described structure, for example, by using a data transfer method as set forth in claim 7, data can be transferred independently of the memory capacity of the dual-port memory. Further, in particular, in the case of the data transfer method in which the transfer data is handled in groups, if the data to be updated (transferred) this time is distributed to each group even though the data to be updated (transferred) is small, the data transfer efficiency is low as a whole. It could have been, but that is gone.

The data transfer method according to claim 7 corresponds to a data storage means for sequentially storing data to be transferred and a data storage position in a transfer source / destination memory of all data to be transferred. A flag storage means for storing a flag indicating whether the data is stored in the data storage means, and a flag storage means for storing a flag indicating whether the data is stored in the data storage means. Each time data is transferred, the flag corresponding to the data to be transferred is switched and controlled. The data transfer destination reads each flag stored in the flag storage means each time data is sequentially taken out from the data storage means of the dual port memory. By referring to the data storage position, the data storage position where the extracted data is to be stored in its own memory is determined.

The invention according to claim 8 of the present application is a data storage means for storing data to be transferred, and the data is stored in the data storage means in correspondence with all data to be transferred. And a flag storage means for storing a flag indicating whether or not the data is transferred to the dual port memory. The corresponding flag is switched, and the data transfer destination has an address table indicating the storage addresses of all the data to be transferred in the data transfer source memory, and the data in the dual port memory is referred to by referring to the table. The data storage position of the data retrieved from the storage means in its own memory is determined.

According to the above-described data transfer method, even if each transfer data is not stored sequentially in the memory of the data transfer source (or transfer destination), the address table prepared in advance is referred to. By doing so, the address where each data is to be stored in its own memory is known, so that accurate data transfer is possible even in such a situation.

[0034]

Embodiments of the present invention will be described below with reference to the drawings. In the following description of the embodiment, a control device for driving an electric motor will be described as an example of a control device following the example of the above-described conventional description. However, the present invention is not limited to this, and at least the present invention The present invention can be applied to a system in which data transfer processing is performed via a DPRAM in the entire control system. Without limitation to a control system, using a DPRAM according to the present invention,
Any method can be used as long as the data transfer method for the DPRAM can be applied.

FIG. 1 shows a control device according to the present embodiment and T
3 is a hardware configuration diagram of C. FIG. The motor drive control device 10 (hereinafter simply referred to as the control device 10) includes a CPU 1
1, a configuration in which a program memory (PMEM) 12, a data memory (DMEM) 13, and the like are connected to a local bus 14. Also, in preparation for the configuration shown in FIG.
Option card for the above link (link card 14
0).

The CPU 11 is a central processing unit that controls the entire control device 10. The PMEM 12 is a memory (program memory; here, R) in which various programs for causing the control device 10 to execute various processes are stored.
OM is used).

The DMEM 13 is a memory (data memory) for storing data used for calculation, for example.
The data is, for example, various measurement data detected from a control target, data input by a user or the like through an instruction / operation, or the like.

The CPU 11 can access the PMEM 12 and the DMEM 13 via the local bus 14, and when the optional link card is installed, which is not shown in FIG. Is accessible and further described in TC20
It is possible to access the DPRAM inside.

The technology card (TC) 20 is a CP
U21, a program memory (PMEM) 22, a data memory (DMEM) 23, and the like are connected to a local bus 24. Further, in the example shown in the figure, the technology card (TC) 20 has the DPRAM 30 built-in, but as described above, the mounting position of the DPRAM 30 may be accessible from both the control device 10 and the TC 20. Any location is acceptable, and FIG.
2 shows an example implemented in 20.

Therefore, in FIG.
Although it may appear that the main unit can be directly accessed, the CPU 11 of the control device 10 is connected to the DPRAM 30 (a specific connection mode is not particularly described in detail. However, the connection mode is not limited to any connection mode). However, any data can be used as long as it can operate in practice), and data can be transferred between the control device 10 and the DPRAM 30, and it is not possible to directly access the TC 20 itself.

On the other hand, the CPU 21 of the TC 20 also
Although the DPRAM 30 is connected to the local bus 24, the DPRAM 3 is directly connected to the local bus 24.
The data read from 0 is not used for the operation,
When an operation is executed by a program stored in the PMEM 22, the DPMEM 30 is temporarily
And the data stored in the DMEM 23 is used (the reason is described in the related art).

Here, conventionally, as described above,
The data stored in the DPRAM 30 is all DME
M23, but the first of the present invention described below
According to the embodiment, only the data whose contents have changed (updated) among the data in the DPRAM 30 are stored in the DMEM2.
Transfer to 3 is sufficient.

FIG. 2 shows a DPRAM used in the first embodiment.
FIG. 4 is a data configuration diagram of FIG. Hereinafter, the data transfer source and the data transfer destination mean that, when one of the control device 10 and the TC 20 is the data transfer source, the other is the data transfer destination, and it is not necessarily decided to be either. Absent.

The storage area in the DPRAM 40 shown in FIG. 3 includes a data update flag storage area 40A in addition to a conventional data storage area 40B. Data storage area 40
B is divided into storage areas for storing data 1 to N, for example, as shown in FIG. The data 1 to data N are, for example, the input data a
To input data z, which is data used in the operation corresponding to each operation. In this example, each data is used in accordance with the data structure of the data transfer source / destination memory (data memories 13 and 23). Each data is stored in a predetermined storage area.

The data update flag storage area 40A indicates, for each data storage area (data 1 to data N storage area) of the data storage area 40B, whether or not the data in the storage area has been updated. A 1-bit flag (data update flag) is stored.

Here, when the flag is ON (1), it indicates that the data has been updated. When the flag is OFF (0), the data has not been updated (or the updated data has been read by the data transfer destination). Shall be shown.

For example, the data transfer source transfers certain data to D
When the data is transferred to the PRAM 40, the flag corresponding to the storage area of the data is ON (1) controlled. Then, the data transfer destination reads the data and turns off the flag.
(0) Control. For example, DPRAM from the control device 10 side
(In this case, the control device 10 side is the data transfer source), the CPU 11 of the control device 10 turns on the corresponding flag. In this example, when the TC 20 serving as the data transfer destination notifies that the transfer source has completed the data writing by, for example, an interrupt signal, the corresponding flag is turned on from the DPRAM 40.
Only the data set to (1) is read, and the flag corresponding to the read data is turned off (0).

For example, in the example shown in FIG.
It is assumed that data 1 and data I (I; any of 1 to N) among the data (data 1 to data N) stored in 0 are updated. In this case, the data transfer source (either the control device 10 or the TC 20, but it is described here as being the control device 10) transmits data 1 from its own data memory (transfer source memory; here, DMEM 13). And the data I are transferred to the DPRAM, and the flags (the data 1 update flag and the data I update flag in the figure) corresponding to the data 1 and data I storage areas are ON-controlled. Thereby, the data transfer destination (here, TC20)
Can refer to the data update flag to find out which data has been newly updated. Therefore, TC20
When referring to the data update flag storage area 40A and knowing that the data 1 and the data I have been updated, the data is taken out from the storage area of the data 1 and the data I and is stored in its own data memory (transfer destination memory; Then, it is stored in the DMEM 23). Then, the data 1 update flag and the data I update flag are turned off. Note that both the control device 10 and the TC 20 have data (correspondence table or the like) indicating which flag corresponds to which data storage area.

As described above, according to the first embodiment, the DP
In data transfer via the RAM, the data transfer destination is D
Since it becomes possible to know which data in the PRAM has been updated, it is only necessary to transfer necessary data (that is, updated data) to its own data memory (DMEM). There was a problem that the data had to be transferred, and the meaning of using TC capable of high-speed operation was lost.
This can be eliminated.

Note that FIG. 3 and the following drawings after FIG. 4 show only one of the input and output in the operation model of FIG. 8, and for example, when the transfer source is the control device 10, The transfer data is the input data in FIG. 8, and when the transfer source is the TC 20, the transfer data is the output data in FIG.

In the above-described first embodiment, since the storage locations of data to be used for each operation are determined in the source / destination data memories (DMEMs 13 and 23), the data structure of the DPRAM 40 is However, the data structure of the DPRAM 40 does not necessarily have to be the same (see FIG. 8, at first glance, if it is not the same, it may seem that the operation will be hindered. As shown, FIG. 8 shows an operation model, and the data of the DPRAM is not actually used directly for the operation.) It suffices if each data is stored in a predetermined location in the transfer source / destination data memory. In other words, the data extracted from the DPRAM 40 is stored in any storage location of its own data memory. It just needs to be able to tell if it is.

In this regard, a second embodiment will be described below. FIG. 4 is a diagram showing an example of the data structure and data transfer of the DPRAM in the second embodiment.

The second embodiment proposes a method of enabling data transfer even when the amount of data handled by the TC is large and data transfer that cannot be accommodated by the capacity of the DPRAM is performed. Here, for example, as described with reference to FIG.
The configuration using C will be described as an example.

As shown in the figure, the DPRAM 50 in the second embodiment has a data group number storage area 50C in addition to the data update flag storage area 50A. The data group number is written in the data group number storage area 50C by the data transfer source. For example, the data group number is set in advance in each of the control devices 10 in order to distinguish which of the plurality of control devices 10 the data updated in the DPRAM 50 is. It is a number assigned to each. For example,
Usually, in such a system, a unique identification number is assigned to each control device 10 in advance, and this may be used as a data group number.

When the data transfer source (either the control device 10 or the TC 20) sends data to the data transfer destination (the other), necessary data (for example, data used in an operation performed by the TC 20 or an operation result thereof; So, data 1
And the data I) are transferred to the DPRAM 50, and the data group number is written to the DPRAM 50 in order to notify the data transfer destination of which of the plurality of control devices 10 the data is. Write to the group number storage area 50C. At this time, as in the first embodiment, the data update flag in the data update flag storage area 50A is ON-controlled.

At the data transfer destination, referring to the data group number storage area 50C and the data update flag storage area 50A, the data updated this time (DPRAM 50
) Can be determined. Therefore, only the valid (updated at this time) data is taken out from the DPRAM 50, and the storage area (the own D
MEM). In the example shown in the figure, at the transfer destination, only data 1 and data I are extracted from the DPRAM, and it is assumed that "data group i" is stored in the data group number storage area. The extracted data is stored in the storage area of data 1 and data I belonging to data group i in DMEM).

As described above, even if the amount of data handled by the TC 20 increases because a plurality of control devices 10 use one TC 20, the data transfer amount handled by one data transfer process is set to DP.
By adjusting to the storage capacity of the RAM, D
Increase the storage capacity of PRAM or DPRAM
Does not limit the number of control devices that can be handled by one TC.

In the above description, the plurality of control devices 1
Since 0 is an example of a system using one TC20,
Although the data group number has been described as identifying each control device 10, this is an example, and the present invention is not limited to such an example. Basically, the data group number is the DPRAM 50
When handling data larger than
The data is divided into data groups smaller than the capacity of the RAM 50 and an arbitrary number is assigned to each data group. By referring to the data group number storage area 50C at the transfer destination, it is possible to determine to which data group the data transferred from the transfer source to the DPRAM 50 this time belongs, and the control device 10-T
The amount of data that can be handled in data transfer between C20 is DPR
No longer limited by the capacity of the AM.

Next, a third embodiment will be described with reference to FIG. In the above-described second embodiment, for example, when each update data belongs to a different data group even though the actual number of update (transfer) data is small, all of the small update data are transferred. In addition, a data transfer process for rewriting the data group number must be performed many times, which makes data transfer inefficient.

Thus, in the third embodiment, the DPRAM
Proposes a method of sequentially storing transferred data and determining which data in the data structure of the source / destination memory corresponds to each data by using an update flag.

The DPRAM 60 shown in FIG. 2 has a data update flag storage area 60A and a data storage area 60B, and may seem at first glance to be the same as the DPRAM 40. However, in the data storage area 60B of the DPRAM 60, Is not fixed. The transferred data is stored in the data storage area 60B.
Are stored sequentially from the beginning. Each data update flag stored in the data update flag storage area 60A is:
Indicates the storage location (address) of the transferred data (data to be updated this time) in the transfer source / destination memory.

For example, in the example shown in FIG. 5, at the transfer source, among data 1 to data N stored in its own DMEM (transfer source memory), for example, data 1, data 4, data I, data N-2 , Data N is transferred this time. In this case, data 1, data 4, data I, data N-2, and data N are stored in order from the top of the data storage area 60B of the DPRAM 60. Then, the transfer source sets the data update flags respectively corresponding to the data 1, data 4, data I, data N-2, and data N to O.
N control.

At the transfer destination, the data stored in the DPRAM 60 is read out in order from the beginning of the data storage area 30B, and what kind of data each is (ie, the data storage position in the transfer destination memory). Is determined with reference to the data update flag storage area 60A. That is, the data update flag storage area 60A
Are checked in order from the one corresponding to the data 1, and it is determined that the data corresponding to the flag that is turned ON first is stored at the head of the data storage area 30B. In the example shown, data 1
Is ON, the data stored at the head of the data storage area 30B is the data to be stored in the storage location of “Data 1” in the transfer destination memory (own DMEM). Judge that there is. Similarly, when the flags are sequentially checked, the flags corresponding to data 2 and data 3 are OFF (0), and the flag corresponding to the next data 4 is ON. The data stored second from the head of the area 30B is written to the storage location of “Data 4” in the transfer destination memory (own DMEM). Hereinafter, similarly, the data I, the data N-2, and the data N are respectively transferred to predetermined storage locations of the transfer destination memory (own DMEM). At this time, the flag corresponding to the transferred data is turned off. The data that has been transferred is deleted from the data storage area 30B.

As described above, according to the third embodiment, in the data transfer between the control device 10 and the TC 20, the DPRA
Data transfer can be performed without depending on the storage capacity of M, and data is not grouped (data group number is not used). For example, although update data is small, each data belongs to a different group, so that data transfer efficiency deteriorates. Such a situation does not occur.

Next, a fourth embodiment will be described with reference to FIG. In the fourth embodiment, data transfer can be performed even when data to be transferred via the DPRAM exists discontinuously in the transfer source / destination data memory. That is, in the first to third embodiments,
Each transfer data (data to be transferred between the control device 10 and the TC 20; data 1 to data N) has a continuous storage position in the transfer source / destination memory.
If the order in transfer data such as 2, 3,..., N-1, N is known, the storage position of the data can be known. However, when the storage position of each transfer data (data 1 to data N) is discontinuous, that is, FIG.
In the case where data is stored between the storage positions of the transfer data (data 1 to data N) (for example, not used for the operation in the TC 20) as shown in FIG.
By referring to the data update flag storage area, the address where the data extracted from the DPRAM should be stored cannot be determined. The fourth embodiment proposes a method for enabling data transfer even in such a case.

Here, the case where the transfer data exists discontinuously in the transfer source / destination memory means, for example, (a) when the data exists in a physically different memory.
(B) When it is desired to enhance portability.

(A) The case where data exists in physically different memories is, for example, a case where there are a plurality of types of data to be input / output via the DPRAM, and these are stored in physically separate memories. Is assigned (for example,
Data input / output between the control device 10 and a control target (such as a motor) is allocated to a relatively high-speed memory, and data set / instructed by a user or the like is allocated to a relatively low-speed memory. Alternatively, information unique to the control device is stored in a ROM, etc.).

(B) To improve portability, for example, when re-creating either the control device 10 or the TC 20, a hardware factor (for example, a change of a mounted CPU, a large capacity of two memories). The data storage address may change due to software-related factors (such as replacement with one memory) or software-related factors (such as a change in the memory data structure due to the addition of a new function).

In FIG. 6, the data structure of DPRAM 70 may be the same as that of FIG. The difference is that the control device 10
/ TC 20 holds an address table indicating the storage address on DMEM of each data input / output via DPRAM 70 among the data stored in its own DMEM (13, 23). In the example shown in the figure, the control device 10 sends data (data 1 to data N; stored discontinuously) between the TC 20 and the TC 20 in advance in its own memory (DMEM1).
3) is passed. Further, in this example, the data update flag in the data update flag storage area 70A of the DPRAM 70 indicates what number of data from the top of the address table has been updated. In addition, DMEM23 of TC20
Is the same as the data structure of the DMEM 23 of the control device 10 (this is
This is to improve portability of the arithmetic processing to C20. That is, as described in the description of the related art, TC exists to replace a part of the operation performed by the control device with another operation having the same input / output. At this time, the DMEM 23 of the TC 20 This is because if the data structure has the same data structure as that of the control device 10, programming of the TC 20 (usually transplanting a partially modified operation process of the control device 10) becomes easy. Incidentally, since the TC 20 usually has a large capacity memory as compared with the control device 10, the portability is greater than the memory use efficiency in the overall cost reduction effect).

In FIG. 6, the transfer source sequentially transfers data to be transferred to the transfer destination among the data stored in its own transfer source memory (DMEM 13 or 23) to the DPRAM 7.
0, and the data update flag corresponding to the transferred data is ON controlled.

At the transfer destination, the data stored in the DPRAM 70 is read out sequentially from the beginning of the data storage area 70B, and the data update flag storage area 70A is read.
To determine the order of these data from the top of the address table 71. Thus, the storage location (address) of the data read from the DPRAM 70 on the DMEM is:
Since the data can be known by referring to the address table 71, the data is stored in this storage location.

As described above, in the fourth embodiment, by using the address table 71, the data to be transferred via the DPRAM 70 is discontinuously stored in the source / destination memories (the data memories DMEM13, 23, etc.). Even if it is stored, the transfer destination can know the address where each data taken out from the DPRAM 70 should be stored,
Data transfer can be performed reliably.

The data structure of the DPRAM 70 is shown in FIG.
Then, as an example, the same as the DPRAM 60 in FIG.
However, the present invention is not limited to this, and can be implemented even with the data structure of the DPRAM 40.

According to the fourth embodiment, when either hardware / software of the control device 10 / TC20 is changed as in (b) above, only the address table is corrected. The other hardware /
Another effect is that the software does not need to be changed.

In the above description of each embodiment, the data update flag corresponding to the newly updated data is ON.
(1), but of course, on the contrary, OFF
(0).

[0076]

As described above in detail, according to the dual port memory, the data transfer method thereof, and the control system using the dual port memory of the present invention, a system for mutually exchanging data via the dual port memory. In this case, the efficiency of data transfer can be improved by exchanging only necessary data, and the advantage of using a technology card capable of high-speed processing can be fully utilized. Also, there is no longer any restriction on data transfer due to the storage capacity of the dual port memory.
Further, even when the storage locations of the transfer data in the transfer source / destination memory are discontinuous, data exchange can be performed.

[Brief description of the drawings]

FIG. 1 is a hardware configuration diagram of a control device and a TC.

FIG. 2 is a data configuration diagram of a DPRAM used in the first embodiment.

FIG. 3 is a diagram for explaining a data transfer method according to the first embodiment.

FIG. 4 is a diagram for explaining a data transfer method according to a second embodiment.

FIG. 5 is a diagram for explaining a data transfer method according to a third embodiment.

FIG. 6 is a diagram for explaining a data transfer method according to a fourth embodiment.

FIG. 7 is a diagram illustrating an example of a control system.

FIG. 8 is a calculation model diagram of the control device / TC.

FIG. 9 is a schematic configuration diagram of a system having a plurality of control devices.

[Explanation of symbols]

 Reference Signs List 10 motor drive control device 11 CPU 12 program memory (PMEM) 13 data memory (DMEM) 14 local bus 20 technology card (TC) 21 CPU 22 program memory (PMEM) 23 data memory (DMEM) 24 local bus 30 DPRAM 40 DPRAM 40A data update flag storage area 40B data storage area 50 DPRAM 50A data update flag storage area 50B data storage area 50C data group number storage area 60 DPRAM 60A data update flag storage area 60B data storage area 70 DPRAM 70A data update flag storage area 70B data Storage area 71 Address table

Claims (8)

[Claims] 1. A dual port memory for mediating data transfer, comprising: a data storage means for storing data to be transferred at predetermined storage locations; and a storage location corresponding to each storage location of the data storage means. A data update flag storage unit for storing a flag indicating whether stored data has been updated or not. 2. A data storage means for storing data to be transferred at predetermined storage locations, respectively, and whether data stored at the storage location is updated corresponding to each storage location of the data storage means. A data update flag storing means for storing a flag indicating whether the data is transferred or not, the data transfer source storing the data to be transferred each time data is transferred to the dual port memory. A data transfer destination that retrieves, from a dual port memory, data whose flag is switched corresponding to the storage location. 3. The method according to claim 1, wherein the control device and a technology card that performs an operation for partially replacing the operation performed by the control device include:
A control system for transferring data via a dual-port memory, wherein the dual-port memory stores data to be transferred between the control device and the technology card at respective predetermined storage locations; Data update flag storage means for storing a flag indicating whether or not data stored in the storage location has been updated for each storage location of the storage means, the control device or the technology card Controls switching of a flag corresponding to a predetermined storage location for storing the data to be transferred each time data is transferred to the dual port memory when the device itself becomes a data transfer source, and responds when the device becomes a data transfer destination. Retrieving data stored in a dual-port memory at a storage location whose flag is switched Control systems using dual port memory, wherein. 4. A dual port memory for mediating data transfer, wherein: data storage means for storing data to be transferred at predetermined storage locations; and a storage location corresponding to each storage location of the data storage means. Data update flag storage means for storing a flag indicating whether or not the stored data has been updated; and an identification number storage area in which the identification number of the group to which the updated data belongs is written. Features dual port memory. 5. A data storage means for storing data to be transferred at predetermined storage locations, respectively, and whether data stored at the storage location is updated corresponding to each storage location of the data storage means. A data transfer method via a dual-port memory, comprising: a data update flag storage unit in which a flag indicating whether the data is updated is stored; and an identification number storage area in which an identification number of a group to which the updated data belongs is written. Each time data is transferred to the dual-port memory, the data transfer source switches and controls a flag corresponding to a predetermined storage location for storing the data to be transferred, and stores an identification number of a group to which the data to be transferred belongs. The data transfer destination refers to the flag and the identification number storage area, and the flag corresponding to the storage position is switched. Removed are data from the dual port memory, the data transfer method characterized by storing the data in the data areas allocated to the group to which the data belongs in its own data memory. 6. A dual port memory for mediating data transfer, a data storage means for sequentially storing data to be transferred, and data in a source / destination memory of all data to be mediated by the dual port memory. A dual port memory, comprising: flag storage means for storing a flag indicating whether or not the data is stored in the data storage means, corresponding to each storage position. 7. A data storage means for sequentially storing data to be transferred, and said data storage means corresponding to data storage positions in a transfer source / destination memory of all data to be mediated, respectively. And a flag storage means for storing a flag indicating whether or not the data is stored in the dual port memory, wherein the data transfer source transmits the data every time data is transferred to the dual port memory. The data transfer destination refers to each flag stored in the flag storage means each time data is sequentially fetched from the data storage means of the dual port memory. A data transfer method characterized by determining a data storage position where the extracted data is to be stored. 8. A data storage means for storing data to be transferred, and a flag indicating whether or not the data is stored in the data storage means for each data to be transferred. A data transfer source via a dual port memory, the data transfer source controlling the switching of a flag corresponding to the data to be transferred each time data is transferred to the dual port memory; The destination has an address table indicating the storage addresses of all the data to be transferred in the memory of the data transfer source, and refers to this table to store the data extracted from the data storage means of the dual port memory in its own memory. A data transfer method characterized by determining a data storage position in the data transfer.