JP2006343818A - Debug method of program for teaching device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a debug system of a teaching device for executing a program of the teaching device by step, and efficiently operating debug work by using the teaching device. <P>SOLUTION: In a debug device, a program recording means a1 records a program. An input means a2 inputs program steps or read-out data. A transmission means a3 transmits the program steps or the read-out data. A display means a4 displays execution results of the steps. A read-out data recording means a5 records the read-out data. A program creating means a6 creates the program. A program transfer means a7 transfers the created program. In a teaching device b, a program recording means b1 records the program. A read-out means b2 reads out the program in steps. A step execution means b3 executes the read out steps. An execution result transmission means b4 transmits the results of the executed steps to the debug device. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a method for debugging a program executed in a teaching device used by being connected to a control device (host device) that controls various devices such as robot devices.

  The teaching device is also called a teaching pendant, and is a device that is connected to a control device such as a robot device and teaches the control device with respect to a sequence control command. The user can use teaching devices corresponding to various control devices by creating and changing a program to be executed in the teaching device. That is, by arbitrarily programming the operation of the teaching device, there is no need to create individual operation panels for various control devices.

  A debugging operation is indispensable for a program executed in such a teaching apparatus as well as other programs. In particular, if a bug occurs in the program of the teaching device, there is a risk that safety may be harmed by a malfunction of a control device such as a robot device. Therefore, it is essential that the teaching device is debugged completely. For example, the following method (1) or (2) is conceivable as the teaching device debugging method.

  (1) The user directly confirms the operation on the teaching device to which the control device is simulated in the computer device and the created program is transferred (see, for example, Patent Document 1).

  (2) The control device is simulated in the computer device, and the teaching device itself is also simulated in the computer device (see, for example, Patent Document 2).

JP-A-11-134218

JP-A-8-44409

  However, in the method (1), since the entire program transferred from the computer apparatus to the teaching apparatus is executed by the teaching apparatus, the program cannot be executed only in units of one step, and the program needs to be debugged. It is difficult to determine the step (position). It is possible to add a debugging function to the teaching device, but in this case, the cost of the teaching device becomes expensive.

  In the method (2), it is possible to provide the simulation function of the teaching device in the computer device so that the program can be executed only in units of one step. However, the configuration of the computer device that performs the simulation function is complicated. Turn into. Further, the teaching device is provided with predetermined operation buttons in addition to the display screen, and it is not easy to completely simulate the operation mode including such operation buttons on the computer device.

  The present invention has been made to solve the above-described problems, and enables the teaching device program to be executed in units of one step, using the operation mode of the teaching device by the actual machine and the execution result thereof. An object of the present invention is to provide a debugging method for performing debugging work efficiently and reliably.

  (1) A debugging method according to the present invention is a program composed of a plurality of steps, a debugging device for debugging a program executed in a teaching device, and a predetermined control by executing the program A program debugging method performed using a teaching device for teaching a device, wherein the debugging device is connected to the teaching device instead of the control device, and the debugging device is instructed by a user The teaching device performs a process of transmitting read data to be read from the control device to the teaching device, and the teaching device executes the step received from the debug device using the read data, The teaching device determines write data to be written to the control device and A step of determining a “step to be performed”, a step of transmitting the determined write data and the “step to be executed next” to the debug device, and the debug device further includes: A process of presenting the received write data and the “step to be executed next” to the user is performed.

  Therefore, the execution result of the program executed step by step in the teaching device can be confirmed step by step in the debug device. Thereby, it is possible to perform the trace debugging work efficiently by using the operation mode of the teaching device by the actual machine.

  (2) In the debugging method according to the present invention, the debugging device further includes a step of creating a program composed of a plurality of steps, a step of recording the program created in the step of creating the program, and a program creation And a process of transferring a program created in the process to the teaching device.

  Therefore, the program recorded in the debugging device and the program recorded in the teaching device can be easily synchronized. Thereby, the same step as the step specified in the debugging device can be reliably executed on the teaching device side.

  (3) In the debugging method according to the present invention, in the process of creating the program, the step of performing screen display processing in the teaching device and the step of performing processing other than the screen display processing are independently created. The program executed in the teaching device executes, for each step, either a step of performing screen display processing in the teaching device or a step of performing processing other than the screen display processing. And

  Therefore, screen display processing or other processing can be easily created in units of steps. Further, at the time of debugging, the screen display process and other processes can be separated and debugged, and it is easy to find a part that needs to be debugged.

  (4) In the debugging method according to the present invention, the debugging device further performs a process of recording “read data to be read from the control device by the teaching device” transmitted to the teaching device, and based on the recorded read data In the next transmission, “read data to be read from the control device by the teaching device” is determined.

  Therefore, debugging can be performed by reusing read data that the teaching device should read from the control device, and work efficiency is improved.

Regarding another aspect of the present invention:
The present invention can also be understood in the form shown below.

(A)
(a) a program composed of a plurality of steps, the debugging device for debugging the program executed in the teaching device; and (b) teaching the predetermined control device by executing the program. A debugging system comprising a teaching device for performing
The debugging device includes:
(a1) program recording means for recording the same program as the program executed in the teaching device;
(a2) an input means for performing input for the user to instruct a predetermined step from among the programs recorded in the program recording means;
(a3) A transmitting unit that transmits to the teaching device read data that the teaching device should read from the control device, together with a predetermined step instructed by a user in the input unit;
(a4) display means for presenting to the user the “write data to be written by the teaching device to the control device” and the “step to be executed next” received from the teaching device;
The teaching device includes:
(b1) program recording means for recording a program for teaching a predetermined control device;
(b2) a reading means for reading out a program step for executing the step received from the debugging device from a program recorded in the program recording means;
(b3) The program step read by the reading unit is executed using the read data received from the debug device, and the teaching device determines write data to be written to the control device, and the teaching Step execution means for the apparatus to determine “next step to be executed”;
(b4) A debug system comprising: execution result transmitting means for transmitting the write data determined by the step execution means and the “step to be executed next” to the debug device as an execution result .

(B)
A program comprising a plurality of steps, a teaching device for debugging the program together with a debugging device for debugging a program executed in the teaching device,
(b1) program recording means for recording a program for teaching a predetermined control device;
(b2) a reading means for reading out a program step for executing the step received from the debugging device from a program recorded in the program recording means;
(b3) The program step read by the reading means is executed using the read data received from the debug device, and the teaching device determines write data to be written to the control device, and the teaching Step execution means for the apparatus to determine “next step to be executed”;
(b4) A teaching apparatus comprising: execution result transmitting means for transmitting the write data determined by the step execution means and the “step to be executed next” to the debug device as an execution result .

(C)
A program comprising a plurality of steps, a program for realizing a teaching device for debugging the program together with a debugging device for debugging a program executed in the teaching device, using a computer A program for a teaching apparatus, characterized by causing a computer to configure the following means:
(b1) program recording means for recording a program for teaching a predetermined control device;
(b2) a reading means for reading out a program step for executing the step received from the debugging device from a program recorded in the program recording means;
(b3) The program step read by the reading means is executed using the read data received from the debug device, and the teaching device determines write data to be written to the control device, and the teaching Step execution means for the apparatus to determine “next step to be executed”;
(b4) Execution result transmission means for transmitting the write data determined by the step execution means and the “step to be executed next” to the debug device as an execution result.

(D)
A debugging device for debugging a program together with a teaching device for executing a program composed of a plurality of steps and teaching a predetermined control device,
(a1) program recording means for recording the same program as the program executed in the teaching device;
(a2) an input means for performing input for the user to instruct a predetermined step from among the programs recorded in the program recording means;
(a3) A transmitting unit that transmits to the teaching device read data that the teaching device should read from the control device, together with a predetermined step instructed by a user in the input unit;
(a4) It is provided with display means for presenting to the user the “write data to be written by the teaching device to the control device” and the “step to be executed next” received from the teaching device. Debug device.

(E)
A program for realizing, using a computer, a debugging device for debugging the program together with a teaching device for executing a program composed of a plurality of steps and teaching a predetermined control device A program for a debugging device, characterized in that a computer comprises the following means:
(a1) program recording means for recording the same program as the program executed in the teaching device;
(a2) an input means for performing input for the user to instruct a predetermined step from among the programs recorded in the program recording means;
(a3) A transmitting unit that transmits to the teaching device read data that the teaching device should read from the control device, together with a predetermined step instructed by a user in the input unit;
(a4) Display means for presenting to the user “write data to be written by the teaching device to the control device” and “step to be executed next” received from the teaching device.

(F)
In the above debugging system, debugging device or this program,
The debugging device further includes:
A program creation means for creating a program composed of the plurality of steps;
Program recording means for recording the program created in the program creation means;
Program transfer means for transferring a program created by the program creation means to a teaching device.

(G)
In the above debugging system, debugging device or this program,
The program creation means creates a step of performing a screen display process in the teaching device and a step of performing a process other than the screen display process, respectively,
The program executed in the teaching device executes, for each step, either a step of performing screen display processing in the teaching device or a step of performing processing other than the screen display processing. thing.

(H)
In the above debugging system, debugging device or this program,
The debugging device further includes:
Read data recording means for recording “read data to be read by the teaching device from the control device” transmitted to the teaching device is provided. Based on the recorded reading data, the “teaching device is Determining "read data to be read from the control device".

(I)
In the above debugging system, teaching device or this program,
The teaching device further includes:
An operation means for receiving operation data handled by a step being executed is provided, and the step execution means executes the step based on operation data received by the operation means.

(J)
In the above debugging system, debugging device or this program,
The transmission unit of the debugging device continuously debugs one or more steps by transmitting the “step to be executed next” received from the teaching device to the teaching device. thing.

(K)
In the above debugging system, debugging device or this program,
The input means of the debugging device is configured to input a breakpoint for stopping the debugging in the consecutive steps.

(L)
In the above debugging system, debugging device or this program,
The display means of the debugging device presents the steps already transmitted to the teaching device in an identifiable manner.

-Correspondence between the present invention and the embodiment:
In the embodiment, the program recording unit a1 of the debugging device a corresponds to each function of step S607 or step S617 in FIG. In the embodiment, the input unit a2 corresponds to the functions of step S603, step S613 in FIG. 6, step S703, step S707, step S711, step S713, step S715, or step S717 in FIG. In the embodiment, the transmission means a3 corresponds to each function of step S771 in FIG. 8a or step S804 in FIG. 8b. In the embodiment, the display unit a4 corresponds to each function of step S807, step S809, or step S813 in FIG. 8B. The read data recording means a5 corresponds to the function of step S806 in FIG. 8b in the embodiment. In the embodiment, the program creation means a6 corresponds to the functions of steps S601 to S605 and steps S609 to S615 in FIG. In the embodiment, the program transfer unit a7 corresponds to the function of step S619 in FIG.

  In the embodiment, the program recording unit b1 of the teaching device b receives the screen data and the operation program transferred from the debugging device a in step S619 in FIG. 6, and the teaching device b stores the program data in the program folder 3057 of the memory 305. This corresponds to the function of recording an operation program. In the embodiment, the reading unit b2 corresponds to each function of step S751 in FIG. 8a or step S851 in FIG. 8b. The step execution means b3 corresponds to the functions of step S753 in FIG. 8a and steps S853 to S855 in FIG. 8b in the embodiment. The execution result transmitting unit b4 corresponds to the function of step S857 in FIG. In the embodiment, the operation unit b5 corresponds to the function that the teaching device b acquires the user operation when the step command 532 of FIG. 5 is executed.

  The “process of transmitting the read data to be read from the control device together with the step instructed by the user to the teaching device” in the debugging device includes the function of the transmission means a3. In the teaching device, “the step received from the debugging device is executed using the read data, the teaching device determines write data to be written to the control device, and“ the next step to be executed ” The “determination step” includes the functions of the reading means b2 and the step execution means b3. The “process for transmitting the determined write data and the“ step to be executed next ”to the debug device” includes the function of the execution result transmitting means b4. The “process of presenting the write data received from the teaching device and the“ step to be executed next ”to the user” in the debugging device includes the function of the display means a4. The “process for creating a program composed of the plurality of steps” includes the function of the program creation means a6. The “process of recording the program created in the process of creating the program” includes the function of the program recording means a1. The “process of transferring the program created in the process of creating the program to the teaching device” includes the function of the program transfer means a7. The “process of recording“ read data to be read from the control device by the teaching device ”transmitted to the teaching device” includes the function of the read data recording means a5.

  In the present invention, a “step” is a predetermined unit of instructions constituting a program. Note that “steps instructed by the user”, “steps received from the debug device” or “steps to be executed next” include not only the steps themselves but also the identifications corresponding to the steps. It is a concept. For example, step numbers assigned to the respective steps are included in the “step”.

  The “program” is a concept that includes not only a program that can be directly executed by the CPU, but also a source format program, a compressed program, an encrypted program, and the like.

  Embodiments of the present invention will be described below with reference to the drawings.

1. First Embodiment In the present embodiment, for the debug system 1 shown in FIG. 1a, after the program created in the debug device a is transferred to the teaching device b, the debugging device 1 and the teaching device b are used to An example of a debugging system capable of debugging a program will be described. The control device c is connected to the teaching device b after debugging, and is a device for controlling various devices in response to a command from the teaching device b. For example, a PLC (programmable logic controller) or the like corresponds to this. That is, by executing the program debugged in the present embodiment in the teaching device b, the teaching device b outputs each command to the control device c.

1-1. Functional Block Diagram FIG. 1 shows a functional block diagram of the debug system 1 according to the present embodiment. In this figure, the debug system 1 is composed of a debug device a and a teaching device b, and each device can communicate with each other via a cable or a network.

  The debugging device a includes a program recording unit a1, an input unit a2, a transmission unit a3, a display unit a4, a read data recording unit a5, a program creation unit a6, and a program transfer unit a7. The program recording means a1 is for recording the created program. The input means a2 is for receiving an instruction from the user regarding a program step and read data to be debugged and inputting them to the debugging device a. The transmission means a3 is for transmitting the step and the read data input as described above to the teaching device b. The display means a4 is for displaying the write data received from the teaching device and the “step to be executed next”.

  The read data recording means a5 is for recording the read data input by the user. The program creation means a6 is for creating a program to be executed in the teaching device b in units of steps. The program recording means a1 is for recording the program created by the program creating means a6. The program transfer means a7 is for transferring the program created by the program creation means a6 to the teaching device b.

  The teaching device b includes a program recording unit b1, a reading unit b2, a step execution unit b3, an execution result transmission unit b4, and an operation unit b5. The program recording means b1 is for recording the program transferred from the debugging device a. The reading means b2 is for reading the program recorded in the program recording means b1 in units of steps based on the steps transmitted from the debugging device a. The step execution means b3 is for executing the read step. The execution result transmitting means b4 is for transmitting the write data and the “step to be executed next” to the debug device a as the execution result of the executed step.

1-2. Hardware configuration 1-2-1. Debug Device FIG. 2 shows an example of a hardware configuration of a computer device that implements the debug device a shown in FIG. 1 using a CPU. The debugging device a includes a display 201, a CPU 203, a memory 205, a keyboard / mouse 207, a hard disk 209, a CD-ROM drive 211, and a communication circuit 215. The hard disk 209 records a debug program 2091, a program folder 2093, and a program creation program 2095. The memory 205 stores a read data folder 2051, a current step counter 2053, and a previous step counter 2055. The debug program 2091 is installed from a recording medium 213 such as a CD-ROM.

  The program recording unit a1 is realized by executing the program folder 2093 and the debug program 2091. The input means a2 is realized by executing the keyboard / mouse 207 and the debug program 2091. The transmission means a3 is realized by executing the debug program 2091. The display unit a4 is realized by executing the display 201 and the debug program 2091. The read data recording unit a5 is realized by executing the read data folder 2051 and the debug program 2091. The program creation means a6 and the program transfer means a7 are realized by executing the program creation program 2095.

1-2-2. Teaching Device FIG. 3 shows an example of a hardware configuration of a computer device that implements the teaching device b shown in FIG. 1 using a CPU. The teaching device b includes a display 301, a CPU 303, a memory 305, operation keys 306, an LED 308, and a communication circuit 315. The memory 305 records a read program 3051, an execution program 3053, a transmission program 3055, and a program folder 3057.

  The program recording unit b1 is realized by a program folder 3057. The reading unit b2 is realized by a reading program 3051. The step execution means b3 is realized by the execution program 3053. The execution result transmission unit b4 is realized by the transmission program 3055. FIG. 1b shows a specific example of the teaching device b. The teaching device b includes a display 301, an LED unit 308, and an operation key unit 306. For example, based on the LED display command, the CPU 303 lights Led1 “D20” 3081.

1-3. Details of Processing Details of processing in the present embodiment will be described with reference to FIGS. FIG. 6 is a flowchart of a program creation process in the program creation program 2095 executed in the debug device a. 7, 7 a, 8 a, and 8 b are flowcharts of debugging processing in the debugging program 2091 that is mainly executed in the debugging device a. 8A and 8B also show a flowchart of the reading program 3051, the execution program 3053, or the transmission program 3055 of the teaching device b, which is executed based on an instruction from the debugging device a.

1-3-1. Program Creation A user who uses the debug system 1 according to the present embodiment first creates a program to be executed in the teaching device b in the debugging device a. The program creation process will be described with reference to the flowchart of FIG.

  When the user activates the program creation program 2095 by operating the keyboard / mouse 207 in the debugging device a, the CPU 203 of the debugging device a displays a screen image 41 as shown in FIG. 4 on the display 201 (step S601). ). On the drawing screen 41, the user can create screen data to be displayed on the display 301 of the teaching device b. For example, a fixed drawing figure 411 such as a straight line, a rectangle, a circle, a predetermined image, a message switching display for switching the display based on a device value, a functional component data 413 such as a numerical value display or numerical value input, and the like are displayed on the drawing screen 41. Can be created arbitrarily.

  The CPU 203 accepts a drawing instruction given by the user operating the keyboard / mouse 207, and arranges screen components on the drawing screen 41 (step S603). Further, when receiving a drawing end instruction from the user (YES in step S605), the CPU 203 records the created screen data in the program folder 2093 (step S607). Thus, the user creates all screen data to be displayed on the teaching device b by repeating the above process (step S609).

  The CPU 203 displays an operation program screen 43 as shown in FIG. 4 on the display 201 (step S611). In the operation program screen 43, the user can create a program list including a plurality of steps (commands) to be executed by the teaching device b. That is, the operation program created in the present embodiment is a sequence control program for execution in the teaching device b. For example, a program list composed of step instructions based on a screen display instruction, four rules / logical operation instructions, a conditional jump instruction, a subroutine call instruction, or the like can be arbitrarily created on the operation program screen 43.

  The CPU 203 receives a creation instruction made by the user operating the keyboard / mouse 207, and displays a step command on the operation program screen 43 (step S613). Further, when receiving an input end instruction from the user (step S615, YES), the CPU 203 records the created operation program information in the program folder 2093 (step S617). In this way, the user creates an operation program to be executed in the teaching device b.

  Note that the screen data information 495 and the operation program information 493 created in the above are collected together with the system setting 491 for setting the hardware parts of the teaching apparatus b, and are stored in the program folder as project data 49 (FIG. 4). 2093.

  The CPU 203 transfers the project data 49 to the teaching device b based on the user instruction (step S619). In response to the transfer from the debugging device a, the CPU 303 of the teaching device b records the project data 49 in the program folder 3057 on the memory 305.

1-3-2. Debug processing (1)
In the debugging device “a”, the user who creates the project data 49 including the screen data information 495 and the operation program information 493 and transfers this to the teaching device “b” debugs the operation program. Processing of the debugging program 2091 of the debugging device a executed at the time of debugging and the reading program 3051, the execution program 3053, and the transmission program 3055 of the teaching device b using the flowcharts of FIGS. 7, 7a, 8a, and 8b Will be explained.

  In the debug device a, when the user starts the debug program 2091 by operating the keyboard / mouse 207, the CPU 203 of the debug device a displays the debug screen 51 as shown in FIG. 5 on the display 201 (step S701, FIG. 7). The operation program screen 53 displayed simultaneously in FIG. 5 displays the operation program created on the operation program screen 43 shown in FIG. 4, and the operation program screen 53 is processed in the present embodiment. A specific program list for explaining the above is shown.

  On the debug screen 51, a device setting area 510, a step execution button 521, a stop button 513, a reset button 523, a breakpoint button 515, and a continuous execution button 517 are displayed. The device setting area 510 is for displaying or setting a device number and a device value used in the step being executed.

  Here, the data relating to the device number and device value to be input to the teaching apparatus b is read data having the attribute “R”. For example, the device number “D10” and the device value “54” are read data of the attribute “R”. Note that the read data can be input or changed by the keyboard / mouse 207. On the other hand, the data relating to the device number and device value output from the teaching device b and to be output to the control device c is write data having the attribute “W”. For example, the device number “D70” and the device value “67” are write data of the attribute “W”.

  The step execution button 521 is for causing the teaching apparatus b to execute the program step displayed on the operation program screen 53 for each step. The stop button 513 is for stopping a program step being executed in the teaching device b. The breakpoint button 515 is used to set a breakpoint, which is a step position for stopping the program, in the program step displayed on the operation program screen 53. The continuous execution button 517 is for sequentially executing each step from a predetermined program step to a program step at which a breakpoint is set. The reset button 523 is for resetting setting information such as a device value and a breakpoint of the teaching device b changed by execution of debugging.

  If CPU 203 determines that a breakpoint has been input on operation program screen 53 (step S703, YES), CPU 203 sets a breakpoint on operation program screen 53 (step S705). For example, when a breakpoint button 515 on the debug screen 51 is pressed while an arbitrary program step is selected on the operation program screen 53, the CPU 203 determines that a breakpoint has been input.

  When the breakpoint is set, the CPU 203 displays a breakpoint mark “>” 55 at the corresponding program step on the operation program screen. For example, on the operation program screen 53, a breakpoint mark “>” 55 is displayed at the position of the step number “9”. Thereby, the user who is debugging can recognize the position of a breakpoint reliably. When no breakpoint is set, the CPU 203 processes the entire operation program step by step (step processing). That is, when the step execution button 521 is pressed and debugging is performed for each step, there is no need to set a breakpoint.

  When the CPU 203 determines that a device value has been input on the debug screen 51 (step S707, YES), it sets the device value in the device setting area 510 of the debug screen 51 (step S709). For example, when a device number and a device value are input from the keyboard / mouse 207 in the device setting area 510 of the debug screen 51, the CPU 203 determines that a device value has been input.

  When the CPU 203 determines that the step execution button 521 has been pressed (step S711, YES), it executes a step process (step S712). Here, the step processing is processing for causing the teaching device b to execute only the step currently selected by the keyboard / mouse 207 on the operation program screen 53 of the debugging device a.

  When the CPU 203 determines that the continuous execution button 517 has been pressed (step S713, YES), the CPU 203 executes continuous processing (step S714). Here, the continuous processing is to cause the teaching device b to continuously execute each step from the step currently selected by the keyboard / mouse 207 on the operation program screen 53 of the debugging device a to the break point described above. Process. When no breakpoint is set, all steps after the above steps are executed until the stop button 513 is pressed.

  When the CPU 203 determines that the reset button 523 has been pressed (step S715, YES), the device number, device value, breakpoint mark “>” 55, current step counter 2053, and previous step counter 2055 in the device setting area 51 are reset ( Initialization) (step S716).

  When the end of debugging is instructed by the user, the CPU 203 closes all the screens and ends the debugging process (step S717).

1-3-2-1. Step processing (1)
FIG. 7A shows a flowchart of the above step process. This process includes a screen switching process S731 and a step execution process S733. FIG. 8A shows a flowchart of the screen switching process S731. Moreover, the flowchart of step execution process S733 is shown in FIG. 8b. Details of the step processing will be described below using the program list on the operation program screen 53 shown in FIG.

1-3-2-2. Screen switching process (1)
The CPU 203 stores the step number relating to the step currently selected by the keyboard / mouse 207 on the operation program screen 53 in the current step counter 2053. Here, the step counter is for storing a step number in the operation program. The step number relating to the step currently being executed is stored in the current step counter 2053, and the step number relating to the step executed immediately before is stored in the previous step counter 2055.

  For example, when the step command 531 is selected on the operation program screen 53, the step number “1” is stored in the current step counter. A case where the step execution button 521 is pressed in such a state will be described.

  In the screen switching process of FIG. 8a, the CPU 203 reads each step counter from the memory 205 (step S760). It should be noted that immediately after the start of the debugging process, nothing is stored in the previous step counter 2055, so it is processed as a NULL value.

  The CPU 203 refers to the operation program list in the program folder 2093 for each of the step numbers stored in the current step counter 2053 and the previous step counter 2055, and acquires an execution step command (step S761). For example, if the step counter 2053 currently stores the step number “1”, a “screen 1 display start” command is acquired. Since the step number stored in the previous step counter 2055 is a NULL value, no execution step command is acquired.

  Based on the acquired execution step command, the CPU 203 determines a screen number used in each step (step S763). Here, the screen number is determined based on the position where the step command is described. For example, in the program list, all step commands described between “display start command” and “scan end command” of the screen data are included in the screen number of the screen data. In the operation program screen 53, the screen number used in each step command displayed between the step command 531 (screen 1 display start) and the step command 538 (screen 1 scan end) is “screen 1”. The screen number of the “screen 1 display start” command relating to the step number “1” is “screen 1”.

  The CPU 203 determines whether or not the screen number relating to the step number of the current step counter 2053 matches the screen number relating to the step number of the previous step counter 2055, or whether or not the previous step counter 2055 is a NULL value. Is determined (step S765). As described above, immediately after the debug program 2091 is started, since no data is stored in the previous step counter 2055, it is determined that the value is a NULL value, and the process ends (YES in step S765). ). In addition, also when the screen number concerning the step number of the last step counter 2055 corresponds, the said process is complete | finished (step S765, YES).

  On the other hand, if the screen number related to the step number of the previous step counter 2055 does not match, the processing from step S767 is performed, which will be described later.

1-3-2-3. Step execution process (1)
In the flowchart of the step process shown in FIG. 7A, the CPU 203 that has finished the screen switching process S731 executes the step execution process S733.

  In the step execution process of FIG. 8b, the CPU 203 generates a step execution command (step S803). The step execution command is transmission data transmitted from the debugging device a to the teaching device b, and the data is configured in a predetermined format. FIG. 9 shows an example of the format of the data. The format is header 91, command 92, screen number 93, subroutine number 94, step number 95, read / write number 96, device number 1_971, device value 1_981, ..., device number m_97m, device value m_98m, BCC99, terminator 100. Consists of The header 91, the BCC (block check code) 99, and the terminator 100 are data used for communication control.

  The command 92 is data indicating whether the data recorded in the device number 1_971, the device value 1_981,..., The device number m_97m, and the device value m_98m is write data or read data. For example, in the case of data (input data) to be read to the teaching device b, “R” is set as read data. On the other hand, the data (output data) to be written from the teaching device b is set to “W” as the write data. That is, in the actual operation program, data to be input from the control device c to the teaching device b is read data, and data to be output from the teaching device b to the control device c is write data.

  The screen number 93 and the subroutine number 94 are data of numbers indicating screens and subroutines used in steps to be executed. Step number 95 is data indicating a number recorded corresponding to the step to be executed. The read / write number 96 is data indicating the number of device numbers and device values that are valid in the data related to the format. Device number 1_971, device value 1_981,..., Device number m_97m, device value m_98m are data indicating the device value of the device number to be read into the teaching apparatus b or the device value of the device number to be written from the teaching apparatus b.

  For example, when debugging the step of the step instruction 531, the data shown in the record 901 in FIG. 9 is generated as a step execution command. That is, the record 901 is data for executing the step number “1” in the teaching apparatus, and is composed of a command 92 “R”, a step number 95 “1”, and the like. In the execution of the step command, when read data is necessary, data including a device number and a device value related to the read data is set as transmission data. In the case of the step command 531, read data is not required, and as shown in the record 901, the device number and the device value are not set in the transmission data.

  The CPU 203 transmits the generated step execution command to the teaching device b (step S804). For example, the record 901 is transmitted. Thereby, in the teaching apparatus b, the execution step command concerning the step number “1” can be executed.

  Upon receiving the transmission, the CPU 303 of the teaching apparatus b reads out an execution step command corresponding to the step number recorded in the transmission data from the program folder 3057 (step S851). As described above, the program list 3057 of the teaching device b records the same program list as that of the debugging device a. For example, when the step number 95 relating to the record 901 is “1”, a “screen 1 display start” command is sent from the program folder 3057 of the teaching apparatus b as the same execution step command as the step command 531 shown in the operation program screen 53. Read out.

  The CPU 303 executes the step command read from the program folder 3057 (step S853). For example, the program step “screen 1 display start” command read out above is executed, and “screen 1” is displayed on the display 301 of the teaching apparatus 1. That is, based on the screen based on the drawing screen 41 shown in FIG. 4, the display 301 of the teaching apparatus b displays the screen 1 as shown in FIG. 1b.

  When the execution is finished, the CPU 303 reads an execution step command to be executed next to the step number placed and executed from the program folder 3057 (step S854). For example, a step command 532 that is an execution step command to be executed next to the step command 531 shown in the operation program screen 53 is read from the program folder 3057.

  The CPU 303 generates an execution result (step S855). Here, the execution result is transmission data having the same format as the transmission data shown in A of FIG. For example, a record 921 shown in FIG. 9B is generated as execution result data. In the execution of the step command (step S853), when write data is generated, data including the device number and the device value related to the write data is set in the execution result data.

  In the case of the step command 531, no write data is generated, and the device number and device value are not set in the execution result data as shown in the record 921.

  In addition, the step number “next step to be executed” read in step S854 is set in step number 95 of the record 921. For example, in the case of the execution step instruction 532, “2” is set in the step number 95.

  When the execution result data is generated, the CPU 303 transmits the execution result data to the debug device a (step S857). For example, the record 921 is transmitted. Thereby, the execution result of the execution step instruction concerning the step number “1” can be notified to the debugging device a.

  Upon receiving the execution result from the teaching device b (step S805), the CPU 203 of the debugging device a records the device number and device value of the transmitted step execution command in the read data folder 2097 as read data in step S804 (step S804). Step S806). FIG. 9C shows an example of read data recorded in the read folder 2097.

  Note that when a step execution command based on the record 901 is transmitted, as described above, the device number and the device value are not set in the transmission data, and thus no read data is recorded.

  If there is a device number and a device value recorded as write data in the execution result data received from the teaching apparatus b, the CPU 203 displays it as write data in the device setting area 510 on the debug screen 51 (step S807). Thus, the user can surely perform the verification on the data to be written from the teaching device b to the control device c for each step.

  When the execution result based on the record 921 is received, as described above, the device number and the device value are not set in the execution result data, so that no write data is displayed.

  The CPU 203 displays an executed sign on the operation program screen 53 in order to present to the user that the execution result is transmitted to the teaching device b and the execution result is received (step S809). For example, an executed sign “*” 54 is displayed in the vicinity of the step number “1” related to the step command 531 on the operation program screen 53. As a result, the user can easily recognize how far debugging has progressed.

  The CPU 203 updates each step counter (step S811). Here, the updated step counters are the current step counter 2053 and the previous step counter 2055 described above. The previous step counter 2053 is updated based on the step number 95 recorded in the step execution command transmitted in step S804. The current step counter 2053 is updated based on the step number 95 recorded in the execution result data.

  Here, the step number 95 recorded in the execution result data indicates the step number of “step to be executed next”. That is, the step number “2” in the record 921 is the step number of “the next step to be executed” in the teaching apparatus b. That is, the step number of “step to be executed next” indicates the step number of “step to be executed next” determined by the teaching device b based on the program list.

  Therefore, when the debugging of the step instruction 531 is completed, the step number “2” is set in the current step counter 2053, and the step number “1” is set in the previous step counter 2055.

  The CPU 203 displays the step number “next step to be executed” of the execution result data on the operation program screen 53 (step S813). For example, the row of the step corresponding to the step number “next step to be executed” is highlighted. On the operation program screen 53, the step command 532 is highlighted. Thereby, the user can visually confirm the correctness of the processing order of the program transferred to the teaching apparatus b. For example, it can be confirmed as a processing result in the teaching device b that the “next step to be executed” of the step command 531 is the step command 532.

1-3-3. Debug processing (2)
The case where the step instruction 532 is debugged following the debugging of the step instruction 531 will be described below. After the step process (step S712) in FIG. 7 is completed, if the step execution button 521 is pressed again, the CPU 203 determines that the current step counter 2053 and the previous step counter 2055 described above are not pressed unless the reset button 523 is pressed. Step processing is performed again using (Steps S703 to 717). In this case, if a device value is input, the device value is set (steps S707 and S709).

1-3-3-1. Screen switching process (2)
As described above, since the step number relating to the step currently selected by the keyboard / mouse 207 on the operation program screen 53 is stored in the current step counter 2053, the CPU 203 in step S760 of FIG. By reading the step number of the counter 2053, it is possible to obtain the step number related to the step command instructed by the user. The previous step counter 2055 stores the step number of the step command executed immediately before. For example, when the step command 532 is selected, the step number “2” of the current step counter 2053 is acquired, and the step number “1” of the step command 531 executed immediately before is acquired.

  The CPU 203 refers to the operation program list in the program folder 2093 for each of the step numbers stored in the current step counter 2053 and the previous step counter 2055, and acquires an execution step command (step S761). Further, the screen number used in each step is acquired based on the acquired execution step (step S763).

  The CPU 203 determines whether or not the screen number relating to the step number of the current step counter 2053 matches the screen number relating to the step number of the previous step counter 2055 (step S765). For example, as described above, since the screen numbers of the step numbers “1” and “2” are “screen 1”, it is determined that the screen numbers match, and the process ends (YES in step S765). .

1-3-3-2. Step execution process (2)
In the step execution process of FIG. 8b, the CPU 203 generates a step execution command (step S803). For example, when debugging the step of the step instruction 532, the data shown in the record 902 in FIG. 9 is generated as a step execution command. That is, the record 902 is data for causing the teaching device to execute step number “2”, and is composed of a command 92 “R”, a step number 95 “2”, and the like. In the case of the step command 532, read data is not required, and as shown in the record 902, the device number and device value are not set in the transmission data.

  The CPU 203 transmits the generated step execution command to the teaching device b (step S804). For example, the record 902 is transmitted. Thereby, in the teaching apparatus b, the execution step command concerning the step number “2” can be executed.

  Upon receiving the transmission, the CPU 303 of the teaching apparatus b reads out an execution step command corresponding to the step number recorded in the transmission data from the program folder 3057 (step S851). For example, when the step number 95 relating to the record 902 is “2”, the “(Key3) push-down jump Lab1” command is executed as the same execution step command as the step command 532 shown in the operation program screen 53, and the program of the teaching device b. Read from folder 3057.

  The CPU 303 executes the step command read from the program folder 3057 (step S853). For example, the program step “(Key3) press jump Lab1” command read out above is executed. Note that the “(Key3) press jump Lab1” command indicates “in the teaching device b, when the key (Key3) is pressed and the rising edge is detected, a step command with the label (Lab1) is given”. It is shown.

  Since the teaching device b is a device for instructing a control device such as a PLC, the teaching device b may process a program step in response to an operation from a user. Therefore, when the “Key3” button_3061 is pressed and released in the teaching device b shown in FIG. 1B, the CPU 303 detects this and the processing jumps to “Lab1” shown in the step command 536. I do. Thus, the steps executed in the teaching apparatus b may be processed in response to an operation in the teaching apparatus b itself. Thereby, the debugging work about the step process accompanied by the operation can be performed in the same manner as described above.

  When the execution is finished, the CPU 303 reads an execution step command to be executed next to the step number placed and executed from the program folder 3057 (step S854). For example, a step command 536 that is an execution step command to be executed next to the step command 532 shown in the operation program screen 53 is read from the program folder 3057.

  The CPU 303 generates an execution result (step S855). For example, a record 921 shown in FIG. 9B is generated as execution result data. In the case of the step command 532, no write data is generated, and the device number and device value are not set in the execution result data as shown in the record 921.

  In addition, the step number “step to be executed next” read in step S854 is set in step number 95 of the record 922. For example, in the case of the execution step instruction 536, “6” is set in the step number 95.

  When the execution result data is generated, the CPU 303 transmits the execution result data to the debug device a (step S857). For example, the record 922 is transmitted. Thereby, the execution result of the execution step instruction concerning the step number “2” can be notified to the debugging device a.

  The processes in steps S805 to S813 are the same as those in “1-3-3-2. Step execution process (1)”. That is, on the operation program screen 53, the executed sign “*” is displayed in the vicinity of the step number “2” applied to the step command 532, and the step number “6” is displayed in the current step counter 2053 based on the record 922. The step number “2” is set in the previous step counter 2055. Further, the step command 536 is highlighted as the row of the step corresponding to the step number of “step to be executed next”.

1-3-4. Debug processing (3)
The case where the step instruction 533 is debugged following the debugging of the step instruction 532 will be described below. After the step process (step S712) in FIG. 7 is completed, if the step execution button 521 is pressed again, the CPU 203 determines that the current step counter 2053 and the previous step counter 2055 described above are not pressed unless the reset button 523 is pressed. Step processing is performed again using (Steps S703 to 717). In this case, if a device value is input, the device value is set (steps S707 and S709).

  For example, the “D70 = D10 + 13” instruction relating to the step instruction 533 is a step instruction representing a process of “adding 13 to the device (D10) and assigning it to the device (D70)”. That is, in order to execute this command, it is necessary to input the device value of the device “D10” to the teaching device b as read data. Therefore, the user inputs a device number and a device value in the device setting area 510 using the keyboard / mouse 207. For example, the device number “D10” and the device value “54” are input to set the read data.

1-3-4-1. Screen switching process (3)
In the screen switching process of FIG. 8a, the CPU 203 reads the step number of the current step counter 2053, thereby acquiring the step number related to the step command instructed by the user. The previous step counter 2055 stores the step number “2” as the step number of the step command executed immediately before. Therefore, when the step command 533 is selected, the step number “3” of the current step counter 2053 is acquired, and the step number “2” of the step command 531 executed immediately before is acquired.

  As described above, since the screen numbers of the step numbers “2” and “3” are “screen 1”, it is determined that the screen numbers match, and the process ends (YES in step S765).

1-3-4-2. Step execution process (3)
In the step execution process of FIG. 8b, the CPU 203 generates a step execution command (step S803). For example, when debugging the step of the step instruction 533, the data shown in the record 903 in FIG. 9 is generated as a step execution command. That is, the record 903 is data for executing the step number “3” in the teaching device, and includes a command 92 “R”, a step number 95 “3”, and the like. In the case of the step command 533, since read data is required, as shown in the record 903, the device number “D10” and the device value “54” acquired from the device setting area 510 are included in the transmission data. Set.

  The CPU 203 transmits the generated step execution command to the teaching device b (step S804). For example, the record 903 is transmitted. Thereby, in the teaching apparatus b, the execution step command concerning the step number “3” can be executed.

  Upon receiving the transmission, the CPU 303 of the teaching apparatus b reads out an execution step command corresponding to the step number recorded in the transmission data from the program folder 3057 (step S851). For example, when the step number 95 relating to the record 903 is “3”, an instruction “D70 = D10 + 13” is issued from the program folder 3057 of the teaching apparatus b as the same execution step instruction as the step instruction 533 shown in the operation program screen 53. Read out.

  The CPU 303 executes the step command read from the program folder 3057 (step S853). For example, the program step “D70 = D10 + 13” instruction read out above is executed. In this case, CPU 303 executes the step command using device number “D10” and device value “54” set as read data in the transmission data of the step execution command. That is, “54” is substituted into “D10”, and the calculation process of “D70 = D10 + 13” is performed. As a result, “D70 = 67” is obtained.

  When the execution is finished, the CPU 303 reads an execution step command to be executed next to the step number placed and executed from the program folder 3057 (step S854). For example, a step command 534 that is an execution step command to be executed next to the step command 533 shown in the operation program screen 53 is read from the program folder 3057.

  The CPU 303 generates an execution result (step S855). For example, a record 923 shown in FIG. 9B is generated as execution result data. In the case of the step command 533, “D70 = 67” is generated as the write data, and as shown in the record 923, the device number “D70” and the device value “67” are included in the execution result data. Set.

  In addition, “4” is set to the step number of “step to be executed next” read in step S854.

  When the execution result data is generated, the CPU 303 transmits the execution result data to the debug device a (step S857). For example, the record 923 is transmitted. Thereby, the execution result of the execution step instruction concerning the step number “3” can be notified to the debugging device a.

  The processing of steps S805 to S813 is basically the same as the above “1-3-3-2. Step execution processing (1)”, but write data is generated in step S807. This is displayed in the device setting area 510. For example, in the device setting area 510 on the debug screen 51, the device number “D70”, the attribute “W (write)”, and the value “67” are displayed. Thus, the user can surely perform the verification on the data to be written from the teaching device b to the control device c for each step.

  In the same manner as described above, the executed sign “*” is displayed in the vicinity of the step number “3” relating to the step command 532 on the operation program screen 53, and the current step counter 2053 is displayed on the step 205 based on the record 923. The number “4” is set, and the previous step counter 2055 is set with the step number “3”. Further, the step instruction 534 is displayed in reverse video as the row of the step corresponding to the step number of “step to be executed next”.

1-3-5. Debug processing (4)
Consider the case where the step instruction 533 is debugged again after the step instruction 533 is debugged. After the step process (step S712) in FIG. 7 is completed, if the step execution button 521 is pressed again, the CPU 203 determines that the current step counter 2053 and the previous step counter 2055 described above are not pressed unless the reset button 523 is pressed. Step processing is performed again using (Steps S703 to 717).

  In this case, if there is an input of a device value, it is necessary to set the device value. However, in step S806 in FIG. 8B, the CPU 203 records the device value of the device “D10” in the read data folder 2097 as read data. Therefore, the CPU 203 can read the device number “D10” and the device value “54”, generate a step execution command, and transmit it to the teaching apparatus b. Thereby, the user can execute the step command without inputting the setting of the device.

1-3-6. Debug processing (5)
In the above description, the example in which the operation program list is step-executed in order from the top has been described. However, in the present invention, it is possible to debug any step having a different screen. For example, let us consider a case where a step instruction 539 using “screen 8” is debugged immediately after debugging a step instruction 533 using “screen 1”.

1-3-6-1. Screen switching process (5)
The processes after step S767 in the screen switching process of FIG. 8a will be described below. After the step process (step S712) in FIG. 7 is completed, if the step execution button 521 is pressed again, the CPU 203 determines that the current step counter 2053 and the previous step counter 2055 described above are not pressed unless the reset button 523 is pressed. Step processing is performed again using (Steps S703 to 717).

  As described above, since the step number relating to the step currently selected by the keyboard / mouse 207 on the operation program screen 53 is currently stored in the step counter 2053, in step S760 of FIG. By reading the step number of the step counter 2053, it is possible to obtain the step number related to the step command instructed by the user. The previous step counter 2055 stores the step number of the step command executed immediately before.

  The CPU 203 refers to the operation program list in the program folder 2093 for each of the step numbers stored in the current step counter 2053 and the previous step counter 2055, and acquires an execution step command (step S761). Further, the screen number used in each step is acquired based on the acquired execution step (step S763).

  The CPU 203 determines whether or not the screen number relating to the step number of the current step counter 2053 matches the screen number relating to the step number of the previous step counter 2055 (step S765).

  For example, when the step number “3” related to the step command 533 is stored in the previous step counter 2055 and the screen number of the step is “1”, the step number “8” related to the step command 539 is currently stored in the step counter 2053. If the recorded screen number is “8”, it is determined that the screen numbers do not match (NO in step S765).

  The CPU 203 that has determined that the screen numbers do not match obtains the device value used in the screen number corresponding to the step number of the current step counter 2053 from the read data folder 2051 (step S767). For example, the device value of the device number necessary for displaying the screen number “8” is acquired.

  CPU203 which acquired the required device value produces | generates a screen switching command (step S769). Here, the screen switching command is transmission data having the same format as the above-described step execution command. For example, as shown in a record 904 in FIG. 9, the data includes a command “R”, a screen number “8”, a device number “D80”, a device value “88”, and the like.

  Here, the device number “D80” and the device value “88” are device setting values that are used as conditions when the “screen 8” is displayed. This set value may be input by the user to the device setting area 510 or read from the read data folder 2051.

  When generating the screen switching command, the CPU 203 transmits the screen switching command to the teaching device b (step S771).

  In response to the screen switching command, the CPU 303 of the teaching apparatus b reads the screen configuration data corresponding to the screen number from the program folder 3057 (step S751), and displays the read screen on the display 301 (step S753). For example, the screen data for displaying “screen 8” is read from the program folder 3057 and the device value “88” is set to the device number “D80”, and “screen 8” is displayed on the display 301 of the teaching apparatus b. Is displayed.

  As described above, the debug device a can acquire the environment setting (device number and device value) for performing screen display according to the step instruction to be executed from the read data 2051 and give it to the teaching device b. . Thereby, even if it is from the middle of a program, an appropriate environment setting can be performed and it can debug reliably about a user's desired step instruction.

1-3-7. Continuous Process FIG. 7a shows a flowchart of the continuous process. This process is a process of successively executing the above-described screen switching process S731 and step execution process S733 from the currently selected step to the set breakpoint (step S735).

1-3-7-1. Breakpoint When the step execution process described above is completed, the CPU 203 of the debugging device determines whether or not the step number currently set in the step counter has reached a breakpoint (step S735). If the break point has not been reached, the process returns to step S731 and the same processing as described above is repeated unless the stop button 513 is pressed (NO in step S735). On the other hand, if the break point has been reached, the process is terminated (YES in step S735).

  For example, the breakpoint mark “>” 55 is set in the step command 539 on the operation program screen 53 of FIG. As a result, when the step to be executed next is the step command 539, the CPU 203 stops the continuous execution process. That is, the process is stopped before executing the step instruction in which the breakpoint is set.

  Note that if the stop button 513 is pressed during the process, the process is stopped (YES in step S737).

2. Other Embodiments In the above-described embodiment, the program is created in the debug device a and the program is transferred to the teaching device b, and then the program is debugged. However, in the devices other than the debug device a, The created program may be transferred to the teaching device b for debugging.

  In the above embodiment, the screen number related to the step command is determined based on the position where the step command is described. However, the screen number may be determined by other methods. For example, a screen number may be recorded for each step command, and the screen number recorded at the time of step execution may be read.

  In the above embodiment, the CPU is used to realize the function shown in FIG. 1, and this is realized by software. However, some or all of them may be realized by hardware such as a logic circuit. In addition, you may make it make an operating system (OS) process a part of program further.

It is a figure which shows the example of the functional block diagram of a debugging system. It is a figure which shows the example of a block diagram of a debugging system. It is a figure which shows the example of a teaching apparatus. It is a figure which shows the example of the hardware block diagram in a debugging apparatus. It is a figure which shows the example of the hardware block diagram in a teaching apparatus. It is a figure which shows the example of an operation program screen, the drawing screen 41, and project data 49. FIG. It is a figure which shows the example of a debug screen and an operation program screen. It is a flowchart of the program creation process in a debugging apparatus. It is a flowchart of the debugging process in a debugging system. It is a flowchart in a step process and a continuous process. It is a flowchart in a screen switching process. It is a flowchart in a step execution process. It is a figure which shows the example of transmission data, execution result data, and read data.

Explanation of symbols

a Debugging device b Teaching device

Claims (4)

A program comprising a plurality of steps, a debugging device for debugging a program executed in the teaching device, and a teaching device for executing the program and teaching a predetermined control device And debugging a program using
Connecting the debugging device to the teaching device instead of the control device;
The debugging device includes:
Along with the step instructed by the user, the teaching device performs a process of transmitting read data to be read from the control device to the teaching device,
The teaching device includes:
A step of executing the step received from the debug device using the read data, determining the write data to be written to the control device by the teaching device and determining the “step to be executed next”; ,
Performing the process of transmitting the determined write data and the “step to be executed next” to the debug device;
The debugging device further includes:
A program debugging method comprising: performing a process of presenting the write data received from the teaching device and the “step to be executed next” to a user. The debugging method according to claim 1, wherein
The debugging device further includes:
A step of creating a program composed of the plurality of steps;
A process of recording the program created in the process of creating the program;
And a step of transferring the created program to the teaching device in the step of creating the program. The debugging method according to claim 2, wherein
The process of creating the program is to independently create a step of performing screen display processing in the teaching device and a step of performing processing other than the screen display processing,
The program executed in the teaching device executes, for each step, either a step of performing screen display processing in the teaching device or a step of performing processing other than the screen display processing. thing. In the debugging method in any one of Claims 1-3,
The debugging device further includes:
The process of recording “read data to be read by the teaching device from the control device” transmitted to the teaching device is performed, and “the teaching device reads from the control device at the next transmission based on the recorded read data” Characterized in that "read data to be read" is determined.

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