JP2012027621A - Programmable controller system and program updating method thereof - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a programmable controller system and program updating method thereof capable of synchronization of program updating and synchronization of activation.SOLUTION: At a timing of application start cycle, counts of synchronous free-run counters 25A and 35A are updated, and a synchronous interruption signal is transmitted from a basic controller 20 to an expansion controller 30. At this timing, applications of the controllers 20 and 30 are requested to start, and when the counter value being updated coincides with a preset value, execution management table is switched to activate an application program which includes updated machine language object.

Description

  The present invention relates to a programmable controller system including a basic controller and at least one extended controller, and configured to execute each application program according to an execution management table prepared in each of the plurality of controllers, and a method for updating the program. It can be used to update an application program being executed.

  Conventionally, a programmable controller has been mainly implemented with dedicated hardware in order to execute a sequence instruction at a high speed. However, a programmable controller using a general-purpose CPU has been developed along with an increase in the speed of a general-purpose CPU (central processing unit). Has been developed. In addition, a programmable controller system using a plurality of processors has been developed in order to speed up arithmetic processing.

  On the other hand, the programmable controller has a function to update the program without stopping the running system. However, in the case of a programmable controller system having a plurality of processors in the conventional updating method, each programmable processor is individually provided. The program was updated.

  As a system for synchronizing a plurality of processors, a program synchronization flag that holds information indicating a program control mode is provided, and when the information of the program synchronization flag is updated, the update information is stored in each instruction of the program. A multiprocessor system that notifies an instruction storage unit is known (see Patent Document 1).

JP 2003-76667 A (summary, claim 1)

  However, in a programmable controller system having a plurality of processors, if the program is updated individually for each processor as in the past, that is, if the update is performed at individual timing without synchronization, the output of each processor Different results and behavior may adversely affect system operation.

  For example, since an application program has a hierarchical structure formed by combining a plurality of programs, each application program executed independently by a plurality of processors has a program (for example, a subroutine or function) having the same function. Etc.) may be included. That is, there are programs (for example, subroutines and functions) that are executed in common by a plurality of processors. And when such a common program is changed, if the program is updated individually by a plurality of processors, the program switching timing is shifted between the plurality of processors. During that time, the program before the change is executed. There is a possibility that a processor that is executing a program that has been changed and a processor that executes a program after the change are mixed, resulting in a situation in which the output result and operation of each processor are different, resulting in a malfunction in the operation of the control target. More specifically, for example, when there are two shafts driven by different servo motors in the controlled object, the rotation speed of one servo motor does not change, and only the rotation speed of the other servo motor. As a result, the number of rotations of the two shafts is different. Therefore, in order to prevent inconvenience caused by such a shift in program switching timing, it is necessary to update the program synchronously.

  In addition to the synchronous update of the program, it is also necessary to synchronize the activation of the application program that is repeated periodically. This is because in the case of a control target that requires precise control, there is a possibility that inconvenience may still occur if the application program that is repeated periodically is not synchronized. For example, in the control of a servo motor for feeding provided in a color printing machine, the quality of printed matter is deteriorated by a slight deviation, so that highly accurate synchronous control is required.

  An object of the present invention is to provide a programmable controller system and a program update method thereof capable of synchronizing program updates and starting.

  The present invention is a programmable controller system comprising a basic controller and at least one extended controller, and configured to execute each application program in accordance with an execution management table prepared in each of the plurality of controllers. And a synchronous free-run counter provided in a shared memory area shared by the expansion controller, and a program switching counter value storage means provided in the shared memory area for storing a synchronous free-run counter value indicating the switching timing of the application program The basic controller includes a synchronous interrupt transmission processing means for executing a process of transmitting a synchronous interrupt signal to the extended controller, and a synchronous free-run counter for one count of the synchronous interrupt signal. Includes a count update processing means for executing processing for adding or subtracting a certain number of counts, and the extended controller comprises synchronous interrupt reception processing means for executing processing for receiving a synchronous interrupt signal from the basic controller. Each of the extended controllers stores the changed machine language object transmitted from the loader in the main memory for the processor of each controller and arranges the storage address of the changed machine language object at the current time. Machine language object placement processing means for executing processing to be recorded in an execution management table different from the currently used execution management table, and a synchronous free run counter stored in the current value of the synchronous free run counter and program switching counter value storage means Repeated processing to determine whether the value matches Program switching timing determination processing means and execution management table switching processing for executing processing for switching the execution management table for each controller to another execution management table when it is determined by the program switching timing determination processing means And an application activation request processing means for executing the activation request processing of each application program executed according to the execution management table for each controller at the timing of transmission / reception of a synchronous interrupt signal. It is.

  Here, “the process of adding or subtracting one count or a fixed number of counts per transmission of the synchronous interrupt signal” in the “count update processing means” means that the synchronous free run is repeated when the transmission of the synchronous interrupt signal is repeated. The counter may be incremented by one count of 0, 1, 2, 3, 4,... Or the count is incremented by the same number each time, for example, 0, 2, 4, 6, 8,. It may be decreased by one count such as ..., 8, 7, 6, 5, 4, ..., or, for example, ..., 16, 14, 12, 10, 8, ... etc. In other words, the count may be decreased by the same number every time. However, from the viewpoint of ease of design, simplification of the configuration, etc., it is preferable to increase by 1 count.

  In such a programmable controller system of the present invention, the value of the synchronous free-run counter is updated by the count update processing means of the basic controller, and the program switching timing judgment processing means of each of the basic controller and the extended controller is synchronized. When it is determined that the current value of the free-run counter matches the synchronous free-run counter value stored in the program switching counter value storage means, the execution management table switching processing means performs execution management for each controller. The table is switched to another execution management table in which the storage destination address of the machine language object after the change is recorded. For this reason, after switching, each controller executes an updated application program that includes the machine language object after the change according to another execution management table, thereby realizing synchronous update of the program Is done.

  In addition, the synchronous interrupt signal is transmitted / received by the synchronous interrupt transmission processing means of the basic controller and the synchronous interrupt reception processing means of the extended controller, and the synchronous interrupt signal is transmitted / received by the respective application activation request processing means of the basic controller and the extended controller. Since the activation request processing of each application program is executed at the timing, it is possible to synchronize the periodically repeated activation of each application program every time.

  In addition, since it is possible to synchronize the start of the application program that is periodically repeated in this way, each of the configurations including the machine language object after the change at the timing of transmission / reception of the synchronization interrupt signal Since the application program can be activated in synchronization, both the synchronous update and the synchronous activation of the program can be realized, thereby achieving the object.

  Note that the technique of the multiprocessor system described in Patent Document 1 described above does not perform synchronous update of a program and does not perform timing control by a synchronous free-run counter, and therefore is different from the present invention. It is.

  In the programmable controller system described above, the management unit having a processor different from the processors of the plurality of controllers, or the basic controller, when receiving a program switching instruction from the loader, sets the current value of the synchronous free-run counter to Executes processing to calculate a synchronous free-run counter value indicating the switching timing of the application program by adding or subtracting a predetermined count number, and to store the calculated synchronous free-run counter value in the program switching counter value storage means It is desirable that the program switching counter value calculation / setting processing means be provided.

  Here, “adding or subtracting a predetermined count number” means that the synchronous free-run counter is incremented by one count of 0, 1, 2, 3, 4,. When incrementing the same number of counts, such as 0, 2, 4, 6, 8,..., Etc., the “predetermined count number” is “added”, while…, 8, 7, 6, etc. .., 16, 14, 12, 10, 8,... Or the like, for example, when the number is decreased by the same number, for example, “predetermined It means to “subtract” the counted number.

  As described above, when the program switching counter value calculation / setting processing means for adding or subtracting a predetermined count number to the current value of the synchronous free-run counter is provided, the program switching instruction from the loader is accepted. Sometimes, since the application program switching timing can be relatively determined based on the value of the synchronous free-run counter at that time, an appropriate and early switching timing can be set.

  Furthermore, the present invention provides a program update method for a programmable controller system comprising a basic controller and at least one extended controller, and configured to execute each application program in accordance with an execution management table prepared in each of the plurality of controllers. In the shared memory area shared by the basic controller and the extended controller, a synchronous free-run counter and a program switching counter value storage means for storing a synchronous free-run counter value indicating the switching timing of the application program are provided. The basic controller synchronous interrupt transmission processing means executes a process of transmitting a synchronous interrupt signal to the extended controller, and the basic controller count update processing means performs a synchronous interrupt on the synchronous free-run counter. A process of adding or subtracting one count or a certain number of counts for each transmission of the signal is executed, and the synchronous interrupt reception processing means of the extended controller executes a process of receiving a synchronous interrupt signal from the basic controller, The machine language object placement processing means of each of the basic controller and the extended controller stores and places the machine language object after the change sent from the loader in the main memory for the processor of each controller, and after the change. A process for recording the storage address of the machine language object in an execution management table different from the currently used execution management table is executed, and the program switching timing determination processing means of each of the basic controller and the extended controller is a synchronous free-run counter. Current value and program switching counter value The process of determining whether or not the synchronous free-run counter value stored in the means matches is repeatedly executed, and the execution management table switching processing means of the basic controller and the extended controller are matched by the program switching timing judgment processing means. If it is determined that the execution management table for each controller is switched to another execution management table, the application activation request processing means of each of the basic controller and the extended controller performs the transmission / reception timing of the synchronous interrupt signal. Thus, the activation request processing of each application program executed in accordance with the execution management table for each controller is executed.

  In such a program update method of the programmable controller system of the present invention, the operations and effects obtained by the above-described programmable controller system of the present invention can be obtained as they are, thereby achieving the object.

  As described above, according to the present invention, the synchronization of the program update and the periodically repeated application program are performed by the synchronous interrupt signal and the timing control by the synchronous free-run counter between the basic controller and the extended controller. As a result, it is possible to synchronize the activations of the devices, thereby preventing problems in the operation of the controlled object and realizing highly accurate synchronous control.

1 is an overall configuration diagram of a programmable controller system according to an embodiment of the present invention. The detailed block diagram of the system processing means of the said embodiment. Explanatory drawing which shows an example of the management condition of the source code of the said embodiment, and the storage condition of an execution program. The figure of the flowchart which shows the flow of the process A which performs a synchronous interruption among the system processes of the said embodiment. The figure of the flowchart which shows the flow of the process B which transfers to the application operation state among the system processes of the said embodiment. The figure of the flowchart which shows the flow of the process C which performs program switching among the system processes of the said embodiment. The figure of the time chart which shows the whole flow of the system processing of the said embodiment. The figure which shows an example of the program arrangement | positioning of the said embodiment. The figure which shows an example of the state after transmission of the machine language object after the change of the said embodiment. Explanatory drawing of the complementation process performed after the transmission of the machine language object after the change of the said embodiment. Explanatory drawing of the switching process of the execution management table of the said embodiment.

  An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 shows an overall configuration of a programmable controller system 10 of the present embodiment. FIG. 2 shows a detailed configuration of the system processing means 24, 34, 44 of the programmable controller system 10, and FIG. 3 shows an example of a source code management status and an execution program storage status. FIG. 4 is a flowchart showing the flow of process A for performing a synchronous interrupt among the system processes, and FIG. 5 is a flowchart showing the flow of process B for shifting to the application operating state among the system processes. FIG. 6 shows a flow chart of the process C for switching programs among the system processes. Further, in FIG. 7, the overall flow of the system processing is shown in a time chart. 8 shows an example of program arrangement in the main memories 23 and 33, FIG. 9 shows an example of the state after transmission of the machine language object P2 ′ after the change, and FIG. FIG. 11 shows an explanatory diagram of a complementing process performed after transmission of the machine language object P2 ′ after the change, and FIG. 11 shows an explanatory diagram of a switching process of the execution management tables T1 and T2.

  In FIG. 1, the programmable controller system 10 includes a basic controller 20, an expansion controller 30, and a management unit 40. In the present embodiment, the basic controller 20, the expansion controller 30, and the management unit 40 are formed on separate printed circuit boards, and these three boards are housed in one housing (not shown). However, the present invention is not limited to this. For example, the basic controller 20, the expansion controller 30, and the management unit 40 may be housed in separate cases.

  The basic controller 20 includes a bus LSI 21, a microprocessor 22, a main memory 23, a shared memory area 25, a flash memory 26, and a data memory 27. A system processing means 24 is constituted by the microprocessor 22, the system program γ that defines its operation procedure, the main memory 23 that is a work area, and the like.

  The extended controller 30 has the same configuration, and includes a bus LSI 31, a microprocessor 32, a main memory 33, a shared memory area 35, a flash memory 36, and a data memory 37. A system processing means 34 is constituted by the microprocessor 32, the system program δ that defines the operation procedure thereof, the main memory 33 that is a work area, and the like.

  The management unit 40 has a different configuration from the basic controller 20 and the expansion controller 30, and includes a bus LSI 41, a microprocessor 42, a main memory 43, a shared memory area 45, a flash memory 46, and a USB connection unit 47A. , An Ethernet connection unit 47B (Ethernet is a registered trademark), a serial connection unit 47C, and a switch operation signal input unit 48. A system processing means 44 is constituted by the microprocessor 42, the system program ε that defines the operation procedure thereof, the main memory 43 that is a work area, and the like.

  The basic LSI 20, the expansion controller 30, and the bus LSIs 21, 31, 41 of the management unit 40 are connected to the internal bus 11, and the communication function via the internal bus 11 for sharing by these bus LSIs 21, 31, 41. As a result, various data stored in the shared memory areas 25, 35, and 45 of the basic controller 20, the extended controller 30, and the management unit 40 are shared, and the same data is stored in each of the shared memory areas 25, 35, and 45, respectively. It is supposed to be retained.

  The microprocessors 22, 32, and 42 are central processing units that read and execute application programs α, β and system programs γ, δ, ε stored in the main memories 23, 33, 43. Note that the microprocessor 42 of the management unit 40 does not execute an application program.

  In the present embodiment, the main memories 23, 33, and 43 are synchronous DRAMs (SDRAMs) as an example, but are not limited thereto.

  In the present embodiment, the shared memory areas 25, 35, and 45 are SRAMs as an example, but the present invention is not limited to this. In these shared memory areas 25, 35, 45, synchronous free-run counters 25A, 35A, 45A and application operation state start counter value storage means 25B for storing a synchronous free-run counter value indicating the start timing of the application operation state, 35B, 45B, program switching counter value storage means 25C, 35C, 45C for storing the synchronous free-run counter value indicating the switching timing of the application program, and whether or not an application operation start request has been made to the basic controller 20 The application operation start request flag storage means 25D, 35D, 45D for the basic controller 20 that stores a flag to indicate, and the extension controller 30 that stores a flag that indicates whether an application operation start request has been made to the extension controller 30 Application operation start request flag storage means 25E, 35E, 45E, status storage means 25F, 35F, 45F for the basic controller 20 for storing the status including the operation state and stop state for the application α for the basic controller 20, and expansion Status storage means 25G, 35G, and 45G for the extended controller 30 that store the status including the operation state and the stop state of the application β for the controller 30 are provided.

  In addition, in the shared memory areas 25, 35, and 45, an application stop request flag storage means (not specified) for the basic controller 20 that stores a flag indicating whether or not an application stop request has been made to the basic controller 20 is also stored. And an application stop request flag storage means (not shown) for the extension controller 30 for storing a flag indicating whether or not an application stop request has been made to the extension controller 30 is provided. The description is omitted because it is not directly related to this process.

  The flash memories 26, 36, and 46 store application programs α and β created by the loader 50 and compiled by the user, and system programs γ, δ, and ε.

  The data memories 27 and 37 are, for example, SRAMs or the like, and have user data areas 27A and 37A for storing various variables used when executing the application programs α and β. Note that the management unit 40 does not execute an application program, so no memory corresponding to the data memories 27 and 37 is installed.

  The USB connection unit 47A, the Ethernet connection unit 47B (Ethernet is a registered trademark), and the serial connection unit 47C of the management unit 40 are provided for communication with an external terminal and can be connected to the loader 50. Note that the connection unit for communication with the external terminal is not limited to these types, and may be wired or wireless. The switch operation signal input unit 48 of the management unit 40 inputs a signal such as an activation request from the outside by a switch operation.

  The loader 50 is connected to the management unit 40 of the programmable controller system 10, supports the development of the application program by the user, and transmits the created application program (machine language object) to the management unit 40 of the programmable controller system 10 by communication. A development support apparatus, a source editing processing means 51 for executing processing for supporting editing (creation, change, etc.) of the application source code by the user, and an application source created by the editing support by the source editing processing means 51 Source code storage means 52 for storing code, a compiler 53 for executing processing for compiling the source code stored in the source code storage means 52 and converting it into a machine language object, and the compiler 53 Machine language object storage means 54 for storing the machine language object obtained by the conversion process, and a source code management table storage for storing a source code management table for defining the correspondence between the source code name and the machine language object name after the conversion Means 55 and machine language object transmission processing means 56 for executing processing for transmitting the machine language object stored in the machine language object storage means 54 to the management unit 40 of the programmable controller system 10. The loader 50 may be constituted by a general-purpose computer such as a notebook computer, or may be a dedicated handy loader or the like.

  In FIG. 2, the system processing unit 24 of the basic controller 20 includes a system initial processing unit 24A, an application activation cycle standby processing unit 24B, a count update processing unit 24C, a synchronous interrupt transmission processing unit 24D, and an application activation request processing unit. 24E, external request standby processing means 24F, setting counter value calculation / setting processing means 24G, application operation start request flag setting processing means 24H, application activation preparation processing means 24J, application operation state start timing determination processing means 24K, application operation state transition processing means 24L, machine language object placement processing means 24M, execution management table supplement processing means 24N, program switching timing judgment processing means 24P, and execution management table switching processing means 24Q. It is configured

  Further, the system processing means 34 of the extended controller 30 includes a system initial processing means 34A, a synchronous interrupt reception processing means 34B, an application activation request processing means 34C, an application operation start request flag monitoring processing means 34D, and an application activation preparation process. Means 34E, application operation state start timing determination processing means 34F, application operation state transition processing means 34G, machine language object placement processing means 34H, execution management table supplement processing means 34J, and program switching timing determination processing means 34K And an execution management table switching processing means 34L.

  Further, the system processing unit 44 of the management unit 40 includes a program switching counter value calculation / setting processing unit 44A.

  Among these, the processing means 24B, 24C, 24D, 24F of the basic controller 20 and the processing means 34B, 34C of the expansion controller 30 are means for executing the processing A of FIG. Further, the processing means 24F, 24G, 24H, 24J, 24K, and 24L of the basic controller 20 and the processing means 34D, 34E, 34F, and 34G of the expansion controller 30 are means for executing the process B of FIG. Furthermore, each processing means 24M, 24N, 24P, 24Q of the basic controller 20, each processing means 34H, 34J, 34K, 34L of the expansion controller 30, and program switching counter value calculation / setting processing means 44A of the management unit 40 are shown in FIG. 6 is a means for executing process C. As will be described later, the program switching counter value calculation / setting processing means may be provided in the basic controller 20.

  The system initial processing means 24A, 34A rises when the reset state is released, and waits for initial completion between the basic controller 20 and the expansion controller 30 by handshaking (processing for establishing communication rules such as communication parameter arrangement). It is. Further, the system initial processing unit 24A of the basic controller 20 performs a process of starting the synchronous free-run counter 25A, and thus the synchronous free-run counter 25A starts counting from zero in this embodiment.

  (Means for executing process A)

  The application activation cycle standby processing unit 24B of the basic controller 20 repeatedly executes a process of determining whether or not an application activation cycle of a predetermined time interval (for example, an interval of 1 millisecond) has arrived by measuring a timer time. It is.

  The count update processing unit 24C of the basic controller 20 executes a process of adding 1 count to the synchronous free-run counter 25A (see FIG. 1) immediately before the transmission of the synchronous interrupt signal when the application start cycle arrives. It is. Therefore, in this embodiment, the value of the synchronous free-run counter 25A is incremented by one count for each transmission of the synchronous interrupt signal.

  The synchronous interrupt transmission processing unit 24D of the basic controller 20 executes a process of transmitting a synchronous interrupt signal to the extension controller 30 when the application activation cycle has arrived. Therefore, the synchronous interrupt signal is transmitted in accordance with the arrival timing of the application activation cycle.

  The synchronous interrupt reception processing unit 34B of the extension controller 30 executes processing for receiving a synchronous interrupt signal from the basic controller 20.

  The application activation request processing units 24E and 34C acquire the statuses stored in the respective status storage units 25F and 35G (see FIG. 1) immediately after the transmission / reception of the synchronous interrupt signal, and the acquired status is the application operation state (RUN). ), The activation request processing of each application program α, β is executed. Accordingly, the application program activation request processing is performed in accordance with the arrival timing of the application activation cycle. When the application program activation request processing is performed, the application programs α and β are already arranged on the main memories 23 and 33, and the programs of the controllers 20 and 30 stored in the main memories 23 and 33 are executed. In accordance with the execution management table (see FIGS. 3 and 8 to 11) designated by the management table pointer, the execution of the application programs α and β including a plurality of machine language objects is started. That is, when the microprocessors 22 and 32 execute the application programs α and β, from the execution management table, the start addresses of the areas storing the programs to be activated (machine language objects constituting the application programs α and β) ( Storage destination address) is acquired, and the program is executed from the acquired address. Note that the storage destination addresses recorded in the execution management table are acquired in order from the top.

  (Means for executing process B)

  The external request standby processing means 24F of the basic controller 20 receives this activation request signal when an external activation request signal is input by a switch operation to the switch operation signal input unit 48 (see FIG. 1) of the management unit 40. Is received from the management unit 40.

  The counter value calculation / setting processing means 24G for setting of the basic controller 20 receives the activation request signal from the outside, and the application operating state determined in advance to the current value of the synchronous free-run counter 25A (see FIG. 1). By adding the count number C1 for setting the start timing, a synchronous free run counter value indicating the start timing of the application operation state is calculated, and the calculated synchronous free run counter value is stored in the application operation state start counter value storage unit 25B ( The processing to be stored in (see FIG. 1) is executed.

  Specifically, assuming that the current value of the synchronous free-run counter 25A is L, a synchronous free-run counter value N indicating the start timing of the application operation state is calculated as N = L + C1 (see FIG. 7).

  For example, the count number C1 for setting the application operation state start timing is the memory processing of the basic controller 20 and the extended controller 30 (initialization processing of various variables stored in the user data areas 27A and 37A of the data memories 27 and 37). ) Including the time required for the application startup preparation processing of each controller 20, 30 (for example, several hundred milliseconds), for example, 1000 counts (assuming that 1 count is 1 millisecond) For example, 1 second). The count number C1 is a probable numerical value as described above, but may be described in the system program γ constituting the setting counter value calculation / setting processing means 24G (system processing means 24). Alternatively, it may be stored in a memory (for example, the flash memory 26).

  The application operation start request flag setting processing unit 24H of the basic controller 20 receives the activation request signal from the outside, and the application operation start request flag storage unit 25D for the basic controller 20 provided in the basic controller 20 (FIG. 1). (Refer to FIG. 1) and a flag stored in the application operation start request flag storage means 25E (see FIG. 1) for the extended controller 30 provided in the basic controller 20 The process of changing to a state indicating) is executed. When the application operation start request flag setting processing unit 24H sets the flag stored in the application operation start request flag storage unit 25E (see FIG. 1) for the extended controller 30 provided in the basic controller 20, The state is reflected in the flag stored in the application operation start request flag storage means 35E (see FIG. 1) for the expansion controller 30 provided in the expansion controller 30 through the internal bus 11 by the shared memory function.

  The application operation start request flag monitoring processing unit 34D of the expansion controller 30 monitors the state of the flag stored in the application operation start request flag storage unit 35E (see FIG. 1) for the expansion controller 30 provided in the expansion controller 30. The process of determining whether or not the flag has been changed is repeatedly executed.

  The application activation preparation processing means 24J and 34E include memory initialization processing (initialization processing of various variables stored in the user data areas 27A and 37A of the data memories 27 and 37) of the basic controller 20 and the expansion controller 30, respectively. An application activation preparation process of the controllers 20 and 30 is executed.

  The application operation state start timing determination processing means 24K and 34F are stored in the current values of the synchronous free-run counters 25A and 35A (see FIG. 1) and the application operation state start counter value storage means 25B and 35B (see FIG. 1). By determining whether or not the synchronous free-run counter value matches, the process of determining whether or not the start timing of the application operating state has been reached is repeatedly executed.

  When the application operation state transition processing means 24L and 34G determine that both values match (that is, the start timing of the application operation state has arrived) by the application operation state start timing determination processing means 24K and 34F, A process for lowering the flag stored in the application operation start request flag storage means 25D and 35E (see FIG. 1) for the controllers 20 and 30 (a process for changing to a state indicating that there is no operation start request) is executed, and The status storage means 25F, 35G (see FIG. 1) of the status is transferred from the application stop state (STOP) to the application operation state (RUN).

  (Means for executing process C)

  The machine language object placement processing unit 24M of the basic controller 20 receives the changed machine language object transmitted from the loader 50 together with the number corresponding to the machine language object after the change, and receives the received changed machine language object. Among the objects, the changed machine language object for the own controller 20 is stored and arranged in the main memory 23 (that is, left in its own main memory 23), and the changed machine language object is arranged. Is stored in an execution management table T2 (see FIGS. 3 and 8 to 11) that is different from the currently used execution management table T1 stored in the main memory 23, and is used for the expansion controller 30. For the machine language object after the change, a process of transmitting to the microprocessor 32 of the expansion controller 30 is performed. It is intended to row. Further, the machine language object arrangement processing unit 24M performs a process of storing the machine language object after the change for the controller 20 in the main memory 23 and storing the machine language object in the flash memory 26 thereof.

  At this time, the machine language object placement processing unit 24M uses the received number as an index of the execution management table, and stores the storage address of the machine language object corresponding to the number at the position indicated by the number on the execution management table. Record. For example, referring to the storage status of the program before the change shown in FIG. 3, the storage destination address of the machine language object P1 corresponding to the number 1 is recorded at the top position on the execution management table T1, and the number 2 Is stored at the second position on the execution management table T1. This storage destination address recording process is the same when the changed program is stored, and only the execution management table T1 is changed to another execution management table T2. The same applies to the machine language object arrangement processing unit 34H of the extended controller 30 described later.

  The machine language object placement processing unit 24M does not determine whether the received machine language object after the change is a machine language object after the change for the extended controller 30, and the change received from the loader 50. All subsequent machine language objects may be transferred to the microprocessor 32 of the expansion controller 30.

  The machine language object arrangement processing unit 34H of the extended controller 30 receives the changed machine language object transmitted from the loader 50 via the microprocessor 22 of the basic controller 20 together with the corresponding number, and receives the received changed machine object. Of the machine language objects, only the machine language object after the change for the own controller 30 (in the case where only the machine language object after the change for the extended controller 30 is transmitted from the basic controller 20, the received changed Is stored in its own main memory 33, and the storage destination address of the changed machine language object is stored in the main memory 33 and is currently in use. Execution management table T2 different from the execution management table T1 of FIG. And executes processing for recording the first reference). Further, the machine language object arrangement processing unit 34H performs processing for storing the changed machine language object for the controller 30 in the main memory 33 and storing the machine language object in its own flash memory 36.

  The execution management table complement processing means 24N, 34J receives the change completion notification signal of the machine language object after the change sent from the loader 50, and the execution management table T2 different from the currently used execution management table T1. The process which complements (refer FIG. 3, FIG. 8-FIG. 11) is performed. This complementing process uses another storage management address of the machine language object that does not need to be changed among the storage destination addresses of the machine language object recorded in the currently used execution management table T1. This is a process of recording at T2.

  The program switching timing determination processing means 24P and 34K are the current values of the synchronous free run counters 25A and 35A (see FIG. 1) and the synchronous free run counters stored in the program switching counter value storage means 25C and 35C (see FIG. 1). By determining whether or not the values match, the process of determining whether or not the application program switching timing has arrived is repeatedly executed.

  The execution management table switching processing means 24Q and 34L store in the main memories 23 and 33 when the program switching timing determination processing means 24P and 34K determine that both match (that is, the application program switching timing has arrived). A process for switching the currently executed execution management table T1 for each of the controllers 20 and 30 to another execution management table T2, that is, the program execution management table pointer stored in the main memories 23 and 33 is Processing for switching from the address of the execution management table T1 being executed to the address of another execution management table T2 (see FIG. 11) is executed.

  The program switching counter value calculation / setting processing unit 44A of the management unit 40 receives the program switching instruction signal transmitted from the loader 50, and sets a predetermined count number C2 to the current value of the synchronous free-run counter 45A. Is added to calculate a synchronous free-run counter value indicating the switching timing of the application program, and a process of storing the calculated synchronous free-run counter value in the program switching counter value storage means 45C (see FIG. 1) is executed. Is.

  Specifically, assuming that the current value of the synchronous free-run counter 45A is M, a synchronous free-run counter value K indicating the switching timing of the application program is calculated as K = M + C2 (see FIG. 7).

  For example, the count number C2 for setting the program switching timing is defined as a number count (2 counts, etc.). The count number C2 is a probable numerical value, but may be described in the system program ε constituting the program switching counter value calculation / setting processing means 44A (system processing means 44), or a memory (for example, a flash memory) It may be stored in the memory 46 or the like.

  (Other system processing)

  In addition to the processing by the program switching counter value calculation / setting processing unit 44A, the system processing unit 44 of the management unit 40 inputs an activation request signal from the outside by switch operation to the switch operation signal input unit 48 (see FIG. 1). When there is, the process of transmitting the activation request signal to the basic controller 20 is executed.

  In this embodiment, system processing in the programmable controller system 10 is executed as follows and an application is activated.

  (Process A flow)

  In FIG. 4, the basic controller 20 and the expansion controller 30 start process A of the system processes (steps S1 and S2). First, in the basic controller 20, the application activation cycle standby processing unit 24B performs timer time measurement to repeatedly determine whether or not an application activation cycle of a predetermined time interval (for example, an interval of 1 millisecond) has come ( Step S3).

  If it is determined in step S3 that the application activation cycle has arrived, the count update processing unit 24C adds 1 count to the synchronous free-run counter 25A (step S4). The state in which the value of the synchronous free-run counter 25A is changed is also reflected in the other synchronous free-run counters 35A and 45A via the internal bus 11 by the shared memory function.

  Subsequently, the synchronous interrupt transmission processing unit 24D transmits a synchronous interrupt signal to the extension controller 30 (step S5). This synchronous interrupt signal is transmitted to the microprocessor 32 of the expansion controller 30 via the bus LSI 21 of the basic controller 20, the internal bus 11, and the bus LSI 31 of the expansion controller 30. Then, in the extended controller 30, the synchronous interrupt reception processing means 34B receives the synchronous interrupt signal from the basic controller 20 (step S6).

  Then, after transmission / reception of the synchronous interrupt signal, in the basic controller 20, the application activation request processing unit 24E acquires the status stored in the status storage unit 25F for the basic controller 20, and the acquired status is the application operating state ( RUN) is determined (step S7), and if it is in the application operating state (RUN), a request for starting the application α of the basic controller 20 is made (step S8), and the process A is terminated (step S7). S9). On the other hand, when the acquired status is the application stop state (STOP), the process A is terminated without making a request to start the application α (step S9).

  Similarly, in the extension controller 30, the application activation request processing means 34C acquires the status stored in the status storage means 35G for the extension controller 30, and whether the acquired status is the application operating state (RUN). If it is in the application operating state (RUN), a request to start the application β of the expansion controller 30 is made (step S11), and the process A is terminated (step S12). On the other hand, when the acquired status is the application stop state (STOP), the process A is terminated without making a request to start the application β (step S12).

  When the basic controller 20 and the expansion controller 30 perform the activation request processing of the application programs α and β, the microprocessors 22 and 32 of the controllers 20 and 30 respectively perform the main request processing as shown in FIGS. The program execution management table pointers for the controllers 20 and 30 stored in the memories 23 and 33 are acquired, and the execution management tables on the main memories 23 and 33 (indicated by the program execution management table pointer at the time of acquisition) For example, the first is the execution management table T1, and after switching, the execution management table T2 is acquired), and the first address of the machine language object recorded first in the acquired execution management table is acquired. , Apps that are already placed in the main memory 23, 33 from the acquired address The programs (machine language objects) constituting the application programs α and β are executed. These application programs α and β are set so that the execution is completed within a certain period (for example, an interval of 1 millisecond) indicated by a vertical dotted line in FIG. 7, that is, within an application activation period. Yes.

  (Process B flow)

  In FIG. 5, the basic controller 20 and the expansion controller 30 start process B of the system processes (steps S21 and S22). First, in the basic controller 20, the external request waiting processing means 24F waits for an external activation request, and the switch operation signal input unit 48 (see FIG. 1) of the management unit 40 receives the activation request signal from the outside by the switch operation. When there is an input, this activation request signal is received from the management unit 40 (step S23).

  Subsequently, the setting counter value calculation / setting processing unit 24G sets the current count value of the synchronous free-run counter 25A (L in the example of FIG. 7) to a predetermined count number C1 for setting the application operation state start timing ( For example, a synchronous free run counter value (N in the example of FIG. 7) indicating the start timing of the application operation state is calculated as N = L + C1 by adding C1 = 1000 counts) and the calculated synchronous free run The counter value (N in the example of FIG. 7) is stored in the application operation state start counter value storage unit 25B (step S24). The synchronous free-run counter value (N in the example of FIG. 7) stored in the application operation state start counter value storage unit 25B is sent to another application operation state start counter by the shared memory function via the internal bus 11. It is also reflected in the value storage means 35B, 45B.

  Then, the application operation start request flag setting processing unit 24H stores the flag stored in the application operation start request flag storage unit 25D for the basic controller 20 and the application operation start request flag storage unit 25E for the extended controller 30. A process of setting a flag (a process of changing to a state indicating that there has been an operation start request) is executed (step S25). When the flag stored in the application operation start request flag storage unit 25D for the basic controller 20 is set, this state is provided to the extended controller 30 and the management unit 40 via the internal bus 11 by the shared memory function. It is reflected in the flags stored in the application operation start request flag storage means 35D, 45D for the basic controller 20. Similarly, when the flag stored in the application operation start request flag storage unit 25E for the expansion controller 30 is set, this state is provided to the expansion controller 30 and the management unit 40 via the internal bus 11 by the shared memory function. This is reflected in the flags stored in the application operation start request flag storage means 35E and 45E for the extended controller 30.

  Then, in the extended controller 30, the application operation start request flag monitoring processing unit 34D monitors the state of the flag stored in the application operation start request flag storage unit 35E for the extended controller 30, and changes to a state in which this flag is set. The process of determining whether or not the process has been performed is repeatedly executed (step S26). If the flag is set, the process proceeds to the next step.

  Thereafter, in the basic controller 20 and the extended controller 30, the application activation preparation processing means 24J, 34E performs the memory initialization process of each controller 20, 30 (the application α stored in the user data areas 27A, 37A of the data memories 27, 37). , Β initialization processing for various variables), application startup preparation processing of each controller 20, 30 is executed (steps S27, S28).

  Next, in the basic controller 20, the application operation state start timing determination processing unit 24K causes the current value of the synchronous free run counter 25A and the synchronization free run counter value stored in the application operation state start counter value storage unit 25B (see FIG. In the example of FIG. 7, the process of determining whether or not the start timing of the application operating state has been reached is determined by determining whether or not N) matches (step S29).

  If it is determined in step S29 that both values match (that is, the start timing of the application operation state has arrived), the application operation start request flag memory for the basic controller 20 is stored by the application operation state transition processing means 24L. Processing for lowering the flag stored in the means 25D (processing for changing to a state indicating that there is no operation start request) is executed (step S30). When the flag stored in the application operation start request flag storage unit 25D for the basic controller 20 is cleared, this state is provided to the expansion controller 30 and the management unit 40 via the internal bus 11 by the shared memory function. It is reflected in the flags stored in the application operation start request flag storage means 35D, 45D for the basic controller 20.

  Subsequently, the application operation state transition processing unit 24L executes a process of shifting the status stored in the status storage unit 25F for the basic controller 20 from the application stop state (STOP) to the application operation state (RUN) (step S31), process B is terminated (step S32). When the status stored in the status storage unit 25F for the basic controller 20 is changed, the changed state is changed to the basic provided in the extended controller 30 or the management unit 40 by the shared memory function via the internal bus 11. It is reflected in the status stored in the status storage means 35F, 45F for the controller 20.

  Further, in the expansion controller 30, the application operation state start timing determination processing unit 34F causes the current value of the synchronous free run counter 35A and the synchronous free run counter value stored in the application operation state start counter value storage unit 35B (FIG. 7). In this example, the process of determining whether or not the start timing of the application operating state has arrived is repeatedly performed by determining whether or not N) matches (step S33).

  If it is determined in step S33 that both values match (that is, the start timing of the application operation state has arrived), the application operation start request flag memory for the expansion controller 30 is stored by the application operation state transition processing unit 34G. Processing for lowering the flag stored in the means 35E (processing for changing to a state indicating that there is no operation start request) is executed (step S34). When the flag stored in the application operation start request flag storage means 35E for the expansion controller 30 is cleared, this state is provided to the basic controller 20 and the management unit 40 via the internal bus 11 by the shared memory function. This is reflected in the flags stored in the application operation start request flag storage means 25E and 45E for the extended controller 30.

  Subsequently, the application operating state transition processing unit 34G executes a process of shifting the status stored in the status storage unit 35G for the extended controller 30 from the application stop state (STOP) to the application operating state (RUN) (step S35), process B is terminated (step S36). When the status stored in the status storage unit 35G for the expansion controller 30 is changed, the state after the change is extended via the internal bus 11 by the shared memory function to the extension provided in the basic controller 20 or the management unit 40. The status is stored in the status storage means 25G and 45G for the controller 30.

  (Process C flow)

  6, the program development support process in the loader 50 is started (step S41), and the management unit 40, the basic controller 20, and the expansion controller 30 start the process C among the system processes (step S42, S43, S44).

  First, the user performs an operation of changing the description of the source code of the program to be changed by the interface function of the source editing processing means 51 of the loader 50, and stores the changed source code in the source code storage means 52 (step) S45).

  Subsequently, the machine operating on the target (on the microprocessors 22 and 32 of the controllers 20 and 30) is compiled by compiling the changed source code stored in the source code storage means 52 by the compiler 53 of the loader 50. The converted machine language object obtained by the conversion process is stored in the machine language object storage means 54 (step S46). In addition, as shown in FIG. 3, the compiler 53 created and created a source code management table that defines the correspondence between source code names, machine language object names after conversion, and numbers assigned thereto. The source code management table is stored in the source code management table storage means 55 (step S46).

  Then, the machine language object transmission processing unit 56 of the loader 50 uses the correspondence relationship between the machine language object name and the number stored in the source code management table storage unit 55, and uses this machine language object storage unit 54 from the machine language object storage unit 54. The machine language object after the change with the name attached is acquired, and the acquired machine language object after the change together with the corresponding number is connected to the USB connection unit 47A, the Ethernet connection unit 47B (Ethernet is a registered trademark) of the management unit 40, Alternatively, the data is transmitted to the basic controller 20 via the management unit 40 by communication using any one of the serial connection units 47C (however, the relay processing of the management unit 40 is omitted in FIG. 6) ( Step S47). When there are a plurality of machine language objects after change, all the machine language objects after change are transmitted to the basic controller 20 via the management unit 40. Further, as will be described later, the function of the management unit 40 may be implemented as one function of the basic controller 20, and in this case, the machine language object after the change together with the corresponding number is added to the basic controller. 20 may be transmitted directly.

  For example, as shown in FIG. 8, before the program update, the main memory 23 for the microprocessor 22 of the basic controller 20 stores the machine language objects P1 and P2, and the main memory for the microprocessor 32 of the extended controller 30. It is assumed that machine language objects P2 and P3 are stored in the memory 33. When the user changes the source code U2 (see FIG. 3) corresponding to the machine language object P2 with the loader 50 and compiles the changed source code to obtain the machine language object P2 ′. The machine language object P2 ′ after the change is transmitted to the basic controller 20 through the management unit 40 together with the number 2.

  In the basic controller 20, the machine language object placement processing unit 24M receives the changed machine language object transmitted from the loader 50 together with the corresponding number (step S48). Then, the machine language object placement processing unit 24M determines whether the received machine language object after the change is a machine language object after the change executed by which controller, and the received machine language object after the change is received. Among them, the changed machine language object for the own controller 20 is stored and arranged in the main memory 23, and the changed machine language object for the extended controller 30 is transmitted to the microprocessor 32 of the extended controller 30. (Step S49). Note that all of the changed machine language objects received from the loader 50 may be transferred to the extension controller 30 without determining whether or not the machine language objects are changed for the extended controller 30.

  Subsequently, the start address (storage destination address) of the area storing the machine language object after the change arranged in the main memory 23 is executed separately from the currently used execution management table T1 stored in the main memory 23. Record in the management table T2 (step S50).

  For example, as shown in FIG. 9, when the machine language object P2 ′ after change is received together with the number 2, the received machine language object P2 ′ after change is stored in the main memory 23 and arranged. Since the number is 2, the storage destination address of the machine language object P2 ′ after the change is recorded at the second position in the execution management table T2.

  When the machine language object placement processing unit 24M determines whether the received machine language object after the change is a machine language object after the change for which controller, the change for the own controller 20 is performed. If it is only determined whether or not it is a later machine language object, the storage location of the machine language object is stored at the position on the execution management table T1 indicated by the received number using the currently used execution management table T1. The determination can be made based on whether an address is recorded. Alternatively, the received number may be determined using data (data indicating the correspondence between the number and the controller) stored separately in a memory (for example, the flash memory 26), or from the loader 50 in the machine language. The determination may be made using target identification information (information for identifying which machine language object is executed by which controller) transmitted together with the object and the number.

  Thereafter, in the extended controller 30, the machine language object placement processing unit 34H receives the machine language object after the change transmitted from the loader 50 via the microprocessor 22 of the basic controller 20 together with the corresponding number (step S51). ) Of the received machine language objects after the change, only the machine language object after the change for the own controller 30 (when only the machine language object after the change for the extended controller 30 is transmitted from the basic controller 20) Are all of the received machine language objects after change.) Are stored in the main memory 33 of their own (step S52).

  Note that when the basic controller 20 transmits a machine language object after the change other than the machine language object after the change for the extended controller 30, it is received by using the execution management table T1 currently in use. It is possible to determine whether or not the machine language object has been changed for the controller 30 based on whether or not the storage destination address of the machine language object is recorded at the position on the execution management table T1 indicated by the number. it can.

  Subsequently, the machine language object placement processing unit 34H sets the storage address of the machine language object after the change placed in the main memory 33 to be different from the currently used execution management table T1 stored in the main memory 33. It records in the execution management table T2 (step S53).

  For example, as shown in FIG. 9, when the machine language object P2 ′ after change is received together with the number 2, the received machine language object P2 ′ after change is stored in the main memory 33 and arranged. Since the number is 2, the storage destination address of the machine language object P2 ′ after the change is recorded at the second position in the execution management table T2.

  Then, after storing the changed machine language objects in the main memories 23 and 33 in the controllers 20 and 30 (if there are a plurality of changed machine language objects, all the changed machine language objects In the loader 50, the machine language object transmission processing means 56 sends a machine language object transmission completion notification signal via the management unit 40 (however, in FIG. The illustration of the relay process is omitted.), The data is transmitted to the microprocessors 22 and 32 of the controllers 20 and 30 (step S54).

  Then, in the basic controller 20, the execution management table supplement processing means 24N receives the signal of the completion of transmission of the machine language object after the change transmitted from the loader 50 (step S55), and stores it in another execution management table T2. Complementary processing, that is, the storage destination address of the machine language object that does not need to be changed among the storage destination addresses of the machine language object recorded in the currently used execution management table T1, is used as it is, and another execution management table T2 The process of recording in (S56) is executed.

  Also in the extended controller 30, the execution management table complement processing means 34J receives the signal of the completion of transmission of the machine language object after the change sent from the loader 50 (step S57), and the other controller in the other execution management table T2. Complementary processing, that is, the storage destination address of the machine language object that does not need to be changed among the storage destination addresses of the machine language object recorded in the currently used execution management table T1, is used as it is, and another execution management table T2 The process of recording is executed (step S58).

  For example, as shown in FIG. 10, the basic controller 20 uses the machine language object P1 as it is as a complementary process of another execution management table T2 stored in the main memory 23, so that it is used as it is and is currently used. The storage address of the machine language object P1 recorded at the first position of the execution management table T1 is recorded at the first position of another execution management table T2. Also, as shown in FIG. 10, in the extended controller 30, the machine language object P3 has not been changed as a complementary process to another execution management table T2 stored in the main memory 33, so it is used as it is and is currently used. The storage address of the machine language object P3 recorded at the third position of the execution management table T1 is recorded at the third position of another execution management table T2.

  Next, the loader 50 transmits a program switching instruction signal to the management unit 40 (step S59), and the processing related to program change in the loader 50 is terminated (step S60). In the management unit 40, the program switching counter value calculation / setting processing unit 44A receives a program switching instruction signal transmitted from the loader 50 (step S61), and the current value of the synchronous free-run counter 45A (FIG. 7). In the example, a synchronous free-run counter value indicating the switching timing of the application program (K in the example of FIG. 7) by adding a predetermined count number C2 (for example, C2 = 2 count) to M). Is calculated as K = M + C2, and the calculated synchronous free-run counter value (K in the example of FIG. 7) is stored in the program switching counter value storage means 45C (see FIG. 1) (step S62). The process C is terminated (step S63).

  Thereafter, in the basic controller 20, the program switching timing determination processing means 24P performs the synchronization free run stored in the current value of the synchronous free run counter 25A (see FIG. 1) and the program switching counter value storage means 25C (see FIG. 1). By determining whether or not the counter value (K in the example of FIG. 7) matches, the process of determining whether or not the application program switching timing has arrived is repeatedly executed (step S64).

  In step S64, if the program switching timing determination processing unit 24P determines that the two match (that is, the application program switching timing has arrived), the execution management table switching processing unit 24Q stores the information in the main memory 23. Processing for switching the currently executed execution management table T1 for the basic controller 20 to another execution management table T2, ie, a program execution management table stored in the main memory 23 as shown in FIG. A process of switching the pointer from the address of the currently executing execution management table T1 to the address of another execution management table T2 is executed (step S65), and the process C in the basic controller 20 is terminated (step S66).

  Further, in the extended controller 30, the program switching timing determination processing means 34K uses the current value of the synchronous free run counter 35A (see FIG. 1) and the synchronous free run stored in the program switching counter value storage means 35C (see FIG. 1). By determining whether or not the counter value (K in the example of FIG. 7) matches, the process of determining whether or not the application program switching timing has come is repeatedly executed (step S67).

  In step S67, when it is determined by the program switching timing determination processing unit 34K that both match (that is, the switching timing of the application program has arrived), the execution management table switching processing unit 34L stores it in the main memory 33. Processing for switching the currently executed execution management table T1 for the extended controller 30 to another execution management table T2, that is, a program execution management table stored in the main memory 33 as shown in FIG. A process of switching the pointer from the address of the currently executing execution management table T1 to the address of another execution management table T2 is executed (step S68), and the process C in the expansion controller 30 is terminated (step S69).

  (Overall flow of system processing)

  In FIG. 7, first, although not shown, the processing by the system initial processing means 24A and 34A is started in the basic controller 20 and the extended controller 30 by the reset state cancellation. At this time, the synchronous free-run counter 25A is activated by the system initial processing means 24A of the basic controller 20 and starts counting from zero. The state of the synchronous free-run counter 25A is reflected to the synchronous free-run counters 35A and 45A provided in the expansion controller 30 and the management unit 40 via the internal bus 11 by the shared memory function.

  Further, the system initial processing means 24A of the basic controller 20 sets the status stored in the status storage means 25F for the basic controller 20 to the application stop state (STOP), and this state is shared via the internal bus 11. By the memory function, it is reflected in the status stored in the status storage means 35F, 45F for the basic controller 20 provided in the expansion controller 30 or the management unit 40. Similarly, the status stored in the status storage unit 35G for the expansion controller 30 is set to the application stop state (STOP) by the system initial processing unit 34A of the expansion controller 30, and this state is set via the internal bus 11. The shared memory function reflects the status stored in the status storage means 25G and 45G for the expansion controller 30 provided in the basic controller 20 and the management unit 40. Note that the status may be set to the initial state first, and after handshaking to complete the initial processing, the application may be stopped (STOP).

  Subsequently, the arrival monitoring of the application start cycle by the application start cycle standby processing means 24B of the basic controller 20 is started, and thereafter, as shown by the vertical lines shown by dotted lines in FIG. Etc.), that is, at the timing of the application activation cycle, the synchronous interrupt of the process A (see FIG. 4) is repeatedly executed, and the synchronous free-run counter 25A is incremented. In FIG. 7, the arrival of the application start cycle (step S3 in FIG. 4) is indicated by a dotted vertical line, and the counter value is counted by 1 immediately after the dotted line when the synchronous free-run counter 25A counts up (step S4 in FIG. 4). The transmission / reception (steps S5 and S6 in FIG. 4) of the synchronous interrupt signal immediately after that is indicated by a thick arrow pointing downward.

  After that, although not shown by the system initial processing means 24A, 34A, a handshake (processing for establishing communication discipline such as communication parameter arrangement) is performed, so that the basic controller 20 and the extended controller 30 are connected. Wait for initial completion.

  After the initial processing is completed, both the basic controller 20 and the expansion controller 30 are changed from the initial state (not shown) to the application stopped state, and the external request waiting processing means 24F of the basic controller 20 waits for an external activation request ( Processing B (see FIG. 5) for starting the activation switch operation) is started.

  At this time, since the process A (see FIG. 4) is interrupted at a constant cycle with respect to the process B (see FIG. 5), the process A and the process B are alternately executed as shown in FIG. It becomes a time chart. However, since the process A is an interrupt process, the flow of the process A of FIG. 4 is repeated many times in the time chart of FIG. 7, but the flow of the process B of FIG. In FIG. 7, the length indicating the time interval (for example, 1 millisecond) of the application start cycle indicated by the dotted line, the length indicating the execution time of the process A, and the length indicating the execution time of the process B are as follows. However, it does not show the actual time ratio, but is a description for convenience of explanation to make it easier to imagine the temporal relationship of each process.

  As shown in FIG. 7, assuming that there is an external activation request (step S23 in FIG. 5) when the value of the synchronous free-run counter 25A becomes L, the start timing of the application operating state is determined at this point. The synchronous free-run counter value N shown is calculated by N = L + C1 using a prospective predetermined count number C1, and the calculated synchronous free-run counter value N is set (step S24 in FIG. 5). .

  Then, the basic controller 20 performs application α activation preparation processing (step S27 in FIG. 5), and the extended controller 30 performs application β activation preparation processing (step S28 in FIG. 5). In the example of FIG. 7, it is described that the application α activation preparation process continues to the count value (N−1) and the application β activation preparation process continues to the count value (N−2). Is a description for indicating that the time required for the startup preparation process differs depending on the controllers 20 and 30, and is not an actual count value. Actually, for example, N is set in anticipation of a numerical value such as C1 = 1000 counts. Therefore, each startup preparation process is completed with a count value before N.

  Thereafter, it is assumed that the synchronous free-run counter 25A of process A is incremented (step S4 in FIG. 4) at the arrival timing of the application activation cycle, and the value of the synchronous free-run counter 25A becomes N. Even if the status check (steps S7 and S10 in FIG. 4) is performed after the transmission / reception of the synchronous interrupt signal of process A (steps S5 and S6 in FIG. 4), the status is still in the application stopped state ( Therefore, the application activation request (steps S8 and S11 in FIG. 4) is not performed.

  Immediately after this, when the interruption of the process A is completed and the process returns to the process B, the values of the synchronous free-run counters 25A and 35A are N, so it is determined that the start timing of the application operating state has arrived (FIG. 5). Steps S29 and S33), in the basic controller 20 and the extended controller 30, the status for the basic controller 20 and the status for the extended controller 30 are respectively shifted from the application stop state (STOP) to the application operation state (RUN) ( Steps S31 and S35 in FIG. 5).

  Subsequently, when the values of the synchronous free-run counters 25A and 35A reach (N + 1), the status confirmation (steps in FIG. 4) is performed after transmission / reception of the synchronous interrupt signal in step A (steps S5 and S6 in FIG. 4). When S7 and S10) are performed, since the status has already been shifted to the application operating state (RUN) at this time, the applications α and β are started in the basic controller 20 and the expansion controller 30 (FIG. 4). Steps S8 and S11). Thereafter, the same is true when the values of the synchronous free-run counters 25A, 35A become (N + 2), (N + 3),..., And the status is the application operating state (RUN). It is activated (steps S8 and S11 in FIG. 4). Therefore, if the synchronous free-run counter value indicating the start timing of the application operation state is N, the application operation state (applications α and β are repeatedly activated in a certain cycle from the next counter value (N + 1). Period) will continue.

  Further, as described above, the applications α and β are repeatedly started in a certain cycle from the time when the values of the synchronous free-run counters 25A and 35A become (N + 1), but the applications α and β are within a certain cycle. Therefore, the process C (see FIG. 6) for accepting the update of the running program is in a standby state after the execution of the applications α and β in each cycle is completed.

  Accordingly, the process A (see FIG. 4) is interrupted at a constant cycle with respect to the process C (see FIG. 6), and the execution of the applications α and β that are repeatedly started at the timing of the interrupt is within each cycle. Therefore, as shown in FIG. 7, the process A, the process APL by the application, and the process C are executed while being switched. However, in the time chart of FIG. 7, the flow of the process A in FIG. 4 and the process APL by the application are repeated many times, but the flow of the process C in FIG. 6 is one time. In FIG. 7, the length indicating the time interval (for example, 1 millisecond) of the application start cycle indicated by the dotted line, the length indicating the execution time of the process A, and the length indicating the execution time of the process APL by the application In addition, the length indicating the execution time of the process C does not indicate an actual time ratio, but is a description for convenience of explanation to make it easy to imagine the temporal relationship of each process.

  As shown in FIG. 7, by the time when the value of the synchronous free-run counter 45A becomes M, the changed machine language object is transmitted and stored in the main memories 23 and 33, and the value of the synchronous free-run counter 45A Assuming that there is a program switching instruction (steps S59 and S61 in FIG. 6) from the loader 50 at the time when becomes M, the synchronous free-run counter value K indicating the program switching timing is expected at this time. A predetermined count number C2 is used to calculate K = M + C2, and the calculated synchronous free-run counter value K is set (step S62 in FIG. 6).

  Thereafter, it is assumed that the synchronous free-run counter 25A of process A is incremented (step S4 in FIG. 4) at the arrival timing of the application activation cycle, and the value of the synchronous free-run counter 25A becomes K. At this time, when the processing α (see FIG. 6) is executed after execution of the applications α and β started synchronously at the timing of the interrupt of the processing A (see FIG. 4), the values of the synchronous free-run counters 25A and 35A are Therefore, it is determined that the program switching timing has arrived (steps S64 and S67 in FIG. 6). In the basic controller 20 and the expansion controller 30, the controllers 20, The process of switching the currently executing execution management table T1 for 30 to another execution management table T2, that is, as shown in FIG. 11, the program execution management table pointer stored in the main memories 23 and 33 is A process of switching from the address of the execution management table T1 being executed to the address of another execution management table T2 is performed. It is.

  Subsequently, when the values of the synchronous free-run counters 25A and 35A reach (K + 1), when the activation requests for the applications α and β of the process A are made (steps S8 and S11 in FIG. 4), at this time, Since the program execution management table pointers for the controllers 20 and 30 have already been switched, the programs stored in the main memories 23 and 33 are executed according to the execution management table T2 pointed to by the program execution management table pointer after switching. Is done. That is, since the execution management table has already been switched from T1 to T2 at this time, the programs stored in the main memories 23 and 33 are executed according to the switched execution management table T2. Since the changed execution management table T2 includes the storage address of the machine language program after the change, the application programs α and β including the machine language program after the change are executed. Therefore, if the synchronous free-run counter value indicating the switching timing of the program is K, the operation state by the program after switching continues from the time of the next counter value (K + 1).

  According to this embodiment, there are the following effects. That is, the count update processing unit 24C of the basic controller 20 updates the value of the synchronous free run counter 25A, and the program switching timing determination processing units 24P and 34K of the basic controller 20 and the extended controller 30 respectively synchronize free run. When it is determined that the current values of the counters 25A and 35A match the synchronous free-run counter values stored in the program switching counter value storage means 25C and 35C, the respective execution management table switching processing means 24Q and 34L Since the execution management table T1 for each controller 20, 30 is switched to another execution management table T2 in which the storage destination address of the machine language object after the change is recorded, each controller 20, 30 Execution management table T2 after switching Therefore, it is possible to execute the application program α is updated configured to include a machine language object after the change, the beta. For this reason, the synchronous update of a program is realizable.

  The synchronous interrupt signal is transmitted / received by the synchronous interrupt transmission processing means 24D of the basic controller 20 and the synchronous interrupt reception processing means 34B of the extended controller 30, and the application activation request processing means 24E of each of the basic controller 20 and the extended controller 30 is received. Since the activation request processing of each application α, β is executed at the timing of transmission / reception of the synchronous interrupt signal by 34C (see FIG. 4), the periodically repeated activation of each application α, β is synchronized every time. Can do.

  Since it is possible to synchronize the activation of the application programs α and β that are periodically repeated in this way, each of the configurations including the machine language object after the change at the timing of transmission and reception of the synchronization interrupt signal Since the application programs α and β can be activated in synchronization, both synchronous update and synchronous activation of the program can be realized.

  In addition, as described above, the synchronization of the program update and the periodically repeated application program are performed by the synchronous interrupt signal between the basic controller 20 and the extended controller 30 and the timing control by the synchronous free-run counters 25A and 35A. Therefore, it is possible to prevent the malfunction of the operation to be controlled, and to realize highly accurate synchronous control.

  Further, the program switching counter value calculation / setting processing means 44A adds a predetermined count number C2 to the current value of the synchronous free-run counter 45A, thereby obtaining a synchronous free-run counter value indicating the switching timing of the application program. Since it is configured to calculate and set, when a program switching instruction from the loader 50 is received, the application program switching timing is relatively determined based on the value of the synchronous free-run counter 45A at that time. Therefore, it is possible to set an appropriate and early switching timing.

  Note that the present invention is not limited to the above-described embodiment, and modifications and the like within a scope where the object of the present invention can be achieved are included in the present invention.

  For example, in the above embodiment, the description has been made assuming that there is one expansion controller 30, but there may be a plurality of expansion controllers 30.

  In the embodiment, the management unit 40 is provided with the program switching counter value calculation / setting processing means 44A. However, the basic controller 20 may be provided with a program switching counter value calculation / setting processing means. In this case, the program switching counter value calculation / setting processing means receives a program switching instruction signal from the loader 50, and adds a predetermined count number C2 to the current value of the synchronous free-run counter 25A at this time. Thus, the synchronization free-run counter value indicating the switching timing of the application program may be calculated, and the calculated synchronous free-run counter value may be stored in the program switching counter value storage unit 25C.

  In addition to the function of the program switching counter value calculation / setting processing unit 44A, more generally, the function of the management unit 40 (all functions realized by the system processing unit 44) is 1 of the basic controller 20. It may be implemented as one function. Therefore, the processing of steps S42 to S63 executed by the management unit 40 shown in FIG. 6 may be executed by the basic controller 20.

  Furthermore, in the above embodiment, the machine language object after the change is sent from the loader 50 to the basic controller 20 via the management unit 40 (however, in FIG. 6, the relay process of the management unit 40 is not shown). After being transmitted, the data was transmitted from the basic controller 20 to the extended controller 30, but may be transmitted directly from the loader 50 to the basic controller 20 and the extended controller 30 via the management unit 40. Good. That is, transmission from the basic controller 20 to the expansion controller 30 may not be performed. In this case, since the machine language object after the change directly transmitted to the extension controller 30 includes an object that is not the machine language object after the change for the own controller 30, the machine of the extension controller 30 is included. The word object arrangement processing unit 34H may determine whether or not the received changed machine language object is a changed machine language object for the controller 30 itself. It should be noted that the changed machine language object received from the loader 50 by the system processing unit 44 of the management unit 40 is the machine code after the change executed by any controller. It is determined whether it is an object, and the machine language object after the change for the basic controller 20 among the received machine language objects after the change is transmitted to the microprocessor 22 of the basic controller 20, and after the change for the extended controller 30 These machine language objects may be transmitted to the microprocessor 32 of the extension controller 30.

  In the embodiment, the setting counter value calculation / setting processing unit 24G relatively sets the start timing of the application operation state based on the value of the synchronous free-run counter 25A when an activation request from the outside is received. The synchronous free-run counter value shown is calculated and set (step S24 in FIG. 5), but is not limited to this. For example, both the basic controller 20 and the extended controller 30 (three or more) If there are other controllers, check that the application startup preparation process is complete for all of them using a flag, status, etc. (that is, a flag or status that can determine the completion of the startup preparation process) ), Indicating the start timing of the application operating state after confirmation Calculates a period free running counter value, may set. For example, application operation is performed by adding a predetermined count number C3 (for example, C3 = 2 count) to the value of the synchronous free-run counter 25A at the time when it is confirmed that all the application activation preparation processes are completed. A synchronous free-run counter value indicating the start timing of the state may be calculated and set. However, from the viewpoint of facilitating the determination process of the start timing of the application operation state, the configuration as in the above embodiment is preferable.

  Furthermore, in the above-described embodiment, the data is shared by the three shared memory areas 25, 35, and 45 (see FIGS. 1 and 2). However, one shared connection connected to each microprocessor by a bus. A memory area may be provided.

  In practice, overflow of the value of the synchronous free-run counter 25A does not become a problem, but in the unlikely event that it overflows (such as when an external startup request is significantly delayed) The calculation process of the synchronous free-run counter value indicating the start timing may be performed as follows. That is, the maximum value of the synchronous free-run counter 25A is set to MAX (the total number of counts is (MAX + 1) because it takes a value of 0 to MAX), and the synchronous free-run counter value indicating the start timing of the application operation state to be calculated is Assuming that N is N, the current value of the synchronous free-run counter 25A at the time of this calculation process is L, and the predetermined number of counts is C1 (the value of C1 may be the same as in the above embodiment), N When L = C1 exceeds MAX, a process of N = L + C1- (MAX + 1) may be performed. That is, in consideration of returning to 0 after the count value becomes MAX, (MAX + 1) of the total count is reduced. If the synchronous free-run counter 25A is counted from 1 (that is, if it returns to 1 after the count value becomes MAX), it takes a value of 1 to MAX, so the total number of counts is MAX. N = L + C1-MAX may be sufficient. In short, it is only necessary to be able to determine the time point when the count number C1 has elapsed from the time point when the count value is L (the time point when the activation request is received from the outside).

  As described above, the programmable controller system and the program update method thereof according to the present invention are suitable for use when updating an application program being executed.

10 Programmable Controller System 20 Basic Controller 24C Count Update Processing Unit 24D Synchronous Interrupt Transmission Processing Unit 24E, 34C Application Activation Request Processing Unit 24M, 34H Machine Language Object Placement Processing Unit 24P, 34K Program Switching Timing Determination Processing Unit 24Q, 34L Execution Management Table Switching processing means 25, 35, 45 Shared memory area 25A, 35A, 45A Synchronous free-run counter 25C, 35C, 45C Program switching counter value storage means 30 Extended controller 34B Synchronous interrupt reception processing means 40 Management unit 44A Program switching counter value calculation / Setting processing means α, β Application program P1, P2, P3 Machine language object P2 'Machine language object after change T1, T2 Execution management Buru

Claims (3)

A programmable controller system comprising a basic controller and at least one extended controller, and configured to execute each application program according to an execution management table prepared in each of the plurality of controllers,
A synchronous free-run counter provided in a shared memory area shared by the basic controller and the extended controller;
Program switching counter value storage means for storing a synchronous free-run counter value provided in the shared memory area and indicating a switching timing of the application program,
The basic controller is
Synchronous interrupt transmission processing means for executing processing for transmitting a synchronous interrupt signal to the expansion controller;
The synchronous free-run counter comprises a count update processing means for executing a process of adding or subtracting one count or a fixed number of counts per transmission of the synchronous interrupt signal,
The expansion controller is
Synchronous interrupt reception processing means for executing processing for receiving the synchronous interrupt signal from the basic controller,
Each of the basic controller and the expansion controller is
The changed machine language object transmitted from the loader is stored and arranged in the main memory for the processor of each controller, and the storage destination address of the changed machine language object is currently being used. Machine language object placement processing means for executing processing to be recorded in a separate execution management table,
Program switching timing determination processing means for repeatedly executing processing for determining whether or not the current value of the synchronous free run counter matches the synchronous free run counter value stored in the program switching counter value storage means;
An execution management table switching processing means for executing a process of switching the execution management table for each controller to the another execution management table when it is determined by the program switching timing determination processing means;
A programmable controller system comprising: application activation request processing means for executing activation request processing of each application program executed according to an execution management table for each controller at the timing of transmission / reception of the synchronous interrupt signal . The management unit having a processor different from the processors of the plurality of controllers, or the basic controller,
When receiving a program switching instruction from the loader, a synchronous free run counter value indicating the switching timing of the application program by adding or subtracting a predetermined count number to the current value of the synchronous free run counter The program switching counter value calculation / setting processing means for executing the process of calculating the synchronous free-run counter value in the program switching counter value storage means is calculated. Programmable controller system. A program update method for a programmable controller system comprising a basic controller and at least one extended controller, and configured to execute each application program according to an execution management table prepared in each of the plurality of controllers,
In a shared memory area shared by the basic controller and the extended controller, a synchronous free-run counter and a program switching counter value storage means for storing a synchronous free-run counter value indicating the switching timing of the application program are provided.
The synchronous interrupt transmission processing means of the basic controller executes a process of transmitting a synchronous interrupt signal to the extended controller,
The count update processing means of the basic controller executes a process of adding or subtracting one count or a certain number of counts to the synchronous free-run counter for each transmission of the synchronous interrupt signal,
A synchronous interrupt reception processing means of the extended controller executes a process of receiving the synchronous interrupt signal from the basic controller;
The machine language object arrangement processing means of each of the basic controller and the extended controller stores and arranges the machine language object after the change transmitted from the loader in the main memory for the processor of each controller, and Execute the process of recording the storage address of the machine language object after the change in an execution management table different from the currently used execution management table,
Whether the program switching timing determination processing means of each of the basic controller and the extended controller matches the current value of the synchronous free-run counter with the synchronous free-run counter value stored in the program switching counter value storage means. Repeatedly execute the process of determining whether
When the execution control table switching processing means of each of the basic controller and the extended controller determines that the program switching timing determination processing means matches, the execution management table for each controller is transferred to the other execution management table. Execute the switching process,
The application activation request processing means of each of the basic controller and the extended controller executes activation request processing of each application program executed according to the execution management table for each controller at the transmission / reception timing of the synchronous interrupt signal. A program update method for a programmable controller system.

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