JP2820189B2 - Control software execution system for numerical controller - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control software execution system for a numerical controller, and more particularly, to a general-purpose multi-thread operating system for controlling software (control program) for a numerical controller.
Also, the present invention relates to a control software execution system for a numerical control device that can be executed on a multitasking operating system .

[0002]

2. Description of the Related Art A general configuration of a conventional numerical controller will be described with reference to a hardware configuration diagram of a numerical controller 501 shown in FIG. Reference numeral 1 denotes a main CPU that controls the operation of each unit and performs calculations necessary for numerical control.
Reference numeral 2 denotes a system bus that connects the components. Reference numeral 3 denotes a ROM (non-volatile storage device) that stores control software for realizing the main functions of the numerical controller. Reference numeral 4 denotes a RAM (volatile storage device) used for temporary storage, a work area, and the like. Reference numeral 5 denotes an SIO interface for exchanging data with the outside through serial communication. Reference numeral 6 denotes a display device for displaying an operation state of the numerical control device and for confirming a command given to the numerical control device. Reference numeral 7 denotes a keyboard (input device) for giving a command to the numerical controller. Reference numeral 8 denotes a servo control unit that calculates a command for controlling the servo motor. The servo control unit 8 may include a dedicated CPU different from the main CPU 1. Reference numeral 9 denotes a servo amplifier that amplifies a command received from the servo control unit 8 and outputs a drive signal to a servo motor. Reference numeral 10 denotes a servomotor for controlling a processing unit of a machine tool (not shown). Reference numeral 11 denotes a program controller for exchanging data other than the servo control command with the machine tool. Reference numeral 12 denotes a system clock (not shown) and an external interrupt signal supplied to the main CPU 1. The system clock is a clock signal for controlling the entire numerical controller. In addition, the external interrupt signal indicates the occurrence of an event (emergency event) such as a power failure or an emergency stop in the main CP.
This is a signal for notifying U1.

Next, the operation of the numerical controller 501 will be described. First, the main CPU 1 transmits the control software written in the ROM 3 through the system bus 2.
Read and execute instructions in order. FIG. 28 shows a processing procedure after reading the instruction. In the machining program input process 21, the machining program 20 is read from the outside through the SIO interface unit 5 and stored in the RAM 4. Then, the processing program 20 is converted into internal data for each block (predetermined unit). In the correction calculation process 22, the internal data for each block is processed, and the incremental movement amount is calculated. Also, the tool diameter and tool length are corrected. Further, an internal coordinate value updating process is performed. In the setting display process 23, various data of the numerical control device are displayed on the display device 6. Various setting data input by the operator using the keyboard 7 is stored in the RAM 4. In the interpolation processing 24, the movement amount of each axis for each minute time is calculated using the processing result of the correction calculation processing 22. In the servo processing 25, using the processing result of the interpolation processing 24, the data is converted into a smaller movement amount of each axis per unit time. Furthermore, the servo motor 1
Feedback control (not shown) from 0 is performed. In the program control process 26, peripheral control of the machine tool, such as input / output processing with the machine tool and control of the spindle, is performed.

[0004] Now, the above-mentioned numerical controller 5 01, 2
As described above with reference to FIG. 7, by inputting the external interrupt signal 12 to the main CPU 1 and causing the main CPU 1 to execute the interrupt processing, it is possible to cope with an emergency such as an emergency stop.
When the external interrupt signal 12 (FIG. 27) is input, the main CPU 1 executes another process specified in advance, and returns to a normal instruction after the other process is completed.

FIG. 29 is a conceptual diagram of interrupt processing.
30 to 36 are normal instructions. 37 to 40 are interrupt instructions. 41 is a return instruction to a normal instruction. For example, if the external interrupt signal 12 (FIG. 27) is input while the main CPU 1 is executing the normal instruction 33, the main CPU 1 detects the interrupt after the processing of the normal instruction 33 is completed, and the main CPU 1 detects the interrupt and specifies it in advance. Execution of the interrupt instruction 37 is started. After the execution of the interrupt instructions 37 to 40 is completed, the return instruction 41 is executed, and the normal instruction 3 is executed.
4 and the normal instructions 35 and 36 are executed. In addition,
If the processing time of the interrupt processing becomes longer, it becomes necessary to consider multiple interrupts and the like, so it is desirable to shorten the processing time of the interrupt processing as much as possible.

The control software of the numerical controller 501 has the following features. Due to the variety of functions to be realized by the control software of the numerical control device, the amount of software is large and the software is developed by many people. The response time (turnaround time, deadline) required for processing differs for each function of the control software of the numerical controller. For example, servo processing 25 (FIG. 28)
However, if the calculation of the processing result is delayed, cutting is stopped and the workpiece becomes defective, so it must be a real-time processing. On the other hand, display processing on the display device 6 and the like do not need to be real-time processing because no inconvenience occurs even if it is slightly delayed. There are many types of interrupt processing to be executed by the main CPU 1. For these reasons, the control software of the numerical controller 501 often uses a task for each function executed under the control of the real-time operating system as an execution unit.

Next, a method of controlling each task by the real-time operating system will be described. In order to regularly execute a certain task or to limit the time for executing a certain task, an interrupt (not shown) is usually provided to the main CPU 1 (FIG. 27) at a certain fixed cycle. The real-time operating system (referred to as a system clock) checks the state of each task every time there is a system clock interrupt, and stops the running task to execute another task. (This is called scheduling or dispatch.) In the real-time operating system, priorities (execution priorities) are assigned to tasks. This priority means that while running lower priority tasks,
When ready to execute a task with a higher priority, this means interrupting the execution of the task with a lower priority and executing a task with a higher priority. (This is called stealing)

FIG. 30 is a time chart showing the time relationship between each task operation. The vertical axis represents the execution status (execution or stop) of each process, and the horizontal axis represents the passage of time. Note that, for the convenience of drawing creation, a real-time operating system, interrupt processing, a servo processing task, a correction calculation processing task, and a display setting processing task (in descending order of priority) are used as each processing. P1 is
Indicates that an interrupt occurred while the real-time operating system was operating, and control shifted to interrupt processing. P2 indicates a state in which control is returned to the scheduler of the real-time operating system after the completion of the interrupt processing. The scheduler is a part that performs scheduling in the real-time operating system. P3 indicates that the scheduler of the real-time operating system has selected the servo processing task as the task to be executed next. P4
Shows that control returns to the real-time operating system after the servo processing task is completed. P5
Indicates that the correction calculation processing task has been selected as the task to be executed next by the scheduling of the real-time operating system. P6 shows a state in which the control returns to the real-time operating system after the correction calculation processing task is completed. P7 indicates that it is not ready to execute a task with a higher priority, and thus has shifted to a display processing setting processing task with the lowest priority. P8 indicates that the display processing setting processing task is interrupted by the occurrence of the interrupt, and the control is shifted to the interrupt processing. P9 shows a state in which control is returned to the scheduler of the real-time operating system after the completion of the interrupt processing. (Generally, after completing the interrupt processing, control does not return to the original task, but returns to the scheduler of the operating system.) P10 indicates that control has again been transferred to the display setting processing task. P1
1 indicates that control has been returned to the scheduler of the real-time operating system by the system clock (not shown). P12 indicates that preparation for execution of the servo processing task has been made and the processing has shifted to the servo processing task. (This is an example in which the display setting task has intercepted the execution right by the servo processing task.) P13 voluntarily relinquishes the execution right after finishing the execution of the servo processing task, and the real-time operating system Indicates that control has been returned to the scheduler. P14 indicates that the control has returned to the display setting processing task again. Thereafter, each task repeats the same operation and continues processing.

As shown in FIG. 30, since an interrupt other than the system clock is generated irregularly, the numerical controller cannot predict the occurrence. Therefore, it is necessary to allocate processing time according to the characteristics of each task. For example, the servo processing task needs to calculate the next movement amount within a predetermined unit time in order to calculate the movement amount of one servo motor for a predetermined unit time in advance. That is, it is necessary to repeat the execution at least within a predetermined unit time. On the other hand, the correction calculation processing task is, for example, performed once, and the servo processing task
You can create the data you need to run only once,
It only needs to be executed once per three unit times. It is sufficient to execute the display setting processing task only when there is no other processing.

As described above, the numerical controller 501
Realizes a function as a numerical control device by <br/> collaboration of a plurality of tasks to be activated when the running control software on the real-time operating system.

At present, a workstation is mainly used as a development machine of control software for a numerical control device. Therefore, FIG. 31 illustrates a system configuration of control software development of a numerical control device using a workstation. Reference numeral 100 denotes a hard disk which stores various files such as a source code and an object code of a control software for a numerical controller and a compiler. A file server 101 collectively manages various files and transfers files in response to a request from a client workstation. 102 is a gateway machine for communicating with another network. Reference numeral 103 denotes an I / O device for controlling various I / O devices.
/ O server. Reference numeral 104 denotes a network connected to another system. 105 is a local network connecting the inside of the system. Reference numerals 106 to 108 denote client workstations.

Next, a procedure for developing control software of the numerical controller will be described with reference to a flowchart shown in FIG. First, in step 111, the file server 101
Downloads an editor for editing a text file to the client workstations 106 to 108 via the local network 105. Then, create the source code using an editor. Generally, a plurality of persons use the client workstations 106 to 108 (FIG. 31) to create source codes for each function.

In step 112, the file server 10
1 to download the compiler for compiling to the client workstations 106 to 108 through the local network 105. Then, the source code is compiled using a compiler to create an object code executable by the numerical controller. In addition,
In general, the main CPU of the numerical controller is different from the CPUs of the client workstations 106 to 108, so a cross compiler is used as a compiler.

In step 113, it is determined whether or not a compile error (compile error) has occurred. If a compile error occurs, the process proceeds to step 114, and if no compile error occurs, the process proceeds to step 11
Go to 5. In step 114, the source code is corrected, and the process returns to step 112.

In step 115, the file server 10
From 1, a linker for linking and a locator for locating are downloaded to the client workstations 106 to 108 through the local network 105. Then, linking and locating are performed using a linker and a locator, and a load module is created.
Links combine multiple objects into one function,
This is the task of creating modules by connecting them. Locating is the task of determining the address of the memory of the numerical controller that locates the module. In step 116, the load module is copied to another medium. Floppy disk as the medium (when the numerical controller has a floppy disk drive)
And there is ROM.

In step 118, the numerical controller reads the load module from the medium and loads it into the memory. In step 118, the load module is executed on the numerical controller, and it is confirmed whether or not the load module operates as intended. If it operates as intended, the process ends. If it does not operate as intended, the process returns to step 114. A series of steps 118, 119, and 114 is called debugging.

Here, the workstation and the operating system of the workstation will be described. The workstation has the following features. A workstation is used by many users at the same time, and each user is required to provide fair operating system services. That is, there is usually no such thing as user priority, and there is almost no emergency interruption. There are few processes that must be processed within a fixed time. For this reason, as a workstation operating system, a time-sharing operating system that allows many users to perform processing while interacting with a terminal is often used.

In the time-sharing operating system, a certain unit of processing is called a process. A process is similar to a task in a real-time operating system. However, in general, the address space of each task under the real-time operating system is one and the same (referred to as a linear address space), whereas in the time-sharing operating system, an address space unique to each process is used. have. As a specific example, in a real-time operating system, an address that can be accessed by a CPU (this is called a logical address space)
Is assumed to be from address 0 to address 100000, the real-time operating system occupies addresses 0 to 10000, task 1 occupies addresses 10001 to 20000, and task 2 occupies addresses 20001 to 28000. 20,000 for task 1
The address and the 20000 address of task 2 point to the same place,
Shows the same data. Therefore, by exchanging addresses between tasks, it is possible to refer to each other's data. On the other hand, in the time-sharing operating system, each process has a unique address space. Therefore, assuming that both process 1 and process 2 have addresses from address 0 to address 100,000, 20,000 of process 1 is assumed. Address and Process 2 of 2
Since the address 0000 indicates a different place on the actual memory, its data is also different.

Next, a method of realizing an address space unique to each process will be described. FIG. 33 is a diagram of a memory mode of the client workstation. 130 is a client workstation, 131 is a CPU, 132 is an address conversion mechanism, 133 is a conversion table, 134 is a main storage (memory), 135 is a network, 136 is a file server, and 137 is a hard disk.

Now, the client workstation 1
In 30, the address space (logical address space) that can be distinguished by the CPU 131 is generally larger than the physical address (physical address space) assigned to the main memory. Therefore, by assigning a logical address outside the physical address space to a secondary storage device such as a hard disk by the virtual storage method, the secondary storage device can be regarded as the main storage. That is, the size of the main memory is no longer limited by the mounting capacity, so that software can be created without concern for the limitation of the address space.

Next, the method of virtual storage will be described in more detail. In FIG. 33, the CPU 131 sends a logical address to the address conversion mechanism 132. The address translation mechanism 132 extracts a part or all of the given logical address and uses it as an index indicating the number of the array in the translation table 133. If the contents of the conversion table 133 indicate the address of the main memory 134, the main memory 1
A predetermined operation is performed on. If the contents of the conversion table 133 indicate the block number or the like of the hard disk 137, the contents corresponding to the block number are requested to the file server 136, and the contents are received via the network 135. If there is an unused area in the main memory 134, the received data is stored in the unused area, and the contents of the conversion table 133 are rewritten so as to indicate the area where the data is stored. If there is no unused area in the main memory 134, and if there is no unused area in the main memory 134, the used area of the main memory 134 is selected, its contents are written back to the hard disk 137, and the area is newly created. use. It should be noted that a function of software for reversing the conversion table 133 from the main memory 134 is also provided. (This is called the core map)

Further, by having a conversion table for each process, each process can use the same logical address space. This is shown in FIG. 140
Denotes a process 1, 141 denotes a process 2, 142 denotes a conversion table of the process 1, 143 denotes a conversion table of the process 2, and 144 denotes a real memory. Now, process 1 (14
0) and process 2 (141) are assumed to access address 0 (logical address 0). At this time, the process 1 (140) points to the portion of the conversion table 142 at address 0. Further, the process 2 (141) points to a portion at the address 0 of the conversion table 143. The address 0 of the conversion table 142 and the address 0 of the conversion table 143 indicate different areas on the real memory 144. That is, each process can make full use of the logical address space.

Each process uses the logical address space divided into several areas as shown in FIG. 35, for example. 155 indicates all the logical address spaces of one process. 156 indicates a text (program) area of the process. 158 is a spare area. This spare area is usually an unused area, but is used as a data area or a stack area in the direction of the arrow shown in the figure when the data area or the stack area is insufficient. Fifteen
7 indicates a data area used by the process. Fifteen
9 indicates a stack area.

FIG. 36 shows a process model in the time sharing operating system. 210
Is a computer, 211 is a process, 212 is an entity (for example, a text code), and 213 is a program counter indicating a code currently being executed in the entity. Each process is
It has an address space, its program counter, stack, registers, and so on. When a plurality of processes cooperate with each other, they need to communicate with each other using a means of inter-process communication.

In the above time sharing operating system, since each process has a unique address space as shown in FIG. 36, it takes time and effort to rewrite a conversion table for each process, and it takes time to switch processes. There is an easy disadvantage. Further, since there is only one entity executing each process, it has become difficult to cope with application programs that perform complicated processing. Therefore, in recent years, a multithread operating system has been proposed in which a plurality of entities are placed in one process, and each entity can be operated as if they are separate processes under a common address space.

FIG. 37 shows a model of the multi-thread operating system. 210 is a computer, 211 is a process, 212 is an entity, and 213 is a program counter. The entity 212a is called a thread (or a lightweight process). This thread, like the process, has its own program counter and stack, and operates independently of other processes. Since all threads in one process have the same address space, it is easy to share common variables. That is, in the process model of the time sharing operating system described above with reference to FIG. 36, each process has only one thread, whereas in the process model of the multi-thread operating system, one process is You can have multiple threads.

Generally, the information that each process must have is as follows. -Address space-Common variables (global variables)-Information on open files-Information on processes created by you-Timer information-Signal information-Semaphore information On the other hand, the information that each thread should have is as follows: There is something.・ Program counter ・ Stack ・ Register set ・ Information of thread created by you ・ State of yourself

All threads in one process are:
The above information that each process should have is shared. On the other hand, the above information to be held for each thread is individually held by each thread. For example, as shown in FIG. 38, all the logical address spaces 155 of one process include a text area 156, a data area 157, and a spare area 15
8, the stack area 220 of the thread 1 and the thread 2
Stack area 221 and thread 3 stack area 2
22, a stack area 223 of the thread “N−1”,
And a stack area 224 for the thread N. That is, a plurality of threads can be configured in one process by separately allocating only an area that each thread in one process must individually have.

Next, the scheduling in the multi-thread operating system will be described. Whereas conducted scheduling for each task for real-time operating system described above with reference to FIG. 30, in a multi-threaded operating system,
Perform scheduling for each thread. However, in the case of a multi-CPU, a thread is assigned to each CPU, so that scheduling may be performed for each assigned thread.

[0030]

In the conventional numerical control apparatus 501 [0005] the task of realizing the function of the numerical control device is not brought only run under real-time operating system of the numerical controller. Other Me, must be allowed to run the control software to load on the number value controller, Ru cumbersome der. This invention has been made to solve the above Kitoi problem points, the function as a numerical control device
General-purpose multi-threaded operability
Operating system or multitasking operating system
An object of the present invention is to obtain a control software execution system for a numerical control device that can be executed on a system.

[0031]

[Summary of the invention of claim 1, the numerical values to realize the function of the numerical controller by collaboration of a plurality of tasks to be activated when the running control software on the real-time operating rate Tin packaging system control device for the function of the task, allocation to a thread in a process or task executing on a general-purpose multithreaded operating <br/> computing system or multitasking operating <br/> Gushisutemu Rutotomoni, scheduling between threads Rin
Control software execution system for a numerical controller characterized by allocating one thread for controlling
Offer.

According to a second aspect of the present invention, there is provided the numerical control device according to the first aspect.
In location control software execution system, general-purpose multithreaded operating systems or multi-motor
Computer using a disk operating system and its
A numerical control device connected to the computer via a communication line , wherein a partition is provided between the computer and the numerical control device.
With the function of a distributed shared memory,
Using the function of the distributed shared memory
Processing by the computer and the numerical controller.
Providing control software execution system of the numerical controller, characterized in that that.

[0033] The invention of claim 3 is claim 1 or claim 1.
2 control software execution system
There are a computer using a general-purpose multithreaded operating system or multitasking operating system, it comprises a and a numerical control device connected via a communication line to the computer, wherein the computer the numerical system
A control software execution system for a numerical control device characterized by monitoring the presence or absence of an interrupt request to a control device.
Offer .

According to a fourth aspect of the present invention, there is provided the first to third aspects.
Control software execution system for any of the numerical controllers
CPU system with multiple CPU cards
And the CPU in the CPU card is numerically controlled.
There is provided a control software execution system for a numerical control device, which is assigned as a CPU of a control device.

According to a fifth aspect of the present invention, there is provided the numerical control device according to the fourth aspect.
The control software execution system of
The CPU in the U-card is replaced by the CPU of the plurality of numerical controllers.
The present invention provides a control software execution system for a numerical control device, wherein

According to a sixth aspect of the present invention, there is provided the numerical control device according to the fifth aspect.
The control software execution system of
One CPU card in U pool is dedicated to interrupt inspection
Numerical control characterized by being used as a CPU card
A control software execution system for a device is provided .

[0037]

In the control software execution system according to claim 1,
Is a general-purpose multi-threaded operating system or
Or numerical system on multitasking operating system
The control software of the control device can be executed .

Therefore, the control software of the numerical controller is controlled by a computer.
Software operation can be easily verified, and
You can improve the reliability of your software .

Further, in the control software execution system of claim 1, the control software of the numerical controller Sukeji
One thread is created for controlling Turing. this
A general-purpose multi-threaded operating system for computers
System provides scheduling between threads
If not, the control software of the numerical controller can be executed on a general-purpose multi- thread operating system or multi- task operating system.

In the control software execution system according to the second aspect , the tasks are distributed and processed by the computer and the numerical controller.
I do. This allows a low-performance CPU to be used for the numerical controller.
Control system for the numerical controller
Software .

Further, the control software execution system according to claim 2 is provided.
The system uses a distributed shared memory function to
And the numerical controller perform distributed processing. With this, one professional
It is run by dispersing a separate thread in the processes in a different node
Can not multi-threaded operating system
When used, tasks between the computer and the numerical controller
Can be processed in a distributed manner.
A PU can be used, and the control software of the numerical controller can be efficiently executed at low cost.

Also, the computer processes tasks that should be started by the numerical control device, so that the CPU of the numerical control device
Can be eliminated.

[0043] In the control software execution system of claim 3, the computer monitors the presence or absence of external interrupt requests to the numerical control device. As a result, the CPU of the numerical controller is not used.
It is possible to deal with interrupt processing even if the
Can be simplified .

According to a fourth aspect of the present invention, the control software execution system includes a CPU pool having a plurality of CPU cards.
You. Thereby , the processing capacity can be adjusted by acquiring and releasing the CPU according to the processing load of the control software of the numerical controller .

In the control software execution system according to the fifth aspect , the CPU in the CPU pool is assigned to a plurality of numerical controllers.
Is assigned as a CPU. This allows multiple numerical systems
The control software of the control device can be executed at the same time .

[0046] In the control software execution system of claim 6, interrupt one CPU card in the CPU pool
Only used as a CPU dedicated to inspection. This allows external allocation
Swiftly can be dealt with .

[0047]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. It should be noted that the present invention is not limited by this.

First Embodiment FIG. 1 is an overall configuration diagram of a control software execution system of a numerical controller according to a first embodiment of the present invention. The control software execution system S1 includes a numerical controller 200
a1 to 200an, the host computer 201, the hard disk 202, the display device 203, and the keyboard 204
And Numerical control devices 200a1 to 200an
The control software is executed under a real-time operating system to realize a function as a numerical controller. The hardware configuration of the numerical control devices 200a1 to 200an is the same as that of the conventional numerical control device 501 described above with reference to FIG. Host computer 201
Executes the control software of the numerical controller under a general-purpose multi-thread operating system. The hard disk 202 is an external storage device of the host computer 201. The display device 203 displays various information required by the user. The keyboard 204 receives instructions from a user and the like. The external network 206
The host computer 201 is connected to a general-purpose workstation (not shown) or the like.

Next, a procedure for executing the control software of the numerical controller by the host computer 201 will be described.
For convenience of explanation, it is assumed that the control software of the numerical controller is stored in the hard disk 202 in advance. First, the user uses the keyboard 204 to instruct the host computer 201 to start a process for implementing the control software of the numerical controller. Host computer 201
The multi-thread operating system reads a process for realizing control software of the numerical controller from the hard disk 202 and registers the process in the process management table.

The process management table is conceptually similar to the conversion table described above with reference to FIGS. 33 and 34. More specifically, in the process management table, the first to M-th of the array of the conversion table 133 (FIG. 33) are secured as slots for indicating the text area 156 shown in FIG. Are allocated as slots for indicating the data area 157 shown in FIG. 38.

Next, the host computer 201 sequentially reads each area in the logical address space 155 of the process shown in FIG. 38 from the hard disk 202 in accordance with the execution status of the control software of the numerical controller, and reads the area from the internal memory (FIG. (Not shown).

Next, the host computer 201 generates a process corresponding to a task when the control software of the numerical controller is executed. FIG. 2 shows a flowchart for generating a process. First, in step 241, one task realizing one function as a numerical controller (one task under the real-time operating system of the numerical controller) is performed by using a system call provided in the multi-thread operating system. One thread that performs the same processing as task (task) is generated. Specifically, a slot for a stack area of a new thread is secured in the process management table, and the new thread is added to the thread table recognized by the multi-thread operating system.

At step 242, processing corresponding to the thread generated at step 241 is performed. For example, a system call for the real-time operating system of the numerical controller is rewritten to a system call for a thread of the multitasking operating system of the host computer 201. If the system library is converted using the conversion library, the rewriting load can be reduced.

At step 243, it is determined whether or not all the threads corresponding to the tasks of the numerical controller have been generated. If all threads have been created, step 244
Go to step 2 if there are remaining threads to be created
Return to 41. At the time when all the threads are generated, the multi-thread operating system 2 is installed inside the host computer 201 as shown in the conceptual diagram of FIG.
A process 211 including a thread 1 (231) to a thread 6 (236) that realizes the same function as the task of the numerical controller is formed on 40.

In step 244, a scheduling method for scheduling between threads is determined. For example, when the multi-thread operating system of the host computer 201 has a scheduling function for running each thread according to the priority,
Register the priority of each thread using a system call. Alternatively, the multi-thread operating system of the host computer 201 may have a scheduler that runs threads in a ready order. Here, "run" means a state in which a text area constituting the thread exists in the real memory and the text area is being processed by the CPU.

FIG. 4 is a conceptual diagram showing an example of scheduling by the scheduler. 211 is a process executed by the host computer 201. 231-234
Is a thread that implements the same function as the task of the numerical controller. 240 is a multi-thread operating system. Reference numeral 250 denotes a scheduler that selects one thread from the ready threads and runs it in order. 251 is another process.

In step 245, the control software of the numerical controller first activates the initialization task, and if the initialization task activates another task, the same processing as the initialization task is performed. Start a thread by a system call. Specifically, a thread that performs the same processing as the initialization task may be added to the table of threads to be scheduled by the multithread operating system. Through these processes, each thread runs in a predetermined order. If the control software of the numerical control device does not have the above-described method, the threads may be started in the same order as the control software of the conventional numerical control device.

In the above description, the multi-thread
Threading using the features of the threaded operating system
Scheduling between nodes. But multis
Red operating system scheduling between threads
If you do not have a
I can't .

Therefore, in this case, the schedule between threads is
Create one thread for controlling the Turing
No.

[0060] That is, the host computer 201, in addition to the task in the numerical control device to the thread, and generates a scan <br/> scheduler 250 scheduler threads that are equivalent to the (Figure 4).

FIG. 5 is a conceptual diagram of scheduling by a scheduler thread generated by the host computer 201. This is the concept of scan Keji <br/> Yuringu described earlier with reference to FIG. 4, is obtained by adding a scheduler thread 252. Then, the scheduler thread 252
Acquires the execution right of the process 211 for executing the control software of the numerical controller from the scheduler 250 on the multi-threaded operating system 240, and performs all the scheduling of the threads 1 (231) to 4 (234).

The control software of the numerical controller according to the first embodiment described above.
According to the software execution system , one thread (scheduler thread) is generated for controlling the scheduling of the control software of the numerical controller. Therefore, the general-purpose multi-thread operating system of the host computer does not have a scheduling function between threads. However, general-purpose multi-threaded operation on the host computer
The control software of the numerical controller under the rating system
Software can be executed. That
For debugging during control software development, the host
Control software developed on a computer is numerically controlled
There is no need to check the operation by loading the
The launch period can be shortened. It is also built on the host computer
Simulation of numerical controller in CAD / CAM system
When incorporating the data function, the control software of the numerical controller must be used.
A generic multi-threaded operating system
Since it is not necessary to reassemble to move on, it takes time
Absent. In addition, since there is no need to perform scheduling in consideration of the difference between the host computer and the operating system of the numerical controller, existing software of the numerical controller can be ported in a short period of time.

In the above description , the thread corresponding to the task of the control software of the numerical controller is run under a general-purpose multi-thread operating system operating on the host computer 201. A multi-thread operating system may be operated, under which a thread corresponding to a task of the control software of the numerical controller may be run. That is, the numerical control device, in the same manner as the host computer 201 as described above was performed, as threads on a multi-threaded operating system, executes the control software of the numerical controller.

[0064] Since it developed software running on this manner to lever, the numerical control device generic multithreaded operating system control software, it becomes easy to verify the operation of the control software of the numerical controller by the host computer, The reliability of the control software of the numerical controller can be improved.

Second Embodiment The control software of the numerical controller according to the second embodiment of the present invention.
The execution system includes an e-mail system in addition to the configuration of the first embodiment.
Between threads between the strike computer and one numerical controller
Make communication and use the function of distributed shared memory
Thus, the above-mentioned threads are distributed and run .

[0066] Figure 6 is an overall configuration diagram of a control software execution system S 3 of the numerical controller of the second embodiment. The control software execution system S 3 is substantially the same as that of the control software execution system S1 of the first embodiment (FIG. 1). However, in the first embodiment , the numerical controller 200
While a1 to 200an were isolated from the host computer 201, in the second embodiment , the numerical controller 200b1
And a host computer 201 ～200Bn point connected via an internal network 205 is different.

FIG. 7 is a hardware configuration diagram of the numerical control device 200b1. Note that the numerical controller 200b2
200bn has the same configuration. Reference numeral 1 denotes a main CPU that controls the operation of each unit and performs calculations necessary for numerical control. Reference numeral 2 denotes a system bus that connects the components.
Reference numeral 3 denotes a ROM (non-volatile storage device) that stores control software for realizing the main functions of the numerical controller. 4 is a RAM used for temporary storage, work area, etc.
(Volatile storage device). 5 is a data SIO for exchanging data with an external device by serial communication.
Interface section. Reference numeral 6 denotes a display device for displaying an operation state of the numerical control device and for confirming a command given to the numerical control device. Reference numeral 7 denotes a keyboard (input device) for giving a command to the numerical controller. 8
Is a servo controller for calculating a command for controlling the servomotor. Reference numeral 9 denotes a servo amplifier that amplifies a command received from the servo control unit 8 and outputs a drive signal to a servo motor. Reference numeral 10 denotes a servomotor for controlling a processing unit of a machine tool (not shown). Reference numeral 11 denotes a program controller for exchanging data other than the servo control command with the machine tool. 12 is
2 shows a system clock (not shown) and an external interrupt signal supplied to the main CPU 1. The system clock is a clock signal for controlling the entire numerical controller. In addition, the external interrupt signal indicates the occurrence of an event (emergency event) such as a power failure or emergency stop.
This is a signal for notifying PU1. 132 corresponds to FIG.
Is an address translation mechanism for realizing the above-described virtual storage using. 207 is an internal network 205
Through the host computer 201 and other numerical control devices 200
This is a network interface for performing communication between b2 and bn.

In the control software execution system S3,
Is a general-purpose CAD /
Generate CAD / CAM data by CAM system,
The CAD / CAM data is processed by the numerical controller
Into a ram and perform machining based on that machining program.
Can be done . FIG. 8 shows the host computer 201.
It is a conceptual diagram of operation | movement of the general purpose CAD / CAM system constructed above . The host computer 201 has a CAD / CAM
A process 340, a data conversion process 341 and a numerical control device process 342 for realizing control software of the numerical control device are generated and activated. And CAD /
The CAM process 340 has a data output thread 343.
Keep running. The CAD / CAM process 340 creates CAD / CAM data by a normal operation. The data output thread 343 inputs the CAD / CAM data to the thread 344 of the data conversion process 341. In the data conversion process 341, the internal thread C
The AD / CAM data is converted into input data of the numerical controller and passed to the data output thread 345. The data output thread 345 converts the input data of the numerical controller into a data input (setting) thread 346 of the numerical controller process 342.
Send to The numerical controller process 342 converts the input data of the numerical controller into a machining program, inputs the converted data to the numerical controller through the internal network 205, and causes the numerical controller to perform machining.

[0069] on the host computer as described above CAD / C
If the machining program for the numerical control device is automatically created from the CAD / CAM data generated by the AM system, the burden on the user for creating the machining program can be reduced.

Next, running the threads in a distributed manner
It will be described .

[0071] To describe a specific example of a distributed thread, there numerical control equipment has a cheap main CPU with low performance, when the host computer 201 has a high-performance and expensive CPU is thread performing a simple process is run in the numerical control equipment, a thread that performs complex processing is preferred that run on the host computer 201. Also, if explaining another embodiment, such as a thread that performs an interpolation process 24 and the servo processing 25 described above with reference to FIG. 28 Hashirase the numerical control equipment, a machining program input processing 21 and the correction calculation process 22 The thread to be executed is preferably run on the host computer 201.

FIG . 9 illustrates the communication between threads performed between the numerical controller 200 b 1 and the host computer 201.
FIG . 211 is a process. 231 is thread 1, 232 is thread 2, 233 is thread 3, 23
Reference numeral 4 denotes a thread 4. 260 is a node 1 and 261 is a node 2. Here, the node is a general term for information processing equipment at the end point of a branch of the network. For example, the node 1 (260) is the host computer 201, the node 2 (2
61) is a numerical controller 200 b 1. Reference numeral 262 denotes an inter-thread communication processing unit that processes communication between the thread 1 and the thread 2 under the operating system 240a. Reference numeral 263 denotes an inter-node network connecting the nodes 1 and 2.

Now, thread 1 in node 1 (260)
From thread (231) to thread 3 (2) in node 2 (261)
It is assumed that a message is sent to 33). Thread 1
(231) designates a partner thread by a system call and issues a request to send a message to the operating system 240a. Control is transferred to the operating system 240a by this system call. By analyzing the contents of the system call, the control moves to the inter-thread communication processing unit 262. The inter-thread communication processing unit 262 determines a node (node 2) in which the partner thread exists, and sends a message to the node 2 (261) via the inter-node network 263. The message is sent to the inter-thread communication processing unit 262 of the node 2 (261).
, The inter-thread communication processing unit 262 passes the message to the designated thread 3 (233).

[0074] In the above assumption, it is assumed that directly send a message to the thread 3 (233) from the thread 1 (231), depending on the multi-threaded operating system Ru can also pass a message by using the mail box. FIG. 10 is a conceptual diagram in a case where a thread in the node 1 (260) sends a message to a thread 3 (233) in the node 2 (261) using a mailbox. The thread 1 (231) specifies the mailbox of the partner thread by a system call, and issues a request to send a message to the operating system 240a. This system call transfers control to operating system 240a. By analyzing the contents of the system call, the control is controlled by the inter-thread communication processor 26.
Move to 2. The inter-thread communication processing unit 262 determines the node (node 2) where the designated mailbox is located, and sends the node 2 (261) the inter-node network 263.
Send messages through. The message is node 2
The processing is passed to the inter-thread communication processing unit 262 in (261). The inter-thread communication processing unit 262 stores the message in the mailbox 264. Then, the inter-thread communication processing unit 2
When the thread 3 (233) issues a message reading request specifying a port, the message 62 is passed. If the read request is faster than the message arrives, thread 3 (233) until the message arrives
Wait.

Next, utilizing the function of the distributed shared memory,
A description will be given of running threads in a distributed manner .

In a multithread operating system in which another thread in one process cannot be distributed and run on another node, the function of the distributed shared memory is used.
And distributed between the computer 201 and the numerical controller 200b1.
And process. That is, a process for realizing the function of the control software of the numerical control device is executed in the host computer 201, and one numerical control device 200b1 is connected to the host computer 201b.
A thread independent of the process 201 is run. At that time, the shared address space of the thread in one process, implemented by distributed, shared memory functions.

FIG. 11 is a conceptual diagram of a distributed shared memory. When reading the contents of the main memory 134 corresponding to a certain logical address, the CPU 131 of the node 1 (260) uses the address conversion mechanism 132 and the conversion table 133 to read the contents.
The physical address of the main memory 134 is calculated to obtain the contents.
For example, the logical address is the main memory 1 of the node 1 (260).
34, the conversion table 133 of the node 1 (260) calculates the physical address of the main memory 134. If the logical address corresponds to the main memory 134 of the node 2 (261), the conversion table 133 of the node 1 (260) is stored in the conversion table 133 of the node 2 (261) via the inter-node network 135. A request is made to read the contents of the main memory 134.

In the above description, the host computer 201 and one number
Run threads distributed to the value controller 200b1
On the other hand, as shown in FIG.
And a plurality of numerical controllers 200b1 to 200bn
And run the thread .

[0079] For example, real-time processing is required interpolation processing 24
231 that performs servo processing 25 (FIG. 28)
Is run by each of the numerical control devices 200b1 to 200bn, and is a machining program input process 2 that does not require real-time processing.
1 and a thread 23 for performing the correction calculation process 22 (FIG. 28)
2 is preferably run in common on the host computer 201. The thread 232 on the host computer 201
Run at least one at a time corresponding to the numerical control devices 200b1 to 200bn.

The control software of the numerical controller according to the second embodiment described above.
According to the software execution system , the effect of the first embodiment is obtained.
In addition to the result, another thread in one process is separated by another node.
Multi-thread operation that cannot be run
When the hosting system 20 is used,
Since it runs and distribute tasks between 1 and numerical control apparatus 200b, the numerical control apparatus using a low-performance CPU
Control software for numerical controllers efficiently at low cost
Ware can be executed .

In the above, a keyboard and a display device are provided.
Numerical control devices 200b1 to 200bn are used,
Using a numerical controller without a board and display
Is also good. The control software execution system S shown in FIG.
7 has the same configuration as the conventional control software execution system, but differs in that numerical control devices 200e1 to 200en without a keyboard and a display device are used.

FIG. 14 is a hardware configuration diagram of the numerical controller 200e1. Note that the numerical controller 200e2
~ 200en has the same configuration. Numerical control device 200e
Reference numeral 1 denotes a configuration in which the display device 6 and the keyboard 7 are removed from the numerical control device 200b1 (corresponding to FIG. 7) of the second embodiment.

FIG. 15 is a conceptual diagram showing the operation of the control software execution system S7. Numerical control device 20
The thread 273 performing the display setting process of 0e1 does not perform the display process by itself when receiving a display request from the other thread 272, and sends the thread 270 controlling the display device of the host computer 201 to the thread 270 via the internal network 205. To send a display request. Upon receiving the display request, the thread 270 performs a display process on the display device 203.
That is, instead of displaying on the display device of the numerical control device 200e1, it is displayed on the display device 203 of the host computer 201. (At that time, since the original screen of the host computer cannot be displayed, the display device 203 displays either the original screen of the host computer or the screen of one numerical controller.) When the 204 receives an instruction to the numerical controller 200e1, the thread 271 sends the instruction to the thread 273 for performing the display setting process of the numerical controller 200e1 via the internal network 205. In other words, instead of using the keyboard of the numerical controller 200e1, the input is performed using the keyboard 204 of the host computer 201.

[0084] According to the above SL, displays the screen of one of the numerical control apparatus to the display device 203 of the host computer 201, using the keyboard 204 of the host computer 201 1
Since it becomes possible to input instructions to the two numerical control devices, a display device and a keyboard of the numerical control device are not required, and the configuration of the numerical control device can be simplified and reduced in cost.

As a display device of the host computer 201,
A map display may be used. FIG. 16 is a bit
1 is an overall configuration diagram of a control software execution system using a map display . The control software execution system S8 includes the control software execution system S
7 has almost the same configuration. However, the numerical controller 200f
1 to 200 fn and a point that a bitmap display is used as the display device 203 a of the host computer 201.

FIG. 17 is a conceptual diagram of the display processing in the control software execution system S8. The host computer 201 displays a screen 1 (2) which is an original screen of the host computer.
80), the screen 2 (281), and the screen 3 (282), the threads 284, 285, and 286 for controlling the screen are generated. Upon receiving a display request, the numerical controller 200f1 sends the display request to the threads 284, 285, 286 of the host computer 201 via the internal network 205, as in the seventh embodiment. Therefore, the host computer 201 is configured to display the original screen of the host computer and the numerical controller 2
A plurality of screens of 00f1 are displayed on the display device 203a.

[0087] According to the above SL, so to display in a plurality of screens once the host computer original screen and one of the numerical control apparatus to the display device of the host computer, the user to obtain a variety of information at a time Operability at the time of inputting various instructions is improved.

The display device 203a of the host computer 201
(Equivalent to Fig. 16) The original screen of the host computer and multiple numerical values
The screens of the control device may be displayed simultaneously. For this purpose, the thread of the host computer 201 described above with reference to FIG.
It may be further increased according to the number of 1 to 200 gn.

[0089] Thus to lever, since it is possible to obtain the simultaneous display screen to the display device of the host computer the information of the host computer original information and a plurality of numerical control device at a time, is better operability Become.

Using a pointing device such as a mouse
Command to any numerical controller.
It may be. FIG. 18 is an overall configuration diagram of a control software execution system including a mouse . The control software execution system S10 is almost the same configuration as FIG. 16, that given a command to any of the numerical controller 200h1~200hn is different using a pointing device such as a mouse M.

FIG. 19 is a conceptual diagram of the display processing in the control software execution system S10. The host computer 201 generates a thread 292 in addition to the thread for controlling the screen described above with reference to FIG. The thread 292 includes a mouse M operated by the user.
For example, the movement of a pointing device such as a mouse is detected, the screen on which the pointing device cursor 291 is located is determined, and the pointing device cursor 291 is displayed on the thread 293 for controlling the screen 1 (280) accordingly. Make a request to At this time, the input from the keyboard 204 (FIG. 18) is
(280), the input information is displayed on screen 1 (2).
80) to the controlling thread 293. The thread 293 sends input information to (a thread of) the numerical controller (not shown).

[0092] According to the above reporting, the user, since the numerical control apparatus which gives an indication can be selected by a pointing device cursor on the screen of the host computer, each time it is not necessary to move even when giving instructions to a plurality of numerical control device .

Third embodiment. The control software execution system of the numerical control device according to the third embodiment of the present invention can process external interrupt signals for the numerical control devices 200i1 to 200in (not shown) by the host computer in addition to the configuration of the first embodiment. It is like that.

FIG. 20 is a hardware configuration diagram of the numerical control device 200i1. Note that the numerical controller 200i2
~ 200in has the same configuration. Numerical control device 200i
1 is a configuration in which the main CPU 1, the ROM 3, the display device 6, the keyboard 7, and the address conversion mechanism 132 are removed from the numerical control device 200b1 (FIG. 7) of the second embodiment, and an interrupt signal processing unit 300 is added. In this configuration, the CPU of the host computer 201 is connected to the numerical control devices 200i1 to 200i1.
The use of 200-in also eliminates the need for the main CPU 1 of the numerical controller 200 and the address conversion mechanism 132 (corresponding to FIG. 7).

Next, the operation of the control software execution system S11 will be described. For convenience of description, only the operation of the numerical control device 200i1 will be described, but the same applies to the numerical control devices 200i2 to 200in. The external interrupt signal 12 is transmitted to the numerical controller 200i1
Events such as power failure or emergency stop (emergency
Generated when requesting the processing of
00i1 is transmitted to the interrupt signal processing unit 300. At this time, the interrupt signal processing unit 300 latches (temporarily stores) the external interrupt signal 12 in the RAM 4 or the like. On the other hand, the host computer 201 generates a thread for periodically checking the contents of the RAM 4 and the like, and if the external interrupt signal 12 is latched, the numerical controller 200
It is determined that some request has been made to i1, and this is notified to a thread (group) that implements the control software of the numerical control device on the host computer 201. Thereafter, the operation is performed in the same manner as in the previous embodiments.

Execution of control software of the third embodiment described above
According to the system, the host computer monitors the presence or absence of an external interrupt signal to the numerical controller , so that the
Even without CPU, it can handle interrupt processing and numerical control
The configuration of the device can be simplified .

Fourth Embodiment FIG. 21 is an overall configuration diagram of a control software execution system of a numerical control device according to a fourth embodiment of the present invention. The control software execution system S12 includes a file server 208 for reading from and writing to the hard disk 202,
A CPU pool 301 and a gateway unit 2070 connected to the external network 206 are provided. The hardware configuration of the numerical control devices 200j1 to 200jn is the same as that of 200i1 to 200in (FIG. 20).

FIG. 22 is an internal configuration diagram of the CPU pool 301. A plurality of CPU cards 302 are inserted into slots of the CPU pool 301. Each CPU card 302 is connected by a bus 312. These CPU cards 302 do not have to be unified to the same type of CPU. CPUs 311 and 3 of each CPU card 302
13 to 325 are local memories 310 and 31 respectively.
2 to 326 are provided.

Next, the operation of the control software execution system S12 will be described. One CPU card 302 in the CPU pool 301 serves as the CPU of the host computer 201. This is called a host function CPU card. This host function CPU card sends the CP to the numerical control devices 200j1-200jn by the same processing as in the third embodiment.
Assign U. For example, in FIG.
Is a host function CPU, the numerical controller 200j
The CPU 313 is assigned as one CPU. At this time, the thread executing the control software of the numerical controller 200j1 is loaded into the local memory 310 and the local memory 312 (FIG. 22), and runs under the multi-thread operating system of the host function CPU. These processes are similar to the processing described in the second embodiment, inter-thread communication point made through the bus 312 differ not a network.

When the capacity of the CPU is insufficient (for example, when the number of threads running under the operating system of the host function CPU exceeds a certain amount).
Is the CPU card 3 in the CPU pool 301 (FIG. 22).
By obtaining a new CPU card 302 as long as there is room in the CPU 02, the processing capacity of the CPU can be adjusted. Specifically, when a large CPU processing capacity is required, a plurality of C
When the PU card 302 is used and the processing capability of the CPU is not so required, one CPU card 302 may be used.

FIG. 23 is a conceptual diagram showing the operation when a new CPU card 302 is acquired. 320, 321
Indicates a thread running on the host function CPU 311. 322 to 323 are numerical control devices 200j
This is a thread running on the CPU 313 that executes the first control software.

The thread 322 periodically counts the number of threads running on the CPU 312. Thread 320
Recognizes the number of threads running on the CPU 313 by periodically exchanging messages with the thread 322. When the number of threads exceeds a predetermined value, the threads 320
Is a CPU 31 that performs processing of the numerical controller 200h1.
A new CPU card is obtained in the same procedure as that for obtaining No. 3. Here, for convenience of explanation, the CPU in FIG.
325 shall be newly acquired. First, the code of the thread to be newly run and the operating system of the CPU 325 are read from the hard disk 202 (FIG. 21) and loaded into the local memory 326. After running the initialization thread, the thread 322 is sent information about the newly acquired CPU 325. Next, the thread 322 that has been running on the CPU 313 is transferred to the CPU 325 and run.

Execution of control software of the fourth embodiment described above
According to the system , a CPU having a plurality of CPU cards
Since the pool is provided, the processing capacity can be adjusted by acquiring and releasing the CPU according to the processing load of the control software of the numerical controller.

Fifth embodiment. The control software execution system of the numerical controller of the fifth embodiment of the present invention is substantially the same as the fourth embodiment. However, with respect to control a numerical control device, one for the fourth embodiment 1 degree, it is that it can control multiple numerical control device 1 degree fifth embodiment differ.

This control software execution system S13
Is almost the same as the operation of the control software execution system S12 of the fourth embodiment . However, CPU pool 3
The thread on the host function CPU card in FIG. 21 (FIG. 21) sequentially allocates CPUs to the numerical control device by the same processing as in the fourth embodiment .

Execution of control software of the above fifth embodiment
According to the system S13 , CPUs in the CPU pool can be assigned as CPUs of a plurality of numerical control devices. In addition to the effects of the fourth embodiment , control software of a plurality of numerical control devices can be executed simultaneously. become.

Sixth embodiment. The control software execution system S14 of the numerical controller according to the sixth embodiment of the present invention is substantially the same as that of the fifth embodiment . However, in the sixth embodiment , the CPU pool 301 (FIG. 2)
That it uses a single CPU card 302 in 2) as an interrupt inspection dedicated CPU card is different.

The control software execution system S14
Is almost the same as the operation of the control software execution system S13 of the fifth embodiment . However, CPU card 3
02 is loaded by the thread of the host function CPU, and when an interrupt is found, a message is sent to a thread on the CPU card 302 that controls the numerical controller to notify the thread. . If the interrupt is the first interrupt to the numerical controller, the interrupt is sent to the host function CPU.
To start the operation of the numerical controller according to the procedure described above.

Execution of control software according to the sixth embodiment.
According to the system , since one CPU card in the CPU pool is used as a CPU dedicated to the interrupt check, it is possible to quickly deal with an external interrupt signal.

The control software execution system S14 ' shown in FIG . 24 has substantially the same configuration as the control software execution system S14 . However then, CP of the CPU card 302
The local memory 310, 312 to 326 for each U (FIG. 2)
2), a shared memory 330 that can be shared by the CPU of the CPU card 302 is provided.
And it is different from that using the 00k1~200kn.

FIG. 25 is a hardware configuration diagram of the numerical controller 200k1. Note that the numerical controller 200k2
To 200kn have the same configuration as the numerical control device 200k1. The numerical controller 200k1 has a configuration in which the RAM 4 is removed from the numerical controller 200i1 (FIG. 20) of the eleventh embodiment.

This control software execution system S1
The operation of 4 'is almost the same as the operation of the control software execution system S14, but instead of using a virtual distributed shared memory, a thread is actually run at the same physical address. At this time, a thread in a certain process can be run on an arbitrary node.

As described above, the CP of the CPU card
External interrupt without local memory for each U
Be able to respond quickly to signals .

Modified embodiment. Aft by numerical control device 200P1 (not shown) in advance run only multithreaded operating system itself and the data input thread universal, data entry thread,
From the data output thread of the host computer 201, a code portion of the control software of the numerical control device managed as a file in the hard disk 202 of the host computer 201 is received by communication, and the code is sequentially stored in the RAM 4 of the numerical control device 200p1. I will do it
You may do it .

With this configuration, the numerical control device can execute the control software downloaded from the host computer, and thus can quickly execute the control software developed on the host computer. Further, since the host computer manages the control software of the numerical controller as a file, the management efficiency is improved.

[0116] of the download target the numerical control device in one
The invention is not limited to this, and a plurality may be used .

A plurality of numerical control units to be downloaded
Then, since the control software of a plurality of types of numerical control devices can be collectively managed as a file, the management efficiency is further improved.

A flash ROM was added to the numerical controller.
You may .

FIG. 26 is a hardware configuration diagram of a numerical value control device 200q1 to which a flash ROM has been added . The numerical controllers 200q2 to 200qn have the same configuration. The numerical control device 200q1 includes a flash ROM 113 in the numerical control device 200b1 (FIG. 7) of the second embodiment .
3 is added.

Next, an operation when downloading control software to the numerical controller 200q1 will be described. Only a general-purpose multithread operating system itself, a data input thread, and a flash ROM writing thread are run in advance in the numerical controller 200q1. The data input thread is changed from the data output thread of the host computer 201 to the host computer 2.
01 of the numerical control device, which is managed as a file in the hard disk 202 of the hard disk drive No. 01 by communication, and sequentially transmits the code portion to the flash RO.
Pass to M writing thread. The flash ROM writing thread stores the given code in the flash ROM 11
Write to 33.

[0121] According to the above reporting, since definitive holds the control software of the numerical controller to the flash ROM, or not to download the control software every time the launch numerical controller. Further, since the contents written in the flash ROM can be erased all at once, the rewriting time of the control software can be reduced.

In the above description , the host computer 201
As an operating system, but using a general-purpose multithreaded operating system, equivalent Der even using a general-purpose multitasking operating system
You .

[0123]

The control software execution system according to claim 1
According to the system, the schedule of the control software
Since one thread is created for controlling Turing,
A general-purpose multi-threaded operating system for computers
System does not have scheduling function between threads
Even a general-purpose multi-threaded operator in a computer
Control software of numerical controller under the operating system
Can be executed. Claim 2
According to the software execution system, another within one process
Threads cannot be distributed and run on different nodes
When using a multi-threaded operating system
The tasks are distributed between the computer and the numerical controller.
Uses a low-performance CPU for the numerical controller because it can process
Control software for the numerical controller efficiently at low cost.
Software. The control software according to claim 3.
According to the hardware execution system, the computer is a numerical controller
Monitors the presence or absence of an external interrupt signal to the
Interrupt processing can be dealt with even without the CPU of the device,
The configuration of the value control device can be simplified. The control software according to claim 4.
According to the hardware execution system, a plurality of CPU cards
Control of the numerical control device
Acquire and release CPU according to software processing load
By doing so, the processing capacity can be adjusted. The control software according to claim 5
According to the hardware execution system, the CP in the CPU pool
U is assigned as a CPU of a plurality of numerical controllers
Control software for multiple numerical controllers
Can be executed simultaneously. Execution of the control software of claim 6
According to the system, one CPU pool in the CPU pool
Since the code is used as a CPU dedicated to interrupt inspection,
An interrupt signal can be quickly dealt with .

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram of a control software execution system according to a first embodiment of the present invention.

FIG. 2 is a flowchart for creating a process.

FIG. 3 is a conceptual diagram of a process configured inside a host computer.

FIG. 4 is a conceptual diagram of scheduling by a scheduler.

FIG. 5 is a conceptual diagram of scheduling by a scheduler thread.

FIG. 6 is an overall configuration diagram of a control software execution system according to a second embodiment of the present invention.

FIG. 7 is a hardware configuration diagram of the numerical control device 200b1.

FIG. 8: General-purpose CAD / C constructed on a host computer
It is a conceptual diagram of operation | movement of an AM system .

FIG. 9 is a conceptual diagram of inter-thread communication performed between a numerical controller and a host computer.

FIG. 10 is a conceptual diagram of inter-thread communication via a mailbox.

FIG. 11 is a conceptual diagram of a distributed shared memory.

FIG. 12 is distributed to a host computer and a plurality of numerical controllers
It is a conceptual diagram of the example which performs .

FIG. 13 is a numerical system without a keyboard and a display device .
1 is an overall configuration diagram of a control software execution system using a control device .

FIG. 14 is a hardware configuration diagram of a numerical controller 200e1.

FIG. 15 is a numerical system without a keyboard and a display device .
It is a conceptual diagram showing operation of a control software execution system using a control device .

FIG. 16 is an overall configuration diagram of a control software execution system using a bitmap display .

FIG. 17 is a conceptual diagram of a display process in a control software execution system using a bitmap display .

FIG. 18 is an overall configuration diagram of a control software execution system including a mouse .

FIG. 19 is a conceptual diagram of a display process in a control software execution system including a mouse .

FIG. 20 is a numerical controller 200 according to a third embodiment of the present invention .
It is a hardware block diagram of i1.

FIG. 21 is an overall configuration diagram of a control software execution system according to a fourth embodiment of the present invention.

FIG. 22 is an internal configuration diagram of a CPU pool.

FIG. 23 is a conceptual diagram of the operation when acquiring a new CPU card.

FIG. 24 is an overall configuration diagram of a control software execution system according to a modified embodiment of the present invention.

FIG. 25 is a hardware configuration diagram of a numerical controller 200k1.

FIG. 26 is a hardware configuration diagram of a numerical controller 200q1.

FIG. 27 is a hardware configuration diagram of a conventional numerical controller.

FIG. 28 is an explanatory diagram showing a processing procedure of a conventional numerical control device.

FIG. 29 is a conceptual diagram of interrupt processing.

FIG. 30 is a time chart showing a temporal relationship between task operations.

FIG. 31 is a configuration diagram of a control software development system using a workstation.

FIG. 32 is a flowchart showing a procedure for developing control software.

FIG. 33 is a diagram of a memory mode of a client workstation.

FIG. 34 is a principle view showing that each process can use the same logical address space.

FIG. 35 is an area diagram in a logical address space of one process.

FIG. 36 is an illustration of a process model in a time sharing operating system.

FIG. 37 is a view showing an example of a model in a multi-thread operating system.

FIG. 38 is a diagram of another area in the logical address space of one process.

[Explanation of symbols]

 1 Main CPU 2 System bus 3 ROM 4 RAM 5 SIO interface unit 6 Display device 7 Keyboard 8 Servo control unit 9 Servo amplifier 10 Servo motor 11 Program controller unit 12 External interrupt signal 132 Address conversion mechanism 1133 Flash ROM S1-S14 Control software execution 200q1, Numerical control device 200kn,..., 200qn Numerical control device 201 Host computer 202 Hard disk 203, 203a Display device 204 Keyboard 207 Network interface 205, 208 Internal network 206 External network 207 Network interface 301 CPU pool 302 CPU card 2070 Gateway part M mouse

Claims (6)

(57) [Claims] 1. A functional tasks of the numerical controller for realizing a function as a numerical control device by collaboration of a plurality of tasks to be activated when the running control software on the real-time operating rate Tin packaging system, a general-purpose multi thread operating system or multi-data
Disk process or <br/> other to run on the operating system assigned a thread in a task Rutotomoni, thread
One thread to control scheduling between
Control software execution system of the numerical controller, characterized in that shed. 2. The control software of the numerical controller according to claim 1.
A computer using a general-purpose multi- threaded operating system or a multi- tasking operating system, and a numerical controller connected to the computer via a communication line. apparatus
A function of a distributed shared memory between
The function of the task of the device, the function of the distributed shared memory
Utilization, distributed between the computer and the numerical controller
A control software execution system for a numerical control device, characterized by processing . 3. A numerical controller according to claim 1 or 2.
In the control software execution system, a general-purpose multithreaded operating system or multitasking
Phrases and computer using the operating system, it comprises a connection numeric control device via a communication line to the computer, wherein the computer interrupt to the numerical control device
A control software execution system for a numerical controller characterized by monitoring the presence or absence of a request . 4. The numerical value according to any one of claims 1 to 3.
In a control software execution system for a control device, a CPU pool having a plurality of CPU cards is provided.
CPU in the CPU card of the above numerical controller
A control software execution system for a numerical control device, characterized in that the control software execution system is assigned as: 5. The control software of the numerical controller according to claim 4.
In the hardware execution system, the CPU in the CPU card is connected to the plurality of numerical control devices.
A control software execution system for a numerical control device, wherein the control software execution system is assigned as a CPU . 6. The control software for a numerical controller according to claim 5.
In the hardware execution system, one CPU card in the CPU pool is interrupt detected.
It is characterized by being used as a CPU card dedicated to inspection
Control software execution system for numerical control devices .