JPH08339210A - Programmable controller - Google Patents

Abstract

PURPOSE: To make execution of a user program follow in real time the change of the contact information that is shared with other programmable controllers by the communication carried out via a network. CONSTITUTION: A CPU unit 1 divides a user program into a shared contact user program and an independent contact user program and stores the former program in the memory 15b or 15c and the latter program in a memory 15a respectively. An MPU 11 usually carries out only the independent contact user program stored in the memory 15a. When the shared contact information is received via a network N, the MPU 11 interrupts the execution of the independent contact user program by interruption and carries out the shared contact user program stored in the memory 15b or 15c based on the shared contact information.

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 shares contact information with another programmable controller by communication via a network and executes a user program based on the shared contact information.

[0002]

2. Description of the Related Art In recent years, even in the field of programmable controllers for controlling the operation of various FA devices such as switches in production lines and robots, network systems have been constructed by connecting to other programmable controllers via a network. In such a system, contact information is shared among a plurality of programmable controllers by communication via a network.

In such a programmable controller, conventionally, shared contact processing using contact information (hereinafter referred to as “shared contact information”) shared with another programmable controller via a network, and such sharing. A user program that does not require contact information and is mixed with original contact processing that uses unique contact information of each programmable controller (hereinafter referred to as "independent contact information") is not related to the communication of shared contact information. Was running cyclically.

[0004]

However, in such a programmable controller, the shared contact point processing using the shared contact point information and the unique contact point processing using the unique contact point information not related to the communication via the network N are performed. Since the user program in which the shared contact information was mixed was cyclically executed irrespective of the communication of the shared contact information, even if the updated shared contact information is sent from another programmable controller via the network, If it is being executed, the shared contact information cannot be used immediately, and it is necessary to wait until the next cycle. Therefore, there is a problem that the execution of the user program cannot follow the change of the shared contact information in real time.

Particularly, when the shared contact information is transmitted and input via the network during execution of a user program having a long execution cycle, the user program is used by using the shared contact information from the input timing. It may take some time to execute, and real-time processing using shared contact information could not be executed.

The present invention has been made in view of such a problem, and an object of the present invention is to provide a programmable controller capable of following execution of a user program in real time according to changes in shared contact information via a network.

[0007]

In order to achieve the above object, the invention according to claim 1 shares contact information with another programmable controller by communication through a network, and a user program is created based on the shared contact information. In the programmable controller to be executed, a shared contact user program memory that stores the shared contact user program that uses the shared contact information, a unique contact user program memory that stores the unique contact user program that does not use the shared contact information, and normally When the unique contact user program stored in the unique contact user program memory is executed and the shared contact information is transmitted from another programmable controller via the network, the execution of the unique contact user program is interrupted by an interrupt. , The serial Share Share contacts the user program stored in the contact user program memory, characterized by comprising: a program executing means for executing using shared contact information transmitted above.

According to a second aspect of the invention, in the programmable controller according to the first aspect, the shared contact user program memory stores a plurality of shared contact user programs, and the shared contact information includes the shared contact information. Program instruction information for instructing a shared contact user program that uses the shared contact information is added, and when the shared contact information is transmitted from another programmable controller via the network, the program execution means causes an interrupt to cause the unique contact user to operate. The execution of the program is interrupted, the corresponding shared contact user program stored in the shared contact user program memory is read based on the program instruction information added to the shared contact information, and the shared contact user program is transmitted. Using shared contact information Rows, characterized in that.

According to a third aspect of the present invention, in the programmable controller according to the second aspect, the shared contact information used by each of the plurality of shared contact user programs is transmitted / received for each communication port, and the shared contact information is contained in each shared contact information. The communication port number is added as the program instruction information, and the program execution means stores each communication port number in advance and a shared contact user program using each shared contact information transmitted via each communication port. It has a corresponding communication port information table, and when the shared contact information is transmitted from another programmable controller via the network, the communication port number as the program instruction information added to the shared contact information is added. Based on the above communication port information table, the shared contact user program Reads the shared contact user program corresponding stored in Li, characterized in that.

According to a fourth aspect of the present invention, in the programmable controller according to the first aspect, the second aspect, or the third aspect, the unique contact user program reads shared contact information from another programmable controller via a network. The command execution means normally executes the unique contact user program stored in the unique contact user program memory, and when the above command is executed, the program execution means normally executes the unique contact user program stored in the unique contact user program memory. , If the shared contact read command is transmitted to another programmable controller via the network and the shared contact information is transmitted from the other programmable controller via the network, an interrupt causes the unique contact user program of the above-mentioned unique contact user program to be transmitted. Interrupt the execution, Shared contacts the user program stored in the Reed user program memory using a shared contact information sent the run, characterized in that.

According to another aspect of the invention, the shared contact information is not used in a programmable controller that shares contact information with another programmable controller by communication via a network and executes a user program based on the shared contact information. Unique contact user program memory that stores the unique contact user program,
Normally, when the unique contact user program stored in the unique contact user program memory is executed and the shared contact information and the shared contact user program using the shared contact information are sent from another programmable controller via the network. Includes a program executing means for interrupting the execution of the unique contact user program by an interrupt and executing the shared contact user program using the transmitted shared contact information.

[0012]

According to the present invention, the shared contact user program that uses the shared contact information and the unique contact user program that does not use the shared contact information are separately stored, and normally, the unique contact user program is executed to establish the network. If shared contact information is sent from another programmable controller via an interrupt, the execution of the unique contact user program is interrupted and the shared contact user program is executed using the sent shared contact information. To

Further, a plurality of shared contact point user programs are distinguished by program numbers, and the shared contact point information is transmitted by adding program instruction information indicating the program number of the shared contact point user program using the shared contact point information. Then, when such shared contact information is transmitted, the execution of the unique contact user program is interrupted and the shared contact user program specified by the program instruction information added to the shared contact information is interrupted. Alternatively, the shared contact information transmitted may be used for execution.

Further, according to the present invention, the shared contact point user program that uses the shared contact point information is not owned, and only the unique contact point user program that does not use the shared contact point information is owned. When the stored unique contact user program is executed and the shared contact information and the shared contact user program that uses the shared contact information are sent from another programmable controller via the network, the interrupt causes the unique contact user program. May be interrupted and the shared contact user program may be executed using the shared contact information.

[0015]

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

FIG. 1 shows the configuration of the first embodiment of the programmable controller according to the present invention.

As shown in the figure, the programmable controller A is composed of a CPU unit 1 and a communication unit 2, and the CPU unit 1 and the communication unit 2 are internally connected via a system bus 3. And is externally connected to the communication network N via the communication unit 2.

The CPU unit 1 includes an MPU 11 for controlling the entire unit 1 and a system ROM 1 in which a system program for controlling the entire unit 1 is stored.
2, a work RAM 13 used as a work area for the MPU 11, and a system bus interface (I /
F) 14 and user program memories 15a to 15c in which different user programs are stored.

Here, in this embodiment, the user program memory 15a stores a unique contact user program that uses unique contact information that does not use shared contact information through communication of the network N. Each of 15b and 15c stores a shared contact point user program that uses shared contact point information through communication of the network N. Since there are a plurality of shared contact point user programs, a program number is assigned to each of them. And

The communication unit 2 includes an MPU 21 that controls the entire main unit 2 and a system ROM 22 that stores a system program for controlling the entire main unit 2.
And a work RAM 23 used as a work area for the MPU 21, and a system bus interface (I / F)
24, a shared RAM 25 connected to the system interface 24, and a communication controller 26 that transmits and receives data to and from the network N.

The shared RAM 25 is an MP of the communication unit 2.
Not only U21, but also the MPU 11 of the CPU unit 1 can access via the system bus 3, and the MPU 11 writes contact information data and commands to be transmitted on the network N, or the communication unit 2 fetches from the network N. In order to read the data of the contact information, the response, etc., the access between the MPU 11 and MPU 21 is configured to be bus arbitrated by the multiport or single port.

Although not shown in the figure, a plurality of other programmable controllers configured as described above are connected to the communication network N, and communication is performed through the network N to establish communication. The shared contact information is shared with the programmable A.

FIG. 2 shows each user program memory 15a.
15C shows a memory map of the unique contact and shared contact user programs stored in 15c.

As shown in the memory map M, the user program stored in each of the user program memories 15a to 15c is assigned the top address of the program storage area.

Specifically, the user program memory 15
The start address 1 is assigned to the unique contact user program stored in a, and the user program memory 15
The head address 2 is assigned to the shared contact user program 1 stored in b and the user program memory 1
A head address 3 is assigned to the shared contact user program 2 stored in 5c.

Incidentally, this memory map M shows that if there are still other shared contact user programs, the leading addresses up to n are similarly assigned.

FIG. 3 shows a user program management table in the CPU unit 11.

This user program management table T1
Are created at the same time when a user program to be stored in the user program memories 15a to 15c is created by a programming tool or the like. Referring to the memory map M shown in FIG. n is stored and is stored in the MPU 11 or the work RAM 13 or the like.

Next, a user program execution process in the programmable controller configured as above will be described.

FIG. 4 shows the overall processing of this programmable controller.

In this programmable controller A,
First, the MPU 11 performs general initial processing (step 100), and subsequently does not use the shared contact information via the communication of the network N, that is, this programmable controller A is a unique contact that is independent of other programmable controllers. The information is used to perform the unique contact processing described later that executes the unique contact user program stored in the user program memory 15a (step 20).
0) until various commands and responses including shared contact information are sent from another programmable controller via the network N (step 300 “No”),
This unique contact processing (step 200) is repeated.

When various commands and responses including shared contact information are sent from another programmable controller via the network N during this unique contact processing (step 300 "Yes"), the communication of the communication unit 2 is performed. The controller 26 receives it, writes it in the shared RAM 25 via the system bus interface 24, and the MPU 21 or the like of the communication unit 2 receives a command or response from another programmable controller to the CPU unit 1 via the system bus 3. This is notified by interruption (step 400).

In the CPU unit 1, the MPU 11 receives the interrupt notification via the system bus interface 14, temporarily interrupts the above-mentioned unique contact processing, and accesses the shared RAM 25 of the communication unit 2 via the system bus 3 to access the network N. A command or response communicated from another programmable controller via the shared RAM 25 is written to the work RAM 13 and analyzed to determine whether the received command or response includes shared contact information. (Step 50
0).

Here, if the shared contact information is not included in the command or response received from another programmable controller via the network N (step 500 "No"), the interrupt processing is terminated and the above step is executed. While continuing to carry out 200 unique contact processing,
When the received command or response includes the shared contact information (step 500 “Yes”), the user program memory 1 is used by using the shared contact information or the like.
The shared contact processing described below is executed to execute the shared contact user program stored in 5b and 15c (step 60).
0), and after the shared contact processing is completed, the above step 200
Return to the original contact processing of.

Next, the unique contact processing of step 200 in FIG. 4 will be described in detail with reference to the drawings.

FIG. 5 shows the unique contact processing of step 200 in FIG.

In this unique contact processing, the MPU 11 first reads and executes the unique contact user program using the unique contact stored in the user program memory 15a (step 210), and during execution of the unique contact user program. It is determined whether or not the N_READ command for instructing the transmission of the shared contact read command to the other programmable controller via the network N has been executed (step 220).

If it is determined that the N_READ command has been executed, after the execution of one scan of the unique contact user program is completed, a shared contact read command is issued via the network N as one of the peripheral processing. To the programmable controller (step 23
0), after the shared contact read command is transmitted, other peripheral processing such as data input / output processing is performed (step 24).
0) After the peripheral processing is completed, the processing returns to the processing for executing the unique contact user program (step 210) and the above processing is cyclically repeated.

FIG. 6 shows in detail the transmission processing of the shared contact read command of step 230 in FIG.

In the first embodiment, the shared contact read command is transmitted to another programmable controller via the network N by executing the N_READ command described in the unique contact user program as described above. There is.

Further, in this embodiment, since the shared contact information is communicated in units of channels of the programmable controller A, the N_READ command includes the network address of the partner programmable controller to which the command is transmitted and the communication port number ( When sending a shared contact read command to multiple programmable controllers at the same time, this is an identifier for distinguishing the responses.), The program number of the shared contact user program that is started when the shared contact read response is received, the other party Parameters such as the start channel of shared contact information in the programmable controller, the start channel of the area for storing the shared contact information received from the partner programmable controller, and the number of channels requested to be received are described.

The operation of the transmission process will be described below.
Is executed by executing the N_READ instruction.
The network address of the partner programmable controller is taken out from the above parameters of the EAD command and set to the shared contact read command to be transmitted (step 231), and the network address of the own programmable controller is also set to the shared contact read command (step 232). Further, a command code is set (step 233).

Next, the communication port number is extracted from the parameter and set in the shared contact read command to be transmitted (step 234), and the start channel of the shared contact information in the partner programmable controller to be received is extracted from the parameter. Set to the shared contact read command (step 235), and the number of reception request channels described in the parameter is set to the shared contact read command (step 23).
6) Send the shared contact read command in which the various parameters of the N_READ command are set using the designated port (step 237).

After that, the program number of the shared contact user program which is activated when the response to the shared contact read command is received is taken out from the parameter of the N_READ command, and the program number is shown in the memory map M shown in FIG. 2 and in FIG. With reference to the user program management table T1 shown in the table, it is converted into the head address of each user program and set in the communication port information table T2 shown in FIG.
8) Then, the contact information storage area start channel of the partner programmable controller is taken out from the parameter and set in the communication port information table T2 (step 2).
39), the shared contact read command transmission process by the execution of this N_READ command ends.

FIG. 7 shows the format of the shared contact read command transmitted by the processing of the N_READ command shown in FIG.

The shared contact read command C1 is transmitted from the partner programmable controller network address, the self program controller network address, the command / response code, the communication port number, and the partner programmable controller to be received by the processing shown in FIG. Start channel for shared contact information,
And the number of channels requesting reception is set and transmitted.

FIG. 8 shows steps 238 and 23 shown in FIG.
9 shows a communication port information table T2 created by the processing of No. 9.

In this communication port information table T2, as shown in the figure, the port numbers 0 to m are set for each communication port.
Corresponding to (m is a natural number), the start address of the shared contact user program that is activated when the shared contact read response from the partner programmable controller that sent the shared contact read command is received, and the shared contact information from the partner programmable controller. The start channel of the storage area of is stored.

Therefore, this communication port information table T2
, A shared contact read command C1 (see FIG. 7) and a shared contact read response R having a configuration described later.
1 (see FIG. 10) and the communication port number,
Since the start address of the shared contact user program that is activated when the shared contact read response is received and the start address of each user program correspond by the memory map M (see FIG. 2), The communication port number is the program instruction information for instructing the shared contact user program that uses the shared contact information.

Although the communication port number is used as the program instruction information in this embodiment, the program number of the shared contact user program is directly used as the program instruction information, and the shared contact read command C1 or The program number of the shared contact user program may be set in the shared contact read response R1 together with the communication port number or instead of the communication port number.

Next, the process of transmitting shared contact information on the partner programmable controller side that has received the shared contact read command will be described.

FIG. 9 shows a process of transmitting shared contact information on the partner programmable controller side that has received the shared contact read command.

Upon receiving the shared contact read command, the partner programmable controller first takes out the network address of the request source programmable controller from the shared contact read command and sets it in the network address of the partner programmable controller of the shared contact read response. (Step 70
0), followed by setting the network address of its own programmable controller in the shared contact read response (step 710) and the response code (step 7220).

Next, the communication port number in the shared contact read command is set as it is in the shared contact read response (step 740), and the contact information start channel of the partner programmable controller on the receiving side is set.
The number of reception request channels is taken out, contact information corresponding to the number of request channels is read from the channels, the shared contact read response is set together with the read channel number (step 750), and the shared contact read response is transmitted ( Step 760), the process ends.

FIG. 10 shows the format of the shared contact read response returned to the programmable controller that has transmitted the shared contact read command by the processing of FIG.

The shared contact read response R1 is, as shown in the figure, the network address of the partner programmable controller which is the source of the shared contact read command,
The shared contact read command is composed of the network address of its own programmable controller which is the receiving side, the command / response code, the communication port number, the number of channels of the read shared contact information, and the read shared contact information, and is transmitted.

Next, the shared contact process of step 600 in FIG. 4 will be described in detail.

FIG. 11 shows the shared contact processing of step 600 in FIG. 4 in detail.

The shared contact process shown in FIG. 11 is during the unique contact process, that is, N_in the unique contact user program.
It shows the processing when the programmable controller that has transmitted the shared contact read command by executing the READ command receives the shared contact read response.

Specifically, when the MPU 11 receives the shared contact read response from the partner program controller via the network N, first, the MPU 11 selects the partner programmable controller corresponding to the communication port number from the communication port information table T2 shown in FIG. The start channel of the shared contact information storage area is searched, the shared contact information included in the shared contact read response received via that channel is read (step 610), and whether or not the unique contact user program is being executed. Is determined (step 620).

If the unique contact user program is being executed (step 620 "Yes"), the execution of the unique contact user program is interrupted (step 630), and the interrupted unique contact user program is further interrupted. The execution information of is saved in an arbitrary save area such as the work RAM 13 (step 640).

Then, the head address of the shared contact user program corresponding to the communication port number is fetched from the communication port information table T2, and the EN is entered in the program.
Until the D command is found, the shared contact user program that has been transmitted is continuously used to execute the shared contact user program (step 650), and after the execution of the shared contact user program, the unique contact user program or the like is interrupted. It is determined whether the execution is suspended (step 66).
0), only when the execution of the unique contact user program is interrupted (step 660 “Yes”), work RAM
The execution information saved in 13 or the like is restored (step 670), the suspended unique contact user program is resumed (step 680), and the above shared contact processing is ended.

When there is another shared contact user program whose execution is interrupted after the execution of the shared contact user program, that is, when the shared contact information is continuously input to different shared contact user programs. Causes the other shared contact user program that has been suspended to resume execution in the same manner, and then resumes the execution of the unique contact user program that has suspended execution.

Specific examples of the unique contact user program and the shared contact user program in this embodiment will be described below.

FIG. 12 shows the entire PC system constituted by the programmable controller of the first embodiment.

In this PC system, as shown in the figure,
Three programmable controller PCs according to this embodiment
(A) to (C) are configured via the network N, and each has a configuration as shown in FIG.

In this system, since the reading of data such as shared contact information via the network N is performed for each channel as described above, the PC (A) is connected to the contact A1.
Channel A and PC (B) of ~ A4 are designated as channel B of contacts B1 and B2, and PC (C) is designated as channel C of contacts C1 and C2. In addition, PC (A) ~
(C) has channels X and Y as internal contact areas, and channels X1, X2, ...
, Y1, Y2, ... Can be used to execute the user program.

Here, when the input contact A1 is turned on, the PC (A) reads the input contacts B1 and B2 of the PC (B) through the network N, and when both the input contacts B1 and B2 are turned on. When the output contact A3 is turned on and the input contact A2 is turned on, the input contacts C1 and C2 of the PC (C) are turned on.
Is read out via the network N and input contacts C1, C2
When both are ON, the output contact A4 is turned ON,
The application processing is called.

FIGS. 13A to 13C show specific examples of user programs written in the ladder language in PLC (A) assuming the above application processing.

In the configuration of this embodiment shown in FIG. 1, (a) shows the unique contact user program stored in the user program memory 15a.

Specifically, when the contact A1 is turned on, the unique contact user program P1 reads the shared contact information from the channel B of the PC (B) using the communication port 0, and the shared contact information. When a response including is sent back, the shared contact user program P2 stored in the user program memory 15b after being written in the channel X
To read and start. Next, when the contact A2 is turned on, the shared contact information is read from the channel C of the PC (C) using the communication port No. 1, and when the response including the shared contact information is returned, it is written in the channel Y. After that, another shared contact user program P3 stored in the user program memory 15c is read and activated.

(B) is the user program memory 15b
Shows a shared contact user program P2 stored in, specifically, when both contacts X1 and X2 are ON,
A program for turning on the contact A3 is shown.

(C) is a user program memory 15c
Shows a shared contact user program P3 stored in, specifically, when both contacts Y1 and Y2 are ON,
A program for turning on the contact A4 is shown.

Therefore, by executing the command execution and the command / response processing in this embodiment described above,
By processing the user programs shown in FIGS. 13A to 13C, the first N in the unique contact user program P1 is processed.
After receiving the shared contact information via the network N by executing the _READ command, the shared contact user program P2 is executed using the shared contact information, while the second contact in the unique contact user program P1 is executed. N_
By executing the READ command, the network N
After receiving the shared contact information via the shared contact information, the shared contact user program P2 is executed using the shared contact information.

Therefore, according to this embodiment, the user program is divided into the shared contact user program and the unique contact user program and stored, and normally only the unique contact user program unrelated to the communication via the network N is stored. On the other hand, when the shared contact information is transmitted through the network, the shared contact user program is executed using the shared contact information by the interrupt, so the shared contact user program and the unique contact user program are executed. It becomes possible for the execution of the user program to follow the change of the contact information in real time, as compared with the conventional programmable controller in which and are mixed together into one.

If shared contact information is not sent from another programmable controller via the network, the shared contact user program is not executed.
Even in such a case, the cycle time can be shortened as compared with the conventional programmable controller that executes the shared contact user program in which the shared contact user program and the unique contact user program are mixed and integrated into one. Become.

Further, in this embodiment, the programmable controller A has a plurality of shared contact user programs, executes each shared contact user program corresponding to the communication port, and transmits from the partner programmable controller. The shared contact read response that is sent includes not only the shared contact information but also the communication port number corresponding to the shared contact user program that uses the shared contact information. The controller can select and execute the shared contact user program corresponding to the communication port number from multiple shared contact user programs by using the shared contact information included in the shared contact read response. Improves processing applicability and elasticity .

Next, a second embodiment of the programmable controller according to the present invention will be described.

The programmable controller of the second embodiment has almost the same hardware configuration as that of the first embodiment shown in FIG. 1, but the second embodiment differs from the first embodiment in that the shared contact user. The programmable controller side that executes the program does not need to own the shared contact user program, and in the configuration of the first embodiment shown in FIG. 1, it has only the user program memory 15a storing the unique contact user program, User program memories 15b and 15c storing programs
It is characterized by not having.

That is, unlike the first embodiment, the programmable controller of the second embodiment has N_RE.
Instead of executing a shared contact read command to another programmable controller by executing the AD instruction and receiving a shared contact read response from the programmable controller, the shared contact user program is not executed, but N_WRI by another programmable controller.
The shared contact user receives the shared contact information from the other programmable controller via the network by executing the TE command, and the shared contact write command including the shared contact user program to be executed using the shared contact information. The feature is that the program is executed.

Therefore, the N_WRITE command is described in the user program as described above, but like the first embodiment, the N_WRITE command is sent together with the command, the network address of the partner programmable controller to which this command is transmitted, and the communication. Executed on the partner programmable controller that received the shared contact write command based on this command, the port number (when sending shared contact read commands to multiple programmable controllers at the same time, this is an identifier for distinguishing the responses.) Program number of shared contact user program to be set, start channel of shared contact information in self programmable controller to be written, storage channel start channel of shared contact information from self programmable controller in partner programmable controller And the number of channels for requesting writing, parameters etc. is to be written in a user program.

FIG. 14 shows in detail the process of transmitting the shared contact write command in the second embodiment.

When the MPU or the like executes the N_WRITE command in the unique contact user program on the programmable controller side that transmits this shared contact write command,
First, the network address of the partner programmable controller is fetched from the above parameters of the N_WRITE command and set in the shared contact write command to be transmitted (step 800), and the network address of the own programmable controller is also set in the shared contact write command ( In step 810, a command code is set (step 820).

Next, the communication port number is extracted from the parameter and set in the shared contact write command (step 830), and the start channel of the shared contact information storage area in the own programmable controller to be received is extracted from the parameter. , The shared contact write command is set (step 840), and the number of write request channels is also set in the shared contact write command (step 850).

Then, from the parameters of the N_WRITE command, the start channel of the shared contact information of the own programmable controller to be written and the number of write request channels are taken out, and the shared contact information for the specified number of channels is extracted from that channel. Read and set the shared contact write command together with the number of write request channels (step 8
60) Further, the user program number is extracted from the parameter, the start address of the user program is searched by referring to the memory map M and the user program address management table T1, and the user program at the start address is copied to the shared contact write command. Then, (step 870), the shared contact write command set as above using the designated port is transmitted to the communication partner programmable controller (step 880).

FIG. 15 shows step 880 in FIG.
The format of the shared contact write command transmitted in the process of FIG.

The shared contact write command C2 is obtained by the process shown in FIG. 14 by setting the network address of the partner programmable controller, the network address of the own program controller, the command / response code, the communication port number, and the shared contact information of the own programmable controller. It is composed of the start channel of the area to be stored, the number of channels for which writing is requested, shared contact information for which writing is requested, and a shared contact user program executed by using the shared contact information writing.

Next, the processing of the programmable controller on the receiving side of the shared contact write command will be described.

FIG. 16 shows in detail the processing of the programmable controller on the receiving side of the shared contact write command.

First, in the programmable controller which has received the shared contact write command configured as shown in FIG. 15, the contact information for the number of write request channels is read from the shared contact write command, and the requested storage area start channel is read. More writing (step 900), and then it is determined whether or not a user program such as a unique contact is being executed (step 910).

If it is determined that the user program such as the unique contact is being executed (step 910 "Y").
es "), the execution of the user program is interrupted (step 920), and the execution information of the interrupted user program is saved in an arbitrary area such as the work RAM 13 (step 930).

Then, the shared contact information stored in the shared contact write command received via the network and the shared contact user program are read and stored in the work RAM 13 or the like, and the read shared contact information is used. The shared contact user program that has been similarly read out is continuously executed until the END instruction is found in the user program (step 940).

After the execution of the shared contact user program, the response to the shared contact write command is returned to the request source (step 950), and then it is judged whether or not the execution of the user program was interrupted (step 9).
60), only when the execution of the user program such as the original contact is interrupted (step 960 “Yes”), the execution information saved in the work RAM 13 or the like is restored (step 970) and the execution information is restored. After that, the execution of the interrupted user program such as the unique contact is restarted (step 680), and the above processing is ended.

After the execution of the shared contact user program, if there is another shared contact user program whose execution has been interrupted, the other shared contact user programs are similarly restarted and then executed. Restart the execution of the original contact user program that had been suspended.

FIG. 17 shows step 950 in FIG.
The format of the shared contact write response returned to the programmable controller that has transmitted the shared contact write command in the processing of 1.

As shown in the figure, the shared contact write response R2 is composed of the network address of the partner programmable controller, the network address of its own programmable controller, the command / response code, and the communication port number. It will be returned to the programmable controller that sent the shared contact write command.

Therefore, according to the second embodiment, the shared contact information and the shared contact write command including the shared contact user program that uses the shared contact information are communicated between the programmable controllers via the network. , The programmable controller that has received the shared contact write command uses the transmitted shared contact information to execute the shared contact user program that is also transmitted. Therefore, the shared contact user program is executed. The programmable controller side does not need to own the shared contact point user program, it is not necessary to provide a memory for storing the shared contact point user program, and the shared contact point user program can be shared and distributed.

Therefore, according to the second embodiment, as in the first embodiment, the shared contact user program and the unique contact user program are mixed and integrated into a single programmable controller. Then, it becomes possible to follow the change of the contact information in real time, and when the shared contact information or the shared contact user program that uses the shared contact information is not transmitted from other programmable controllers via the network. Since it is not necessary to execute the shared contact user program, the cycle time can be shortened.

[0099]

As described above, according to the present invention, the user program is separately stored in the shared contact user program and the unique contact user program, and is normally independent of communication through the network N. While executing only the contact user program, when the shared contact information is sent through the network, the shared contact user program is executed using the shared contact information by an interrupt. Compared with the conventional programmable controller in which the and unique contact user programs are mixed and integrated into one, the execution of the user program can follow the change of the contact information in real time.

If shared contact information is not input from another programmable controller via the network, the shared contact user program is not executed. Therefore, even in such a case, the shared contact user program and the unique contact user program are mixed. Therefore, the cycle time can be shortened as compared with the conventional programmable controller that executes the shared contact user program because it is only one.

Further, according to the present invention, not only the shared contact information but also the program instruction information for instructing the shared contact user program that uses the shared contact information is transmitted through the network. The received programmable controller can use the shared contact information to select and execute the corresponding shared contact user program from multiple shared contact user programs, improving the applicability and elasticity of execution of the shared contact user program. To do.

Furthermore, in the present invention, together with the shared contact information, the shared contact user program that uses the shared contact information is communicated between the programmable controllers via the network, and the shared contact information and the shared contact user program are stored. By using the shared contact information received by the programmable controller to execute the shared contact user program that is also transmitted, the contact information of the contact information as described above is compared with the conventional programmable controller. In addition to being able to follow changes in real time and shortening the cycle time, the programmable controller that executes the shared contact user program does not need to own the shared contact user program. Together we need to provide a pay memory is eliminated, allowing shared and distributed shared contacts the user program.

[Brief description of drawings]

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

FIG. 2 is an explanatory diagram showing a memory map of user programs stored in user program memories 15a to 15c.

FIG. 3 is an explanatory diagram showing a user program management table.

FIG. 4 is a flowchart showing the overall processing of the programmable controller.

5 is a flowchart showing in detail the normal contact processing of step 200 in FIG.

6 is a flowchart showing in detail the transmission processing of a step 230 shared contact read command in FIG.

7 is an explanatory diagram showing a format of a shared contact read command transmitted in the process of step 237 in FIG.

8 is an explanatory diagram showing a communication port information table T2 created by the processing of step 238 and the like shown in FIG.

FIG. 9 is a flowchart showing a shared contact information transmission process on the partner programmable controller side that receives a shared contact read command.

10 is an explanatory diagram showing a format of a response message returned to the programmable controller that has transmitted the shared contact read command by the processing of FIG. 9.

FIG. 11 is a flowchart showing in detail the shared contact processing of step 400 in FIG.

FIG. 12 is an explanatory diagram showing an entire PC system including the programmable controller according to the first embodiment.

FIG. 13 is an explanatory diagram showing a specific example of a user program of a unique contact and a shared contact.

FIG. 14 is an explanatory diagram showing details of a shared contact write command transmission process.

FIG. 15 is an explanatory diagram showing a format of a shared contact write command.

FIG. 16 is a flowchart showing in detail the processing of the programmable controller on the reception side of the shared contact write command.

FIG. 17 is an explanatory diagram showing a format of a response message returned to the programmable controller that has transmitted the shared contact write command.

[Explanation of symbols]

A programmable controller (PC) B programmable controller C programmable controller N network 1 CPU unit 11 MPU (program executing means) 12 system ROM 13 work RAM 14 system bus interface 15a user program memory (normal contact program memory) 15b user program memory (shared Contact program memory) 15c User program memory (shared contact program memory) 2 Communication unit 21 MPU 22 System ROM 23 Work RAM 24 System bus interface 25 Shared RAM 26 Communication controller 3 System bus C1 Shared contact read command C2 Shared contact write command R1 Shared Contact read response R1 Shared contact write response T1 User program management table T2 communication port information table

Claims (5)

[Claims] 1. A programmable controller that shares contact information with another programmable controller by communication via a network and executes a user program based on the shared contact information, and stores a shared contact user program that uses the shared contact information. The shared contact user program memory, the unique contact user program memory that stores the unique contact user program that does not use the shared contact information, and the unique contact user program that is normally stored in the unique contact user program memory. When the shared contact information is sent from another programmable controller via the, the execution of the unique contact user program is interrupted and the shared contact user program stored in the shared contact user program memory is interrupted. A program controller for executing a program using the transmitted shared contact information, and a programmable controller. 2. The shared contact user program memory comprises:
A plurality of shared contact point user programs are stored, and program instruction information for instructing a shared contact point user program that uses the shared contact point information is added to the shared contact point information. When the shared contact information is transmitted from the programmable controller, the execution of the unique contact user program is interrupted and the shared contact user program memory is stored in the shared contact user program memory based on the program instruction information added to the shared contact information. The programmable controller according to claim 1, wherein the stored corresponding shared contact user program is read, and the shared contact user program is executed by using the transmitted shared contact information. 3. Shared contact information used by each of a plurality of shared contact user programs is transmitted and received for each communication port,
Moreover, the communication port number is added as program instruction information to each shared contact information, and the program execution means preliminarily stores each communication port number and each shared contact information transmitted via each communication port. It has a communication port information table corresponding to the shared contact user program to be used, and when the shared contact information is transmitted from another programmable controller via the network, the program added to the shared contact information. The programmable controller according to claim 2, wherein the corresponding shared contact user program stored in the shared contact user program memory is read out by referring to the communication port information table based on the communication port number as the instruction information. 4. The unique contact user program includes an instruction for transmitting a shared contact read command for requesting reading of shared contact information to another programmable controller via a network, and the program execution means is usually Executes the unique contact user program stored in the unique contact user program memory, and when the above command is executed, sends the shared contact read command to another programmable controller via the network, and connects the network. If the shared contact information is transmitted from the other programmable controller via the interrupt, the execution of the unique contact user program is interrupted by an interrupt, and the shared contact user program stored in the shared contact user program memory is transmitted. Shared contact information Claim 1, claim 2 or claim 3 programmable controller according performed using, it is characterized by the. 5. A programmable controller that shares contact information with another programmable controller by communication via a network and executes a user program based on the shared contact information, and stores a unique contact user program that does not use the shared contact information. Shared contact user program memory that executes the unique contact user program memory and the unique contact user program normally stored in the above unique contact user program memory, and uses the shared contact information and other shared contact information from another programmable controller via the network. When a program is transmitted, a program execution means for interrupting the execution of the unique contact user program by an interrupt and executing the shared contact user program using the transmitted shared contact information, A programmable controller comprising: