JP2009271770A - Programming device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To efficiently create a program to be executed by an integrated control device. <P>SOLUTION: This programming device includes: an edition part for editing a diagrammed program 10 according to an input; a display part for displaying the diagrammed program 10 edited by the edition part on a display; and a conversion part for converting the diagrammed program 10 edited by the edition part into a program executable by a microprocessor. In the diagrammed program 10, a module 11 is configured by series of processing. A sequence diagram C and internal variables 19 and 35 are uniquely included in the module 11, so that when the similar series of processing is repeatedly programmed, programming can be achieved just like copying the module 11, and the internal variables 19 and 35 do not have to be assigned to each module 11. Therefore, once when a series of processing is programmed, the program can be easily reused only by programming a series of processing. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a programming device for creating a program to be executed on an embedded control device which is a control device incorporated in a system requiring control.

As a conventional programming device, an editing unit that edits a diagrammatic program obtained by diagramming a program according to an input, a display unit that displays a graphical program edited by the editing unit on a screen, and an editing unit that is edited. There is known a conversion means for converting the schematized program into a program that can be executed by an embedded control device (see, for example, Patent Document 1). In such a programming apparatus, a ladder language is usually used, and a schematic program is represented by a contact diagram and a coil diagram.
Japanese Patent Laid-Open No. 9-62314

  However, the programming device as described above has the following problems. That is, it is necessary to assign a variable representing the processing state. For this reason, for example, when a similar series of processes (hereinafter simply referred to as “series processes”) is repeatedly programmed, it is difficult to program such a series of processes to be replicated, and the reusability during programming is reduced. End up. Therefore, it becomes difficult to create a program efficiently, and as a result, productivity decreases.

  Accordingly, an object of the present invention is to provide a programming device that can efficiently create a program to be executed on an embedded control device.

  In order to solve the above-mentioned problems, a programming device according to the present invention is a programming device for creating a program to be executed on an embedded control device, and edits a diagrammatic program formed by diagramming a program according to an input. Editing means, display means for displaying the graphical program edited by the editing means on the screen, and conversion means for converting the graphical program edited by the editing means into a program executable by the embedded control device, The schematic program includes a module for each series of processing, and the module includes a sequence diagram for executing the processing and an internal variable representing a processing state in the module.

  In the diagrammatic program by this programming device, a module is configured for each series of processes. This module uniquely includes a sequence diagram and internal variables. Therefore, when a similar series of processes is repeatedly programmed, the module can be programmed to be duplicated, and there is no need to assign an internal variable to each module. That is, if a series of processes is programmed once, the program can be easily reused and programmed. As a result, it is possible to efficiently create a program to be executed on the embedded control device.

  Here, the module includes a plurality of sequence diagram groups in which a plurality of sequence diagrams are grouped, and each of the plurality of sequence diagram groups executes processing based on a designated value designated for each sequence diagram group. It is preferable. In this case, the processing can be freely grouped as a sequence diagram group, and the execution form of each sequence diagram group can be designated by a designated value.

  In addition, the schematization program is hierarchized into multiple layers, the modules are configured as upper modules in the upper layer, and the modules are configured as lower modules in the lower layer, and the lower module calls the lower module. Are preferred. In this case, the upper module can further hold internal variables in the lower module. Therefore, for example, when a plurality of lower modules called by the upper module are formed, the upper module can hold an internal variable for each lower module, so that the lower modules can be operated in parallel in the upper module.

  Further, the schematization program is hierarchized into a plurality of layers, the module is configured as an upper module in the upper layer, the module is configured as a lower module in the lower layer, and the lower module includes a plurality of sequence groups, In the upper module, it is preferable that the sequence group of the lower module is called. In this case, the lower module has a plurality of roles as a sequence group, and the upper module uses the lower module for each role. As a result, it is possible to suppress a plurality of lower modules from being scattered in the lower hierarchy, and to suppress the complexity of the schema program.

  According to the present invention, it is possible to efficiently create a program to be executed on the embedded control device.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, the same or corresponding elements are denoted by the same reference numerals, and redundant description is omitted.

  FIG. 1 is a schematic block diagram illustrating a programming device according to an embodiment of the present invention. The programming device 1 uses a figure to create a program to be executed on a microprocessor (embedded control device) 2 that is a control device incorporated in a system that requires control. Specifically, the programming device 1 creates a program to be executed on the microprocessor 2 by a schematic program 10 (see FIG. 2) that is a diagram of the program structure.

  The programming device 1 is mounted on a computer, and here is mounted on the ECU 4 of the personal computer 3. The programming device 1 includes an editing unit (editing unit) 5, a display unit (display unit) 6, and a conversion unit (conversion unit) 7.

  The editing unit 5 edits the graphical program 10 in response to an input from the input device 8 such as a mouse or a keyboard. Specifically, the editing unit 5 adds, moves, or deletes the graphic elements of the schematizing program 10 and the elements constituting the graphic elements in an interactive manner with the user. More specifically, the editing unit 5 composes a data expression in the internal storage area of the ECU 4, edits this data expression according to the user's input, and displays the data expression in a storage device (not shown) such as a hard disk drive. By storing or calling, data representation is reproduced in the internal storage area.

  The display unit 6 is for displaying the graphical program 10 edited by the editing unit 5 on a display (screen) 9. The conversion unit 7 calls the information of the schematic program 10 edited by the editing unit 5 from the storage device, reproduces the data representation in the internal storage area, and converts it into a program executable by the microprocessor 2.

  Next, the schema program 10 by the programming device 1 will be described.

  FIG. 2 is a schematic diagram showing a diagrammatic program by the programming device of FIG. As shown in FIG. 2, the schema program 10 includes a module 11 that represents a group of processes. In other words, in the schematizing program 10, a module 11 is configured for each series of processes (hereinafter simply referred to as “series processes”), and one module 11 corresponds to one source file.

  The schematic program 10 is hierarchized into an upper hierarchy U and a lower hierarchy D. The upper hierarchy U constitutes an upper module 12, and the lower hierarchy D constitutes lower modules 13a and 13b. Yes.

  The upper module 12 includes at least lower module calls 14a and 14b as a sequence diagram C which is a graphic element for executing processing. The lower module calls 14a and 14b are for calling (calling) the lower modules 13a and 13b. These lower module calls 14a and 14b are formed of a rectangular frame and have an identification diagram 15 for identifying the type at the upper left. Further, the names 16a and 16b are entered in the frames of the lower module calls 14a and 14b. The names 16a and 16b correspond to the lower modules 13a and 13b of the lower hierarchy D to be called.

  Further, an input terminal 17 and an output terminal 18 are formed in each of the lower module calls 14a and 14b. Thus, the lower module calls 14a and 14b input the input values to the lower modules 13a and 13b from the input terminal 17, and output the output values of the lower modules 13a and 13b from the output terminal 18.

  The upper module 12 includes an internal variable 19 that is a variable representing a processing state in the upper module 12. The internal variable 19 is stored in the internal variable area 20.

  FIG. 3 is a diagram illustrating an example of an editing screen displayed on the display. As shown in FIG. 3, the internal variable area 20 can be represented by, for example, the left portion of the display 9. The sequence diagram C can be represented, for example, in the right part of the internal variable area 20 of the display 9. The same applies to the following modules.

  Returning to FIG. 2, the lower modules 13 a and 13 b are called by the upper module 12 of the upper hierarchy U, and perform processing for obtaining an output based on the input. The lower modules 13a and 13b include at least a condition calculation diagram 31 and a response processing diagram 32 (details will be described later) as a sequence diagram C, for example.

  The lower modules 13a and 13b include an internal variable 35 (35a and 35b) that is a variable representing a processing state in the lower modules 13a and 13b. The internal variables 35a and 35b are stored in the internal variable area 36 (36a and 36b), respectively.

  In the upper module 12, a name 16 (16a, 16b) is defined as an identifier for calling by the lower module calls 14a, 14b. These names 16a and 16b can be defined in the internal variable area 20, respectively. Here, the name 16 is defined in the form of “module subordinate module subordinate module use name”.

  Incidentally, the source file of the lower module 13 is stored in the same folder as the upper module 12. Thus, the compiler can automatically read and connect the lower modules 13a and 13b when reading the upper module 12.

  Next, the schema program shown in FIG. 2 will be described in detail.

  FIG. 4 is a diagram showing details of the upper module in the schematized program of FIG. 2, and FIG. 5 is a diagram showing details of the lower module in the schematized program of FIG. As shown in FIGS. 4 and 5, the schema program 10 performs positioning control by feedback to move the apparatus to a target position at a constant speed. In the diagrammatic program 10 here, a module of the type “constant speed movement process” is used as the lower modules 13a and 13b a plurality of times (here, twice).

  As shown in FIG. 4, the upper module 12 includes the lower module calls 14 a and 14 b as the sequence diagram C and the internal variable 19 stored in the internal variable area 20 as described above. Here, the lower module call 14a calls the lower module 13a defined as “move processing to the left end”, and the lower module call 14a calls the lower module 13b defined as “move processing to the center”.

  The upper module 12 includes a condition calculation diagram 31 and a response processing diagram 32. Condition Calculation FIG. 31 shows a condition calculation (that is, a calculation of the condition determination process). This condition calculation diagram 31 is composed of a rectangular frame, in which a condition determination calculation expression 33 is entered. In the condition calculation diagram 31, a condition determination attribute diagram 21 is formed therein. This condition determination attribute diagram 21 gives the following calculation rules to the condition calculation diagram 31 depending on the difference in form.

  FIG. 6 is a diagram for explaining the condition determination attribute diagram. In the condition determination attribute diagram 21a shown in FIG. 6A, the calculation value of the condition determination calculation expression 33 is used as the calculation value of the condition calculation. In the condition determination attribute diagram 21b shown in FIG. 6B, the inversion result of the operation value of the condition determination operation expression 33 is used as the operation value of the condition operation. In the condition determination attribute diagram 21c shown in FIG. 6C, the operation value of the condition operation is set to true only when the operation value of the condition determination operation expression 33 changes from false to true, and otherwise the operation value is false. In the condition determination attribute diagram 21d shown in FIG. 6D, the operation value of the condition operation is set to true only when the operation value of the condition determination operation expression 33 changes from true to false, and the other values are set to false.

  As shown in FIG. 4, the response process FIG. 32 shows the response process. This response processing FIG. 32 is made up of a rectangular frame, and response processing contents 34 are entered therein. Response processing FIG. 32 substitutes the input calculation result when the response processing content 34 is a left-side value. On the other hand, when the response processing content 34 is an arithmetic expression, the arithmetic expression is calculated when the input calculation result becomes true. On the other hand, when the response processing content 34 is a sentence, the sentence is executed when the input operation result becomes true.

  As shown in FIG. 5, the lower modules 13a and 13b include the condition calculation diagram 31 as the sequence diagram C and the internal variables 35a and 35b stored in the internal variable areas 36a and 36b as described above. . The lower modules 13a and 13b include a state holding diagram 40.

  The state holding diagram 40 represents a state holding circuit, and is hierarchized into an upper hierarchy U0 and a lower hierarchy D0. A state definition diagram 41 is formed in the upper layer U0, and an arrow 42, a condition calculation diagram 31, and a response processing diagram 34 are formed in the lower layer D0 so as to be surrounded by the control frame 43.

  In the state definition diagram 41, a state name diagram 45 indicating a name of a state and a condition calculation diagram 31 are stacked in a vertical direction to be grouped. The state definition diagram 41 only needs to include one or more condition calculation diagrams 31.

  An arrow 42 indicates the processing order in the state. An arrow 42 formed with a circle at the start end gives an operation rule that the operation value becomes true when the operation value in the condition calculation diagram 31 at the start end becomes false. The control frame 43 defines a lower hierarchy D0 of the state holding diagram 40, and a control frame condition calculation diagram 44 similar to the above-described condition calculation diagram 31 is formed in the upper left part thereof. When the condition calculation according to this control frame condition calculation FIG. 44 is true, each processing in the control frame 43 is calculated, while when false, a calculation rule is given that each state in the control frame 43 is reset.

  In this graphical program 10, the calculated value of “movable”, “position target value”, and “moving speed” are respectively input to the lower module call 14a. Further, the left and right reciprocating position command value is input as the “position initial value” to the lower module call 14a. When a left end movement instruction is given, the movement instruction is input as a “movement command” to the lower module call 14a, and the lower module 13a is called.

  In the lower module 13a, the state of “moving” is held in response to the rising edge of the movement command. This condition is maintained as long as the condition “moveable” is satisfied and “movement is not completed”. During the state of movement, when the position command value is small, the movement speed (the amount of movement in the sampling period) is added to the position command value. When the position command value is large, the movement speed is subtracted from the position command value. . The determination that the position command value is small is compared by “position target value−movement speed”, and the determination that the position command value is large is compared by “position target value + movement speed”. Finally, when the position command value falls within a predetermined range (when it is neither small nor large), it is determined that the position target value has been reached.

  Here, in the upper module 12, the position command value from the lower module call 14a is set to “left and right reciprocating position command value”, the calculated value during movement is set to “moving to the left end”, and the calculation of movement completion is performed. The value is set to “complete move to left end”. As a result, the apparatus is moved to the left end at a constant speed.

  Further, in the schematizing program 10, the calculated value of “movable”, “target position value”, and “moving speed” are respectively input to the lower module call 14b. Further, the left / right reciprocating position command value is input as the “position initial value” to the lower module call 14b. When a central movement instruction is given, the movement instruction is input as a “movement command” to the lower module call 14b, and the lower module 13b is called.

  In the lower module 13b, as in the lower module 13a, the state of “moving” is held in response to the rising of the movement command. This condition is maintained as long as the condition “moveable” is satisfied and “movement is not completed”. During the state of movement, when the position command value is small, the movement speed is added to the position command value, while when the position command value is large, the movement speed is subtracted from the position command value. Finally, when the position command value falls within a predetermined range, it is determined that the position target value has been reached.

  Here, in the upper module 12, the position command value from the lower module call 14b is set to “left and right reciprocating position command value”, the calculated value during movement is set to “moving to the center”, and the calculation of movement completion is performed. The value is set to “complete move to center”. As a result, the apparatus is moved to the center at a constant speed.

  As described above, according to the present embodiment, the module 11 is configured for each series of processes. This module 11 uniquely includes a sequence diagram C and internal variables 19 and 35. Therefore, when repeatedly programming a common series of processes (here, processing of a constant speed moving distance), for example, after programming the lower module 13a, the lower module 13b can be programmed to duplicate the lower module 13a. . Specifically, it is equivalent to copying the lower modules 13a and 13b by calling modules of the same type from the upper module 12 with different names. At the same time, there is no need to separately assign the internal variable 35 to the copied lower modules 13a and 13b.

  That is, once the module 11 is programmed, the module 11 can be easily reused and programmed, and thus a program executed on the microprocessor 2 can be efficiently created. . As a result, productivity and efficiency in programming can be increased. Such an effect is particularly effective for a designer who performs programming.

  In the present embodiment, as described above, the schema program 10 is hierarchized, the upper module U is configured in the upper hierarchy U, and the lower modules 13a and 13b are configured in the lower hierarchy D. . In the upper module 12, the lower modules 13a and 13b are called as separate actual states. Thereby, the upper module 12 can further hold the internal variables 35a and 35b separately for the lower modules 13a and 13b. As a result, the lower module 13a, 13b can be operated in parallel in the upper module 12.

  Here, in the conventional programming apparatus, when the processing of the program becomes complicated and large, it is very troublesome to write each processing sequentially. If an error is found in the common process, all the processes must be corrected. Also in this point, the effect of this embodiment that the module 11 is configured by a series of processes and the module 11 can be reused for programming is remarkable.

  Note that, unlike the procedural language subroutine, the lower modules 13a and 13b can always be operated without being terminated.

  Next, another example of the schematic program by the programming device of FIG. 1 will be described.

  FIG. 7 is a schematic diagram showing another example of a schema program by the programming device of FIG. As shown in FIG. 7, the module 51 of the schematizing program 50 includes a plurality of procedures (proc: sequence diagram group) 52 in which a plurality of sequence diagrams C are grouped to form a so-called multithread. . Here, the module 51 includes a high-speed procedure 52a that is a group that performs arithmetic processing at a high-speed cycle, and a low-speed procedure 52b that is a group that performs arithmetic processing at a low-speed cycle.

  In the procedure 52, the condition calculation diagram 31 and the response processing diagram 32 are surrounded by a control frame 53 and grouped. In the upper left part of the control frame 53, a name diagram 54 is formed in which names corresponding to designated values 56a and 56b described later are entered.

  The module 51 is provided with a designated value area 55. In the specified value area 55, specified values 56a and 56b are specified for each of the procedures 52a and 52b.

  According to this schematizing program 50, the high-speed procedure 52a is executed based on the designated value 56a, so that the arithmetic processing grouped by this high-speed procedure 52a is executed at a high-speed cycle. Further, when the low speed procedure 52b is executed based on the designated value 56b, the arithmetic processing grouped by the high speed procedure 53b is executed at a low speed cycle.

  As described above, according to the present embodiment, the procedures 52a and 52b execute processing based on the designated values 56a and 56b designated for the procedures 52a and 52b. Therefore, the processing can be freely grouped as procedures 52a and 52b, and the execution form of each procedure 52a and 52b can be designated by the designated values 56a and 56b, respectively.

  Next, still another example of the graphical program by the programming device of FIG. 1 will be described.

  FIG. 8 is a schematic diagram showing still another example of the schema program by the programming device of FIG. As shown in FIG. 8, in the schematizing program 60, the lower module 63 is configured in the lower hierarchy D.

  The lower module 63 includes a plurality of procedures (sequence diagram group) 64 similar to the procedure 52 described above. Specifically, the lower module 63 includes an input procedure 64a related to input and an output procedure 64b related to output. The input procedure 64a includes a plurality of response calculation diagrams 65 showing response calculation of input processing. The output procedure 64b includes a plurality of response calculation diagrams 66 showing response calculation of output processing.

  In the diagrammatic program 60, an upper module 62 is configured in the upper hierarchy U. The upper module 62 includes lower module calls 67a and 67b. The lower module calls 67a and 67b are used to call the procedures 63a and 63b of the lower module 63. The names 68a and 68b of the lower module calls 67a and 67b are entered in the frames of the lower module calls 67a and 67b. These names 68a and 68b correspond to the lower module 63 and the procedure 64 to be called, and the lower module 63 is called for each procedure 64 in response to this entry.

  As described above, according to the present embodiment, the upper module 62 calls the procedures 64 a and 64 b of the lower module 63. Therefore, the lower module 63 can have a plurality of roles as the procedures 64a and 64b, and the upper module 62 can selectively use the lower module 63 in units of the roles. Thereby, it is possible to suppress the lower modules 63 from being scattered in the lower hierarchy D, and it is possible to prevent the schematizing program 60 from becoming complicated. In addition, the graphic program 60 can be displayed so that it can be easily understood.

  The preferred embodiment of the present invention has been described above, but the present invention is not limited to the above embodiment. For example, in the above embodiment, the schematizing programs 10 and 60 are hierarchized into two hierarchies of the upper hierarchy U and the lower hierarchy D, but may be hierarchized into three or more hierarchies, or may be hierarchized into a plurality of hierarchies .

  The upper modules 12 and 62 may be associated with the lower modules 13a, 13b, and 63 so as to directly access the internal variable 35 of the lower modules 13a, 13b, and 63. In this case, the space on the display 9 in the lower hierarchy D can be saved, and the display can be made compact and easy to understand.

  In the above embodiment, the programming device 1 is mounted on the personal computer 3, but it is of course possible to mount it on various computers. Note that the scope of application of the present invention is not limited to the above embodiment, and the present invention can create various programs to be executed on various embedded control devices that perform sequence control.

It is a schematic block diagram which shows the programming apparatus which concerns on one Embodiment of this invention. It is the schematic which shows the schema-ized program by the programming apparatus of FIG. It is a figure which shows an example of the edit screen displayed on the display. It is a figure which shows the detail of the high-order module in the schematization program of FIG. It is a figure which shows the detail of the low-order module in the schematization program of FIG. It is a figure for demonstrating a condition judgment attribute figure. It is the schematic which shows the other example of the graphical program by the programming device of FIG. It is the schematic which shows the further another example of the graphical program by the programming device of FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Programming apparatus, 2 ... Microprocessor (embedded control apparatus), 5 ... Editing part (editing means), 6 ... Display part (display means), 7 ... Conversion part (conversion means), 9 ... Display (screen), 10 , 50, 60... Schematic program, 11... Module, 12... Higher module (module), 13a, 13a... Lower module (module), 19, 35. Internal variable, 52, 64. …Sequence Diagram.

Claims (4)

A programming device for creating a program to be executed on an embedded control device,
Editing means for editing a diagrammatic program formed by diagramming the program according to input;
Display means for displaying on the screen the graphic program edited by the editing means;
Conversion means for converting the schematized program edited by the editing means into a program executable by the embedded control device,
In the schema program, a module is configured for each series of processes.
The module includes a sequence diagram for executing the processing, and an internal variable representing a processing state in the module. The module includes a plurality of sequence diagram groups in which a plurality of the sequence diagrams are grouped,
The programming device according to claim 1, wherein each of the plurality of sequence diagram groups executes the processing based on a designated value designated for each sequence diagram group. The schema program is hierarchized into a plurality of layers, the module is configured as an upper module in an upper layer, and the module is configured as a lower module in a lower layer,
3. The programming apparatus according to claim 1, wherein the lower module calls the lower module. The schema program is hierarchized into a plurality of layers, the module is configured as an upper module in an upper layer, and the module is configured as a lower module in a lower layer,
The lower module includes a plurality of the sequence groups,
3. The programming device according to claim 2, wherein the upper module calls the sequence group of the lower module.

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