JP4186383B2 - Programmable controller system - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a programmable controller system in which a plurality of programmable controllers and at least one support tool are connected to each other via communication means such as a network, and in particular, an application program is divided into a plurality of program blocks and a plurality of programmable controllers. The present invention relates to a programmable controller system in which the flexibility of the system is established by distributing and storing in the controller and the load is distributed.
[0002]
[Prior art]
With the recent development of network technology, the ability to transmit information between controllers, including communication speed, has been dramatically improved even in programmable controllers (hereinafter referred to as controllers) for controlling facilities and devices.
[0003]
In addition, the system configuration in which multiple controllers are connected by communication due to the cost reduction and size reduction of the controller is comparable in cost and space efficiency compared to a system with a single large controller at high speed. It has become a situation.
[0004]
In this type of control system, when a plurality of controllers are distributedly connected using a network, the following merits arise.
[0005]
1) Since the system construction is flexible in terms of hardware configuration and arrangement, it is easy to rearrange equipment and devices.
[0006]
2) Since the processing is load-balanced among a plurality of controllers, the performance required for each controller is suppressed, and an inexpensive controller can be used.
[0007]
3) Even in the event of a controller failure, the controller constituting the system is divided into a plurality of parts, so the range of system down is limited and the reliability of the entire system is improved.
[0008]
In this way, it becomes possible to construct a system with a plurality of controllers for the configuration of equipment and devices, or for load distribution and optimal performance, which will further increase the decentralization tendency of control systems in the future. is expected.
[0009]
On the other hand, the number of input / output points that can be controlled by one controller tends to increase dramatically in connection with the cost reduction of the semiconductor memory and the higher performance of the microcomputer chip. In proportion to this, the program capacity of the controller is also increasing.
[0010]
In addition, the high functionality of various machines and manufacturing equipment designed by incorporating a controller has spurred an increase in program capacity.
[0011]
Under these trends, in recent years, controllers have been divided, hierarchized, and divided into blocks for efficient and high-quality design of large-capacity programs, and for reuse and maintenance management. There is a tendency to add functions.
[0012]
In addition, in the development and maintenance environment of a system using a controller, a program having a function of individually downloading and uploading program data divided into blocks to the controller has been proposed.
[0013]
Using this function, the user can assign a divided block program to each device among the devices controlled by one controller, or correspond to each highly functional unit in the device. Thus, in the program design, the design for each device and each function can be performed sequentially or shared by a plurality of workers, and as a result, the productivity is increased.
[0014]
In addition, since this function can make the program function division in the controller clearer, the target program is divided into blocks even when multiple control targets are controlled by one controller. It is programmed in the form.
[0015]
In addition, by combining the above-mentioned system distribution by the network and application program division, the distribution method becomes more flexible, and it is possible to distribute not in units of controllers but in units of program blocks across the network. ing.
[0016]
In addition, a technique for handling an application program distributed across controllers virtually as one program is also considered.
[0017]
[Problems to be solved by the invention]
However, since distributing application controllers also distributes application programs, the following adverse effects occur compared to the conventional system construction using one controller.
[0018]
1) When a single controller is used, since data transfer between program blocks that has just been written to and read from the memory in the controller is via data transmission / reception between the controllers, A separate program is required, and a new burden of programming work is generated.
[0019]
2) The program is physically distributed for each controller, making it difficult to see the overall logical structure, which makes it difficult for the designer and maintainer to work.
[0020]
3) Debugging and maintenance work can be performed because what has conventionally been performed for one controller must be performed for a plurality of controllers and a predetermined program block therein. It becomes complicated and the amount of work increases.
[0021]
4) In order to display a program distributed to a plurality of controllers in a logical structure using a support tool, information for managing the entire structure of the normal program and in which controller each program is stored. However, since it is necessary in addition to the program data, the maintenance work of the information becomes a burden on the worker side, and it is necessary to provide a resource for analyzing the information in the support tool.
[0022]
Accordingly, an object of the present invention is to make it possible to efficiently construct a controller system in which an application program is divided into a plurality of parts and distributedly stored in a plurality of mutually connected controllers with a small burden.
[0023]
The present invention also provides a controller that can efficiently and with less burden build a controller system in which an application program is divided into a plurality of parts and distributedly stored in a plurality of controllers connected to each other via a network. The purpose is to do.
[0024]
In addition, the present invention logically easily recognizes the structure of an application program across a plurality of controllers in a controller system in which the application program is divided into a plurality of parts and distributedly stored in a plurality of controllers connected to each other via a network. An object of the present invention is to provide a support tool that can greatly improve work efficiency during debugging and maintenance of facilities.
[0025]
[Means for Solving the Problems]
It is considered that the above technical problem can be solved by a programmable controller system to which a programmable controller having the following configuration is applied.
[0026]
That is, the programmable controller system of the present invention is characterized in that a plurality of programmable controllers are connected to each other through communication means.
[0027]
Each of the programmable controllers corresponds to an input / output signal exchanged between an input / output device and a user program memory that can store one or more program blocks that are application programs created by the user. An input / output memory for storing input / output parameters and a central processing unit are included.
[0028]
In the central processing unit, program block operation processing including program execution processing for sequentially reading and executing the program blocks stored in the user program memory, and input / output parameters between the input / output device and the input / output memory I / O refresh processing for updating the network and network processing for exchanging commands and responses with other programmable controllers via the communication means are structured to be executed cyclically. Each of the program blocks includes a program block identifier, input / output parameter designation data, and a program block body.
[0029]
The program block execution process includes a first program block execution process and a second program block execution means.
[0030]
When the program block read from the user program memory is identified as a normal program block based on the program block identifier, the first program block execution process is designated by input / output parameter designation data included in the program block. The input parameters are read from the input / output memory and temporarily stored, and the input parameters stored temporarily are used to execute an execution process according to the instruction code string constituting the program block body to generate output parameters. Then, after the execution process is completed, the output parameter in the input / output memory designated by the input / output parameter designation data included in the program block can be rewritten.
[0031]
When the program block read from the user program memory is identified as an input / output parameter transmission / reception program block on the basis of the program block identifier, the second program block execution process uses input / output parameter designation data included in the program block. While reading the designated input parameter from the input / output memory and transmitting it to the network as a data transmission command including destination program position information and destination input / output parameter position information constituting the program block body, On the other hand, when a normal response is received, a data reception command including destination program position information and destination input / output parameter position information constituting the program block body is transmitted over the network. Rewritten output parameters of the input and output memory specified data is received as a response with input and output parameters specified data.
[0032]
According to such a configuration, by including the input / output parameter transmission / reception block in the user program memory, the input / output acquired from the input / output memory of another programmable controller when executing the normal program block of the programmable controller. Parameter values can be used.
[0033]
DETAILED DESCRIPTION OF THE INVENTION
The present invention can be realized as several embodiments. For example, the first embodiment can be realized as a programmable controller system.
[0034]
In this controller system, a plurality of controllers and at least one support tool are connected to each other via communication means, and an application program is divided into several program blocks and distributed to the plurality of controllers. It is.
[0035]
Each of the controllers includes a normal program block execution unit that executes a normal program block of application programs divided into a plurality of program blocks, and an input / output parameter definition unit that defines input / output parameters for the program block. An input / output parameter transmission / reception program block executing means for executing an input / output parameter transmission / reception program block for transmitting / receiving the input / output parameter to / from a program stored in a program block of another controller; and the input / output parameter transmission / reception program block The other party program block position information storage means for storing the destination program block position information, and when the program block read request is issued, Is a normal program block, the data of the normal program block is returned. When the corresponding program block is an input / output parameter transmission / reception program block, the location information of the destination program block is obtained from the input / output parameter transmission / reception program block. And a transmission / reception control means for extracting and replying.
[0036]
The support tool returns a program block read request transmitting means for transmitting a program block read request to the controller, and a response to the program block read request by the program block read request transmitting means from the controller. When it is determined that the data is normal program block data or the location information of the destination program block of the input / output parameter transmission / reception block, and the determination means determines that the data is normal program block data, If the normal program block data is displayed as it is and it is determined that it is the location information of the destination program block of the I / O parameter transmission / reception block, the destination program block is read based on the location information. Display control means for displaying it, is provided.
[0037]
Here, the communication means includes a LAN (local area network) or the like. The normal program block indicates, for example, each program block obtained by dividing the application program executed by the controller system of the present invention into a plurality of parts.
[0038]
In the above-described controller system, the application program is divided into a plurality of program blocks, and the divided program blocks are distributed and stored in a plurality of controllers, so that load distribution is achieved and the controller system is efficiently constructed with a small load. It is configured to be able to.
[0039]
In the above controller system, input / output parameter definition means for defining input / output parameters for the program block is provided, and transmission / reception of the input / output parameters to / from a program stored in a program block of another controller. Input / output parameter transmission / reception program block execution means for executing the input / output parameter transmission / reception program block is provided.
[0040]
In addition, a destination program block location information storage means for storing location information of the destination program block is provided for the input / output parameter transmission / reception program block, and when the program block is read from the support tool, the corresponding program block is normal. If it is a program block, the data of the normal program block is returned. If the corresponding program block is an input / output parameter transmission / reception program block, the position information of the partner program block is extracted from the input / output parameter transmission / reception program block. A transmission / reception control means is provided.
[0041]
Also, the support tool is provided with a program block read request transmitting means for transmitting a program block read request to the controller, and a response to the program block read request by the program block read request transmitting means is returned from the controller. The discriminating means determines whether the data of the normal program block or the location information of the partner program block is determined. If the discriminating means determines that the data is the data of the normal program block, the data of the normal program block is Display control means is provided to display as it is and to read the destination program block based on the location information of the destination program block of the input / output parameter transmission / reception block and display it .
[0042]
According to such a configuration, the structure of the application program across a plurality of controllers can be logically recognized by the support tool, so that the operator can easily recognize and there is no work mistake.
[0043]
In addition, since predetermined portions of application programs stored in a plurality of controllers are automatically displayed on the support tool in accordance with a logical program structure, they are repeated for each conventional controller and for each program block. The operation efficiency can be simplified and the work efficiency at the time of debugging / maintenance of equipment can be greatly improved.
[0044]
In addition, application programs that span multiple controllers can be logically displayed using only application data stored in the controller without any special configuration information. There is no burden.
[0045]
In addition, since a plurality of controller application programs are displayed with a logical structure, no special configuration information is required, the hardware resource burden on the support tool side is reduced, and a lower-cost support tool can be easily provided.
[0046]
In addition, since data transmission / reception is realized only by defining parameters in the program block, the burden on the designer is reduced, and the data transmission / reception unit is aggregated into a specific program block. An easy-to-understand design becomes possible.
[0047]
The controller of the present invention, which is another embodiment, connects a plurality of controllers to each other via communication means, and divides an application program into several program blocks and distributes them to the plurality of controllers. It is a controller in the controller system.
[0048]
The controller includes a normal program block execution unit that executes a normal program block of application programs divided into a plurality of program blocks, and an input / output parameter definition unit that defines input / output parameters for the program block. An input / output parameter transmission / reception program block execution means for executing an input / output parameter transmission / reception program block for transmitting / receiving the input / output parameter to / from a program stored in a program block of another controller, and the input / output parameter transmission / reception program The partner program block position information storage means for storing the position information of the partner program block for the block, and the corresponding program block at the time of a program block read request Is a normal program block, the data of the normal program block is returned. When the corresponding program block is an input / output parameter transmission / reception program block, the location information of the destination program block is obtained from the input / output parameter transmission / reception program block. And a transmission / reception control means for extracting and replying.
[0049]
Here, the support tool is not indispensable, and a configuration in which the support tool is not connected is conceivable if only an operation state by a plurality of controllers is assumed.
[0050]
The support tool of the present invention, which is another embodiment, connects a plurality of controllers and at least one support tool to each other via communication means, and divides an application program into several program blocks. It is a support tool in a controller system that is distributed over a plurality of controllers.
[0051]
Then, to this support tool, a program block read request transmitting means for transmitting a program block read request to the controller, and a response to the program block read request by the program block read request transmitting means from the controller. When it is determined that the data is normal program block data or the location information of the destination program block of the input / output parameter transmission / reception block, and the determination means determines that the data is normal program block data, If the data of the normal program block is displayed as it is and it is determined that it is the location information of the destination program block of the I / O parameter transmission / reception block, the destination program block is read based on the location information. Display control means for displaying Te, is provided.
[0052]
Furthermore, another embodiment is also a controller that is interconnected to form a controller system composed of a plurality of controllers. The controller includes means for executing a program block obtained by dividing the application program into one or more, means for defining input / output parameters for the program, means for receiving input / output parameters specified from outside the controller, Means for receiving an instruction to start a program block from outside the controller, and means for executing the program block according to the designated input parameter and returning the execution result to the instruction source as a parameter designated for output. .
[0053]
FIG. 1 is a block diagram showing the overall configuration of an embodiment of the controller system described above. In FIG. 1, this controller system includes three controllers, that is, a controller (controller A) 10-1, a controller (controller B) 10-2, a controller (controller C) 10-3, and a support tool 20 in a network. 30 is configured.
[0054]
Here, in the controller system of this embodiment, an application program executed by the controller system is divided into a plurality of program blocks, and the divided program blocks are distributed to the three controllers 10-1 to 10-3. And is configured to be stored and executed.
[0055]
FIG. 2 is a block diagram showing the detailed configuration of the controllers 10-1 to 10-3 of the controller system shown in FIG.
In FIG. 2, the controller 10 includes an arithmetic processor (CPU) 11, a system program memory 12, a user program memory 13, a parameter memory 14, a work memory 15, an input / output memory (I / O memory) 16, a communication interface (communication I). / F) 17 and an input / output interface (I / F) 18. The communication interface 17 is connected to the network 30 shown in FIG. 1, and the input / output interface 18 is connected to the input / output device 19. The
[0056]
Here, the arithmetic processor 11 controls the overall operation of the controller 10, and the system program memory 12 is a memory for storing the system program of the controller 10 processed by the arithmetic processor 11.
[0057]
The user program memory 13 is a memory for storing application programs of this system, and the parameter memory 14 is a memory for storing various parameters for various calculations and processing in the controller 10.
[0058]
The work memory 15 is a memory for temporarily storing data for performing various calculations and processes in the controller 10.
[0059]
The input / output memory (I / O memory) 16 is a memory that can be referred to and rewritten as a substitute for input / output information by executing a program in the controller 10. The input / output memory 16 also stores parameters for each program block.
[0060]
Further, the communication interface (communication I / F) 17 constitutes an interface for connecting to the network 30.
[0061]
The input / output device 19 is a device that combines an input device connected to a sensor, a switch, and the like and an output device connected to a motor, an actuator, or the like, and the network 30 includes a support tool 20 and other controllers. A communication means for exchanging information between the two is configured. The input / output device 19 also means a collective term for a group of several independent input devices and several independent output devices.
[0062]
FIG. 3 is a block diagram showing a detailed configuration of the support tool 20 of the controller system shown in FIG.
In FIG. 3, the support tool 20 includes an arithmetic device 21, an input device 27, and a display device 28. The arithmetic unit 21 includes a central processing unit 22, a memory space 23, a display device memory 24, a bus 25, and an interface (I / F) 26. In the memory space 23, a parameter data area 23-1, a user program data area 23-2, and a support tool program area 23-3 are provided.
[0063]
Here, the central processing unit 22 is an arithmetic processor that performs overall control of the overall operation of the support tool 20.
[0064]
Various parameters necessary for processing of the support tool 20 are stored in the parameter data area 23-1 of the memory space 23, and read out from the controllers 10-1 to 10-3 in the user program data area 23-2. The data of the “application program” is stored, and a program executed by the support tool 20 executed by the central processing unit 22 is stored in the support tool program area 23-3.
[0065]
The display device memory 24 is a memory in which information output to the display device 28 is stored, and this information is rewritten by the central processing unit 22.
[0066]
Further, the interface 26 constitutes a communication interface for communicating with the controllers 10-1 to 10-3.
[0067]
The input device 27 is a device for inputting a user request, and is configured from a keyboard, a pointing device, and the like. The display device 28 is a device that displays information in the display device memory 24, and is configured from, for example, a CRT. Is done.
[0068]
In the controller system according to the embodiment having the above-described configuration, as will be described in detail later, in order to automate the parameter passing between the application programs across the plurality of controllers 10-1 to 10-3 distributedly connected to the network 30 A support tool 20 for displaying the distributed controller application program as a single program using the execution processing of the program block and the application program data stored in each of the controllers 10-1 to 10-3 is provided. To do.
[0069]
In the controller system of this embodiment, information is exchanged on the network 30 by a message service, and each request is issued to the other party. This message service is used for requests from the support tool 20 to the controllers 10-1 to 10-3 and requests from the controller to other controllers.
[0070]
Each message adds the network address of the other party to the command, thereby specifying the recipient of each message. In the controller system of this embodiment, the following message service commands are prepared.
[0071]
1) Data transmission
Send command parameters
Data storage destination memory address in the remote controller
Stored data
Received response contents
Normal termination code
If the process does not complete normally for some reason, it ends in error
2) Data reception
Send command parameters
Data length
Data read destination memory address in the partner controller
Received response contents
Normal end code and read data
If the process does not complete normally for some reason, it ends in error
3) Program reading
Send command parameters
None
Received response contents
Entire application program data
If the process did not complete successfully for some reason, an error exit code
4) Program block read
Send command parameters
Program block ID number
Received response contents
If the entity is in its own controller, the normal termination code and program block
Lock data
If the entity is in another controller, the normal termination code and controller
Address and program block ID number
If the process is not completed successfully for some reason,
Card
5) Read program configuration
Send command parameters
None
Received response contents
Normal termination code and program configuration information
If the process is not completed successfully for some reason,
Card
An example of the program configuration information of the reception response for reading the program configuration is shown in FIG.
[0072]
In FIG. 4, this program configuration information is made up of individual information (block A) for all programs and a program ID number (block B) for each cycle activation. There are an ID number (field 1), a program block type (field 2), information from the program block body (field 3), and information from the program block body includes
1) Program block ID number defined in the program block start instruction included in the instruction code (when the type is a normal program block)
2) Destination program block position information (when type is I / O parameter program block)
It is included.
[0073]
Each cycle activation program ID number includes a program block ID number.
[0074]
Next, detailed operation of the controller system of this embodiment will be described in detail with reference to the flowchart shown below.
[0075]
FIG. 5 is a flowchart showing an overall processing flow in the controller 10 shown in FIG.
In FIG. 5, when the process is started following the power ON initial process of the controller 10 (step 501), the controller 10 first executes a predetermined common process (step 502), and then a program operation is possible. (Step 503).
[0076]
If it is determined that the program operation is possible (YES in step 503), the program operation process is executed (step 504), and then the I / O refresh process of the I / O memory 16 is performed (step 505). .
[0077]
If it is determined in step 503 that the program operation is not possible (NO in step 503), the I / O refresh process of the I / O memory 16 is performed without executing the program operation process (step 505).
[0078]
When the I / O refresh process of the I / O memory 16 is completed, a predetermined network process is then executed (step 506), the process returns to step 502, and the above process is repeated.
[0079]
FIG. 6 is a flowchart showing details of the network processing in step 506 shown in FIG.
In the network processing, the following processing is performed according to the reception status of the command from the support tool 20 or the other controller 10 and the status of the network processing request from the other processing. Here, the command and response reception itself is performed by interrupt processing and stored in a temporary storage area on the work memory 15.
[0080]
1) Processing according to commands from the support tool 20 and other controller 10
2) Command issue processing according to the contents of network processing requests from other processing
3) Processing according to the response to the issued command
[0081]
In FIG. 6, when this network processing is started (step 601), it is first checked whether there is a received command or a response (step 602). If it is determined that there is no received command or response (NO in step 602), the process proceeds to step 605. If it is determined that there is a received command or response (YES in step 602), each command or response is After analysis (step 603), processing for each command and response is executed (step 604).
[0082]
Here, the contents of response processing for each command are shown below. In addition to the processes shown below, there are command processes that should be possessed as a controller, but since they do not depend on the contents of this embodiment, their description is omitted here.
1) Processing for “data transmission” command
The storage data specified in the command parameter is written after the data storage memory address specified in the command parameter. When processing is completed, a normal end code is returned. However, if the process does not end normally for some reason, an error end response is returned.
[0083]
2) Processing for “data reception” command
Data corresponding to the data length is returned together with the normal end code from the read destination memory address specified in the command parameter. However, if the process does not end normally for some reason, an error end response is returned.
[0084]
3) Processing for “Read Program” command
“Application program data” is read from a predetermined location in the user program memory 13 area and returned together with a normal end code. However, if the process does not end normally for some reason, an error end response is returned. The “application program data” has a configuration like “application program data” in FIG. 25 described later.
[0085]
4) Processing for “Read Program Block” command
In accordance with the program block ID specified in the command parameter, the corresponding program block data is extracted from “application program data” in the user program memory 13 area, and is returned together with the normal end code. However, if the process does not end normally for some reason, an error end response is returned. The “application program data” has a configuration like “application program data” shown in FIG. 25 described later, and “program block data” indicates “structure of normal program block” shown in FIG. 20 described later or FIG. The “input / output parameter transmission program block structure” of FIG.
[0086]
5) Processing for "Read program configuration" command
Program configuration information (see FIG. 4) is created by the processing of “program configuration information extraction processing flow” of FIG. 16 described later, and is returned together with a normal end code. However, if the process does not end normally for some reason, an error end response is returned.
[0087]
In step 605, the network processing request item storage area is read, and then it is checked whether there is a processing request (step 606). If it is determined that there is no processing request (NO in step 606), the network processing is terminated as it is (step 610).
[0088]
If it is determined in step 606 that there is a processing request (YES in step 606), the top request in the network processing request item storage area is read (step 607), and a command corresponding to this request is generated and transmitted ( Step 608), the network processing request item is moved to the first level (step 609), and this network processing is terminated (step 610).
[0089]
FIG. 7 is a flowchart showing details of the program operation processing in step 504 shown in FIG.
In FIG. 7, when the program operation process is started (step 701), it is first checked whether it is the first execution (step 702). Here, if it is determined that it is not the first execution (NO in step 702), the process proceeds to step 704, but if it is determined that it is the first execution (YES in step 702), the program operation processing work is initialized (step 703), the process proceeds to step 704.
[0090]
In the controller system of this embodiment, there are a controller system that is activated every cycle by activation of “program operation processing” and a controller system that is activated from an arbitrary program block.
[0091]
In addition, a program block activated every cycle by activation of “program operation processing” is set by an operator at the time of programming and stored in a data information area in application program data.
[0092]
In step 704, the first record of the program block status information is read and program block execution processing is performed (step 705). Then, the next record of the program block status information is read (step 706), and it is checked whether there is a remaining program block (step 707).
[0093]
If it is determined that there are remaining program blocks (NO in step 707), the process returns to step 705, and the processing from step 705 to step 707 is repeated. If it is determined that there are no remaining program blocks (step 707). YES), the program execution process ends (step 708).
[0094]
8 and 9 are flowcharts showing details of the program block execution processing in step 705 shown in FIG.
In FIG. 8, when the program block execution process is started (step 801), first, the program block data is read (step 802), and then the type of the program block is checked (step 803).
[0095]
If it is determined that the program block is a normal block, the value of the input parameter is read from the I / O memory 16 and set as an argument to the program block execution process (step 804). Then, the program block main body is sequentially read and an execution process according to the instruction code is performed (step 805).
[0096]
Next, it is checked whether or not the instruction code has ended. If it is determined that the instruction code has not ended (NO in step 806), the process returns to step 805, and processing in steps 805 and 806 is performed until it is determined in step 806 that the instruction code has ended. If it is determined that the instruction code has ended (YES in step 806), the result of the program block execution process is set in the I / O memory 16 as the value of the output parameter, and this program block execution process is ended (step 808).
[0097]
If it is determined in step 803 that the program block is an input / output parameter transmission / reception program block, the process proceeds to FIG. 9 and the input parameter value is read from the I / O memory 16 (step 901). The data read from the I / O memory 16 by the “data transmission command” is transmitted using the input parameter position information of the “partner program position information” and “partner input / output parameter position information” stored as Wait for the return (step 902).
[0098]
Next, it is checked whether the response is normal (step 903). If it is determined that the response is normal (YES in step 903), the "partner program position information" and the "partner input / output parameter position" stored as the program body. The “data reception command” is issued using the output parameter position information of “information”, and a response is returned (step 904).
[0099]
Then, it is checked whether the response is normal (step 905). If the response is normal (YES in step 905), the response value is set in the I / O memory 16 (step 906), and the flow returns to the flowchart of FIG. The program block execution process is terminated (step 808).
[0100]
If it is determined in step 903 that the response is not normal (NO in step 903) or in step 905 that the response is not normal (NO in step 905), the program block execution process is terminated as it is (step 808). ).
[0101]
FIG. 10 is a flowchart showing overall processing in the support tool 20 shown in FIG.
In FIG. 10, when the processing of the support tool 20 is started (step 1001), first, a predetermined startup initial process is executed (step 1002), and then function selection by a user operation is performed (step 1003). .
[0102]
Next, it is checked whether the function selected by the function selection in step 1003 is a program read function (step 1004). If it is determined that the selected function is the program read function (YES in step 1004), the program read function process is executed (step 1005), and the process returns to step 1003.
[0103]
If it is determined that the function selected in step 1004 is not a program reading function (NO in step 1004), the branch to the support tool functions is performed according to the selection of other functions, and each function processing of the support tool is performed. Execute.
[0104]
Next, it is checked whether or not each function process of the support tool is completed (step 1006). If it is determined that the process is not completed (NO in step 1006), the process returns to step 1003. A predetermined end process is executed (step 1007), and the entire process flow in the support tool 20 is ended (step 1008).
[0105]
11 and 12 are flowcharts of a program read function flow showing details of the program read function processing in step 1005 shown in FIG.
In FIG. 11, when the program reading function is started (step 1101), the controller ID connected to the network is extracted from “network address information by control” of the parameter data area 23-1 in the memory space 23 of the arithmetic unit 21. (Step 1102).
[0106]
Next, the display frame (A) is opened on the screen of the display device 28, and the controllers 10-1 to 10-3 connected to the network 30 are displayed as a “controller list” (step 1103).
[0107]
An example of this “list of controllers” is, for example, as shown in FIG. 32 to be described later. In FIG. 32, the controllers connected to the network 30 are the controller (controller A) 10-1 and the controller (controller). B) 10-2 and controller (controller C) 10-3.
[0108]
Here, the operator designates a controller in the display frame (A) (step 1104).
[0109]
As a result, the address information of the corresponding controller is extracted from the “network address information for each controller” based on the controller ID number of the designated controller (step 1105).
[0110]
Then, a “program read” command is issued to the extracted address (step 1106), and a response is waited (step 1107).
[0111]
If it is determined in step 1107 that there is a response, “application program data” is read from the user program of the controller 10 selected as the response to the command (step 1108), this “application program data” is analyzed, and another display frame is analyzed. (B) is opened and "Application program structure" is displayed (step 1109).
[0112]
Here, as shown in FIG. 33, the display frame (B) shows the “application program structure” of the controller (controller A) 10-1, for example. Here, the application of the controller (controller A) 10-1 The program configuration is displayed in units of program blocks.
[0113]
Next, the operator designates a program block in the display frame (B) (step 1110).
[0114]
Then, the data of the designated program block is extracted from “application program data” as shown in FIG. 25 (step 1111), and the type of the extracted program block is checked (step 1112).
[0115]
Here, if the type of the extracted program block is the input / output parameter transmission / reception program block, the destination program block position information (the destination controller address and the destination program block ID number) is extracted from the program data block (step 1201). Next, the input parameter and the output parameter (b) are extracted from the designated program block data (step 1202), and the extracted program block ID number is parameterized to the extracted destination controller address, and “program block” is set. A read command is issued (step 1203) and a response is waited (step 1204).
[0116]
If it is determined in step 1204 that there is a response, “program block data” is read as a response to the command (step 1205), and the input parameter, output parameter, and program code list that is the program block body are further read from the program data block. As shown in FIG. 35, the new display frame (C) is opened and displayed together with (b) (step 1206).
[0117]
Next, when the operator designates reading another block, it is checked whether another program block is read (step 1207). If it is determined that another program block is read (YES in step 1207), the frame ( C) is closed (step 1208), and the process proceeds to step 1110 in FIG.
[0118]
If it is determined in step 1207 that another program block is not read (NO in step 1207), then, when the operator designates reading of another controller, it is checked whether or not another controller is designated ( Step 1209). If it is determined that another controller is designated (YES in step 1209), the frames (B) and (C) are closed (step 1210), and the process proceeds to step 1104 in FIG.
[0119]
If it is determined in step 1209 that another controller is not designated (NO in step 1209), if the operator designates the end of the function, it is checked whether the program reading function is to be terminated (step 1211). If it is determined not to end the program reading function (NO in step 1211), the process returns to step 1207. If it is determined to end the program reading function (YES in step 1211), all frames (A) to (C) is closed (step 1212), and the program block processing is terminated (step 1213).
[0120]
On the other hand, if the type of the program block extracted in step 1112 of FIG. 11 is a normal program block, the input parameter, the output parameter, and the program code list which is the program block body are extracted from the program block data, as shown in FIG. Then, a new display frame (C) is opened and displayed (step 1113), and the process proceeds to step 1207. Hereinafter, the processing in steps 1207 to 1213 is the same as the processing described above.
[0121]
FIG. 13, FIG. 14, and FIG. 15 are flowcharts of other program read function flows showing details of the program read function processing in step 1005 shown in FIG.
In FIG. 13, when the program reading function is started (step 1301), first, the controller ID connected to the network from the “network address information by control” of the parameter data area 23-1 in the memory space 23 of the arithmetic unit 21. Is extracted (step 1302).
[0122]
Next, the display frame (A) is opened on the screen of the display device 28 and displayed as a “controller list” (step 1303).
[0123]
Here, the operator designates a controller in the display frame (A) (step 1304).
[0124]
As a result, the address (a) of the corresponding controller is extracted from the “network address information for each controller” based on the controller ID number of the designated controller (step 1305).
[0125]
Then, a “program configuration read” command is issued to the extracted address (a) (step 1306), and a response is waited (step 1307).
[0126]
If it is determined in step 1307 that there is a response, this response (b), that is, the application program of the controller 10 at the extracted address is stored in the user program data area 23-2 of the memory space 23 (step 1308).
[0127]
Next, the response (b) is analyzed, another display frame (B) is opened, and “application program structure” is displayed (step 1309). Here, an example of the display frame (B) is shown in FIG.
[0128]
Here, the operator designates a program block in the display frame (B) (step 1310). Then, moving to FIG. 14, the type of the extracted program block is determined (step 1401).
[0129]
If it is determined in step 1401 that the extracted program block is a normal program block, a “program block read” command is issued to the address (a) with the program block ID number as a parameter (step 1402). Then, the system waits for a response (step 1403). If there is a response, "program block data" is read as a response to the command (step 1404).
[0130]
Next, an input parameter, an output parameter, and a program code list which is a program block body are extracted from the program data block, and a new display frame (C) is opened and displayed as shown in FIG. 34 (step 1405). Proceed to 15 step 1501.
[0131]
On the other hand, if it is determined in step 1401 of FIG. 14 that the extracted program block is an input / output parameter transmission / reception program block, a “program block read” command is issued to the destination controller address with the program block ID number as a parameter. (Step 1406). Then, the system waits for a response (step 1407). If there is a response, "program block data" is read as a response to the command (step 1408).
[0132]
Then, an input parameter, an output parameter, and a program code list which is a program block body are extracted from the program data block, and an input parameter and an output parameter of the designated program block are extracted from (b), as shown in FIG. Then, a new display frame (C) is opened and displayed (step 1409), and the process proceeds to step 1501 in FIG.
[0133]
In step 1501, when the operator designates reading another block, it is checked whether another program block is read. If it is determined that another program block is read (YES in step 1501), the frame (C) is read. Close (step 1502), the process proceeds to step 1310 in FIG.
[0134]
If it is determined in step 1501 that another program block is not read (NO in step 1501), next, when the operator designates reading of another controller, it is checked whether or not another controller is designated ( Step 1503). If it is determined that another controller is designated (YES in step 1503), the frames (B) and (C) are closed (step 1504), and the process proceeds to step 1304 in FIG.
[0135]
If it is determined in step 1503 that another controller is not designated (NO in step 1503), if the operator designates the end of the function, it is checked whether the program reading function is to be terminated (step 1505). If it is determined not to end the program reading function (NO in step 1505), the process returns to step 1501, but if it is determined to end the program reading function (YES in step 1505), all frames (A) to (C) is closed (step 1506), and the program block processing is terminated (step 1507).
[0136]
Next, a method for extracting configuration information from application program data and a method for creating a display image from the configuration information will be described.
[0137]
FIG. 16 is a flowchart of a program configuration information extraction process flow showing a method for extracting configuration information from application program data. This process is performed by the controller in the support tool in the examples of FIGS. 11 and 12 and the “read program configuration” command process in the examples of FIGS.
[0138]
In FIG. 16, when the program configuration information extraction process is started (step 1601), first, data of individual program blocks is sequentially extracted from the data area information of the application program (step 1602).
[0139]
Next, a “program block ID number” and a “program block type” are extracted from the program block identifier and stored as part of the configuration information (fields 1 and 2 of each record of block A) (step 1603).
[0140]
Then, the type of the extracted program block is checked (step 1604). If it is determined that the type of the extracted program block is the input / output parameter transmission / reception program block, the destination program block position information is extracted from the program block body and stored as a part of the configuration information (in block A). Field 3) of each record (step 1605).
[0141]
Next, it is checked whether the extracted program block is the final program block (step 1611). If the extracted program block is not the final program block (NO in step 1611), the process returns to step 1602, but the extracted program block is the final program block. If it is determined that the block is a block (YES in step 1611), the program block ID number of the list information of program blocks executed for each cycle is extracted from the information area of the application program and stored as a part of the configuration information ( After the fields 1 to N of block B) (step 1612), the program configuration information extraction process is terminated (step 1613).
[0142]
On the other hand, if it is determined in step 1604 that the type of the extracted program block is a normal program block, the program block body is read (step 1606), and the instruction code is sequentially analyzed (step 1607).
[0143]
Then, it is checked whether the analyzed instruction code is a program block start instruction (step 1608). If it is determined that the instruction is not a program block start instruction (NO in step 1608), the process proceeds to step 1610. If it is determined that the analyzed instruction code is a program block start instruction (YES in step 1608), the process proceeds to step 1610. The program block ID number to be activated is extracted from the instruction code and stored as a part of the configuration information (field 3 of each record of block A) (step 1609), and the process proceeds to step 1610.
[0144]
The program block activation instruction is an instruction for designating an arbitrary program block and starting activation of the program block. The instruction code is divided into two configurations of an operation code and an operand. The operation code is a code indicating that this instruction is a program block activation instruction, and the operand stores the ID number of the program block to be activated.
[0145]
In step 1610, it is checked whether the instruction code is completed. If it is determined that the instruction code has not ended (NO in step 1610), the process returns to step 1607. If it is determined that the instruction code has ended, the process proceeds to step 1611.
[0146]
Then, it is checked whether the extracted program block is the final program block (step 1611). If the extracted program block is not the final program block (NO in step 1611), the process returns to step 1602, but the extracted program block is the final program block. If it is determined (YES in step 1611), the program block ID number of the list information of the program blocks executed for each cycle is extracted from the information area of the application program and stored as a part of the configuration information (block B fields 1 to N) (step 1612), the program configuration information extraction process is terminated (step 1613).
[0147]
FIG. 17 is a flowchart of a program configuration display generation processing flow showing a technique for creating a display image (see FIG. 29) from configuration information (see FIG. 4) extracted from application program data.
[0148]
In FIG. 17, when the program configuration display generation process is started (step 1701), first, the program ID is extracted from the block B of the program configuration information and used as the upper display element (step 1702).
[0149]
Next, the record corresponding to the upper display element is searched from the block A of the program configuration information (matching with field 1 of each record) (step 1703).
[0150]
Then, field 2 of the corresponding record is examined (step 1704). Here, if it is determined that the field 2 of the corresponding record is an input / output parameter transmission / reception program block, the controller address of the destination program block position information is extracted from the field 3, and the controller ID is extracted from the “network address information by controller”. After conversion, it is added to the right of the current display element (step 1705).
[0151]
Next, the partner program block ID number is extracted from field 3 and added to the right of the current display element (step 1706), and it is checked whether the upper display element is final (step 1714). If it is determined that the upper display element is not final (NO in step 1714), the next display element is read (step 1715), and the process returns to step 1703, but if the upper display element is determined to be final. (YES in step 1714), the program configuration display generation process is terminated (step 1716).
[0152]
On the other hand, if it is determined in step 1704 that field 2 of the corresponding record is a normal program block, the partner program block ID number is extracted from field 3 and added to the next line as a lower display element (step 1707).
[0153]
Then, a record corresponding to the lower display element is searched from the block A of the program configuration information (matching with field 1 of each record) (step 1708).
[0154]
Next, field 2 of the corresponding record is examined (step 1709). If it is determined that field 2 of the corresponding record is a normal program block, the process proceeds to step 1712. If field 2 of the corresponding record is determined to be an input / output parameter transmission / reception program block, the counterpart of field 3 is determined. The controller address of the previous program block position information is extracted, converted to a controller ID from “network address information for each controller”, and added to the right of the current display element (step 1710).
[0155]
Next, the partner program block ID number is extracted from field 3 and added to the right of the current display element (step 1711), and it is checked whether the lower display element is final (step 1712). If it is determined that the lower display element is not final (NO in step 1712), the next display element is read (step 1713), and the process returns to step 1708, but if the lower display element is determined to be final. (YES in step 1712), the process proceeds to step 1714.
[0156]
If it is determined in step 1714 that the upper display element is not final (NO in step 1714), the next display element is read (step 1715), and the process returns to step 1703, but it is determined that the upper display element is final. If so (YES in step 1714), the program structure display generation process ends (step 1716).
[0157]
Next, a specific example of the structure of the physical application program of the controller system of this embodiment will be described.
[0158]
FIG. 18 is a diagram showing an example of the structure of a physical application program in the controller system of this embodiment shown in FIG.
[0159]
In FIG. 18, in the physical application program in the controller system of this embodiment, the application program of the controller (controller A) 10-1 is composed of six program blocks PB10 to PB15. Here, the program block PB10 and the program blocks PB13 and PB14 have a hierarchical structure, and the program block PB11 and the program blocks PB14 and PB15 also have a hierarchical structure.
[0160]
The application program of the controller (controller B) 10-2 is composed of two program blocks, program blocks PB20 and PB21, and the application program of the controller (controller C) 10-3 is one of the program blocks PB30. It consists of program blocks.
[0161]
Here, the program block PB12 of the controller (controller A) 10-1 passes data as an input parameter to the program block PB30 of the controller (controller C) 10-3, and the calculation result of the program block PB30, that is, the output parameter is set. A program block to receive.
[0162]
The program block PB13 of the controller (controller A) 10-1 passes data as an input parameter to the program block PB20 of the controller (controller B) 10-2, and receives an operation result of the program block PB20, that is, an output parameter. It is a program block.
[0163]
The program block PB14 of the controller (controller A) 10-1 passes data as an input parameter to the program block PB21 of the controller (controller B) 10-2, and receives an operation result of the program block PB21, that is, an output parameter. It is a program block.
[0164]
FIG. 19 is a diagram showing the structure of a logical application program corresponding to the structure of the physical application program shown in FIG.
In FIG. 19, the application program of the controller (controller A) 10-1 is composed of six program blocks of program blocks PB10, PB11, PB15, PB20, PB21, and PB30 as a logical application program structure.
[0165]
Here, the program block PB10 and the program blocks PB20 and PB21 have a hierarchical structure, and the program block PB11 and the program blocks PB21 and PB15 also have a hierarchical structure.
[0166]
The entities of the program blocks PB20 and PB21 exist in the controller (controller B) 10-2, and the entity of the program block PB30 exists in the controller (controller C) 10-3.
[0167]
FIG. 20 is a diagram showing a specific example of the structure of a normal program block adopted in the controller system of this embodiment.
In FIG. 20, the normal program block employed in the controller system of this embodiment is composed of “program block identifier”, “input parameter”, “output parameter”, and “program block body”.
[0168]
Here, the “program block identifier” is composed of “program block type” and “program block ID number”, and “normal program block” is stored in “program block type”. Further, a unique number in the controller is assigned to the “program block ID number”.
[0169]
The “input parameter” stores an input parameter for executing the “program block body”, and the “output parameter” stores an output parameter as an execution result of the “program block body”.
[0170]
The “program block main body” stores program codes executed when a program block such as a ladder program is activated.
[0171]
FIG. 21 is a diagram showing a specific example of the structure of the input / output parameter transmission / reception program block employed in the controller system of this embodiment.
In FIG. 21, the input / output parameter transmission / reception program block employed in the controller system of this embodiment is composed of “program block identifier”, “input parameter”, “output parameter”, and “program block body”.
[0172]
Here, the “program block identifier” includes “program block type” and “program block ID number”, and “program block type” stores “input / output parameter transmission / reception program block”. Further, a unique number in the controller is assigned to the “program block ID number”.
[0173]
The “input parameter” stores an input parameter to be transmitted to the partner, and the “output parameter” stores an output parameter corresponding to the execution processing result received from the partner.
[0174]
The “program block body” stores “position information of the other party” for transmitting and receiving input / output parameters. Here, the “destination location information” includes “destination program block location information” and “destination input / output parameter location information”, and “destination program location block information” is “controller location information”. It consists of “address” and “program block ID number”. Here, “destination input / output parameter position information” is a position at the destination controller for transmitting and receiving input / output parameters.
[0175]
FIG. 22 is a diagram showing a specific example of the program block data of the program block PB10 shown in FIG.
In FIG. 22, “normal program block” is stored as “program block type” of “program block identifier” and “PB10” is stored as “program block ID number” in the program block data of the program block PB10.
[0176]
Further, “DM0000” is stored as “input parameter”, and “DM0001” is stored as “output parameter”. In FIG. 22, the program code of “program block body” is omitted.
[0177]
FIG. 23 is a diagram showing a specific example of the program block data of the program block PB13 shown in FIG.
In FIG. 23, the program block data of the program block PB13 stores “input / output parameter transmission / reception program block” as “program block type” of “program block identifier”, and “PB13” as “program block ID number”. The
[0178]
In addition, “DM2000” is stored as “input parameter”, and “DM2001” is stored as “output parameter”.
[0179]
In addition, “controller B” is stored in “controller address” of “program block position information of destination program” of “program block body”, and “PB20” is stored in “program block ID number”. .
[0180]
Further, “CM0000” is stored as “input” and “CM0001” is stored as “output” in “partner input / output parameter position information” of “program block body”.
[0181]
FIG. 24 is a diagram showing a specific example of the program block data of the program block PB20 shown in FIG.
In FIG. 24, “normal program block” is stored as “program block type” of “program block identifier”, and “PB20” is stored as “program block ID number” in the program block data of the program block PB20.
[0182]
Further, “CM0000” is stored as “input parameter”, and “CM0001” is stored as “output parameter”. In FIG. 24, the program code of “program block body” is omitted.
[0183]
FIG. 25 is a diagram showing a specific example of application program data employed in the controller system shown in FIG.
In FIG. 25, the data area information of the application program data indicates the data structure of the application program data, and the storage location for each program block is described. Also, list information of program blocks activated every cycle is stored here.
[0184]
Here, in the data of the program blocks PB10 to PB15, instruction word groups executed in the program operation process are stored in the order of execution.
[0185]
FIG. 25 shows a specific example of the application program data of the controller (controller A) 10-1, but the application program data of the controller (controller B) 10-2 and the controller (controller C) 10-3 is also the same. Composed.
[0186]
FIG. 26 is a diagram showing a specific example of an application program data table employed in the controller system shown in FIG.
In FIG. 26, this application program data table is stored in the support tool 24, and the data area information of this application program data table indicates the data structure of the application program data table, and the storage location for each application program data is described. ing.
[0187]
In this example, application program data of the controller (controller A) 10-1 to the controller (controller C) 10-3 exists as application program data. However, when the number of controllers connected to the network 30 increases, the data is similarly displayed. An area is added.
[0188]
The application program data has the same structure as the application program data stored for each controller.
[0189]
FIG. 27 is a diagram showing a specific example of program block status information employed in the controller system shown in FIG.
In FIG. 27, the program block status information includes “program block ID number” and “status”.
[0190]
Here, “program block ID number” is an identifier of the program block, and “status” indicates the state of the corresponding program block and the state instruction.
[0191]
This information is information for controlling the execution of each program block in the controller, and is generated in the work memory 15 of FIG. The state is stored for the program block IDs of all the program blocks that are executed in each cycle.
[0192]
At the first time of the program operation process, all program blocks are generated and stored in the work memory 15 as activation, and each program block is executed or stopped according to the contents of this work area in the program operation process.
[0193]
FIG. 28 is a diagram showing a specific example of the network address information for each controller adopted in the controller system shown in FIG.
In FIG. 28, the network address information for each controller includes “controller ID” and “address”. This information is stored in the work memory 15 of FIG.
[0194]
Here, “controller ID” indicates an identifier of a controller connected to the network 30, and “address” indicates an address on the network 30 of each controller.
[0195]
This information indicates an address on the network 30 of the controller connected to the network, and is stored in the parameter data area 23-1 of the memory space 23 of the support tool 20.
[0196]
FIG. 29 shows a specific example of a part of the program block body of the program block PB10, and FIG. 30 shows a specific example of a part of the program block body of the program block PB11.
[0197]
FIG. 31 shows an example of the display screen of the display device 28 of the support tool 20 shown in FIG.
In FIG. 31, the display screen of the display device 28 of the support tool 20 is a user who divides the entire screen into display windows of “controller list”, “application program structure”, and “program block information” and displays them in a plurality of frames. Configure the interface.
[0198]
FIG. 32 shows a specific display example of the support tool 20 of the “controller list” shown in FIG. 31, and FIG. 33 shows specific support of the “application program configuration” shown in FIG. 34 shows a display example of the tool 20, FIG. 34 shows a display example of the specific support tool 20 of the “program block information” shown in FIG. 31, and FIG. 35 shows the display of FIG. In addition, another display example of the specific support tool 20 of “program block information” is shown.
[0199]
Now, a specific operation example of the controller system of this embodiment based on the above configuration will be described below.
(Program block execution processing)
As shown in FIG. 1, the controller system of this embodiment includes three controllers, that is, a controller (controller A) 10-1, a controller (controller B) 10-2, and a controller (controller C) 10-3. The support tool 20 is connected to the network 30.
[0200]
Each of the controllers, that is, the controller (controller A) 10-1, the controller (controller B) 10-2, and the controller (controller C) 10-3 has the physical application program structure shown in FIG. The program blocks divided in this way are stored.
[0201]
Each program block includes one that is activated every cycle by activation of “program operation processing” in each controller, and one that is activated from an arbitrary program block. In this embodiment, the controller (controller A) 10 -1 program block PB10, PB11, PB12, controller (controller B) 10-2 program block PB20, PB21, controller (controller C) 10-3 program block PB30 corresponds to the former, controller (controller A) 10-1. The program blocks PB13, PB14, and PB15 correspond to the latter.
[0202]
A program block that is activated every cycle by the activation of “program operation processing” is set by an operator at the time of programming, and is stored in a data information area in “application program data” shown in FIG.
[0203]
The program block activated every cycle is activated every cycle as shown in the “program operation processing flow (controller)” shown in FIG. 7, and the “program block execution processing flow” shown in FIGS. Is executed.
[0204]
A program block started from an arbitrary program block is a program block main body such as a part of the program block main body of the program block PB10 shown in FIG. 29 or a part of the program block main body of the program block PB11 shown in FIG. It is started from the program code. [PB13] and [PB15] shown in these examples represent instruction codes for starting the program block, and the data of the started program block is user program memory such as “application program data” shown in FIG. 13 is stored.
[0205]
Note that the processing content of a program block activated from an arbitrary program block is the “program block execution processing flow” shown in FIGS.
[0206]
The program blocks PB10, PB11 and PB15 of the controller (controller A) 10-1, the program blocks PB20 and PB21 of the controller B, and the program block PB30 of the controller C are normal program blocks. The program code to be executed is stored, and at startup, the program block main body programmed in advance by the operator is executed with the input parameter values shown in “Structure of normal program block” as shown in FIG. , And return the result to the output parameter.
[0207]
Program blocks PB12, PB13, and PB14 of the controller A are input / output parameter transmission / reception program blocks. At the time of activation, the input parameter values shown in “Structure of the input / output parameter transmission / reception program block” shown in FIG. Using the stored partner program position information and the partner input / output parameter, the program is stored in the input parameter of the program block of the partner controller.
[0208]
Also, the output parameter of the partner controller is read and stored in the output parameter of its own program block.
[0209]
The detailed operation of the program block PB13 of the controller A and the program block PB20 of the controller B will be described below as an example.
[0210]
In the program block PB13 of the controller A, information such as “program block data of PB13” shown in FIG. 23 is stored in the user program memory 13 of the controller A as a part of the application program.
[0211]
Here, the input parameter “DM2000” and the output parameter “DM2001” are addresses on the I / 0 memory 16 of the controller A. Also, “CM0000” and “CM0001” of the destination input / output parameter position information are addresses on the I / 0 memory 16 of the controller B.
[0212]
In the program block PB20 of the controller B, information such as “program block data of PB20” shown in FIG. 24 is stored in the user program memory 13 of the controller B as a part of the application program.
[0213]
In the controller A, when the program block PB13 is activated in the user program execution process, the value of the input parameter “DM2000” is stored in the “CM0000” of the controller B. This is done by a message service “send data” command.
[0214]
Similarly, the data of “CM0001” of the controller B is read and stored in “DM2001” which is an output parameter. This is performed by a “data reception command” of the message service.
[0215]
In the controller B, when the program block PB20 is activated in the user program execution process, the program code of the program block body is executed using the value of “CM0000” as a parameter, and the execution result is stored in the output parameter “CM0001”. Is done.
[0216]
As a method for processing the input / output parameter transmission / reception program block, there is a method in which a program for transmission / reception is stored in the program block main body and executed in the same manner as a normal program block, thereby obtaining the same effect as the above configuration. Conceivable.
[0217]
Further, in the above embodiment, the message service method is used as the data transmission / reception method using the input / output parameter transmission / reception program block. However, the data link method (or common memory method) that realizes a shared memory among a plurality of controllers via a network. ) Can be used for the same configuration.
(Program display by support tool I)
The support tool 20 has a user interface such as the “support tool display configuration” shown in FIG. 31 that divides the entire screen into a plurality of frames for display on the display device 28. The “support tool display configuration” in FIG. 31 is an image of screen display in this embodiment.
[0218]
Here, the operator activates the “program reading function” by the support tool 20.
[0219]
When the “program reading function” is activated, the support tool 20 extracts the controller ID connected to the network 30 from the “network address information for each controller” shown in FIG. 28 stored in the parameter data area 23-1. Controllers connected to the network such as the “support tool display example (controller list)” shown in FIG. 32 are displayed as a list.
[0220]
Here, the operator selects a controller from which the application program is to be read. Note that the “support tool display example (controller list)” in FIG. 32 shows an example in which the controller A is selected.
[0221]
The support tool 20 reads an application program from the selected controller by a message service. This is performed by the “program read command” of the message service.
[0222]
The support tool 20 stores the application program read from the controller, analyzes the data, and divides the structure of the program block into frames that are divided into screens as shown in “support tool display frame example (application program configuration)” in FIG. indicate.
[0223]
Here, the “support tool display frame example (application program configuration)” in FIG. 33 is an example in which the application program configuration of the controller A is displayed in units of program blocks.
[0224]
When analyzing the data of the application program, if the program block is an input / output parameter transmission / reception program block, the program blocks PB12, PB13, and PB14 in the “support tool display frame example (application program configuration)” in FIG. The partner controller and program block, such as the display format, are also displayed.
[0225]
The method of extracting the configuration information from the application program data and the method of creating a display image from the configuration information are the “program configuration information extraction process flow” shown in FIG. 16 and the “program structure display generation process flow” shown in FIG. It is shown in.
[0226]
The operator selects a program block for which information is to be displayed from among the displayed program blocks. The “support tool display frame example (application program structure)” in FIG. 33 shows an example in which the program block PB10 is selected.
[0227]
The support tool extracts and analyzes the selected program block data from the previously read application program of the controller A, and displays the information in a frame that is divided into screens. The “support tool display example (program block information PB10)” in FIG. 34 is an example in which information on the program block of the program block PB10 is displayed.
[0228]
Here, since the program block PB10 is a normal program block, the data of the program block becomes “program block data of PB10” shown in FIG. 22, and information displayed in the frame includes input parameters and output parameters. , And a program code list which is a program block body.
[0229]
When the operator selects the program block PB13 in the “support tool display frame example (application program configuration)” of FIG. 33 in the same manner as the program block PB10, the following occurs.
[0230]
The support tool 20 extracts and analyzes the program block data of the program block PB13. Here, since the program block PB13 is an input / output parameter transmission / reception program block, the data of the program block is as shown in “program block data of PB13” in FIG.
[0231]
The support tool 20 reads the program block data of the program block PB20 from the controller B based on the counterpart program block position information stored in the program block body. This is performed by the “program block read command” of the message service.
[0232]
The read program block data becomes “PB20 program block data” in FIG. 24. Since the program block PB20 is a normal program block, this is analyzed and combined with the information of the program block PB13, “support tool display example” in FIG. (Program block information PB20) ", and the program block information is displayed in the frame.
[0233]
As a result, the worker can actually recognize the application program configuration configured as “physical application program structure” in FIG. 18 as “logical application program structure” in FIG. 19. Become.
(Program display by support tool II)
The support tool 20 has a user interface such as the “support tool display configuration” shown in FIG. 31 that divides the entire screen into a plurality of frames for display on the display device 28. The “support tool display configuration” in FIG. 31 is an image of screen display in this embodiment.
[0234]
Here, the operator activates the “program reading function” by the support tool 20.
When the “program reading function” is activated, the support tool 20 extracts the controller ID connected to the network 30 from the “network address information for each controller” shown in FIG. 28 stored in the parameter data area 23-1. Controllers connected to the network such as the “support tool display example (controller list)” shown in FIG. 32 are displayed as a list.
[0235]
Here, the operator selects a controller from which the application program is to be read. Note that the “support tool display example (controller list)” in FIG. 32 shows an example in which the controller A is selected.
[0236]
The support tool 20 reads the configuration of the application program from the controller using a message service. This is performed by a “program configuration read command” of the message service.
[0237]
The support tool 20 stores the configuration information of the application program read from the controller, analyzes the data, and divides the program block structure into screens as shown in “Example of support tool display frame (application program configuration)” in FIG. Displayed in the selected frame.
[0238]
Here, the “support tool display frame example (application program configuration)” in FIG. 33 is an example in which the application program configuration of the controller A is displayed in units of program blocks.
[0239]
A method of creating a display image from the configuration information of the application program is shown in “Program structure display generation processing flow” in FIG.
[0240]
The operator selects a program block for which information is to be displayed from among the displayed program blocks. Note that “example of support tool display frame (application program configuration)” in FIG. 33 shows an example in which the program block PB10 is selected.
[0241]
The support tool 20 reads information on the designated program block from the controller. This is performed by the “program block read command” of the message service.
[0242]
Data of the read program block is extracted and analyzed, and the information is displayed on the divided frames. The “support tool display example (program block information PB10)” in FIG. 34 is an example in which information on the program block of the program block PB10 is displayed.
[0243]
Since the program block PB10 is a normal program block, the data of the program block read from the controller A is as shown in “program block data of PB10” in FIG. 22, and information displayed in the frame includes input parameters, output parameters, And a program code list which is a program block body.
[0244]
When the operator selects the program block PB13 in the “support tool display frame example (application program configuration)” of FIG. 33 in the same manner as the program block PB10, the following occurs.
[0245]
The support tool 20 reads the data of the program block PB13 from the controller A and analyzes it. Since the program block PB13 is an input / output transmission / reception program block, the data of the program block is as shown in “program block data of PB13” in FIG.
[0246]
The support tool 20 reads the program block data of the program block PB20 from the controller B based on the counterpart program block position information stored in the program block body. This is performed by the “program block read command” of the message service.
[0247]
The read program block data becomes “PB20 program block data” in FIG. 24. Since the program block PB20 is a normal program block, this is analyzed and combined with the information of the program block PB13, “support tool display example” in FIG. (Program block information PB20) ", and the program block information is displayed in the frame.
[0248]
As a result, the worker can actually recognize the application program configuration configured as “physical application program structure” in FIG. 18 as “logical application program structure” in FIG. 19. Become.
[0249]
【The invention's effect】
As described above, according to the present invention, the following effects can be obtained.
1) Since the structure of an application program across a plurality of controllers can be logically recognized, recognition by an operator is facilitated and work errors are eliminated.
[0250]
2) Since predetermined portions of application programs stored in a plurality of controllers are automatically displayed according to a logical program structure, work operations that have been repeated for each conventional controller and for each program block are repeated. Can be simplified, and the work efficiency at the time of debugging / maintenance of equipment is greatly improved.
[0251]
3) Application programs that span multiple controllers can be logically displayed using only the application data stored in the controller without any special configuration information. There is no burden.
[0252]
4) Displaying a plurality of controller application programs with a logical structure eliminates the need for special configuration information, reduces the hardware resource burden on the support tool side, and makes it easier to provide a lower cost support tool.
[0253]
5) Since transmission / reception of data via the network is realized only by defining parameters to the program block, the burden on the designer is reduced, and the data transmission / reception unit is aggregated into a specific program block. An easy-to-understand design becomes possible.
[Brief description of the drawings]
FIG. 1 is a block diagram showing an overall configuration of an embodiment of a controller system according to the present invention.
FIG. 2 is a block diagram showing a detailed configuration of a controller of the controller system shown in FIG.
FIG. 3 is a block diagram showing a detailed configuration of a support tool of the controller system shown in FIG. 1;
FIG. 4 is a diagram illustrating an example of program configuration information of a reception response to program configuration reading.
FIG. 5 is a flowchart showing an overall processing flow in the controller shown in FIG. 2;
6 is a flowchart showing details of the network processing shown in FIG. 5. FIG.
FIG. 7 is a flowchart showing details of the program operation process shown in FIG.
FIG. 8 is a flowchart (part 1) showing details of the program block execution process shown in FIG. 7;
FIG. 9 is a flowchart (part 2) showing details of the program block execution process shown in FIG. 7;
FIG. 10 is a flowchart showing an overall processing flow in the support tool shown in FIG. 2;
FIG. 11 is a flowchart (part 1) of a program read function flow showing details of the program read function process shown in FIG. 10;
12 is a flowchart (part 2) of the program read function flow showing details of the program read function process shown in FIG. 10;
FIG. 13 is a flowchart (part 1) of another program read function flow showing details of the program read function process in step 1005 shown in FIG. 10;
FIG. 14 is a flowchart (No. 2) of another program read function flow showing the details of the program read function process in step 1005 shown in FIG. 10;
FIG. 15 is a flowchart (No. 3) of another program read function flow showing the details of the program read function processing in Step 1005 shown in FIG. 10;
FIG. 16 is a flowchart of a program configuration information extraction processing flow showing a method for extracting configuration information from application program data.
FIG. 17 is a flowchart of a program configuration display generation process flow showing a method of creating a display image from configuration information extracted from application program data.
FIG. 18 is a diagram showing an example of the structure of a physical application program in the controller system of the embodiment shown in FIG. 1;
FIG. 19 is a diagram showing a logical application program structure corresponding to the physical application program structure shown in FIG. 18;
FIG. 20 is a diagram showing a specific example of the structure of a normal program block employed in the controller system of this embodiment.
FIG. 21 is a diagram showing a specific example of the structure of an input / output parameter transmission / reception program block employed in the controller system of this embodiment.
FIG. 22 is a diagram showing a specific example of program block data of the program block PB10 shown in FIG.
FIG. 23 is a diagram showing a specific example of program block data of the program block PB13 shown in FIG.
FIG. 24 is a diagram showing a specific example of program block data of the program block PB20 shown in FIG.
25 is a diagram showing a specific example of application program data employed in the controller system shown in FIG.
FIG. 26 is a diagram showing a specific example of an application program data table employed in the controller system shown in FIG.
27 is a diagram showing a specific example of program block status information adopted in the controller system shown in FIG.
FIG. 28 is a diagram showing a specific example of network address information for each controller adopted in the controller system shown in FIG.
29 is a diagram showing a specific example of part of the program block main body of program block PB10 shown in FIG.
30 is a diagram showing a specific example of part of the program block main body of program block PB11 shown in FIG.
31 is a diagram showing an example of a display screen of the display device 28 of the support tool 20 shown in FIG.
32 is a diagram showing a display example of a specific support tool of the “controller list” shown in FIG. 31;
FIG. 33 is a diagram showing a display example of a specific support tool of “application program structure” shown in FIG. 31;
34 is a diagram showing a display example of a specific support tool of “program block information” shown in FIG. 31. FIG.
FIG. 35 is a diagram showing another display example of the specific support tool of “program block information” shown in FIG. 31;
[Explanation of symbols]
10-1 Controller (Controller A)
10-2 Controller (Controller B)
10-3 Controller (Controller C)
11 Arithmetic Processor (CPU)
12 System program memory
13 User program memory
14 Parameter memory
15 Work memory
16 Input / output memory (I / O memory)
17 Communication interface (communication I / F)
18 I / O interface (I / F)
19 I / O devices
20 Support tools
21 Arithmetic unit
22 Central processing unit
23 Memory space
23-1 Parameter data area
23-2 User program data area
23-3 Support tool program area
24 Memory for display device
25 bus
26 Interface (I / F)
27 Input device
28 Display device
30 network

Claims (2)

A programmable controller system comprising a plurality of programmable controllers connected to each other via communication means,
Each of the programmable controllers includes
A user program memory that can store one or more program blocks, each of which is an application program created by a user, an input device connected to a sensor, a switch, etc., and an output device connected to a motor, an actuator, etc. An input / output memory for storing input / output parameters exchanged with the combined input / output device, a central processing unit, and
In the central processing unit, program block operation processing including program execution processing for sequentially reading and executing the program blocks stored in the user program memory, and input / output parameters between the input / output device and the input / output memory I / O refresh processing for updating the network and network processing for exchanging commands and responses with other programmable controllers via the communication means are structured to be executed cyclically. ,
Each of the program blocks includes a program block identifier, input / output parameter designation data, and a program block body, and the program block execution process includes:
The sometimes program block read from the user program memory is identified as the program block identifier Based on the normal program block reads the input parameters specified by the input parameter specifying data included in the program block from the input memory Using the input parameters that are stored in a primary manner, performing an execution process in accordance with an instruction code string that constitutes the program block body, generating an output parameter, and temporarily storing the output parameters. A first program block execution process for rewriting the output parameter in the input / output memory designated by the input / output parameter designation data included in the program block, the output parameter temporarily stored after waiting for completion;
When a program block read from the user program memory is identified as an input / output parameter transmission / reception program block based on the program block identifier, an input parameter specified by input / output parameter specifying data included in the program block is input to the input / output memory. , The destination program position information consisting of the address of the programmable controller constituting the program block body and the program block ID number, and the destination input parameter position information of the destination program block to which the input parameters are transmitted while transmitting to the network as a data transmission command including bets, it receives the programmable controller so designated by the destination program location information, the input path The normal response indicating that the meter has completed the write process to the destination input parameter of a destination grams block transmitted on the network, sometimes the input and output parameters transceiver program block receives the response, the input parameter specified data It transmits the data reception command on the network, including in the destination program position information output parameters of the input and output memory specified constituting the program block body and said destination output parameter position information, the destination program location When the programmable controller that is specified by the information receives said received command and normal response to the instruction code is executed processing results according to the column value of the destination output parameter of the program block body of the partner program block Te is sent over the network, and a write replacing the second program block execution means as an output parameter of the input and output memory in which the input and output parameters transceiver program block specified by the received result the input and output parameters specifying data the response,
As a result, by including the input / output parameter transmission / reception program block in the user program memory, the value of the input / output parameter acquired from the input / output memory of another programmable controller is executed when the normal program block of the programmable controller is executed. A programmable controller system characterized by being usable. A user program memory that can store one or more program blocks, each of which is an application program created by a user, an input device connected to a sensor, a switch, etc., and an output device connected to a motor, an actuator, etc. An input / output memory for storing input / output parameters exchanged with the combined input / output device, a central processing unit, and
In the central processing unit, program block operation processing including program execution processing for sequentially reading and executing the program blocks stored in the user program memory, and input / output parameters between the input / output device and the input / output memory I / O refresh processing for updating the network and network processing for exchanging commands and responses with other programmable controllers via the communication means are structured to be executed cyclically. ,
Each of the program blocks includes a program block identifier, input / output parameter designation data, and a program block body, and the program block execution process includes:
The sometimes program block read from the user program memory is identified as the program block identifier Based on the normal program block reads the input parameters specified by the input parameter specifying data included in the program block from the input memory Using the input parameters that are stored in a primary manner, performing an execution process in accordance with an instruction code string that constitutes the program block body, generating an output parameter, and temporarily storing the output parameters. A first program block execution process for rewriting the output parameter in the input / output memory designated by the input / output parameter designation data included in the program block, the output parameter temporarily stored after waiting for completion;
When a program block read from the user program memory is identified as an input / output parameter transmission / reception program block based on the program block identifier, an input parameter specified by input / output parameter specifying data included in the program block is input to the input / output memory. , The destination program position information consisting of the address of the programmable controller constituting the program block body and the program block ID number, and the destination input parameter position information of the destination program block to which the input parameters are transmitted while transmitting to the network as a data transmission command including bets, it receives the programmable controller so designated by the destination program location information, the input path The normal response indicating that the meter has completed the write process to the destination input parameter of a destination grams block transmitted on the network, sometimes the input and output parameters transceiver program block receives the response, the input parameter specified data It transmits the data reception command on the network, including in the destination program position information output parameters of the input and output memory specified constituting the program block body and said destination output parameter position information, the destination program location When the programmable controller that is specified by the information receives said received command and normal response to the instruction code is executed processing results according to the column value of the destination output parameter of the program block body of the partner program block Te is sent over the network, and a write replacing the second program block execution means as an output parameter of the input and output memory in which the input and output parameters transceiver program block specified by the received result the input and output parameters specifying data the response,
As a result, by including the input / output parameter transmission / reception program block in the user program memory, the value of the input / output parameter acquired from the input / output memory of another programmable controller is executed when the normal program block of the programmable controller is executed. A programmable controller characterized by being usable.

Images