JPH0651818A - Programmable controller - Google Patents

Abstract

PURPOSE:To provide the programmable controller which can set the number of times for executing processing with simple configuration and further can set the interlock condition of processing with simple configuration. CONSTITUTION:User programs stored in a process stepping language are stored in user program memories 1-4 and in this case, however, the number of times for executing processing is described as the additional information of an action qualifier (AQ). Corresponding to the evaluation of this AQ, the number of times for executing processing is controlled based on the additional information. Further, a flag showing the state of processing as the object of interlock is described as the additional information of the AQ and based on the evaluation of this AQ, it is controlled corresponding to the flag whether processing is executed or not.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention
The present invention relates to a programmable controller that sequentially executes processes corresponding to each process based on a user program written in the FC language, and particularly an action qualifier (representing a relationship between active / inactive state of each process and execution / non-execution of each process). The present invention relates to a programmable controller in which the number of executions of a corresponding process can be described in the additional information of AQ) and the interlock condition of the process can be described.

[0002]

2. Description of the Related Art In recent years, programmable controllers have come into widespread use, and these programmable controllers are now being used in complicated and sophisticated control fields.
Along with this, the programmable controller itself has become multifunctional and large in size, and various programming languages have been used for user programs.

However, in the conventional programmable controller, although various types of languages mainly used for logic control are used as programming languages, in response to the recent increase in size and complexity of the system. It is hard to say that is sufficiently compatible, and there is a problem that it cannot follow the general idea of software engineering from the viewpoint of quality control and reuse of programming languages.

Therefore, the IEC (International Electrot
echnical Commissin) has reviewed the programming language of the programmable controller and can express the process step motion in the description format of the conventional ladder language, and it is a process step language (Sequential Funct) that enables structured programming.
Ion Chart) (hereinafter referred to as SFC language),
The standard draft is summarized.

The SFC language is a kind of graphic language in which a program of a programmable controller is divided into a number of "processes", and one or more "processes" are associated with each "process" and plumbed. It is based on step-step control. The program in the SFC language is described by combining a "transition condition" inserted between each "process" and a "process" associated with each "process".

In this SFC language, several types of AQs (Action Qualifiers) have been proposed as means for defining the relationship between the active / inactive state of each "process" and the execution / non-execution of "processing". This AQ is a condition symbol set corresponding to each "processing", and the AQ defines the execution / non-execution timing of the "processing (action)" corresponding to the active / inactive state of each "process". To be done.

[0007] Here, the AQ proposed by the IEC
1) When the "process" becomes active, the corresponding process is executed only once.

2) When the "process" is activated, the corresponding process is set or reset.

3) When the "process" is activated, the corresponding process is executed for a fixed time designated by the user.

Functions such as can be defined.

[0011]

By the way, in general sequence control, it may be necessary to set the number of executions of the "process", that is, the number of executions of the sequence program. However, in each of the various types of AQ that have been conventionally proposed, only simple conditions can be set, and the number of executions of the sequence program cannot be set. Therefore, in the conventional programmable controller, the number of executions of the sequence program must be set by the program in the sequence program.

However, if the number of executions of the sequence program is set by the program in the sequence program, 1) man-hours are required to generate the sequence program satisfying the repeated calculation condition (number of times setting).

2) The capacity of the user program increases because of the sequence program under the repeated calculation condition (number of times setting).

3) A logic representing an application-dependent setting condition is extracted from a sequence program for I / O control and data processing, and is defined outside the sequence program, whereby the sequence program is subjected to pure control and arithmetic processing. However, the advantage of the SFC language that the module reusability can be achieved is deteriorated.

Problems such as the above occur.

Further, in a program in the SFC language, when it is desired to exclusively execute "processing" of a certain portion and "processing" of another portion as a whole program,
This is realized by programming the transition condition between “processes” in a selective branch type. However, since this method is expressed and processed in the form of a "process" flow, even in simple exclusive control, each "process" is made independent as a "process" and its transition condition is described as a selective branch type. Must.

However, according to such a configuration,
Conventionally, in comparison with exclusive control using an interlock circuit that is frequently used in a ladder diagram that has been adopted as a method for writing a user program of a programmable controller, there is a problem that expression redundancy and real-time property are inferior. is there.

Therefore, an object of the present invention is to provide a programmable controller capable of setting the number of times of execution of processing with a simple structure and further setting an interlock condition of processing with a simple structure.

[0019]

In order to achieve the above-mentioned object, the invention of claim 1 is a step progress language (SFC language).
In the programmable controller that sequentially executes the process corresponding to each process based on the user program described by, the user program is an action qualify that represents the relationship between the active state or inactive state of each process and the execution or non-execution of the process. The action qualifier (AQ) can include the number of executions of the process as additional information, including the description of A (AQ), and the number of executions of the process based on the additional information by the evaluation of the action qualifier (AQ). It is characterized by controlling.

Further, the invention of claim 2 is a programmable controller for sequentially executing a process corresponding to each process based on a user program described in a process step type language (SFC language), wherein the user program includes each process. Action qualifier (A that represents the relationship between the active state or inactive state of the
Q), including the action qualifier (A
Q) can describe a flag indicating the state of a process to be interlocked as additional information, and controls execution / non-execution of the process according to the flag by the evaluation of the action qualifier (AQ). Characterize.

[0021]

According to the first aspect of the invention, the number of executions of the process is described as additional information of the action qualifier (AQ), and the number of executions of the process is controlled based on the additional information by the evaluation of the action qualifier (AQ). To do.

According to the second aspect of the invention, a flag indicating the state of the process to be interlocked is described as the additional information of the action qualifier (AQ),
The action qualifier (AQ) is evaluated to control the execution / non-execution of the process according to the flag.

[0023]

Embodiments of a programmable controller according to the present invention will be described in detail below with reference to the drawings.

FIG. 1 shows an embodiment of a programmable controller according to the present invention. The programmable controller 100 shown in FIG.
PU (central processing unit) 11, four user program memories 1 to 4, I / O memory (input / output memory) 12,
The system program memory 13 and the work memory 14 are connected to each other, and the bus 10 is connected to an I / O (input / output circuit) 17 via an i / f (interface) 16.

Here, the user program memories 1 to 4 store user program information (1) to (4), and the user program information (1) stored in the user program memory 1 corresponds to each process. The user program information (2) including a plurality of process information tables and the start address (process information table vector) of each process information table and stored in the user program memory 2 includes a plurality of transition condition tables corresponding to each transition condition and The user program information (3) including the start address of each transition condition table (transition condition table vector) and stored in the user program memory 3 is a plurality of processing programs corresponding to the processing of each process and the start address of each processing program. (Processing program vector) and stored in the user program memory 4. That the user program information (4)
Includes a plurality of transition condition programs corresponding to each transition condition and the start address (transition condition program vector) of each transition condition program.

The I / O memory 12 stores the state of the I / O 17 input or output through the i / f 16, and the system program memory 13 stores the state of the CPU 11 in the CPU 11.
It stores the system program for controlling
The work memory 14 is used as a work area for controlling the entire programmable controller 100.

The CPU 11 is composed of a microprocessor and refers to the user program information (1) to (4) stored in the user program memories 1 to 4 and the state of the I / O 17 stored in the I / O memory 12. A desired programmable control is executed using the work area of the work memory 14 based on the system program stored in the system program memory 13.

Although the four memories 1 to 4 are provided as the user program memory in the configuration shown in FIG. 1, they may be combined into one.

Next, the detailed structure of the embodiment shown in FIG. 1 will be described. Before describing the detailed structure of the embodiment shown in FIG. 1, the process steps used in the programmable controller 100 of this embodiment will be described. A brief description will be given of an outline of the step-progressing program in the progressive language (SFC).

FIG. 2 to FIG. 7 are process step language (SFC)
2 shows an example of a step progress type program according to the above.
FIG. 2 shows an overall chart of the step-progressing type program, and FIGS. 3 to 7 show partial detailed charts of the overall chart of the step-progressing type program.

The step-progressive language (SFC) is a program that has a number of "steps" (shown as A in FIG. 2) throughout the program.
Is a graphic language in which one "process" is divided into one or a plurality of "processes" and is programmed, and the process step control is basically used. That is, as shown in FIG. 2, a “transition condition” (which is indicated by C in FIG. 2) inserted between each “process” and each “process”.
A program is described by combining the "processing" associated with. In addition, in FIG. 2, “process” and “processing” are graphically displayed in a box shape,
The "transition condition" is graphically displayed by a horizontal line.

"Process" that graphically displays in the shape of a box
Has a logic state of active (active) or inactive (inactive). When the “process” is in the active state, the “processing” related to the “process” is sequentially executed. On the other hand, when the "process" is in the inactive state, the "processing" related to the "process" is not executed. If there is no "process" associated with the "process", the state is "waiting" until the "transition condition" associated with the "process" is established. Here, each “process” has a unique “process number”, and a plurality of “processes” having the same “process number” cannot be provided. Also,
There is no "process" without a "process number". The "process" is related to the "process", and the "process" to which no "process" is related can be used as a "dummy process" in which nothing is operated even when it is in the active state. The “process” is turned on / off according to the active state or inactive state of the “process” to which the “process” is related. This "process" also has a unique "process number", and a plurality of "processes" having the same "process number" cannot be provided. Also,
There is no "process" without a "process number".

There is only one "transition condition" between the "process" and the "process", and represents the "connection condition" between the "process" and the "process". When the "transition condition" under the "process" in the active state is satisfied, the "process" in the active state becomes the inactive state,
The next "process" becomes active. In this way, the “transition condition” plays a role of controlling the flow of control from the “process” to the “process”. This "transition condition" also has a unique "transition condition number", and a plurality of "transition conditions" having the same "transition condition number" cannot be provided. Also,
There is no "transition condition" without a "transition condition number".

By the way, the overall chart shown in FIG. 2 includes steps 1 to 10 as "steps" and steps 1 to 11 as "processes". As shown in "Process step operation", "Selective branch operation", "Parallel branch operation", "Parallel merge operation",
It includes "merging operation from selected branch".

Next, each of the above operations will be described with reference to partial charts shown in FIGS.

FIG. 3 shows the details of the "step step operation" shown in FIG. 2 (a). In FIG.
When "process 1" is in the active state and "process 1" and "process 2" are being executed, if "transition condition 1" that is a transition condition from "process 1" to "process 2" is satisfied, Step progress from "step 1" to "step 2". That is, the "process 1" becomes inactive and the "process 2" becomes active instead. As a result, the execution of the "process 1" and the "process 2" related to the "process 1" is interrupted, and the execution of the "process 3" related to the "process 2" is started instead. Then, this "processing 3" is repeated until "step 2" becomes inactive.

FIG. 4 shows the details of the "selective branch operation" shown in FIG. 2 (b). In FIG.
When "process 2" is in the active state and "process 3" is being executed, "transition condition 2" or "process 2" to "process 4" which is a transition condition from "process 2" to "process 3" When the transition condition 3 which is the transition condition to
Selectively branch from "step 2" to "step 3" or "step 4". That is, when “transition condition 2” is satisfied, “step 2” becomes inactive, and instead “step 3”
Becomes active, execution of “Process 3” related to “Step 2” is interrupted, and execution of “Process 4” related to “Step 3” is started. This "processing 4" is repeated until "transition condition 4" is satisfied and "step 3" becomes inactive. When "transition condition 3" is satisfied, "step 2" becomes inactive, instead "step 4" becomes active, and execution of "process 3" related to "step 2" is interrupted. , "Process 5" related to "Process 4" is started to be executed. This "Process 5" is
This is repeated until the "transition condition 5" is satisfied and the "step 4" is in the inactive state.

FIG. 5 shows the details of the "parallel branch operation" shown in FIG. 2 (c). In FIG.
When “process 4” is in the active state and “process 5” is executed, when “transition condition 5” that is a transition condition from “process 4” to “process 5” and “process 6” is satisfied, Parallel branch from "step 4" to "step 5" and "step 6". That is, when “transition condition 5” is satisfied,
"Step 4" becomes inactive, and instead "Step 5" and "Step 6" become active at the same time, which interrupts execution of "Process 5" associated with "Step 4", Execution of “Process 6” related to “Process 5” and “Process 7” related to “Process 6” is started.
Then, the “process 6” is repeated until the “transition condition 6” is satisfied and the “step 5” is in the inactive state.
Further, the “process 7” is repeated until the “transition condition 7” is satisfied and the “process 6” is in the inactive state.

FIG. 6 shows the details of the "parallel merging operation" shown in FIG. 2 (d). In FIG.
The transition from “step 5” to “step 7” and the transition from “step 6” to “step 8” are the same as the transition from “step 1” to “step 2” shown in FIG. That is, when "process 5" is in the active state and "process 6" is being executed, if "transition condition 6", which is a transition condition from "process 5" to "process 7", is satisfied, "process 5" Becomes an inactive state, and instead the “process 7” becomes the active state, the execution of the “process 6” related to the “process 5” is interrupted, and the execution of the “process 8” related to the “process 7” is performed. Is started. Also, "Process 6" is in the active state,
When the "transition condition 7", which is the transition condition from the "process 6" to the "process 8", is satisfied while the "process 7" is being executed, the "process 6" becomes inactive, and instead the "process 7" is executed. 8 ”becomes active, execution of“ Process 7 ”related to“ Step 6 ”is interrupted, and execution of“ Process 9 ”related to“ Step 8 ”is started.

When "process 7" and "process 8" are in the active state and "process 8" and "process 9" are being executed, "process 7" and "process 8" to "process 9"
When the "transition condition 8" that is the transition condition to the step is satisfied, the "step 7" and the "step 8" are merged in parallel to the "step 9". That is, when the "transition condition 8" is satisfied, the "process 7" and the "process 8" are in the inactive state, and instead, the "process 9" is in the active state and the "process 7" is
Execution of “Process 8” related to “Process 8” and “Process 9” related to “Step 8” is interrupted, and execution of “Process 10” related to “Process 9” is started instead. This "Processing 10"
The execution of is repeated until the "transition condition 9" is satisfied and the "step 9" becomes inactive.

FIG. 7 shows the details of the "merging operation from the selective branch" shown in FIG. 2 (e). In FIG. 7, when “process 3” is in the active state and “process 4” is executed, and when “process 9” is in the active state and “process 10” is executed, “process 3” is executed.
When the transition condition “Transition condition 4” that is the transition condition from the step to the “step 10” is satisfied or the “transition condition 9” that is the transition condition from the “step 9” to the “step 10” is satisfied, the “step 10”
To join. That is, when “transition condition 4” is satisfied,
"Process 3" becomes inactive, instead "Process 10" becomes active, execution of "Process 4" related to "Process 3" is interrupted, and "Process 11" related to "Process 10" is interrupted. Is started. Further, when the "transition condition 9" is satisfied, the "step 9" becomes the inactive state, and instead the "step 10" becomes the active state,
Execution of “Process 10” related to “Process 9” is interrupted,
Execution of “Process 11” related to “Process 10” is started. The execution of the "process 11" is repeated until the "transition condition 10" is satisfied and the "step 10" is in the inactive state.

The above is the outline of the process step program in the step step language (SFC) adopted in this embodiment. Next, the step step program in the step step language (SFC) will be described. A detailed configuration of the programmable controller 100 shown in FIG. 1 to be executed will be described.

FIG. 8 shows the contents of the user program information (1) stored in the user program memory 1 shown in FIG. As shown in FIG. 8, the user program information (1) includes the process information table vector 2
Process information table vector storage area 200 for storing 0
And a process information table storage area 230 for storing (n + 1) process information tables 23 corresponding to the respective processes.

FIG. 9 shows the process information table 2 shown in FIG.
3 shows details of No. 3. In FIG. 9, in the process information table 23, the process number 24 of this “process”, the number of in-process processes 25 associated with this “process”, and each “composition number”, AQ code, and AQ additional information A plurality of pieces of processing information 26 corresponding to “processing”, the number of transition conditions 27 associated with this “step”, and a plurality of transition condition numbers 28 corresponding to each “transition condition” are written. Further, in FIG. 9, numeral 29 is a binary display column, and in the case of a process which becomes active at the start of the program operation, "1" is written in advance in this binary display column 29. In addition, in FIG. 9, the binary display column 29 is provided corresponding to each process information table 23, but it is configured to provide another table in which only the processes that become active at the start of the program operation are collected. May be. This process information table 23 is
If necessary, it is read and processed in units of one process information table.

In this embodiment, the above AQ code,
The number of executions of each process and the interlock condition are controlled by using the AQ additional information. Control of the number of executions of each process and the interlock condition using the AQ code and the AQ additional information will be described in detail later.

FIG. 10 shows details of the process information table vector 20 shown in FIG. In FIG. 10, the process information table vector 20 contains (n + 1)
Start address 2 of each process information table 23
1 is written, and when the program is executed, the corresponding process information table 23 is read while referring to the start address 21 of each process information table written in this process information table vector 20.

FIG. 11 shows the contents of the user program information (2) stored in the user program memory 2 shown in FIG. As shown in FIG. 11, the user program information (2) includes a transition condition information table vector storage area 300 for storing the transition condition information table vector 30 and (m + 1) pieces of transition condition information corresponding to each transition condition. It comprises a transition condition information table storage area 330 for storing the table 33.

FIG. 12 shows details of the transition condition information table 33 shown in FIG. In FIG. 12, the transition condition information table 33 includes this "transition condition".
Transition condition number 34, the number of preceding processes 35 connected before this "transition condition", and the preceding process number 3 corresponding to each preceding process
6, the number of post-connection processes 37 connected after this "transition condition", and the post-connection process number 38 corresponding to each post-connection process are written. The transition condition information table 33 is read and processed in units of one transition condition information table as needed when the program is executed.

FIG. 13 shows details of the transition condition information table vector 30 shown in FIG. In FIG. 13, the transition condition information table vector 30 includes
The start address 31 of each of the (m + 1) transition condition information tables 33 is written, and at the time of program execution, referring to the start address 31 of each transition condition information table written in the transition condition information table vector 30, , The corresponding transition condition information table 33 is read.

FIG. 14 shows the contents of the user program information (3) stored in the user program memory 3 shown in FIG. As shown in FIG. 14, the processing program vector storage area 400 for storing the processing program vector 40 is included in the user program information (3).
And (p + 1) processing programs 4 corresponding to each processing
3 is stored in the processing program storage area 430.

FIG. 15 shows an example of the processing program 43 shown in FIG. In FIG. 15, the processing program 43 corresponding to each processing is described by a ladder chart or the like.

FIG. 16 shows the details of the processing program vector 40 shown in FIG. In FIG. 16, the start address 41 of each of the (p + 1) process programs 43 is written in this process program vector 40, and at the time of program execution, the start address of each process program written in this process program vector 40 is written. The corresponding processing program is read while referring to the address 41.

FIG. 17 shows the contents of the user program information (4) stored in the user program memory 4 shown in FIG. As shown in FIG. 17, the user program information (4) includes a transition condition program vector storage area 500 for storing the transition condition program vector 50 and (m + 1) transition condition programs 53 corresponding to each transition condition. It is composed of a transition condition program storage area 530 to be stored.

FIG. 18 shows details of the transition condition program 53 shown in FIG. In FIG.
The transition condition program 53 corresponding to each transition condition is described in a ladder chart or the like.

FIG. 19 shows details of the transition condition program vector 50 shown in FIG. In FIG. 19, the transition condition program vector 50 includes (m +
1) The start address 51 of each of the transition condition programs 53 is written, and during program execution,
While referring to the start address 51 of each transition condition program written in this transition condition program vector 50,
Read the corresponding transition condition program.

20 to 23 are the same as FIGS. 8 to 19 described above.
20 shows a specific example of the user program information (1) to (4) described above, and the user program information (1) to (4) shown in FIGS. 20 to 23 has been described with reference to FIGS. 2 to 7. It corresponds to a concrete program in the step progress language (SFC). Here, FIG. 20 shows the contents of the user program information (1), FIG. 21 shows the contents of the user program information (2), FIG. 22 shows the contents of the user program information (3), and FIG. 23 is the user program. The content of the information (4) is shown. Note that these contents are the user program information (1) described with reference to FIGS. 8 to 19.
It is the same as the contents of (4).

That is, the user program information (1) shown in FIG. 20 is composed of 10 process information tables corresponding to processes 1 to 10 and a process information table vector 20 storing the start address of each process information table. Has been done.

Further, the user program information (2) shown in FIG. 21 corresponds to transition conditions 1 to 10 and 10
Each of the transition condition information tables and the transition condition information table vector 30 storing the start address of each transition condition information table.

The user program information (3) shown in FIG. 22 is composed of 11 processing programs corresponding to processing 1 to processing 11 and a processing program vector 40 storing the start address of each processing program. .

The user program information (4) shown in FIG. 23 is composed of 10 transition condition programs corresponding to each "transition condition" and a transition condition program vector 50 storing the start address of each transition condition program. Has been done.

Next, the AQ code used in this embodiment,
Control of the number of executions of each process and the interlock condition using the AQ additional information will be described with a specific example.

In this embodiment, AQ code, AQ
The number of times each process is executed is set using the additional information.

FIG. 24 shows a specific example of setting the number of execution times of each process using the AQ code and the AQ additional information. In FIG. 24, AQ indicates an AQ code, process A indicates AQ additional information, and process B specifies a processing program whose execution / non-execution is determined by the AQ code.
In this specific example, the "process" to be executed is designated by the processing step designation, and the AQ to be processed by the AQ code
Specify the type of. Here, the number of executions of the processing program designated in the processing B is described in the processing A, that is, the AQ additional information. In this specific example, the process A has “# 001”.
It is described as "0", which means that the processing program is executed 10 times.

That is, in this example, the process number S
This indicates that the processing program of the processing number AC0001 designated by the processing B is executed 10 times when the “process” of T0001 is in the active state.

FIG. 25 is a flow chart showing the overall processing procedure of the programmable controller 100 of this embodiment. When the program starts,
First, the power-on initial processing is executed (step 80),
Then, a predetermined common process is executed (step 82). If the user program can be operated (step 84) and it is the first operation (step 86), the user program operation initial process is executed (step 88),
Then, a user program operation process is executed (step 90). Then, the input / output circuit 17 is refreshed (step 92) and the process returns to the common process (step 82).

FIG. 26 shows an execution process of one step of the step step program in the step step language (SFC). In this one-step execution process, first, A
Q is evaluated (step 101), and if the evaluation of AQ is an instruction to execute an action, that is, "processing", the action corresponding to this AQ is executed (step 102). In the evaluation of AQ, if this AQ does not instruct the execution of the action, or when the execution of the action of step 102 is completed, the transition evaluation of the next step, that is, the transition condition of the transition to the next “process” is performed. Evaluation is performed (step 103). If the condition for transition to the next "process" is satisfied by the evaluation of the transition condition, the step transition to the next "process" is performed (step 104). That is, the "process" in the active state that was in the execution processing state is deactivated, and the next "process" is activated. However, if the transition condition to evaluate to the next “process” is not satisfied by the evaluation of the transition condition in step 103, this transition is not performed. That is, the active “process” that was in the execution processing state is maintained in the active state.

FIG. 27 shows step 101 in FIG.
2 shows the detailed configuration of “Evaluation of AQ”. "A
In the “Q evaluation”, first, the type of AQ is determined. By the way, in this embodiment, the type of AQ includes AQ for setting the number of times of execution of actions, that is, the number of times of execution of processing programs by the AQ additional information. In this embodiment, the following three types of AQ are prepared.

1) Action (processing) is executed (pulse) only in the first cycle after the step (process) is activated.

2) The action (processing) is executed for the set time after the step (process) is activated (time setting).

3) The action (processing) is executed the set number of times after the step (process) is activated (number of times setting).

When the AQ is evaluated by the step 111, if the AQ means the "pulse", it is judged whether or not the step is the first cycle after being activated (step 112). If it is the first cycle from the activation state, the corresponding action is executed (step 115), and if it is not the first cycle, the corresponding action is not executed (step 116).

According to the AQ evaluation in step 111, AQ means the above "time setting".
It is determined whether the set time has passed since the step was activated (step 113), and if the set time has not passed since the step was activated, the corresponding action is executed (step 118), when the set time has elapsed, the corresponding action is not executed (step 117). Here, the above time setting is A
This is done by describing this time in the Q additional information.

According to the evaluation of AQ in step 111, AQ means "the number of times setting",
It is judged whether the action has been executed the set number of times after the step has been activated (step 114). If the set number of times has not been executed since the step has been activated, the corresponding action is executed (step 12
0), when the set number of times is executed, the corresponding action is not executed (step 119). Here, the number of times is set by describing the number of times in the AQ additional information.

In this embodiment, the interlock condition is controlled by using the AQ code and the AQ additional information. In this embodiment, in order to control the interlock condition, "A" and "B" are used as the AQ codes described in the process information table 23 of the user program information (1) stored in the user program memory 1. Introduce two new AQ codes.

FIG. 28 shows the new two AQ codes "A" and "B" and the execution / non-execution of the processing program whose execution / non-execution is determined by the AQ codes "A" and "B". It shows the relationship of. That is, the AQ code “A” executes the processing program when the specified contact (specified by the AQ additional information) is on, and deactivates it when it is off. The AQ code “B” executes the processing program when the specified contact (specified by the AQ additional information) is off, and turns it off when the processing program is on.

FIG. 29 shows the AQ codes "A" and "B".
It shows an example of a specific use of. In FIG. 29, processing 1 and processing 2 described in relation to step 1 are shown. As shown in FIG. 29, in the process 1 described in relation to the process 1, “A” is described as the AQ code and the contact number “02000” is described as the AQ additional information. AQ is included in the described process 2.
“B” is described as the code, and the contact number “15012” is described as the AQ additional information. In this case, when the process 1 is in the active state and the process 1 is executed, since the AQ code “A” is described in correspondence with the process 1, the contact number “02000” described as the AQ additional information. If the contact of "" is on, the processing program corresponding to processing 1 is executed, and the contact number "0200
If the contact "0" is off, the processing program corresponding to the processing 1 is not executed.

Further, when the process 1 is in the active state and the process 2 is executed, since the AQ code "B" is described corresponding to the process 2, the contact number described as the AQ additional information. If the contact of "15012" is off, the processing program corresponding to the process 2 is executed, and if the contact of the contact number "15012" is on, the processing program corresponding to the process 2 is not executed.

With this configuration, it becomes possible to incorporate an interlock condition into the AQ of SFC. The AQ process is performed immediately before each process program is called from the "process" of the "process" in the active state.

[0079]

As described above, according to the invention of claim 1, the number of times of processing is described as the additional information of the action qualifier (AQ), and the additional information is evaluated by the evaluation of the action qualifier (AQ). Since the number of executions of processing is controlled based on the above, various effects as described below can be obtained.

1) It is possible to reduce the number of man-hours required to generate a sequence program under repeated calculation conditions (number of times setting).

2) Since it is not necessary to create a sequence program for repeated calculation conditions (number of times setting), the capacity of the user program is reduced.

3) By not including the repetitive calculation condition (number of times setting) in the sequence program, the module reusability is improved and the user program development efficiency is improved. In addition, in the invention of claim 2, a flag indicating the state of the processing to be interlocked is described as additional information of the action qualifier (AQ), and the action qualifier (AQ) is evaluated to respond to the flag. Since it is configured to control execution / non-execution of the above processing, various effects as described below can be obtained.

1) The concept of interlock, which is a general programming method in ladder diagrams, is applied to SFC.
Can be represented equally in.

2) By programming the exclusive control, which has been conventionally expressed as a selective branch using the transition condition between steps, as the AQ, the exclusive control by turning the contact on / off,
The redundancy of the SFC chart can be prevented, the visibility thereof can be improved, the work time at the time of program design and debug can be shortened, and at the same time the real-time property can be improved.

3) A circuit which has been conventionally incorporated as an exclusive condition in a program for I / O control and data processing is physically extracted, and is external to the program for I / O control and data processing. Therefore, the program for I / O control and data processing can be expressed only by pure control logic, the reusability of the program logic can be improved, and the program design and maintenance efficiency can be improved.

[Brief description of drawings]

FIG. 1 is a block diagram showing an overall configuration of an embodiment of a programmable controller according to the present invention.

FIG. 2 is a diagram showing an example of an overall chart of a process step program in a process step language (SFC) adopted in the embodiment shown in FIG.

FIG. 3 is a partial detailed chart of the overall chart of the step advance program shown in FIG. 2, and is a diagram for explaining a “step advance operation”.

4 is a partial detailed chart of the overall chart of the step-progressing type program shown in FIG. 2, illustrating the "selective branch operation";

FIG. 5 is a partial detailed chart of the overall chart of the step-progressing type program shown in FIG. 2, and is a view for explaining “parallel branch operation”.

FIG. 6 is a partial detailed chart of the overall chart of the step-progressing type program shown in FIG. 2, illustrating the “parallel merging operation”;

FIG. 7 is a partial detailed chart of the overall chart of the step-progressing type program shown in FIG. 2, and is a view for explaining “merging operation from selected branch”.

8 is a diagram showing the contents of user program information (1) stored in the user program memory shown in FIG. 1. FIG.

9 is a diagram showing details of the process information table shown in FIG.

10 is a diagram showing details of the process information table vector shown in FIG.

11 is a diagram showing the contents of user program information (2) stored in the user program memory shown in FIG. 1. FIG.

12 is a diagram showing details of a transition condition information table shown in FIG.

13 is a diagram showing details of a transition condition information table vector shown in FIG.

14 is a diagram showing the content of user program information (3) stored in the user program memory shown in FIG. 1. FIG.

15 is a diagram showing details of the processing program shown in FIG.

16 is a diagram showing details of the processing program vector shown in FIG.

17 is a diagram showing the contents of user program information (4) stored in the user program memory shown in FIG. 1. FIG.

18 is a diagram showing details of the transition condition program shown in FIG.

19 is a diagram showing details of the transition condition program vector shown in FIG.

20 is a diagram showing a specific example of the user program information (1) shown in FIGS. 8 to 10. FIG.

FIG. 21 is a diagram showing a specific example of the user program information (2) shown in FIGS. 11 to 13.

22 is a diagram showing a specific example of the user program information (3) shown in FIGS. 14 to 16. FIG.

23 is a diagram showing a specific example of the user program information (4) shown in FIGS. 17 to 19. FIG.

FIG. 24 is a diagram showing a specific example of setting the number of execution times of each process using an AQ code and AQ additional information.

25 is a flowchart showing the overall processing procedure of the embodiment shown in FIG.

FIG. 26 is a flowchart showing an execution process of one step of a step step program in a step step language (SFC).

FIG. 27 is a flowchart showing a detailed configuration of an “AQ evaluation” step in FIG. 26.

FIG. 28 shows two new AQ codes “A” and “B” introduced in this embodiment and the AQ codes “A” and “B”.
The figure which showed the relationship with the execution / non-execution of the processing program which execution / non-execution is determined by.

FIG. 29 is a diagram showing a specific example of using the AQ codes “A” and “B” shown in FIG. 28.

[Explanation of symbols]

 1, 2, 3, 4 User program memory 10 Bus 11 CPU (central processing unit) 12 I / O memory 13 System program memory 14 Work memory 16 Interface (i / f) 17 Input / output circuit (I / O circuit)

Claims (2)

[Claims] 1. A programmable controller for sequentially executing a process corresponding to each process based on a user program written in a process step language (SFC language), wherein the user program is an active state or an inactive state of each process. And the action qualifier (AQ) that represents the relationship between execution and non-execution of the above process. The action qualifier (AQ) can describe the number of executions of the above process as additional information, ), The programmable controller controls the number of times of execution of the above processing based on the additional information. 2. A programmable controller that sequentially executes processes corresponding to each process based on a user program written in a process step language (SFC language), wherein the user program is in an active state or an inactive state of each process. And the action qualifier (AQ) that indicates the execution or non-execution of the above process, and the action qualifier (AQ) can describe a flag indicating the state of the process to be interlocked as additional information. A programmable controller characterized by controlling execution / non-execution of the processing according to the flag by evaluation of the action qualifier (AQ).