JPH02187803A - Programmable controller - Google Patents

Abstract

PURPOSE:To store a program and a parameter in a controller unit by executing the control of external equipment by an intelligent I/O unit based on a proper program and a proper user program. CONSTITUTION:A memory 11 for intelligent I/O is specified by applying a power source on a programmable controller unit 1, and an ID number as the intelligent I/O unit 2 is stored in a system memory 8, and the setting of the memory 11 as a RAM area for the unit 2 is processed based on the above information. Next, only the parameter stored in the memory 11 is transferred to a parameter memory 22 in the unit 2. When the parameter is transferred, the unit 2 performs the arithmetic operation of a constant proper to its own unit, and the unit 2 sets the executable state of the user program by the above arithmetic operation. Then, the fact that the unit 2 is set in the executable state is set in a data memory 10 of the unit 1 by using one bit of an internal relay occupied by the unit 2.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a programmable controller equipped with an intelligent I/O unit with a built-in CPU.

[Conventional technology]

The programmable controller, as shown in Figure 3,
It is constructed by mounting I/O units 44 and 45 together with a power supply unit 42 and a control unit 43 on a basic base 41.

Further, the control unit 43 and the /O units 44 and 45 are connected to each other via an I/O bus 46 within the basic base 41. Note that the type and number of I/O units mounted on the basic base 41 can be arbitrarily determined depending on the configuration of the controlled object.

The I/O unit 44 illustrated in FIG.
unit, which connects external equipment (not shown) to the I/O bus 46.
This is an interface for connecting to.

This allows the control unit 43 to control external equipment according to the user program.

The other I/O unit 45 is an intelligent T/O unit. This intelligent T/
The O unit 45 has a built-in CPU and can control connected external equipment according to its own user program.

Here, the configuration when, for example, an actuator 47 is connected to the conventional intelligent T/O unit 45 will be explained as follows.
As shown in the figure.

The control unit 43 has a built-in CPU 49. This CPU 49 is connected to a RAM 51 via an internal bus 50.

The RAM 51 contains system data used by the entire programmable controller as well as the normal I/O unit 4.
A user program for controlling the entire programmable controller and external equipment connected to the controller 4 is stored.

The intelligent T/O unit 45 includes a CPU 52.
is built-in. This CPU 52 is connected to a RAM 54 via an internal bus 53. RAM54
Stored therein are parameters unique to the intelligent T/O unit 45 and a unique user program for controlling the actuator 47. Also,
This RAM 54 is backed up by a battery 55.

The internal bus 50 of the control unit 43 and the internal bus 53 of the intelligent T/O unit 45 are connected to the I/O bus 46 via an interface (not shown), respectively.
connected by.

Further, the actuator 47 is also connected to the internal bus 53 of the intelligent T/O unit 45 via an interface (not shown).

Therefore, the programmable controller equipped with the conventional intelligent T/O unit 45 has the control unit 43. 'l (user information stored in RAM 51)
The intelligent T/O unit 45 performs specific control of the actuator 47 according to the user program stored in the RAM 54, while controlling the general I/O unit 44 and the entire system including this according to the program. It had become.

[Problem to be solved by the invention] However, as mentioned above, intelligent I/O uni-
Parameters and user programs specific to the component 45 are stored in the RAM 54 in this intelligent T/O unit 45.
If the programs and the like are stored in multiple units, the programs and the like that must be managed by the user will be distributed over multiple units.

For this reason, conventionally, the user controls the control unit 43
In addition to the programs stored in the internal RAM 51,
It is also necessary to record and archive programs stored in the RAM 54 of the intelligent T/O unit 45, creating a problem that maintenance becomes complicated. That is, for example, in the case of a programmer full controller equipped with two intelligent T/O units, it is necessary to manage each program, etc. of three units including the control unit.

Furthermore, when replacing the intelligent T/O unit 45 due to a failure, it is necessary to reload the stored programs etc. to the newly installed intelligent T/O unit 45, which takes extra time for recovery. There was also a problem.

[Means to solve the problem]

In order to solve the above-mentioned problems, the programmable controller according to the present invention is a programmable controller equipped with a control unit with a built-in CPU and an intelligent T/O unit with a built-in CPU. storage means for storing all of the parameters and a part of the user program are provided in the intelligent T/O unit; storage means in the control unit; A parameter transfer means that transfers parameters from the storage means in the intelligent I/O unit to the storage means in the intelligent I/O unit, and also transfers the user program part by part from the storage means in the control unit to the storage means in the intelligent I/O unit. It is characterized by being provided with user program transfer means.

[For production]

The intelligent I/O unit performs control of external equipment with specific parameters and specific user programs. These parameters and user programs are stored in storage means within the control unit. Therefore, in addition to its own user program, the storage means in the control unit stores unique parameters and user programs corresponding to the number of installed intelligent I/O units.

The parameter transfer means transfers the parameters from the storage means in the control unit to the storage means in the intelligent I/O unit each time the programmable controller is powered on, for example. Then, the CPU of the intelligent I/O unit calculates a unique constant based on this parameter, thereby enabling execution of the user program.

The user program transfer means transfers a part of the user program from the storage means in the control unit to the storage means in the intelligent I/O unit, for example, after transferring the parameters. In this transfer of the user program, first, an amount within the capacity of the storage means in the intelligent I/O unit is transferred from the beginning of the execution order. Then, the CPU in the intelligent ■/O unit will execute this user program from the beginning.

When the user program is executed on the intelligent I/O unit, the user program transfer means again
An appropriate amount of this user program is transferred from the beginning of the untransferred portion. This transfer does not necessarily need to be performed after the intelligent I/O unit has executed all of the user programs in its storage means; it is also possible to transfer only to this executed area once a portion of it has been executed. It is. And the user program transfer means is
This operation is repeated until all user programs are transferred. Note that the storage part of the user program in the storage means in the Intelligent+-r/O unit is
TFO[first 1n-firststout]
This operation can be easily controlled by configuring it with a RAM of.

As a result, the user only needs to modify and change the user program in the storage means within the control unit and record and store the changes. Furthermore, even if the intelligent I/O unit is replaced due to a failure or the like, there is no need to reload stored programs and the like into the newly installed intelligent I/O unit.

In addition, in the present invention, the same contents as the storage means in the control unit are stored redundantly in the storage means in the intelligent I/O unit, and the entire programmable controller requires less storage means than in the past. Capacity increases.

However, even if all the parameters specific to the intelligent I/O unit are stored, only a small amount of storage capacity is required.
Even if a user program requires a large capacity, only a part of it needs to be stored in the storage means in the intelligent I/O unit, so that the increase in the capacity of the storage means is small.

〔Example〕

An embodiment of the present invention will be described below based on FIGS. 1 and 2.

Control unit 1 and intelligent I/O unit 2 in the programmable controller of this embodiment
The configuration is shown in Figure 1. The basic base of this programmable controller includes, in addition to the control unit 1 and Intelligen 1-I/O unit 2, a third
As illustrated in the figure, a power supply unit and one or more normal I/O units are installed as necessary, and one or more other intelligent I/O units may also be installed. Further, the control unit 1, intelligent I/O unit 2, etc. are connected via an I/O bus 3 within the basic base.

The control unit 1 includes a CPU 4. This CPU 4 is connected to an internal bus 6 along with a ROM 5 and RAM.

The ROM 5 stores fixed constants and the like of the programmable controller. As the RAM, a working memory 7, a system memory 8, a user memory 9, a data memory/O, and an intelligent I/O memory 11 are prepared. The working memory 7 is a RAM area used as a work area for the CPU 4. The system memory 8 is a RAM area that stores system setting values and the like of the programmable controller. User memory 9
is a RAM area in which the user program of the control unit 1 is stored. Data memory /O is an area of RAM that stores data used in user programs of this control unit 1.

The intelligent I/O memory 11 is a RAM area that stores parameters and user programs specific to the intelligent I/O unit 2.

The internal bus 6 has a 1/O bus interface 12.
and R3422 interfaces 13 and 14 are connected. The I/O bus interface 12 is an interface with the I/O bus 3. One R3422 interface 13 is an interface with the serial communication line 15. The other R3422 interface 14 is an interface with an external device connected to an option boat 16 provided in the control unit 1. Peripheral tools such as a floppy disk drive device 17 and a programmer 18 are connected to this option boat 16. Note that FIG. 1 shows a state in which the floppy disk drive device 17 is connected.

A CPU 19 is connected to the intelligent I/O unit 2. This CPU 9 has ROM20 and R
It is connected to the internal bus 21 together with AM. The ROM 20 stores fixed constants and the like specific to the intelligent I/O unit 2.

A parameter memory 22 and a program memory 23 are prepared as RAM. The parameter memory 22 is
This is an area of RAM for storing parameters specific to the intelligent I/O unit 2. The program memory 23 is for storing user programs specific to this intelligent I/O unit 2,
It is composed of FIFO RAM. However, since this program memory 23 only needs to be able to store a part of the user program, the control unit 1
The capacity is sufficiently smaller than that of the intelligent I/O memory 11.

The internal bus 21 includes an I/O bus interface 2
4 and R3422 interfaces 25 and 26 are connected. The I/O bus interface 24 is an interface with the I/O bus 3, whereby the internal bus 6 of the control unit 1 and the internal bus 21 of the intelligent I/O unit 2 are connected in parallel. Become. Note that data transfer on the I/O bus 3 is performed using DMA [diret mel'l1ory
access].

One R3422 interface 25 is an interface with the serial communication line 15, and thereby the internal bus 6 and the internal bus 21 are connected by serial communication. In addition, the other R3422 interface 26 is connected to the intelligent I/O unit 2.
This is an interface with external equipment connected to the option boat 27 provided in the. This option boat 2
Similarly to the option board 16 of the control unit 1, the floppy disk drive device 17 is also installed in the control unit 7.
Peripheral wool such as the programmer 18 and the like will be connected. Note that FIG. 1 shows a state in which the programmer 18 is connected. Furthermore, in the positioning unit shown in this embodiment, this programmer 18 is called a teaching unit.

Further, an external device interface 28 is connected to the internal bus 21 . External device interface 2
8 is composed of a deviation counter 28a and a D/A converter 28b. The output of this D/A converter 28b is connected to a servo motor 31 from an external device port 29 of the intelligent I/O unit 2 via a servo amplifier 30, and a low reencoder 32 that is interlocked with the servo motor 31. The output is inputted to the deviation counter 28a through the external device port 33 of the intelligent ■/O unit 2. Therefore, the intelligent I/O unit 2 uses this servo motor 31
By servo-controlling the positioning unit, a positioning unit is constructed as described above.

The operation of the programmable controller configured as described above will be explained based on the flowchart shown in FIG.

When the programmable controller of this embodiment is powered on, first, in step (hereinafter referred to as "S") 1, the intelligent I/O memory 11 is identified. This process stores the ID number as the intelligent I/O unit 2 in the system memory 8, and based on this information, the intelligent I/O memory 11 is allocated to the RAM 9M for the intelligent I/O unit 2.
This is done by setting it as a region. Note that if other intelligent I/O units are installed, then other RAM areas (not shown) are set for the number of intelligent I/O units.

Next, only the parameters stored in the intelligent I/O memory 11 are transferred to the intelligent I/O unit 2.
(S2). This transfer is performed by serial communication via the R3422 interface 13, serial communication line 15, and R3422 interface 25.

Once the parameters are transferred, the intelligent I/O unit 2 calculates its own constants based on the parameters (S3). Further, by calculating this constant, the intelligent I/O unit 2 becomes ready to execute the user program. Therefore, one bit of the internal relay occupied by the intelligent I/O unit 2 is used to set in the data memory/O of the control unit 1 that the intelligent I/O unit 2 has become executable (S4 ).

When the initial processing is completed as described above, the control unit 1 starts executing the user program stored in the user memory 9. This user program is programmed by the user with a process for extracting the user program stored in the intelligent I/O memory 11. Therefore, by the control unit 1 executing its own user program, User information stored in intelligent I/O memory 11
Program extraction is started (S5).

Then, this user program is stored in program memory 2.
Intelligent I/O unit 2
starts executing this user program (36), and repeats the processes of steps 35 and 86.

The user program extraction and execution process specific to the intelligent I/O unit 2 will be described in more detail.

An address is set in the user program stored in the intelligent I/O memory 11. First, the start address and end address of this user program are transferred to the intelligent I/O unit 2. Furthermore, when the setting of the start address and end address is completed by this transfer, a control code for starting execution is transferred. These transfers are performed via the I/O bus interface 12, I/O bus 3, and I/O bus interface 24.

When the execution start control code is transferred, the user program stored in the intelligent I/O memory 11 of the control unit 1 is sequentially transferred to the program memory 23 based on the set start address. This transfer is then repeated until the program memory 23 is full.

When the user program is transferred to the program memory 23, the CPU 19 of the intelligent I/O unit 2
starts execution of this user program. Furthermore, when a free area (area where the executed user program is stored) is created in the program memory 23 by executing this user program, the intelligent I/
The user program stored in the O memory 11 is sequentially transferred to the program memory 23 from the beginning of the untransferred part until the free area is full.

In this way, once all of the previously transferred user programs have been executed, execution continues from the beginning of the next transferred user program. By repeating this user program transfer and execution, the intelligent I/O unit 2 performs servo control of the servo motor 31. In addition, program memory 2
3 is constituted by the FIFO RAM as described above, so the user programs are easily taken out and executed in the order of transfer.

To program a user program for the intelligent I/O unit 2, the programmer 18 is connected to the option port 27, as shown in FIG. However, the user program input from this programmer 18 is transferred to the control unit 1 via the serial communication line 15 and stored in the intelligent ■/O memory 11 as described above. Note that the contents of the user program stored in this intelligent I/O memory 11 can be monitored by the programmer 18 connected to the option port 27 of this intelligent I/O unit 2 via the serial communication line 15. can. In addition, the above programs and monitors are
This can also be done by connecting the programmer 18 to the option port 16 of the control unit 1.

The user program stored in the intelligent I/O memory 11 is written to the floppy disk 3 by connecting the floppy disk drive device 17 to the option port 16 of the control unit 1 as shown in FIG.
Records can be kept in 4. Also, since the connection distance between the control unit 1 and the intelligent I/O unit 2 may be long, it is also possible to connect the floppy disk drive w17 to the option port 27 of the intelligent I/O unit 2 for record storage. It has become.

As explained above, in the programmable controller of this embodiment, the parameters and user programs specific to the intelligent I/O unit 2 are stored together in the control unit 1 together with other user programs, etc. management of user programs becomes easier.

In addition, due to a failure etc., intelligent I/O unit 2
Even when the floppy disk 34 is replaced, there is no need to code the user program stored on the floppy disk 34 to the newly installed intelligent I/O unit 2. Furthermore, as the program memory 23 in the intelligent I/O unit 2, a FIFO RAM with a relatively small capacity is used, and an address decoder or the like is not required.

In addition, in the intelligent I/O unit 2, the power
Parameter memory 22 and program memory 23 during FF
Since there is no need to retain the stored contents, a backup battery is also no longer required.

〔Effect of the invention〕

As described above, the programmable controller according to the present invention includes a CPU built-in controller unit and a CPU built-in CPU.
In a programmable controller equipped with a built-in intelligent I/O unit, the control unit is provided with a storage means for storing parameters specific to the intelligent I/O unit and a user program, and the intelligent I/O unit stores these parameters. storage means for storing all of the control unit and a part of the user program, and a parameter transfer means for transferring parameters from the storage means in the control unit to the storage means in the intelligent I/O unit; The configuration includes user program transfer means for sequentially transferring the user program part by part from the storage means in the unit to the storage means in the intelligent I/O unit.

As a result, all user memories are managed by the control unit, making it possible to eliminate the need for an address decoder or the like in the storage means within the intelligent I/O unit. Furthermore, in the Intelligent I/O unit, there is no need to hold the contents stored in the storage means when the power is turned off, so a battery for backup is also not required. Furthermore, the user only needs to modify and change the user program stored in the storage means in the control unit and record and archive it. Furthermore, even if the Intelligent I/O unit is replaced due to a failure or the like, there is no need to reload the programs stored in the newly installed Intelligien I/O unit.

Therefore, according to the present invention, the user only has to perform maintenance and management of programs and the like on the storage means in the control unit, so that the programmable controller can be easily handled.

Further, when replacing the intelligent I/O unit due to a failure or the like, there is no need to load a stored program, etc., so there is an effect that downtime can be reduced. Moreover, at this time, it is also possible to prevent secondary disasters from occurring due to incorrectly loaded programs.

Furthermore, since the configuration of the intelligent I/O unit is simplified and the storage means can be of small capacity, each intelligent I/O unit can be made inexpensive. For this reason, the Intelligent 1 to be used
This also has the effect of reducing the burden on the user when replacing 11 units.

[Brief explanation of the drawing]

1 and 2 show one embodiment of the present invention, in which FIG. 1 is a block diagram of a control unit and an intelligent I/O unit, and FIG. 2 is a flowchart of a ladder program of the control unit. . FIG. 3 is a front view of the programmable controller. FIG. 4 shows a conventional example, and is a block diagram of a control unit and an intelligent l/o unit. 1 is the control unit, 2 is the intelligent I/
O unit, 4 is CPU, 11 is intelligent I/
O memory (storage means in the control unit),
22 is a parameter memory (storage means within the intelligent I/O unit), 23 is a program memory (storage means within the intelligent I/O unit), and 19 is a CPU.

Claims (1)

[Claims] 1. Along with the CPU built-in control unit, the CPU
In a programmable controller equipped with a built-in intelligent I/O unit, the control unit is provided with a storage means for storing parameters specific to the intelligent I/O unit and a user program, and the intelligent I/O unit stores the parameters. A storage means for storing the entire program and a part of the user program is provided, and a parameter transfer means for transferring parameters from the storage means in the control unit to the storage means in the intelligent I/O unit, and a parameter transfer means also in the control unit. A programmable controller comprising user program transfer means for sequentially transferring a user program part by part from the storage means to the storage means in the intelligent I/O unit.