JPH04358204A - Programmable controller - Google Patents

Abstract

PURPOSE:To select only the required control information of a positioning control part by a user and to store the information in a shared memory. CONSTITUTION:Parameter information, which is set in a shared memory 17, showing correspondence between a device and the control information of a positioning control part 21 is stored in the shared memory 17, and the parameter information is transferred to a data memory 24 of the positioning control part 21. According to the parameter information, the control information stored in the data memory 24 is allocated to the device, and shared information is generated. The generated shared information is transferred to the shared memory 17. Thus, the user can select only the required control information from the positioning control part and can store it in the shared memory. Further, the user can set the allocation of the control information to the respective devices.

Description

[Detailed description of the invention]

0001

[Field of Industrial Application] This invention relates to a programmable controller, and more specifically, the present invention relates to a programmable controller, and more specifically, a sequence control unit that performs sequence control according to a sequence program, and a positioning control unit that performs positioning control while exchanging information with the sequence control unit via a shared memory. The present invention relates to a programmable controller including a special function control section that controls special functions such as communication control.

0002

2. Description of the Related Art FIG. 13 is a block diagram showing the configuration of a conventional programmable controller (hereinafter abbreviated as PC) equipped with a positioning unit and a communication unit as a special function control section, and FIG. FIG. 15 is a conceptual diagram showing an example of the allocation status of control information in the shared memory for the communication unit of the PC.

[0003] In FIG. 13, the conventional PC (50) is
A sequence control unit (51) and a positioning unit (61)
) and a communication unit (71). The sequence control unit (51) includes a microprocessor (
52), control memory (53), data memory (54)
, a peripheral device interface (55), an input/output interface (56), a shared memory (57) for exchanging information with the positioning unit (61), and a communication unit (71). A shared memory (58) is provided for this purpose. Sequence control section (51)
A peripheral device (81) is connected to the peripheral device interface (55), and an input/output interface (55) is connected to the peripheral device (81) via a peripheral device interface (55).
An input/output unit (82) is connected via the input/output unit (82).

[0004] In the shared memory (57) (58), information obtained by the positioning unit (61) and the communication unit (71) is stored in the shared memory (57) (58), allocated to each preset device. Ru. These devices can be directly accessed by specifying them in the sequence program, and the information allocated to the devices can be read.

The positioning unit (61) positions a controlled object by controlling a large number of axes, and has control information such as a current value and a deviation counter value for each axis. The control information is stored in the data memory (not shown) of the positioning unit (61), and the shared memory (5
7). All such control information is stored in the shared memory (57) by being allocated to a set device. For example, as shown in FIG. 14, "first axis current value" is assigned to device D0, and "first axis current value" is assigned to device D1.
1st axis deviation counter value” is assigned to device D2.
All control information is assigned to each device and stored, such as "first axis error information" is assigned to each device. Therefore, for example, when the user specifies device D0 in the sequence program, the "current value of the first axis" assigned to device D0 will be read.

Similarly, in the communication unit (71),
Information on all connected stations is stored in shared memory (58)
are allocated and stored in each device. For example, the communication unit (71) has NO. 1st station and NO. If two stations are connected, for example, as shown in FIG. All information sent from one station is assigned to devices W0 to W50, and No. All information sent from the two stations is W.
It is allocated and stored in devices after 51. Therefore, if the user uses the sequence program to select devices W0 to W
If you specify 50, NO. Information from one station can be read.

[0007]

[Problem to be solved by the invention] The above conventional PC (50
), all control information of the positioning unit (61) and communication unit (71) is stored in the shared memory (57) (5
8), there is a problem in that it is necessary to secure a large area in the shared memory (57) (58). For example, if the positioning unit (61) controls n axes of a controlled object with m pieces of control information per axis, m×n devices are required in the shared memory (57). Furthermore, in the conventional PC (50) mentioned above, information is normally allocated and stored in each device according to a predetermined order, so information required by the user may be stored in a distributed manner, resulting in sequence program There are problems that make it complicated.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to enable a user to select information required from among information of a special function control unit such as a positioning unit or a communication unit and to store the information in a shared memory. An object of the present invention is to provide a PC that allows a user to set the allocation of information to each device. Another object of the present invention is to provide a PC in which the allocation of information of a special function control section to each device can be easily changed.

[0009]

[Means for Solving the Problems] A PC according to the first invention includes a sequence control unit that performs sequence control according to a sequence program, and a PC that performs sequence control according to a special function program while exchanging information with the sequence control unit via a shared memory. In a PC equipped with a special function control unit that performs special function control, parameter information storage means for storing parameter information in the shared memory indicating a correspondence between a device set in the shared memory and information of the special function control unit;
parameter information transfer means for transferring parameter information stored in a shared memory to a data memory of a special function control section; and a parameter information transfer means for transferring parameter information stored in a shared memory to a data memory of a special function control section; and a parameter information transfer means for allocating and sharing information of the special function control section stored in the data memory to the device according to the parameter information. The present invention is characterized by comprising a shared information generating means for generating information, and a shared information transferring means for transferring the generated shared information to a shared memory.

The PC of the second invention includes a sequence control unit that performs sequence control according to a sequence program, and a special PC that performs special function control according to a special function program while exchanging information with the sequence control unit via a shared memory. a PC equipped with a function control unit, a parameter information storage means for storing in the shared memory a plurality of parameter information indicating a correspondence between a device set in the shared memory and information of the special function control unit; parameter information transfer means for transferring a plurality of pieces of parameter information stored in the data memory to the data memory of the special function control unit; A shared information generating means that generates shared information by allocating information of the special function control unit to the device according to specified parameter information, and a shared information transferring means that transfers the generated shared information to a shared memory. It is characterized by

[0011]

[Operation] In the PC of the first invention, when the user selects the information of the special function section required by the parameter information and specifies to allocate it to a device in the shared memory, the information of the selected special function section is transferred to each device. The allocated shared information is generated. If the shared information is transferred to the shared memory, only the information on the special function section required by the user can be stored in the shared memory. Further, the allocation can be performed in a manner desired by the user by appropriately changing the parameter information.

[0012] In the PC of the second invention, when desired parameter information is specified from among a plurality of different parameter information, shared information is generated in which information of the special function section is assigned to each device according to the specified parameter information. Ru. Therefore, by changing the specified parameter information, the allocation of the information of the special function control unit to each device can be easily changed.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Examples of the present invention will be described below with reference to the accompanying drawings. Note that this invention is not limited to this. (Configuration of First Embodiment) FIG. 1 is a functional block diagram showing the configuration of a first embodiment of a PC according to the present invention. P of this invention
C (10) includes a parameter information storage unit (10a), a parameter information transfer unit (10b), and a shared information generation unit (10c).
) and a shared information transfer unit (10d). The parameter information storage section (10a) stores parameter information in a shared memory shared by the sequence control section and the special function control section. Here, "parameter information" is
This refers to information indicating the correspondence between devices set in the shared memory and information in the special function control unit. This parameter information is specified by the sequence program P.

The parameter information transfer section (10b) transfers the parameter information stored in the shared memory to the data memory of the special function control section. This data memory is a memory that stores information obtained by the special function control section. The shared information generation unit (10c) allocates information of the special function control unit of the data memory to the device according to the parameter information transferred to the data memory, and generates shared information. The shared information transfer unit (10d) is
The shared information generated by the shared information generation unit (10c) is transferred to the shared memory.

FIG. 2 is a block diagram showing a specific configuration of a first embodiment of a PC according to the present invention. PC of this invention (1
0) is composed of a sequence control section (11) and a positioning control section (21) as a special function control section. The sequence control unit (11) includes a microprocessor (1
2), control memory (13), data memory (14),
It includes a peripheral device interface (15), an input/output unit interface (16) and a shared memory (17). A peripheral device (81) is connected to the sequence control section (11) via a peripheral device interface (15), and an input/output unit (82) is connected via an input/output unit interface (16). A sequence control unit (11) performs sequence control according to a sequence program P under the control of a microprocessor (12).

The positioning control section (21) includes a microprocessor (22), a control memory (23), a data memory (24), and an external control interface (25). A controlled object (83) is connected to the positioning control section (21) via an external control interface (25). The positioning control unit (21) exchanges information with the sequence control unit (11) via the shared memory (17) and controls the controlled object (
83) positioning control is performed.

FIG. 3 is a conceptual diagram showing the storage status of information in the shared memory (17) of the sequence control unit (11).
FIG. 4 shows the data memory (24) of the positioning control section (21).
) is a conceptual diagram showing the storage status of information.

As shown in FIG. 3, the shared memory (17) has a parameter information area (17a) and a shared information area (
17b). Parameter information area (17a
) stores parameter information set by the peripheral device (81) and sent to the sequence control unit (11). The parameter information stored in the parameter information area (17a) is transferred to the parameter information area (24a) of the data memory (24) under the control of the microprocessor (22). Here, "parameter information" is information indicating which positioning control information stored in the control information area (24b) of the data memory (24) is assigned to each device of the shared memory (17). .

The shared information area (17b) stores shared information generated by being allocated to each device of the shared memory (17) by the positioning control unit (21) according to parameter information.

As shown in FIG. 4, the data memory (24) includes a parameter information area (24a) for storing parameter information transferred from the shared memory (17) and a control target obtained by the positioning control unit (21). It has a control information area (24b) for storing positioning control information (83).

In the parameter information area (24a), area numbers are designated for each device designated by the parameter information. In the example of FIG. 4, area number 1 is assigned to device D0, area number 2 is assigned to device D1, area number 10 is assigned to device D2, and area number 3 is assigned to device D3.

The control information area (24b) stores positioning control information allocated to each preset area number. In the example of FIG. 4, the current value of the first axis is stored in area number 1, the counter value of the first axis is stored in area number 2, the error information of the first axis is stored in area number 3, and the area number The current value of the second axis is stored in 10.

Under the control of the microprocessor (22), the positioning control section (21) allocates control information to each device designated by the parameter information using the area number as a medium, and generates shared information. In the example of FIG. 4, the current value of the first axis is assigned to device D0, the deviation counter value of the first axis is assigned to device D1,
The current value of the second axis is assigned to device D2, the error information of the first axis is assigned to device D3, and shared information is generated.

The shared information thus generated is transferred to the shared information area (17b) of the shared memory (17) under the control of the microprocessor (22). The shared information generated based on the parameter information and positioning control information shown in FIG. 4 is stored in the shared information area (17
b). The sequence control unit (11) performs sequence control using this shared information.

(Operation of the first embodiment) Next, the above PC (1
The operations of the sequence control section (11) and positioning control section (21) of No. 0) will be explained. FIG. 5 is a flowchart showing the operation of the sequence control section (11). In step S1, the parameter information set in the peripheral device (81) is transferred to the parameter information area (17a) of the shared memory (17).
). The stored parameter information is transferred to the data memory (24) under the control of the microprocessor (22) of the positioning unit (21) and stored in the parameter information area (24a). On the other hand, control information obtained by positioning control is stored in the control information area (24b) of the data memory (24). and,
The control information in the control information area (24b) is allocated to each device according to the parameter information in the parameter information area (24a), becomes shared information, and is stored in the shared memory (
17).

In step S2, the microprocessor (
12) determines whether the storage of the shared information in the shared memory (17) is completed. If the process has not finished, the process waits; if the process has finished, the process advances to step S3.

In step S3, sequence control is executed according to the sequence program P while appropriately reading the shared information stored in the shared memory (17). For example, if device D0 is specified in the sequence program, control information "current value of first axis" corresponding to device D0 stored in the shared memory (17) is read out.

In step S4, it is determined whether a sequence control end signal has been issued. If the end signal has not been issued, sequence control continues. If a termination signal is issued, sequence control is terminated.

FIG. 6 is a flowchart showing the operation of the positioning control section (12). In step S11, the microprocessor (22) determines whether the storage of parameter information in the shared memory (17) has been completed. If the storage has not been completed, the process waits; if the storage has been completed, the process advances to step 12.

In step S12, the shared memory (17)
The parameter information stored in is transferred to the data memory (24) and stored in the parameter information area (24a).

In step S13, the control information area (2
4a) positioning control information in the parameter information area (
24a) according to the parameter information of the shared memory (1
7) to each device and generate shared information. In the example of FIG. 4, control information for the area number is assigned to each device based on the area number specified by the parameter information.

In step S14, the shared information generated in step S13 is transferred to the shared memory (17). The transferred shared information is stored in the shared information area (17b) of the shared memory (17).

In step S15, positioning control of the controlled object (83) is executed according to the positioning control program.

In step S16, it is determined whether a positioning control end signal has been issued. If the end signal has not been issued, the process jumps to step S15 and continues positioning control. If a termination signal has been issued, positioning control is terminated.

While the positioning control is repeatedly executed, the positioning control information stored in the data memory (24) changes with time, so the contents of the shared information generated based on the positioning control information are also updated each time. and transferred to the shared memory (17). In this way, the sequence control section (11) always performs sequence control based on the latest shared information.

As described above, the PC (10
), the user can assign the desired control information to the desired device by setting parameter information in the sequence program P, and as a result, only the control information the user needs and in the arrangement desired by the user can be assigned. It becomes possible to store it in the shared memory (17).

(Configuration of Second Embodiment) FIG. 7 is a functional block diagram showing the configuration of a second embodiment of the PC of the present invention. The PC (30) of the second embodiment has a parameter information storage unit (
30a), a parameter information transfer unit (30b), a shared information generation unit (30c), a shared information transfer unit (30d), and a parameter information designation unit (30e). The parameter information storage section (30a) stores a plurality of parameter information in a shared memory shared by the sequence control section and the special function control section.

The parameter information transfer section (30b) transfers the plurality of parameter information stored in the shared memory to the data memory of the special function control section. Shared information generation unit (
30c) allocates the information in the data memory to the shared memory device according to the parameter information specified by the parameter information specifying unit (30e), and generates shared information. The shared information transfer unit (30d) includes a shared information generation unit (
Transferring the shared information generated in step 30c) to said shared memory. The parameter information designation unit (30e) designates one piece of parameter information from a plurality of pieces of parameter information based on parameter information designation information set in the sequence program P.

The specific configuration of the PC (30) of the second embodiment is the same as that of the PC (10) of the first embodiment shown in FIG. However, in the PC (30), as shown in FIG.
The shared memory (17) has a parameter information number area (17c) in addition to the parameter information area (17a) and shared information area (17b) similar to those in the first embodiment, and the parameter information area (17a) It differs in that multiple parameter information is stored.

[0040] A plurality of pieces of parameter information are stored in the parameter information area (17a) with numbers assigned to distinguish them. The parameter information number area (17c) stores a parameter information number that specifies which of the plurality of parameter information in the parameter information area (17a) is to be selected. The parameter information number is specified by the sequence program P.

The data memory (24) is provided with a parameter information area (24a) and a control information area (24b) similar to those in the first embodiment. Parameter information area (
24a), the parameter information number area (17) of the shared memory (17) is stored under the control of the microprocessor (22).
A plurality of pieces of parameter information stored in 17c) are transferred with numbers. The transferred plurality of parameter information is selected by reading the parameter information number stored in the shared memory (17).

(Operation of Second Embodiment) Next, the operation of the sequence control section (11) and positioning control section (21) of the PC (30) of the second embodiment will be explained. FIG. 10 is a flowchart showing the operation of the sequence control section (11).

In step S21, a plurality of parameter information is stored in the parameter information area (17) of the shared memory (17).
a). These parameter information are stored in the data memory (24) under the control of the microprocessor (22).
) and stored in the parameter information area (24a). For example, as shown in FIG.
k pieces of parameter information from to parameter information k are stored.

In step S22, the positioning control section (2
It is determined whether the storage of the shared information in the shared memory (17) according to step 1) has been completed. If the process has not finished, the process waits; if the process has finished, the process advances to step S23.

In step S23, the shared memory (17)
While reading the shared information of the sequence program P
Execute sequence control according to the following.

In step S24, it is determined whether there is an instruction to change parameter information. If there is no change command, the process advances to step S26. If there is a change command, the process advances to step S25, and after storing the parameter information number newly specified by the change command in the parameter information number area (17c) of the shared memory (17), the process proceeds to step S2.
Jump to step 3 and continue sequence control.

In step S26, it is determined whether a sequence control end signal has been issued. If the end signal has not been issued, the process jumps to step S23 and continues the sequence control. If a termination signal has been issued, sequence control is terminated.

FIGS. 11 and 12 are flowcharts showing the operation of the positioning control section (12) of the second embodiment. In step S31, it is determined whether the storage of parameter information and parameter information numbers in the parameter information area (17a) and parameter information number area (17c) of the shared memory (17) has been completed. If storage has not finished, wait; if it has finished, go to step 3
Proceed to step 2.

In step S32, under the control of the microprocessor (22), a plurality of parameter information in the parameter information area (17a) of the shared memory (17) is transferred to the data memory (24), and the parameter information area (17a) is transferred to the data memory (24).
24a).

In step S33, the parameter information number in the parameter information number area (17c) is read out, and one of the plurality of parameter information in the parameter information area (17a) is selected according to the parameter information number. Then, the control information area (
The control information of 24a) is assigned to each device and shared information is generated.

[0051] In step S34, the shared information generated in step S23 is transferred to the shared memory (17). The shared information is stored in the shared information area (17) of the shared memory (17).
17b).

In step S35, positioning control of the controlled object (83) is executed according to the positioning control program.

In step S36, it is determined whether there is an instruction to change parameter information. If no change command has been issued, the process advances to step S38. If a change command has been issued, the process advances to step S37, where the parameter information to be used is changed to new parameter information specified by the change command, and the process jumps to step S33. and,
Generate shared information using the new parameter information and continue positioning control.

In step S38, it is determined whether a positioning control end signal has been issued. If the end signal has not been issued, positioning control continues. If a termination signal has been issued, positioning control is terminated.

During repeated execution of positioning control, the first
Similar to the embodiment, the content of the generated shared information is updated and transferred to the shared memory (17).

As described above, the PC (30) of the second embodiment
Now, by changing the specified parameter information number, the shared information stored in the shared memory (17) can be easily changed. Therefore, for example, if the user had previously set the parameter information so that only the current values of all n axes were stored in the shared memory (17), (
(See Figure 8), if other control information for the first axis is required due to an abnormality in the operation of the first axis, specify the number of the parameter information set to allocate all control information for the first axis. , the first one according to its parameter information.
All control information for the axes is assigned to each device and transferred to the shared memory (17). In this way, sequence control can be performed thereafter using the control information of the first axis.

In the above explanation, the positioning control unit (21) has been mentioned as the special function control unit, but the present invention can be applied to other units (for example, communication units) in exactly the same way. .

[0058]

[Effects of the Invention] According to the PC of the present invention, the information required by the user can be selected from among the information of special function control units such as the positioning unit and the communication unit, and can be stored in the shared memory. The user can set the allocation of that information to each device. Therefore, with the same hardware configuration as in the past, it is possible to suppress the capacity of the shared memory to the minimum required by the user, and it is also possible to obtain a memory configuration that is easy for the user to use. Furthermore, by storing a plurality of pieces of parameter information with different allocation statuses in advance and changing the specification of the parameter information used to generate shared information, the allocation of the information of the special function control unit to each device can be easily changed. Can be done.

[Brief explanation of drawings]

FIG. 1 is a functional block diagram showing the configuration of a first embodiment of a PC according to the present invention.

FIG. 2 is a block diagram showing a specific configuration of a first embodiment of a PC according to the invention.

FIG. 3 is a conceptual diagram showing the storage status of information in the shared memory of the sequence control unit of the PC shown in FIG. 2;

FIG. 4 is a conceptual diagram showing the storage status of information in the data memory of the positioning control section of the PC shown in FIG. 2;

FIG. 5 is a flowchart showing the operation of the sequence control section of the PC shown in FIG. 2;

FIG. 6 is a flowchart showing the operation of the positioning control section of the PC shown in FIG. 2;

FIG. 7 is a functional block diagram showing the configuration of a second embodiment of the PC of the present invention.

8 is a conceptual diagram showing the storage status of information in the shared memory of the sequence control unit of the PC shown in FIG. 7; FIG.

9 is a conceptual diagram showing the storage status of information in the data memory of the positioning control section of the PC shown in FIG. 7; FIG.

FIG. 10 is a flowchart showing the operation of the sequence control section of the PC shown in FIG. 7;

FIG. 11 is a flowchart showing the operation of the positioning control section of the PC shown in FIG. 7;

12 is a flowchart showing the operation of the positioning control section of the PC shown in FIG. 7;

FIG. 13 is a block diagram showing the configuration of a conventional PC including a positioning unit and a communication unit.

FIG. 14 is a conceptual diagram showing an example of how control information is allocated in the shared memory for the positioning unit of the conventional PC shown in FIG. 13;

FIG. 15 is a conceptual diagram showing an example of how control information is allocated in a shared memory for a communication unit of the conventional PC shown in FIG. 13;

[Explanation of symbols]

10 Programmable controller 10a Parameter information storage section 10b Parameter information transfer unit 10c Shared information generation unit 10d Shared information transfer unit 11 Sequence control section 12 Microprocessor 13 Control memory 14 Data memory 15 Peripheral device interface 16 Input/output interface 17 Shared memory 17a Parameter information area 17b Shared information area 17c Parameter information number area 21 Positioning control section 22 Microprocessor 23 Control memory 24 Data memory 24a Parameter information area 24b Control information area 25 External control interface 30 Programmable controller 30a Parameter information storage section 30b Parameter information transfer unit 30c Shared information generation unit 30d Shared information transfer unit 30e Parameter information specification section 81 Peripheral equipment 82 Input/output unit 83 Controlled object P Sequence program

Claims (2)

[Claims] 1. A sequence control unit that performs sequence control according to a sequence program, and a special function control unit that performs special function control according to a special function program while exchanging information with the sequence control unit via a shared memory. In the programmable controller, the parameter information storage means stores in the shared memory parameter information indicating the correspondence between the device set in the shared memory and the information of the special function control unit, and the parameter information stored in the shared memory is used for special function control. parameter information transfer means for transferring the information of the special function control unit stored in the data memory to the device according to the parameter information to generate shared information; A programmable controller comprising: shared information transfer means for transferring shared information to a shared memory. 2. A sequence control unit that performs sequence control according to a sequence program, and a special function control unit that performs special function control according to a special function program while exchanging information with the sequence control unit via a shared memory. In the programmable controller, a parameter information storage means stores in the shared memory a plurality of parameter information indicating a correspondence between a device set in the shared memory and information of a special function control unit, and a plurality of parameter information stored in the shared memory. parameter information transfer means for transferring the parameter information to the data memory of the special function control section; parameter information specifying means for specifying desired parameter information from among the plurality of parameter information; The device is characterized by comprising a shared information generating means that generates shared information by allocating information to the device according to specified parameter information, and a shared information transferring means that transfers the generated shared information to a shared memory. programmable controller.