CN107430385A - Arithmetic element, engineering tools and engineering tools program - Google Patents
Arithmetic element, engineering tools and engineering tools program Download PDFInfo
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- CN107430385A CN107430385A CN201580078455.8A CN201580078455A CN107430385A CN 107430385 A CN107430385 A CN 107430385A CN 201580078455 A CN201580078455 A CN 201580078455A CN 107430385 A CN107430385 A CN 107430385A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B9/00—Safety arrangements
- G05B9/02—Safety arrangements electric
- G05B9/03—Safety arrangements electric with multiple-channel loop, i.e. redundant control systems
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
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Abstract
Arithmetic element (11) has：Program command processing unit (111), it performs the control comprising multiple program commands and applies (124), generate program implementing result data (121), and it is more than or equal to the obtained each program module of 1 program command modularization for that will control in application (124), will whether executed be recorded to program implementing result table (122)；Forwarding address management memory (115), it stores the reference address administration table (123) for the record destination for having program implementing result data (121) for the definition of each program command；And tracking processing unit (113), the tracking of the program implementing result data for the program command that its program module for being based on, with reference to address administration table (123) and program implementing result data (121), performed by program command processing unit (111) is included is handled.
Description
Technical field
The present invention relates to arithmetic element, engineering tools and engineering tools program, the arithmetic element forms double
The programmable logic controller (PLC) of change system.
Background technology
In doubleization system, because the data volume in being handled from control system to the tracking of standby system is big, have
When can make control system program perform the cycle produce delay.
In patent document 1, it is known that following technologies, i.e. 1 continuous memory area is used only in subprogram in advance
And be programmed, performed according to the presence or absence of subprogram, pair 1 corresponding with a subprogram continuous memory area forwards.
According to the above method, the reduction of the data volume in the tracking processing from control system to standby system is realized.
Patent document 1：Japanese Unexamined Patent Publication 2008-46731 publications
The content of the invention
However, in the above prior art, following problems be present, i.e. dispersedly distribute to each of memory having used
In the subprogram of equipment, the program implementing result data for being stored in equipment can not be entered between control system and standby system
Row is synchronous.
The present invention is exactly to propose in view of the above problems, its object is to obtain a kind of arithmetic element, the arithmetic element
The program implementing result data for dispersedly distributing to memory can be synchronized between control system and standby system.
In order to solve the above problems, reached purpose, the present invention is arithmetic element, its form the programmable of doubleization system patrol
Controller is collected, the arithmetic element has program command processing unit, and the program command processing unit is performed comprising multiple program commands
Control application, program implementing result data are generated, and be more than or equal to 1 program command modularization for that will control in applying
Obtained each program module, will whether executed be recorded to program implementing result table.In addition, the present invention has forwarding address pipe
Memory is managed, forwarding address management memory storage defines the record of program implementing result data for each program command
The reference address administration table of destination.In addition, the present invention has tracking processing unit, the tracking processing unit is based on reference to address administration
Table and program implementing result data, the journey for the program command that the program module performed by program command processing unit is included
The tracking processing of sequence implementing result data.
The effect of invention
Arithmetic element of the present invention obtains following effects, i.e. can be between control system and standby system, to dividing
The program implementing result data for distributing to memory scatteredly synchronize.
Brief description of the drawings
Fig. 1 is to represent using the arithmetic element that embodiments of the present invention are related to and form programmable after doubleization system
The figure of logic controller and engineering tools.
Fig. 2 is to represent to form the Programmable logical controller after doubleization system using the arithmetic element that embodiment is related to
The figure of the structure of device.
Fig. 3 is the figure for the hardware configuration for representing the arithmetic element that embodiment is related to.
Fig. 4 is the figure for the structure for representing the engineering tools that embodiment is related to.
Fig. 5 is the figure for the hardware configuration for representing information processor, and the information processor is used to realize that embodiment relates to
And engineering tools.
Fig. 6 is the flow chart of the flow for the action for representing the engineering tools that embodiment is related to.
Fig. 7 is the configuration example for the program that the program editor for the engineering tools for representing to be related to by embodiment creates
Figure.
Fig. 8 is that the following range set-up function portion for the engineering tools for representing to be related to by embodiment is entered to following range
The flow chart of the flow of row change or additional processing.
Fig. 9 is the figure of an example of the reference address administration table for representing the arithmetic system that embodiment is related to.
Figure 10 is the flow chart of the flow for the data tracking processing for representing the arithmetic element that embodiment is related to.
Figure 11 is the figure of an example of the program implementing result data for representing the arithmetic element that embodiment is related to.
Figure 12 is the figure of an example of the program implementing result table for representing the arithmetic unit that embodiment is related to.
Embodiment
Below, arithmetic element, engineering tools and the engineering design embodiments of the present invention being related to based on accompanying drawing
Implementing procedure is described in detail.In addition, the present invention is not limited to the embodiment.
Embodiment
Fig. 1 is to represent using the arithmetic element that embodiments of the present invention are related to and form programmable after doubleization system
The figure of logic controller and engineering tools.The programmable logic controller (PLC) 10 of embodiment, which has, is referred to as CPU
2 arithmetic elements 11 of (Central Processing Unit) unit1、112And form doubleization system.In addition, for structure
Into the unit of programmable logic controller (PLC) 10, arithmetic element 11 is eliminated1、112The diagram of unit in addition.
Arithmetic element 111It is control system, arithmetic element 112It is standby system.Arithmetic element 111With engineering tools
Connection.
Arithmetic element 111、112It is control system and the relation of standby system, therefore is identical construction.Said in following
In bright, to arithmetic element 111、112Common item when illustrating, labeled as arithmetic element 11, needing to enter both
In the case of row difference, index number is attached to label, labeled as arithmetic element 111Or arithmetic element 112.For following computings
The structural element of the inside of unit 11 is also same.
Fig. 2 is to represent to form the Programmable logical controller after doubleization system using the arithmetic element that embodiment is related to
The figure of the structure of device.Arithmetic element 111Have：Program command processing unit 1111, it performs control application program, subprogram and work(
Each program command of energy block；Device memory 1121, it is stored to program implementing result data 121；Track processing unit
1131, it by each program by program implementing result data 121 by performing the cycle to write to trace buffer 11311, replicate
To arithmetic element 112Trace buffer 11312, so as to which program implementing result data 121 are forwarded into standby system from control system
System；Forward control memory 1141, it is stored to program implementing result table 122；Forwarding address manages memory 1151, its
To being stored with reference to address administration table 123；And control store portion 1161, it stores to each program and performs regularly to enter
The control of row management applies 124.
Arithmetic element 112With arithmetic element 111It is same structure, has：Program command processing unit 1112, equipment storage
Device 1122, tracking processing unit 1132, forwarding control memory 1142, forwarding address management memory 1152And control store
Portion 1162.In addition, the arithmetic element 11 as standby system2Not to program implementing result data 121, program implementing result table
122nd, preserved with reference to address administration table 123 and control using 124.
Program implementing result table 122 be representation program command process portion 111 whether the executed table of program command, by every
The individual program execution cycle is updated.
Program implementing result data 121 are arithmetic elements 111Result, the life of cycle and configuration processor are performed by each program
Into data.
It is position and size progress to storing each initial plant of the data forwarded with reference to address administration table 123
The table of management.
Program, subprogram and the functional block that program command processing unit 111 performs are by the equipment as variable name and conduct
What the program command of instruction was formed, each equipment is dispersedly distributed to device memory 112.Using by the computing as control system
Unit 111The result of configuration processor is program implementing result data 121 to device memory 1121Storage.
Fig. 3 is the figure for the hardware configuration for representing the arithmetic element that embodiment is related to.Arithmetic element 11 has：Arithmetic unit
51, its configuration processor and firmware；Memory 52, it is used by arithmetic unit 51 as workspace；Nonvolatile memory 53, its
Store firmware；Storage device 54, it is stored to program, data and table；And communicator 55, it is used for and engineering design
Instrument is communicated.Arithmetic unit 51 can use CPU.Storage device 54 can use flash memory.
Program command processing unit 111 and tracking processing unit 113 shown in Fig. 2 are to be made memory 52 by arithmetic unit 51
Realized for workspace to perform firmware.Device memory 112, forwarding control memory 114, forwarding address management memory
115 and control store portion 116 realized by storage device 54.
Fig. 4 is the figure for the structure for representing the engineering tools that embodiment is related to.Engineering tools 20 have：Program
Editing machine 21, it is the user interface for creating control application by user；Compiler 22, it will be created by program editor 21
The control application built out is converted into the form that can be performed by the program command processing unit 111 of arithmetic element 11；Following range
Set-up function portion 23, its be for by user to the user interface being read, created and edited with reference to address administration table 123；
And communication function portion 24, it enters the control for being about to be created that by engineering tools 20 and applied and with reference to address administration table
123 places for managing memory 115 relative to the forwarding address of arithmetic element 11 and controlling store portion 116 to write or read
Reason.
Fig. 5 is the figure for the hardware configuration for representing information processor, and the information processor is used to realize that embodiment relates to
And engineering tools.Information processor 60 has：Arithmetic unit 61, its configuration processor；Memory 62, it is filled by computing
61 are put to use as workspace；Storage device 63, it is stored with engineering tools program 631；Display device 64, it shows letter
Breath；Input unit 65, it is the user interface of information input；And communicator 66, it is used to carry out with arithmetic element 11
Communication.Information processor 60 can use general terminal.Arithmetic unit 61 can use CPU.Storage device 63
Flash memory can be used.Display device 64 can use liquid crystal display device.Input unit 65 can use keyboard and mouse.
Arithmetic unit 61 using memory 62 as workspace performance of work design tool program 631, so as to information processing
Device 60 turns into engineering tools 20.That is, it is carrying out the information processor of mounted engineering tools program 631
60 form engineering tools 20.
Program editor 21, compiler 22 and following range set-up function portion 23 shown in Fig. 4 are by arithmetic unit 61
Memory 62 is carried out into performance of work design tool program 631 as workspace and realized.Communication function portion 24 is by by holding
The arithmetic unit 61 of row engineering tools program 631 is controlled and realized to communicator 66.
Fig. 6 is the flow chart of the flow for the action for representing the engineering tools that embodiment is related to.In step S101,
The establishment that program editor 21 receives the program included in carried out by user by input unit 65, control application operates.Journey
The establishment of sequence can use functional block and subprogram, and the functional block is collected and modularization above or equal to 1 program command
The program module of obtained functional unit (Program Organization Unit, POU), the subprogram is to will be greater than or wait
In 1 program command or functional block collect and what modularization obtained.Give one example, functional block is such as PID
(Proportional-Integral-Derivative) program module of functional unit as control.Furthermore it is possible to it will converge
The functional block that total multiple functional blocks obtain is considered as 1 functional block.
Subprogram collects above or equal to 1 program command or functional block and modularization obtains.Therefore, comprising work(
Can block subprogram by more than or equal to 1 functional block and and being not included in the order of functional block and forming.
Fig. 7 is the configuration example for the program that the program editor for the engineering tools for representing to be related to by embodiment creates
Figure.Program [0] 71 is made up of subprogram [0] 711 and subprogram [1] 712, and subprogram [0] 711 is by functional block [0] 713 and work(
Energy block [1] 714 and the program command [0] 715 and the composition of program command [1] 716 for being not included in these functional blocks, subprogram [1]
712 are made up of program command [2] 717.Program [1] 72 is by functional block [2] 721 and and is not included in the program of functional block [2] 721
Order [3] 722 is formed.Program [x] 73 is made up of subprogram [y] 731, and the subprogram [y] 731 is by functional block [z] 732 and not
The program command [w] 733 for being contained in functional block [z] 732 is formed.
As shown in fig. 7, program [0] 71 and program [x] 73 are formed using functional block and subprogram.
As described above, the program editor 21 for the engineering tools 20 that embodiment is related to is with functional unit (Program
Organization Unit, POU) it is that function block unit has carried out modularization.But modularization be not limited to using functional block as
Unit.
Not necessarily use subprogram or functional block configuration program.For Fig. 7 program [1] 72, functional block has been used,
But subprogram is not used to form the program [1] 72.
In step s 102, compiler 22 is compiled to the program being created that using program editor 21, is converted to journey
The form that sequence command process portion 111 is able to carry out, generation control application.
In step s 103, compiler 22 judges whether to change following range or added.Enter to following range
Row change or it is additional in the case of, in step s 103 as Yes, in step S104 following range set-up function portion 23 to
Track scope is changed or added.
Fig. 8 is that the following range set-up function portion for representing the engineering tools that embodiment is related to is carried out to following range
The flow chart of the flow of change or additional processing.In step s 201, following range set-up function portion 23 obtains answers to control
The equipment and size of the independent variable distribution of the program command included with certain interior program.In step S202, following range is set
Determine function part 23 to store the equipment obtained and size to reference to address administration table 123.In step S203, following range is set
Determining function part 23 will be added with reference to the size of the continuous equipment in address administration table 123.In step S204, following range is set
Function part 23 is determined to judging in control application with the presence or absence of untreated program.If there is untreated program, then
Turn into Yes in step S204, enter to step S201.If there is no untreated program, then turn into step S204
No, end processing.According to flow above, following range set-up function portion 23 is created with reference to address administration table 123.
In step S105, communication function portion 24 will control the control system using 124 write-ins to doubleization system to transport
Calculate unit 111Control store portion 1161, and will be write with reference to address administration table 123 to forwarding address and manage memory
1151。
In the case where following range not being changed or being added, in step s 103 as No, step is entered to
S105.In this case, it only can enter to be about to control using 124 write-ins to control store portion 1161Processing, omit will
Write with reference to address administration table 123 to forwarding address and manage memory 1151Processing.
Fig. 9 is the figure of an example of the reference address administration table for representing the arithmetic system that embodiment is related to.With reference to ground
Location management table 123 is directed to each equipment used in controlling using 124 programs included, and definition has the starting forwarded to set
Size that is standby and being counted from initial plant.In addition, the equipment commonly used for multiple programs, subprogram or functional block,
" common " column is being set with reference to address administration table, definition has the initial plant forwarded and the size counted from initial plant.
Next, the action for the arithmetic element being related to embodiment illustrates.Figure 10 is to represent that embodiment is related to
Arithmetic element data tracking processing flow flow chart.In step S301, program command processing unit 1111Perform control
System applies 124.In step s 302, program command processing unit 1111Program implementing result data 121 are stored to equipment and stored
Device 1121.Figure 11 is the figure of an example of the program implementing result data for representing the arithmetic element that embodiment is related to.Program
Implementing result data 1212 structure of the implementing result data 121 by initial plant 1211 and as control using 124 implementing result
Into.
In step S303, program command processing unit 1111Program implementing result table 122 is created, write-in to forwarding control is deposited
Reservoir 1141, the program implementing result table 122 represent executed program in subprogram, functional block or program command used
Equipment be forwarding object.In addition, being the equipment of " common " for program number, either with or without execution, all it is set to forward object,
Create program implementing result table 122.
Figure 12 is the figure of an example of the program implementing result table for representing the arithmetic unit that embodiment is related to.Program is held
Row result table 122 shows whether that each program in 124 is applied in executed control.Program [0] 71 is to perform, program [0]
71 subprograms [0] 711 included are performed.The functional block [0] 713 and program command [0] that subprogram [0] 711 is included
715 be to perform, but functional block [1] 714 and program command [1] 716 are not perform.In addition, the subprogram that program [0] 71 is included
[1] 712 is not perform, and program command [2] 717 is not perform.Program [1] 72 is to perform, the functional block that program [1] 72 is included
[2] 721 are performed.However, the program command [3] 722 that program [1] 72 is included is not perform.Because program [x] 73 is not
Perform, therefore the subprogram 731 [y] that program [x] 73 is included is also not perform.Therefore, the work(that subprogram [y] 731 is included
Energy block [z] 732 and program command [w] 733 are also not perform.
Program command processing unit 1111The program command that functional block in the subprogram being not carried out is included all is considered as
It is not carried out, records to program implementing result table 122.Thereby, it is possible to omit, whether the functional block in executed subprogram is wrapped
The judgement of the program command contained, reduce the load of arithmetic unit 51.
In fig. 12, it is that equipment used in subprogram, functional block or the program performed is shown is to turn to whether there is execution column
Send out object.
In step s 304, program command processing unit 1111Judge whether the program being not carried out.If there is not holding
Capable program, then turn into Yes in step s 304, enter to step S301, perform the program being not carried out.
If there is no the program being not carried out, then turn into No in step s 304, processing unit is tracked in step S305
1131Based on program implementing result table 122 and with reference to address administration table 123, from as the subprogram of forwarding object, functional block and
The initial plant of program command starts, and slave unit memory is read by the data of the size provided out with reference to address administration table 123,
Write to trace buffer 11311。
According to flow above, handled by tracking only by the arithmetic element of the data forwarding of following equipment to standby system
112, i.e. the equipment refers to, by program command processing unit 1111The program that program, subprogram and the functional block of execution are included
Equipment used in order and either with or without performing the equipment all forwarded and the equipment set out in addition.Thus, even if setting
It is standby dispersedly to be distributed to device memory, also it is able to carry out tracking processing.In addition, set with what is included to the program of executed
The situation that standby data are all forwarded is compared, and can reduce what is forwarded from control system to standby system by tracking processing
Data volume.
In addition, in the above description, performed according to the presence or absence of functional block to decide whether the program command in functional block
Used equipment is set to forward object, but can not also judge whether equipment being set to forwarding pair in units of functional block
As only being judged in units of subprogram.In the case of including the different functional block of usage frequency in subprogram, pass through
Judge whether to be set to equipment to forward object in units of functional block, so as to reduce the load of arithmetic unit 51, but in son
The usage frequency of functional block in program do not have it is unbalanced in the case of, do not judge whether to be set to forward by equipment with functional block
This practice of object can reduce the load of arithmetic unit 51.Alternatively, it is also possible to for the program command in functional block, individually
Decide whether to be set to forward object.
As described above, in embodiments, the presence or absence of program, subprogram, functional block and program command are performed into storage extremely
Program implementing result table, only each tracking to the program command distribution to executed forward the data of scope to be tracked forwarding.
Therefore, even if the equipment in program is dispersedly distributed to memory, also it is able to carry out tracking forwarding.In addition, doubleization system
The transfer amount of tracking data tail off, program can be shortened and perform the cycle.
In addition, by being sentenced in units of collecting the functional block obtained and modularization above or equal to 1 program command
It is disconnected whether executed, can so as to program command that individually arbitration functions block is included whether compared with the situation of executed
Reduce the load of arithmetic unit 51.
In addition, the equipment commonly used for multiple programs, subprogram or functional block, independent of program, subprogram
And the presence or absence of functional block performs, and is forwarded every time, therefore turn into while the Data duplication of identical equipment can be prevented forwarding pair
As reducing the data volume forwarded.
In addition, the engineering tools 20 being related to by using embodiment, so as to which program creator is only by control
Created, compiled using 124, write to arithmetic element 10, it becomes possible to construct doubleization system, the doubleization system can
Between control system and standby system, the program implementing result data 121 for dispersedly distributing to memory 52 are synchronized.
Especially for being effective for the doubleization system for the tracking for needing Large Copacity, it is possible to increase control the speed of scanning, enter
The high-precision control of row.
In addition, the engineering tools 20 being related to by using embodiment, so as to which program creator need not recognize journey
The continuity in the storage place of sequence implementing result data 121.In addition, even if creating, change or add control applies 124, also not
Tracking forwarding can be impacted, therefore be free to create, change and add control using 124.Especially, Neng Gourong
Change places and the equipment of memory 52 is dispersedly distributed to having used or the control of label (variable) is changed using 124.Make
In program with label, label is continuously dedicated to by memory 52 by compiler 22 automatically, so if being changed, then
Need once again to redistribute whole labels, but if the engineering tools 20 being related to using embodiment, then only to part
Position after ground change is compiled, and will not expend compilation time.Thus, program creator can cut down programming man-hour.
More than embodiment shown in representation be present disclosure an example, also can be public with other
Know that technology is combined, a part for structure can also be omitted in the scope for the purport for not departing from the present invention, changed.
The explanation of label
10 programmable logic controller (PLC)s, 11,111、112Arithmetic element, 20 engineering tools, 21 program editors, 22 compile
Translate device, 23 following range set-up function portions, 24 communication function portions, 51,61 arithmetic units, 52,62 memories, 53 non-volatile deposit
Reservoir, 54,63 storage devices, 55 communicators, 64 display devices, 65 input units, 66 communicators, 71 programs [0], 72 journeys
Sequence [1], 73 programs [x], 111,1111、1112Program command processing unit, 112,1121、1122Device memory, 113,1131、
1132Tracking processing unit, 113,1131、1132Tracking processing unit, 114,1141、1142Forwarding control memory, 115,1151、
1152Forwarding address management memory, 116,1161、1162Control store portion, 121 program implementing result data, 122 programs
Implementing result table, 123 with reference to address administration table, 124 control applications, 711 subprograms [0], 712 subprograms [1], 713 functional blocks
[0], 714 functional blocks [1], 715 program commands [0], 716 program commands [1], 717 program commands [2], 721 functional blocks [2],
722 program commands [3], 731 subprograms [y], 732 functional blocks [z], 733 program commands [w], 1131,11311、11312Tracking is slow
Rush device.
Claims (6)
1. a kind of arithmetic element, it forms the programmable logic controller (PLC) of doubleization system,
The arithmetic element is characterised by,
Have：
Program command processing unit, it performs the control application for including multiple program commands, generates program implementing result data, and pin
To each program module for being more than or equal to 1 program command modularization and obtaining during the control is applied, whether will hold
Row is recorded to program implementing result table；
Forwarding address manages memory, and it is stored has described program implementing result data for each described program command definition
Record the reference address administration table of destination；And
Processing unit is tracked, it is based on reference address administration table and the described program implementing result data, carries out by the journey
The tracking processing of the program implementing result data for the program command that the program module that sequence command process portion performs is included.
2. arithmetic element according to claim 1, it is characterised in that
The equipment and size of data used with reference to address administration table by described program order, to described program implementing result
The record destination of table is defined.
3. arithmetic element according to claim 1, it is characterised in that
Described program module is to collect obtained functional block above or equal to 1 program command.
4. arithmetic element according to claim 3, it is characterised in that
The control application comprises at least 1 subprogram, and the subroutine pack contains and is more than or equal to 1 functional block,
The program command that functional block in the subprogram being not carried out is included all is considered as by described program command process portion not to be held
OK, record to described program implementing result table.
5. a kind of engineering tools, it is created to the control application performed by arithmetic element, and the arithmetic element forms two
Change the programmable logic controller (PLC) of system again,
The engineering tools are characterised by,
Have：
Program editor, it is the user interface for being created to the control application comprising multiple program commands；
Following range set-up function portion, it is created with reference to address administration table, described to be directed to each journey with reference to address administration table
Sequence order, define by the arithmetic element perform it is described control application when generate program implementing result data in the fortune
Calculate the record destination in unit；And
Communication function portion, it sends control application and the reference address administration table to the arithmetic element.
6. a kind of engineering tools program, it makes information processor perform to being entered as the control application performed by arithmetic element
The processing that row creates, the arithmetic element form the programmable logic controller (PLC) of doubleization system,
The engineering tools program is characterised by,
Described information processing unit is set to perform following processing：
Generation includes the control application of multiple program commands；
Create and be directed to each described program order with reference to address administration table, the reference address administration table, define by the computing
Unit performs the record destination in the arithmetic element of the program implementing result data generated during the control application；
And
Control application and the reference address administration table are sent to the arithmetic element.
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| PCT/JP2015/059930 WO2016157362A1 (en) | 2015-03-30 | 2015-03-30 | Computation unit, engineering tool, and engineering tool program |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN107430385B (en) | 2018-11-30 |
| WO2016157362A1 (en) | 2016-10-06 |
| JP6099846B2 (en) | 2017-03-22 |
| JPWO2016157362A1 (en) | 2017-04-27 |
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