JP7412076B2 - Engineering tools for programmable logic controllers - Google Patents

Description

The present invention relates to engineering tools for programmable logic controllers.

A programmable logic controller (PLC) is a controller that controls manufacturing equipment, transport equipment, and inspection equipment in factory automation. PLCs control various expansion units and controlled devices by executing user programs such as ladder programs created by users. When a user program is actually executed on a PLC, an event that was not anticipated when the user program was created may be found, and the user program may need to be modified. The user not only reviews the user program to identify correction points, but also refers to the log data generated by the PLC. The log data stores device values (device values) collected while the user program is being executed. In the field of PLC, a device means a storage area that stores information. Devices include relay devices that hold one bit of information, word devices that hold one word of information, and the like. According to Patent Document 1, logging device values is proposed.

Japanese Patent Application Publication No. 10-011118

By the way, the software for viewing user programs and the software for viewing log data are independent. Therefore, the user had to look at the log data on one side, discover the device value at the time the problem occurred, and then manually discover which part of the user program that device value was related to. .

Therefore, an object of the present invention is to display log data and project data in association with each other.

The present invention includes, for example,
Storage means for storing a plurality of time-series device values collected in the programmable logic controller and time data indicating the collection time of each device value;
a first engineering software module that displays the device values on a ladder diagram;
a second engineering software module that displays the device values as a time series waveform;
a synchronization software module that synchronizes the display target time in the first engineering software module and the display target time in the second engineering software module;
The first engineering software module includes:
In a real-time playback mode, a device value is obtained from the programmable logic controller and the device value is displayed on a ladder diagram, and in a history playback mode, a device value corresponding to a display target time is obtained from the storage means based on the time data. a first display control means for displaying on the ladder diagram;
The second engineering software module includes:
In the real-time playback mode, a device value is obtained from the programmable logic controller to display a time series waveform, and in the history playback mode, a device value corresponding to the display target time is obtained from the storage means based on the time data. comprising a second display control means for displaying a time series waveform;
The synchronization software module transfers the display target time between the first engineering software module and the second engineering software module in the history playback mode, thereby adjusting the display target time in the first engineering software module and the display target time. Engineering for a programmable logic controller , comprising synchronization means for synchronizing display target time in a second engineering software module, and activated by either the first display control means or the second display control means. Provide tools.

According to the present invention, log data and project data can be displayed in association with each other.

Diagram showing a programmable logic controller system Diagram explaining the ladder program Diagram explaining the program creation support device Diagram explaining PLC Diagram explaining ladder program scanning Diagram explaining the functions of the program creation support device Flowchart explaining how to configure logging Diagram explaining how to select program parts Diagram explaining how to select functions Diagram explaining the unit monitor Diagram explaining unit monitor settings Diagram explaining the extraction list Diagram explaining the extraction list Diagram explaining extraction list merging Diagram explaining the estimated effect on scan time Diagram explaining device type selection UI Flowchart showing how to extract devices Diagram showing an example of a user program Diagram explaining the functions of the basic unit Diagram explaining the process of creating configuration information Diagram explaining the functions of the CPU of the basic unit Diagram explaining the functions of the CPU of the expansion unit Diagram showing an example of log data Flowchart showing logging processing in the basic unit Flowchart showing logging processing in the expansion unit Diagram showing the connection form of PLC Diagram showing the connection form of PLC Diagram explaining logging timing Diagram explaining the display of log data Diagram explaining log data display UI Diagram explaining how to set collection time Diagram explaining how to set collection time Flowchart showing an overview of the debugging process Diagram explaining the output section Diagram explaining the project creation section Diagram explaining the log display section Diagram explaining the program display module Diagram explaining the user interface Diagram explaining the display module for project data and log data Diagram explaining the warning screen Diagram explaining the waveform display module Diagram explaining the user interface Diagram explaining real-time chart monitor Diagram explaining the playback control module Diagram explaining a UI that displays a user program and device values Diagram explaining HMI emulator Flowchart showing the process of displaying user programs and device values Flowchart showing the process of displaying the waveform of device values Flowchart showing playback control Diagram explaining multiple interrelated program parts Diagram explaining the UI that displays the extraction results of program parts and devices Flowchart showing program parts and device extraction processing Flowchart explaining the debugging process Diagram explaining modified program parts

An embodiment of the present invention is shown below. The individual embodiments described below will be helpful for understanding various concepts such as general concepts, intermediate concepts, and sub-concepts of the present invention. Further, the technical scope of the present invention is determined by the claims, and is not limited by the following individual embodiments.

<System configuration>
First, in order to enable those skilled in the art to better understand a programmable logic controller (PLC, which may also be simply referred to as a programmable controller), the configuration and operation of a general PLC will be described.

FIG. 1 is a conceptual diagram showing a configuration example of a programmable logic controller system according to an embodiment of the present invention. As shown in Figure 1, this system includes a PC 2 for editing user programs such as ladder programs, and a PLC (programmable logic controller) 1 for comprehensively controlling various control devices installed in factories, etc. It is equipped with PC is an abbreviation for personal computer. The user program may be created using a graphical programming language such as a flowchart-style motion program such as a ladder language or SFC (sequential function chart), or may be created using a high-level programming language such as C language. . In the following, for convenience of explanation, the user program is assumed to be a ladder program. The PLC 1 includes a basic unit 3 with a built-in CPU and one or more expansion units 4. One or more expansion units 4 can be attached to and detached from the basic unit 3. For example, the extension unit 4a may be a positioning unit that positions a workpiece by driving a motor (field device 10a), and the extension unit 4b may be a counter unit. The counter unit counts signals from an encoder (field device 10b) such as a manual pulser. Note that the letters a, b, c, etc. appended to the end of the reference numerals may be omitted. The basic unit 3 is sometimes called a CPU unit. Note that a system including PLC1 and PC2 may be called a programmable logic controller system.

The basic unit 3 is equipped with a display section 5 and an operation section 6. The display section 5 can display the operating status of each expansion unit 4 attached to the basic unit 3. The display section 5 switches display contents according to the operation contents of the operation section 6. The display unit 5 normally displays current values (device values) of devices within the PLC 1, error information that has occurred within the PLC 1, and the like. A device is a name indicating an area on a memory provided for storing device values (device data), and may also be called a device memory. The device value is information indicating the input state from the input device, the output state to the output device, and the state of internal relays (auxiliary relays), timers, counters, data memories, etc. set on the user program. There are two types of device values: bit type and word type. A bit device stores a 1-bit device value. A word device stores one word of device value.

The expansion unit 4 is prepared to expand the functions of the PLC 1. Each expansion unit 4 is connected to a field device (controlled device) 10 corresponding to the function of the expansion unit 4, and thereby each field device 10 is connected to the basic unit 3 via the expansion unit 4. The field device 10 may be an input device such as a sensor or a camera, or may be an output device such as an actuator. Further, a plurality of field devices may be connected to one expansion unit 4.

The PC 2 may also be called a program creation support device. The PC 2 is, for example, a portable notebook-type or tablet-type personal computer, and includes a display section 7 and an operation section 8 . A ladder program, which is an example of a user program for controlling the PLC 1, is created using the PC 2. The created ladder program is converted into a mnemonic code within the PC 2. The PC 2 is connected to the basic unit 3 of the PLC 1 via a communication cable 9 such as a USB (Universal Serial Bus), and sends the ladder program converted into a mnemonic code to the basic unit 3. The basic unit 3 converts the ladder program into machine code and stores it in the memory provided in the basic unit 3. Note that although the mnemonic code is transmitted to the basic unit 3 here, the present invention is not limited to this. For example, the PC 2 may convert the mnemonic code into an intermediate code and send the intermediate code to the basic unit 3.

Although not shown in FIG. 1, the operation unit 8 of the PC 2 may include a pointing device such as a mouse connected to the PC 2. Further, the PC 2 may be configured to be detachably connected to the basic unit 3 of the PLC 1 via a communication cable 9 other than the USB. Further, it may be configured such that it is connected wirelessly to the basic unit 3 of the PLC 1 without using the communication cable 9.

<Ladder program>
FIG. 2 is a diagram showing an example of a ladder diagram Ld displayed on the display unit 7 of the PC 2 when creating a ladder program. The PC 2 displays a plurality of cells arranged in a matrix on the display section 7. A symbol of a virtual device is arranged in each cell. Symbols indicate input relays, output relays, etc. A relay circuit is formed by multiple symbols. In the ladder diagram Ld, for example, 10 columns×N rows (N is any natural number) of cells are arranged. Then, symbols of virtual devices are appropriately arranged in the cells of each row.

The relay circuit shown in FIG. 2 includes symbols for three virtual devices (hereinafter referred to as "input devices") that are turned on and off based on input signals from input devices, and symbols for controlling the operation of an output device. It is configured by appropriately combining symbols of virtual devices (hereinafter referred to as "output devices") to be turned on/off.

The characters (“R0001,” “R0002,” and “R0003”) displayed above the symbol of each input device represent the device name (address name) of that input device. The characters (“flag 1,” “flag 2,” and “flag 3”) displayed below the symbol of each input device represent the device comment associated with that input device. The characters (“return to origin”) displayed above the symbol of the output device are labels consisting of a character string representing the function of the output device.

In the example shown in FIG. 2, the symbols of two input devices corresponding to device names "R0001" and "R0002" are connected in series to form an AND circuit. Furthermore, an OR circuit is constructed by connecting in parallel the symbol of the input device corresponding to the device name "R0003" to the AND circuit composed of the symbols of these two input devices. In other words, this relay circuit responds to the symbol in the first row only when the input devices corresponding to the two symbols on the first row are both turned on, or when the input device corresponding to the symbol on the second row is turned on. The output device is turned on.

<Program creation support device>
FIG. 3 is a block diagram for explaining the electrical configuration of the PC 2. As shown in FIG. As shown in FIG. 3, the PC 2 includes a CPU 21, a display section 7, an operation section 8, a storage device 22, and a communication section 23. The display section 7, the operation section 8, the storage device 22, and the communication section 23 are each electrically connected to the CPU 21. The storage device 22 includes a RAM and a ROM, and may also include a removable memory card. CPU is an abbreviation for central processing unit. ROM is an abbreviation for read-only memory. RAM is an abbreviation for random access memory.

The user causes the CPU 21 to execute a computer program (editing software) stored in the storage device 22 and edits the project data through the operation unit 8. The project data includes one or more user programs (eg, ladder program), configuration information of the basic unit 3 and expansion unit 4, and the like. The configuration information includes information indicating the connection positions of multiple expansion units 4 to the basic unit 3, functions provided in the basic unit 3 (e.g. communication function and positioning function), and functions of the expansion unit 4 (e.g. shooting function). This is information that shows things like. Here, editing project data includes creating and changing project data. Project data created using editing software is stored in the storage device 22. Further, the user can read out the project data stored in the storage device 22 and change the project data using editing software, if necessary. The communication section 23 is for communicably connecting the PC 2 to the basic unit 3 via the communication cable 9. The CPU 21 transfers the project data to the basic unit 3 via the communication section 23.

<PLC>
FIG. 4 is a block diagram for explaining the electrical configuration of the PLC 1. As shown in FIG. 4, the basic unit 3 includes a CPU 31, a display section 5, an operation section 6, a storage device 32, and a communication section 33. The display section 5, the operation section 6, the storage device 32, and the communication section 33 are each electrically connected to the CPU 31. The storage device 32 may include a RAM, ROM, memory card, etc. The storage device 32 has a plurality of storage areas such as a device section 34, a project storage section 35, and a removable memory card 36. The device section 34 has bit devices, word devices, etc., and each device stores a device value. The project storage unit 35 stores project data input from the PC 2. The storage device 32 also stores a control program for the basic unit 3. As shown in FIG. 4, the basic unit 3 and the expansion unit 4 are connected via a unit internal bus 90, which is a type of expansion bus. Note that the communication function regarding the unit internal bus 90 may be implemented as part of the communication section 33. The communication unit 33 may include a network communication circuit. The CPU 31 may transmit log data and the like to the PC 2, the cloud, etc. via the communication unit 33.

Here, a supplementary explanation will be given regarding the unit internal bus 90. This unit internal bus 90 is a bus on which input/output refresh, etc., which will be described next, is performed, and communication control on the unit internal bus 90 is realized by a so-called bus master 38 (note that a bus master 38 is used as part of the communication section 33). (or a bus master 38 may be provided as part of the CPU 31). The bus master 38 is a control circuit for controlling communication on the unit internal bus 90, and upon receiving a communication request from the CPU 31, performs communication such as input/output refreshing, which will be described later, with the expansion unit 4.

The expansion unit 4 includes a CPU 41 and a memory 42. The CPU 41 controls the field device 10 according to instructions (device values) from the basic unit 3 stored in the device. Further, the CPU 41 stores the control results of the field device 10 in a device called a buffer memory. The control results stored in the device are transferred to the basic unit 3 by input/output refresh. Furthermore, the control results stored in the device are transferred to the basic unit 3 in accordance with a read command from the basic unit 3 even if the timing is different from the input/output refresh. The memory 42 includes RAM, ROM, and the like. In particular, a storage area is reserved in the RAM to be used as a buffer memory. The memory 42 may have a buffer that temporarily holds data (eg, still image data or video data) acquired by the field device 10.

FIG. 5 is a schematic diagram showing the scan time of the basic unit 3. As shown in FIG. 5, one scan time T is composed of inter-unit communication 201 for refreshing input/output, program execution 202, and END processing 204. In inter-unit communication 201, the basic unit 3 transmits output data obtained by executing the ladder program from the storage device 32 within the basic unit 3 to an external device such as the expansion unit 4. Furthermore, the basic unit 3 captures input data received from an external device such as the expansion unit 4 into the storage device 32 within the basic unit 3 . In other words, the device value stored in the device of the basic unit 3 is reflected in the device of the expansion unit 4 by output refresh. Similarly, the device value stored in the device of the expansion unit 4 is reflected in the device of the basic unit 3 by input refresh. In this way, the devices of the basic unit 3 and the devices of the expansion unit 4 are synchronized by the input/output refresh. Note that a mechanism (inter-unit synchronization) in which device values are updated between units at a timing other than refresh may be adopted. However, the device of the basic unit 3 is rewritten by the basic unit 3 at any time, and similarly, the device of the expansion unit 4 is rewritten by the expansion unit 4 at any time. In other words, the devices in the basic unit 3 can be accessed at any time by devices inside the basic unit 3. Similarly, devices in the expansion unit 4 can be accessed at any time by devices inside the expansion unit 4. Basically, the basic unit 3 and the expansion unit 4 update and synchronize their device values with each other at refresh timing. In program execution 202, the basic unit 3 executes (computes) the program using the updated input data. As shown in FIG. 5, in program execution 202, a plurality of program modules or ladder programs may be executed in sequence according to project data. The basic unit 3 performs arithmetic processing on data by executing a program. Note that the END processing refers to all processing related to peripheral services such as data communication with external devices such as a display (not shown) connected to the PC 2 and the basic unit 3, and system error checking.

In this way, the PC 2 creates a ladder program according to the user's operation, and transfers the created ladder program to the PLC 1. The PLC 1 considers input/output refresh, ladder program execution, and END processing as one cycle (one scan), and repeatedly executes this cycle periodically, that is, cyclically. Thereby, various output devices (motors, etc.) are controlled based on timing signals from various input devices (sensors, etc.). Note that, in addition to the scan period, the basic unit 3 and the expansion unit 4 each have an internal control period. The basic unit 3 and the expansion unit 4 control the functions of the field device 10 and the like based on the internal control cycle.

<Logging>
When a user improves or modifies a user program, the device values acquired while the PLC 1 is executing the user program may be useful. Therefore, the PLC 1 acquires a device value specified in advance and creates log data. Here, the devices managed by the PLC 1 include not only devices used by user programs but also devices not used by user programs. Additionally, some devices are useful for improving or modifying user programs, while others are useless. Since the number of devices is generally in the thousands, it has been a heavy burden for users to specify the devices they need. Therefore, the PC 2 analyzes the user program and extracts devices used or described in the user program as logging targets. This reduces the burden on the user.

If all devices managed by the PLC 1 are targeted for logging, the scan time will become long. This is because logging is executed as one of the user programs or executed at the time of input/output refresh. Sometimes, the delay introduced by logging may prevent a user program from operating as desired by the user. Therefore, the number of devices to be logged should be maintained appropriately.

A user program may be composed of multiple program parts (eg, program modules (main ladder program and sub ladder program), function blocks). Of these, it may be sufficient for the user if devices related to the program component that the user desires to modify are logged. Furthermore, the user may desire to exclude a specific program component from being extracted from among a plurality of program components or to add a specific program component to be extracted. Therefore, it would be convenient for the user if devices could be added or deleted from the logging targets for each program component.

As described above, the basic unit 3 and the expansion unit 4 have one or more functions. Various devices are assigned to each function. Therefore, it would be convenient for users to be able to add or delete devices from logging targets based on these functions. For example, if an undesirable event related to the communication function of the basic unit 3 occurs, the user can easily resolve this event by referring to the device value of the device related to the communication function of the basic unit 3.

●Logging settings (automatic extraction and addition/subtraction)
FIG. 6 shows functions realized by the CPU 21 of the PC 2 executing editing software stored in the storage device 22. Some or all of these functions may be realized by a hardware circuit such as an ASIC or FPGA. ASIC is an abbreviation for application specific integrated circuit. FPGA is an abbreviation for field programmable gate array.

In this embodiment, the functions shown in FIG. 6 are realized on the PC 2, but the present invention is not limited to this, and may be realized on the PLC 1.

The project creation unit 50 displays a UI for creating project data 71 on the display unit 7 , creates project data 71 in accordance with user instructions input from the operation unit 8 , and stores it in the storage device 22 . UI is an abbreviation for user interface. The project data 71 includes a user program, configuration information of the PLC 1, and the like. The program creation unit 63 creates a plurality of program parts (each module) that constitute a user program based on user operations via the UI. The function setting section 62 executes settings regarding the functions of the basic unit 3 and the functions of the expansion unit 4. For example, the function setting section 62 assigns any device to the function provided in the basic unit 3, or assigns any device to the function provided in the expansion unit 4, and assigns the function and device. Write layout information indicating the relationship with the configuration information. Note that the project creation unit 50 also stores program configuration information indicating what kind of program parts the user program is composed of as the project data 71. Unit configuration information indicating what kind of units the entire PLC 1 is composed of is also stored as project data 71.

The log setting unit 51 extracts the devices described in the project data 71 by analyzing the project data 71, and creates log setting data 72 for setting the extracted devices as logging targets. The log setting section 51 has various functions. The component designation unit 52 designates a program component from which a device is to be extracted in accordance with a user instruction input from the operation unit 8 . Furthermore, the component designation unit 52 designates program components to be excluded from device extraction targets in accordance with user instructions input from the operation unit 8 .

The device extraction unit 53 extracts the devices described in the project data 71 by analyzing the project data 71, and creates log setting data 72. The adding unit 54 analyzes the program component specified as an extraction target by the component specifying unit 52, extracts the device described in the program component, and adds it to the extraction list. The deletion unit 55 analyzes the program component designated as an exclusion target by the component designation unit 52, extracts the device described in the program component, and deletes the extracted device from the extraction list. Alternatively, the deletion unit 55 adds the extracted device to the exclusion list. The merging unit 56 deletes duplicately extracted devices from the extraction list among the devices extracted from each of the plurality of program parts. The specifying unit 57 detects a command for a memory card in the project data 71, specifies the device targeted by the command, and adds the specified device to the extraction list.

In this embodiment, after the component specifying unit 52 specifies a program component, the adding unit 54 extracts and adds devices to be logged by analyzing the specified program component. The invention is not limited to this. For example, the adding unit 54 extracts a device by first analyzing one or more program parts included in the project data 71, adds the extracted device to an extraction list, and then specifies it using the part specifying unit 52. The device described in the program component may be extracted and added to the extraction list.

Similarly, the deletion unit 55 creates an extraction list by first analyzing one or more program parts included in the project data 71, and then deletes the information written in the program parts specified by the part specification unit 52. The device may be extracted and removed from the extraction list.

Note that in this embodiment, for convenience of explanation, the adding section 54 and the deleting section 55 are separated, but it goes without saying that they may be one functional block.

The manual setting unit 58 adds one device or a series of related devices to the extraction list according to user instructions input through the operation unit 8. The estimation unit 59 estimates the influence that the recording of device values by the PLC 1 has on the execution of the user program based on the number of devices extracted as recording targets by the device extraction unit 53. Logging adds a delay time correlated to the number of device values to the scan time. Therefore, the estimation unit 59 may calculate the delay time by multiplying the number of device values by a predetermined coefficient, and display the delay time on the display unit 7 as the estimation result. This delay time may be referred to as scan time elongation.

The function specifying section 60 specifies the function of the basic unit 3 and the function of the expansion unit 4 from which devices are to be extracted, according to user instructions input from the operation section 8 . Further, the function specifying unit 60 specifies the functions of the basic unit 3 and the functions of the expansion unit 4 that are excluded from the device extraction target according to a user instruction inputted from the operation unit 8 . The adding unit 54 analyzes the configuration information of the function specified as an extraction target by the function specifying unit 60, extracts the device assigned to the function based on the configuration information, and adds it to the extraction list. The deletion unit 55 analyzes the configuration information of the function specified as an exclusion target by the function specification unit 60, extracts the device assigned to the function based on the configuration information, and deletes the extracted device from the extraction list. The merging unit 56 deletes duplicately extracted devices from the extraction list among the devices extracted for each of the plurality of functions. The specifying unit 57 detects a command for a memory card in the project data 71, specifies the device targeted by the command, and adds the specified device to the extraction list.

The log display unit 61 reads log data 73 generated in the PLC 1 via the memory card 36 and displays the log data 73 on the display unit 7. For example, the log display section 61 may display the device values recorded in the log data 73 and the program components of the project data 71 in association with each other on the display section 7 . The log display section 61 forms the core of an engineering tool for programmable logic controllers.

FIG. 7 is a flowchart showing a logging setting method. Here, it is assumed that the project data 71 including the user program has already been completed.

In S1, the CPU 21 (component designation unit 52) receives designation of a program component from which a device is to be extracted.

FIG. 8 shows a UI 100 for accepting selection of a program component whose device is to be extracted. The log setting unit 51 displays the UI 100 on the display unit 7 when the logging setting program is started. In the UI 100, a plurality of program parts are shown in a tree shape based on their respective classifications (modules/function blocks/macro). Further, a check box 102 is displayed in association with each program component. When the pointer 101 ticks the checkbox 102 in response to the operation of the operating unit 8, the adding unit 54 adds the program component corresponding to the checked checkbox 102 to the extraction list. On the other hand, when the pointer 101 unchecks the checkbox 102 in response to an operation on the operation unit 8, the deletion unit 55 deletes (excludes) the program component corresponding to the unchecked checkbox 102 from the extraction list.

Note that in FIG. 8, the every-scan module is a program component that is executed once every time the user program is scanned. In this example, each scan module has a main program and submodules. A fixed-cycle module is a program component that is executed at regular intervals. The inter-unit synchronization module is a program component that is executed every time inter-unit synchronization is executed. Although the initialization module is not shown, the initialization module is a module that is executed first when the user program is started. Therefore, since the initialization module is unlikely to cause trouble, it may be excluded from the device extraction target.

A function block (FB) is called and used by a user program. Since function blocks are called from multiple modules, separate instances are generated for each. In this case, multiple instances may be selected as device extraction targets, or by selecting the original function block, all instances generated related to that function block are selected as device extraction targets. Good too.

A macro is a type of program, and includes macros for data formatting.

In S2, the CPU 21 (function designation unit 60) receives designation of a function to be extracted from a device.

FIG. 9 shows a UI 110 for receiving selection of a function to be extracted from a device. The log setting unit 51 displays the UI 110 on the display unit 7 when the logging setting program is started. Note that the UI 100 and the UI 110 may be displayed at the same time, or may be displayed selectively according to user operations. In the UI 110, a plurality of functions are shown in a tree shape based on the unit to which each function belongs. Further, a check box 102 is displayed in association with each function. When the pointer 101 ticks the checkbox 102 in response to an operation on the operation unit 8, the adding unit 54 adds the function corresponding to the checked checkbox 102 to the extraction list. On the other hand, when the pointer 101 unchecks the checkbox 102 in response to an operation on the operation unit 8, the deletion unit 55 deletes (excludes) the function corresponding to the unchecked checkbox 102 from the extraction list.

In FIG. 9, the communication error monitor, which is a function of the basic unit 3, is a function to monitor communication errors in the communication section 33. The sensor I/O monitor is a function that monitors sensor input and output. The motion unit is also called a positioning unit and controls the position of a controlled object called an axis. Generally, a drive source such as a motor exists for each axis. The analog input unit is a unit that samples an input analog signal and converts it into a digital signal. The unit monitor is a function that monitors the operation of the expansion unit 4 such as a motion unit and an analog input unit.

Here, as an example of the unit monitor, the unit monitor of the motion unit will be described in more detail. FIG. 10A is a schematic diagram of the unit monitor 440 screen for axis 1 of the motion unit. FIG. 10B is a schematic diagram of a setting screen 441 for changing the target of monitoring by the unit monitor 440.

As shown in FIG. 10A, items such as current coordinates, commanded coordinates, current speed, commanded speed, feedback torque, load factor, and peak current are set as objects to be monitored by the unit monitor 440. A buffer memory (UG) is allocated to each item. For example, UG4 and UG5 are assigned to the current coordinates. In this embodiment, 16 bits are reserved for one UG, and two UGs are reserved to represent the current coordinates in 32 bits. The device value of UG is, for example, a numerical value such as 0PLS (pulse). Furthermore, UG8 and UG9 are assigned to the command coordinates. Two UGs are reserved for the same reason as mentioned above (to ensure 32-bit representation). Since the unit designer can freely allocate UGs, there are some unused UGs (UG6 and UG7). Similarly, UG10 and UG11 are assigned to the current speed, and UG12 and UG13 are assigned to the commanded speed. In addition, in FIG. 10A, UG is assigned to each item such as feedback torque, load factor, and peak current.

As shown in FIG. 10B, the user can freely select (set) which items are to be monitored by the unit monitor 440. For example, by selecting one item from the "hidden" column 442 shown in FIG. becomes. By clicking the OK button 445, the items listed in the "Display" column 444 are confirmed as monitoring targets. Note that in FIGS. 10A and 10B, only the axis 1 of the motion unit has been described, but the same applies to the case where there are a plurality of axes 2 and 3. For each axis, the item selected by the user becomes the monitoring target.

Generally, when positioning a workpiece by driving a motor (field device 10a) using a motion unit (expansion unit 4a), the basic unit 3 turns on a relay device that indicates a trigger to start positioning the motor. An operation start command is sent to the expansion unit 4a. After sending the operation start command, it does not participate in the specific processing operation (positioning of the workpiece) in the expansion unit 4a. In other words, the basic unit 3 does not recognize the current position and current speed of the motor in real time, and there is no need to recognize the current position and speed of the motor one by one. Thereafter, when the processing operation in the expansion unit 4a is completed, the basic unit 3 recognizes that the motor positioning has been completed through the fact that the relay device indicating the motor positioning completion trigger has been turned on. For this reason, the devices (UGs) corresponding to the current coordinates and current speed of the motor are basically not written in the ladder program (however, the user must write a special command to read a small portion of the UGs). (It is possible to write words in a ladder program.)

However, if a trouble occurs during operation of the PLC, it may be desirable to know the current coordinates and current speed of the motor at the time the trouble occurred in order to investigate the cause. In such a case, as mentioned above, the current coordinates and current speed of the motor are basically not written in the ladder program, so they are often not listed in the extraction list as logging targets. It was not easy to investigate.

Therefore, in this embodiment, the user can select the unit monitor of the motion unit through the UI 110 shown in FIG. Thereby, the adding unit 54 can automatically add the UG that is the target of monitoring by the unit monitor 440 of the motion unit to the extraction list, as described using FIG. 10B. The same applies to the communication error monitor/sensor I/O monitor of the basic unit 3 and the unit monitor of the analog input unit. Devices or parameters monitored by each monitor can be automatically added to the extraction list.

Note that other monitors are not shown in the drawings, but will be briefly described. The communication error monitor, which is a function of the basic unit 3, monitors devices assigned to cyclic communication establishment timeout errors, for example. A sensor I/O monitor that monitors input and output of a sensor monitors, for example, the output of one or more sensors and a device assigned to the presence or absence of an error. The unit monitor of the analog input unit monitors devices (DM or R) assigned to various parameters such as AD conversion data, special data, offset value, zero shift, peak value, and bottom value. These devices are assigned in advance as defaults (initial settings) by the unit designer, but the monitoring target may be changed by the user, like the unit monitor of the motion unit described above. In short, the UI 110 shown in FIG. 9 is a setting screen that can accept function selection input from the user. A template (setting information) defining monitoring items to be displayed on the display unit (monitor) is associated with each function selected and input (the template is stored in the memory). The device specified by the template may be one that has been assigned in advance by default as described above, or one that has been added or removed (edited) by the user via the settings screen. When the function specifying unit 60 selects one or more functions based on the user's operation, the function specifying unit 60 adds devices to be monitored to the extraction list according to the template associated with the function.

In S3, the device extraction section 53 analyzes the program component specified by the component specification section 52, and extracts the device described in the specified program component.

FIG. 10C shows an example of a device extracted from a designated program component among a plurality of program components included in the project data 71. According to FIG. 10C, the name of the program component from which the device was extracted, the name of the first device (device number), the number of devices extracted based on the first device, and the name of the device actually extracted as a logging target. is shown. Generally, a number of devices corresponding to a specified number are extracted based on the first device. However, the number of devices exceeding the specified number may be extracted. R34000 is a relay device that holds 1-bit information, and a series of 16 devices from R34000 to R34015 are extracted. This is because logging 16 bits of devices at once is more advantageous in terms of data processing speed. Note that in FIG. 10C, the number of R34000 is "1", which indicates 1 word (16 bits). Further, the number of CR4001 is also "1", which also indicates one word (16 bits of CR4001, CR4002, . . . , CR4015, CR4100). Global is a device that is commonly used by multiple program parts. Main indicates the main program. first_operation is the name of the function block. Sub indicates a subprogram (submodule).

In S4, the device extraction section 53 analyzes the configuration information of the function specified by the function specification section 60, and extracts the device associated with the function in the configuration information.

FIG. 11 shows an example of a device extracted from a designated function (unit) among a plurality of functions (basic unit 3 and expansion unit 4) provided in the PLC 1. In this example, several buffer memories (UG) are extracted from the motion unit specified by the function specifying section 60. According to FIG. 11, the name of the function that extracted the device, the name of the first device (device number), the number of devices extracted based on the first device, and the name of the device actually extracted as a logging target. It is shown. Here, devices that can be monitored by the unit monitor of the motion unit are extracted. That is, as described above using FIG. 10A, UG4-UG5 indicate the current coordinates of the motor, UG8-UG9 indicate the commanded coordinates of the motor, and UG10-UG11 indicate the current speed of the motor. , UG12-UG13 indicate the command speed of the motor. Descriptions of other UGs will be omitted.

In S5, the manual setting section 58 adds the device manually specified by the user through the operation section 8 to the extraction list. For example, the manual setting unit 58 may display a UI on the display unit 7 that allows direct input of a device number, etc., to assist the user in specifying a device.

In S6, the merging unit 56 creates a logging target list by merging the devices extracted from the program parts, the devices extracted from the functions, and the manually added devices. The logging target list may be called a device list.

FIG. 12 is a diagram explaining the concept of merge processing. The device extraction unit 53 creates an extraction list L1 that describes devices extracted from the program parts. The device extraction unit 53 creates an extraction list L2 that describes devices extracted from the functions. The device extraction unit 53 creates an extraction list L3 that describes devices manually added by the user. The merging unit 56 merges the extraction lists L1 to L3 to create a logging target list L0. In the extraction lists L1 to L3, there is a possibility that there are devices that have been extracted redundantly. If the same device is logged multiple times, the log data will become large. Therefore, a merge process is performed to avoid duplicate logging for the same device. For example, in the extraction list L1, data memories DM0 to DM100, which are a type of device, are registered. Furthermore, data memories DM50 to DM200 are registered in the extraction list L3. In other words, DM50-DM100 overlap. The merging unit 56 merges DM0-DM100 and DM50-DM200 and writes DM0-DM200 in the logging target list L0.

In S7, the estimation unit 59 analyzes the logging target list L0, estimates the influence on scan time, and displays the estimation result on the display unit 7.

FIG. 13 shows a UI 140 for displaying estimation results. The UI 140 displays the device size and scan time increase. The device size indicates the total size of the devices described in the logging target list L0. The increase in scan time is the delay time caused by logging. The estimator 59 analyzes the logging target list L0 and calculates the device size and scan time increase. When the list button 141 is operated through the operation unit 8, the estimation unit 59 may display the logging target list L0 on the display unit 7. The user considers the estimation results and determines whether to finalize or adjust the logging target list L0. When confirming the logging target list L0, the user may use the pointer 101 to operate a button indicating intention to confirm.

In S8, the log setting unit 51 determines whether to confirm the logging target. For example, when a button for confirming the logging target list L0 is operated, the log setting unit 51 determines to confirm the logging target. On the other hand, when the button for modifying the logging target list L0 is operated, the log setting unit 51 determines that the logging target is to be modified. When modifying the logging target, the log setting unit 51 repeats S3 to S8 to accept additions or deletions of program parts and functions to be extracted from devices, and modifies the logging target list L0. For example, some devices may be removed if the scan time growth exceeds an acceptable threshold. Some devices may be added if the increase in scan time is below an acceptable threshold. When the logging target is determined, the CPU 21 proceeds to S9.

In S9, the log setting unit 51 creates log setting data 72 including the logging target list L0, and stores it in the storage device 22. Note that the CPU 21 controls the communication section 23 to transmit the log setting data 72 together with the project data 71 to the basic unit 3.

Here, devices such as data memory and buffer memory are mainly targeted for logging, but the operating status and function setting status of each function (eg, IP address, etc.) may also be added as a logging target.

FIG. 14 shows a filter setting UI 120 used in the device extraction process. There are multiple types of devices related to the PLC1. Users may want to focus on a specific type of device and ignore other types of devices. Therefore, the log setting unit 51 may display the filter setting UI 120 on the display unit 7 and receive the device type to be extracted and the device type to be excluded through the check box 102. For example, the device extraction unit 53 extracts the device type whose check box 102 is checked from the program components and functions. The device extraction unit 53 does not extract device types whose check boxes 102 are unchecked from program parts and functions. This makes it possible to easily select devices to be logged according to the user's intentions.

By the way, when the project data 71 is changed by the project creation unit 50, the CPU 21 may execute the device extraction process again. This is because the description of the device in the user program may have been changed. The CPU 21 may execute a device extraction process when the project creation unit 50 transfers the project data 71. Since the project data 71 is ultimately written to the PLC 1, by using this writing as a trigger to execute the device extraction process, the number of times the device extraction process is executed will be reduced.

Although the device extractor 53 is installed in the PC 2, it may also be installed in the basic unit 3. The CPU 31 extracts devices from the program parts and functions designated by the PC 2 from the project data 71 and creates log setting data 72. In this case, the estimation section 59 will also be implemented in the basic unit 3. Device extraction processing FIG. 15 is a flowchart showing the device extraction processing from the program component executed by the device extraction section 53. FIG. 16 shows an example of a ladder program. This ladder program is for controlling a motion unit that drives four axes as the expansion unit 4.

In S11, the device extraction unit 53 acquires the device number from the description of the i-th step of the program component designated as the extraction target. The initial value of i is 001. As shown in FIG. 16, step numbers are assigned to the left end of the ladder program. In step 001, when a relay device called MR000 is turned on, a relay device called R34000 which gives permission to operate the motion unit is turned on, and a relay called R34305 is turned on to operate the servo of the first axis of the motion unit. It says to turn on the device. Therefore, the device extraction unit 53 extracts MR000, R34000, and R34305 as device numbers. Note that the device number may be described by indirect reference or index reference. In this case, the device extraction unit 53 searches for a program to which the indirect reference destination or index value is assigned, and identifies the actual device number. Note that when the device extraction section 53 fails to extract the actual device number, it may display a message indicating the extraction failure on the display section 7. Further, the device extraction unit 53 may display a UI on the display unit 7 for allowing the user to input the actual device number, and may accept user input. Furthermore, considering the above-mentioned indirect references and index references, the device extraction unit 53 not only extracts specific devices directly described in the program, but also extracts specific devices used in the program (indirect references and index references). devices specified by index reference) are also extracted.

In S12, the device extraction unit 53 acquires the device range from the access range of the instruction word. Some commands take the device number of the first device and the number of devices based on the first device as arguments. For example, step number 003 describes that when relay device MR000 is turned on, a command word FMOV is executed. In this example, FMOV is a command word (for initializing related devices) to assign a specified value (0) to a specified number (10) of devices based on the first device (@EM0). command word). In other words, the access range is defined by the start address and the designated number. The device extraction unit 53 determines the range from @EM0 to @EM9 as the device range. Note that the access range may be described by indirect reference or index reference. In this case, the device extraction unit 53 searches for the indirect reference destination and the program to which the index value is assigned, and specifies the actual access range. Note that when the device extraction section 53 fails to extract the actual access range, it may display a message indicating the extraction failure on the display section 7. Furthermore, the device extraction unit 53 may display a UI on the display unit 7 for allowing the user to input the actual access range, and may accept user input.

In S13, the device extraction unit 53 extracts devices based on the first device number and device range, and adds the extracted devices to the extraction list. For example, MR000, R34000, and R34005 are extracted from step 001 and added to the extraction list. From step 003, @EM0 to @EM9 are extracted and added to the extraction list.

In S14, the device extraction unit 53 determines whether or not the device analysis for the designated program component has been completed up to the end of the program. If the device analysis has not been completed to the end of the program, the device extraction unit 53 proceeds to S15. In S15, the device extraction unit 53 adds 1 to the variable i, and returns to S11. If the device analysis has been completed up to the end of the program, the device extraction unit 53 ends the device extraction process.

Note that in the ladder program shown in FIG. 16, devices extracted from step 004 onwards will be briefly described below.

Steps 004 and 005 are requests for the motor to return to its origin (operation), and R34310 is a relay device that indicates a trigger to start returning the motor to its origin. From this step, the devices MR001, R34310, R40905, R40910, and R34310 are extracted.

Steps 006 to 008 are processes for reading the origin return completion code from the motion unit and determining whether or not the origin return has been correctly completed when the motor has completed the return to origin. To explain more specifically, R40910 is a relay device that indicates a trigger for completing the return of the motor to its origin. The basic unit 3 does not recognize the specific processing operations of the return to origin in the motion unit in real time, and determines whether the return to origin has been completed by monitoring whether this flag R40910 is turned ON. do. When this flag R40910 is turned ON, a UREAD instruction for directly reading the buffer memory is executed. The UREAD instruction shown in FIG. 16 is an instruction to read buffer memory No. 4060 in the unit with unit number 1 and assign one word to device @EM0. Here, the buffer memory No. 4060 stores a return-to-origin completion code, which is 0 if the return-to-origin has ended normally, and a value other than 0 (1 or 2 if the return-to-origin has ended abnormally). etc.) are now stored. Then, as shown in step 007, if the device value of @EM0 is other than 0, the basic unit 3 sets the device MR000 and recognizes that the return to origin has ended abnormally. On the other hand, as shown in step 008, if the device value of @EM0 is 0, the basic unit 3 sets the device MR001 and recognizes that the return to origin has been completed normally. From this step, the devices R40910, @EM0, @MR000, and @MR001 are extracted.

Step 009 is a process of waiting for only one second when the return to origin is completed normally. The device T0 has a current count value of 10 (equivalent to 1 second since it is in units of 100 ms) as a set value, and is turned on when the count value reaches the set value. From this step, the devices MR001 and T0 are extracted.

Finally, in steps 010 to 011, when the device T0 is turned on, the function block "First_operation" is executed for the unit with unit number 1. Then, the execution result is stored in @MR002, and the completion code is stored in @EM1. From this step, the devices @MR002 and @EM1 are extracted.

As described above in detail using Fig. 16, in a general ladder program, devices corresponding to the start of an operation, such as axis servo ON, origin return request, function block activation and result, etc., and devices corresponding to the completion of the operation, Only devices are described. However, when a problem occurs, having information on the operating status (such as the motor's current coordinates and current position) is useful for investigating the cause, so as mentioned above, UGs that are subject to monitoring by the unit monitor can also be extracted. I am trying to automatically add it to the list.

This extraction process is executed for each designated program component.

●Execution of logging FIG. 17 shows the functions of the CPU 31 of the basic unit 3. Some or all of these functions may be realized by a hardware circuit such as an ASIC or FPGA. ASIC is an abbreviation for application specific integrated circuit. FPGA is an abbreviation for field programmable gate array.

It is assumed that the CPU 31 stores the project data 71 and log setting data 72 received from the PC 2 in the storage device 32. The execution unit 80 includes a ladder execution engine 80a that repeatedly executes a user program, and a unit control unit 80b that controls the ladder execution engine 80a and performs input/output refresh with the expansion unit 4. There is. The ladder execution engine 80a of the execution unit 80 repeatedly executes the user program included in the project data 71, and controls the expansion unit 4 according to the user program. Note that the ladder execution engine 80a of the execution section 80 writes device values to output devices held in the basic unit device section 34a of the device section 34, and writes device values to output devices held in the basic unit device section 34a according to the user program. Read device values from input devices.

On the other hand, the unit control section 80b of the execution section 80 reads and writes the device value related to the expansion unit acquired by input/output refresh into the expansion unit device section 34b. Further, the basic unit and the expansion unit are electrically connected by a unit internal bus, and the unit control section 80b has a function of controlling communication on this unit internal bus, that is, a so-called bus master function. When the unit control unit 80b functions as a bus master, it performs refresh control with each expansion unit based on the unit configuration information explained using FIG. communicate.

The recording unit 81 acquires a device value from the device unit 34 (basic unit device unit 34a or expansion unit device unit 34b) or acquires a device value from the buffer memory of the expansion unit 4 according to the log setting data 72. , is written to a memory (for example, a ring buffer) as log data 73. As described above, the recording unit 81 executes the logging process during the END process and the like.

The logging process in the END process will be explained in more detail. As explained using FIG. 10C and FIG. 11, the log setting data 72 includes devices written in program parts specified by the part specifying section 52 and functions specified by the function specifying section 60 (for example, unit monitor). Devices assigned to the monitoring target (monitoring target) are included as logging targets. For the former device, the device value of the target device (UG) is read from the expansion unit 4 during the END process, and for the latter device, the device value is written to the log data 73 during the END process. Write to log data 73.

Here, the update cycle (so-called control cycle) of the current coordinates and command coordinates of the motor is much shorter than the scan cycle of the ladder program. Therefore, in this embodiment, since the device values of the UG are read out in synchronization with the scan cycle, not all current coordinates and command coordinates are written to the log data 73. However, the present invention is not limited to this, and for example, current coordinates and command coordinates are stored in the memory of the expansion unit 4 for each control cycle, and at the timing of the scan cycle, a plurality of previously stored current coordinates and command coordinates are stored in the memory of the expansion unit 4. It is also possible to configure it to read out coordinates and the like.

Furthermore, the recording unit 81 adds time information held by the time management unit 83 to each record of the log data 73. As a result, device values are arranged in chronological order in the log data 73.

Devices to be logged are basically designated by the logging target list L0 of the log setting data 72, but additional devices may be designated by the detection unit 82. The detection unit 82 may detect, for example, rewriting of a device value from an external device to any device included in the device unit 34. Generally, device values may be rewritten according to a user program or may be rewritten by an external device. Such rewriting cannot be detected in advance simply by analyzing the user program. The recording unit 81 may add a device whose device value has been detected to be rewritten by the detection unit 82 as a logging target. Generally, rewriting device values from an external device tends to cause unexpected events for the user. Therefore, the recording unit 81 will be useful for the user to improve the program by logging the device values rewritten by the external device.

By the way, in the END process, a UG read command may be issued regardless of the user program. UG is a device type indicating a buffer memory. The detection unit 82 may detect a UG read command issued regardless of the user program. The recording unit 81 may identify the buffer memory that is the target of the UG read command detected by the detection unit 82, and add the identified buffer memory as a recording target. When the expansion unit 4 is a motion unit, such a buffer memory stores torque values, current coordinate positions, and the like.

The detection unit 82 may be realized by FPGA or the like. The execution unit 80 may be realized by ASIC. In this case, the execution unit 80 specifies the address of the device to be read/written to the storage device 32 using an address line. Therefore, the detection unit 82 may dynamically detect a device whose device value has been updated by monitoring this address line. This may be useful when adding a device that is not described in the user program as a recording target.

The detection unit 82 may be provided in the execution unit 80. In this case, the execution unit 80 may write a device value to a specific device in the device unit 34, and may also write this device value and the device name (device number) to the log data 73. This method is useful when adding a device that is not described in the user program and can be dynamically allocated as a recording target.

In this way, the recording unit 81 may record devices regardless of the device list included in the log setting data 72. In an extreme case, the user can obtain log data 73 without creating log setting data 72. For example, when the execution unit 80 is activated, the execution unit 80 acquires device values from all devices in the device unit 34. Since the detection unit 82 monitors the device, it detects that the execution unit 80 has read the device value, and transmits information (address information) about the device from which the device value has been read to the recording unit 81. The recording unit 81 reads device values from all devices included in the device unit 34 based on the address information transmitted by the detection unit 82 and writes them in the log data 73. Thereafter, every time the detection unit 82 detects an access to the device unit 34, the recording unit 81 logs the device value.

By the way, the recording unit 81 may write the device value to the log data 73 every scan cycle or every predetermined collection cycle. For example, even if the detection unit 82 detects multiple accesses to the device within one cycle, the recording unit 81 may write to the log data 73 only the device value when the last access was detected. This makes it possible to reduce the data size of the log data 73.

The execution unit 80 may have a cache that holds devices. In this case, the detection unit 82 may detect writing by the device by monitoring the cache.

The log setting data 72 includes a device list indicating devices to be recorded, but may also include a device list indicating devices to be excluded from recording. In this case, when the detection unit 82 detects an access to a device to be excluded, the recording unit 81 skips recording the device value for that device.

The detection unit 82 may detect access by the execution unit 80 to the buffer memory of the expansion unit 4. In this case, the execution unit 80 writes the device value read from the buffer memory of the expansion unit 4 into a buffer or the like secured within the storage device 32. The recording unit 81 reads the device value from the buffer and writes it into the log data 73.

The execution unit 80 repeatedly executes the user program and rewrites device values according to the user program. When the detection unit 82 is installed in the execution unit 80, when the execution unit 80 detects a command word to rewrite a device value, it outputs the device value together with the command word to the recording unit 81. The recording unit 81 may write the command word, the device value, and the time stamp (time when the device value was acquired) to the log data 73.

Incidentally, the log setting data 72 may include the data format (eg, binary format or text format) of the log data 73. Data formats include 16-bit decimal, 32-bit decimal, 16-bit decimal, 32-bit decimal, 16-bit hexadecimal, 32-bit hexadecimal, character string, Float, DoubleFloat, etc., and can be set for each device. may be done. Such a data format can be determined by analyzing the instruction words in the program component.

The output unit 84 outputs the project data 71, log data 73, and image data to the memory when a predetermined output condition is met, such as when the execution of the user program is finished or when the save trigger relay to the memory card is turned on. Write on card 36. Until a predetermined output condition is met, log data 73 is recorded in a memory (for example, a ring buffer), and when the capacity is full, the oldest log data 73 is deleted and new log data 73 is added and recorded. (records in so-called FIFO format). This memory card 36 is removed from the basic unit 3 and installed in the mounting section of the PC 2. As a result, the log data 73 comes to be displayed on the display section 7 of the PC 2. Note that the output unit 84 may transmit the log data 73 to the PC 2, the cloud, etc. via the communication unit 33.

Note that in this embodiment, the log data 73 and the like are written to the memory card 36 when a predetermined output condition is met, but the present invention is not limited to this, and for example, the internal memory 37 (flash memory or You can also save it to a non-volatile memory such as a hard disk. Furthermore, at least the log data 73 needs to be saved in the memory card 36 or internal memory 37 when predetermined output conditions are met, while the project data 71 needs to be saved when predetermined output conditions are met. Not limited to. For example, the information may be stored in the memory card 36 or internal memory 37 in advance at the timing when the PLC 1 changes from the setting mode (PROGRAM mode) to the operation mode (RUN mode).

● Creation of configuration information FIG. 18 is a diagram illustrating the creation process (unit setting) of configuration information executed by the function setting section 62. The function setting section 62 may be called a unit editor. When the function setting section 62 receives permission to start the unit editor, it displays the unit setting UI 150 on the display section 7. The name column 151 is a column for displaying the name (eg, model number, etc.) of each unit. Note that each unit is automatically assigned a unit number. In this example, "0" is assigned to the basic unit 3 as the unit number. The input area column 152 is a column for allocating input devices. In this example, devices R000 to R015 are assigned to the basic unit 3 as input devices. The output area column 153 is a column for allocating output-related devices. In this example, devices R500 to R507 are assigned to the basic unit 3 as output devices. The occupied area column 154 is a column for allocating mixed input/output type devices. The end unit is a so-called termination unit. The user uses the operation unit 8 to set the type of expansion unit 4, the connection order, and the devices to be allocated. The function setting unit 62 stores information indicating the type of expansion unit 4, the connection order (unit number), and the devices allocated to each of the basic unit 3 and expansion unit 4 in the configuration information. The configuration information may be referred to as unit configuration information. Here, devices are assigned to each unit, but devices may be assigned to each function of each unit. The function setting section 62 manages the configuration information as part of the project data 71.

In this way, the configuration information includes information indicating devices assigned to each unit and information indicating devices assigned to each function. Therefore, by referring to the configuration information, the device extraction unit 53 can extract the devices assigned to each unit and the devices assigned to each function.

<Logging large amounts of data>
A camera exists as the field device 10. A user may desire to improve a user program by capturing the state of a workpiece or a controlled object using a camera and comparing the image with device values. Therefore, the problem is how to manage images and device values that are related to each other. This is because images are generally acquired by the expansion unit 4 and device values are acquired by the basic unit 3. Furthermore, the image acquisition cycle and the device value acquisition cycle are generally different. Under these circumstances, the problem is how to link and manage large-capacity data such as images and relatively small-capacity data such as device values.

FIG. 19 shows the functions of the CPU 31 of the basic unit 3. The same reference numerals are given to parts that have already been explained. In this example, the recording section 81 has a collecting section 92a. When a predetermined collection start condition is met, the collection unit 92a reads out the device value specified by the log setting data 72 from among the device values held in the device unit 34, and also reads the device value from the time management unit 83a. Get time information. The collection unit 92a associates the device value and time information and stores them in the ring buffer 91a. Note that the collection unit 92a acquires device values and time information for each collection cycle (eg, scan cycle) specified by the log setting data 72, and stores them in the ring buffer 91a. The reason why the ring buffer 91a is employed is that not all data stored in the ring buffer 91a is stored in the memory card 36 as log data 73. For example, the storage unit 93 may read the device value and time information from the ring buffer 91a, create the log data 73, and store it in the memory card 36 when a predetermined storage condition is satisfied. Similarly, the storage unit 93 may read the large capacity data and time information from the expansion unit 4, create log data 73, and store the log data 73 in the memory card 36 when a predetermined storage condition is met. The storage unit 93 stores the above-mentioned device value and time information, and the above-mentioned large-capacity data and time information in association with each other. Here, "storing in association" means that the files may be saved in a format that is easy to play on the PC 2, and for example, file management may be performed in which a plurality of files are associated with each other. Specifically, in the memory card 36, a first subfolder in which device values and time information are stored and a second subfolder in which large capacity data and time information are stored are placed under a specific folder. If so, the path (directory path) to a specific folder becomes a common flag, and this common flag can be used to "correspond" and save files in the first subfolder and files in the second subfolder. It becomes possible. Further, if there is another folder placed at the same level (directory) as the above-mentioned specific folder, that other folder means a data package saved at another time. Of course, subfolders similar to those described above are also placed under this other folder. In this way, the storage unit 93 stores the above-mentioned device value and time information, and the above-mentioned data (large capacity data) and time information in a plurality of files identified by the common flag (predetermined directory path). , you may save multiple files. In addition, for example, it is also possible to save files in a "corresponding manner" by using a file name as a common flag and generating files with the same or corresponding file names. For example, it is also possible to associate device values and data (large amount of data) using time information as a key, create a list, and compile them into a single file to save them in an "associated" manner. . In this embodiment, large-capacity data is considered as an example of data from the monitoring equipment, but it goes without saying that continuous data such as motion data, communication data, and audio data may also be used. The transmitter 94 may transmit the log data 73 to the PC 2, the cloud, or the like. When the ring buffer 91a becomes full, the collection unit 92a overwrites the oldest information held in the ring buffer 91a with the newest information.

Although the ring buffer 91a is employed here as an example of a buffer, this is only an example. It would be sufficient to use a FIFO format buffer as the buffer.

FIG. 20 is a diagram illustrating the functions of the CPU 41 of the expansion unit 4 having a camera input function. The clock of the time management section 83b is synchronized with the clock of the time management section 83a of the basic unit 3. For example, the time management section 83a transmits time information to the time management section 83b during END processing. The time management unit 83b synchronizes the clock of the time management unit 83b with the clock of the time management unit 83a based on the received time information. The clock may be realized by a counter that counts time based on time information. The collection unit 92b outputs a trigger signal periodically, for example, when a predetermined collection condition (eg, a predetermined relay device is turned on) is satisfied. The time management unit 83b acquires time information from a clock when the trigger signal is input, and stores it in the time information buffer 95. The memory 42 has a time information buffer 95 and a ring buffer 91a. The connection port 97 is an interface for connecting the camera 98 to the expansion unit 4. The connection port 97 periodically outputs a trigger signal issued by the collection unit 92b to the camera 98, and outputs image data output by the camera 98 to the image reception unit 96a. Image data is an example of large-capacity data. The connection port 97 is an example of a second external interface that is connected to a monitoring device such as a camera 98 and receives data (image data) from the monitoring device. The image receiving section 96a is all or a part of the function execution section 96 that executes an imaging function that involves inputting image data from the camera 98 via the connection port 97. In this embodiment, the function execution unit 96 (image reception unit 96a) executes control of the camera 98 based on imaging parameters (an example of setting information) such as exposure time, gain, white balance, and contrast. For such imaging parameters, desired parameter values are set in the PC 2 and sent to the function execution unit 96 via the communication unit 33 and CPU 31 of the basic unit 3 shown in FIG. Therefore, the communication unit 33 shown in FIG. 4 is an example of a first external interface that receives setting information from an external setting device such as the PC 2 or a display. Note that the communication unit 33 serving as the first external interface also accepts user programs created on the PC 2 as described above. The camera 98 performs imaging according to the trigger signal and outputs image data. The image receiving section 96a transfers the image data to the collecting section 92b. The collecting unit 92b associates the time information held in the time information buffer 95 with the image data output from the image receiving unit 96a and stores them in the ring buffer 91a. When the ring buffer 91b becomes full, the collection unit 92b overwrites the oldest information held in the ring buffer 91b with the newest information. In the present embodiment, the collection unit 92b automatically and periodically outputs the imaging trigger signal to the camera 98; however, the present invention is not limited to this, and the collection unit 92b may output an imaging trigger signal to the camera 98 automatically and periodically, for example. An imaging trigger signal may be output to the camera 98 based on this.

By the way, the basic unit 3 communicates with the expansion unit 4 using any one of refresh communication executed for each scan, direct communication that can be executed at any time, and message communication that is executed on an event basis. The storage unit 93 uses, for example, direct communication to read the image data and time information from the ring buffer 91b of the expansion unit 4, and adds them to the log data 73. Note that a plurality of direct communications with priorities may be implemented as the direct communications. In this case, the priority of direct communication executed in connection with the user program may be set relatively high, and the priority of direct communication for logging may be set relatively low. This makes it possible to reduce the influence of logging on the execution of the user program.

<Logging using ring buffer>
FIG. 21 shows device values and time information held in the ring buffer 91a of the basic unit 3. One record includes an acquired device value and time information indicating the time when this device value was acquired.

FIG. 21 further shows image data and time information held in the ring buffer 91b of the expansion unit 4. One record includes acquired image data and time information indicating the time when this image data was acquired.

FIG. 22 shows logging using the ring buffer 91a in the basic unit 3.

In S21, the CPU 31 (collection unit 92a) determines whether the device value acquisition conditions are satisfied. The acquisition condition is a condition for starting storing the device value and time information in the ring buffer 91a. The acquisition condition may be written in the user program (for example, that the start relay is turned on) or may be written in the log setting data 72. When the acquisition conditions are met, the CPU 31 proceeds to S22.

In S22, the CPU 31 (collection unit 92a) turns on the acquisition relay. The acquisition relay is a one-bit device, and is a relay for instructing the expansion unit 4 to store data in the ring buffer 91b.

In S23, the CPU 31 (collection unit 92a) determines whether the timing to acquire the device value has arrived. The acquisition timing is, for example, every scan cycle (for example, acquired during END processing in every scan), and is defined by the log setting data 72. When the acquisition timing arrives, the CPU 31 proceeds to S24.

In S24, the CPU 31 (collection unit 92a) acquires the device value specified by the log setting data 72 from the device unit 34, acquires time information from the time management unit 83a, and writes these to the ring buffer 91a.

In S25, the CPU 31 (collection unit 92a) determines whether the storage timing has arrived. The save timing is the timing at which the information held in the ring buffer 91a is saved in the log data 73. The storage timing may be, for example, the occurrence of a predetermined event (eg, a storage trigger). The save timing is also defined by the log setting data 72. If the storage timing has not arrived, the CPU 31 returns to S23. If the storage timing has arrived, the CPU 31 proceeds to S26.

In S26, the CPU 31 (collection unit 92a) saves the information held in the ring buffer 91a as the log data 73. Note that among the information held in the ring buffer 91a, information to be saved may be defined by the log setting data 72. For example, the storage target may be information acquired before a predetermined period of time has elapsed since the timing at which a certain event occurred. In addition, the information to be saved is information acquired from the start time, which is a predetermined time before the timing at which an event occurred, to the end time, which is the time at which a predetermined period of time has elapsed from the timing at which the event occurred. You can.

In S27, the collection unit 92a stores the information held in the ring buffer 91b of the expansion unit 4 as the log data 73. The collection unit 92a may read the information held in the ring buffer 91b of the expansion unit 4 using direct communication. More specifically, the collection unit 92a may issue an instruction to read information from the buffer memory. Note that among the information held in the ring buffer 91b, information to be saved may also be defined by the log setting data 72. For example, the storage target may be information acquired before a predetermined period of time has elapsed since the timing at which a certain event occurred. In addition, the information to be saved is information acquired from the start time, which is a predetermined time before the timing at which an event occurred, to the end time, which is the time at which a predetermined period of time has elapsed from the timing at which the event occurred. You can.

In S28 (the collection unit 92a) determines whether the termination condition is satisfied. The end condition is a logging end condition. The termination conditions may also be defined by the log setting data 72. If the termination condition is not met, the CPU 31 returns to S23. If the termination conditions are met, the CPU 31 terminates the logging process.

FIG. 23 shows logging using the ring buffer 91b in the expansion unit 4.

In S31, the CPU 41 (collection unit 92b) determines whether the image data acquisition condition (eg, that the acquisition relay is turned on) is satisfied. When the acquisition relay is turned on, the CPU 41 proceeds to S32. Note that in this embodiment, when the acquisition relay is turned on, it is determined that the image data acquisition condition is satisfied, but this is only an example. In addition, for example, when the mode of the PLC 1 is switched to the driving mode, it may be determined that the image data acquisition condition is satisfied. More specifically, the PLC 1 is provided with a mode changeover switch that switches between a setting mode (program mode) for making various settings and an operation mode (RUN mode) for repeatedly executing a ladder program to perform actual operation. It's okay to be hit. In this case, when the user switches the mode changeover switch from the program mode to the RUN mode, it may be determined that the image data acquisition condition is satisfied.

In S32, the CPU 41 (collection unit 92b) determines whether the image data acquisition timing has arrived. The acquisition timing is, for example, every internal control cycle (imaging cycle) of the expansion unit 4. When the acquisition timing arrives, the CPU 41 proceeds to S33.

In S33, the CPU 41 (collection unit 92b) acquires the large amount of data and time information and stores them in the ring buffer 91b. For example, the collection unit 92b issues a trigger signal and outputs it to the camera 98 and the time management unit 83b. Upon receiving the trigger signal, the time management section 83b reads time information from the internal clock and writes it into the time information buffer 95. The camera 98 performs imaging according to prespecified imaging conditions and outputs image data. The image receiving section 96a outputs image data to the collecting section 92b. The image receiving unit 96a may directly write image data to the ring buffer 91b. The collection unit 92b associates the time information read from the time information buffer 95 with the image data acquired by the camera 98 and writes them into the ring buffer 91b.

In S34, the CPU 41 (collection unit 92b) determines whether the basic unit 3 has issued a read request (read command) to the ring buffer 91b. If a read request has been received, the CPU 41 proceeds to S35. If no read request has been issued, the CPU 41 returns to S32.

In S35, the CPU 41 (collection unit 92b) acquires image data and time information, which are large volumes of data, from the ring buffer 91b and transmits them to the basic unit 3.

In S36, the CPU 41 (collection unit 92b) determines whether the termination condition is satisfied. For example, the collection unit 92b determines whether the acquisition relay is turned off. If the termination condition is not met, the CPU 41 returns to S32. If the termination conditions are met, the CPU 41 terminates the logging process.

<Connection type>
FIG. 24 shows the connection form of the building block type PLC1. An IF 99a for connecting and communicating with the expansion unit 4 is provided on the right side of the basic unit 3. IF is an abbreviation for interface. In this example, an expansion unit 4a is connected to the basic unit 3, and an expansion unit 4b is connected to the expansion unit 4a. The expansion unit 4 has an IF 99 on both the right side and the left side. The right side of the basic unit 3 faces the left side of the expansion unit 4a. Therefore, the IF 99a of the basic unit 3 is connected to the IF 99b provided on the left side of the expansion unit 4a. The right side of the expansion unit 4a faces the left side of the expansion unit 4b. Therefore, the IF 99c of the expansion unit 4a is connected to the IF 99d provided on the left side of the expansion unit 4b. Note that 99e provided on the right side of the expansion unit 4b may be connected to an end unit. In this way, the IFs 99a to 99e form the unit internal bus 90. For example, image data acquired by a camera 98a connected to the expansion unit 4a may be transferred to the base unit 3 via the unit internal bus 90. Image data acquired by a camera 98b connected to the expansion unit 4b can be transferred to the basic unit 3 via the unit internal bus 90.

In this way, in the building block type PLC 1, the side surface of each unit becomes a connection surface (connection surface). An IF 99 to form part of the unit internal bus 90 is also provided on the side of each unit. Note that, as described above, communication on the unit internal bus 90 is controlled by the bus master 38 shown in FIG. 4.

FIG. 25 shows a connection form of a PLC 1 having a backplane 200. The backplane 200 is connected to the bottom surface of the base unit 3 and the bottom surface of the expansion unit 4, or to the back surface of the base unit 3 and the back surface of the expansion unit 4. The backplane 200 functions as a support plate (base plate) that supports the basic unit 3 and expansion unit 4. Here, as an example, the back surface will be explained as a connection surface. The back of the basic unit 3 faces the front of the backplane 200. Therefore, the IF 99f provided on the back surface of the basic unit 3 is connected to the IF 99g provided on the front surface of the backplane 200. The back side of the expansion unit 4 faces the front side of the backplane 200. The IF 99h provided on the back of the expansion unit 4a is connected to the IF 99i provided on the front of the backplane 200. The IF 99j provided on the back surface of the expansion unit 4b is connected to the IF 99k provided on the front surface of the backplane 200. IF99f to IF99k form a unit internal bus 90.

Note that the backplane 200 may include a communication control section 213 for controlling bus communication via the unit internal bus 90. Further, the backplane 200 may include a CPU 211 and a memory 212. The memory 212 may include a memory card 36 in addition to RAM or ROM. In this case, the CPU 211 may function as the collection section 92a or the storage section 93. Further, the memory 212 may be provided with a ring buffer 91a. Alternatively, the CPU 211 may include a time management section 83b and a collection section 92. In this case, memory 212 has a ring buffer 91b.

<Log display example>
FIG. 26 shows an example of the log data 73. In this example, the acquisition timings of device values d1 to d10, workpiece images i1 to i3 acquired by camera 98a, and other images j1 to j3 acquired by camera 98b are shown. Device values d1 to d10 are acquired every scan cycle. The workpiece images i1 to i3 are acquired at the timing when the trigger signal is generated. The workpiece images j1 to j3 are acquired at the timing when the trigger signal is generated. The position of each data indicates the respective time information. As shown in FIG. 26, the acquisition times and acquisition cycles of each data do not match. Therefore, the log display unit 61 adjusts the display timing of each data based on the time information of each data.

FIG. 27 is a diagram illustrating the display timing and display duration time of the log data 73. The log display section 61 displays each device value on the display section 7 according to the time information of each device value. For example, the log display unit 61 determines the difference between the time information of the device value d1 and the time information of the device value d2 as the display duration time of the device value d1. The log display unit 61 starts displaying the device value d2 when a display duration time elapses after starting to display the device value d1. Thereafter, the display duration time is determined in the same way, and the device values to be displayed are switched according to the time information and the display duration time.

As already shown in FIG. 26, the acquisition time of the device value d1 and the acquisition time of the workpiece image i1 do not match. Therefore, the log display unit 61 compares the acquisition time of the workpiece image i1 with the acquisition times of the device values d1 to d10, and determines the acquisition time of the device value dx that is closest to the acquisition time of the workpiece image i1. In this example, the acquisition time of the device value d1 is closest to the acquisition time of the workpiece image i1. Therefore, the log display section 61 starts displaying the device value d1 and starts displaying the workpiece image i1. Next, the log display unit 61 determines the acquisition time of the device value dx that is closest to the acquisition time of the workpiece image i2. In this example, the acquisition time of the device value d4 is closest to the acquisition time of the workpiece image i2. Therefore, when the display timing of the device value d4 arrives, the log display section 61 starts displaying the device value d4 and the workpiece image i2. The log display unit 61 determines the acquisition time of the device value dx that is closest to the acquisition time of another image j1. In this example, the acquisition time of the device value d2 is closest to the acquisition time of the other image j1. Therefore, when the display timing of the device value d2 arrives, the log display section 61 starts displaying the device value d2 and starts displaying the other image j1.

In this way, among the plurality of data included in the log data 73, the display timing of each data may be adjusted based on the data with the shortest logging cycle.

FIG. 28 is a diagram illustrating a method of displaying log data 73. In this example, relay device R000 and data memory DM100 are obtained as device values dx (x takes a value from 1 to 10). In this way, a plurality of device values are linked to one workpiece image ix according to time information. The log display section 61 may display the device value dx, the work image ix, and the other image jx in one window, or may display each in separate windows. Further, the log display section 61 may read the user program from the project data 71, map the device value dx to the user program, and display the mapping. For example, the log display unit 61 may search for a step that includes a command word related to the device value dx to be displayed, display the found step, and display the device value below the command word in the step. . Note that the display target device may be a relay device. The log display unit 61 may change the display color or icon image (eg, arrow) of the command word depending on whether the relay device is turned on or off. There are icon images that indicate on and those that indicate off. Further, the log display section 61 may display device values in a graph form. In this case, the log display section 61 always displays the device values d1 to d10 in one window and displays the work image in the other window. The log display section 61 switches workpiece images as time passes. Here, the log display section 61 may display a bar 103 that is movable in the time axis direction. Bar 103 may also be called a timeline bar. The log display section 61 may display the bar 103 so as to move from left to right as time passes. Bar 103 may be moved by the user. In this case, the log display section 61 receives a movement operation of the bar 103 (eg, a drag operation using the pointer 101) through the operation section 8, and updates the display time according to the movement operation. The log display section 61 may extract device values, work images, and other images whose acquisition times are closest to the display time specified by the bar 103 from the log data 73 and display them on the display section 7 .

In this embodiment, the camera 98 is illustrated as an example of the monitoring device, and the imaging function of the camera 98 is illustrated as the function of the function execution unit 96. The present invention is not limited to this, and the function of the function execution unit 96 may be a motion function or a communication function. First, to explain the former motion function in detail, consider a case where a motion unit is connected to the basic unit 3 as an extension unit 4. In this case, in the PC 2, settings are made for a program (motion flow program) that defines the operation of the motion unit and parameters (axis configuration, axis control setting parameters, etc.), and so-called setting information is created. The setting information is then sent to the function execution section of the motion unit via the first external interface (communication section 33) and reflected on the motion unit. The function execution section of the motion unit transmits operation command values such as target coordinates and target speed to an externally connected motor amplifier according to the setting information. Motion data such as current coordinates and current speed is received from the motor amplifier via an encoder. The control cycle for receiving motion data such as current coordinates and current speed is shorter than the scan cycle of the ladder program, and is asynchronous with the scan cycle of the ladder program. Therefore, the collection section of the motion unit collects motion data at a predetermined period, and stores the motion data in association with information regarding the reception time when the motion data is received in the ring buffer 91b. After that, similar to the process described using FIG. 22, when the storage timing comes (same as step S25 in FIG. 22), motion data (current coordinates, current speed, etc.) and time information are acquired from the ring buffer 91b. Add to log data. This makes it possible to easily specify which device value is associated with which motion data. On the other hand, to explain the latter communication control in detail, consider a case where a communication unit is connected to the basic unit 3 as an expansion unit 4. In this case, in the PC 2, a program (communication flow program) and parameters (communication cycle, transfer rate, etc.) that define the operation of the communication unit are set, and setting information is created. Then, similar to the motion control described above, the setting information is reflected on the communication unit via the communication section 33. Then, the function execution section of the communication unit receives communication data such as a plurality of sensor values from an externally connected sensor group (such as a plurality of photoelectric sensors connected together) according to the setting information. The reception cycle (cyclic communication cycle) of such communication data is asynchronous with the scan cycle of the ladder program. Note that when the number of sensors making up the sensor group is large, the communication data itself may constitute a large amount of data. The collection unit of the communication unit collects communication data at a predetermined cycle (so-called cyclic communication cycle), associates the communication data with information regarding the reception time at which the communication data is received, and stores the communication data in the ring buffer 91b. After that, similar to the process explained using FIG. 22, when the storage timing comes (same as step S25 in FIG. 22), communication data (sensor values, etc.) and time information are acquired from the ring buffer 91b, and the log data is Add to.

<Collection period settings>
The log setting unit 51 may accept settings for the collection period of the log data 73.

FIG. 29 shows the UI 160 for setting the collection period. Note that the UI 160, UI 110, and UI 100 may be switched by selecting respective tabs with the pointer 101. The UI 160 has a pull-down menu 161 for specifying a collection method. The collection method is a method for collecting the log data 73. In this example, a collection method called before and after save trigger and a collection method called start relay are described. Before and after the save trigger is a method of collecting the log data 73 at a collection time Ta before the save trigger is turned on and at a collection time Tb after the save trigger is turned on. Text box 162 accepts input of collection time T. Collection time T is the total value of collection time Ta and collection time Tb. The text box 163 accepts input of the collection time Tb after the trigger. The storage trigger setting unit 164 receives settings for the device name of a relay device used as a storage trigger and a condition (for example, switching from off to on). An up arrow means that the relay device designated as a save trigger has switched from off to on. The guidance section 165 is a UI for explaining the collection period. This example shows that log data 73 is collected after the save trigger. The log setting unit 51 may also display information regarding the above-mentioned device size and scan time increase on the UI 160.

In a collection method called before and after storage trigger, device values and image data are always stored in the ring buffer 91. When the relay device R200, which is a storage trigger, is turned on, the storage unit 93 creates log data 73 for 20 seconds, which is specified as the collection time. The storage unit 93 reads from the ring buffer 91 data recorded 18 seconds before the timing when the relay device R200 was turned on, and data recorded up to 2 seconds after the timing, and creates log data 73. .

FIG. 30 shows the UI 160 for setting the collection period. In this example, the start relay is selected as the collection method from the pull-down menu 161 by the pointer 101. The log setting unit 51 changes the UI 160 according to the collection method selected by the user. Text box 166 accepts the device name of the relay device used as the starting relay. As shown by the guidance section 165, in a collection method called a start relay, the timing when the start relay is turned on is the starting point (starting point) of the collection time. For example, assume that it takes 30 seconds to press one workpiece coming down the production line. Further, it is assumed that the time during which trouble may occur is the first 20 seconds of the 30 second processing time. Relay device R000 is a relay that defines the timing to start press processing. When relay device R000 is turned on, collection unit 92 stores device values and image data in ring buffer 91 for 20 seconds. When the next work arrives and the relay device R000 is turned on again, the collection unit 92 stores the device values and image data in the ring buffer 91 for 20 seconds. When the relay device R200, which is a storage trigger, is turned on, the storage unit 93 acquires the latest 20 seconds of device values and image data stored in the ring buffer 91, and creates log data 73. Relay device R200, which is a storage trigger, is a relay device that is turned on when a trouble occurs.

The log setting section 51 stores the information set through the UI 160 in the log setting data 72 and transfers it to the basic unit 3 together with the project data 71.

<Debug>
FIG. 31 is a flowchart showing an overview of a user program debugging process executed by the user.

In S41, the user operates the PC 2 to create a user program composed of a plurality of program parts, and creates project data 71 including the user program. The program creation unit 63 creates a user program according to user input and stores it in the storage device 22 . The project creation unit 50 creates project data 71 according to user input and stores it in the storage device 22. The project data 71 includes identification information for identifying the project data 71 or the user program. The project creation unit 50 may perform calculations on the project data 71 or the user program to obtain a hash value or an error detection code, and add these to the project data 71 as identification information. Note that the identification information may be a GUID (globally unique identifier) or the like.

In S42, the user operates the PC 2 to transfer the project data 71 to the PLC 1. The project creation unit 50 reads project data 71 from the storage device 22 and transmits it to the PLC 1 via the communication unit 23. When the basic unit 3 of the PLC 1 receives the project data 71, it writes it into the storage device 32.

In S43, the user operates the operation section 6 of the basic unit 3 (for example, by operating a mode changeover switch for switching from PROGRAM mode to RUN mode) and instructs execution of the project. The execution unit 80 executes the user program included in the project data 71. The recording unit 81 logs device values and the like, and stores (records) the logged device values in the ring buffer 91a. The storage unit 93 of the output unit 84 stores the device values recorded in the ring buffer 91a and the above-mentioned image data in the memory card 36 or internal memory 37 when a predetermined output condition is satisfied. , create log data 73.

Furthermore, as shown in FIG. 19, the storage unit 93 stores project data 71 in the memory in addition to the log data 73. This allows the PC 2 to use the project data 71 at the time of the trouble to reproduce on the monitor the behavior at the time of the trouble. Details will be described later.

In addition to the project data 71, the storage unit 93 stores identification information (such as a hash value) of the project data 71 in the memory. This allows the PC 2 to use the identification information to verify whether the current project data (to be replayed) matches the project data 71 at the time of the actual trouble occurrence. Details will be described later.

Note that in this embodiment, the project data 71 and its identification information are stored in the memory in addition to the log data 73 at the timing when a predetermined output condition is met, but the present invention is not limited to this. . For example, the project data 71 and its identification information are stored in memory before, at the time of, or during operation of the PLC 1, and only the log data 73 is stored in the memory at the timing when a predetermined output condition is met. You may also save it. In short, it is only necessary that the log data 73, the project data 71, and their identification information be stored in the memory in a state in which they are associated with each other when a predetermined output condition is satisfied.

Further, in this embodiment, the project data 71 is stored in the memory, but the present invention is not limited to this. For example, instead of the project data 71, only the identification information of the project data 71 may be stored in the memory. You can. In this case, it is assumed that the current project data on the PC 2 matches the project data 71 at the time of the actual trouble occurrence. That is, it is assumed that the current project data is not edited or modified after the project data is transferred to the PLC 1. If it is determined that the two data do not match, the user can perform a replay after recognizing that the current project data is different from the project data 71 at the time of the actual trouble. This can prevent replays (inaccurate troubleshooting) from being performed without being aware of this.

In S44, the user operates the operation section 6 of the basic unit 3 and instructs to transfer the project data 71 and log data 73 to the PC 2. Alternatively, the project data 71 written in the memory card 36, the identification information of the project data 71, and the log data 73 may be read out by operating the operation unit 8 of the PC 2. The output unit 84 transmits the project data 71 and log data 73 to the PC 2. Note that the output unit 84 may adopt a configuration in which the identification information of the project data 71 is added to the log data 73 when it is determined that the transfer of the project data 71 is prohibited. The identification information of the project data 71 and the log data 73 may be transmitted separately. The output unit 84 executes an operation (for example, using a hash function) on the project data 71 or the user program at the timing when a predetermined condition for writing to the memory card 36 is satisfied, and outputs a hash value, an error detection code, etc. may be obtained and added to the log data 73 as identification information. Note that any rule may be adopted as long as the identification information creation rule executed by the PC 2 and the identification information creation rule executed by the basic unit 3 match.

In S45, the user operates the PC 2 to investigate the cause of the trouble while replaying the log data 73, and debugs the user program forming the project data 71. Reproduction of the log data 73 includes displaying the time-series device values included in the log data 73 as waveforms on the display unit 7, displaying the device values in association with the user program, and displaying the device values included in the log data 73 in association with the user program. This includes displaying time-series image data on the display unit 7. The log display section 61 has an internal clock that measures virtual time, acquires device values from the log data 73 in synchronization with the internal clock, and displays them on the display section 7 . The project data 71 may not be transmitted from the PLC 1. In this case, the log display unit 61 may use the user program of the project data 71 (master data) held in the storage device 22 to display the device value in association with the user program. Details of investigating the cause of the trouble by reproducing the log data 73 will be described later.

It should be noted here that the version of the project data 71 used to obtain the log data 73 may be different from the version of the project data 71 held in the PC 2. In this case, it is possible that it becomes impossible to display the device value in association with the user program, or that the association between the user program and the device value becomes incorrect. In this case, the log display unit 61 uses the identification information of the project data to display that the version of the project data 71 used to obtain the log data 73 is different from the version of the project data 71 held in the PC 2. A warning indicating this may be displayed on the display unit 7. Note that the log display unit 61 determines whether to display the log data 73 acquired using the first version of the project data 71 in association with the second version of the project data 71 held in the PC 2. You can also ask the user. If the user desires such a display, the log display unit 61 displays the log data 73 obtained using the first version of the project data 71 as the second version of the project data held in the PC 2. 71 and displayed on the display unit 7. Note that the version is managed using identification information. If the user confirms that there is no problem with the log data 73, debugging is unnecessary, and subsequent S46 and S47 are also unnecessary. The user analyzes the log data 73, discovers bugs in the user program, and corrects the user program. The project creation unit 50 modifies (updates) the project data 71 according to user input and stores it in the storage device 22.

In S46, the user operates the PC 2 to transfer the project data 71 to the PLC 1. Note that when the user program in the project data 71 is changed, the identification information is updated. This makes it possible to distinguish between the project data 71 before modification and the project data 71 after modification.

In S47, the user operates the basic unit 3 to instruct execution of the user program included in the project data 71, thereby verifying the project data 71. The execution unit 80 executes the user program included in the project data 71. If the PLC 1 is operating as expected by the user, the user determines that the project data 71 has been successfully debugged. Note that if the PLC 1 is not operating as expected by the user, the recording unit 81 logs device values and the like again, and the storage unit 93 creates log data 73. Then, the user executes S44 to S47 again.

In this way, the user can debug the project data 71 while referring to the log data 73. Therefore, it is thought that debugging efficiency will improve.

Note that the project data 71 may be transferred via the memory card 36. That is, the PC 2 writes to the memory card 36. The user removes the memory card 36 from the PC 2 and attaches the memory card 36 to the basic unit 3. The basic unit 3 reads the project data 71 from the memory card 36 and writes it to the storage device 32. Similarly, the transfer of log data 73 may also be performed via the memory card 36.

<Output section>
FIG. 32 shows the output section 84 mounted on the basic unit 3. In addition to the log data 73, the output unit 84 may transfer the project data 71 used when acquiring the log data 73 to the PC 2. However, in order to prevent information leakage of the project data 71, access authority (protection) may be set for the project data 71 to prohibit writing to the memory card 36 or transmitting to the PC 2. Therefore, the determination unit 301 refers to the access authority granted to the project data 71 and determines whether output of the project data 71 is prohibited. When outputting the project data 71 is prohibited, the output unit 84 outputs the log data 73 but does not output the project data 71. On the other hand, if the output of the project data 71 is not prohibited, the output unit 84 outputs the log data 73 and the project data 71. If the output of the project data 71 is prohibited, the addition unit 302 may output the identification information of the project data 71 held in the storage device 32 together with the log data 73. This identification information may be part of the project data 71, or the identification information may be obtained by the calculation unit 303 performing a predetermined calculation on the project data 71 or the user program. The predetermined operation may be, for example, a hash operation or an error detection code operation. The real-time transmitting unit 304 transmits the device value held in the device unit 34 in real time. This is useful when displaying device values in real time on a display device such as a PC 2 or an HMI (human interface).

<Project creation department 50>
FIG. 33 shows details of the project creation section 50. The function setting unit 62 sets the configuration information of the expansion unit 4, the functions of the basic unit 3, and the functions of the expansion unit 4 based on information input from the operation unit 8, and creates configuration information indicating the settings. Functional settings of the basic unit 3 include IP address settings, FTP client settings, access authority settings for the project data 71, and the like. Settings for the functions of the expansion unit 4 include settings for input channels and settings for communication between PLCs. The configuration information is part of the project data 71. The editing unit 311 (which may also serve as the program creation unit 63 shown in FIG. 6) displays an editing UI for the user program on the display unit 7 and edits the user program based on information input from the operation unit 8. The debug unit 314 uses the project data 71 to debug the user program. The adding unit 312 adds identification information to the project data 71. The calculation unit 313 calculates identification information (eg, a hash value or an error detection code) by calculation. Note that the output unit 84 may perform the same function as the identification information calculation function performed by the calculation unit 313.

<Log display section 61>
FIG. 34 shows details of the log display section 61. The program display module 321 is a module that displays the user program included in the project data 71 as well as device values included in the log data 73 on the display section 7 . In addition, the program display module 321 allows the user to visually check the setting contents of the project data 71, such as not only the user program but also program configuration information included in the project data 71, multiple program parts, unit configurations, and function settings for each unit. Various information can be displayed. The image display module 323 displays time-series image data included in the log data 73 on the display unit 7. The waveform display module 322 is a module that converts time-series device values included in the log data 73 into a waveform and displays the waveform on the display unit 7. The reproduction control module 324 temporally synchronizes the information displayed by the program display module 321 and the information displayed by the waveform display module 322. These modules may be called engineering software. Note that the image display module 323 may be realized as one function (image display section) of the program display module 321, or may be realized as one function (image display section) of the waveform display module 322.

●Program Display Module FIG. 35A shows details of the program display module 321. The time UI 330a provides a UI (eg, a slide bar, a cursor, etc.) for operating the device acquisition time (display time) displayed together with the user program. The display time control unit 331a sends the display time specified by the time UI 330a to the playback control module 324, and sets the display time notified from the playback control module 324 to the time UI 330a. The program display section 332 displays the project data 71 on the display section 7 or reads out the project data 71 corresponding to the identification information from the storage device 22 and displays it on the display section 7 . Further, the program display unit 332 displays the device value acquired by the device value acquisition unit 333a in association with the device used or described in the user program. The device value acquisition unit 333a has a real-time playback mode and a log playback mode. The device value acquisition unit 333a accesses the real-time transmission unit 304 of the PLC 1 in real-time playback mode, acquires the device value, and passes it to the program display unit 332. In the log playback mode, the device value acquisition unit 333a accesses the playback control module 324, acquires the display time and device value, and passes them to the program display unit 332.

FIG. 35B is a schematic diagram showing an example of a GUI displayed on the display section 7 by the program display section 332 or the like.

In FIG. 35B, various information constituting the project data 71 is displayed in the project display area 420 in the left column. From the top, the unit configuration (basic unit, motion unit, analog input unit, camera unit) and program configuration (every scan module, fixed cycle module, inter-unit synchronization module, function block, macro) are displayed. Regarding the motion unit, the axis configuration and axis control setting parameters are displayed as function settings. By double-clicking on the axis configuration or axis control on the GUI shown in FIG. 35B, the user can check the settings for these setting parameters. Furthermore, in the project display area 420, Main and Sub are displayed for each scan module, and when the user clicks on Main, the Main program is displayed in the program display area 410 of the ladder monitor 450 at the center. In this way, the program display module 321 shown in FIG. 34 reads the project data 71 from the memory card 36, displays various information in the project display area 420, and displays a desired program in the program display area 410.

Here, the program display area 410 is a part of a so-called ladder monitor 450, and can be operated independently in real-time playback mode. It is also possible to hide only the ladder monitor 450 by clicking the x mark. On the other hand, in the log reproduction mode, the program display section 332 can reproduce the ladder program included in the project when the driving record was saved. Furthermore, in the log playback mode, the program display section 332 displays the device value included in the log data 73 via the device value acquisition section 333a in association with the device described in the Main program. The device value to be displayed is the device value corresponding to the time specified by the time designation cursor 404 (more details will be explained using FIG. 38 described later).

In FIG. 35B, the device value associated with 18:52:54 on 20XX/10/01 displayed in the time display area 409 is displayed in association with the device described in the Main program. [35000/74286] displayed to the right of this date indicates the current number of scans of 35,000 compared to the total number of scans of 74,286. By dragging and moving the time designation cursor 404, the user not only updates the display time and number of scans, but also updates the display of the device value. For example, at the updated display time, relay devices that are ON are displayed as ON (for example, by filling them in color), and relay devices that are OFF are displayed as OFF (for example, by removing color). will be done. Details of the function of the playback button 406 will be described later using FIG. 38.

In FIG. 35B, an image display area of the camera monitor 430 is provided in the upper right column. The image display module 323 reads image data from the log data 73 and displays it on the image display area of the camera monitor 430 in synchronization with the display time displayed on the ladder monitor 450 by the program display module 321. In FIG. 35B, image data associated with the display time of 18:52:54 on 20XX/10/01 is displayed on the camera monitor 430. Moreover, 282/601 is displayed to the right of this display time, which represents the order of the current image data (282nd image) with respect to the total number of captured images 601. The user can update the display time and the current order of image data by dragging and moving the time designation cursor 404a on the camera monitor 430.

At this time, as the time designation cursor 404a moves, the time designation cursor 404 on the ladder monitor 450 described above also moves in conjunction with the movement. For example, when the time designation cursor 404a is set to the display time 19:00:00 on 20XX/10/01, the time designation cursor 404 on the ladder monitor 450 also moves to the display time 19:00:00 on 20XX/10/01. Moves to follow position 00. As the time designation cursor 404 moves, the device value on the ladder monitor 450 is also updated. Although the time designation cursor 404a is moved here, the reverse is also true. For example, when the time designation cursor 404 on the ladder monitor 450 is moved, the time designation cursor 404a on the camera monitor 430 also moves accordingly. Such a processing operation is possible because the program display module 321 and the image display module 323 execute synchronized control regarding the display time via the playback control module 324.

Further, in FIG. 35B, a unit monitor 440 is displayed in the lower right column. For example, as described using FIG. 10A, the unit monitor 440 displays the device value of the buffer memory (UG) in the motion unit. More specifically, upon receiving the display time to be currently played back from the playback control module 324, the unit display module 325 of the log display section 61 reads the device value associated with that time from the memory card 36, and displays the unit. It is displayed on the monitor 440. Therefore, for example, in FIG. 35B, a list of device values associated with display time 18:52:54 on 20XX/10/01 is displayed on unit monitor 440.

FIG. 35C is a diagram schematically showing a data source for displaying a GUI in log playback mode. As shown in FIG. 35C, the project display area 420 reads out the unit configuration, function settings, program configuration, and program parts included in the project data 71 from the memory and displays them in a tree format. The ladder monitor 450 reads the program configuration (what kind of program parts are included) and the program parts from the memory, displays the program parts specified by the user, and also retrieves the device value corresponding to the display time from the log data 73. Read and display. The camera monitor 430 logs data based on information such as unit configuration (whether there is a camera monitor or not) and function settings (camera monitor functions; for example, if there are multiple ports, the port number, imaging cycle, gain settings, etc.). Image data corresponding to the display time is read out from the data 73 and displayed. The unit monitor 440 extracts the device value corresponding to the display time from the log data 73 based on information such as the unit configuration (what kind of units are there) and function settings (for motion units, axis configuration and axis control, etc.). Read and display.

As can be seen from FIGS. 35B and 35C, the function of the playback control module 324 allows the program display module 321, image display module 323, and unit display module 325 to be synchronously controlled and linked. Note that details of the cooperation of the waveform display module 322 will be described later.

Here, in this embodiment, it is possible to verify whether the current project data matches the project data 71 at the time of actual trouble occurrence. More specifically, the collation unit 334 of the program display module 321 shown in FIG. (user program) and outputs the comparison result to the warning section 335. The warning unit 335 detects a discrepancy between the identification information of the project data 71 (user program) output from the PLC 1 when the driving record was saved and the identification information of the project data (user program) stored in the storage device 22. If so, a warning is displayed on the display unit 7.

For example, the warning unit 335 causes the display unit 7 to display a warning screen 470 as shown in FIG. 35D. To give a specific example, it is assumed that the identification information of the project data 71 when the driving record was saved and the identification information of the current project data (to be replayed) do not match. For example, this is a case where the user edits the project data (program, function settings, etc.) after transferring the project data to the PLC 1. In this case, when the real-time playback mode shifts to the log playback mode based on the user's operation, a warning screen 470 shown in FIG. 35D is displayed.

The warning screen 470 shown in FIG. 35D allows the user to select whether to perform log replay using the current project data as is or to perform log replay using the driving record project. In the former case, the user performs log playback after recognizing that the current project data is different from the project data 71 at the time when the actual trouble occurred. On the other hand, in the latter case, for example, the user specifies the path (folder or directory) in the storage device 22 where the driving record project is stored, thereby replaying the log using the driving record project. be able to.

Note that in this embodiment, the identification information of two pieces of project data are compared to verify whether they match or do not match. More specifically, identification information is added to the program configuration, multiple program parts, unit configuration, and function settings for each unit included in the project data, and verification is performed by checking whether all of them match. And so. However, the present invention is not limited to this, and at least the identification information of user programs composed of a plurality of program parts may be compared to verify whether they match or do not match.

●Waveform display module FIG. 36A shows details of the waveform display module 322. The time UI 330b provides a UI (eg, a slide bar, etc.) for operating the device acquisition time (display time) displayed together with the user program. As shown in FIG. 28, the time UI 330b basically moves the bar 103 from left to right according to the display time provided from the playback control module 324. However, the time UI 330b accepts the operation of the bar 103 through the operation unit 8, and passes the operation amount of the bar 103 to the playback control module 324 through the display time control unit 331b. The display time control unit 331b sends the display time specified by the time UI 330b to the playback control module 324, and sets the display time notified from the playback control module 324 to the time UI 330b. The device value acquisition unit 333b has a real-time playback mode and a log playback mode. The device value acquisition unit 333b accesses the real-time transmission unit 304 of the PLC 1 in real-time playback mode, acquires the device value, and passes it to the waveform display unit 336. The device value acquisition section 333b accesses the reproduction control module 324 in the log reproduction mode, acquires the display time and the device value, and passes it to the waveform display section 336. As shown in FIG. 28, the waveform display unit 336 converts the device value acquired by the device value acquisition unit 333b into a waveform and displays it on the display unit 7. It is not essential to convert the device value into a waveform, and the device value may be displayed as a numerical value. As shown in FIG. 28, the image display module 323 displays the image data output from the reproduction control module 324 on the display section 7. Note that, as described above, the image display module 323 may be realized as one function of the waveform display module 322, but as shown in FIG. 34, it may be realized as a separate function as the image display module 323 (camera monitor). good.

FIG. 36B is a schematic diagram showing an example of a GUI displayed on the display unit 7 by the waveform display module 322 or the like. In particular, the GUI displayed by the waveform display module 322 is a so-called real-time chart monitor 460 displayed in a pop-up window at the bottom right.

In FIG. 36B, the project display area 420 in the left column, the program display area 410 (ladder monitor 450) in the center, and the image display area (camera monitor 430) in the upper right column are the same as those shown in FIG. 35B. That is, these displays are performed by the program display module 321 and the image display module 323. Note that although the unit monitor 440 by the unit display module 325 is not displayed in FIG. 36B, it may be displayed.

The outline of the real-time chart monitor 460 shown in FIG. 36B is as described using FIG. 28. In FIG. 36B, waveform data of relay device R000 and waveform data of data memory DM100 are read out from the memory and displayed. The user can freely adjust the number of devices to be displayed on the real-time chart monitor 460 through a setting screen (not shown).

A time designation cursor 404b (corresponding to the bar 103 shown in FIG. 28, which may also be called a playback position cursor) is displayed at the bottom of the real-time chart monitor 460, and the user can click the position of this time designation cursor 404b. It is now possible to move it. At this time, when the position of the time designation cursor 404b moves, the time designation cursor 404 on the ladder monitor 450 and the time designation cursor 404a on the camera monitor 430 move in conjunction with each other due to the function of the playback control module 324. . Specifically, in FIG. 36B, the horizontal axis in the waveform display area of the real-time chart monitor 460 indicates the number of scans (the display may be switched to time), but when the user clicks the time designation cursor 404b to When the slider moves to the position corresponding to the number of scans, the time designation cursor 404 on the ladder monitor 450 and the time designation cursor 404a on the camera monitor 430 move to the position of the display time corresponding to the number of scans. Then, device values and image data corresponding to the display position after the movement are displayed. Of course, the reverse is also true. That is, when the time designation cursor 404 on the ladder monitor 450 or the time designation cursor 404a on the camera monitor 430 is clicked and slid to a desired position, the time designation cursor 404b also moves to the position of the number of scans corresponding to the desired position. . At this time, if the time designation cursor 404 or the time designation cursor 404a is moved by a certain amount or more, the position indicated by the time designation cursor 404b will be outside the current display range of the real-time chart monitor 460, but in this embodiment, this position is The display range follows so that it is always within the display range.

Here, as shown in FIG. 36B, in the real-time chart monitor 460, the time designation cursor 404b has a vertical line superimposed on the waveform display area, a triangular mark added to the bottom end of the vertical line, Furthermore, a display area bar 404c is displayed below the time designation cursor 404b. A square indicator indicating the current position is displayed at the center of the display area bar 404c. The user can change the range displayed on real-time chart monitor 460 by dragging this indicator and moving it left or right. By making good use of this display area bar 404c, the user can perform troubleshooting to investigate the cause of the trouble. This point will be explained in more detail using FIG. 36C.

FIG. 36C is an explanatory diagram for explaining the relationship between the display range displayed on real-time chart monitor 460 and time designation cursor 404b.

In FIG. 36C, it is assumed that relay devices R000 and R001 and data memories DM100 and DM101 are displayed on real-time chart monitor 460. In FIG. 36C, for convenience of explanation, it is assumed that 15 device values (black circles) for each device are displayed on the real-time chart monitor 460. Furthermore, among these device values, the device value corresponding to a specific time for each device becomes the device value designated by the time designation cursor 404b. In FIG. 36C, the device value corresponds to the time in the center of the range displayed on real-time chart monitor 460. When the user drags the time designation cursor 404b and moves it, for example, to the right, the display range is adjusted so that the time designation cursor 404b falls within the display range, similar to the time designation cursor 404 and the time designation cursor 404a described above. will follow. On the other hand, when the user drags the square indicator on the display area bar 404c and moves it, for example, to the right, the display range of the real-time chart monitor shifts to the right, and when it moves by a certain amount (8 device values (move to the right by minutes), the time designation cursor 404b disappears. However, in this embodiment, even if the time designation cursor 404b is hidden, to facilitate troubleshooting, by double-clicking a desired position in the waveform display area, the time designation cursor 404b jumps to that desired position. It is supposed to be done. In other words, the waveform display unit 336 shown in FIG. 36A has a function of accepting a designation of a desired position from the user in the waveform display area and moving the time designation cursor 404b to the accepted designated position.

The troubleshooting procedure (one example) using the GUI shown in FIG. 36C will be described in more detail.

(1) First, on the display area bar 404c of the real-time chart monitor 460, the user drags the square indicator and moves it left and right to visually check the device waveform displayed in the waveform display area and investigate the cause of the trouble. Find a time that might be useful. At this time, as described above, the time designation cursor 404b may be hidden from the display range of the real-time chart monitor 460.

(2) If a time when an abnormal device value is found in the device waveform is found, double-click that time in the waveform display area. Then, the time designation cursor 404b jumps to that time, and the time designation cursor 404 on the ladder monitor 450 and the time designation cursor 404a on the camera monitor 430 both jump to that time.

(3) As a result, the playback control module 324 causes the ladder monitor 450 to display the device value corresponding to that time, and the camera monitor 430 to display the image data corresponding to that time. Therefore, the user can investigate the cause of the trouble while visually checking these device values and image data.

●Reproduction control module 324
FIG. 37 shows details of the playback control module 324. The device value providing unit 341 provides the program display module 321 and the waveform display module 322 with the device value acquired from the log data 73 by the log data acquisition unit 344. The device value providing unit 341 also provides the unit display module 325 with the device value acquired from the log data 73. Note that the device value acquired from the log data 73 may be temporarily stored in the log device 345. The device value acquisition section 333 of the program display module 321 and the waveform display module 322 requests a device value from the device value providing section 341. The device value acquisition unit 333 acquires a device value from the log device 345 and transmits it to the device value acquisition unit 333. The time device 342 is a device that holds the display time set by the playback control section 343. The device value providing section 341 may also transmit the device value (time information) held in the time device 342 to the device value obtaining section 333 . Alternatively, the playback control section 343 may provide time information to the display time control sections 331a and 331b. The playback control unit 343 has a virtual internal clock for measuring the displayed time, and updates the time information held in the time device 342 according to this internal clock. The reproduction control section 343 transmits the time information held in the time device 342 to the display time control sections 331a and 331b. When the playback control unit 343 receives the designation of the display time from the display time control units 331a and 331b, it sets the received display time in the internal clock (time adjustment). Therefore, when the display time is specified by the display time control section 331a, this display time is transmitted to the display time control section 331b via the playback control section 343. Similarly, when the display time is specified by the display time control section 331b, this display time is transmitted to the display time control section 331a via the playback control section 343. As a result, the display time of the program display module 321 and the display time of the waveform display module 322 are synchronized. In order to realize slow playback, fast forward playback, rewind playback, etc., the playback control unit 343 changes the update speed of the internal clock according to user input from the operation unit 8. The playback control unit 343 may set the time information of the oldest record included in the log data 73 as the initial value of the internal clock. The log data acquisition unit 344 acquires the device value associated with the display time held in the time device 342 from the log data 73 and passes it to the device value providing unit 341.

Similarly, the playback control section 343 may synchronize the display time of the program display module 321 and the display time of the waveform display module 322, as well as the time of the image display module 323 and the unit display module 325.

In this embodiment, the display times of the program display module 321, waveform display module 322, image display module 323, and unit display module 325 are always synchronized in the log playback mode, but the present invention is not limited to this. For example, the user may be able to select whether or not to synchronize. For example, a check box indicating whether synchronization is present may be provided on each monitor screen, and the check box may be set to a checked state by default. Then, by unchecking a module that the user does not want to synchronize, it is possible to prevent only that module from being synchronized. In this way, the log display section 61 may have a selection function for selecting a module to be synchronously controlled (followed control) by the playback control module.

<Program display UI>
FIG. 38 shows a display UI 400 provided by the program display module 321. The display UI 400 described in FIG. 35B and FIG. 36A will be described in further detail from another perspective. The program display area 410 is an area where the user program of the project data 71 is displayed. In this example, the program display area 410 displays a ladder program (ladder diagram). The program display unit 332 uses the device value acquisition unit 333a to acquire the device value of the device used or described in the user program, and displays it together with the user program. For example, if the relay device is ON, the program display unit 332 may display an icon 401a indicating ON over the user program. If the relay device is OFF, the program display unit 332 may display an icon 401b indicating OFF over the user program. The program display section 332 may obtain the device value of the DM 100, which is an output system device, using the device value obtaining section 333a, and display the obtained device value overlappingly with the description of the DM 100 in the user program. In this example, a device value display area 403 is provided below the description of DM 100. The program display section 332 displays device values in the display area 403. Note that since the playback control module 324 updates the device value as well as the display time, the program display section 332 updates the device value displayed together with the user program. The time UI 330a moves the time designation cursor 404 from right to left according to the display time acquired from the time device 342. The time designation cursor 404 can be dragged by the pointer 101. When the time UI 330a detects that the time designation cursor 404 has been dragged by the pointer 101, the display time control unit 331a causes the playback control unit 343 to stop updating the display time, and adjusts the dragging amount of the time designation cursor 404 to the playback control unit 343. to notify. The playback control unit 343 adjusts the count value (display time) of the internal clock according to the drag amount. The time UI 330a may display the update speed of the display time (for example, ..., 2.0 times, 1.0 times, 0.5 times, 0.1 times, ...) in the speed specification section 405. good. Note that the speed designation unit 405 may be realized by a pull-down menu that displays a list of a plurality of update speeds and allows one of the update speeds to be selected. When the time UI 330a detects a click by the pointer 101 on the speed specification section 405, the time UI 330a may display such a pull-down menu and accept a selection of an update speed. A play button 406 is a button for instructing to display device values in chronological order. When the time UI 330a detects that the playback button 406 has been clicked by the pointer 101, the time UI 330a instructs the playback control unit 343 to start updating the display time in the display time control unit 331a. This instruction corresponds to an instruction to start displaying device values or an instruction to restart display. The one-step reverse playback button 407 is a button for instructing to display device values in chronological order while updating (rewinding) the display time one step at a time. When the time UI 330a detects that the one-step reverse playback button 407 has been clicked by the pointer 101, it instructs the display time control unit 331a to move the display time back one step. The one-step playback button 408 is a button for instructing to display device values in chronological order while updating the display time one step at a time. When the time UI 330a detects that the one-step playback button 408 has been clicked by the pointer 101, it instructs the display time control unit 331a to advance the display time by one step. Note that when one-step playback is being executed, the playback control unit 343 does not update the display time unless the one-step reverse playback button 407 or the one-step playback button 408 is operated. When the playback button 406 is operated while one-step playback is being executed, the playback control unit 343 resumes updating the display time at the update speed specified by the speed designation unit 405. The time display area 409 is an area for displaying the display time held in the time device 342. The display time control unit 331a displays the display time acquired from the time device 342 in the time display area 409.

<HMI emulator>
The PLC 1 can be connected to an external display device called HMI. The HMI may have a touch panel type input device. The HMI reads device values held in the device section 34 of the PLC 1 and displays them on the display device. The project creation unit 50 sets the UI displayed on the HMI and the device values displayed on the UI, and saves them in the project data 71. The debug unit 314 has an HMI emulator, and checks the operation of the HMI by operating the emulator according to the project data 71. The log display unit 61 supplies the device value of the log data 73 to the HMI emulator. The HMI emulator displays device values provided in chronological order on the UI.

FIG. 39 shows the UI 490 of the HMI emulator. In this example, the HMI emulator is included in the program display module 321. The program display section 332 reflects the device value provided by the playback control section 343 on the display area of the UI 490. The UI 490 may include time control objects related to playback control included in the UI 400, such as a time designation cursor 404 and a playback button 406. The operation of the time control object on the UI 490 is reflected on the UI 400 and the UI shown in FIG. 28 through the playback control unit 343. For example, when the time designation cursor 404 is operated to the left on the UI 490, the time designation cursor 404 of the UI 400 also moves to the left in conjunction with the display time provided from the playback control unit 343, and the bar shown in FIG. 103 also moves to the left. Further, when the bar 103 shown in FIG. 28 is operated to the left, the time designation cursor 404 of the UI 400, 450 also moves to the left in conjunction with the display time provided from the playback control unit 343. This is because they are all synchronized with the same display time held in the time device 342.

<Flowchart regarding log display>
●Program Display Module FIG. 40 shows display processing executed by the program display module 321. Note that S50, S51, and S60 may be executed only when the project data 71 cannot be acquired from the PLC 1. If the project data 71 can be acquired from the PLC 1, the project data 71 from the PLC 1 is used. If the project data 71 cannot be acquired from the PLC 1, the project data 71 held in the PC 2 is used.

In S50, the CPU 21 (verification unit 334) acquires the identification information of the project data 71 held in the PLC 1 and the identification information of the project data 71 held in the PC 2.

In S51, the CPU 21 (verification unit 334) determines whether the identification information of the project data 71 held in the PLC 1 and the identification information of the project data 71 held in the PC 2 match. If the two do not match, the CPU 21 proceeds to S60. In S60, the CPU 21 (warning unit 335) displays a warning on the display unit 7 indicating that the identification information of the project data 71 held in the PLC 1 and the identification information of the project data 71 held in the PC 2 do not match. . If the two match, the CPU 21 proceeds to S52.

In S52, the CPU 21 (program display section 332) acquires the project data 71 from the PLC 1 or the storage device 22.

In S53, the CPU 21 (program display unit 332) determines whether the log playback mode or the real-time playback mode is selected based on the information input from the operation unit 8. If the real-time playback mode is selected, the CPU 21 proceeds to S58. In S58, the CPU 21 (device value acquisition unit 333a) acquires the device value from the real-time transmission unit 304 of the PLC 1 without going through the playback control module 324. In S59, the CPU 21 (program display section 332) displays the user program included in the project data 71 and the device value on the display section 7. If the log playback mode is selected, the CPU 21 proceeds to S54.

In S54, the CPU 21 (device value acquisition unit 333a) starts the playback control module 324 and obtains the display time and the device value of the log data 73 from the playback control module 324.

In S55, the CPU 21 (program display section 332) displays the user program included in the project data 71, as well as the device value and display time on the display section 7.

In S56, the CPU 21 (display time control unit 331a) determines whether time designation is detected by the time UI 330a. As described above, time specification is performed by operating the time specification cursor 404. If the time designation is not detected, the CPU 21 returns to S54. If the time designation is detected, the CPU 21 proceeds to S57.

In S57, the CPU 21 (display time control unit 331a) notifies the playback control unit 343 of the playback control module 324 of the designated time input using the time designation cursor 404. The CPU 21 returns to S54.

●Waveform Display Module FIG. 41 shows the display processing executed by the waveform display module 322.

In S61, the CPU 21 (waveform display unit 336) determines whether the log playback mode or the real-time playback mode is selected based on the information input from the operation unit 8. If the real-time playback mode is selected, the CPU 21 proceeds to S66. In S66, the CPU 21 (device value acquisition unit 333b) acquires the device value from the real-time transmission unit 304 of the PLC 1 without going through the playback control module 324. In S67, the CPU 21 (waveform display section 336) displays the device value on the display section 7. If the log playback mode is selected, the CPU 21 proceeds to S62.

In S62, the CPU 21 (device value acquisition unit 333b) starts the playback control module 324 and acquires the device value and display time from the playback control module 324.

In S63, the CPU 21 (waveform display section 336) displays the device value and display time on the display section 7.

In S64, the CPU 21 (display time control unit 331b) determines whether time designation is detected by the time UI 330b. As described above, the time specification is performed using the bar 103. If the time designation is not detected, the CPU 21 returns to S62. If the time designation is detected, the CPU 21 proceeds to S65.

In S65, the CPU 21 (display time control unit 331b) notifies the playback control unit 343 of the playback control module 324 of the designated time input via the bar 103. The CPU 21 returns to S62.

●Reproduction Control Module FIG. 42 shows the reproduction control executed by the reproduction control module 324.

In S71, the CPU 21 (log data acquisition unit 344) acquires the log data 73 from the PLC 1 and stores it in the storage device 22.

In S72, the CPU 21 (playback control unit 343) initializes the time of the internal clock.

In S73, the CPU 21 (playback control unit 343) obtains the time of the internal clock and stores the time in the time device 342.

In S74, the CPU 21 (playback control unit 343) obtains the device value corresponding to the display time held in the time device 342 from the log data 73, and stores it in the log device 345. This allows the device value providing unit 341 to provide the program display module 321 and waveform display module 322 with device values and display times.

In S75, the CPU 21 (playback control unit 343) determines whether a time designation has been received from the display time control unit 331. If the time designation has been received, the CPU 21 proceeds to S76. If the time designation has not been received, the CPU 21 proceeds to S77.

In S76, the CPU 21 (playback control unit 343) changes the time of the internal clock according to the time designation from the display time control unit 331.

In S77, the CPU 21 (playback control section 343) determines whether an update speed change instruction has been received from the display time control section 331. If the change instruction has been received, the CPU 21 proceeds to S78. If no change instruction has been received, the CPU 21 proceeds to S73.

In S78, the CPU 21 (playback control section 343) changes the update speed of the internal clock according to the update speed specified by the display time control section 331. Thereafter, the CPU 21 proceeds to S73.

<Narrow down program parts>
The PC 2 extracts a device to be logged when setting a log, and extracts other devices related to a specific device when displaying a log. In order to explain this extraction process, the following example will be adopted.

FIG. 43 shows a plurality of modules making up the ladder program. In this example, the following PLC 1 is assumed. A workpiece is conveyed by a conveyor belt. When the workpiece detection sensor detects the workpiece, the height sensor measures the height of the workpiece, and the depth sensor measures the depth of the workpiece. If the height of the workpiece is not within the predetermined range, it is determined that the measurement is NG. Similarly, if the depth of the workpiece is not within the predetermined range, it is determined that the measurement is NG. FIG. 43 describes program modules for implementing these series of processes. Each module includes contact-related instructions (input-related instructions) and output-related instructions. A contact type command is a condition for executing an output type command.

In the workpiece detection module B1, the device MR000 is a relay device that turns on when a workpiece is detected. This is a relay device that turns ON when the device MR0002PLC1 is in automatic operation. Device MR001 is a relay device for instructing expansion unit 4 to start measurement. Device MR000 turns ON when a workpiece is detected during automatic operation.

In the measurement module B2, the contact system command describes that when MR001 is turned ON, the output system command is executed. In this example, the height measurement value acquired by the expansion unit 4 is stored in the device EM0, and it is described that this is to be copied to the device TM100. Similarly, it is described that the depth measurement value acquired by the expansion unit 4 is stored in the device EM2, and that this is to be copied to the device TM101. Furthermore, the device MR003 for managing measurement completion is set to ON.

The determination module B3 is a module that is executed when the device MR003 is turned on, that is, when the measurement is completed. Here, if the measurement result does not satisfy the pass condition, device MR010 is turned on. This means that the measurement is NG. More specifically, if the measured height value stored in device TM100 is less than 95, MR010 is turned ON. If the measured height value stored in device TM100 exceeds 105, MR010 is turned ON. If the measured depth value stored in the device TM101 is less than 35, MR010 is turned ON. If the measured depth value stored in device TM100 exceeds 45, MR010 is turned ON.

The error processing module B4 is a module for stopping the conveyance of the conveyor belt when some kind of error occurs. In this example, when MR010 turns ON (measurement NG), MR012 turns ON (forced stop), or MR013 turns ON (transportation NG), MR011 turns on (transportation stop).

As can be seen from FIG. 43, a device described in a contact type instruction of a certain module is described in an output type instruction of another module. Conversely, a device described in an output type instruction of a certain module is described in a contact type instruction of another module. For example, the device MR001 described in the output system command of the workpiece detection module B1 is described in the contact system command of the measurement module B2. Therefore, the workpiece detection module B1 and the measurement module B2 are extracted as mutually related modules. Next, focusing on the device MR003 described in the output system command of the measurement module B2, it can be seen that MR003 is described in the contact system command of the determination module B3. Therefore, the measurement module B2 and the determination module B3 are extracted as mutually related modules. Next, focusing on the device MR010 described in the output system instruction of the determination module B3, it can be seen that MR010 is described in the contact system instruction of the error processing module B4. Therefore, the determination module B3 and the error processing module B4 are extracted as mutually related modules. In this way, a plurality of modules involved in a certain specific process and a plurality of devices described inside the plurality of modules are extracted. These extraction processes are executed by the device extraction unit 53. The device extraction section 53 may be implemented in the log display section 61. In other words, the log display unit 61 extracts a plurality of mutually related modules, further extracts a plurality of devices described in the plurality of extracted modules, and displays each device value of the plurality of extracted devices. It may be acquired from the log data 73 and displayed on the display unit 7.

FIG. 44 shows a UI 500 that displays the extraction results. The log display section 61 and the device extraction section 53 may create a UI 500 that displays devices and blocks (program parts) extracted from the user program, and display it on the display section 7. The UI 500 can easily display the extraction results of devices and program parts. Therefore, it will be easier for the user to grasp the overall picture of the extraction results. When any block included in the UI 500 is clicked by the pointer 101, the log display unit 61 and the device extraction unit 53 may display details of the clicked block on the UI 501. This would allow users to quickly access details of extracted blocks. The log display section 61 and the device extraction section 53 may display the extraction results using the UI illustrated in FIG. 43.

<Block and device extraction processing>
FIG. 45 shows block and device extraction processing executed by the device extraction unit 53. Here, the project data 71 includes a plurality of blocks (program parts). Therefore, the device extraction unit 53 refers to the project data 71 and extracts blocks and devices.

In S81, the CPU 21 (device extraction section 53) accepts the selection of a block through the operation section 8. Note that the device extraction section 53 may accept a device specification through the operation section 8. In this case, the device extraction unit 53 may extract one or more blocks describing the specified device. When a plurality of blocks are extracted, the device extraction unit 53 may accept a user's selection of one block from the plurality of blocks. Such a device may be, for example, a device that a user focuses on during debugging. Through the log setting section 51, the user sets conditions (for example, a storage trigger) for outputting the log data 73 to the output section 84 of the PLC 1. More specifically, the condition is set such as that a specific relay device is turned on. Therefore, the device extraction unit 53 may specify a relay device set as a storage trigger.

In S82, the CPU 21 (device extraction unit 53) extracts the device described in the contact type command of the selected block.

In S83, the CPU 21 (device extraction unit 53) searches for the extracted device in other blocks described in the output system command.

In S84, the CPU 21 (device extracting unit 53) determines whether another block described in the output system instruction for the extracted device has been found. If no other block is found, the CPU 21 ends the extraction process. If another block is discovered, the CPU 21 proceeds to S85.

In S85, the CPU 21 (device extraction unit 53) extracts the discovered block as a related block. For example, the device extraction unit 53 registers identification information (eg, name, file name, etc.) of the discovered block in a list for managing related blocks.

In S86, the CPU 21 (device extraction unit 53) selects a related block as a block from which the device is extracted. Thereafter, the CPU 21 returns to S82 in order to perform extraction processing on the newly selected block. In S86, the related block selected is a block that has not yet been selected as a device extraction target. If the device extraction process has been completed for all blocks registered in the list, the device extraction unit 53 ends the extraction process. The CPU 21 (device extraction unit 53) may create a list showing the relationship between the extracted devices and the blocks from which the devices are extracted. The device extraction unit 53 or the log display unit 61 may refer to these lists and create the UI shown in FIG. 43 or the UIs 500 and 501 shown in FIG. 44.

<Specific example of debugging>
FIG. 46 shows the debugging process executed by the user.

In S91, the user sets NG determination as a storage condition for the log data 73 through the log setting unit 51. According to FIG. 43, the storage condition for the log data 73 is determined to be that the device MR010 that manages NG determination is turned on. The user transfers project data 71 and log setting data 72 to PLC1.

In S92, the user operates the PLC1. The PLC 1 executes the project data 71 and stores the log data 73 in the memory card 36 when the storage conditions in the log setting data 72 are satisfied. In the example shown in FIG. 43, when an NG determination occurs, the conveyor belt stops, so the user knows that some kind of error has occurred.

In S93, the user checks the workpiece and determines whether the NG determination is an erroneous detection. For example, the user actually measures the height and depth of the workpiece and determines whether the acceptance conditions are met. If the work does not satisfy the pass conditions, the user determines that the NG determination is a false positive.

In S94, the user removes the memory card 36 from the PLC 1, connects the memory card 36 to the PC 2, and reproduces the log data 73 stored in the memory card 36. The program display module 321 displays the device values included in the log data 73 in association with the user program. More specifically, the program display module 321 specifies the device MR010 adopted as the storage condition, causes the device extraction unit 53 to execute block and device extraction processing, and displays the UI shown in FIG. 43 and the UI shown in FIG. Displays the UIs 500 and 501 shown in FIG. Further, the waveform display module 322 converts the device value displayed by the program display module 321 into a waveform and displays the waveform. For example, the measured value of the height of the workpiece held in EM0 and the depth of the workpiece held in EM2 are converted into waveforms and displayed on the display section 7. Furthermore, the device value of the device MR000 that manages workpiece detection is also displayed in waveform form. The user observes these waveforms and determines that the chattering of the workpiece detection sensor is the cause of the false detection. The user operates the editing section 311 to take measures against chattering, and modifies the workpiece detection module B1 as shown in FIG. 47. According to this modification, when a workpiece is continuously detected by the workpiece detection sensor for one second or more, the device MR001 for starting measurement is turned on. The user transfers the updated project data 71 to the PLC 1, operates the PLC 1, and determines whether the chattering countermeasures were successful.

By displaying the user program and the waveform of the device value in synchronization in this manner, the user can efficiently identify the cause of false detection and debug the user program to eliminate the cause.

<Summary>
As shown in FIG. 17, the execution unit 80 is an example of a program execution unit that repeatedly executes a user program. The device section 34 is an example of a device storage section that includes a plurality of devices that are storage areas referenced by the program execution section. The recording unit 81 is an example of a device recording unit that records device values stored in any of a plurality of devices in chronological order. The PC 2 is an example of a program creation support device that is connected to a programmable logic controller and supports creation of a user program.

As shown in FIG. 6, the project creation unit 50 selects a plurality of program parts that constitute a user program based on user input via the display unit 7, and that includes a command word related to one of the plurality of devices. This is an example of a program creation section that creates a program. The component designation unit 52 is an example of a program component designation unit that designates a program component from which a specific device to be recorded by the device recording unit is extracted from among a plurality of program components. The device extraction section 53 is an example of a device extraction section that analyzes a program component specified by the program component specification section and extracts a device described in the program component. The recording section 81 of the basic unit 3 is configured to record in chronological order device values stored in a specific device extracted as a recording target by the device extraction section.

In this manner, the user specifies a program component, and a device is extracted from the specified program component. The user can also exclude specific program parts from being extracted from devices. Therefore, the burden of registration by the user of the device to be logged in the PLC is reduced.

Note that the extraction unit 53 may analyze the program component created by the program creation unit 63 and extract the device described in the program component. The component specifying section 52 selects a program component in which a specific device to be recorded by the recording section 81 is used or described, among the plurality of program components created by the program creation section 63, in program component units (program components). ) may be specified. In this case, the recording unit 81 records the device value stored in the specific device extracted by the extracting unit 53 and used or written in the program component specified by the component specifying unit 52. Record in series.

The extraction unit 53 may analyze the plurality of program parts created by the program creation unit 63 and extract devices used or described for each program part. The component specifying section 52 may specify at least one program component among the plurality of program components created by the program creating section 63. The recording unit 81 records in chronological order device values stored in devices used or written in the program component designated by the component designation unit 52 among the plurality of program components analyzed by the extraction unit 53. For example, a plurality of program parts may be analyzed in advance and a plurality of devices may be extracted. That is, a list indicating extracted devices may be created for each program component. Further, when the user specifies any program component, a list for the specified program component may be read out, and a device listed on the list may be selected as a recording target.

The component specifying section 52 may be configured to specify at least one program component among the plurality of program components created by the program creating section 63. The extracting unit 53 may analyze the program parts specified by the parts specifying unit 52 and extract devices used or described for each program part. The recording unit 81 records the device values stored in the specific device extracted by the extraction unit 53 in chronological order. In this way, device extraction may be performed after the program component is specified. This will make the extraction process easier.

The extraction unit 53 may analyze the plurality of program parts created by the program creation unit 63 and extract devices used or written for each program part. The component designation unit 52 may designate at least one program component to be recorded or excluded from among the plurality of program components created by the program creation unit 63. The recording unit 81 stores a device stored in a specific device used or described in a program component designated as a recording target by the component designation unit 52, among the devices extracted from a plurality of program components by the extraction unit 53. The configuration may be such that the values are recorded in chronological order and devices used in program parts other than the program parts designated as exclusion targets by the parts specifying unit 52 are recorded. For example, if module A uses device memories DM0 and DM1 and module B uses device memories DM1 and DM2, device memories DM0, DM1, and DM2 are extracted from modules A and B. Here, when module B is designated as an exclusion target, DM2 is excluded, but since DM1 is also used in module A, DM1 remains as a recording target. In this way, devices may be added or removed in units of program parts (that is, for each program part). Further, after devices are extracted from all program parts, program parts to be recorded or program parts to be excluded may be specified.

The component designation unit 52 may be configured to designate a program component from which a specific device is not extracted from among the plurality of program components as an exclusion target. The device extraction unit 53 analyzes the program parts specified as device extraction targets by the parts specification unit 52, extracts devices used or written in the program parts, and extracts devices from program parts specified as exclusion targets. It may be configured not to extract. In other words, the deletion unit 55 and the addition unit 54 delete some of the specific devices extracted by the device extraction unit for each program component, or delete devices that were not extracted by the device extraction unit. It may also function as a device addition/removal unit that adds each program component.

A program component may be, for example, a reusable program module. A plurality of program parts may be stored in separate files. Access authority (edit authority) may be set individually for each of the plurality of program components.

The user program may be, for example, a ladder program. In this case, the multiple program parts may be multiple function blocks used or written within the ladder program.

The detection unit 82 is an example of a detection unit that detects rewriting of a device value from an external device to any one of a plurality of devices. The recording unit 81 may add a device whose device value has been detected to be rewritten by the detection unit 82 as a recording target.

The PLC 1 may further include a removable memory card 36 and a specifying unit 57 that detects a command to the memory card 36 and identifies a device targeted by the command. In FIG. 6, the specifying unit 57 is provided in the PC 2, but it may also be installed in the CPU 31 of the basic unit 3. The recording unit 81 may add the device specified by the specifying unit 57 to the recording target.

The expansion unit 4 of the PLC 1 may be a motion unit (positioning unit) having a positioning function. The recording unit 81 or the device extracting unit 53 may add to the recording target a device that is used for a positioning function and is not described in the user program (eg, a buffer memory in a motion unit, etc.).

The estimation unit 59 is an example of an estimation unit that estimates the influence that the recording of device values by the recording unit 81 has on the execution of the user program based on the number of devices extracted as recording targets by the device extraction unit 53. The display unit 7 may be configured to display this influence. This allows the user to add or remove devices while taking into account the effect on scan time.

In FIG. 7, extraction of a device from a selected program component, extraction of a device from a selected function, and manual addition of a device by the user are described. However, not all of these are required. It would be sufficient if two or more of these were adopted. Alternatively, only the extraction of the device from the selected program component may be employed, or only the extraction of the device from the selected function may be employed.

The CPU 31 and the execution unit 80 are examples of a program execution engine that repeatedly executes a user program. The CPU 31, the execution unit 80, and the CPU 41 are examples of a plurality of function execution engines that each execute different functions (eg, function programs) related to the user program based on instructions from the user program. This suggests that the basic unit 3 may include the functionality of the expansion unit 4. The functional program is, for example, a motion control program. The program execution engine and the plurality of function execution engines may be executed by a single CPU, a plurality of CPUs, or may be realized by an ASIC or an FPGA. Further, a single CPU may be equipped with multiple cores, and each core may be in charge of a different function.

The device unit 34 is an example of a device storage unit that includes a plurality of devices that are storage areas referenced by a program execution engine and a plurality of function execution engines. The recording unit 81 is an example of a device recording unit that records device values stored in any of a plurality of devices in chronological order. The function setting unit 62 may function as an allocation unit that allocates a plurality of devices to be used by each of the plurality of function execution engines. The function specifying unit 60 may function as a specifying unit that specifies one or more functions among a plurality of functions corresponding to a plurality of function execution engines. The device extraction unit 53 may extract, from the plurality of devices allocated by the allocation unit, a device used for one or more functions specified by the specification unit as a recording target of the device recording unit.

The program execution engine may be provided in the main unit. At least one of the plurality of function execution engines may be provided in a function expansion unit electrically connected to the main unit in order to expand the functions of the main unit. All of the plurality of function execution engines may be provided in the main unit.

The basic unit 3 is an example of a main unit that includes a program execution section, a device storage section, and a device recording section. The expansion unit 4 is an example of a function expansion unit that is electrically connected to the main unit in order to expand the functions of the main unit.

The function setting section 62 functions as an allocation section that allocates devices used for the functions of the main unit and devices used for the functions of the function expansion unit based on user input via the display section 7. do. The function setting section 62 may display on the display section 7 a UI for allocating devices to functions.

The function specifying section 60 is an example of a specifying section that specifies one or more functions among a plurality of functions including functions provided in the main unit and functions provided in the function expansion unit. The adding unit 54 of the device extracting unit 53 extracts a device used for the function specified by the specifying unit as a recording target of the device recording unit. The deletion unit 55 of the device extraction unit 53 excludes the device used for the function specified by the specification unit from the recording targets of the device recording unit. The communication unit 23 functions as a transmitting unit that transmits to the PLC 1 setting data for causing the device recording unit to record device values stored in a specific device extracted as a recording target in chronological order. The recording unit 81 is configured to record device values stored in devices extracted as recording targets by the device extraction unit 53 in chronological order.

The project creation unit 50 functions as a program creation unit that creates a user program including command words related to any one of a plurality of devices based on user input via the display unit 7. The device extraction unit 53 may analyze the user program, extract devices used or described in the user program, and create a device list (extraction list) including the extracted devices. Further, the device extracting unit 53 may add a device used for the function specified as a recording target (extracting target) by the function specifying unit 60 to the device list. Further, the deletion unit 55 may be configured to delete from the device list a device used for a function designated as an exclusion target by the function designation unit 60. The device list is included in the log setting data 72. The recording unit 81 is configured to record device values stored in devices registered in the device list in chronological order.

The function specifying section 60 may further be configured to specify either the main unit or the function expansion unit. In other words, a function or a unit may be selected. When one unit has a plurality of functions, when the user selects one function, all functions included in that unit are selected as devices to be extracted. The device extraction unit 53 may extract a device used for a unit designated as a recording target (extraction target) by the function specifying unit 60 as a recording target of the device recording unit. Further, the device extraction unit 53 may be configured to exclude a device used for a unit designated as an exclusion target by the function designation unit 60 from the recording targets of the device recording unit. In this way, extraction targets and exclusion targets may be specified using the main unit and the function expansion unit as units.

As shown in FIG. 14, the function specifying unit 60 may be further configured to specify the device type of the device to be recorded or the device type of the device to be excluded. The device extracting unit 53 extracts a device of the device type specified as a recording target by the function specifying unit 60 as a recording target of the device recording unit. The device extraction unit 53 may be configured to exclude a device of a device type designated as an exclusion target by the designation unit from the recording targets of the device recording unit.

As described using FIG. 19, the collection unit 92a collects device values stored in any of a plurality of devices, associates information regarding the collection time of the device value with the device value, and first collects the device value. This is an example of a first collection unit that stores data in a buffer. Note that the device values to be collected may be set in advance using the log setting data 72. The ring buffer 91a is an example of a first buffer. The information regarding the collection time may be, for example, time information supplied from the time management section 83a. The IFs 99a and 99f are examples of first interfaces that communicate with the expansion unit 4. The communication unit 33 is an example of a first external interface that receives a user program and setting information from an external setting device.

IFs 99b, 99d, 99h, 99j, etc. are examples of second interfaces that communicate with the main unit. The image receiving section 96a and the connection port 97 are an example of a third interface (two-dimensional data receiving section) that is connected to a monitoring device that acquires two-dimensional data and receives the two-dimensional data from the monitoring device. The connection port 97 may function as a second external interface that is connected to a monitoring device and receives data from the monitoring device. Camera 98 is an example of monitoring equipment. The monitoring device may be a barcode reader. In this case, the barcode reading result is an example of two-dimensional data. The monitoring device may be an image processing device that generates a height image or a distance image of the workpiece. A height image and a distance image are examples of two-dimensional data. The two-dimensional data may be video data. Furthermore, large-capacity data whose size is larger than the device value is also an example of two-dimensional data. For example, numerical data obtained by a high-speed analog input unit is also an example of two-dimensional data. The function execution unit 96 may function as a function execution unit that executes a function that involves inputting data from the monitoring device via the second external interface based on the received setting information.

The collection unit 92b is a second collection unit that collects the two-dimensional data received via the third interface, associates the two-dimensional data with information regarding the acquisition time at which the two-dimensional data was acquired, and stores the two-dimensional data in a second buffer. This is an example. The time information provided by the time management unit 83 is an example of information regarding acquisition time. The ring buffer 91b is an example of a second buffer.

When a predetermined storage condition is met, the storage unit 93 stores information regarding the device value and collection time stored in the first buffer, and information regarding the two-dimensional data and acquisition time stored in the second buffer. This is an example of a storage section.

In this way, the device value and the two-dimensional data are each associated with information regarding the acquisition time. Therefore, it becomes easier to specify the temporal relationship between a relatively large amount of data such as two-dimensional data and a device value.

The monitoring device may be a camera 98 that acquires still or moving image data. The function execution unit 96 executes a function that involves inputting image data from the camera 98. The collecting unit 92b, which is a second collecting unit, associates information regarding the acquisition time at which the image data was acquired with the image data and stores them in a second buffer. The storage unit 93 may store the device value, the information regarding the collection time, the image data stored in the second buffer, and the information regarding the acquisition time in association with each other. The function execution unit 96 may execute a function that involves inputting data from a monitoring device asynchronously with the execution cycle of the user program. The storage unit 93 may also store project data including the user program and setting information. The storage unit 93 stores information related to device values and collection times, data stored in the second buffer, and information related to acquisition times in a plurality of files identified by common flags, and stores the plurality of files. You may save it.

The information regarding the collection time may be any information that allows the collection time to be specified for each of the plurality of device values collected in chronological order. A collection time may be associated with each of the plurality of device values. Alternatively, for example, only the first device value may be associated with a collection time. In the latter case, collection times for device values other than the first device value may be calculated based on other information (such as the number of scans and scan time). Since device values are recorded the same number as the number of scans, by storing the processing time (scan time) for each scan, the collection time of any device value can be specified. For example, when trying to identify the collection time of the device value recorded in the 100th scan, the collection time of the device value recorded in the 1st scan is 10:10:00, and the collection time of the device value recorded in the 100th scan is 10:10:00, and Assume that each scan takes all 100 microseconds. In this case, the time when 100 microseconds×99 has elapsed from 10:10:00 is calculated as the collection time of the device value recorded in the 100th scan. In this way, it is not essential to associate and record the collection time with every device value.

The information regarding the acquisition time may be information for specifying the acquisition time of each of the plurality of two-dimensional data acquired in time series. An acquisition time may be associated with each of the plurality of two-dimensional data. Alternatively, for example, only the first two-dimensional data may be associated with the acquisition time. In the latter case, the acquisition time of two-dimensional data other than the first two-dimensional data can be calculated based on other information (such as the number of times of imaging and the imaging cycle). Specifically, the acquisition time can be associated with only the first two-dimensional data among the plurality of two-dimensional data. The period of acquiring two-dimensional data (imaging period) is approximately constant. Therefore, the acquisition time of arbitrary two-dimensional data can be specified. For example, when trying to specify the acquisition time of the image data recorded in the 10th imaging, the acquisition time of the image data recorded in the 1st imaging is 10:10:00, and the acquisition time of the image data recorded in the 10th imaging is 10:10:00, and Assume that each imaging took 100 milliseconds. In this case, the acquisition time of the image data recorded in the 10th imaging is the time when 100 milliseconds x 9 have elapsed from 10:10:00. In this way, it is not essential to associate and record the acquisition time with all two-dimensional data.

The storage unit 93 may include a memory card 36 that is removable from the main unit. The storage unit 93 may store, in the memory card 36, information regarding the device value and collection time stored in the first buffer, and information regarding the two-dimensional data and acquisition time stored in the second buffer. This makes it easier to transport the log data 73 to the PC 2. As shown in FIG. 19, the first buffer may be provided in the main unit. As shown in FIG. 20, the second buffer may be provided in the expansion unit.

As shown in FIG. 24, the first interface may be arranged on a side surface of the main unit, which is opposite to a side surface of the expansion unit. The second interface may be provided on the side of the expansion unit so as to be connected to the first interface.

As shown in FIG. 25, the backplane 200 is an example of a support plate that supports the main unit and the expansion unit. In this case, at least one of the first buffer, the second buffer, and the storage section may be provided on the support plate.

The transmitting unit 94 is an example of a transmitting unit that transmits the device value stored in the storage device 32, information regarding collection time, two-dimensional data, and information regarding acquisition time to an external device. The external device may be a cloud or a PC2. The PC 2 may receive the log data 73 in real time and display the log data 73 on the display unit 7.

The first buffer or the second buffer may be configured to further store information that occurs at a cycle shorter than the execution cycle (eg, scan cycle) of the user program.

The storage unit 93 may be configured to read and store the two-dimensional data and information regarding the acquisition time from the second buffer during a period when end processing (END processing) regarding the user program is executed in the main unit. .

As explained regarding the time management units 83a and 83b, the clock of the main unit that measures the collection time and the clock of the expansion unit that measures the acquisition time are synchronized. This synchronization may be achieved, for example, by inter-unit synchronization.

As shown in FIG. 29, the storage unit 93 stores device values collected at predetermined collection times before and after a preset storage trigger, information regarding the collection time, two-dimensional data, and information regarding the acquisition time on the memory card 36. may be configured to be stored in

As shown in FIG. 30, the storage unit 93 stores device values collected at a predetermined collection time starting from the timing when a preset start relay is turned on, information regarding the collection time, two-dimensional data, and acquired data. The memory card 36 may be configured to store information regarding time.

As described in relation to FIG. 32, when a predetermined storage condition is met, the storage unit 93 saves the device value recorded in the device recording unit and the user program or user program stored in the program storage unit. It may also be stored in a memory (eg, memory card 36 or internal memory 37) in association with identification information. Further, when a predetermined output condition is satisfied, the output unit 84 outputs the device value recorded in the device recording unit and the user program stored in the program storage unit or the identification information of the user program to an external memory (e.g. : may be output to the memory card 36). As described above, it is important which project data 71 is used to obtain the log data 73. Therefore, the output unit 84 outputs the project data 71 used to obtain the log data 73 or its identification information. That is, by outputting the log data 73 and the project data 71 or their identification information, it becomes easier to specify the relationship between the log data 73 and the project data 71. This allows the user to efficiently debug the project data 71.

A user program is composed of a plurality of program parts. Additionally, project data manages multiple program parts. The storage device 32 functions as a program storage unit that stores a user program as part of the project data 71. The output unit 84 may be configured to output the project data 71 including the user program, and also output the identification information of the project data 71 as the identification information of the user program. This makes it easier to determine whether the project data 71 (master data) stored in the PC 2 and the project data 71 stored in the PLC 1 match.

The project data 71 may include setting information of the expansion unit 4. This is because the setting information of the expansion unit 4 may be required when debugging the project data 71. For example, when a plurality of expansion units 4 are connected to the basic unit 3, the connection order of the plurality of expansion units 4 is included in the setting information of the expansion unit 4. Information regarding this connection order may be required for debugging.

The determining unit 301 functions as a determining unit that determines whether output of the user program (project data 71) is prohibited. When the determination unit 301 determines that the output of the user program is prohibited, the output unit 84 outputs the device value recorded in the device recording unit and the identification information of the user program stored in the program storage unit. may be output to external memory. Thereby, the master data of the PC 2 can be used based on the identification information while protecting the user program.

As described in relation to the addition unit 312, the identification information of the user program is identification information that is updated when the user program is changed. Therefore, project data 71 of a different version from the project data 71 held in PLC 1 will not be used for debugging by mistake.

As described in relation to the calculation unit 313, the identification information of the user program may be an error detection code or a hash value calculated from the user program. In this way, an identification information calculation method may be adopted in which when the project data 71 is updated, the identification information is also updated. The identification information may be a timestamp or the like.

The storage device 22 of the PC 2 is an example of a program memory that stores a user program and identification information of the user program. The matching unit 334 is an example of a matching unit that matches the identification information of the user program output from the programmable logic controller and the identification information of the user program stored in the program memory, and displays the matching result on the display unit. The warning section 335 outputs a warning when the two do not match, but when the two match, a message or image indicating the match may be displayed on the display section 7.

As shown in FIG. 38, the display unit 7 may display the device value output from the programmable logic controller in association with a portion of the user program in which a command related to the device value is written. This makes it easier for the user to understand the relationship between changes in device values and user programs. This will improve debugging efficiency.

The storage device 22 and the memory card 36 are examples of storage means for storing a plurality of time-series device values collected in the programmable logic controller and time data indicating the collection time of each device value. The program display module 321 is an example of a first engineering software module that displays device values on a ladder diagram. The waveform display module 322 is an example of a second engineering software module that displays device values as time-series waveforms. The playback control module 324 is an example of a synchronization software module that synchronizes the display target time in the first engineering software module and the display target time in the second engineering software module. This will make it easier for the user to understand the relationship between changes in specific device values and programs.

The first engineering software module obtains device values from the programmable logic controller in real-time playback mode and displays the device values on a ladder diagram, and stores device values corresponding to the display target time based on time data in history playback mode. It may have a first display control means that acquires the information from the means and displays it on the ladder diagram. The program display section 332, display time control section 331, and device value acquisition section 333 function as first display control means. Log playback mode is an example of history playback mode.

The second engineering software module acquires device values from the programmable logic controller in real-time playback mode and displays time-series waveforms, and acquires device values corresponding to the display target time based on time data from the storage means in history playback mode. It may also include a second display control means for displaying the time-series waveforms. The waveform display section 336, display time control section 331, and device value acquisition section 333 are examples of second display control means.

The synchronization software module may include synchronization means for synchronizing the display target time in the first engineering software module and the display target time in the second engineering software module in the history playback mode. The playback control unit 343 is an example of synchronization means.

The first engineering software module may further include first updating means for updating the display target time in the history playback mode. The time designation cursor 404, the time UI 330, and the display time control unit 331 are examples of first updating means. The reproduction control unit 343, which is a synchronization unit, reflects the display target time updated by the first update unit on the display target time of the second engineering software module.

The second engineering software module may further include second updating means for updating the display target time in the history playback mode. The bar 103, the time UI 330, and the display time control section 331 are examples of second updating means. The playback control unit 343, which is a synchronization unit, reflects the display target time updated by the second update unit on the display target time of the first engineering software module.

As shown in FIG. 43, the first display control means searches the ladder diagram for an instruction word related to the device to be displayed in the second engineering software module among the plurality of devices referenced in the programmable logic controller. You may. For example, the device may be specified by specifying the device shown in FIG. 28 (eg, R000, DM100, etc.) using the pointer 101. As shown in FIG. 38, the first display control means may be configured to display the device value of the device in question along with the instruction word found in the ladder diagram. Further, the pointer 101 is an example of a specifying means for specifying an arbitrary device. The first display control means searches the ladder diagram for a command word related to the device specified by the designation means among the plurality of devices referenced in the programmable logic controller, and searches the ladder diagram for a command word related to the device specified by the designation means among the plurality of devices referenced in the programmable logic controller, and searches the ladder diagram for a command word related to the device specified by the designation means among the plurality of devices referenced in the programmable logic controller. Device values may also be displayed.

As shown in FIG. 43, the ladder program in the programmable logic controller may be composed of a plurality of program parts. The first display control means (for example, the log display section 61 and the device extraction section 53) searches for one or more blocks containing a device-related instruction word from among the plurality of program parts, and displays the found blocks in a ladder diagram. It may be configured to display as .

As shown in FIG. 43, when the first display control means finds a plurality of blocks including command words related to a device, it may display the ladder diagrams corresponding to the plurality of blocks side by side.

As shown in FIG. 43, in the ladder program, the command word related to the first device (example: MR001) in the first block (example: measurement module B2) is an input system command word. In this case, identify the second device (e.g. MR003) that is the target of the output system command written in correspondence with the input system command, and select the input system that targets the second device. The second block (eg, determination module B3) in which the instruction word of is written may be specified.

In the ladder program, when the instruction word related to the first device (example: MR010) in the first block (example: determination module B3) is an output system instruction word, the first display control means Specify the second device (e.g. MR001) that is the target of the input system command written corresponding to the command, and write the output system command that targets the second device. A second block (eg, measurement module B2) may be specified.

The synchronization means may include a setting means for setting an update rate of the display target time. The speed designation section 405 is an example of a setting means. As a result, slow playback, fast forward playback, etc. may be realized.

The first display control means and the second display control means may be configured to further display device values set based on user input input from a human interface (HMI) that displays information regarding the programmable logic controller. good. The HMI may be realized by an emulator. UI 490 displays multiple device values as described in connection with FIG. When any device value is clicked by the pointer 101, the log display section 61 adds the clicked device value as a display target on the program display section 332 or as a display target on the waveform display section 336. Good too. This makes it possible to display the waveforms of the HMI, user program, and device values in a coordinated and synchronized manner.

The storage means may further store a plurality of time-series image data acquired by the camera unit and time data indicating the acquisition time of each image data. As shown in FIG. 28, the second engineering software module may obtain device values from the programmable logic controller to display time series waveforms and display image data obtained from the camera unit in real-time playback mode. Similarly, the second engineering software module may obtain and display the device value and image data corresponding to the display target time from the storage means in the history playback mode. Image data contains more information than numbers. Therefore, by displaying the image data, the user will be able to find problems early.

Further, the first engineering software module may acquire device values from the programmable logic controller in real-time playback mode, display the device values on the ladder diagram, and display image data acquired from the camera unit. The first engineering software module may acquire the device value and image data corresponding to the display target time from the storage means in the history playback mode and display them on the ladder diagram.

Each of the plurality of expansion units 4 operates according to a different internal control cycle. Therefore, the acquisition times of device values and the acquisition times of image data acquired from the plurality of expansion units 4 often do not match. Therefore, as explained in relation to FIGS. 26 to 28, the first display control means and the second display control means control the device value associated with the time data closest to the display target time in the history playback mode. may be configured to read out.

Claims (15)

Storage means for storing a plurality of time-series device values collected in the programmable logic controller and time data indicating the collection time of each device value;
a first engineering software module that displays the device values on a ladder diagram;
a second engineering software module that displays the device values as a time series waveform;
a synchronization software module that synchronizes the display target time in the first engineering software module and the display target time in the second engineering software module;
The first engineering software module includes:
In a real-time playback mode, a device value is obtained from the programmable logic controller and the device value is displayed on a ladder diagram, and in a history playback mode, a device value corresponding to a display target time is obtained from the storage means based on the time data. a first display control means for displaying on the ladder diagram;
The second engineering software module includes:
In the real-time playback mode, a device value is obtained from the programmable logic controller to display a time series waveform, and in the history playback mode, a device value corresponding to the display target time is obtained from the storage means based on the time data. comprising a second display control means for displaying a time series waveform;
The synchronization software module transfers the display target time between the first engineering software module and the second engineering software module in the history playback mode, thereby adjusting the display target time in the first engineering software module and the display target time. Engineering for a programmable logic controller , comprising synchronization means for synchronizing display target time in a second engineering software module, and activated by both the first display control means and the second display control means. tool. The first engineering software module has a first updating means for updating the display target time in response to a user operation in the history playback mode,
The second engineering software module has a second updating means for updating the display target time in response to a user operation in the history playback mode,
When the display target time is updated by the first updating means, the synchronizing means receives the display target time and notifies the second engineering software module, and the display target time is updated by the second updating means. 2. The engineering tool for a programmable logic controller according to claim 1, further comprising the step of receiving the display target time and notifying the first engineering software module when the display target time is displayed. The first updating means has a first time designation cursor that slides in the time axis direction to indicate the display target time, and updates the display target time in response to a movement operation on the first time designation cursor,
The second updating means has a second time designation cursor that slides in the time axis direction to indicate the display target time, and updates the display target time in response to a movement operation on the second time designation cursor,
3. The engineering tool for a programmable logic controller according to claim 2, wherein the first time designation cursor and the second time designation cursor are linked by the synchronization means synchronizing the display target time. further having a specification means for specifying an arbitrary device,
The first display control means searches the ladder diagram for an instruction word related to the device designated by the designation means among the plurality of devices referenced in the programmable logic controller, and searches the ladder diagram for an instruction word related to the device specified by the designation means among the plurality of devices referenced in the programmable logic controller. The engineering tool for a programmable logic controller according to claim 1, wherein the engineering tool is configured to display a device value of the device along with the word. In the programmable logic controller, the ladder program is composed of a plurality of program parts, and the first display control means searches for one or more blocks containing instruction words related to the device from among the plurality of program parts. The engineering tool for a programmable logic controller according to claim 4, wherein the engineering tool is configured to display the found blocks as the ladder diagram. 3. The first display control means is configured to display ladder diagrams corresponding to the plurality of blocks side by side when a plurality of blocks containing command words related to the device are found. 5. An engineering tool for the programmable logic controller described in 5. In the ladder program, when the command related to the first device in the first block is an input system command, the first display control means is written in correspondence with the input system command. Claim 6, characterized in that the second device targeted by the output system command is specified, and the second block in which the input system command directed to the second device is written is specified. Engineering tools for the programmable logic controllers described. In the ladder program, when the instruction word related to the first device in the first block is an output-related instruction word, the first display control means is written in correspondence with the output-related instruction word. Claim 6, characterized in that the second device targeted by the input system command is specified, and the second block in which the output system command targeted at the second device is written is specified. Engineering tools for the programmable logic controllers described. 9. The engineering tool for a programmable logic controller according to claim 1, wherein the synchronization means includes a setting means for setting an update rate of the display target time. The first display control means and the second display control means are configured to further display device values set based on user input input from a human interface that displays information regarding the programmable logic controller. An engineering tool for a programmable logic controller according to any one of claims 1 to 9. 11. The engineering tool for a programmable logic controller according to claim 10, wherein the human interface is realized by an emulator. The storage means further stores a plurality of time-series image data acquired by the camera unit and time data indicating the acquisition time of each image data,
The second engineering software module acquires device values from the programmable logic controller in the real-time playback mode and displays time-series waveforms, and displays image data acquired from the camera unit, and in the history playback mode, the second engineering software module 12. The programmable logic controller according to claim 1, wherein the device value corresponding to the display target time and the image data are acquired from storage means and displayed. engineering tools. The storage means further stores a plurality of time-series image data acquired by the camera unit and time data indicating the acquisition time of each image data,
The first engineering software module obtains a device value from the programmable logic controller in the real-time playback mode, displays the device value on a ladder diagram, and displays image data obtained from the camera unit, and displays the image data obtained from the camera unit, and displays the image data obtained from the camera unit. Any one of claims 1 to 12, wherein the image data and the device value corresponding to the display target time are acquired from the storage means in the playback mode and displayed on a ladder diagram. Engineering tools for programmable logic controllers described in section. The first display control means and the second display control means are configured to read a device value associated with time data closest to the display target time in the history playback mode. An engineering tool for a programmable logic controller according to any one of claims 1 to 11. The first display control means and the second display control means determine whether the real-time playback mode or the history playback mode is selected based on the user's input operation, and when the history playback mode is selected, the Engineering tool for a programmable logic controller according to any one of claims 1 to 14, characterized in that it activates a synchronous software module.