CN110134056A - Monitoring method and device, storage medium and the electronic device of data - Google Patents
Monitoring method and device, storage medium and the electronic device of data Download PDFInfo
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- CN110134056A CN110134056A CN201910369298.6A CN201910369298A CN110134056A CN 110134056 A CN110134056 A CN 110134056A CN 201910369298 A CN201910369298 A CN 201910369298A CN 110134056 A CN110134056 A CN 110134056A
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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
- G05B19/048—Monitoring; Safety
-
- 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
- G05B19/056—Programming the PLC
-
- 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
- G05B19/058—Safety, monitoring
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/13—Plc programming
- G05B2219/13004—Programming the plc
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/14—Plc safety
- G05B2219/14006—Safety, monitoring in general
Abstract
The present invention provides monitoring method and device, storage medium and the electronic devices of a kind of data, wherein this method comprises: engineering sequence after compiling is turned to local file after being compiled to engineering to be compiled；Access local file and from the engineering body being currently performed collect different operating list in engineering variable address information, wherein address information includes offset and length；During programmable logic controller (PLC) PLC operation, engineering variable corresponding with address information is monitored in real time according to address information.Through the invention, it solves the problems, such as in the related technology to be written and read the inside PLC by special monitoring module and needs to safeguard two sets of codes.
Description
Technical field
The present invention relates to computer field, in particular to a kind of monitoring method and device of data, storage medium and
Electronic device.
Background technique
It is wide with programmable logic controller (PLC) (Programmable Logic Controller, referred to as PLC) technology
General application, PLC programming software also become indispensable a part in PLC development technique.The control logic of PLC control system is
It is completed by programming software, meets different control field demands as long as modifying to application program.So PLC is programmed
Software, which has the correctness that monitoring in real time and debugging function are designed with check problem and completeness, has very extensive versatility.
The present complete PLC programming software of mainstream is all much to use special monitoring module pair by foreign-made
It is written and read inside PLC, also has and real-time operation is written and read by PLC address date, emulate PLC mould also by exploitation
Intend true PLC, realizes sequential monitoring read-write.But existing technical solution, such as special monitoring module scheme, it is not soft with programming
Part framework combines together, and operate inconvenience, needs to safeguard that two sets of codes realize function；In addition, exploitation emulation PLC software mould
Intend true PLC, need to create with the practical identical software of PLC function, there are development cycle long difficulty is big, function is inconsistent
Problem.
In view of the above problems in the related art, not yet there is effective solution at present.
Summary of the invention
The embodiment of the invention provides monitoring method and device, storage medium and the electronic devices of a kind of data, at least
It solves the problems, such as in the related technology to be written and read the inside PLC by special monitoring module and needs to safeguard two sets of codes.
According to one embodiment of present invention, provide a kind of monitoring method of data, comprising: to engineering to be compiled into
After row compiling, the engineering sequence after compiling is turned into local file；Access the local file and from the engineering being currently performed
The address information of engineering variable in different operating list is collected in body, wherein the address information includes offset and length；Institute
During stating programmable logic controller (PLC) PLC operation, monitored in real time according to the address information corresponding with the address information
Engineering variable.
According to another aspect of the present invention, a kind of monitoring arrangement of data is provided, comprising: first processing module is used
After being compiled to engineering to be compiled, the engineering sequence after compiling is turned into local file；Second processing module, for visiting
Ask the local file and from the engineering body being currently performed collect different operating list in engineering variable address information,
In, the address information includes offset and length；Monitoring module, for what is run in the programmable logic controller (PLC) PLC
In the process, engineering variable corresponding with the address information is monitored in real time according to the address information.
According to still another embodiment of the invention, a kind of storage medium is additionally provided, meter is stored in the storage medium
Calculation machine program, wherein the computer program is arranged to execute the processing method of above-mentioned data when operation.
According to still another embodiment of the invention, a kind of electronic device, including memory and processor are additionally provided, it is described
Computer program is stored in memory, the processor is arranged to run the computer program to execute the above-mentioned number
According to processing method.
Through the invention, after using being compiled to engineering to be compiled, the engineering sequence after compiling is turned into local text
Part, and then access local file and believe from the address for collecting engineering variable in different operating list in the engineering body being currently performed
Breath, wherein address information includes offset and length；During programmable logic controller (PLC) PLC operation, believed according to address
Breath monitors engineering variable corresponding with address information in real time, to realize that the implementation to engineering variable monitors.The above-mentioned side of the application
Method step is simply easily achieved, and the code that Maintenance free is different, to solve in the related technology through special monitoring
Module is written and read the problem of needing to safeguard two sets of codes to the inside PLC.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the flow chart of the monitoring method of data according to an embodiment of the present invention；
Fig. 2 is the structural schematic diagram of the monitoring arrangement of data according to an embodiment of the present invention.
Specific embodiment
Hereinafter, the present invention will be described in detail with reference to the accompanying drawings and in combination with Examples.It should be noted that not conflicting
In the case of, the features in the embodiments and the embodiments of the present application can be combined with each other.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.
Embodiment 1
A kind of monitoring method of data is provided in the present embodiment, and Fig. 1 is the prison of data according to an embodiment of the present invention
The flow chart of vision method, as shown in Figure 1, the process includes the following steps:
Engineering sequence after compiling after being compiled to engineering to be compiled, is turned to local file by step S102；
Wherein, for the step, the process of its engineering compiling be can be according to firmware library -> complete in specific application scenarios
Office's 1 program example set of variable -> user POU- > task -> 2 program example set of task 1- > task -> task 2- > 3 journey of task
Sequence example collection -> task 3- > ... process executes.
It is to store monitoring starting for engineering to prepare that user engineering sequence, which is turned to local file, after compiling successfully.
Step S104 accesses local file and becomes from engineering in different operating unit is collected in the engineering body being currently performed
The address information of amount, wherein address information includes offset and length；
Step S106 is monitored and address in real time during programmable logic controller (PLC) PLC is run according to address information
The corresponding engineering variable of information.
S102 to step S104 through the above steps, after being compiled to engineering to be compiled, by the work after compiling
Program column turn to local file, and then access local file and collect different operating Dan Zhonggong from the engineering body being currently performed
The address information of Cheng Bianliang, wherein address information includes offset and length；In the mistake of programmable logic controller (PLC) PLC operation
Cheng Zhong monitors engineering variable corresponding with address information according to address information in real time, to realize that the implementation to engineering variable monitors.
The above method step of the application is simply easily achieved, and the code that Maintenance free is different, to solve in the related technology
By special monitoring module is written and read to the inside PLC the problem of needing to safeguard two sets of codes.
In the optional embodiment of the present embodiment, for the access local file that is related in step S104 and from current
The offset of engineering variable and the method and step of length in different operating unit are collected in the engineering body being performed, it can be by such as
Under type is realized:
Step S104-11 obtains work from the engineering body being currently performed in local file based on the first preset function
Total offset and length of engineering variable in list；And/or
Step S104-12 obtains work from the engineering body being currently performed in local file based on the second preset function
In list in engineering variable list each engineering variable offset and length.
For above-mentioned steps S104-11 and step S104-12, in the first preset function for being related to may is that
GetXXXObjAttribute function, the function are for obtaining the total inclined of a certain variable (such as entire global variable list)
Shifting amount and length information；And the second preset function may is that GetElementAttributeInCType function, which is
For obtaining offset and the length information of specific each variable (such as each of global variable list variable).
It should be noted that the offset and length of the engineering types of variables and engineering variable that are related in the present embodiment
It includes at least:
Global variable: start offset, length
Local basic underlying variables: start offset, length
Program instance:start offset, length
FB instance:start offset, length
Certainly, above-mentioned engineering variable is merely illustrative, and limiting the invention, can also be according to practical feelings
Condition is arranged accordingly.
In another optional embodiment of the present embodiment, be related in step S106 in programmable logic controller (PLC)
During PLC is run, the mode of engineering variable corresponding with the address information is monitored in real time according to the address information, it can
To be achieved in that
Step S106-11 is obtained when the engineering variable in one or more job notes of front opening；
The engineering variable got from one or more job notes is added in subscription table by step S106-12；
Step S106-13 is found and ground during programmable logic controller (PLC) PLC operation based on address information
The real value of the corresponding engineering variable of location information, and carried out more based on value of the real value to the engineering variable in the subscription table
Newly.
In another optional embodiment of the present embodiment, the method and step of the present embodiment can also include:
Step S108 triggers the write-in thing for modifying the value of the address information and/or the engineering variable in user
In the case where part, the value of address information and/or engineering variable to be modified to be modified is written to according to said write event
In the subscription table.
The application is illustrated below with reference to the specific embodiment of the application；
It should be noted that the real-time function for monitoring of PLC programming software mainly monitors Program or FB or structural body or number
The variable list of group monitors Program or FB figure, global variable list, with Three-Part protocol real value, the I/O hard spot of PLC
Real value, while further including pressure write-in functions described above.Therefore, the PLC programming illustrated in this embodiment
Software variable value monitors that its essence is the real-time function for monitoring for realizing PLC programming software in real time.Because in Three-Part protocol and
By the equal relationship maps of the I/O hard spot of Three-Part protocol variable and PLC in global variable when the I/O of PLC acquires exploitation in real time
On.
So PLC programming software variate-value monitors mainly monitoring Program in real time in the specific embodiment of the application
Or the variable list of FB or structural body or array, monitor Program or FB figure, global variable list and the change of the above content
The real-time write-in of magnitude.
Based on this, the specific embodiment of the application provides a kind of PLC programming software variate-value and monitors method, the party in real time
The step of method includes:
Step S202, engineering compiling；
Wherein, engineering compiling: engineering compiling is according to firmware library -> global variable -> 1 program example collection of user POU- > task
2 program example set of conjunction -> task 1- > task -> 3 program example set of task 2- > task -> task 3- > ... process executes；It compiles
Being translated into user engineering serializing to local file after function is that engineering storage monitoring starting is prepared.
Step S204, monitoring starting；
Wherein, monitoring starting is mainly by accessing local engineering, obtains the current engineering of controller and executes body, and from engineering
The offset and length of engineering variable are obtained in body；The offset of specific acquisition engineering variable and the method and step of length include:
Step S204-11 starts initSTDebuger；Process terminates if failure, if successful execution step 204-
12；
Step S204-12, GetGlobalObjAttribute；If successful execution step S204-13, if unsuccessfully held
Row step S204-15；
Step S204-13, GetElementAttrinCType；
Step S204-14 wouldn't support array；
Step S204-15, GetObjAttrFromTask；If unsuccessfully executing step S204-16, then process terminates；
If successful execution step S204-17；
Step S204-16, DestrorySTDebugger；
Step S204-17, GetElementAttrinCType；
Step S204-18 judges whether there is POU variable, if there is no S204-16 is thened follow the steps, then process
Terminate；If there is execution step S204-19；
Step S204-19, GetObjAttribute；
Step S204-20, GetElementAttrinCType.
It should be noted that GetXXXObjAttribute function is to obtain a certain variable (such as entire global variable column
Table) total offset and length information, GetElementAttributeInCType function is to obtain specific each variable
The offset and length information of (each of such as global variable list variable).
In addition, S204-11 to step S204-20 through the above steps, the offset that will acquire and length information sequence
Change into local file and used for watchdog logic, serializes the data template of file using Json format.
Step S206, logic is realized in monitoring；
Wherein, the prison of the step can be accomplished in that in the specific implementation process for step S206
Depending on process include an interface refresh process, i.e., user open which interface (being equivalent to the job note in above-described embodiment) will
Refresh into monitoring, if opening one, a kind of variable at interface will be added to the subscription table on backstage.If opened multiple
Interface will be added to the variable at multiple interfaces in the subscription table on backstage.After opening, and closing subscription table will not change, and still can
Continue to monitor.If enter monitoring, an interface is all not turned on, then can enter empty recurrent state.Monitoring task is one
A periodic task.
It should be noted that only just in local variable list after opening prison global variable list or Program or FB
Real time data worker thread can be read to backstage add Monitorjob.
Step S208, Refresh Data logic are realized.
Wherein, Refresh Data logic is: no matter program Instance or FB Instance, using obtaining above
The offset+length (offset+length) obtained, communication obtains real value buffer when running with PLC, and chooses change from the inside
Amount is realized and obtains real value and covering real value.
For example, based on the serializing file that above-mentioned steps S204 is generated, can be obtained global for the Refresh Data of global variable
Total start offset amount global_variable_start_offset and data length global_ of variable list
The variable_start_offset and variable_data_ of variable_data_length and each variable
length.Further according to each types of variables and title, when running from PLC, communication, which is obtained in real value buffer, chooses each change
Amount, realizes the covering of real value.That is, when user carries out real time modifying variable Value Operations, it will triggering writing events,
The start_offset for the variable that writing events can will be modified, length and the value to be changed reach background work thread.
Through the above description of the embodiments, those skilled in the art can be understood that according to above-mentioned implementation
The method of example can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but it is very much
In the case of the former be more preferably embodiment.Based on this understanding, technical solution of the present invention is substantially in other words to existing
The part that technology contributes can be embodied in the form of software products, which is stored in a storage
In medium (such as ROM/RAM, magnetic disk, CD), including some instructions are used so that a terminal device (can be mobile phone, calculate
Machine, server or network equipment etc.) execute method described in each embodiment of the present invention.
Embodiment 2
A kind of monitoring arrangement of data is additionally provided in the present embodiment, and the device is for realizing above-described embodiment and preferably
Embodiment, the descriptions that have already been made will not be repeated.As used below, predetermined function may be implemented in term " module "
The combination of software and/or hardware.Although device described in following embodiment is preferably realized with software, hardware, or
The realization of the combination of person's software and hardware is also that may and be contemplated.
Fig. 2 is the structural schematic diagram of the monitoring arrangement of data according to an embodiment of the present invention, as shown in Fig. 2, the device packet
Include: the engineering sequence after compiling is turned to local text after being compiled to engineering to be compiled by first processing module 22
Part；Second processing module 24 is of coupled connections with first processing module 22, the work for accessing local file and from being currently performed
Cheng Tizhong collects the address information of engineering variable in different operating list, wherein the address information includes offset and length；Monitoring
Module 26 is of coupled connections with Second processing module 24, is used for during programmable logic controller (PLC) PLC operation, base area
Location information monitors engineering variable corresponding with address information in real time.
Optionally, the Second processing module 24 in the present embodiment can further include: first processing units are used for
Based on the first preset function from the engineering body being currently performed in local file obtain job note in engineering variable list it is total
Offset and length；And/or the second processing unit, for being currently performed from local file based on the second preset function
Engineering body in obtain the offset and length of each engineering variable in engineering variable list in job note.
Optionally, the monitoring module 26 in the present embodiment can further include: acquiring unit, current for obtaining
Engineering variable in one or more job notes of opening；Adding unit, for that will be got from one or more job notes
Engineering variable be added in subscription table；Monitoring unit, for being based on during programmable logic controller (PLC) PLC operation
Address information finds the real value of engineering variable corresponding with address information, and is become based on real value to the engineering in subscription table
The value of amount is updated.
In the optional embodiment of the present embodiment, the device of the present embodiment is other than including the module in above-mentioned Fig. 2, also
It may further include: writing module, for the write-in in user's triggering for modified address information and/or the value of engineering variable
In the case where event, the value of address information and/or engineering variable to be modified to be modified is written to according to writing events and is ordered
It reads in table.
It should be noted that above-mentioned modules can be realized by software or hardware, for the latter, Ke Yitong
Following manner realization is crossed, but not limited to this: above-mentioned module is respectively positioned in same processor；Alternatively, above-mentioned modules are with any
Combined form is located in different processors.
Embodiment 3
The embodiments of the present invention also provide a kind of storage mediums.Optionally, in the present embodiment, above-mentioned storage medium can
To be arranged to store the program code for executing following steps:
Engineering sequence after compiling after being compiled to engineering to be compiled, is turned to local file by S1；
S2 accesses local file and from engineering variable is corresponding in collection different operating list in the engineering body being currently performed
Address information, wherein address information includes offset and length；
S3 is monitored and address information pair in real time during programmable logic controller (PLC) PLC operation according to address information
The engineering variable answered.
Optionally, in the present embodiment, above-mentioned storage medium can include but is not limited to: USB flash disk, read-only memory (ROM,
Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or
The various media that can store program code such as CD.
The embodiments of the present invention also provide a kind of electronic device, including memory and processor, stored in the memory
There is computer program, which is arranged to run computer program to execute the step in any of the above-described embodiment of the method
Suddenly.
Optionally, above-mentioned electronic device can also include transmission device and input-output equipment, wherein the transmission device
It is connected with above-mentioned processor, which connects with above-mentioned processor.
Optionally, in the present embodiment, above-mentioned processor can be set to execute following steps by computer program:
Engineering sequence after compiling after being compiled to engineering to be compiled, is turned to local file by S1；
S2 accesses local file and from the corresponding address of engineering variable in different operating list in the engineering body being currently performed
Information, wherein address information includes offset and length；
S3 is monitored and address information pair in real time during programmable logic controller (PLC) PLC operation according to address information
The engineering variable answered.
Optionally, the specific example in the present embodiment can be with reference to described in above-described embodiment and optional embodiment
Example, details are not described herein for the present embodiment.
Obviously, those skilled in the art should be understood that each module of the above invention or each step can be with general
Computing device realize that they can be concentrated on a single computing device, or be distributed in multiple computing devices and formed
Network on, optionally, they can be realized with the program code that computing device can perform, it is thus possible to which they are stored
It is performed by computing device in the storage device, and in some cases, it can be to be different from shown in sequence execution herein
Out or description the step of, perhaps they are fabricated to each integrated circuit modules or by them multiple modules or
Step is fabricated to single integrated circuit module to realize.In this way, the present invention is not limited to any specific hardware and softwares to combine.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (12)
1. a kind of monitoring method of data characterized by comprising
After being compiled to engineering to be compiled, the engineering sequence after compiling is turned into local file；
Access the local file and from the engineering body being currently performed collect different operating list in engineering variable address
Information, wherein the address information includes offset and length；
During programmable logic controller (PLC) PLC operation, monitored in real time according to the address information and the address information
Corresponding engineering variable.
2. the method according to claim 1, wherein the access local file and from being currently performed
The address information in different operating list is collected in engineering body, comprising:
Engineering in the job note is obtained from the engineering body being currently performed in the local file based on the first preset function
Total offset and length of variable list；And/or
Engineering in the job note is obtained from the engineering body being currently performed in the local file based on the second preset function
The offset and length of each engineering variable in variable list.
3. the method according to claim 1, wherein the process in programmable logic controller (PLC) PLC operation
In, monitor engineering variable corresponding with the address information in real time according to the address information, comprising:
It obtains when the engineering variable in the one or more job note of front opening；
The engineering variable got from one or more job notes is added in subscription table；
During programmable logic controller (PLC) PLC operation, is found based on the address information and believed with the address
The real value of corresponding engineering variable is ceased, and is carried out more based on value of the real value to the engineering variable in the subscription table
Newly.
4. according to the method described in claim 3, it is characterized in that, the method also includes:
In the case where user triggers the writing events of the value for modifying the address information and/or the engineering variable, root
The value of address information and/or engineering variable to be modified to be modified is written in the subscription table according to said write event.
5. method according to claim 1 to 4, which is characterized in that the type of the engineering variable is at least wrapped
It includes: global variable, local basic underlying variables, Program Instance, FB Instance.
6. a kind of monitoring arrangement of data characterized by comprising
Engineering sequence after compiling is turned to local file after being compiled to engineering to be compiled by first processing module；
Second processing module, for accessing the local file and being collected in different operating list from the engineering body being currently performed
The address information of engineering variable, wherein the address information includes offset and length；
Monitoring module, for programmable logic controller (PLC) PLC operation during, monitor in real time according to the address information and
The corresponding engineering variable of the address information.
7. device according to claim 6, which is characterized in that the Second processing module includes:
First processing units, for being obtained from the engineering body being currently performed in the local file based on the first preset function
Total offset and length of engineering variable list in the job note；And/or
The second processing unit, for being obtained from the engineering body being currently performed in the local file based on the second preset function
In the job note in engineering variable list each engineering variable offset and length.
8. device according to claim 6, which is characterized in that the monitoring module includes:
Acquiring unit, for obtaining the engineering variable in the one or more job note for working as front opening；
Adding unit, for the engineering variable got from one or more job notes to be added in subscription table；
Monitoring unit, for being found based on the address information during programmable logic controller (PLC) PLC operation
The real value of engineering variable corresponding with the address information, and based on the real value to the engineering variable in the subscription table
Value be updated.
9. device according to claim 8, which is characterized in that described device further include:
Writing module, for triggering the write-in thing for modifying the value of the address information and/or the engineering variable in user
In the case where part, the value of address information and/or engineering variable to be modified to be modified is written to according to said write event
In the subscription table.
10. according to the described in any item devices of claim 6 to 9, which is characterized in that the type of the engineering variable is at least wrapped
It includes: global variable, local basic underlying variables, Program Instance, FB Instance.
11. a kind of storage medium, which is characterized in that be stored with computer program in the storage medium, wherein the computer
Program is arranged to execute method described in any one of claim 1 to 5 when operation.
12. a kind of electronic device, including memory and processor, which is characterized in that be stored with computer journey in the memory
Sequence, the processor are arranged to run the computer program to execute side described in any one of claim 1 to 5
Method.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112269579A (en) * | 2020-11-02 | 2021-01-26 | 中电凯杰科技有限公司 | Compiling PLC controller system based on STM32 processor and implementation method |
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