JP5800135B2 - Programmable controller - Google Patents

Description

  The present invention relates to a programmable controller that executes an optimized machine language object.

  In order to process a program at high speed, a method of performing optimization at the time of program compilation has been proposed. However, since the optimized machine language object (hereinafter referred to as the optimized machine language object) may have been changed in the program execution order or deleted unnecessary variables, it should be debugged on the source code. Becomes difficult.

  Therefore, conventionally, an optimized machine language object is input, a source code for debugging is generated to decompile the optimized machine language object and debugged with the source code, and the debugging source code and symbol information are used. There has been proposed a source code level debugging apparatus that debugs on source code (see, for example, Patent Document 1).

JP-A-6-242942

  However, in the conventional example described in Patent Document 1, it is necessary to decompile the optimized machine language object each time for debugging and generate a source code for debugging, which makes the work complicated. Therefore, there is a problem that debugging efficiency is not good.

  The present invention has been devised by paying attention to the above problems, and it is an object of the present invention to provide a programmable controller that can be debugged on a source code during debugging and can easily implement a debugging process.

  In addition, the present invention provides a programmable controller capable of increasing the program execution speed by executing an optimized machine language object, and maintaining the program execution speed and enabling debugging in an actual operation state. It is in.

As a method for solving the above problems, the present invention is configured as follows.
According to the first aspect of the present invention, the first storage area for holding the optimized machine language object, the table in which the start address of the optimized machine language object is registered, and the start address registered in the table are designated and optimized. A program execution unit that executes the machine language object, a program execution management unit that cyclically calls the program execution unit and executes the optimization machine language object, and a call of the program execution unit of the program execution management unit based on the trace instruction A debug control unit that switches to trace processing later, a trace result output unit that outputs the execution result of the trace processing, and a second storage area that holds a non-optimized machine language object corresponding to the optimized machine language object , The debug control unit receives a break instruction including the execution stop position of the object. And a break execution means for inserting a break instruction into the non-optimized machine language object based on the stop position and registering the start address of the non-optimized machine language object in a table. A non-optimized machine language object is executed by specifying the start address of the registered non-optimized machine language object, and the execution of the break instruction inserted in the non-optimized machine language object causes Execution is stopped and this stop information is output.

  According to a second aspect of the present invention, in the programmable controller according to the first aspect, the debug control unit extracts a call instruction of the optimized machine language object of the program execution management unit based on the trace instruction, and the extracted call instruction It is configured to switch to the trace process by inserting a trace instruction for calling the trace process later and causing the program execution management unit to execute the trace instruction.

According to a third aspect of the present invention, in the programmable controller according to the first or second aspect , the break instruction is given from a support device connected to the programmable controller via the communication unit, and the debug control unit is a non-optimized machine language. Prior to the insertion of the break instruction into the object, the presence / absence information indicating whether or not the non-optimized machine language object is already registered in the programmable controller is transmitted to the support device, and after this transmission, the non-optimized machine language object is transmitted from the support device. Upon reception, the received non-optimized machine language object is configured to be transferred to the second storage area.

According to a fourth aspect of the present invention, in the programmable controller according to the third aspect , the support device has a compiling unit for compiling a predetermined source code, and the compiling unit receives presence / absence information when receiving a debug start instruction including a break instruction. Sends a command requesting a response to the programmable controller, receives a response including presence / absence information for the transmission from the programmable controller, and refers to the received presence / absence information to register the non-optimized machine language object in the programmable controller. If it is confirmed that the non-optimized machine language object is already registered in the programmable controller, the source code is not compiled and the non-optimized machine language object is not generated. , As a result of referring to presence information, When it is confirmed that the optimized machine language object is not registered in the programmable controller, the source code is compiled to generate a non-optimized machine language object, and the generated non-optimized machine language object is transmitted to the programmable controller. Configured to do.

The invention according to claim 5 is the programmable controller according to claim 2, wherein the debug control unit inserts the trace instruction in synchronization with the cyclic period, and the trace inserted into the program execution management unit when a trace release instruction is given. The instruction is configured to be deleted in synchronization with the cyclic period.

The invention according to claim 6, in a programmable controller of claim 1 wherein the debug control unit inserts in synchronization with the cycle of the cyclically break instruction, in synchronization with the cycle of the cyclic a break cancellation instruction is given The break instruction inserted in the non-optimized machine language object is deleted, and the head address of the optimized machine language object is registered in the table.

In the present invention, the support device compiles the source code, generates an optimized machine language object, and transfers it to a programmable controller (PLC).
When the user selects a break as the debug mode, the support apparatus generates debug information based on the breakpoint set on the source code. At this time, if the non-optimized machine language object to be debugged is already stored in the programmable controller, the non-optimized machine language object is not generated, and only debug information is transmitted to the programmable controller. On the other hand, if the non-optimized machine language object to be debugged is already stored in the programmable controller, the support device compiles the source code to generate the non-optimized machine language object, and generates the debug information and the non-optimized machine language object. Send both to the programmable controller.

  When the non-optimized machine language object is received from the support device, the programmable controller transfers the non-optimized machine language object to the internal memory, and inserts breakpoint processing code into the non-optimized machine language object transferred to the internal memory according to the debug information. The head address of this non-optimized machine language object is registered in the address table. Subsequently, the programmable controller executes the non-optimized machine language object using the address information registered in the address table as an access destination, and breaks when the breakpoint processing code is executed.

  On the other hand, when the user selects the trace as the debug mode, the support device generates and transmits debug information based on the trigger condition set on the source code. The programmable controller identifies the optimized machine language object to be debugged based on the received debug information, calls the trace function when execution of this optimized machine language object is completed, and executes the program starting from this timing. Trace.

  By configuring in this way, the present invention improves the efficiency of the debugging operation of the programmable controller that achieves high speed by executing the optimized machine language object, and the speed of the high-speed program in the operating state of the programmable controller is increased. A programmable controller that can be debugged while maintaining the execution speed can be provided.

The system block diagram which shows one Embodiment of the programmable controller system which concerns on this invention Block diagram of a programmable controller according to the present invention Functional configuration diagram of programmable controller system according to the present invention The flowchart which shows an example of the assistance process of the assistance apparatus which concerns on FIG. An example of a menu screen displayed by the support device according to FIG. The flowchart which shows an example of the process which the programmable controller which concerns on this invention performs Explanatory drawing which shows the structure of the machine language object transmitted based on this invention Explanatory drawing which shows the debug information transmitted at the time of debugging which concerns on this invention The figure explaining that the machine language object and address table which concern on this invention are transferred and registered to program memory Diagram explaining the operation during break execution Diagram explaining the operation during trace execution

Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the following description, the address notation is hexadecimal.
FIG. 1 is a configuration diagram illustrating an embodiment of a programmable controller system according to the present invention.

  As shown in FIG. 1, in this system, a support device 100 (programming loader) is detachably connected to a programmable controller (hereinafter referred to as PLC) 200 by a signal line 110, and the PLC 200 is connected to a control device 300. Yes. The PLC 200 executes the sequence control program and controls the control device 300.

  The support device 100 includes a central processing unit (CPU) 101, an internal memory 104, a storage device 105, an input device 102 including a mouse and a keyboard, a display 103, an input / output interface (I / O) 106, and the like. These are connected to the common bus 107.

  Various data are stored in the storage device 105. The input device 102 notifies the CPU 101 of an input event from a mouse, a keyboard, or the like operated from the outside by an operator.

  The display device 103 is composed of, for example, a liquid crystal display, and displays various data and images according to input events. The I / O 106 is connected to the PLC 200 via the signal line 110, and exchanges data between the support apparatus 100 and the PLC 200.

  The CPU 101 operates each unit while reading various data from the storage device 105 or writing various data to the storage device 105 according to an input event input to the input device 102 and a program read from the internal memory 104. Control. Furthermore, the CPU 101 can send operation instructions to the PLC 200 such as parameters to the PLC 200 via the I / O 106, and can download a sequence control program to be executed by the PLC 200 to the PLC 200 via the I / O 106.

  The support apparatus 100 configured as described above has a function of compiling a source program programmed by a user and generating an execution code (machine language) that can be directly executed by the CPU 211 of FIG. Then, when the execution code is downloaded to the CPU module 210 via the communication line 110, the CPU module 210 updates the sequence control program held in the system program memory 212 or the like to the downloaded execution code. (Program update means).

FIG. 2 is an internal configuration diagram of the PLC 200.
The PLC 200 includes a CPU (Central Processing Unit) module 210. The CPU module 210 includes a CPU 211, a driver / receiver 217, a PLC specific bus interface 214, a system program memory (FLASH) 212, a system work memory (RAM (Random Access Memory)) 216, a user program memory (RAM) 213, and a user data memory. (RAM) 215 and the like, which are connected by a bus 218. The CPU module 210 is connected to the input / output module 222 through the PLC specific bus interface 214.

  The PLC 200 is configured to cyclically execute the sequence control program held in the system program memory 212 after system initialization after power-on or reset start, and to control the control device 300 at a predetermined cycle. .

  FIG. 3 is a functional block diagram showing an embodiment of the present invention, in which the support apparatus 100 has a compile function for converting source code (source program) created by a user into a machine language object. The machine language object compiled by the support apparatus 100 is downloaded to a target such as the PLC 200.

  The user interface unit 11 gives the IEC (International Electrotechnical Commission) language source code created by the user to the compiler. The compiler 12 (compilation means) generates an optimized machine language object by optimizing and compiling the source code during normal times (when debugging is not executed), and stores the optimized machine language object 13 in an unillustrated storage area or the like. . The generated optimized machine language object 13 is downloaded to the PLC 200 via the communication unit 14 such as RS232C.

  On the other hand, during debugging, the compiler 12 generates a machine language object (non-optimized machine language object) that can be debugged by compiling the source code, and stores it as a non-optimized machine language object 15 in a storage area (not shown). The generated non-optimized machine language object 15 is downloaded to the PLC 200 via the data communication unit 14.

  The PLC 200 includes a data communication unit 21. The optimized machine language object 13 input from the support apparatus 100 through the data communication unit 21 is transferred and registered as the optimized machine language object 22, and the optimized machine language object 22 is also registered. Is registered in the address table 24. The program execution unit 27 is called by a cyclically executed operation function (program execution management unit), and is configured to execute an optimized machine language object based on address information registered in the address table 24. At the time, the optimized machine language object 22 is executed. That is, the program execution unit 27 refers to the address table 24, indirectly specifies the information in the address table 24, and executes the machine language object held at the address destination. Normally, the start address of the optimized machine language object 22 is registered in the address table 24, and the program execution unit 27 executes the program at high speed by executing the optimized machine language object 22.

  On the other hand, at the time of debugging, the PLC 200 transfers and registers the non-optimized machine language object 15 input from the support apparatus 100 as the non-optimized machine language object 23 and also registers the start address of the non-optimized machine language object 23 in the address table 24. Register with. Based on this registration, the program execution unit 27 executes the non-optimized machine language object 23. Then, the PLC 200 returns to the normal time by re-registering the head address of the optimized machine language object 22 in the address table 24 at the end of debugging.

  As described above, the start address of the area (first storage area) in which the optimized machine language object 22 is held is registered in the address table 24 in normal times, and the area in which the non-optimized machine language object 23 is held in debugging. By registering the start address of the (second storage area) in the address table 24, the machine language object is switched between the normal time and the debug time and executed. Therefore, the optimized machine language object is executed to increase the speed. PLC debugging is extremely easy.

  Here, an example of specific processing of the support apparatus 100 will be described. FIG. 4 shows an example of a support processing procedure of the support apparatus 100. The support process first displays a process menu in step S1. As shown in FIG. 5, at least a compile start button 31, a debug start button 32, a debug end button 34, and an end button 33 are set as this processing menu. The debug start button 32 is provided with a radio button as an option so that a break process or a trace process described later can be selected. When the user selects a desired button from the menus 31 to 34, the support apparatus 100 executes various processes.

  Subsequently, the process proceeds to step S2, where the support process determines whether or not the compile start button 31 has been selected. If the compile start button 31 has not been selected, the process proceeds to step S5 described later, and the compile start button 31 is reached. Is selected, the source code is optimized and compiled to generate an optimized machine language object, and the source code file name at this time is associated with the identification number ( Source code / identification number correspondence table) is created, and the source code / identification number correspondence table and the optimized machine language object 13 are stored in the storage area. Although the identification number will be described later, it is information (number) for uniquely identifying the machine language object after compilation, and the description method may be in any format.

  Subsequently, the process proceeds to step S4, and the support process downloads the optimized machine language object 13 held in the storage area to the PLC 200 via the data communication unit 14, and proceeds to step S5.

  In step S5, the support process determines whether or not the debug start button 32 is selected. If the debug start button 32 is not selected, the process proceeds to step S16. If the debug start button 32 is selected, the process proceeds to step S6. To do.

  In step S6, the support process determines whether the break process radio button selected as the option of the debug start button 32 is selected. When the break process is not selected, the support process proceeds to step S17, and when the break process is selected, the process proceeds to step S7.

  The support processing that has shifted to step S7 creates debug information shown in FIG. 8 based on the breakpoint set by the user on the source code. The debug information identification number 51 is an identification number specified from the source code / identification number correspondence table based on the file name of the source code in which the breakpoint is set, and the break position 52 is set by the breakpoint. Line number. Although the breakpoint will be described later, it is a kind of marker (identifier) for stopping the program execution at a position corresponding to an arbitrary position in the source code, and its implementation method may take any form. . In the following description, as an example, a method of inserting a breakpoint processing code is used.

  Subsequently, the process proceeds to step S <b> 8, and the support process transmits a debug start notification to the PLC 200. At this time, the support process transmits to the PLC 200 that the debug process to be executed is a break in addition to the debug information.

  Subsequently, the process proceeds to step S <b> 9, and the support process confirms whether or not a non-optimized machine language object to be debugged exists in the PLC 200. This confirmation is achieved by transmitting a predetermined confirmation command to the PLC 200 and receiving an object presence / absence notification (presence / absence information) indicating the presence / absence of a non-optimized machine language object to be debugged from the PLC 200. As a result, when the notification that the non-optimized machine language object to be debugged exists in the PLC 200 is received from the PLC 200, the process proceeds to step S13, and when the non-optimized machine language object to be debugged does not exist in the PLC 200, the process proceeds to step S10. Migrate to

  The support process that has shifted to step S10 compiles the source code to generate the non-optimized machine language object 15 and stores it in the storage area, and then shifts to step S11 to store the non-optimized machine stored in the storage area. The word object 15 is downloaded to the PLC 200 via the data communication unit 14.

  Subsequently, the process proceeds to step S12, where the support process determines whether or not a process completion notification (notification indicating completion of the breakpoint process code insertion process) described later has been received from the PLC 200, and receives the process completion notification. If not, the process waits until a process completion notice is received. If a process completion notice is received, the process proceeds to step S13.

  In step S13, the support process executes debug processing such as displaying status information when the PLC 200 breaks, and then proceeds to step S14 to determine whether or not the debug end button 34 has been selected for debugging. When the end of the process is determined, the process waits until the end of the debug process, and when the debug end button 34 is selected, the process proceeds to step S15, a debug end notification is transmitted to the PLC 200, and the process proceeds to step S16. To do. In step S16, the support process determines whether or not the end button 33 has been selected. When the end button 33 is selected, the menu screen is cleared and the support process ends. Otherwise, the process returns to step S2.

  As a result of the determination in step S6, the support process that has shifted to step S17 confirms that the radio button for the trace process is set, and sets a trigger condition for starting the trace. The trigger condition is the same as the above-described breakpoint setting procedure, and the user sets the part to be traced on the source code, thereby extracting the debug information shown in FIG. 8 and transmitting it to the PLC 200 (step S18). In step S18, the support process transmits to the PLC 200 that the debug process to be executed is a trace in addition to the debug information.

Here, an example of specific processing of the PLC 200 will be described.
FIG. 6 shows an example of a processing procedure (hereinafter referred to as PLC processing) when the PLC 200 transfers the machine language object to the program memory 213 and debugs it. In this PLC process, first, in step S21, it is determined whether or not the optimized machine language object 13 is received from the support apparatus 100. If the optimized machine language object 13 is not received, the process proceeds to step S31. When the computerized machine language object 13 is received, the process proceeds to step S22.

  The PLC process that has proceeded to step S22 transfers the received optimized machine language object 13 to the optimized machine language object storage area (not shown) of the user program memory 213 as the optimized machine language object 22, and then proceeds to step S23. Then, the start address of the storage area of the optimized machine language object 22 is registered in the address table 24. The processing from step S21 to step S23 is also called an object expansion function, and corresponds to the object expansion unit 25 in FIG.

  Then, the PLC process proceeds to step S31, and determines whether or not a debug start notification is received from the support apparatus 100. As a result of this determination, when the debug start notification is not received, the process returns to step S21, and when the debug start notification is received, the process proceeds to step S32. It is assumed that the debug start notification includes the debug information shown in FIG. 8 and the debug process parameter indicating the debug process (break or trace) to be executed.

  The PLC process which shifted to step S32 determines the above-mentioned debug process parameter, and when the debug process parameter is a break, shifts to step S33, and when not, shifts to step S41.

  In step S33, the PLC process confirms whether the machine language object to be debugged has already been stored, transmits the presence / absence information to the support apparatus 100, and proceeds to step S34. In S34, the PLC process determines whether or not a non-optimized machine language object has been received from the support apparatus 100 after a predetermined time has elapsed. If a non-optimized machine language object has been received, the process proceeds to step S35. If no non-optimized machine language object is received, the process proceeds to step S36.

  The process proceeds to step S35, and the PLC process transfers the received machine language object 43 (see FIG. 7) to a non-optimized machine language object storage area (not shown) in the user program memory 213, and then proceeds to step S36. Transition is made, the identification number and break position of the machine language object to be debugged are obtained by referring to the debug information, and the breakpoint processing code is inserted into the non-optimized machine language object to which the identification number is assigned. The position where the breakpoint code is inserted is specified by the break position. The process proceeds to step S37, and the PLC process registers the storage destination head address of the non-optimized machine language object in the address table 24 as a debug address.

  The process proceeds to step S38, and the PLC process transmits a process completion notification to the support apparatus 100 via the data communication unit 21, and then proceeds to step S39. In step S39, the PLC process determines whether or not a debug completion notification has been received from the support apparatus 100. If the debug completion notification has not been received, the PLC processing waits until it is received, and if a debug completion notification has been received, step S40. Then, after the address table 24 is switched to the optimization address, the process returns to step S21.

  If it is determined in step S32 that the debug process parameter is not a break, the process proceeds to step S41. In step S41, the PLC process refers to the debug information received from the support apparatus 100, sets a trigger condition, then proceeds to step S42, transmits a process completion notification to the support apparatus 100, and then proceeds to step S43. To do. In step S43, the PLC process determines whether or not a debug completion notification has been received from the support apparatus 100. If the debug completion notification has not been received, the PLC processing waits until it is received. Return to. Note that the processing from step S31 to step S43 is also called a debug control function, and corresponds to the debug control unit 26 in FIG.

Next, the operation of the above embodiment will be described.
(Operations related to the support device 100 until the machine language object is downloaded)
In order to download a machine language object to the PLC 200 using the support apparatus 100, the user first creates a source code in which a program is described in the IEC language by the user interface unit 11 of the support apparatus 100. With this source code created, the support device 100 selects the compile start button 31 from the processing menu displayed on the display unit 103. When the compile start button 31 is selected, the support apparatus 100 optimizes and compiles the source code with the compiler 12 to generate the optimized machine language object 13 and stores it in the storage area. In this optimization compilation, the code size is reduced by changing the execution order of the source code, effectively using the registers, and the like. Here, the optimized machine language object 13 is generated for each POU (Program Organization Unit). The POU is a program unit and is a language element of the PLC 200. Note that POU types include application programs, function blocks, and the like, which correspond to C language functions.

  When performing the optimization compilation, the support apparatus 100 creates a source code / identification number correspondence table so that the generated optimized machine language object 13 corresponds to which source code is converted, and saves it in the storage area. To do. That is, the source code / identification number correspondence table is table information in which the file name of the source code is associated with the identification number.

Then, when the generation of the optimized machine language object 13 is completed, the support apparatus 100 downloads it to the PLC 200 via the data communication unit 14.
At this time, as shown in FIG. 7, the optimized machine language object 13 is an identification number 41 and an optimized machine language object or a non-optimized machine language object for the machine language object 43 (object body) in POU units. Information 42 indicating whether or not is added and downloaded to the PLC 200. The identification number 41 is a number given to each POU of the compiled optimized machine language object and the non-optimized machine language object, and is an identifier for uniquely identifying the POU. The type 42 is a type code indicating whether the machine language object 43 is optimized or non-optimizable that can be debugged. In the embodiment of the present invention, “1” is optimized as a machine language object, “ 2 "is defined as a non-optimized machine language object (debuggable machine language object).

(Operation in which the PLC 200 expands the optimized machine language object received from the support apparatus 100)
For example, it is assumed that the PLC 200 has downloaded a machine language object (61a, 61b) as shown in FIG. The machine language objects 61a and 61b are optimized because the type is “1”. The PLC 200 transfers these machine language objects (POU main body) to the optimized machine language object storage area (addresses 0 to 7FFF) of the user program memory 213 in the order of the identification numbers, and stores them in the address field 24 for the identification number 1 in the address table 24. The storage start address “0000” of the machine language object 61a is registered. Similarly, the head address “1000” of the machine language object 61 b stored in the user program memory 213 is registered in the address field for the identification number 2 in the address table 24.

  That is, the PLC 200 develops each of the plurality of POUs in the order of identification numbers and stores them in the user program memory 213. At this time, each head address where each POU is stored is registered in the address table 24.

(Operation in which the PLC 200 executes an object at normal time)
The PLC 200 refers to the address table 24 and indirectly addresses the information in the address table 24 to execute the machine language object. Normally, since the head address of the optimized machine language object is registered in the address table 24 as described above, the PLC 200 executes the optimized machine language object 22 at high speed.

(Operation of the support apparatus 100 in debugging for the purpose of break)
When the radio button for break processing is selected on the menu screen of FIG. 5 and the debug start button 32 is selected, the support apparatus 100 starts debugging that causes the PLC 200 to break.

  When causing the PLC 200 to break, the user opens a desired source code, and sets a breakpoint in the opened source code. At this time, the support apparatus 100 obtains the identification number of the machine language object corresponding to the source code by referring to the source code / identification number correspondence table based on the opened source code. Furthermore, the position of the line of the source code designated on the display screen is recognized. Then, the support apparatus 100 compiles the source code in which the breakpoint is set by the compiler 12 to generate the non-optimized machine language object 15. At this time, the debug information shown in FIG. 8 is created which specifies the line of the source code as the identification number and the breakpoint.

  In this way, the user opens a desired source code and sets a breakpoint, and the support apparatus 100 generates the non-optimized machine language object 15 by compiling the source code with the breakpoint set by the compiler 12. Create debugging information. Then, the support apparatus 100 downloads the non-optimized machine language object 15 and debug information to the PLC 200 and waits for a process completion notification of the PLC 200.

  At this time, the optimized machine language object transmitted from the support apparatus 100 is downloaded in the format shown in FIG. 7, and the debug information is downloaded in the format shown in FIG. 8 including the debug processing parameters (FIG. 7). The identification number 41 and the identification number 51 in FIG. 8 are substantially the same).

  When receiving the processing completion notification from the PLC 200, the support device 100 waits for the PLC 200 to break, and displays the status information (register values, input / output data, etc.) of the PLC 200 using the display unit 103 in this waiting state. The user is notified of the PLC status. When some analysis is performed by the user and the debug end button 34 is pressed, a debug end notification is transmitted to the PLC 200.

(Operation of PLC 200 in debugging for the purpose of break)
Assume that the user performs an operation for the purpose of a break, and for example, the machine language objects (62a, 62b) and debug information (break instruction) shown in FIG. 10 are downloaded from the support apparatus 100 to the PLC 200. The machine language objects 61a and 61b are not optimized because the type is “2”. The PLC 200 recognizes the break processing by referring to the debug processing parameters included in the debug information, and sets the machine language objects 62a and 62b in the non-optimized machine language object storage area (address 8000) in the user program memory 213 in the order of the identification numbers. save.

  The PLC 200 refers to the debug information, and since the debug information identification number is “2” and the break position is “2”, two lines of the non-optimized machine language object with the identification number 2 stored in the user program memory 213 are displayed. Insert breakpoint handling code into the eye. Then, the address field for the identification number 2 in the address table 24 is updated to the storage destination start address of the non-optimized machine language object with the identification number 2. More specifically, the address field for the identification number 2 in the address table 24 is updated from “1000” to “9000”. As described above, when the PLC 200 receives the non-optimized machine language object and the debug information, the PLC 200 transfers the non-optimized machine language object to the internal memory, and also sets the non-optimized machine language object to be debugged based on the debug information. Recognize and insert the breakpoint processing code into the recognized non-optimized machine language object, and change the address table column corresponding to the identification number from the address for the optimized machine language object to the address for the non-optimized machine language object To do. With the change of the address table, the PLC 200 executes the non-optimized machine language object with respect to the execution of the machine language object having the identification number 2.

  Subsequently, the PLC 200 transmits a process completion notification to the support apparatus 100 and waits for a debug end notification from the support apparatus 100. In this waiting state, the PLC 200 stops executing the machine language object when executing the inserted breakpoint processing code, and stops the PLC 200 status information (register values, input / output data, etc.) and breaks. Is transmitted to the support device 100 to enter a standby state.

  When receiving the debug end notification from the support apparatus 100, the PLC 200 switches the address table 24 from the debug address to the optimization address and deletes the breakpoint processing code inserted in the non-optimized machine language object. This operation will be described using FIG. 10 as an example. The address field for the identification number 2 in the address table 24 is updated again from “9000” to “1000”, and is inserted in the second line of the non-optimized machine language object with the identification number 2. The broken break processing code is deleted. In this way, the PLC 200 returns from the debug state to the normal state (also referred to as the operation state), and resumes execution of the optimized machine language object.

  Note that when the non-optimized machine language object to be debugged is already stored in the PLC 200 at the start of debugging, the PLC 200 provides “presence / absence information” indicating that the non-optimized machine language object is already stored. And the support apparatus 100 is prompted to omit transmission of the non-optimized machine language object. In this way, useless communication time can be saved.

  As described above, according to the present invention taking the above embodiment as an example, when compiling source code, only optimization compilation is performed to generate an optimized machine language object for each POU, and at the same time, source code・ Create an identification number correspondence table. Then, an identification number 41 and a type 42 as shown in FIG. 7 are added to the generated optimized machine language object and downloaded from the data transmission unit 14 to the PLC 200.

  That is, according to the present invention, the compiler 12 optimizes and compiles the source code, generates only the optimized machine language object, and downloads the generated optimized machine language object to the PLC 200. Therefore, the time required for downloading is minimized. can do. Further, since the PLC 200 executes the downloaded optimized machine language object, the application can be executed at high speed.

  On the other hand, at the time of debugging, the present invention compiles only a machine language object to be debugged to generate a non-optimized machine language object, and downloads debugging information to the PLC 200 together with the non-optimized machine language object. By doing so, compilation and download time can be minimized, and efficient software development can be supported.

  The present invention can also execute a trace instead of a break. The trace is a function for displaying the value of a variable to be monitored in a time series from a predetermined starting point, that is, a function for logging data starting from a predetermined trigger condition. For example, this logging includes collecting register values in a program execution process or the like. In other words, the present invention can solve the problem of maintaining the program execution speed and debugging in the actual operation state in the PLC that increases the program execution speed by executing the optimized machine language object.

  As described above, in the break processing, since the non-optimized machine language object is executed by the PLC, the program execution speed is lower than the normal execution speed at which the optimized machine language object is executed. In addition, since the program is stopped when the break condition is satisfied, it is not a good measure for verification of actual operation, and is suitable for logic verification when the PLC is not in actual operation (offline). On the other hand, since the trace does not stop the PLC, it is suitable for debugging in actual operation (verification of actual operation).

Hereinafter, the execution method of the trace of the present invention will be described.
(Operation of the support apparatus 100 in debugging for the purpose of tracing)
The user selects the trace processing radio button in FIG. 5 as the requested debug mode and selects the start button 32. Then, the user sets a trigger condition as a trace start condition, and this trigger condition is set in the same manner as the above-described breakpoint setting procedure. That is, the trace start point is set on the source code by the user in the same way as the breakpoint setting, and the support apparatus 100 extracts the debug information shown in FIG. 8 based on this setting and transmits it to the PLC 200. At this time, in addition to the debug information, the support apparatus 100 transmits a debug processing parameter indicating that the selected debug mode is trace to the PLC 200 and waits for a processing completion notification of the PLC 200. Subsequent movement is the same as the above-mentioned break movement.

(Operation of PLC 200 in debugging for the purpose of tracing)
The PLC 200 that has received the debug process parameter indicating that the selected debug process is a trace sets the trigger condition with reference to the debug information. However, as described above, the execution order of the program is changed in the optimized machine language object. Therefore, a predetermined processing code such as the above breakpoint processing code cannot be embedded in the optimized machine language object.

  A feature of the debugging method (trace) of the present invention is that an operation function (program execution management unit) that manages program execution is cyclically executed to execute an optimized machine language object periodically (every control cycle). It was devised paying attention to. Specifically, the optimizing machine language object specified by the identification number of the debug information is called by the operation function, and tracing is started from the point when the execution is completed. By doing so, in the PLC that executes the optimized machine language object, debugging can be performed while the PLC is in an operating state without reducing the program execution speed.

  FIG. 11 is a conceptual diagram of the operation of the PLC 200 during tracing. Components having the same reference numerals as those in other drawings have the same configuration. This figure shows that the optimized machine language object and the non-optimized machine language object of the identification number “1” and the identification number “2” have been registered in the user program memory 213, and the debug information (the trace is “2”). (Instruction) is received from the support apparatus 100. When tracing is instructed, the “break position” of the debug information is not applied.

  The debug control unit 26 of the PLC 200 that has received the debug information extracts the call instruction for calling the optimized machine language object with the identification number “2” from the program code in the operation function because the identification number of the debug information is “2”. . This extraction is achieved, for example, by searching for a call instruction having the identification number “2” as an operand. Then, the debug control unit 26 inserts a trace process execution code (trace instruction) for executing the trace process into the operation function after the extracted call instruction. In other words, the debug control unit 26 causes the operation function to execute the inserted trace processing execution code, thereby switching the main routine sequentially executed by the operation function to execute the trace processing.

  When the operation function sequentially executes the main routine program, the operation function executes the inserted trace processing execution code to call the trace function. The called trace function stores a program execution log in a storage area (not shown). Then, the PLC 200 transmits the execution log to the support device 100 by the trace result output unit.

  That is, the operation function calls the optimized machine language object with the identification number “2” when the program is sequentially executed. The program execution unit 27 receives the call of the optimized machine language object having the identification number “2”, indirectly specifies the data registered in the address table 24, and executes the optimized machine language object having the identification number “2”. . Then, when the execution of the optimized machine language object with the identification number “2” is completed, the program execution unit 27 notifies the operation function of the completion. The operation function notified of the completion of the execution of the optimized machine language object executes the inserted trace processing execution code and calls the trace function. The called trace function stores a program execution log in a storage area (not shown), and the trace result output unit transmits the execution log to the support apparatus 100.

Then, the PLC 200 transmits a process completion notification to the support device 100 and waits for a debug end notification from the support device 100.
When receiving the debug end notification, the debug control unit 26 deletes the trace processing execution code inserted in the operation function and ends the trace.

As described above, according to the present invention, when breakpoints or trigger conditions are set on the source code and a break is selected as the debug mode, debug information is generated and transmitted to the PLC 200. In this transmission, if the non-optimized machine language object to be debugged is already stored in the PLC 200, only the debug information is transmitted. On the other hand, if the non-optimized machine language object to be debugged is not already stored in the PLC 200, support is provided. The apparatus 100 transmits both the non-optimized machine language object 15 and the debug information to the PLC 200.

  When receiving the non-optimized machine language object, the PLC 200 transfers the non-optimized machine language object to the internal memory, and inserts a breakpoint processing code (break instruction) into the non-optimized machine language object transferred to the internal memory according to the debug information. The address table 24 is changed to execute the computerized machine language object. Then, the PLC 200 breaks when the inserted breakpoint processing code is executed.

  On the other hand, when the trace is selected as the debug mode, the support apparatus 100 generates debug information based on the trigger condition set by the user and transmits the debug information to the PLC. The PLC identifies the optimization machine language object to be debugged based on the received debug information, calls the trace function when execution of this optimization machine language object is completed, and traces program execution starting from this timing. To do. Then, the trace result is transmitted to the support apparatus 100.

  In this way, the present invention improves the efficiency of the debugging work of the PLC that has been accelerated by executing the optimized machine language object, and at the same time, the execution speed of the accelerated program while the PLC is operating. You can debug while maintaining

  Note that the switching timing between the operation state and the debugging, that is, the update timing of the address table 24, and the timing of insertion / deletion of the trace processing execution code and breakpoint processing code are the controls for the PLC 200 to control the control device 300. It is desirable to execute in synchronization with the cycle (cyclic cycle in which the execution of the operation function makes a round). A plurality of POUs are stored in the PLC 200, and the PLC 200 calculates the processing results of these POUs in cooperation and controls the control device 300 using the calculation results. For this reason, the present invention updates the address table 24 in synchronization with the control cycle and inserts or deletes the trace processing execution code or breakpoint processing code, thereby maintaining the cooperation of the input / output processing of each POU, Minimize control effects.

  In the above embodiment, the user program memory is not limited to a volatile memory such as a RAM, but may be a rewritable nonvolatile memory such as a flash memory.

The debug information can also be said to be information for specifying a machine language object (program) and inserting patch processing at a predetermined location.
Further, when transmitting the debug information illustrated in FIG. 8 to the PLC 200, the support apparatus 100 transmits the selection information of the radio button (break process or trace process) illustrated in FIG. When receiving debug information from the support device 100, the PLC 200 is configured to refer to the selection information included in the transmission packet and grasp whether the debug information is a break instruction or a trace instruction.

  The operation function (program execution management unit) is a program corresponding to firmware, and is a non-optimized debuggable program.

DESCRIPTION OF SYMBOLS 100 ... Support apparatus, 200 ... Programmable controller, 300 ... Control apparatus 11 ... User interface part, 12 ... Compiler, 13 ... Optimization machine language object, 14 ... Communication part, 15 ... Non-optimization machine language object 21 ... Communication part, DESCRIPTION OF SYMBOLS 22 ... Optimization machine language object, 23 ... Non-optimization machine language object, 24 ... Address table, 25 ... Object expansion part, 26 ... Debug control part, 27 ... Program execution part 41 ... Identification number, 42 ... Type, 43 ... Machine language object 51 ... Identification number, 52 ... Break position 61 ... Optimization machine language object 61a, 61b ... Optimization machine language object (main body)
62 ... Non-optimized machine language object 62a, 62b ... Non-optimized machine language object (main body)

Claims (6)

A first storage area for holding the optimized machine language object;
A table in which the start address of the optimized machine language object is registered;
A program execution unit that executes the optimized machine language object by designating the head address registered in the table;
A program execution management unit that cyclically calls the program execution unit and executes the optimized machine language object;
Based on a trace instruction, a debug control unit that switches to trace processing after calling the program execution unit of the program execution management unit;
A trace result output unit for outputting the execution result of the trace processing;
A second storage area for holding a non-optimized machine language object corresponding to the optimized machine language object,
When a break instruction including an execution stop position of an object is given, the debug control unit inserts a break instruction into the non-optimized machine language object based on the stop position and sets the start address of the non-optimized machine language object. A break execution means for registering in the table;
The program execution unit executes the non-optimized machine language object by designating a start address of the non-optimized machine language object registered by the break execution means, and the program execution unit inserted into the non-optimized machine language object A programmable controller characterized by stopping execution of the non-optimized machine language object and outputting the stop information in accordance with execution of a break instruction. The programmable controller according to claim 1,
The debug control unit extracts a call instruction of the optimized machine language object of the program execution management unit based on the trace instruction, and inserts a trace instruction for calling the trace process after the extracted call instruction, A programmable controller characterized by switching to the trace processing by causing a program execution management unit to execute the trace instruction. The programmable controller according to claim 1 or 2 ,
The break instruction is given from a support device connected to the programmable controller via a communication unit,
Prior to insertion of a break instruction into the non-optimized machine language object, the debug control unit transmits presence / absence information indicating whether the non-optimized machine language object is already registered in the programmable controller to the support device, A programmable controller comprising: receiving the non-optimized machine language object from the support device after the transmission; and transferring the received non-optimized machine language object to the second storage area. The programmable controller according to claim 3 ,
The support device has a compiling unit for compiling a predetermined source code,
When receiving a debug start instruction including the break instruction, the compiling means transmits a command requesting a return of the presence information to the programmable controller, and receives a response including the presence information for the transmission from the programmable controller.
With reference to the received presence / absence information, it is confirmed that the non-optimized machine language object is already registered in the programmable controller. As a result of the confirmation, the non-optimized machine language object is transferred to the programmable controller. When it is confirmed that it has already been registered, the source code is not compiled, the non-optimized machine language object is not generated, and the presence / absence information is referred to. As a result, the non-optimized machine language object is transferred to the programmable controller. When it is confirmed that the source code is not registered, the source code is compiled to generate the non-optimized machine language object, and the generated non-optimized machine language object is transmitted to the programmable controller. Programmable controller. The programmable controller according to claim 2 , wherein
The debug control unit inserts the trace instruction in synchronization with the cyclic period, and deletes the trace instruction inserted in the program execution management unit in synchronization with the cyclic period when a trace release instruction is given. A programmable controller characterized by: The programmable controller according to claim 1 ,
The debug control unit inserts the break instruction in synchronization with the cyclic period,
When a break release instruction is given, the break instruction inserted in the non-optimized machine language object is deleted in synchronization with the cyclic period, and the start address of the optimized machine language object is registered in the table. A programmable controller.