JPH09292982A - Program developing and executing device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To realize the development of a program for operating on a CPU mounting device by a simple knowledge and irreducibly minimum key operation concerning a program developing and executing device. SOLUTION: The device consists of a program developing device 1 developing the program and a program executing program 4 mounting CPU 10 executing a desired operation by executing the program developed by the program developing device 1 by this CPU 10. The program developing device 1 is provided with a function preparing the basic unit of operation based on inputted information by a necessary number time chart style and arranging them in the order of desired operations so as to generate a machine language CPU 10 can operate. The program executing program 4 is provided with a function executing the machine language program under an internal managing software.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to various computer systems (systems including input / output devices, external storage devices, etc.) which are CPU-equipped devices, and various mechanical control devices (for example, ATM control) used in the field of mechanical electronics. System, various robot control devices, etc.), and a program development / execution device that can be used for developing various programs used in a program controller (PLC) and the like.

[0002]

2. Description of the Related Art A conventional example will be described below. FIG.
[Fig. 3] is an explanatory diagram of a conventional example, the diagram is a design operation explanatory diagram, and the diagram is a source code creation operation explanatory diagram. Conventionally, a large number of operation programs have been used for CPU-equipped devices such as various mechanical control devices (for example, ATM control systems and various robot control devices). When developing these programs, generally, they were developed by the following work.

Design work such as specification creation, examination of algorithm, etc .: Source code creation work: Assembling work (conversion to machine language): Debugging work: The above-mentioned work is repeated as necessary.

Among the above-mentioned works, the works (1) to (3) in particular require a high degree of specialized knowledge, skill, know-how and work period. For example, when developing a program in which the input signal A on the execution device is turned ON and the motor is rotated 100 steps after 100 ms, the following procedure is performed. In the design work, work such as specification writing, algorithm determination, and detailed design is performed, and the results of each work are documented. As a result, for example, the flowchart as shown in the diagram of FIG. 16 is obtained.

In the above flow chart, a step of judging the signal state of the A signal and waiting until the A signal becomes 0N,
When the A signal is turned on, the timer is started and 100m
It consists of a step of waiting s and a step of rotating the motor control condition 100 steps after the lapse of 100 ms.

In the above-mentioned source code creation work, the source code creation work is carried out based on the information documented by the above-mentioned design work. In this case, the language of the CPU to be used and the contents of operation are sufficient in advance. After understanding the above, the work of creating the source code for operating according to the above-mentioned flowchart is performed. In the work of creating the source code, for example, the work is performed while inputting the source code as shown in the figure from the keyboard.

In the above: Assembling work (conversion to machine language), the source code created in the above work is converted into a machine language by a dedicated development system. This work is repeated from the above work until the error is eliminated.

The above: In the debugging work, the machine language program converted in the above work is loaded into an actual machine, the operation is verified, and if the specification is different, the work is reviewed and corrected again.

In the above-mentioned work, the above-mentioned work is repeated if necessary.

[0010]

The above-mentioned prior art has the following problems. That is, in order to develop a program that can perform the desired operation, target CP
It is necessary to understand the behavior of U and have a high degree of relevant knowledge. To learn these,
Requires a certain level of skill and a lot of time. Therefore,
The technology that anyone can program easily and in a short time is required, but it is necessary to reduce the conditions for programming and to eliminate the repetitive work in the program development process. The work does not meet the above conditions.

The present invention solves these conventional problems and develops a program that operates on a CPU-equipped device.
The purpose is to enable it to be realized with simple knowledge and minimum required key operations.

[0012]

FIG. 1 is a diagram illustrating the principle of the present invention. The present invention is configured as follows to achieve the above object. (1): The program development / execution device is composed of a program development device 1 and a program execution device 4, and the program development device 1 and the program execution device 4 are communicably connected to each other and are connected to the program execution device 4. Is connected to the controlled device 5. In the program development device 1, an input / output signal allocating unit 21, a basic operation unit creating unit 22, a rearrangement processing unit 24, an automatic source code generating unit 23, a machine language converting unit 25, a machine language combining unit 26, etc. Is provided. A CPU 10 is provided in the program execution device 4.

(2): The program development / execution device includes a program development device 1 for developing a program and a CPU 10.
Equipped with, and the program development device 1 by this CPU 10
And a program execution device 4 for executing a desired operation by executing the program developed in 1.
Has a function of creating a machine language program in which the CPU 10 can operate by creating a basic number of operations in a required number of time charts based on input information and arranging them in a desired operation order. Further, the program execution device 4 has a function of executing the machine language program under internal execution management software.

(3): The program development / execution device is equipped with a program development device 1 for performing a program development process based on input information and a CPU 10, and the CPU 10 executes a program developed by the program development device 1. And a program execution device 4 for performing a desired operation.

Then, the program development apparatus 1 allocates the input / output signals input / output to / from the program execution apparatus 4 based on the input information to generate the definition object information, and the definition object. A basic unit creating unit 22 for creating a required number of basic units of motion based on information and input information, and a rearrangement process for editing the order information of motions by rearranging the basic units of motion in the desired motion Part 24
And a source code automatic generation unit 23 for converting the basic unit of the operation into a source code suitable for the CPU and converting the order information of the operation into a sequence source code.
And a machine language conversion / combining means (machine language conversion unit 25, machine language combination unit 26) that creates an execution format program in machine language from the sequence source code and each source code and outputs it to the program execution device 4. , Means including a transmission unit).

(4): In the program development / execution device of (3) above, the program execution device 4 is a controlled device 5
An output signal processing means for processing an output signal to the control target device 5, an input signal processing means for processing an input signal from the control target device 5, and a main processing means having the CPU 10.
The parallel processing of multiple CPUs is enabled, and the main processing means includes execution management software for facilitating execution of the machine language program, and the output signal processing means and the input signal processing means under the execution management software. To drive the machine language program to execute the machine language program.

(5): In the program development / execution device of the above (3), the operation basic unit creating section 22 includes a time chart information processing means for creating and creating the basic unit of operation by a time chart waveform. ing.

(6): In the program development / execution device of (5), the basic unit creating unit 22 for the operation describes the basic unit of the operation by a time chart waveform and creates the time chart waveform. The horizontal axis does not have a concept of a time axis, and a control statement management unit for managing by a control statement is provided.

(7): In the program development / execution device of the above (6), the source code automatic generation unit 23 has a basic unit of operation created by the basic unit creation unit 22 of operation described by a time chart waveform, and The rearrangement processing unit 24
The sequence information of the operations edited by the
And a source code automatic conversion means for converting into a source code suitable for the above and a sequence source code.

(Operation) The operation of the present invention based on the above configuration will be described with reference to FIG. (a) Operation of (1) In the program development device 1, the input / output signals of the program execution device 4 are allocated based on the input information, and the definition file in which the definition information is registered is created. After that, the operation basic unit creation unit 22 creates the basic unit (minimum unit) of the operation in the time chart format by using the definition file and the input information.

Next, the rearrangement processing unit 24 rearranges the basic units of the motions so that the motions are the target motions, and edits the motion order information. The source code automatic generation unit 23 converts the basic unit of the operation into a source code in which the CPU 10 can operate, and also converts the order information of the operation into a sequence source code.

Next, the machine language conversion unit 25 converts the source code and the sequence source code generated by the source code automatic generation unit 23 into a machine language and machine language sequence data, respectively. After that, the machine language combining unit 26
The machine language sequence data is used to combine the machine languages to generate an executable program. Then, the program in the execution format generated by the machine language coupling unit 26 is transmitted to the program execution device 4.

On the other hand, when the program execution device 4 receives the program in the execution format in the machine language, the CPU 10 executes the program under the execution management software to control the device 5 to be controlled. As described above, development of a program that operates on a CPU-equipped device can be realized with simple knowledge and minimum necessary key operations.

(B) Action of (2) The program development device 1 creates and describes the basic unit of operation in the required number of time charts based on the input information,
By arranging them in the desired operation order, a machine language program that allows the CPU 10 of the program execution device 4 to operate is created. After that, when the program execution device 4 receives the program in the execution format in the machine language developed by the program development device 1, the CPU 10 executes the machine language program under the internal execution management software.

As described above, the development of a program that operates on a CPU-equipped device can be realized with simple knowledge and minimum necessary key operations. Further, by transmitting the program developed by the program development device to the program execution device, and the program execution device having received the program executes the program, it becomes possible to immediately verify whether or not the intended operation has been performed. . Therefore, it is not necessary to debug the developed program.

(C) Operation of (3) The program development apparatus 1 allocates input / output signals of the program execution apparatus 4 based on the input information, and creates a definition file in which definition information is registered. After that, the operation basic unit creation unit 22 creates the basic unit (minimum unit) of the operation in the time chart format by using the definition file and the input information.

Next, the rearrangement processing section 24 rearranges the basic units of the above-mentioned motions so as to become the target motions, and creates motion order information. The source code automatic generation unit 23 converts the basic unit of the operation into a source code in which the CPU 10 can operate, and also converts the order information of the operation into a sequence source code.

Next, the machine language conversion / combining means converts the source code and the sequence source code generated by the source code automatic generation unit 23 into a machine language and machine language sequence data, respectively, and the machine language sequence data. Is used to combine the machine languages to generate an executable program. Then, the program in the execution format is transmitted to the program execution device 4.

As described above, the development of a program that operates on a CPU-equipped device can be realized with simple knowledge and minimum necessary key operations. Moreover, since a series of processes and devices are fixed from programming work to execution, troubles such as errors due to uncertainties (coding mistakes,
Assembling error, sending error, receiving error, etc. do not occur.

(D) Operation of (4) When the program execution device 4 receives the machine language program developed by the program development device 1, the output signal processing means processes the output signal to the controlled device 5 and inputs it. The signal processing means processes an input signal from the controlled device 5,
The CPU 10 of the main processing means executes the machine language program under execution management software. In this case, the output signal processing means, the input signal processing means, and the main processing means execute the program by parallel processing of a plurality of multi CPUs.

As described above, the program developed by the program development device is transmitted to the program execution device, and the program execution device that receives the program executes the program to immediately verify whether or not the intended operation has been performed. It becomes possible to do. Therefore, it is not necessary to debug the developed program.

(E) Operation of (5) When the operation basic unit creation unit 22 creates a basic unit of operation, the time chart information processing means describes the basic unit of operation by a time chart waveform. To do. As described above, by converting the control contents into a time chart, the program developer does not need to acquire the CPU-specific knowledge.
In addition, it is easy for anyone other than the program developer to understand, and the maintainability of the program is excellent.

(F) Operation of (6) When the basic unit creating unit 22 of the operation describes and creates the basic unit of the operation by the time chart waveform, the control statement management means changes the time chart waveform horizontally. The axis does not have the concept of a time axis and is managed by a control statement.

As described above, as a method for drawing a time chart, control is performed by a control statement that does not have the concept of time on the horizontal axis. Therefore, it is possible to develop programming that handles a long time without being affected by the resolution of the display device. become.

(G) Operation of (7) When the automatic source code generation unit 23 automatically generates a source code, the source code automatic conversion means is created by the basic unit creation unit 22 of the operation describing the time chart waveform. The basic unit of the operation and the order information of the operation edited by the rearrangement processing unit 24 are converted into a source code and a sequence source code suitable for the CPU 10, respectively.

As described above, since the combination of the time chart waveform and the operation is generated in the individual source code of the CPU, the program of the execution format is generated by the general-purpose machine language conversion program or the like. Even if the CPU is changed in the future, it can be easily transferred by only developing the source code generation software.

[0037]

Embodiments of the present invention will be described below in detail with reference to the drawings. In the following description, it is assumed that the control target device drives the mechanical unit with a pulse motor. In addition, the program developer is also referred to as an operator.

§1: Description of program development / execution device
.. See FIG. 2 and FIG. 3 FIG. 2 is a block diagram of the program development / execution device, and FIG. 3 is a block diagram of the program development device. Hereinafter, FIG.
The program development / execution device will be described with reference to FIG.

The program development / execution device comprises a program development device 1, an interactive interface 2, a program execution device 4, etc., and the program execution device 4 is controlled by a device to be controlled (for example, driven by a motor). A mechanical device including a mechanism) 5 is connected. Then, the program developer 3 operates in an interactive manner through the interactive interface 2, whereby the control target device 5
Is configured so that an operation program (for example, a control program for a mechanical device) can be developed.

The program development device 1 includes a storage device 20, an input / output signal allocating unit 21, and an operation basic unit creating unit 2.
2, source code automatic generation unit 23, rearrangement processing unit 2
4, a machine language converter 25, a machine language combiner 26, a transmitter 6 and the like are provided. Further, in the program execution device 4,
A receiving unit 7, an input / output processing board 13, a control unit 9 and the like are provided, and the control unit 9 includes a CPU (target CPU) 1
0, execution management software 11 stored in the memory, a machine language program 12 and the like are provided. The functions and the like of the respective units are as follows.

(1): The program development apparatus 1 interacts with the program developer 3 through the interactive interface 2 to create a program (execution program of an execution format in machine language), and program the program. The processing for transmitting to the execution device 4 is performed.

(2): The program execution device 4 includes the control unit 9
Input / output processing board 1 under execution management software 11 in
3 to drive and receive and execute the machine language program 12 developed by the program development apparatus 1 (for example, to control a controlled device).

(3): The controlled device (mechanical device) 5 is a device (controlled device such as a mechanical device) controlled by the machine language program executed by the program execution device 4. (4): The storage device 20 is used for storing various kinds of data such as definition files, source code, sequence source code, machine language data, and for temporarily saving data (for example, hard disk device) is there.

(5): The input / output signal allocator 21 inputs the input signal from the controlled device 5 to the program execution device 4,
Also, signals to be input to and output from the program execution device 4 such as output signals output from the program execution device 4 to the controlled device 5 are allocated. Further, the input / output signal allocating unit 21 allocates the input / output signals, creates an input signal definition file, an output signal definition file, a motor control definition file, etc. as a source code and stores them in the storage device 2.
The process of storing in 0 is performed.

(6): The basic unit of operation, based on the definition file stored in the storage device 20 and the input information input by the operator through the interactive interface 2, the basic unit of operation (6) The minimum unit of operation of a subroutine or the like) is created. Then, the created basic unit of operation is stored in the storage device 20. When creating the basic unit of operation, the basic operation creating unit 22 creates a basic unit (minimum unit) of the operation in a time chart format. (7): The rearrangement processing unit 24 is the basic unit creation unit 2 of the motion.
The operation order information is edited by rearranging the basic units of operation (subroutines of the time chart format) created by 2 so that the desired operation can be performed. The created order information of the operations is stored in the storage device 20.

(8): The source code automatic generation unit 23 uses the basic unit of operation (time chart format subroutine) created by the basic operation creation unit 22 as the CPU 10
Automatically generates executable source code,
The sequence source code is automatically generated from the operation order information edited by the rearrangement processing unit 24. The generated source code and sequence source code are stored in the storage device 20.

(9): The machine language conversion unit 25 converts the source code generated by the automatic source code generation unit 23 into a machine language and the sequence source code into machine language sequence data.

(10): The machine language combination unit 26 uses the machine language sequence data converted by the machine language conversion unit 25 to combine the machine words to execute the execution format data (execution format data). Machine language program).

(11): The transmission unit 6 transmits the execution format data output from the machine language coupling unit 26 to the program execution device 4 (performs transmission control). (12): The receiving unit 7 receives the execution format data transmitted from the transmitting unit 6 (performs reception control).

(13): The input / output processing board 13 processes input / output signals to / from the controlled device 5. (14): The control unit 9 performs various controls of the program execution device 4, and the CPU 10 in the control unit 9 drives the input / output processing board 13 under the execution management software 11 to execute the machine language. The program 12 is executed.

§2: Description of Process Outline of Program Development Device--See FIG. 4 FIG. 4 is a process flowchart of the program development device. The outline of the processing of the program development device will be described below with reference to FIG. In addition, S1 to S7 indicate each processing step.

In the program development device 1, the input / output signals of the program execution device 4 are allocated based on the input information by the operator's operation or the like, and a definition file is created as a source code (S1). The input / output signal is an output signal output from the program execution device 4 to the controlled device 5,
This is an input signal input from the controlled device 5 to the program execution device 4. The definition file is an input signal definition file, an output signal definition file, and a motor control definition file, and is stored in the created definition file and the storage medium of the storage device 20.

After that, the basic unit creating unit 22 of the operation, based on the input information by the operator operation and the information of the definition file stored in the storage medium of the storage device 20,
Basic unit of operation (or minimum unit: eg subroutine)
It is created by describing the module which is the time chart format (S2). Then, the created basic unit of the operation (for example, the time chart A, the time chart B, the time chart C, ... The time chart N) is stored in the storage medium of the storage device 20.

Next, the rearrangement processing unit 24 causes the storage device 2
The basic units of the operations stored in the 0 storage medium are rearranged so as to be the desired operations (S3), and the order information of the operations (for example, 001 = time chart B, 002 = time chart A, 003 = time chart). C, 004 = 99
Edit 9). And the order information of the created action is
It is stored in the storage medium of the storage device 20.

After that, the automatic source code generator 23
The basic unit of the operation and the order information of the operation stored in the storage medium of the storage device 20 are converted into a source code and a sequence source code, respectively (S4). Then, the converted source code and sequence source code are stored in the storage medium of the storage device 20.

Next, the machine language conversion unit 25 causes the storage device 20 to
The source code and the sequence source code stored in the storage medium are converted into machine language (for example, machine language A, machine language B, machine language C, ... Machine language N) and machine language sequence data, respectively. Yes (S5). Then, the converted machine language and machine language sequence data are stored in the storage medium of the storage device 20.

After that, the machine language coupling unit 26 causes the storage device 2 to
The machine language sequence data stored in the storage medium of 0 is used to combine the machine languages, and the execution format data (C
An executable machine language program that can be executed by the PU 10 is generated (S6). Then, the transmission unit 6 transmits the data in the execution format generated by the machine language coupling unit 26 to the program execution device 4 (S7). As a result, the program execution device 4 receives the execution format data (machine language program), executes the program, and performs a desired operation.

§3: Description by Specific Example of Program Development / Execution Device--See FIG. 5 FIG. 5 is a diagram showing a specific example of the program development / execution device. As shown in the figure, the program development device 1 is composed of, for example, a personal computer, and has a main control unit (C
The whole is managed by the basic software on the PU 34. The software that performs a series of processes of this apparatus is application software that operates on the basic software, and is stored on a storage medium of a hard disk drive (hereinafter referred to as “HDD”) 35.

The program execution device 4 is also provided with an operation section 38 operated by an operator and a main body section 39 for accommodating various boards. Control of the entire device is performed by the main body 3
This is performed by the execution management software (basic software) in the execution management memory (ROM) 44 in the computer 9. The machine language program sent from the program development device 1 via the communication unit 52 is stored in the machine language storage memory (RAM) 43.

The machine language storage memory (RAM)
After the machine language program is stored in 43, the input signal processing board 47, by the execution management software in the execution management memory (ROM) 44, based on the information input by the display unit 40 and the activation switch 41 on the operation unit 38, Also, the output signal processing board 48 is driven to cause the machine language program in the machine language storage memory 43 to perform a desired operation.

In this case, the input signal processing board 47 and the output signal processing board 48 are provided with connectors 50 and 51 for connecting with the signals of the controlled device 5, respectively, and the connectors 50 and 51 are physically connected. By defining the pin number and the signal number position (signal definition screen) as a pair, the definition file associates the hardware with the software.

As described above, the program development apparatus 1 is composed of the main body portion 31, the display device (CRT) 32, the input device (for example, the keyboard KB, the mouse, etc.) 33, and the main body portion 31, Control unit (CPU) 34, HDD 3
5, the communication unit 36 and the like are provided. Further, the program execution device 4 includes an operation unit 38, a main body unit 39, a connector 50,
51 and the like are provided.

The operation section 38 includes a display section (liquid crystal display panel) 40 and a start switch (touch panel) 4.
1 is provided, and the main body 39 is provided with a main board (CP
U) 42, machine language storage memory (RAM) 43, execution management memory (ROM) 44, communication unit 52, sub CPU 45,
46, input signal processing board 47, output signal processing board 4
8 and so on. The functions and the like of the respective units are as follows.

(1): The display device (CRT) 32 displays various information. For example, when performing input / output signal allocation processing, an input signal definition screen, an output signal definition screen, a motor control definition screen, etc. are displayed. In addition, when creating a basic unit of motion, this display device (CR
T) The basic unit of operation is drawn in the time chart format on the display screen of 32.

(2): The input device (keyboard KB, mouse, etc.) 33 is for inputting various information by the operation of the operator. (3): The main control unit (CPU) 34 performs various controls in the program development device 1 by the basic software (CPU)
It is. The input / output signal allocator 21, the basic unit of operation generator 22, the source code automatic generator 23, the machine language converter 25, the machine language combiner 26, etc. are connected to the main controller (C).
PU) 34.

(4): The HDD 35 has a hard disk (storage medium) inside and stores definition files, source codes, sequence source codes, machine language data, machine language sequence data, etc. in the hard disk. It is used as a temporary save area for various data. The HDD 35 corresponds to the storage device 20.

(5): The communication section 36 communicates with the program execution device 4. The communication unit 36 includes the transmission unit 6. (6): The operation unit 38 is operated by an operator or the like on the program execution device 4 side.

(7): The connectors 50 and 51 are connectors for connecting the controlled device 5 to the program execution device 4. In this case, the connector 50 is a connector for input signals, and the connector 51 is a connector for output signals.

(8): The display section (liquid crystal display panel) 40 is
It displays various information. (9): The activation switch (touch panel) 41 is a touch panel for operating the activation switch and the like.

(10): Machine language storage memory (RAM) 43
Is a memory for storing the machine language program (execution format data) in the execution format received from the program development apparatus 1. The machine language program corresponds to the machine language program 12 shown in FIG.

(11): The execution management memory (ROM) 44 is
Non-volatile memory for storing execution management software (R
OM). The execution management software corresponds to the execution management software 11 shown in FIG.

(12): The main board (CPU) 42 drives the input signal processing board 47 and the output signal processing board 48 under the execution management software in the execution management memory 44, and stores the machine language storage memory (RAM). ) Executes a machine language program stored therein (corresponding to the CPU 10).
Things.

(13): The communication section 52 communicates with the program development device 1. The communication unit 52 includes the receiving unit 7. (14): The sub CPU 45 is a processor that controls the input signal processing board. The sub CPU 46 is a processor that controls the output signal processing board 48.

(15): The input signal processing board 47 is a sub C
The input signal processing is performed under the control of the PU 45. (16): The output signal processing board 48 performs output signal processing under the control of the sub CPU 46. The part where the output signal processing board 48 and the input signal processing board 47 are combined corresponds to the input / output processing board 13.

§4: Description of Processing of Each Part and Operation of Operator, etc. Hereinafter, a series of processing from program development by the program development apparatus 1 to program execution by the program execution apparatus 4 and operation by an operator will be described. To do.

(1): Explanation of processing of input / output signal allocating unit 21
.. Refer to FIG. 6 and FIG. 7. FIG. 6 is an explanatory diagram 1 of the definition file creating process, and FIG. 7 is an explanatory diagram 2 of the definition file creating process. In FIG. 6 and FIG. 7 ,, and are definition definition input screens,
, Are source files created by the information input from the input screens. That is, is an input signal definition screen, is an output signal definition screen, is a motor control definition screen, is an input signal definition file, is an output signal definition file, and is a motor control definition file.

The input / output signal allocating unit 21 allocates input / output signals based on the information input by the operator from the definition input screen. In this case, the display device 32
The definition input screens, and can be displayed on the display screen of, and the operator inputs input / output signal information from the displayed definition input screen.

As the input / output signal information, the connector 5
This is information that associates a "signal name" that is a connector pin number and a "signal number position" that is connected to the input signal processing board 47 and the output signal processing board 48 via 0 and 51, and is input by an operator's operation. To do. In the motor control definition screen, the control condition of the motor (for example, stepping motor) is input.

For example, in the above input signal definition screen,
Signal name = input A, signal number position = 001 is assigned, and signal name = input B, signal number position = 0
02 is assigned, signal number position = 003 is assigned to signal name = input C, ... Signal number position = 009 is assigned to signal name = input I.

In the output signal definition screen, signal number position = 001 is assigned to signal name = output A, and signal number position = 00 to signal name = output B.
2 is assigned, signal number position = 003 is assigned to signal name = output C, ... Signal number position = 009 is assigned to signal name = output I.

Further, on the motor control definition screen,
Motor name = [MO], number of slewing = [1
0], control method = [4-2], rotation start address =

[0], the number of rising steps = [5],
The rotation stop address = [6], the number of falling steps = [5], and the phase switching time table shows that the address 0 is 30
000μs, 1st address is 4000μs, 2nd address is 3000
Each control condition is assigned like μs, ....

When the operator presses the [completion] supplementary command key on the screen when all the input is completed as described above, this key signal causes the input / output signal allocator 21 to input on each of the input screens. The information provided,
Source code is automatically generated as the definition file shown in and the source file is created. The created source file (each definition file) is stored in the storage device 20.
The data is stored in a storage medium (storage medium of HDD 35).

The contents of the source files (input signal definition file of, output signal definition file of, and motor control definition file of) created as described above are as shown in the figure. That is, an input signal definition file from the input signal definition screen of is created, an output signal definition file from the output signal definition screen of is created,
A motor control definition file is created from the motor control definition screen of FIG.
Storage medium).

(2): General description of processing of basic unit creating unit of operation--see FIG. 8 FIG. 8 is a processing explanatory diagram 1, in which a module registration screen and a module editing screen are shown. When creating an operation program with ordinary software, it is common to divide the processing into basic units of operation (minimum units such as subroutines), and assemble a plurality of basic units, respectively, to construct a series of flows. Target.

Therefore, the basic unit of motion creating section 22 expresses the basic unit (minimum unit) of motion as a "module",
It has a function to describe it with a time chart waveform and a function to register multiple modules. When creating a basic unit of motion by the basic unit of motion creating unit 22,
For example, the module registration screen shown in FIG. 8 is displayed on the screen of the display device 32. Then, the operator inputs information on the module to be registered from the screen.

In the illustrated module registration screen, [[
The [] part has not been registered yet, and the [] part containing characters, for example, [Operation A], indicates that the module has been registered. On the module registration screen, several function keys such as [copy], [delete], and [name change] for narrowing the editing work are arranged in the "supplementary command area" at the bottom of the screen.

On the module registration screen, when the location to be processed is designated and confirmed by the keyboard operation (→, ←, ↑, ↓) of the input device 33, the processing is changed to the module editing function, as shown in FIG. The module edit screen is displayed. At that time, the selection of the unregistered part is newly created and the module name needs to be input, but the registered part functions as an update process.

In the figure, the input screen comprises "(A) operation name area", "(B) signal name area", "(C) time chart description area", and "(D) time chart supplement command area". The name input at the time of new registration is reflected in the (A) area, and the signal to be processed in this screen is selected in the (B) area by using the [Signal setting] key function in the (D) time chart supplementary command area. Deploy.
In the area (C), an operation waveform is drawn by keyboard operation (CTR + ↓, ↑, →, ←) corresponding to the signal name set in the area (B).

(3): Description of signal setting process on module edit screen ... See FIGS. 9 and 10. FIG. 9 is a process explanatory diagram 2 and FIG. 10 is a process explanatory diagram 3. There is a "(D) time chart supplementary command area" on the module edit screen shown in FIG. 8, and in this area,
There are supplementary instruction keys for [Signal setting], [Timer], [Wait for condition], and [Calculation]. Since the supplementary command key has a one-to-one correspondence between a specific key on the keyboard of the input device 33 and a key on the display area, the target supplemental command is executed by pressing a key on the keyboard corresponding to the process. To do. These keys will be described below.

Description of [Signal Setting] Key When the operator presses the [Signal Setting] key, the screen moves to the screen shown in FIG. 9 and the place where the “(B) Signal name area” is set first Keyboard operation (↓, ↑, →,
←) to select and confirm (hatched portion in FIG. 9). Then, similarly, the "input signal name" to be set can be set by selecting and confirming by keyboard operation (↓, ↑, →, ←) (vertical line portion). After the above processing is completed, the selected and confirmed input signal name is copied to the “(B) signal name area” on the module edit screen, and the screen returns to the upper screen.

Description of "Timer" Key Set (display) the symbol "TIM" (TIM: meaning of timer) to the output signal (output signal, motor signal) of the "(C) time chart description area". . Immediately after that, since no information has been input, the display color is set to red. When entering information, use the keyboard to operate the display marker.
Move to "TIM" and press the enter key (return). As a result, the display of "(D) Supplementary command area for time chart" becomes the data input mode, and the timer time,
Enter the unit and mode from the keyboard.

The input data is stored in the temporary storage location on the storage medium of the HDD 35. After the input, the display color of "TIM" changes to green, and after notifying the operator (program developer) that data exists, the display of "(D) Time chart supplement command area" returns to the base.

Explanation of [Wait for condition] key The symbol (CND) (C) is added to the output signal (output signal, motor signal) of the "(C) time chart description area".
ND: Meaning of command) is set (displayed). Immediately after that, since no information has been input, the display color is set to red. When inputting information, the display marker is moved to "CND" by keyboard operation and the enter key (return) is pressed.
As a result, the display of "(D) Time chart supplementary command area" becomes the data input mode, and the selection processing as shown in the diagram of FIG. 9 is performed.

The selection process is a keyboard operation (→, ←)
And press the enter key (return). By this operation, the hierarchy further shifts to the next processing (see FIG. 10 and FIG. 10). Then, the input and designated conditions are the HDD 35.
Will be stored in the temporary storage area. In this case, as shown in the diagram of FIG. 10, under the “Signal” key in the “(D) Time chart supplemental command area”, “Output signal name”, “Input signal name”, and “Motor name” are displayed. Each signal setting screen is displayed, and "ON", "OFF", "Rotate",
By selecting any one of “stop”, the input and designated conditions are stored in the temporary storage location of the HDD 35.

Similarly, below the "variable" key,
“Variable name” is displayed (displaying a selection screen for variables A to G), and by selecting any of “= 0”, “0 ≦”, and “0 ≧”, the input and designated conditions are respectively set in the HDD 35. Will be stored in the temporary storage area.

Explanation of [Calculation] Key A signal (CAL: meaning of calculation) (CAL) is set (displayed) to the output signal (output signal, motor signal) of the "(C) time chart description area". . Immediately after that, since no information has been input, the display color is set to red. When inputting information, operate the display marker by keyboard operation (↓, ↑,
Use →, ←) to move to “CAL” and press the enter key (return). As a result, the display of "(D) Time chart supplementary command area" becomes the data input mode, and FIG.
The process shifts to the selection process shown in FIG.

In this selection process, "addition", "subtraction",
One of "multiplication", "division", and "substitution" can be selected, and each of the options displays "variable name" (displays a selection screen for variables A to G) and Numerical values can be entered for variable names.

Description of [Done] Key [TIM], “CND”, “CAL”, “PM”
All the control statements of "S" (PMS: Meaning of pulse motor) are displayed in green, and the source code of the target CPU is generated by pressing the control statement when the time chart of the target operation is completed. If there is no input in the control statement, the program developer is urged that generation processing cannot be performed, and input is instructed (to prevent an error from occurring when converting to machine language).

(4): (C) Description of area description method ...
See FIG. 11. FIG. 11 is a process explanatory diagram 4. Hereinafter, the description method of the "(C) time chart description area" will be described with reference to FIG. As described above, the input screen is composed of "(A) operation name area", "(B) signal name area", "(C) time chart description area", and "(D) time chart supplement instruction area".

[0100] The "(A) operation name area" reflects the name input at the time of new registration, and the "(B) signal name area" indicates the signal to be processed in this screen, "(D) time chart supplement". Select and place using the function of the [Signal setting] key in the "Instruction area". Then, the “(C) time chart description area” corresponds to the signal name set in the “(B) signal name area” and keyboard operation (CTRL + ↓, ↑,
→, ←) to draw the operation waveform.

In this case, the signal names of the (B) area are [input signal], [output signal], [motor signal], etc., and the (C) area corresponds to each of the signal names. Draw operation waveform in time chart format. By the way, the maximum number of signals that can be set in the area (B) is 20 in view of processing speed and efficiency, and the number of inputs of operating conditions per signal (hereinafter referred to as “control statement”) is 1
Since three digits are required for each control sentence, the number of horizontal axes of the display device is limited.

Further, if the horizontal axis is scaled by time, there is a limit to the representable time per screen (1
If the digit is 1 ms, only a time chart for 80 ms can be written with 80 digits.) Therefore, the function of changing the flow is provided in the control statement without using the concept of time on the horizontal axis.

As described above, the control statement is arranged at the place necessary for the operation, and the control statement which has not been input is operated by the keyboard (↓, ↑,
If you specify with →, ←), the required options are displayed, so you can select an item or enter a number by keyboard operation (→, ←). When the "completion" key is pressed in a state where all control statements have been input, the source code automatic generation unit 23
Automatically generates the processing information according to the time chart on this screen as the source code.

How to draw the operation waveform in the area (C) is as shown in the following Table 1, Table 2 and Table 3.

[0105]

[Table 1]

[0106]

[Table 2]

[0107]

[Table 3]

As described above, the control statement is arranged in the place necessary for the operation, and the control statement which has not been input is operated by the keyboard (↓,
If you specify with ↑, →, ←), the necessary choices are displayed, so you can select an item or enter a number by keyboard operation (→, ←). When the "completion" key is pressed in a state where all the control statements have been input, the source code automatic generation unit 23 automatically generates the processing information according to the time chart of this screen as the source code.

(5): (C) Reason for describing control statement in area and description of specific description method ... See FIG. 12. FIG. 12 is a process explanatory diagram 5, in which the horizontal axis is divided. In the case of using the time base, the figure is a case where a control statement is used on the horizontal axis. Hereinafter, the reason for describing the control statement in the (C) area and the specific description method will be described with reference to FIG.

As described above, the operation waveform is drawn in the time chart format for each signal name in the (C) area. In this case, the reason for drawing using the "control statement" is as follows. That is, as shown in the figure, when the division of the horizontal axis is used as a time base, if one location is designated as α time, the time that can be represented by this screen size is 80 ×.
Limited to [α] time. Therefore, the amount of descriptive information is reduced. In addition, there are drawbacks in that changing the control accuracy within one screen is complicated and difficult in terms of software. For example, it is difficult to change the precision by setting μs for the locations 1 to 20 and setting ms for the locations 21 to 80.

Therefore, as described above, the method of describing by a control statement is adopted without using the concept of time on the horizontal axis. This description is made as shown in the figure. Then, the following designation is made by the control statement (CND, TIM, PMS, CAL).

(A): A CND sentence is set on the MO signal, and the content is CND = input signal A, ON (input signal A is O
(Meaning waiting for N). (b): Set a TIM sentence on the MO signal and write its content to T
IM = 100, ms, WAIT (meaning waiting for 100 ms).

(C): PMS activation is installed on the MO signal,
The contents are PMS = ,,, START (meaning rotation start). (d): CAL is installed on the MO signal and its contents are
Let L = local variable ← 1 (meaning that “1” is assigned to the variable).

(E): CND is set on the MGD signal, and the content is set as CND = local variable = 1. (MGD
Since there is a conditional statement before the rising edge of the signal and the content is “local variable = 1”, the rising edge of the MGD signal is M
If the O signal does not rotate, it will not be output. By the above method, infinite time can be handled on one screen, and a processing flow can be formed by using control statements.

(6): Description from definition file creating process to module editing process ... See FIG. 13. FIG. 13 is a process explanatory diagram 6. Hereinafter, the definition file creation process to the module editing process (source code automatic generation process) will be described with reference to FIG. In the definition file, the basic unit creation unit 22 of the operation stores the data input on the definition input screen in the storage device 20 (HDD3).
After saving to the temporary storage area on the storage medium of 5), the source code automatic generation unit 23 saves it in the storage device 20 as a text file.

On the other hand, in the execution management software 11 of the program execution device 4, a machine is installed so that the input / output processing board 13 (corresponding to the input signal processing board 47 and the output signal processing board 48) can be easily controlled. A program library (a large number of subroutines) created in advance in words is stored (stored in the execution management memory (ROM) 44). The usage of the library is described in the main board (C
After the PU) 42 sets the necessary parameters, it is operated by a library call.

The information input by the control statement on the module edit screen is also saved as a parameter of the library in the temporary storage area on the storage medium of the storage device 20, and the source code automatic generation unit 23 On the basis of this information, a text file is created on the storage medium of the storage device 20 so as to match the grammar of the assembler and the grammar of the control statement. In this way, the source code automatic generation unit 23 automatically generates the source code on the module edit screen as shown in FIG.

(7): Description of operation sequence editing (operation order information editing) processing and sequence source code automatic generation processing ... See FIGS. 14 and 15. FIG. 14 is a processing explanation. FIG. 14 is a processing explanation. It is FIG.
Hereinafter, based on FIGS. 14 and 15, the sequence editing process (operation order information editing process) by the rearrangement processing unit 24,
The sequence source code automatic generation processing by the source code automatic generation unit 23 will be described.

After all the modules (basic units of operations) capable of performing the desired operations are completed as described above, they are assembled into a flow (sequence of operations) in which a series of processing is possible. The function to achieve that function is the "sequence edit" shown in the figure.
Screen. [] On the "Sequence edit" screen
The part shows the state where the module is not assembled.

When the [module selection] key is specified from the supplementary command key, the registered [module registration] screen is displayed. In this state, keyboard operation (↓, ↑, →,
Select the required action name with ←) to incorporate it in the sequence edit screen. When the [Complete] key is selected in a state where all the installations have been completed in the order of operation, the source code automatic generation unit 23 automatically executes the sequence source code so that the sequence code can be operated in the order arranged on the sequence edit screen. To generate.

The processes (1) to (3) shown in the figure are as follows. Read the start position of the IP number, read the operation information (module name), determine whether the module is "end", if it is "end", jump to the label of the program END, because it is the operating module, call,
The IP number read position is incremented by 1, the process jumps to the read process again, and in the case of "end", the process is transferred to the control software of the program execution device.

(8): Description of Machine Language Conversion / Joining Process The machine language conversion unit 25 converts the source code and the sequence source code generated by the source code automatic generation unit 23 as described above into machine language and Convert to machine language sequence data. After that, the machine language combining unit 26 combines the machine words using the converted machine language sequence data to generate execution format data (machine language program). In this case, the machine language conversion unit 25 and the machine language coupling unit 26 incorporate an assembler and a linker for the general-purpose CPU 10 and entrust the above processing.

(9): Description of Program Execution Process of Program Execution Device 4 When the execution language data (execution language machine language program executable by the CPU 10) is output from the machine language connection unit 26 as described above, The execution format data is transmitted by the transmission unit 6
The data is transmitted from (a part of the communication unit 36) to the program execution device 4. Then, when the receiving unit 7 (a part of the communication unit 52) of the program executing device 4 receives the execution format data, the execution unit data is received by the control unit 9 (main board 42).
Then, the control unit 9 (main board 42) stores the machine language program 12 in the machine language storage memory 43.

After that, when the activation switch 41 of the operation unit 38 is pressed, the main board 42 is activated and the processing is started. Then, the processing is continuously performed until the "end" module is detected. After that, when "end" is detected, the program stops.

As described above, when the program execution device 4 receives the machine language program developed by the program development device 1, the output signal processing board 48 of the program execution device 4 processes the output signal to the controlled device 5. The input signal processing board 47 processes the input signal from the controlled device 5, and the main board (CPU 10) 42 executes the machine language under the execution management software 11 stored in the execution management memory (ROM) 44. Run the program. In this case, the output signal processing board 48, the input signal processing board 47, and the main board (CPU 10) are multi-CPUs.
The program is executed in parallel processing.

(Other Embodiments) The embodiments have been described above, but the present invention can be implemented as follows.

(1): The program development apparatus 1 is not limited to a personal computer, and can be realized by another similar computer such as a workstation. (2): The controlled device 5 can be realized by any device that can be controlled by a program. For example, it is a mechanical unit that constitutes an ATM mechanism unit, various robots, various computer systems (systems including input / output devices, external storage devices, etc.), and the like. Further, the controlled device can be applied to other than the mechanical device.

(3): The program to be developed is not limited to the program for controlling the mechanical device, and can be applied to any other program.

[0129]

As described above, the present invention has the following effects. (1): When developing a program that operates on a CPU-equipped device, the basic unit of operation is created in the time chart format, so it can be realized with simple knowledge and the minimum required key-type work. Further, since a series of processes and devices are fixed from the programming work to the execution, troubles such as errors due to uncertainties (coding errors, assemble errors, transmission errors, reception errors, etc.) do not occur.

(2): When a program is developed, the program developed by the program development apparatus can be transmitted to the program execution apparatus and executed to verify the program as a series of processes. For this reason, it is possible to eliminate the conventional debugging work, and it is possible to realize simplification of the work.

(3): The program development can be realized with the minimum required number of key types, and the debugging work can be deleted, so that the program development period can be shortened. (4): Many uses can be obtained by lowering the programmer's borderline by making it possible to develop a program that operates on a CPU-equipped device with simple knowledge.

(5): Even if the CPU on the execution unit changes, it can be dealt with only by developing the source program creation software. In addition to the above effects, the following effects are provided corresponding to each claim.

(6): In the present invention, the program development apparatus can operate the CPU by creating a basic unit of operation in the required number of time charts based on the input information and arranging them in the desired operation order. The program execution device has a function of creating a machine language program, and has the function of executing the machine language program under internal execution management software.

Therefore, the development of a program that operates on a CPU-equipped device can be realized with simple knowledge and minimum necessary key operations. Further, by transmitting the program developed by the program development device to the program execution device, and the program execution device having received the program executes the program, it becomes possible to immediately verify whether or not the intended operation has been performed. . Therefore, it is not necessary to debug the developed program.

(7): In claim 2, the program development apparatus has an input / output signal allocating section, a basic unit of operation creating section, a rearrangement processing section, a source code automatic generating section, a machine language converting / combining section. Equipped with means. Therefore, the development of the program that operates on the CPU-equipped device can be realized with simple knowledge and the minimum necessary key operation. Moreover, since a series of processes and devices are fixed from programming work to execution,
Trouble such as errors due to uncertainties (coding errors, assemble errors, transmission errors, reception errors, etc.) does not occur.

(8): In claim 3, the program execution device comprises an output signal processing means, an input signal processing means, and a CPU.
Is provided to enable parallel processing of multiple CPUs, the main processing means includes execution management software, and drives the output signal processing means and the input signal processing means under the execution management software. It has a function of executing the machine language program.

Therefore, the program developed by the program development apparatus is transmitted to the program execution apparatus, and the program execution apparatus receiving the program executes the program to immediately verify whether or not the intended operation has been performed. It will be possible. Therefore, it is not necessary to debug the developed program.

(9): In the fourth aspect, the basic unit of operation creating section is provided with a time chart information processing means for creating and creating a basic unit of operation by a time chart waveform. Therefore, by converting the control contents into a time chart,
The program developer does not need to acquire CPU-specific knowledge. In addition, it is easy for anyone other than the program developer to understand, and the maintainability of the program is excellent.

(10) According to the fifth aspect, the basic unit of operation creates the basic unit of the operation by describing it with a time chart waveform. It has a control statement management means for managing it by a control statement without having it.

Therefore, as a method of drawing the time chart, since the control statement which does not have the concept of time on the horizontal axis is used for management, it is possible to develop programming that handles a long time without being affected by the resolution of the display device.

(11) In claim 6, the source code automatic generation unit edits the basic unit of operation created by the basic unit creation unit of the operation described by the time chart waveform and the rearrangement processing unit 24. The source code automatic conversion means for converting the sequence information of the above-described operations into a source code and a sequence source code suitable for the CPU, respectively.

Therefore, since the combination of the time chart waveform and the operation is generated in the individual source code of the CPU, the execution format program is generated by the general-purpose machine language conversion program or the like.
Even if it is changed in the future, it can be easily migrated by only developing the source code generation software.

[Brief description of drawings]

FIG. 1 is a diagram illustrating the principle of the present invention.

FIG. 2 is a block diagram of a program development / execution device according to an embodiment.

FIG. 3 is a block diagram of a program development device in the embodiment.

FIG. 4 is a processing flowchart of the program development device in the embodiment.

FIG. 5 is a specific example of a program development / execution device according to an embodiment.

FIG. 6 is an explanatory diagram 1 of a definition file creating process according to the embodiment.

FIG. 7 is an explanatory diagram 2 of a definition file creating process according to the embodiment.

FIG. 8 is a process explanatory diagram 1 according to the embodiment.

FIG. 9 is a process explanatory diagram 2 according to the embodiment.

FIG. 10 is a process explanatory diagram 3 according to the embodiment.

FIG. 11 is a process explanatory diagram 4 according to the embodiment.

FIG. 12 is a process explanatory diagram 5 according to the embodiment.

FIG. 13 is a process explanatory diagram 6 in the embodiment.

FIG. 14 is a process explanatory diagram 7 in the embodiment.

FIG. 15 is a process explanatory diagram 8 in the embodiment.

FIG. 16 is an explanatory diagram of a conventional example.

[Explanation of symbols]

 1 Program Development Device 2 Interactive Interface 4 Program Execution Device 6 Transmission Unit 7 Reception Unit 9 Control Unit 10 CPU (Target CPU) 11 Execution Management Software 13 Input / Output Processing Board 20 Storage Device 21 Input / Output Signal Allocation Unit 22 Basics of Operation Unit creation unit 23 Automatic source code generation unit 24 Rearrangement processing unit 25 Machine language conversion unit 26 Machine language combination unit 31 Main body unit 32 Display device 33 Input device 34 Main control unit (CPU) 35 Hard disk drive (HDD)

Claims (6)

[Claims] 1. A program development device for developing a program, and a program execution device for mounting a CPU and executing a program developed by the program development device by the CPU to perform a desired operation. Has a function of creating a machine language program in which the CPU can operate by creating a basic number of operations in a required number of time charts based on input information and arranging them in a desired operation order. Is a program development / execution device having a function of executing the machine language program under internal execution management software. 2. A program development device for performing a program development process based on input information and a CPU are mounted, and the CPU is provided.
A program development / execution device comprising: a program execution device that executes a program developed by the program development device to perform a desired operation, wherein the program development device is a program execution device based on input information. An input / output signal allocation unit that allocates input / output signals to be input / output to create definition information, and an operation basic unit creation unit that creates a required number of basic operation units based on the definition information and input information. And a rearrangement processing unit that edits the order information of the operation by rearranging the basic unit of the operation in the order of the desired operation, and the basic unit of the operation is the CP.
A source code automatic generation unit for converting the source code suitable for U and converting the sequence information of the operation into a sequence source code, and the sequence source code, and an execution format program in a machine language are created from each source code. A program development / execution device comprising a machine language conversion / coupling means for outputting to the program execution device. 3. The program execution apparatus comprises an output signal processing means for processing an output signal to a control target apparatus, an input signal processing means for processing an input signal from the control target apparatus, and the main CPU. A processing unit is provided to enable parallel processing of multiple CPUs, the main processing unit is provided with execution management software for facilitating execution of the machine language program, and the output signal processing is performed under the execution management software. 3. The program development / execution device according to claim 2, further comprising a function of driving the means and the input signal processing means to execute the machine language program. 4. The program development according to claim 2, wherein the operation basic unit creating section includes a time chart information processing means for creating and creating the basic unit of operation by a time chart waveform. apparatus. 5. The basic unit creating unit for the operation, when describing and creating the basic unit of the operation by a time chart waveform,
5. The program development / execution device according to claim 4, further comprising control statement management means for managing the time chart waveform by a control statement without having a horizontal axis as a time axis concept. 6. The source code automatic generation unit, the basic unit of operation created by the basic unit creation unit of the operation described by a time chart waveform, and the rearrangement processing unit 24.
6. The program development / execution device according to claim 5, further comprising source code automatic conversion means for converting the sequence information of the operation edited by the above into a source code and a sequence source code suitable for the CPU.