JP2013029914A - Control program test apparatus, control program test system and testing method of control program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To test a control program without downloading a device simulation program simulating a device to be controlled.SOLUTION: A controller 2 connected to a personal computer 3 including a device simulation program 30 simulating a device to be controlled includes a control program 20 which controls the device to be controlled, an actual I/O 25 which actually inputs/outputs data to/from the device to be controlled, a virtual I/O 24 which virtually inputs/outputs data to/from the device to be controlled, and an I/O switching section 23 which switches the actual I/O 25 and the virtual I/O 24 in accordance with a command either from the device simulation program 30 or from the control program 20. In the case where a command from the virtual I/O 24 is executed and a value change event occurs, the I/O switching section 23 transmits the value change event to the device simulation program 30.

Description

The present invention relates to a test apparatus, a test system, and a method for testing a control program used in a control apparatus having a digital input / output.

In fields such as FA (Factory Automation), a control device that performs automatic control according to a control program is used. In order to check the operation of the control program in such a control device, it is necessary to connect a controlled device that is an actual input / output device.

As a device for testing a control program in a state where the controlled device is not connected to the control device, a real I / O that has been assigned to a real I / O that performs actual data input / output between the control device and the controlled device is conventionally used The address, the virtual I / O address of the data input / output device virtually provided in the memory inside the control device, the flag indicating the validity of the virtual I / O address, the real I / O address and the virtual I / O address A mapping table for storing the corresponding memory address is provided. When the virtual I / O address is invalid by the valid flag, data is input / output between the real I / O and the memory address, and the virtual I / O When the validity of the address is indicated, there is a sequence controller that performs data input / output between a virtual I / O address and a memory address (see, for example, Patent Document 1).

JP-A-8-272409

However, in the above sequence controller, the device simulation program to be controlled by the control program is created on an external personal computer or the like and downloaded to the controller to test the control program. There was a problem that had to be downloaded.

The present invention has been made to solve such a problem, and provides a control program test apparatus, a control program test system, and a control program test method capable of testing a control program without downloading a device simulation program. The purpose is to obtain.

A control program test apparatus according to the present invention is connected to a terminal device having an apparatus simulation program that simulates a controlled apparatus, and a control program for controlling the controlled apparatus and an actual interface that actually inputs and outputs data to the controlled apparatus A virtual interface unit that virtually inputs / outputs data to / from the controlled device, and a switching unit that switches between the real interface unit and the virtual interface unit in response to a command from either the device simulation program or the control program. When a value change occurs by executing a command from the virtual interface unit, the switching unit transmits information related to the value change to the device simulation program.

A control program test system according to the present invention includes a terminal device having a device simulation program that simulates a controlled device, a control program that controls the controlled device, an actual interface unit that actually inputs and outputs data to the controlled device, A virtual interface unit that virtually inputs and outputs data to the controlled device, a switching unit that switches between the real interface unit and the virtual interface unit in response to a command from either the device simulation program or the control program, A controller connected to the terminal device, and when the virtual interface unit executes a command and a value change occurs, the switching unit transmits information about the value change to the device simulation program.

The control program testing method according to the present invention includes a control program for controlling a controlled device, a real interface unit that actually inputs and outputs data to the controlled device, and a virtual that virtually inputs and outputs data to the controlled device. A device simulation that simulates a controlled device connected to the controller and a controller having a switching unit that switches between the real interface unit and the virtual interface unit in response to a command from one of the interface unit, the device simulation program, and the control program In a control program test system comprising a terminal device having a program, a command transmission step in which the control program or device simulation program transmits a command related to data input / output to the switching unit, and a command transmitted by the command transmission step. Based on the actual interface part A switching step for switching the virtual interface unit to cause the real interface unit or the virtual interface unit to execute a command, and whether or not a value change has occurred due to the executed command after the virtual interface unit executes the command in the switching step. A determination step determined by the switching unit, a value change information transmission step in which the switching unit transmits information about the value change to the device simulation program when the switching unit determines that a value change has occurred in the determination step; The apparatus simulation program that has received the information regarding the value change transmitted in the change information transmission step includes an apparatus simulation processing step that executes an apparatus simulation process that simulates the controlled apparatus.

According to the present invention, since the above configuration is provided, it is possible to test the control program without downloading the device simulation program to the controller.

It is a figure which shows the structure of the control program test system which concerns on Embodiment 1. FIG. 1 is a functional block diagram showing a control program test system according to Embodiment 1. FIG. 3 is an operation sequence diagram of the control program test system according to Embodiment 1. FIG. 3 is a flowchart of a control program in the first embodiment. 3 is a flowchart of an I / O switching unit in the first embodiment. 3 is a flowchart of a device simulation I / F unit according to the first embodiment. 6 is another flowchart of the apparatus simulation I / F unit in the first embodiment. 3 is a flowchart of a device simulation program in the first embodiment. FIG. 10 is an operation sequence diagram of the control program test system according to the second embodiment. 10 is a flowchart of a device simulation I / F unit in the second embodiment. 10 is a flowchart of an apparatus simulation program in the second embodiment. 10 is another flowchart of the apparatus simulation program in the second embodiment. FIG. 10 is a functional block diagram illustrating a control program test system according to a third embodiment. FIG. 10 is an operation sequence diagram of the control program test system according to the third embodiment. FIG. 10 is a part of a flowchart of a device simulation I / F unit according to Embodiment 3. FIG. FIG. 10 is a part of a flowchart of a device simulation I / F unit in Embodiment 3. FIG. 10 is a flowchart of an I / O switching unit according to the third embodiment. 10 is a flowchart of a cooperative operation timing adjustment unit in the third embodiment.

Embodiment 1 FIG.
A control program test system according to Embodiment 1 for carrying out the present invention will be described with reference to FIGS. In FIG. 1, a control program test system 1 is connected to a controlled device (not shown) to be controlled, and is used to develop and generate a controller 2 that controls the device and a device simulation program 30 that simulates the controlled device. It consists of a personal computer 3.
The controller 2 may not be connected to the controlled device.

The controller 2 is connected to a storage medium 200, a RAM 201, a CPU 202, a real interface (hereinafter referred to as real I / O) 25 that is connected to the controlled device and actually inputs / outputs data to / from the controlled device, and a personal computer 3. A controller side I / F unit 203 is provided.
The RAM 201 is provided with a virtual interface (hereinafter referred to as virtual I / O) 24 that virtually inputs and outputs data to the controlled device, and the storage medium 200 has a control program for controlling the controlled device. 20. Device simulation I / F unit 21 used when accessing the device simulation program 30 of the personal computer 3, I / O used when switching between virtual I / O 24 and real I / O 25 according to a command (Read / Write) A switching setting data unit 22 and an I / O switching unit 23 are held. The control program 20, the device simulation I / F unit 21, and the I / O switching unit 23 are programs, and the I / O switching setting data unit 22 is a database. The program held in the storage medium 200 is expanded in the RAM 201 by the OS (not shown) activated by the controller 2 and executed by the CPU 202. The data in the I / O switching setting data unit 22 is expanded and used in the RAM 201 by the I / O switching unit 26.

The personal computer 3 is provided with a RAM 301, a storage medium 300 for storing the developed / generated device simulation program 30 and other data, a CPU 302 for reading and operating the device simulation program 30, and a personal computer side I / F unit 303 connected to the controller. It has been. The program held in the storage medium 300 is expanded in the RAM 301 by an OS (not shown) that is activated on the personal computer 3 and executed by the CPU 302.
As the controller side I / F unit 203 and the personal computer side I / F unit 303, for example, there are interfaces corresponding to serial, USB, and Ethernet (registered trademark).

FIG. 2 is a functional block diagram of the control program test system 1.
The controller 2 is provided with a control program 20, an apparatus simulation I / F unit 21, an I / O switching setting data unit 22, an I / O switching unit 23, a virtual I / O 24, and a real I / O 25. A device simulation program 30 is provided.

・ Overall operation

Here, the operation of the control program test system 1 will be described.
FIG. 3 shows an operation sequence of the control program test system 1 as a whole. A solid line represents an operation involving actual processing, and a broken line represents a case where the operation returns repeatedly to the same operation.
First, the control program test system 1 activates the I / O switching unit 23 and the device simulation I / F unit 21. At this time, either one may be activated first. Next, the apparatus simulation program 30 and the control program 20 are activated. The starting order of the apparatus simulation program 30 and the control program 20 is determined by the test object.

When each functional block is activated, the control program test system 1 starts a test in any of the following three cases.
Case 1: The device simulation program 30 transmits a command (Read or Write) to the device simulation I / F unit 21.
Case 2: The control program 20 transmits a command (Read or Write) to the I / O switching unit 23.

In case 1, when the device simulation program 30 performs device simulation processing (step S01) and sends a command to the device simulation I / F unit 21 (step S02), the device simulation I / F unit 21 turns on the I / O switching unit 23. (Step S03). In case 2, the control program 20 performs control processing (step S04), and transmits a Read or Write command to the I / O switching unit 23 (step S05).

In the example of FIG. 3, after performing the operation of case 1 (step S01 to step S03), step S04 and step S05 of case 2 are sequentially performed, but starting from the control process (step S04) of the control program 20 Also good.

When the transmission of the command in step S04 and step S05 is completed, the control program 20 determines whether or not the control is completed. .

When the I / O switching unit 23 receives an instruction from the device simulation I / F unit 21 or / and the control program 20, the I / O switching setting data unit 22 determines whether to input to the real I / O 25 or the virtual I / O 24. Judgment is made by referring to, and switching control between the real I / O 25 and the virtual I / O 24 is performed based on the judgment result (step S06). Then, the real I / O 25 or virtual I / O 24 data is read or written (step S07). At this time, the data read according to the command from the control program 20 is transmitted to the control program 20.

The I / O switching unit 23 determines whether or not the command is a write to the controlled device and the value has changed due to the result of writing the data via the virtual I / O 24 (step S08). Is changed, a value change event is transmitted to the device simulation I / F unit 21 (step S09). The device simulation I / F unit 21 transfers this value change event to the device simulation program 30 (step S10), and then determines whether or not the processing has been completed, and if it has determined that the processing has not ended. It returns to the state before receiving the command in step S01.

The device simulation program 30 determines whether or not there is a device simulation process that satisfies the activation condition based on the value change event received from the device simulation I / F unit 21, and there is a device simulation process that satisfies the activation condition. Activates it and executes it in a separate thread (step S11). The processing in step S11 is the same as that in step S01. In this process, a command is transmitted to the device simulation I / F unit 21 (step S12). After sending the command, the device simulation program 30 determines whether or not the device simulation processing to be executed has been executed, and if it is determined that the processing has not ended, the state before receiving the value change event in step S10 Return to.

When the device simulation I / F unit 21 receives the command in step S12, the command is transferred to the I / O switching unit 23 (step S13), and each function block of the controller 2 receives the command in step S01 in the device simulation I / F unit 21. The same operation is repeated.

As described above, the control program test system 1 repeats the above-described operation to download the device simulation program 30 to the controller 2, without using the control program 20 test to develop the device simulation program 30. Can be easily implemented on the above. Further, by reducing the download time of the device simulation program 30, it is possible to shorten the development period of the device simulation program 30 that needs to be debugged many times.

Here, details of the operation of each functional block will be described using a flowchart.

・ Control program operation

FIG. 4 is a flowchart of the control program 20.
The control program 20 transmits a read command to the I / O switching unit 23 according to a logic set in advance in the program, and reads data from the real I / O 25 or the virtual I / O 24 (step S101, step of FIG. 3). Compatible with S04, S05, and S07). If there is no Read command, the process of step S101 can be omitted.

The control program 20 also issues a value to the real I / O 25 or the virtual I / O 24 by issuing a command to the I / O switching unit 23 according to the logic set in advance in the program (step S102). As in the case of Read, when there is no Write command, the process of Step S102 can be omitted.
Then, it is determined whether or not the write and read controls are finished (step S103). If the control process is not finished, the process returns to step S101, and if the process is finished, this flow is finished. .

・ Operation of I / O switching unit

Next, the flow of the I / O switching unit 23 will be described with reference to FIG.
When the I / O switching unit 23 receives a command (Read or Write) from the device simulation I / F unit 21 or the control program 20 (corresponding to Step S201 and Steps S03 and S05 in FIG. 3), the command is changed to an actual I / O. It is determined whether the command is for O25 or virtual I / O24 (step S202).

In the case of a command to the real I / O 25, data is read or written according to this command (corresponding to step S203, step S07 in FIG. 3), and in the case of a command to the virtual I / O 24, Read or Write is performed according to this command. Performed (corresponding to step S204, step S07 in FIG. 3).

When writing to the virtual I / O 24, it is determined whether the command is a write command to output, and the value has changed as a result of writing by this command (step S205, step of FIG. 3). If the value has changed, a value change event is transmitted to the device simulation I / F unit 21 (step S206, corresponding to step S09 in FIG. 3). Thereafter, it is determined whether or not the process has been completed (step S207). If the process has not been completed, the process returns to the state before step S201. If the process has been completed, the flow ends.

On the other hand, when the command is a write command to the output to the virtual I / O 24 and the value has not changed, and when the command is a read command to the virtual I / O 24, step S207 is performed without performing step S206. Similarly, when it is determined in step S202 that the command (Read or Write) is to the real I / O 25, it is determined after step S203 whether the processing is completed in step S207.

・ Operation of device simulation I / F section

Next, the flow of the apparatus simulation I / F unit 21 will be described with reference to FIGS. FIG. 6 shows the case of processing with one task, and FIG. 7 shows the case of processing with two tasks.
In FIG. 6, when the device simulation I / F unit 21 receives a command from the device simulation program 30 or a value change event from the I / O switching unit 23 (corresponding to step S301, steps S02, S09, and S12 in FIG. 3). Then, it is determined whether it is a command from the apparatus simulation program 30 or a value change event from the I / O switching unit 23 (step S302). In the case of a value change event from the I / O switching unit 23, this is transferred to the device simulation program 30 (corresponding to step S303 and step S10 in FIG. 3), and in the case of a command from the device simulation program 30, I / O switching This command is transferred to the unit 23 (corresponding to steps S304 and S03 and S13 in FIG. 3). Then, it is determined whether or not the process has been completed (step S305). If the process has not been completed, the process returns to step S301. If the process has been completed, the flow ends.

When the flow of the device simulation I / F unit 21 is performed with two tasks, in the flow 1 of FIG. 7, a command from the device simulation program 30 is received (corresponding to steps S021, S12 of FIG. 3), and the received command Is transferred to the I / O switching unit 23 (corresponding to steps S312, S03 and S13 in FIG. 3). Then, it is determined whether or not the process is completed (step S313). If the process is not completed, the process returns to step S311. If the process is completed, the flow 1 is terminated. In the flow 2 of FIG. 7, the device simulation I / F unit 21 receives a value change event from the I / O switching unit 23 (corresponding to step S321 and step S09 in FIG. 3), and the received value change event is device simulated. Transfer to program 30 (corresponding to step S322, step S10 in FIG. 3). Then, it is determined whether or not the process is finished (step S323). If the process is not finished, the process returns to step S321, and if the process is finished, the flow 2 is finished.

・ Operation of device simulation program

Next, the flow of the apparatus simulation program 30 will be described with reference to FIG.
The apparatus simulation program 30 transmits to the apparatus simulation I / F unit 21 when there is a command (step S401, corresponding to step S02 in FIG. 3), and receives a value change event from the apparatus simulation I / F unit 21 (step S401). S402, corresponding to step S10 in FIG. 3). Then, it is determined whether or not there is a device simulation process whose activation condition is satisfied by the received value change event (step S403). If there is a corresponding device simulation process, it is activated and executed by another thread. In this process, a new command is transmitted to the device simulation I / F unit 21 (corresponding to step S404 and steps S11 and S12 in FIG. 3). Thereafter, the apparatus simulation program 30 determines whether or not the apparatus simulation has ended (step S405). If the apparatus simulation has not ended, the process returns to step S402. If the process has ended, the flow ends. If there is no instruction to transmit, the transmission process in step S401 can be omitted.

According to the present embodiment, the control program test system 1 includes a control program 20, an I / O switching unit 23, a device simulation I / F unit 21, a real I / O 25, and a virtual I / O 24 in the controller 2. Since the personal computer 3 is provided with the device simulation program 30 and the device simulation program 30 performs device simulation processing when a value change occurs in the virtual I / O 24 based on a command from the control program 20 or the device simulation program 30, the device The control program test of the control program 20 (execution of the device simulation process of the device simulation program 30 by the control program 20) can be performed without downloading the simulation program 30 from the personal computer 3 to the controller 2. Further, since the time for downloading the device simulation program 30 that requires debugging several times during development to the controller 2 can be reduced, the development period can be shortened.
Further, by providing a time management function in the apparatus simulation program 30, it is possible to automatically control the command to be executed at a predetermined time.

Embodiment 2. FIG.
A control program test system 1A according to Embodiment 2 for carrying out the present invention will be described with reference to FIGS. The configuration is the same as in the first embodiment, and the functions of the device simulation program 30A and the device simulation I / F unit 21A are different. Specifically, the device simulation program 30A has a function of giving time information to commands (Read and Write), and the device simulation I / F unit 21A receives the command list based on the given time information. And a function of transferring the command to the I / O switching unit 23.

・ Overall operation

Here, the operation of the control program test system 1A will be described.
FIG. 9 shows an operation sequence of the entire control program test system 1A. A solid line represents an operation involving actual processing, and a broken line represents a case where the operation returns repeatedly to the same operation.
First, the control program test system 1A activates the I / O switching unit 23 and the device simulation I / F unit 21A. At this time, either one may be activated first. Next, the apparatus simulation program 30A and the control program 20 are activated in this order.

When each functional block is activated, the control program test system 1A sends a command list acquisition request with period information from the device simulation I / F unit 21A of the controller 2A to the device simulation program 30A of the personal computer 3A (step S21). . This process is performed regularly or irregularly at a predetermined time.

When the apparatus simulation program 30A receives the instruction list acquisition request, the apparatus simulation program 30A determines the execution time of the instruction in the designated period, creates an instruction list with this time information (step S22), and uses the result as the apparatus simulation I / F unit. Transmit to 21A (step S23). The device simulation I / F unit 21A refers to the time information of the received command list, and transmits a command to the I / O switching unit 23 when the designated time comes (step S24). The time is measured using a timer (not shown) provided in the controller 2A.
In the control process (step S25), the control program 20 transmits data read and write commands to the I / O switching unit 23 (step S26).
Note that which of the command from the control program 20 and the command from the device simulation I / F unit 21A is performed first depends on the test object.

When receiving an instruction from the device simulation I / F unit 21A or the control program 20, the I / O switching unit 23 refers to the I / O switching setting data unit 22 as to which of the actual I / O 25 and virtual I / O 24 should be input. The command is input to the real I / O 25 or the virtual I / O 24 based on the determination result (step S27). Then, the real I / O 25 or virtual I / O 24 is read and written, and the read data is transmitted to the control program 20 (step S28).

The I / O switching unit 23 also determines whether or not this command is an output command as a result of reading and writing data via the virtual I / O 24 and the value has changed due to this output command ( In step S29), if the value has changed, a value change event is transmitted to the apparatus simulation I / F unit 21A (step S30).

The device simulation I / F unit 21A transfers this value change event to the device simulation program 30A (step S31).
Upon receiving the value change event, the device simulation program 30A determines whether or not there is a new device simulation process that satisfies the activation condition by the value change event. If there is a device simulation process that satisfies the activation condition, this is used. Start and execute in another thread (step S32).

The device simulation I / F unit 21A transmits again a command list acquisition request for the period requested in step S21 to the device simulation program 30A (step S33), and the device simulation program 30A responds to the received command list acquisition request. In response, a command list for the specified period is created by adding the time to the command (step S34) and transmitted to the device simulation I / F unit 21A (step S35). Thereafter, the apparatus simulation program 30A determines whether or not the process in the command list has been completed. If it is determined that the process has not been completed, the apparatus simulation program 30A returns to the state before receiving the value change event in step S31.

Upon receiving the command list in step S35, device simulation I / F unit 21A overwrites the stored command list (step S36), and then determines whether or not the processing in the command list has been completed. When it is determined that the process has not been completed, the process returns to the state before step S21. When a predetermined time set in advance is reached, a command list acquisition request is transmitted again, and thereafter the same operation is repeated.

The control program test system 1A can perform the control program test of the control program 20 by repeatedly performing the above operation without downloading from the personal computer 3A used for development by the apparatus simulation program 30A to the controller 2A. Also, by giving time information to the command, it is possible to automatically control the execution time of the command that requires timing adjustment.

Here, the operation of each functional block will be described using a flowchart.

・ Operation of device simulation I / F section

FIG. 10 is a flowchart showing the operation of the apparatus simulation I / F unit 21A, and is composed of three task flows.

Flow 1 is a flow for acquiring a command with a designated time periodically (may be irregular) from the apparatus simulation program 30A of the personal computer 3A.
Flow 2 is a flow for transmitting a command to the I / O switching unit 23 at a given (designated) time in accordance with a command list acquired from the apparatus simulation program 30A.
Flow 3 is a flow for receiving a value change event from the I / O switching unit 23, transferring it to the apparatus simulation program 30A, and reacquiring the command list for the period until the next command list acquisition request is transmitted. is there.

In flow 1, the device simulation I / F unit 21A sends a command list acquisition request with predetermined period information to the device simulation program 30A, and receives the command list from the device simulation program 30A. The newly acquired command list is added to the obtained possession list (corresponding to step S501 and step S23 in FIG. 9).

Then, if the flow 2 of the apparatus simulation I / F unit 21A is in the sleep state, this is canceled (step S502), and until a predetermined time before the time specified by the last command in the command list acquired in step S501, The flow 1 is set to the sleep state (S503). When a predetermined time before the time specified by the last command in the command list acquired in step S501, the sleep state of flow 1 is canceled to determine whether or not the processing is completed (step S504), and the processing is completed. If not, the flow returns to the state before step S501, and if the processing is finished, this flow is finished.

In the flow 2, the apparatus simulation I / F unit 21A determines whether or not there is a command whose current time is designated as the designated time in the retained command list (step S511), and the current time is designated as the designated time. If there is a command, this command is transmitted to the I / O switching unit 23 to execute this command (step S512, corresponding to step S24 in FIG. 9).

When there is no command whose current time is the designated time, or when step S512 ends, the command list is checked and this flow 2 is put into the sleep state until the time designated by the next command (step S513). When the time specified by the next command is reached, the sleep state of flow 2 is canceled, and it is determined whether or not the process has ended (step S514). If the process has not ended, the process returns to the state before step S511, If the processing is finished, this flow is finished.

In flow 3, the device simulation I / F unit 21A receives a value change event from the I / O switching unit 23 (step S521, corresponding to step S30 in FIG. 9), and transfers this to the device simulation program 30A (step S521). S522, corresponding to step S31 in FIG. 9). Then, in order to update the command list until a predetermined time for transmitting the command list acquisition request next time, the command list acquisition request is transmitted to the apparatus simulation program 30A to acquire and hold a new command list. The command list is overwritten (corresponding to step S523, step S36 in FIG. 9).

Thereafter, if the flow 2 is in the sleep state, the device simulation I / F unit 21A cancels the flow 2 (step S524), determines whether or not the processing is completed (step S525), and if not, performs step If the process returns to the state before S521 and the process is finished, this flow is finished.

・ Operation of device simulation program

Next, the flow of the apparatus simulation program 30A will be described with reference to FIGS. FIG. 11 shows the case of processing with one task, and FIG. 12 shows the case of processing with two tasks.
In FIG. 11, when the apparatus simulation program 30A receives a command list acquisition request or a value change event from the apparatus simulation I / F unit 21A (corresponding to steps S601 and steps S21, S31, and S33 in FIG. 9), the received data is It is determined whether it is a value change event or a command list acquisition request (step S602), and in the case of a value change event, it is determined whether there is a device simulation process in which the activation condition is satisfied by this value change event (step S603). .

If there is a corresponding device simulation process, it is activated and executed in a separate thread, and a later command is calculated with time in this process (corresponding to step S604, step S32 in FIG. 9). When the data received in step S601 is a command list acquisition request, a command list for a predetermined period requested by the command list acquisition request is acquired from each device simulation process of the device simulation program 30A, and the device simulation I / F unit 21A. (Corresponding to steps S605 and S23 and S35 in FIG. 9).

When there is no device simulation process in which the activation condition is satisfied by the value change event, or after executing a command in another thread of the device simulation process, or after sending a command to the device simulation I / F unit 21A, the device simulation program 30A It is determined whether or not the apparatus simulation process has ended (step S606). If the apparatus simulation process has not ended, the process returns to the state before step S601, and if the process has ended, this flow ends.

On the other hand, when processing with two tasks as shown in FIG. 12, the device simulation program 30A receives a value change event from the device simulation I / F unit 21A in flow 1 (corresponding to step S611 and step S31 in FIG. 9), It is determined whether or not there is a device simulation process in which the activation condition is satisfied by this value change event (step S612). If there is a corresponding device simulation process, it is activated and executed in a separate thread, and a later command is calculated with time in this process (corresponding to step S613 and step S32 in FIG. 9).

Thereafter, it is determined whether or not the apparatus simulation process has ended (step S614). If the apparatus simulation process has not ended, the process returns to the state before step S611. If the process has ended, this flow ends.

The apparatus simulation program 30A also receives a command list acquisition request for a predetermined period from the apparatus simulation I / F unit 21A in the flow 2 of FIG. 12 (corresponding to steps S621 and S21 and S33 of FIG. 9), The requested command list is acquired from each device simulation process of the device simulation program 30A and transmitted to the device simulation I / F unit 21A (corresponding to steps S622 and steps S23 and S35 in FIG. 9). After transmitting the command to the device simulation I / F unit 21A, the device simulation program 30A determines whether or not the device simulation processing has ended (step S623), and if not, returns to the state before step S621. If the processing is finished, this flow is finished.

Since the control program 20 and the I / O switching unit 23 are the same as those in the first embodiment, description thereof is omitted.

According to the present embodiment, the control program test system 1A expands the functions of the device simulation program 30A and the device simulation I / F unit 21A, and gives the instruction time information to be executed at the specified time. In addition to the effects described in the first aspect, the command can be executed by automatic control at a predetermined time. This has the same effect as when the control program 30 in the first embodiment has a time management function.

Embodiment 3 FIG.
A control program test system 1B according to Embodiment 3 for carrying out the present invention will be described with reference to FIGS. As shown in FIG. 13, in addition to the configuration of the second embodiment, the control program test system 1B according to the present embodiment includes a device simulation I / F unit 21B, an I / O switching unit 23, and a control program 20, respectively. A connected operation timing adjustment unit 26 is provided. Other configurations of the device simulation I / F unit 21B are partially the same as those of the second embodiment, but are otherwise the same, and thus the description thereof is omitted.

・ Overall operation

Here, the operation of the control program test system 1B will be described.
FIG. 14 shows an operation sequence of the entire control program test system 1B. A solid line represents an operation involving actual processing, and a broken line represents a case where the operation returns repeatedly to the same operation.
First, the control program test system 1B activates the I / O switching unit 23, the device simulation I / F unit 21B, and the cooperative operation timing adjustment unit 26 in an arbitrary order. Next, the apparatus simulation program 30A is activated and the control program 20 is activated.

When each functional block is activated, the control program test system 1B transmits a stop command for the control program 20 from the device simulation I / F unit 21B of the controller 2B to the cooperative operation timing adjustment unit 26 (step S41). The adjustment unit 26 reads an API (Application Program Interface) that stops the control program 20, and stops the control program 20 (step S42). The cooperative operation timing adjustment unit 26 has a control program list, which is referred to when the control program 20 is stopped.

Thereafter, the cooperative operation timing adjustment unit 26 transmits a device simulation input time stop command to the device simulation I / F unit 21B (step S43), and the device simulation I / F unit 21B sends the device simulation program 30A of the personal computer 3A to the device simulation program 30A for a predetermined period. A command list acquisition request for requesting a command list is transmitted (step S44). This process is performed regularly or irregularly at a predetermined time. The device simulation input time stop command is a command to stop the internal time in the device simulation I / F unit 21B.

Upon receiving the command list acquisition request, device simulation program 30A determines the execution time of the command in a predetermined period, creates a command list with this time information (step S45), and transmits it to device simulation I / F unit 21B. (Step S46).

When the device simulation I / F unit 21B receives the command list, the device simulation I / F unit 21B transmits a restart command for the control program 20 to the cooperative operation timing adjustment unit 26 (step S47), and the cooperative operation timing adjustment unit 26 restarts (or starts) the control program 20. The control program 20 is restarted (or started) by reading the API to be executed (step S48).

The cooperative operation timing adjustment unit 26 advances the device simulation input time to the device simulation I / F unit 21B so that the input from the device simulation I / F unit 21B is performed after restarting the control program 20 in step S48. A command is transmitted (step S49). The device simulation input time advance command is a command to advance the internal time in the device simulation I / F unit 21B.

When the control program 20 is restarted and a command is transmitted from the control program 20 to the I / O switching unit 23 by the control process (step S50) (step S51), the I / O switching unit 23 switches I / O (step S51). S52). A stop command for the control program 20 is transmitted to the cooperative operation timing adjustment unit 26 (step S53), and the cooperative operation timing adjustment unit 26 reads the API for stopping the control program 20, refers to the control program list, and stops the control program 20. (Step S54) After the control program 20 stops, the I / O switching unit 23 reads or writes data (Step S55).

For example, in the case of a command to the real I / O 25, the I / O switching unit 23 reads or writes data via the real I / O 25 according to this command. If it is a write command to the virtual I / O 24, after writing to the real I / O 25, a stop command for the control program 20 is transmitted to the cooperative operation timing adjustment unit 26 (step S53), and after the stop of the control program 20 is completed, Write to the virtual I / O 24 (step S55). If it is a read command to the virtual I / O 24, the virtual I / O 24 is read (step S55).

If the command is a write command to the virtual I / O 24 and a value change occurs due to the execution of the command, the I / O switching unit 23 transmits a value change event to the device simulation I / F unit 21B (step S57). ).

Although not shown, when the command is a write command to output to the virtual I / O 24 and no value change event is transmitted, the I / O switching unit 23 sends a control program 20 to the cooperative operation timing adjustment unit 26. The cooperative operation timing adjustment unit 26 reads the API for resuming the control program 20 and resumes it.
Thereafter, the cooperative operation timing adjustment unit 26 sends a device simulation input time advance command to the device simulation I / F unit 21B to advance the internal time of the device simulation I / F unit 21B.

When the device simulation I / F unit 21B receives the value change event in step S57, the device simulation I / F unit 21B transfers the value change event to the device simulation program 30A (step S58).
Upon receiving the value change event, the device simulation program 30A determines whether or not there is a new device simulation process that satisfies the activation condition by the value change event. If there is a device simulation process that satisfies the activation condition, this is used. Start up and create a command for a specified period with time (step S59).

Thereafter, the device simulation I / F unit 21B transmits again a command list acquisition request for the period requested in step S44 (step S60), and the device simulation program 30A creates a command list in response to this request (step S61). ) And transmitted to the device simulation I / F unit 21B (step S62). And it returns to the state before receiving a command list acquisition request or a value change event again.

Upon receiving the command list in step S62, device simulation I / F unit 21B overwrites the stored command list (step S63). Device simulation I / F unit 21B overwrites the command list in step S63. Thereafter, a restart instruction for the control program 20 is transmitted from the device simulation I / F unit 21B to the cooperative operation timing adjustment unit 26 (step S47). The cooperative operation timing adjustment unit 26 restarts the control program 20 (step S48), and transmits a device simulation input time progression command to the device simulation I / F unit 21B (step S49). Then, the operations after step S41 are repeated.
Thereafter, upon receiving the device simulation input time advance command, device simulation I / F unit 21B advances the internal time and repeats the processing from step S47 onward.

The device simulation I / F unit 21B also executes device simulation processing of the device simulation program 30A during the period when the internal time is advancing. Specifically, according to the command list received in step S46 or step S62, when a predetermined time before the specified time comes, a restart command for the control program 20 is transmitted to the cooperative operation timing adjustment unit 26, and the cooperative operation timing adjustment unit 26 The API for resuming the control program 20 is read and the control program 20 is resumed (step S48). The predetermined time referred to here is the time required for the stop command to reach the control program 20 from the device simulation I / F unit 21B via the cooperative operation timing adjustment unit 26.

After resuming the control program 20, the device simulation I / F unit 21B sends a command to the I / O switching unit 23 (not shown) at a designated time, and the I / O switching unit 23 controls the control program in step S51. The subsequent processing is repeated in the same manner as when a command is received from 20.

Here, the operation of each functional block will be described using a flowchart.

・ Operation of device simulation I / F section

A case where the operation of the apparatus simulation I / F unit 21B is performed in four task flows will be described with reference to FIGS. 15 shows flow 1 and flow 2, and FIG. 16 shows flow 3 and flow 4.

Flow 1 is a flow for acquiring a command with a designated time periodically (even if irregular) from the apparatus simulation program 30A of the personal computer 3A. Before and after the processing of this flow, a stop command and a restart command of the control program 20 are transmitted to the cooperative operation timing adjustment unit 26.
Flow 2 is a flow for transmitting a command to the I / O switching unit 23 at a given (designated) time in accordance with a command list acquired from the apparatus simulation program 30A. Before sending the command, the stop command of the control program 20 is transmitted to the cooperative operation timing adjustment unit 26.

Flow 3 is a flow for receiving a value change event from the I / O switching unit 23, transferring it to the apparatus simulation program 30A, and reacquiring the command list for the period until the next command list acquisition request is transmitted. is there. After this processing, the restart instruction of the control program 20 is transmitted to the cooperative operation timing adjustment unit 26.
The flow 4 is a flow for receiving a stop command or a progress command of the device simulation input time from the cooperative operation timing adjustment unit 26 and stopping or restarting the internal time of the device simulation I / F unit 21B.

In flow 1, the device simulation I / F unit 21B checks whether the device simulation input time stoppage flag indicating the progress of the internal time to be managed is ON or OFF (step S701). A stop command for the control program 20 is transmitted to 26 (corresponding to step S702 and step S41 in FIG. 14).

Thereafter, the device simulation I / F unit 21B sends a command list acquisition request with predetermined period information attached to the device simulation program 30A (corresponding to step S44 in FIG. 14), and commands from the device simulation program 30A. When the list is received, the newly acquired command list is added to the possession list provided in the own apparatus (corresponding to step S703 and step S46 in FIG. 14). Then, the restart instruction of the control program 20 is transmitted to the cooperative operation timing adjustment unit 26 and waits for completion (corresponding to step S704 and step S47 in FIG. 14).

If the flow 2 of the device simulation I / F unit 21B is in the sleep state, the flow is canceled (step S705), and the flow is performed for a predetermined time before the time specified by the last command in the command list acquired in step S703. 1 is put into a sleep state (step S706). If the apparatus simulation input time suspension flag is ON in step S701 described above, in step S706, the flow 1 is put into a sleep state for a predetermined time (for example, about 100 ms).
At this time, the internal time managed by the apparatus simulation I / F unit 21B is calculated by subtracting the accumulated time stop time, which is the accumulated time in which the progress of the internal time has been stopped, from the current time of the timer.

The device simulation I / F unit 21B determines whether or not the process is completed by canceling the sleep state of the flow 1 when a predetermined time before the time specified by the last command is reached (step S707). If not, the process returns to the state before step S701, and if the process is completed, the flow ends. The predetermined time referred to here is the time required for the stop command to reach the control program 20 from the device simulation I / F unit 21B via the cooperative operation timing adjustment unit 26.

In the flow 2, the device simulation I / F unit 21B checks whether the device simulation input time stopping flag for stopping the progress of the device simulation input time calculated from the internal time calculated from the timer value is ON or OFF ( In step S711), if it is OFF, it is determined whether there is a command whose current time is a predetermined time before the specified time in the stored command list (step S712).

If it is determined that the current time is a predetermined time before the time specified by the command, a stop command for the control program 20 is transmitted to the cooperative operation timing adjustment unit 26 (step S713). Then, when time elapses and the current time reaches the designated time, this command is transmitted to the I / O switching unit 23 to execute this input (step S714). Here, the predetermined time is a time required for transmitting a stop command from the apparatus simulation I / F unit 21B to the control program 20 via the cooperative operation timing adjustment unit 26.

The device simulation I / F unit 21B then checks the command list, and if there is no command that is a predetermined time before the specified time, sleeps this flow 2 until the predetermined time before the time specified by the next command. A state is set (step S715). If the apparatus simulation input time suspension flag is ON in step S711 described above, in step S715, the flow 2 is put into a sleep state for a predetermined time (for example, about 100 ms).
At this time, the internal time managed by the apparatus simulation I / F unit 21B is calculated by subtracting the accumulated time stop time, which is the accumulated time in which the progress of the internal time has been stopped, from the current time of the timer.

The apparatus simulation I / F unit 21B determines whether or not the process is completed by canceling the sleep state of the flow 2 when a predetermined time has elapsed from the time specified by the next command (step S716). If not, the process returns to the state before step S711, and if the process is completed, the flow ends.

In flow 3, the device simulation I / F unit 21B receives a value change event from the I / O switching unit 23 (corresponding to step S721, step S57 in FIG. 14), and transfers this to the device simulation program 30A (step S721). S722, corresponding to step S58 in FIG. 14). Then, in order to update the command list for a predetermined time until the next command list acquisition request is transmitted, the command list acquisition request is transmitted to the apparatus simulation program 30A to acquire and hold a new command list. The command list is overwritten (step S723).

When the command list is updated (steps S46 and S62 in FIG. 14), the device simulation I / F unit 21B transmits a restart command for the control program 20 to the cooperative operation timing adjustment unit 26 (steps S724 and FIG. 14). Corresponding to step S47), if flow 2 is in the sleep state, it is canceled (step S725). Then, it is determined whether or not the process has been completed (step S726). If the process has not been completed, the process returns to the state before step S721. If the process has been completed, the flow ends.

In flow 4, the device simulation I / F unit 21B receives a device simulation input time stop command from the cooperative operation timing adjustment unit 26 (corresponding to step S731 and step S43 in FIG. 14), and turns on the device simulation input time stoppage flag. And a response is returned (step S732).

When the apparatus simulation I / F unit 21B receives the apparatus simulation input time advance command from the cooperative operation timing adjustment unit 26 (corresponding to step S733, step S49 in FIG. 14), the apparatus simulation input time stop flag is turned OFF, The sleep state of the flow 1 and flow 2 of the simulated I / F unit 21B is canceled, and then a response is returned (step S734).

The device simulation I / F unit 21B adds the time from the device simulation input time stop command reception to the device simulation input time progress command processing completion to the accumulated time stop time (step S735), and determines whether the processing is completed. (Step S736), the process returns to the state before Step S731 if not completed, and the process ends if the process is completed.

・ Operation of I / O switching unit

Next, the flow of the I / O switching unit 23 will be described with reference to FIG.
When the I / O switching unit 23 receives a command from the control program 20 or the device simulation I / F unit 21B (step S801), the I / O switching unit 23 determines whether the command is for the real I / O 25 or the virtual I / O 24 ( Step S802).

In the case of a command to the real I / O 25, data is read or written according to the command (step S803), and in the case of a command to the virtual I / O 24, it is determined whether or not the command is a write command (step S804). In the case of a write command to the virtual I / O 24, a write to the real I / O 25 is once performed (step S805), and then it is determined whether or not the command is a write command by a command from other than the device simulation I / F unit 21B ( Step S806).

If the result of determination in step S806 is that the command is a write command to the virtual I / O 24, a stop command for the control program 20 is transmitted to the cooperative operation timing adjustment unit 26 to stop the control program 20 (step S807), and step S806 If the command is not a write command to the virtual I / O 24 as a result of the determination, the virtual I / O 27 is directly written or read according to the command (step S808).

Thereafter, it is determined whether or not the command is a Write command and the value is changed by this Write command (corresponding to Step S809 and Step S56 in FIG. 14). If the value is changed, the device simulation I / F The value change event is transmitted to the unit 21B (corresponding to step S810 and step S57 in FIG. 14), and this flow is finished.

In step S809, if it is a write command for virtual I / O 24 and the value has not changed, or if it is a read command to virtual I / O 24, it is determined whether this command is a write command (step S811). In the case of the Write command, a restart command of the control program 20 is transmitted to the cooperative operation timing adjustment unit 26, and the control program 20 is restarted and waits for completion (step S812). After step S810 or step S812, it is determined whether or not the process has been completed (step S813). If it is determined that the process has been completed, this flow ends. If it is determined that the process has not been completed, step Return to the previous state of S801.

・ Operation of coordinated operation timing adjustment unit

Next, the flow of the cooperative operation timing adjustment unit 26 will be described with reference to FIG.
The cooperative operation timing adjustment unit 26 is configured to control the control program 20 from a reception stop command list provided in the controller 2B if the reception stop command list is not empty, and from a program other than the cooperative operation timing adjustment unit 26 if it is empty. A stop command is received (corresponding to step S901, step S41 in FIG. 14). When the stop command is received, the processing of the control program 20 is stopped with reference to the control program list provided in the device (step S902), the device simulation input time stop command is transmitted to the device simulation I / F unit 21B, and the response Is waited for (step S903, corresponding to step S43 in FIG. 14). Then, a stop completion reply is returned to the stop command source (step S904).

Thereafter, when the cooperative operation timing adjustment unit 26 receives a restart command or a stop command of the control program 20 from another program (step S905), it determines whether or not a restart command has been received (step S906). If a restart command has not been received, a stop command is added to the reception stop command list (step S907), and the state before step S905 is restored.

If it is determined in step S906 that the restart command has been received, the control program 20 is restarted with reference to the control program list (step S908), and the device simulation input time advance command is transmitted to the device simulation I / F unit 21B, and the response Is waited for (step S909, corresponding to step S49 in FIG. 14). Thereafter, the completion of restart is returned to the source of the restart command (step S910), and it is determined whether or not the process is completed (step S911). If the process is not completed, the process returns to the state before step S901, and the process is completed. If is finished, this flow is finished.

According to the present embodiment, the control program test system 1B includes the coordinated operation timing adjustment unit 26, and performs a control program while the device simulation program 30 executes a device simulation process, for example, an operation necessary for device simulation. In addition to the effect described in the second embodiment, the timing of the cooperative operation of the apparatus simulation input from the apparatus simulation program 30A and the control program 20 on the controller 2 is stopped by stopping the apparatus simulation input time 20 Can be kept unchanged. The influence on the timing of the cooperative operation between the apparatus simulation program 30A and the control program 20 can be avoided. Thus, the operation test of the control program can be performed at the same timing as when an actual controlled device is connected to the controller 2B instead of the device simulation program 30A.

In addition, what was described as “to part” in the description of the first to third embodiments may be “to means”, “to circuit”, and “to device”. That is, it can be implemented by software, firmware, hardware such as an element / device / board / wiring, or a combination thereof.
In addition, the controller 2 of the above embodiment may be paraphrased as a control program test apparatus for testing the control program 20.
The above command is a general term for Read and Write commands.

1, 1A, 1B control program test system 2, 2A, 2B controller
20 Control program
21, 21A, 21B Device simulation I / F section
22 I / O switching setting data section
23 I / O switching part
24 Virtual I / O
25 Real I / O
26 Coordinated operation timing adjustment section
200 storage media
201 RAM
202 CPU
203 Controller side I / F part 3, 3A, 3B PC
30, 30A device simulation program
300 storage media
301 RAM
302 CPU
303 PC side I / F section

Claims (7)

Connected to a terminal device having a device simulation program that simulates a controlled device;
A control program for controlling the controlled device;
An actual interface unit that actually inputs and outputs data to and from the controlled device;
A virtual interface unit that virtually inputs and outputs data to and from the controlled device;
A switching unit that switches between the real interface unit and the virtual interface unit in response to a command from either the device simulation program or the control program;
The control section test apparatus characterized in that the switching section transmits information related to a value change to the apparatus simulation program when a value change occurs when the command is executed from the virtual interface section. A device simulation interface unit that receives the command from the device simulation program and transmits the command to the switching unit;
The device simulation program attaches time information for executing the command to the command and transmits it to the device simulation interface unit,
The device simulation interface unit transmits the command based on the time information,
The control program test apparatus according to claim 1, wherein the switching unit receives the command and switches the real interface unit and the virtual interface unit according to the command. A timing adjustment unit that stops processing of the control program and causes the switching unit to execute a command from the device simulation program when a command from the device simulation program is a command to the virtual interface unit; The control program test apparatus according to claim 1. A terminal device having a device simulation program that simulates a controlled device;
A control program for controlling the controlled device;
An actual interface unit that actually inputs and outputs data to and from the controlled device;
A virtual interface unit that virtually inputs and outputs data to and from the controlled device;
A switching unit that switches between the real interface unit and the virtual interface unit in response to a command from one of the device simulation program and the control program, and a controller connected to the terminal device,
The control program test system, wherein when the command is executed from the virtual interface unit and a value change occurs, the switching unit transmits information on the value change to the device simulation program. A device simulation interface unit that receives the command from the device simulation program and transmits the command to the switching unit;
The device simulation program attaches time information for executing the command to the command and transmits it to the device simulation interface unit,
The device simulation interface unit transmits the command based on the time information,
The control program test system according to claim 4, wherein the switching unit receives the command and switches the real interface unit and the virtual interface unit according to the command. The controller, when a command from the device simulation program is a command to the virtual interface unit, stops the processing of the control program and causes the switching unit to execute a command from the device simulation program The control program test system according to claim 4, further comprising: A control program for controlling the controlled device,
An actual interface unit that actually inputs and outputs data to and from the controlled device;
A virtual interface unit that virtually inputs and outputs data to and from the controlled device;
A controller having a switching unit that switches between the real interface unit and the virtual interface unit in response to a command from one of the device simulation program and the control program;
In a control program test system comprising: a terminal device connected to the controller and having a device simulation program that simulates the controlled device;
A command transmission step in which the control program or the apparatus simulation program transmits a command regarding data input / output to the switching unit;
Based on the command transmitted by the command transmission step, the switching unit switches the real interface unit and the virtual interface unit to cause the real interface unit or the virtual interface unit to execute the command,
A determination step in which the switching unit determines whether or not a value change has occurred due to the executed command after the virtual interface unit has executed the command in the switching step;
A value change information transmitting step in which, when the switching unit determines that the value change has occurred in the determining step, the switching unit transmits information on the value change to the device simulation program;
The apparatus simulation program that has received the information on the value change transmitted in the value change information transmission step includes an apparatus simulation process step of executing an apparatus simulation process that simulates the controlled apparatus. The control program test method.

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