CN114047727B - Control method, programmable logic controller and computer readable storage medium - Google Patents
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- 238000004590 computer program Methods 0.000 claims description 21
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- 238000012545 processing Methods 0.000 description 4
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- 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
- G05B19/054—Input/output
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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
- G05B2219/00—Program-control systems
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Abstract
The disclosure provides a control method, a programmable logic controller and a computer readable storage medium, and relates to the technical field of automation control, wherein the method comprises the following steps: the method comprises the steps that a Programmable Logic Controller (PLC) obtains a monitoring value of a network performance index; under the condition that the monitoring value is in a preset range, the PLC performs scanning work according to a preset scanning period; and under the condition that the monitoring value is not in the preset range, the PLC performs scanning work according to a dynamic scanning period corresponding to the monitoring value, wherein the dynamic scanning period is larger than the preset scanning period.
Description
Technical Field
The present disclosure relates to the field of automation control technology, and in particular, to a control method, a programmable logic controller, and a computer readable storage medium.
Background
The working process of the programmable logic controller (Programmable Logic Controller, PLC) is a cyclic scanning process. In a scanning period, the PLC generally needs to complete the whole working process of collecting state information of the hardware device, executing an application program, and sending control information to the hardware device according to the execution result of the application program through a wireless or wired network.
In the related art, a scan cycle of a PLC generally performs a scan operation according to a fixed scan cycle.
Disclosure of Invention
The inventor notices that in the related art, the PLC cannot complete the whole working process in time in a fixed scanning period due to the change of the network performance, so that the reliability of the PLC operation is not high.
In order to solve the above-described problems, the embodiments of the present disclosure propose the following solutions.
According to an aspect of the embodiments of the present disclosure, there is provided a control method including: the method comprises the steps that a Programmable Logic Controller (PLC) obtains a monitoring value of a network performance index; under the condition that the monitoring value is in a preset range, the PLC performs scanning work according to a preset scanning period; and under the condition that the monitoring value is not in the preset range, the PLC performs scanning work according to a dynamic scanning period corresponding to the monitoring value, wherein the dynamic scanning period is larger than the preset scanning period.
In some embodiments, the performing, by the PLC, a scanning operation according to a dynamic scanning period corresponding to the monitored value includes: the PLC determines the scanning period corresponding to the reference interval to which the monitoring value belongs as the dynamic scanning period according to the one-to-one correspondence relation between the plurality of reference intervals and the plurality of scanning periods; and the PLC performs scanning work according to the dynamic scanning period.
In some embodiments, in a case where the monitoring value belongs to a first reference interval and a second reference interval, the PLC determines a scanning period corresponding to the second reference interval as the dynamic scanning period, and the scanning period corresponding to the second reference interval is greater than the scanning period corresponding to the first reference interval.
In some embodiments, in a case where the monitoring value is not within the preset range and is greater than a maximum upper limit value of the plurality of reference sections, the PLC determines a fixed scanning period as the dynamic scanning period, the fixed scanning period being greater than a scanning period corresponding to a reference section to which the maximum upper limit value belongs.
In some embodiments, the number of the plurality of reference intervals is M, the lower limit value of the ith reference interval is the same as the upper limit value of the (i-1) th reference interval, 2.ltoreq.i.ltoreq.M, and both i and M are positive integers.
In some embodiments, the network performance indicator comprises a network delay.
According to another aspect of the disclosed embodiments, there is provided a programmable logic controller including: the acquisition module is configured to acquire a monitoring value of the network performance index; the working module is configured to carry out scanning work according to a preset scanning period under the condition that the monitoring value is in a preset range; and under the condition that the monitoring value is not in the preset range, scanning according to a dynamic scanning period corresponding to the monitoring value, wherein the dynamic scanning period is larger than the preset scanning period.
According to yet another aspect of the disclosed embodiments, there is provided a programmable logic controller including: a memory; and a processor coupled to the memory, the processor configured to perform the method of any of the embodiments described above based on instructions stored in the memory.
According to yet another aspect of the disclosed embodiments, a computer readable storage medium is provided, comprising computer program instructions, wherein the computer program instructions, when executed by a processor, implement the method of any of the embodiments described above.
According to a further aspect of the disclosed embodiments, a computer program product is provided, comprising a computer program, wherein the computer program, when executed by a processor, implements the method according to any of the above embodiments.
In the embodiment of the disclosure, the PLC may determine whether to adjust the scan period of the PLC according to the obtained monitored value of the network performance index. If the monitoring value is within the preset range, the PLC can perform scanning operation according to the preset scanning period without adjustment; if the monitoring value is not within the preset range, the PLC can determine the dynamic scanning period of the PLC according to the monitoring value, wherein the dynamic scanning period is larger than the preset scanning period. In this way, the PLC can adapt to the change of network performance by dynamically adjusting the scanning period, so that the whole working process can be timely completed in any scanning period, and the working reliability of the PLC is improved.
The technical scheme of the present disclosure is described in further detail below through the accompanying drawings and examples.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings may be obtained according to these drawings without inventive effort to a person of ordinary skill in the art.
FIG. 1 is a flow diagram of a control method according to some embodiments of the present disclosure;
FIG. 2 is a schematic diagram of a structure of a PLC according to some embodiments of the present disclosure;
FIG. 3 is a schematic diagram of a PLC according to further embodiments of the present disclosure;
fig. 4 is a schematic structural diagram of a control system according to some embodiments of the present disclosure.
Detailed Description
The following description of the technical solutions in the embodiments of the present disclosure will be made clearly and completely with reference to the accompanying drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are only some embodiments of the present disclosure, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments in this disclosure without inventive faculty, are intended to fall within the scope of this disclosure.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless it is specifically stated otherwise.
Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description.
Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be considered part of the specification where appropriate.
In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
Fig. 1 is a flow diagram of a control method according to some embodiments of the present disclosure.
In step 102, the plc obtains a monitored value of the network performance index.
In some embodiments, the network performance indicator may include a network delay, where the network delay may also be reflected by the transmission rate or throughput.
In some embodiments, the PLC may monitor the network performance indicator at a fixed frequency to obtain a monitored value of the network performance indicator. For example, the PLC may monitor the network performance index every 10 s.
In other embodiments, the PLC may dynamically adjust the frequency of monitoring the network performance indicators based on the scan period. For example, in the case of extended scan periods, the PLC may reduce the frequency of monitoring network performance metrics; the PLC may increase the frequency of monitoring the network performance index with reduced scan cycles.
In some embodiments, the PLC may monitor the network performance index by way of ping commands or periodic heartbeat packets.
In step 104, the PLC performs a scanning operation according to a preset scanning period in the case that the monitored value is within the preset range.
In some embodiments, the preset scan period may be any value in the range of 10ms to 20ms that satisfies the PLC operating conditions.
It should be appreciated that if the monitored value is within the preset range, it is indicated that the network performance is good. In this case, the PLC does not need to adjust the scanning period, but can directly perform the scanning operation according to the preset scanning period.
In step 106, if the monitored value is not within the preset range, the PLC performs the scanning operation according to the dynamic scanning period corresponding to the monitored value.
Here, the dynamic scanning period is greater than the preset scanning period.
In some embodiments, the PLC may determine the dynamic scan period of the PLC according to the preset correspondence between the monitor value and the scan period, and the obtained monitor value.
It should be appreciated that if the monitored value is not within the preset range, it indicates that the network performance is poor. In this case, the PLC needs to adjust the scan period to a dynamic scan period determined according to the monitored value of the network performance index.
In some embodiments, the PLC may perform the scanning operation according to the dynamic scanning period immediately after the end of the current scanning period. In other embodiments, the PLC may perform the scanning operation according to the dynamic scanning period after the current scanning period is over and still continue to operate for a period of time according to the current scanning period.
In the above embodiment, the PLC may determine whether to adjust the scan period of the PLC according to the obtained monitored value of the network performance index. If the monitoring value is within the preset range, the PLC can perform scanning operation according to the preset scanning period without adjustment; if the monitoring value is not within the preset range, the PLC can determine the dynamic scanning period of the PLC according to the monitoring value, wherein the dynamic scanning period is larger than the preset scanning period. In this way, the PLC can adapt to the change of network performance by dynamically adjusting the scanning period, so that the whole working process can be timely completed in any scanning period, and the working reliability of the PLC is improved.
In some embodiments, the PLC may determine, as a dynamic scan period, a scan period corresponding to a reference interval to which the monitored value belongs according to a one-to-one correspondence between a plurality of reference intervals and a plurality of scan periods, and perform a scan operation according to the dynamic scan period.
In some embodiments, the interval length of at least some of the plurality of reference intervals may be different. For example, the plurality of reference intervals may include 0ms-5ms, 5ms-15ms, and 15ms-30ms.
In some embodiments, at least some of the plurality of reference intervals may have overlap between them, and the overlapping intervals may be equal or unequal in length. For example, the plurality of reference intervals may include 0ms-10ms, 9ms-20ms, and 19ms-30ms; for another example, the plurality of reference intervals may include 0ms-10ms, 8ms-20ms, and 19ms-30ms.
In other embodiments, there may be no overlap between the multiple reference intervals. For example, the plurality of reference intervals may include 0ms-10ms, 11ms-20ms, and 21ms-30ms.
If the monitoring value does not belong to any one of the plurality of reference intervals and is not greater than the maximum upper limit value of the plurality of reference intervals, the scanning period of the PLC may be temporarily not adjusted until the monitoring value decreases or increases to a certain reference interval of the plurality of reference intervals, and then the dynamic scanning period of the PLC may be determined.
An example of determining the dynamic scan period of the PLC is given below in connection with table 1, taking the network performance index as an example of network delay.
Table 1 shows the correspondence between reference intervals and scan periods for some embodiments of the present disclosure.
TABLE 1
| Network delay | Scanning period |
| 0ms～10ms | 20ms |
| 10ms～20ms | 40ms |
| 20ms～50ms | 100ms |
As shown in Table 1, the plurality of reference intervals include 0ms-10ms, 10ms-20ms, and 20ms-50ms, wherein the reference intervals 0ms-10ms correspond to a scan period of 20ms, the reference intervals 10ms-20ms correspond to a scan period of 40ms, and the reference intervals 20ms-50ms correspond to a scan period of 100ms.
For example, the monitoring value of the network delay acquired by the PLC is 15ms, the reference interval to which the monitoring value belongs is 10ms to 20ms, and the dynamic scanning period of the PLC can be determined to be 40ms according to the one-to-one correspondence relationship between the plurality of reference intervals and the plurality of scanning periods shown in table 1.
In some embodiments, in the case where the monitoring value belongs to the first reference interval and the second reference interval, the PLC may determine the scanning period corresponding to the first reference interval or the scanning period corresponding to the second reference interval as the dynamic scanning period. For example, the monitoring value of the network delay acquired by the PLC is 10ms, and the monitoring value belongs to the first reference interval of 0ms-10ms and the second reference interval of 10ms-20ms, and at this time, the dynamic scanning period of the PLC can be determined to be 20ms or 40ms according to the one-to-one correspondence between the multiple reference intervals and the multiple scanning periods shown in table 1.
In the above embodiment, considering that the monitored value of the network performance index generally changes within a certain range within a period of time, a plurality of reference intervals and a plurality of scanning periods may be set, so that the dynamic scanning period of the PLC may be determined according to the corresponding relationship between the reference interval to which the monitored value belongs and the scanning period, so that the PLC performs the scanning operation according to the dynamic scanning period. Therefore, the influence of frequent change of the scanning period on the working performance of the PLC is avoided, and the working stability of the PLC is improved.
In some embodiments, in the case where the monitoring value belongs to the first reference interval and the second reference interval, the PLC may determine a scanning period corresponding to the second reference interval as a dynamic scanning period, wherein the scanning period corresponding to the second reference interval is greater than the scanning period corresponding to the first reference interval. Taking the monitoring value of the network delay obtained by the PLC as an example, according to the one-to-one correspondence between the multiple reference intervals and the multiple scanning periods shown in table 1, at this time, the dynamic scanning period of the PLC may be determined as the scanning period 40ms corresponding to the second reference interval 10ms-20 ms.
In the above embodiment, in the case where the monitoring value belongs to the first reference section and the second reference section, the long period in the scanning period corresponding to the two reference sections may be determined as the dynamic scanning period of the PLC. Therefore, the whole working process of the PLC can be further ensured to be completed in time in any scanning period, and the working reliability of the PLC is further improved.
In some embodiments, in the case that the monitored value is not within the preset range and is greater than the maximum upper limit value of the plurality of reference intervals, the PLC may determine the fixed scan period as a dynamic scan period, wherein the fixed scan period is greater than the scan period corresponding to the reference interval to which the maximum upper limit value belongs. For example, as shown in table 1, if the monitored value of the network delay acquired by the PLC is 60ms, the monitored value is not within the preset range and is greater than the maximum upper limit value 50ms among the plurality of reference intervals, at this time, since the scanning period corresponding to the reference interval 20ms to 50ms to which the maximum upper limit value belongs is 100ms, the PLC may set the dynamic scanning period to be a fixed scanning period of 150ms.
If the monitored value is greater than the maximum upper limit value of the plurality of reference intervals, it is indicated that the monitored value does not belong to any one of the plurality of reference intervals.
It should be appreciated that the monitored value of the network performance indicator may reflect how good the network performance is. In the embodiment of the disclosure, each reference interval has an upper limit value, and the larger the upper limit value of the reference interval is, the worse the network performance condition reflected by the reference interval is.
In the above embodiment, the PLC may determine the fixed scanning period as the dynamic scanning period, the fixed scanning period being greater than the scanning period corresponding to the reference section to which the maximum upper limit value belongs. Therefore, the whole working process of the PLC can be further ensured to be completed in time in any scanning period, and the working reliability of the PLC is further improved.
In some embodiments, the number of the plurality of reference intervals may be M, the lower limit value of the ith reference interval may be the same as the upper limit value of the ith-1 th reference interval, 2.ltoreq.i.ltoreq.M, and both of i and M are positive integers. Therefore, as the reference sections are continuous and only overlap is formed at the end points of the reference sections, the condition that the monitoring value belongs to two sections can be reduced under the condition that the monitoring value of the PLC is ensured to be larger in range, the process of selecting the scanning period under the condition that the monitoring value belongs to two sections is further reduced, the accuracy of determining the dynamic scanning period by the PLC is improved, and the reliability of the PLC is further improved.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different manner from other embodiments, so that the same or similar parts between the embodiments are mutually referred to. For the PLC embodiment, since it basically corresponds to the method embodiment, the description is relatively simple, and the relevant points will be referred to the partial description of the method embodiment.
Fig. 2 is a schematic diagram of a PLC according to some embodiments of the present disclosure.
As shown in fig. 2, PLC200 includes an acquisition module 201 and a work module 202.
The acquisition module 201 is configured to acquire a monitored value of the network performance indicator.
The working module 202 is configured to perform a scanning operation according to a preset scanning period in the case that the monitored value is within a preset range; and under the condition that the monitoring value is not in the preset range, scanning according to the dynamic scanning period corresponding to the monitoring value, wherein the dynamic scanning period is larger than the preset scanning period.
Fig. 3 is a schematic structural view of a PLC according to further embodiments of the present disclosure.
As shown in fig. 3, PLC300 includes a memory 301 and a processor 302 coupled to memory 301, processor 302 configured to perform the method of any of the foregoing embodiments based on instructions stored in memory 301.
The memory 301 may include, for example, system memory, fixed nonvolatile storage media, and the like. The system memory may store, for example, an operating system, application programs, boot Loader (Boot Loader), and other programs.
PLC300 may also include input-output interface 303, network interface 304, storage interface 305, and the like. These interfaces 303, 304, 305, and between the memory 301 and the processor 302 may be connected by a bus 306, for example. The input/output interface 303 provides a connection interface for input/output devices such as a display, mouse, keyboard, touch screen, etc. Network interface 304 provides a connection interface for various networking devices. Storage interface 305 provides a connection interface for external storage devices such as SD cards, U-discs, and the like.
Fig. 4 is a schematic structural diagram of a control system according to some embodiments of the present disclosure.
As shown in fig. 4, the control system includes an application system, a clouding PLC and an industrial device, wherein the clouding PLC realizes communication with the industrial device through a 5G network.
The application systems include manufacturing execution systems (Manufacturing Execution System, MES), enterprise resource planning systems (Enterprise Resource Planning, ERP), energy consumption management, and industrial control systems.
The cloud PLC comprises a hardware layer and a software layer.
The hardware layer comprises a CPU, a memory and an IO interface.
The software layers include a virtualization layer, a general purpose PLC development environment (IDE), a real-time Operating System (RTOS), and a desktop Operating System (OS).
The generic PLC development environment is configured to provide a generic programming environment for developing applications.
In some embodiments, the programming languages employed for development of applications in a general purpose PLC development environment may include ladder diagrams, instruction sheets, sequential function charts, and the like.
The RTOS is configured to provide an operating environment in which a Virtual PLC (VPLC) runs related applications.
The desktop OS is configured to provide a visual data acquisition and monitoring control system (Supervisory Control and Data Acquisition, SCADA).
The industrial device includes an industrial device gateway. The industrial equipment gateway is configured to communicate with the clouding PLC based on an Ethernet (Modbus Tcp) protocol, an industrial Ethernet (Ethernet/IP) protocol, an Ethernet control automation technology (Ether Control Automation Technology, ethernet CAT) and serial communication standards (RS 232 and RS 485) so as to report data such as status information of the industrial equipment to the clouding PLC and perform equipment control according to control information transmitted by the clouding PLC.
It should be noted that VPLC is a PLC that is defined by software and can be run in the cloud. The VPLC may communicate directly with industrial equipment via a 5G network.
After the VPLC is put into operation, the working process in one scan period may be: acquiring the current state information of the acquired industrial equipment, updating the input of the application program according to the current state information, executing the application program according to the updated input, and sending control information to the industrial equipment according to the execution result of the application program.
In some possible scenarios, if the VPLC performs scanning according to a fixed scanning period, the VPLC will not be able to acquire current state information of the industrial device in time under the condition of network delay, so as to affect correct execution of subsequent application programs, and even cause that the VPLC cannot complete the whole working process in one scanning period. In this case, the control method provided by the application can be used for control work so as to improve the reliability of the VPLC work, thereby ensuring that the industrial production is carried out safely and reliably.
The disclosed embodiments also provide a computer readable storage medium comprising computer program instructions which, when executed by a processor, implement the method of any of the above embodiments.
The disclosed embodiments also provide a computer program product comprising a computer program, wherein the computer program, when executed by a processor, implements the method of any of the above embodiments.
Thus, various embodiments of the present disclosure have been described in detail. In order to avoid obscuring the concepts of the present disclosure, some details known in the art are not described. How to implement the solutions disclosed herein will be fully apparent to those skilled in the art from the above description.
It will be appreciated by those skilled in the art that embodiments of the present disclosure may be provided as a method, system, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
The present disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the disclosure. It will be understood that functions specified in one or more of the flowcharts and/or one or more of the blocks in the block diagrams may be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Although some specific embodiments of the present disclosure have been described in detail by way of example, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. It will be understood by those skilled in the art that the foregoing embodiments may be modified and equivalents substituted for elements thereof without departing from the scope and spirit of the disclosure. The scope of the present disclosure is defined by the appended claims.
Claims (9)
1. A control method, comprising:
the method comprises the steps that a Programmable Logic Controller (PLC) obtains a monitoring value of a network performance index, wherein the network performance index comprises network time delay;
under the condition that the monitoring value is in a preset range, the PLC performs scanning work according to a preset scanning period;
and under the condition that the monitoring value is not in the preset range and the network performance is lower than the network performance of the monitoring value in the preset range, the PLC performs scanning work according to a dynamic scanning period corresponding to the monitoring value, and the dynamic scanning period is larger than the preset scanning period.
2. The method of claim 1, wherein the PLC performs a scanning operation according to a dynamic scanning period corresponding to the monitored value comprises:
the PLC determines the scanning period corresponding to the reference interval to which the monitoring value belongs as the dynamic scanning period according to the one-to-one correspondence relation between the plurality of reference intervals and the plurality of scanning periods;
and the PLC performs scanning work according to the dynamic scanning period.
3. The method according to claim 2, wherein:
and under the condition that the monitoring value belongs to a first reference interval and a second reference interval, the PLC determines the scanning period corresponding to the second reference interval as the dynamic scanning period, and the scanning period corresponding to the second reference interval is larger than the scanning period corresponding to the first reference interval.
4. The method of claim 2, further comprising:
and under the condition that the monitoring value is not in the preset range and is larger than the maximum upper limit value in the plurality of reference intervals, the PLC determines a fixed scanning period as the dynamic scanning period, wherein the fixed scanning period is larger than the scanning period corresponding to the reference interval to which the maximum upper limit value belongs.
5. The method of claim 2, wherein the number of the plurality of reference intervals is M, a lower limit value of the ith reference interval is the same as an upper limit value of the ith-1 th reference interval, 2.ltoreq.i.ltoreq.m, and both of i and M are positive integers.
6. A programmable logic controller, comprising:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is configured to acquire a monitoring value of a network performance index, and the network performance index comprises network time delay;
the working module is configured to carry out scanning work according to a preset scanning period under the condition that the monitoring value is in a preset range; and under the condition that the monitoring value is not in the preset range and the network performance is lower than the network performance of the monitoring value in the preset range, scanning according to a dynamic scanning period corresponding to the monitoring value, wherein the dynamic scanning period is larger than the preset scanning period.
7. A programmable logic controller, comprising:
a memory; and
a processor coupled to the memory and configured to perform the method of any of claims 1-5 based on instructions stored in the memory.
8. A computer readable storage medium comprising computer program instructions, wherein the computer program instructions, when executed by a processor, implement the method of any of claims 1-5.
9. A computer program product comprising a computer program, wherein the computer program, when executed by a processor, implements the method of any of claims 1-5.
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