JP2005141699A - Apparatus for programmable controller - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a programmable controller capable of executing/stopping a service program without depending on a structure of a control program or an execution status thereof. <P>SOLUTION: This programmable controller is equipped with: a control program storage part 29a for storing the control program for executing apparatus control; and a service program storage part 29b for storing the service program without depending on the apparatus control. A control program execution engine 41 executes the control program stored and kept in a control program storage means. The service program is executed based on a call from the control program. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a programmable controller device.

  A programmable controller (PLC) is used as a control device for factory automation (FA). This PLC is composed of a plurality of units. That is, a power supply unit of a power supply source, a CPU unit that controls the entire PLC, an output unit that inputs a switch or sensor signal attached to an appropriate place in an FA production device or facility device, an output that outputs a control output Various units such as a unit and a communication unit for connecting to a communication network are appropriately combined.

  The control in the CPU unit of the PLC is based on a user program written in a user program description language (for example, ladder language) registered in advance by fetching a signal input from the input unit into the I / O memory of the CPU unit (IN refresh). A logical operation is performed (operation execution), and the operation execution result is written in the I / O memory, sent to the output unit (OUT refresh), and then the so-called peripheral processing is cyclically repeated. The above user program is stored in the user memory of the CPU unit.

  Furthermore, as a function in the PLC, as described above, a function for executing a control program for controlling a device directly connected to the PLC or indirectly via a network, and a communication not intended for the device control. There is a function to execute service programs with service functions such as functions, file operations, and password management. There is a PLC that performs these two functions.

  However, such a conventional PLC has the following various problems. That is, since the service program for executing the service function is usually implemented as PLC firmware, when adding a function suitable for the use environment that does not exist in the firmware, the above function is included in the control program. It is necessary to implement the program you have.

  Therefore, when a service function is implemented in the control program, the function is effective only when the control program is in the PLC execution state, and when the PLC is in the stop state, the service function can be used. Disappear.

  Furthermore, since the service program has a mounting structure included in the control program, the control program execution process is not only complicated, but also the control program structure becomes complicated in order to add, delete, and change service programs. The performance may be affected.

  It is an object of the present invention to provide a programmable controller device that can execute and stop a service program without depending on the structure and execution state of a control program.

  A programmable controller device according to the present invention includes a control program storage means for storing a control program for performing device control, a service program storage means for storing a service program independent of the device control, and a storage in the control program storage means. Means are provided for executing the retained control program and the service program stored and retained in the service program storage means. The present invention is realized in each embodiment.

  Here, the programmable controller device has a function of executing a control program or the like, and may be a unit constituting a programmable controller such as a CPU unit, or includes the programmable controller itself. In the case of a programmable controller, it includes both an integrated type and a plurality of units connected together.

  According to the present invention, the control program and the service program are created as separate programs, stored in the respective storage means, and can be executed, so that the service program does not depend on the structure or execution state of the control program. It is possible to provide a mechanism that can execute and stop.

  Further, on the premise of the above-described invention, the service program is configured to be executed based on a call from the control program. As a result, the functions of the service program can be called and used when necessary from a separately created control program. The present invention is realized in the first embodiment.

  The service program may be stored and held as an independently executable program that does not depend on the control program, and execution and stop control may be performed in accordance with the operation state of the programmable controller. The operation state includes, for example, an execution state, a stop state, and a system initial state as described in the embodiment. Furthermore, the service program can be stored and held as an independently executable program that does not depend on the control program, and the service program can be residently executed even when the programmable controller is stopped. These inventions are realized in the second and third embodiments.

  Furthermore, the service program may include means for performing at least one of addition, deletion, and change without depending on the operation status of the programmable controller. In the embodiment, such means is realized by the online edit processing unit 45 or the like. The present invention is realized in the fourth embodiment. Since the service program is created as a separate program from the control program, the target service program can be added, deleted, and changed (replaced) without depending on the operation state (execution / stop state of the control program, etc.) of the programmable controller.

  In the present invention, the service program can be executed and stopped without depending on the structure and execution state of the control program.

  FIG. 1 shows an example of a network system to which the present invention is applied. As shown in FIG. 1, a tool 10, a PLC 20, and a host computer 30 are connected via a network. More specifically, in this example, the tool 10 and the host computer 30 are connected by a network 31 such as Ethernet (registered trademark), and the PLC 20 is connected to another Ethernet from a public network 32 such as the Internet. They are connected via a network 33 such as (registered trademark). In this way, by using the public network 32, the tool 10 is operated from a remote location to perform various settings and control on the PLC 20, or the host computer 30 is operated to obtain I / O data inside the PLC 20. It is possible to refer to and accumulate the collected I / O data. Of course, it is not always necessary to go through the public line network 32. Various networks are used, the tool 10 and the host computer 30 are connected to the network 33 to which the PLC is connected, and further directly connected to the PLC 20 by a cable or the like. The tool 10 and the host computer 30 can also be connected. Furthermore, a mail (abnormality notification) can be transmitted to the mobile phone 35 by using the mail transmission function of the PLC 20.

  Here, the tool 10 (development environment device) is a development environment and is realized by installing a predetermined application program on a personal computer, and has two functions of a program development environment and a setting tool. The program development environment is a tool for the user to create a program that operates on the PLC. The setting tool is a tool for operating and setting the PLC. The setting tool downloads a program created by the user and sets control and configuration information such as activation and status change of the PLC.

  The PLC 20 is connected with a device 36 to be controlled. This device 36 depends on a system constructed by the user, and includes input devices such as sensors and switches for device control, Includes output devices such as motors and solenoids.

  FIG. 2 shows a schematic software configuration diagram of the tool 10 and the PLC 20. As shown in FIG. 2, the tool 10 includes a program editor (program development environment) 11 and a setting tool 12. The program editor 11 is a tool for creating and editing a user program. The setting tool 12 is a tool for controlling the state of the PLC 20, transmitting (downloading) a user program to the PLC 20, creating user program setting information, and the like. The setting tool 12 includes a service object setting function 13. The service object setting function 13 is a function for setting items for handling a service program as an object on the PLC 20.

  The PLC 20 (CPU unit) has a general-purpose real-time OS 21 mounted on the PLC as an operating system. Then, a file system 22 that is a driver for performing file operations such as a user program and a controller setting file, a network driver 23 that is a driver having a communication function for connecting the controller to a device network, and an I connected to the controller. An I / O unit bus driver 24, which is a driver for exchanging data with the / O unit, is provided. These basic configurations are the same as in the prior art.

  The framework 25, which is a middleware component on which basic functions as a controller for operating a user program are implemented, can be broadly divided into an object management unit 26, a controller state management unit 27, and a maintenance / failure management unit 28. I have.

  In the present embodiment, functions that operate on the framework 25 are provided for each object, and the object management unit 26 registers and manages information on each object, and defines the types of objects to be defined. Accordingly, there are management units such as an event management unit 26a, a control program management unit 26b, a service object setting management unit 26c, and an I / O unit management unit 26d.

  The function of each management unit will be briefly described. The event management unit 26a manages an event object in which the execution timing of the control program is defined, the control program management unit 26b manages the control program as an object, and a service object. The setting management unit 26c manages service programs as objects, the I / O unit management unit 26d manages devices of I / O units connected to the controller in the framework hierarchy, and the controller state management unit 26 manages the controller. The operation / status is managed, and the maintenance / fault management unit 27 detects controller faults such as power failure, battery fault, I / O unit fault, etc., and handles faults such as saving memory information and fault notifications due to error LED lighting. Is to do. Details of necessary functions will be described later.

  Further, the user user program stored in the user memory 29 of the PLC 20 includes a control program stored in the control program storage unit 29a and a service program stored in the service program storage unit 29b. Here, the control program is a program that is executed based on a defined event (a periodic control cycle or an irregular event such as an interrupt), and the service program is a program that is executed without being based on an event. It is.

  Here, in the present embodiment, the service program is created and stored separately from the control program, and the service program can be started from the control program. Therefore, a service object and a service program that are essential parts of the present invention will be described.

The service program is a service that can manage one application program composed of one or more application execution programs and zero or more setting-related files on the PLC. The service program is an application program that is executed on the PLC framework and is different from a control program that is executed based on a certain timing (execution by a period or execution at the time of occurrence of an event). Has the following programs:
A program that is handled as a library that can be called from a control program or service program created by the user when the user program is running;
A program that can be executed as one thread that operates on the framework 25 that starts execution when the PLC 20 starts and ends execution when the PLC 20 ends;
There is a program that can be executed as one thread operating in the framework, which starts executing when the user program starts and ends when the user program ends.

A service object is defined as a mechanism for managing the service program within the framework 25. The functions provided by the service object include the following.
A function for managing whether the service program is handled as a library or a thread program in the framework 25;
A program that is handled as a library that can be called from a control program or service program created by the user when the user program is running;
A function for detecting whether or not the service exists on the framework when the service program is called and executed from the control program or service program created by the user;
Function that controls the creation, activation, termination, and execution priority setting of threads when handling service programs as thread programs;
There is a function for managing application execution programs and setting-related files, which are components of services to be added, deleted, or changed on the framework.

  Of course, all the various functions described above are not implemented, but are appropriately selected and implemented as necessary. The service objects are specifically “instance name”, “executable program file name list”, “service setting management file name list”, “service handling flag”, “service thread execution class name”, “service” It is defined by items such as “thread execution priority”, and each item is referred to as service object configuration information.

  Here, the “instance name” is an instance name of the service object and is arbitrarily set by the user. The “execution program file name list” is a list of execution program file names that are components of the user application. The “service handling flag” is a flag that determines how the defined service program is handled on the framework 25. The definition contents of the flag include (1) handling as a library that can be called from a user application, and (2) handling as a thread program that can be controlled by the framework 25. When handling as the latter thread program, (2-1) PLC 20 is executed at the transition point from the system initial state to the user application stop state and stopped at the reverse transition point. (2-2) PLC 20 Is executed at the time of transition from the user application stop state to the user application execution state, and identifies the case of stopping at the reverse transition time.

  Furthermore, the “service thread execution class name” and the “service thread execution priority” are valid information in the case of (2) above, and there are execution threads when the service program defined by the former is handled as a thread program. This is a program file name, and the latter is a priority when a thread is executed when a defined service program is handled as a thread program.

  Based on the basic configuration described above, various embodiments shown below can be realized by appropriately implementing necessary functions. FIG. 3 shows a first embodiment. The first embodiment realizes a function to use (execute) a service program as a library. According to this embodiment, a service program is not directly related to control from a control program for controlling input / output devices. It can be separated as a general-purpose program, and the reusability of the program created by the user is improved. In addition, service programs can be used for general-purpose programs that use the same program development environment by adding settings to be executed by PLC and adding calling functions from the control program without changing the source code of the general-purpose program. It becomes possible to do.

  Note that the service program to be created in the present embodiment is a program that is used as a library call without the need for constant execution, such as a user authentication function, a file access function, and a failure notification mail transmission function. A specific configuration for realizing the purpose / operation effect is as shown in FIG.

  First, the tool 10 as a development environment creates or edits a control program and a service program that operate on the PLC, and sends them to the controller together with setting information for program execution. The development environment is usually connected only when a program is transmitted to the PLC.

  The program editor 11 is used by a user to create a control program and a service program that operate on the PLC 20. It also has a function of compiling into intermediate code executable by the PLC 20. Then, the user operates the program editor 11 to create a service program as a separate program from the control program, incorporates a service program call description in the control program, and at a predetermined timing along with the execution of the control program. Create a program that calls and executes a service program. Note that the same processing (commercially available tools) as before can be used for each processing such as creation / editing of each program and compilation in the program editor 11.

  The service object setting function 13 is a function of the setting tool 12 and is a function for setting items necessary for handling a service program created by the user as an object on the framework 25 of the PLC 20. In this embodiment, “instance name”, “execution program file name list”, “service setting related file name list”, and “service handling flag” are set. In the “list of service setting-related file names”, a list of all setting-related file names that are components of the user application is set. Furthermore, the service handling flag is defined as a library that can be called from the user application. Then, the created control program, service program, and configuration information are transmitted (downloaded) to the PLC 20 by the setting tool 12.

  On the other hand, the PLC 20 receives a control program, a service program, and setting information from the tool 10 and stores them in each storage unit. When the PLC 20 transitions to the user application execution state, the control program (user program) is executed according to the description of the program. If there is a service program call description in the control program, the service program is executed after referring to whether it is registered as a service object in the object management unit.

  Hereinafter, the functional blocks related to the present embodiment among the functional blocks constituting the PLC 20 will be described. First, the communication function unit 40 is provided. The communication function unit 40 receives a command sent from the tool (development environment) 10, analyzes the received command, requests a processing of each functional block according to the analysis result, Data storage is performed. Commands handled in this embodiment include a project download command and a user application execution command.

  Here, the “project download command” is a command for transmitting the execution file of the program created by the user to the PLC 20 in the service object initialization stage. Therefore, the communication function unit 40 stores the received program (control program, service program) in the storage unit of the corresponding program. That is, when the control program has been downloaded, it is stored in the control program storage unit 29a via the control program management unit 26b. When the service program has been downloaded, it is stored via the service object setting management unit 26c. It is stored in the service program storage unit 29b.

  The control program storage unit 29a stores a control program execution module. Then, the stored control program is stopped and executed through the control program execution engine 41 in accordance with the operation state of the controller (PLC) held in the controller state management unit 27. The service program storage unit 29b stores service program execution modules. The stored service program is executed in response to a call from the control program or another service program.

  On the other hand, the “user application execution command” is a command for executing a program created by the user on the PLC 20 in the service object reference stage. Therefore, the communication function unit 40 activates and executes the designated program. That is, the communication processing unit 40 passes the received user application execution command to the controller state management unit 27, and the controller state management unit 27 manages execution / stop of a predetermined program.

  The controller state management unit 27 manages the execution state of the controller (PLC). The stop / execution of the user application is controlled in accordance with the command transmitted from the tool 10 or the state transition setting information held by the controller. The controller (PLC) has three operation states: a system initial state, a user application stop state, and a user application execution state as described below.

  The system initial state is a state in which the PLC 20 can be accessed from the outside (tool 10 or the like). In this state, a user application can be downloaded from the tool 10 or the like. Further, the user application does not exist on the PLC.

  The user application stopped state is a state where the user application exists on the PLC 20 but the user application is not executed. In this state, the PLC 20 can be accessed from the outside (tool 10 or the like).

  The user application execution state is a state in which the user application exists on the PLC 20 and is being executed. The controller is accessible from the outside (tool 10 or the like).

  The control program execution engine 41 evaluates and executes the control program stored and held in the control program storage unit 29a. Further, when the service program is called from the control program, it is referred to whether the corresponding service program is registered in the object management unit 26.

The object management unit 26 holds a functional unit of a program arranged on the PLC 20 (for example, “a program that collects IO data of an IO unit”, “a program that outputs IO data of an IO unit”) as an object, It is something to manage. In the object management unit 26, the following array of components (1) to (5) is held for each object type, and each object is managed.
(1) Object class name This is the name of a class assigned to each type of event, program, device, service, and the like. For example, a name given to each type of I / O unit that can be handled on the controller, such as a 16-point digital input unit, a 32-point digital input unit, and an analog input unit, is defined for the device object.
(2) Object class ID
It is an ID defined for each class of object.
(3) Instance name of an object Name of an instance (substance) given to each object assigned to the memory area when the object is generated. For example, in the device object, when two identical 16-point digital input units are connected on the controller, names are defined so that the units to be accessed can be individually identified.
(4) Object instance ID
An ID defined for each instance of an object.
(5) Object instance An entity of an object.

  The control program management unit 26b closely related to the present embodiment is a function for registering and managing the control program as an object. The control program transmitted from the tool 10 is registered as a management target for the data held in the control program storage unit 29a. Similarly, the service object setting management unit 26c has a function of registering and managing a service program as an object. When the service object is included in the program transmitted from the tool 10, the data held in the service program storage unit 29b is registered as a management target.

  Next, the function of each processing unit (management unit, storage unit) will be described while explaining the processing flow when performing each processing. FIG. 4 mainly shows a processing flow for downloading and initializing service objects.

  First, the service object is transmitted from the development environment (tool 10) as a project file together with a control program operating on the PLC. Therefore, when the communication processing unit 40 receives the project file sent from the tool 10, it passes the received data to the object management unit 26.

  Along with this, the object management unit 26 initializes the object. That is, after receiving the service object, the object is initialized when the PLC state transitions from the system initial state to the user application stop state. At the time of initialization, the service object setting management unit 26d obtains necessary service object parameters based on the configuration information of the service object, generates a service object, and stores it in the service program storage unit 29b. Store the service program. Similarly, the control program management unit 26d acquires necessary control program parameters based on the configuration information of the control program, generates an object, and stores the control unit program in the control program storage unit 29a.

  If each program is stored in a predetermined storage unit as described above, the object management unit 26 registers the objects generated by the service object setting management unit 26c and the control program management unit 26b. Thereafter, the controller state management unit 27 shifts the PLC to the stopped state, and the communication processing unit 40 returns response data (download completion) to the tool 10, thereby completing a series of processes.

  FIG. 5 shows a processing flow when a service object is referenced from a user application. First, a function for determining whether or not a service corresponding to the service object setting management unit 26c exists when using a service function from a control program or a service program created by a user is implemented. This function is realized by describing an object acquisition method of the object management unit 26 of the framework 25 in a program created by the user. When an instance of the corresponding service object is obtained by the above function, it is assumed that the service exists on the framework 25 and the service can be used. A processing flow for using the service object on the user program is as shown in FIG.

  That is, for example, when an execution command for a user application is issued from the development environment (tool 10) and the communication processing unit 40 receives the command, the communication processing unit 40 passes the execution command related to the controller state management unit 27. , A response is returned to the tool 10.

  The controller state management unit 27 transitions the PLC to the user application execution state. Next, the control program execution engine 41 executes the control program specified by the execution command. Specifically, the control program execution engine 41 requests the control program management unit 26b to execute a desired control program, and the control program management unit 26b that receives the request calls the corresponding control program.

  When the service object is referred to, the control program management unit 26b inquires of the object management unit 26 about the presence or absence of the reference target service object. Upon receiving this inquiry, the object management unit 26 acquires an instance of the service object, and the service object setting unit 26c returns the instance of the service object to be referenced to the control program setting unit 26b. Note that the service object instance to be returned is a pointer to the service object instance when the target service object exists, and is NULL when there is no service object. Thereby, the control program setting unit 26b determines whether or not the service object is a management target based on whether or not a specific pointer is returned (NULL).

  If the service object exists, the service object setting management unit 26c calls the process of the corresponding service program based on the pointer, and executes the service program stored in the service program storage unit 29b. After execution of the service program, or when the service program does not exist, the control program execution engine shifts to execution of the control program by 41.

  In the above-described embodiment, the control program is started based on the execution command from the tool 10, but the present invention is not limited to this. For example, the control program is started when the power of the PLC 20 is turned on. Various methods can be taken.

  FIG. 6 shows a second embodiment of the present invention. First, the second embodiment is provided with a function of using (executing) a service program as a thread program when a user application (control program) is stopped. With this function, in the user program, a service program that does not depend on the control cycle of the control program can be executed on the PLC 20 even when the PLC is not executing the control program (stopped state). The service programs to be created in this embodiment include programs that do not affect the operation of the control program created by the user, such as a file transfer server, a Web server, a mail server, and communication middleware, that are always required to be executed. The thread program starts execution when the user application stops from the system initial state, and ends when the user application stops from the system initial state.

  FIG. 6 shows a specific functional block configuration for realizing the purpose / operation effect. In the following description, differences from the first embodiment among the functions will be described. First, the tool 10 which is a development environment is a service object setting function 13 which is a function for setting items necessary for handling a service program created by a user as an object on the framework of the controller. In addition to the items set in the first embodiment, there are a service thread execution class name (a program file name in which an execution thread exists) and a service thread execution priority. Further, the service handling flag is set so that the PLC is handled as a thread program that can be controlled by the framework, which is executed at the transition point from the system initial state to the user application stop state and stopped at the reverse transition point. Other functions of the tool 10 are basically the same as those in the first embodiment.

  The PLC 20 receives the control program, service program, and setting information from the tool and stores them in each storage unit. Focusing on the operation of the service program, the service program can be executed according to the description of the service program when the PLC transitions from the initial state to the user application stop state.

  As a specific internal configuration, a service program execution engine 42 is provided in addition to that of the first embodiment. The service program execution engine 42 has a function of evaluating and executing a service program stored and held in the service program storage unit 29b when the service program is registered in the service object setting management unit 26c.

  When the service program including thread execution is defined, the thread program may be executed according to the configuration information (registration information) set in the service object setting unit 26c. The execution start timing is when the PLC transitions from the system initial state to the user application stop state. A specific processing flow in such thread execution is as shown in FIG.

  That is, when the communication processing unit 40 receives a user application (control program) stop command (a notification command for setting the control program to be stopped) from the tool 10 as the development environment, the controller state management unit 27 PLC status is acquired, and it is determined whether or not the current status is the system initial status. And when it is not the system initial state, that is, because it is the control program stop state (user application stop state) or the control program execution state (user application execution state), according to the received command, the controller state management unit 27 The PLC state is changed to the control program stop state (user application stop state). Then, after the transition is completed, the communication processing unit 40 returns response data (transition to the stop state) to the tool 10. In both the stopped state and the execution state, since the transition from the initial state to the stopped state is performed at an earlier stage, the service program execution engine 42 follows the procedure described below at the time of such transition. Since the service program is executed, the state continues.

  When the current state confirmed by the controller state management unit 27 upon reception of the stop command is the system initial state, the service program execution engine 42 outputs a service program execution command. Accordingly, first, the object management unit 26 searches for registration information (configuration information) of the service object. Next, the service object setting management unit 26c determines whether or not the number of registrations has been reached, that is, whether or not the processing for all service objects searched and extracted by the object management unit 26 has been completed. If there is something, the service object setting management unit 26c acquires the setting information of the service object and determines whether or not the thread execution of this embodiment is defined. Search for registration information. If thread execution is defined, the service program to be executed is called, and the service program stored in the service program storage unit 29b is executed. Then, the next registration information is searched.

  In this way, when all the service programs for which thread execution is defined are executed, the number of registrations is reached. Therefore, the controller state management unit 27 shifts to the user application stop state, and sends response data to the tool 10. Send back.

  On the other hand, when the service program activated / executed as described above is stopped, it is as follows. That is, when a service program including thread execution is defined, the thread program can be stopped according to the configuration information (registration information) set in the service object setting. The execution stop timing is when the PLC 20 transitions from the user application stop state to the system initial state. A specific processing flow in the thread stop is as shown in FIG.

  That is, if a reset command is issued to the controller (PLC) from the tool 10 which is the development environment and the communication processing unit 40 receives a system initialization command which is the reset command, the controller state management unit 27 The state of the PLC is acquired, and it is determined whether or not the current state is the user application stop state (control program stop state). When the user application is in a stopped state, the service program execution engine 42 outputs a service program stop command. Accordingly, first, the object management unit 26 searches for registration information (configuration information) of the service object. Next, the service object setting management unit 26c determines whether or not the number of registrations has been reached, that is, whether or not the processing for all service objects searched and extracted by the object management unit 26 has been completed. If there is something, the service object setting management unit 26c acquires the setting information of the service object and determines whether or not the thread execution of this embodiment is defined. Search for registration information. If thread execution is defined, the service program to be executed is called and the service program stored in the service program storage unit 29b is stopped. Then, the next registration information is searched.

  In this way, when all the service programs for which thread execution is defined are stopped, the number of registered cases is reached, so the controller state management unit 27 makes a transition to the system initial state and returns response data to the tool 10. To do.

  In this embodiment, since the thread execution service program is stopped when transitioning from the user application stopped state to the system initial state, the state when the system initialization command is received is not the user application stopped state. Does not stop the service program. That is, although not described in the processing flow of FIG. 8, in the case of the control program execution state (user application execution state), the state is temporarily shifted to the stop state. Response data is returned.

  In this embodiment, when there is a function call of the corresponding service program from the control program or another service program, the program is executed in units of functions of the library according to the method of the first embodiment (the process shown in FIG. 5). It is also possible to execute a flow (see the flow of processing indicated by dotted lines in FIG. 6).

  9 and 10 show the main part of a third embodiment of the present invention. That is, in this embodiment, the execution / stop timing of the service program as a thread program is different from that in the second embodiment. That is, a service program is used as a thread program when a user application (control program) is executed. That is, in the second embodiment, the service program is executed in both the stopped state and the execution state of the control program. However, in this embodiment, the service program is also executed only while the control program is in operation. did. That is, the service program starts executing when the user application (control program) transitions from the stop state to the execution state, and stops when the user application (control program) transitions from the effective state to the stop state. The service program to be created in this embodiment includes a thread program that is always executed when a user application such as a communication server function with a higher-level application is executed.

  By using this embodiment, a user-created program can execute a service program that does not depend on the control cycle of the control program on the PLC while the PLC is executing the control program. It becomes possible.

  The functional block diagram in the present embodiment for achieving the object and effect is the same as that of the second embodiment shown in FIG. 6, but the functions of predetermined processing units are different. Therefore, the difference from the second embodiment will be mainly described.

  First, items to be set in the service object setting function unit 13 are the same as those in the second embodiment, but the service handling flag, which is a flag for determining how to handle the defined service program on the framework, is displayed by the PLC. It is handled as a thread program that can be controlled by the framework, executed at the transition point from the application stop state to the user application execution state, and stopped at the reverse transition point.

  The PLC is the same in that it receives the control program, service program, and setting information from the tool and stores them in each storage unit. The service program is changed when the PLC transitions to the user application execution state (control program execution state). And execute according to the description of the service program. The processing flow in thread execution is as shown in FIG.

  That is, when the communication processing unit 40 receives a user application (control program) execution command (a notification command for putting a control program in an execution state) from the tool 10 as a development environment, the controller state management unit 27 The state of the PLC is acquired, and it is determined whether or not the current state is the user application stop state (control program stop state). When the current state confirmed by the controller state management unit 27 upon reception of the stop command is the user application stop state, the service program execution engine 42 outputs a service program execution command. Accordingly, first, the object management unit 26 searches for registration information (configuration information) of the service object. Next, the service object setting management unit 26c determines whether or not the number of registrations has been reached, that is, whether or not the processing for all service objects searched and extracted by the object management unit 26 has been completed. If there is something, the service object setting management unit 26c acquires the setting information of the service object and determines whether or not the thread execution of this embodiment is defined. Search for registration information. If thread execution is defined, the service program to be executed is called, and the service program stored in the service program storage unit 29b is executed. Then, the next registration information is searched.

  In this way, when all the service programs for which thread execution is defined are executed, the number of registrations is reached. Therefore, the controller state management unit 27 transitions to the user application execution state and sends response data to the tool 10. Send back.

  In this embodiment, since the thread execution service program is executed when transitioning from the user application stop state to the execution state, the state when the execution command is received is not the user application stop state, that is, already If it is in the execution state, the processing is continued as it is. If it is in the system initial state, the state is temporarily changed to the user program stop state, and then the above processing is executed. Although not described in the processing flow of FIG. 10, response data to that effect is returned to the tool 10.

  In this embodiment, since the thread execution service program is stopped when the user application execution state transitions from the user application execution state to the stop state, if the state when the stop command is received is not the user application execution state, Since the service program has been stopped at the previous stage, the stop process is not performed based on the stop command received this time. That is, although not described in the processing flow of FIG. 10, response data to that effect is returned.

  On the other hand, when the service program activated / executed as described above is stopped, it is as follows. That is, when a service program including thread execution is defined, the thread program can be stopped according to the configuration information (registration information) set in the service object setting. The execution stop timing is when the PLC 20 transitions from the user application execution state to the stop state. A specific processing flow in the thread stop is as shown in FIG.

  That is, if the tool 10 that is the development environment issues a stop command for the user application to the controller (PLC) and the communication processing unit 40 receives the stop command that is the stop command, the controller state management unit 27 The current PLC state is acquired, and it is determined whether or not the current state is a user application execution state (control program execution state). In the user application execution state, the service program execution engine 42 outputs a service program stop command. Accordingly, first, the object management unit 26 searches for registration information (configuration information) of the service object. Next, the service object setting management unit 26c determines whether or not the number of registrations has been reached, that is, whether or not the processing for all service objects searched and extracted by the object management unit 26 has been completed. If there is something, the service object setting management unit 26c acquires the setting information of the service object and determines whether or not the thread execution of this embodiment is defined. Search for registration information. If thread execution is defined, the service program to be executed is called and the service program stored in the service program storage unit 29b is stopped. Then, the next registration information is searched.

  In this way, when all the service programs in which thread execution is defined are stopped, the number of registered cases is reached, so the controller state management unit 27 makes a transition to the user application stop state and sends response data to the tool 10. Send back.

  In this embodiment, since the thread execution service program is stopped when the user application execution state transitions to the stop state, if the state when the stop command is received is not the user application execution state, Since the service program has been stopped at the previous stage, the stop process is not performed based on the stop command received this time. That is, although not described in the processing flow of FIG. 10, response data to that effect is returned.

  In this embodiment, when there is a function call of the corresponding service program from the control program or another service program, the program is executed in units of functions of the library according to the method of the first embodiment (the process shown in FIG. 5). It is also possible to execute a flow (see the flow of processing indicated by dotted lines in FIG. 6).

  FIG. 11 shows a fourth embodiment of the present invention. In this embodiment, a service program addition / deletion / replacement function is incorporated. That is, in the present invention, the control program and the service program are created separately, stored and held, and each can be executed independently. Therefore, the target user-created program can be added / deleted / replaced without depending on the operating state of the PLC, so there is no need to stop the PLC (stop the control program) for program replacement. As a result, the operating rate of the PLC 20 is improved. Furthermore, since it is possible to add, delete, and replace service programs that do not depend on the control program, it is easy to upgrade the service functions and to implement a PLC equipped with only necessary functions according to the usage environment.

  And as a structure for implement | achieving the above-mentioned objective and effect, an internal structure as shown in FIG. 11 can be taken. Of course, this figure shows the characteristic part of the present embodiment, and of course has a function for executing the control program as shown in the first to third embodiments. Hereinafter, among the functions shown in the block diagram, items that are different from the first to third embodiments will be described.

  The PLC 20 receives service object addition, deletion, and replacement commands from the tool, and receives setting information according to the timing. In the case of an additional command, the service program is also received and stored in the storage unit. In the case of a delete command, the target program in the service program storage unit is deleted. Furthermore, in the case of a replacement command, the service program is also received, the replacement program is stored in the storage unit, and the program before replacement is deleted. And a service object setting management part updates management information according to the state after changing the registration state of an object according to each process. Note that, as in the second and third embodiments, when a thread execution is designated in the service object, the service object transitions to the execution or stop state according to the current operation state of the controller.

The communication function unit 40 receives a command from the tool 10 which is a development environment, as in each embodiment, and requests processing of each function block and stores data in the storage unit. The commands received in this embodiment include the following three commands.
(1) Service object addition command This is a command for additionally registering a service program created by the user in the controller. When this command is received, if the target service object is set to be executed as a thread program, it is executed in accordance with the operation state of the controller.

(2) Service object deletion command This command deletes a service program created by the user from the registration target of the controller. When this command is received, if the target service object is set to be executed as a thread program, the thread program is stopped and then deleted.

(3) Service object replacement command This command replaces a service program created by the user with one already registered on the controller. When this command is received, if the target service object is set to be executed as a thread program, the thread of the object already registered is stopped and the newly replaced thread is replaced by the controller. Execute according to the operating status.

  Furthermore, in the present embodiment, unlike the above-described embodiments, an online edit processing unit 45 is provided. The online edit processing unit 45 performs addition / deletion / replacement processing for each object on each object arranged on the PLC 20. This function executes parameter inheritance of old objects at the time of replacement and change of association of objects having a parent-child relationship. Specifically, the processing flow shown in FIG. 12 and subsequent figures is performed. That is, the service program addition process is executed as shown in the sequence diagram of FIG. 12, the service program deletion process is executed as shown in the sequence diagram of FIG. 13, and the service program replacement process is shown in FIGS. This is executed as shown in the sequence diagram shown in FIG.

  First, as shown in FIG. 12, when a service object to be added is downloaded from the tool 10 as a development environment, the communication processing unit 40 receives a setting file and a program file to be added. It is passed to the management unit 26.

  Along with this, the object management unit 26 initializes the object. At the time of initialization, the service object setting management unit 26d acquires necessary service object parameters based on the configuration information of the service object, generates a service object, and stores the service program in the service program storage unit 29b. Remember.

  Next, the object management unit 26 additionally registers a service object to be newly added, and the online edit processing unit 45 executes additional processing necessary for the object. In other words, when a nested or parent-child relationship is established with another service object that already exists, the related information is set and associated.

  Then, the service object setting management unit determines whether or not the service program has a thread execution definition. If there is no service execution setting management unit, the communication processing unit 40 returns the response data as it is and ends the addition process.

  Also, if there is a definition of thread execution, the current controller (PLC) state (system initial state / control program stop state / control program execution state) is confirmed, and the current state is set to the thread execution setting value. If they match, the service program to be executed is called and the service program is executed. This thread execution is the same as in the second and third embodiments.

  Further, as shown in FIG. 13, since the service object deletion command (designating the service object to be deleted) is sent from the tool 10 as the development environment, the deletion of the service object is performed by the communication processing unit 40. When the command is received, the received delete command is passed to the object management unit 26.

  Along with this, the object management unit 26 searches for an object to be deleted and notifies the online edit processing unit 45 of the searched object. The online edit processing unit 45 executes a deletion process necessary for the object. That is, it is determined whether or not there is another related service object such as a parent-child relationship. If there is another related object, processing such as canceling the relationship is performed.

  Then, the service object setting management unit determines whether or not the service program has a thread execution definition. If there is a thread execution definition, the service object setting management unit calls the service program to be executed, and the service program setting unit 26c Stop the service program.

  Then, the object management unit 26 deletes the object to be deleted from the registration target, and then deletes the corresponding service program stored in the service program storage unit 29b and deletes it in the service object setting management unit 26c. Delete the object for the service program that was created. Next, response data is returned, and the series of deletion processes ends.

  As shown in FIGS. 14 and 15, the service program replacement process first generates a new service object after replacement in accordance with the same procedure as the above addition based on the command from the tool 10 as the development environment. The downloaded new service program is stored in the service program storage unit 29b, and the object management unit 26 additionally registers the replaced object.

  Thereafter, the online edit processing unit 45 transfers the parameters of the object before replacement. Thereby, the service program after replacement can be executed according to the transferred current parameter.

  Next, an object deletion process before replacement is executed. That is, similar to the above-described deletion, the presence / absence of thread execution definition is determined for the object before replacement, and if it exists, the service program of the corresponding object before replacement is stopped. Then, the object management unit 26 deletes the object before replacement from the registration target, details the service program before replacement stored in the service program storage unit 29b, and the service object setting management 26c deletes the object before replacement.

  Thereafter, the execution of the service program after replacement, that is, whether or not there is a thread execution definition in the replaced object is obtained, and if it exists, the state of the controller (PLC) is acquired and the acquired current If the state matches the set value for thread execution, the service program after replacement that matches is called and the service program after replacement is executed.

  After executing the service program as described above, or if there is no thread execution definition or if the current state does not match the set value even if there is, the response data indicating the completion of processing without executing the program Is sent back to the tool 10 to complete a series of replacement processes.

  In short, in each embodiment, apart from a control program that operates by event (control cycle or interrupt factor) drive, a library that can be called and a service program that can be executed at all times are defined and placed on the controller. An object management function is provided for managing and managing the functional units of programs to be executed as objects. These can be realized using Java (registered trademark).

  As a result, the service program call from the control application can be easily executed. Furthermore, reusability of the program created by the user is improved by separating it from the control program for controlling the input / output device as a general-purpose program not directly related to control. For general-purpose programs that use the same program development environment, it is possible to use them by adding settings to execute on the controller and changing the calling function from the control program without changing the source code of the general-purpose program. Become.

  In the second and third embodiments, a service program execution engine that acquires the operation state of the PLC and controls the start / stop of a service program that can be executed at all times is provided. As a result, in addition to the above-described effects, the service program can be executed and stopped in accordance with the execution and stop of the controller, and the service program can be executed resident even when the controller is in the stop state. It became so.

  Further, in the fourth embodiment, an online edit function for executing a program addition / deletion / replacement process for each object is provided. As a result, service programs can be added, deleted, and changed without depending on the execution / stop state of the controller. This eliminates the need to stop the controller for program replacement and improves the operating rate of the controller. Since service programs that do not depend on the control program can be added, deleted, and replaced, it is easy to upgrade service functions and to implement a controller that includes only necessary functions according to the usage environment.

It is a figure which shows an example of the network configuration to which this invention is applied. It is a software block diagram which shows suitable one Embodiment of this invention. It is a functional block diagram which shows 1st Example of this invention. It is a process flow explaining functions (downloading & initializing service objects, etc.). It is a processing flow explaining a function (refer service object). It is a functional block diagram which shows 2nd Example of this invention. It is a processing flow explaining the function (thread execution of a service object) of the second embodiment. It is a processing flow explaining the function (service object thread stop) of the second embodiment. It is a processing flow explaining the function (thread execution of a service object) of 3rd Example. It is a processing flow explaining the function (thread stop of a service object) of the third embodiment. It is a functional block diagram which shows 4th Example of this invention. It is a processing flow explaining the function (addition of a service object) of the fourth embodiment. It is a processing flow explaining the function (deletion of a service object) of a 4th example. It is a processing flow explaining the function (exchange of a service object) of 4th Example. It is a processing flow explaining the function (exchange of a service object) of 4th Example.

Explanation of symbols

10 Tool 11 Program Editor 12 Setting Tool 13 Service Object Setting Function 20 PLC
21 Real-time OS
22 File system 23 Network driver 24 I / O unit bus driver 25 Framework 26 Object management unit 26a Event management unit 26b Control program management unit 26c Service object setting management unit 26d I / O unit management unit 27 Controller state management unit 28 Maintenance / Failure management unit 29 User memory 29a Control program storage unit 29b Service program storage unit 30 Host computer 31 Network 32 Public line network 33 Network 35 Mobile phone 36 Device 40 Communication processing unit 41 Control program execution engine 42 Service program execution engine 45 Online edit processing Part

Claims (5)

Control program storage means for storing a control program for performing device control;
Service program storage means for storing a service program independent of the device control;
A programmable controller device comprising means for executing a control program stored in the control program storage means and a service program stored in the service program storage means, respectively.   2. The programmable controller device according to claim 1, wherein the service program is configured to be executed based on a call from the control program. The service program is stored and held as an independently executable program that does not depend on the control program,
2. The programmable controller device according to claim 1, wherein execution and stop are controlled in accordance with an operation state of the programmable controller. The service program is stored and held as an independently executable program that does not depend on the control program,
2. The programmable controller device according to claim 1, wherein the service program can be residently executed even when the programmable controller is stopped.   The programmable service program according to any one of claims 1 to 4, wherein the service program includes means for performing at least one of addition, deletion, and change without depending on an operation state of the programmable controller. Controller equipment.

Images