JPS60103405A - Control method for real time processing of robot of the like - Google Patents

Abstract

PURPOSE:To facilitate the change of both modules and their priorities by using the priority parameters, the cycle number parameters and variable addition numbers to decide the priority of modules and to control the frequency. CONSTITUTION:Four modules XA-XD are used with the priority set in that order. The priority parameters PRA-PRD are given to these modules together with cycle number parameters TA-TD showing the cycle numbers of modules after the preceding processing. In addition, addition numbers PA=7, PB=5, PC=3 and PC=2, i.e., the prime numbers which increase in accordance with the processing frequencies are set to the modules. Each addition number is added to each priority parameter of each cycle. Then the module having the highest parameter (circled in the list) is processed.

Description

[Detailed Description of the Invention] (Technical Field) This invention relates to a plurality of monoyl (modules)
．． It is a concept that includes tasks. ), it relates to a real-time processing control method for Rohono 1, measuring instruments, etc. that processes real-time processing.

(υ〔 Tree 1 support iヰJ ) For example, if the microcomputer is 1 history month 1 and 71 is the contact bot, the need for J1 constant stop 1-'l/1
Checking presence/absence, controlling welding current, 10 for each axis: ii
#j control 11° speed control F-n, loss 11. - There are many cases where it is necessary to change the light receiving intensity of the monoyl that should be changed during processing, and the top of each monoyl. ? ll adventure 111 to kill 5. :i, do you need to go to school?

As for the conventional J method to control the processing of many modules such as 1 and 2, the stack i (l area is manually inputted (1' There is a task 11 type (1・'I+, 0 month type), but in this case, in an irregular 1 system, ・The shell has 4 memory spaces.
'- Because of the addition, it is not possible to take a large portion of the monitor graph and data. 1. In the case of hints, it becomes a problem.

Therefore, 1. In the conventional method, if there is a need to change the modules of Rojo or Tokasa or change the odor of the monomer, a new monitor or 0, 8. The disadvantage is that it requires a lot of effort, costs an hour, and is prone to bugs.

Another drawback is that it is difficult to change the location of the thousand keys while the program is running. Furthermore, in the conventional method, many processing steps are required.
JJ who made J row, in the 5th match, in the previous person's last order method, 1
A module with a low priority level also suffers from the following drawbacks: (1) (if it is not processed over time); .

(Object of the invention) Therefore, the first object of this invention is to change the module.
; and change of Mononeal's first-class reward can be done easily;
Moreover, even in the sky of Progera, it is possible to easily change the 19-point melon of the monoyl according to the state of the controlled lunar phenomenon.

In addition, the purpose of tjS2 of this invention is that no matter how many modules are queued for processing prizes and sought after, all modules are always executed within a certain period, and monoyls that are in a waiting state for a long time are System 11
The overall speed will be slower, but abnormal movement 11. To avoid a dead lock situation like this, there is one thing you can do to make sure the two points come off.

In addition, the third IJ feature of this invention is that even when processing a large number of modules, memory space can be saved, and the medium heat processing unit (+; The goal is to make it available to the public. .

A fourth object of the present invention is to easily see the bald spots during debugging.
It is possible to maintain the lees property (1'n), and to create the software in a short time and at low cost.

(Structure of the invention)
・The j method is JJL-ζ in the h module, the F priority parameter that represents the priority for each cycle of that module, and the r cycle number parameter that represents the number of cycles after the same processing of that monoyl. f・lIL shi, sa C
) to 1-signal module, and add each additional value depending on the magnitude of the processing frequency of that monoyl.
``1. Set the reason to the 11th change to the 1st function, set the month to each monologue other than the 11th module, and set the priority of the ``2nd name monologue of the 111j cycle'' to the /-ta. Each JJ11)? Adding the numbers, the priority parameter of the registered monoyl for the current cth cycle January is t? , output, then select the monoyl whose priority parameter has the maximum value, and if there is one selected monoyl, process that module, and if the selected module has two devices 1- If there are, select the module with the cycle number variable/- parameter from among those modules, process it, and then set the priority parameter of the processed module to the lowest value. It is characterized by the fact that it is made to do so.

(Example) Below, the present invention will be explained in detail using an example in which the present invention is used in a robot or a measuring instrument.

FIG. 1 shows the apparatus used in this example, where 1 indicates C' l
IL,], l\+ Is, Ct I'),...
are each monoyl XAt Xlj, XC1X11.
- It is a terminal (data copy) that manually inputs the data to CI'tJI, and the terminal (data copy) for
-minal A, 131 CHI'l-J, (in each monoyl XA, Xl+Xc, Xu
Real-time path J! I! I will.

First of all, this method (the following are the thoughts (1 to 1),
Diagrammatically explained.

(Margins below) Continuation of &1 Table 1 Crest 1 J3 in Table 1, the number of monoyls is 10 for convenience of explanation
,
To I, → 1 father return eJl of → 1 change destination In parameter I゛1 (8.

1.
], represents the number of cycles after 1iij processing of I XIH, XCI Xl, 1 to each module

1゛11 is IJ 'j. Furthermore, each module × Δ.

Additives l' Δ to Xe, Xc, and
= 7 + l'JH=5 + l-'c" 3 +
Set IJ1=2 to 11r'&'su1jhi' and set it to 7. And the cycle analogy is 1()μ・,(
・c 717, 1. Name 1 All advanced parameters 1゛1 profit.

1'ltl! l'li (:l Add 1 to each Plull
″7.= '7, Pl, = 1;.

1'c=3, l'll-n respectively (?c=3,
The largest value (with direct 4-le I'a leading parameter l
'R/++ ``1int ''l (C'1゛■1, Table 1
In the center, mark ``(dr) to process the monoyl.
true, 1jshi, if, ]1l ('l' for i-11 stock
i, t, or '1゛1 connected force of X, or IjX
1. Execute -'. Mononyl
]°cycle parameter T:=1. In Heaven 1-Nagagara Monniru X1, f-variable odor para, non I'l(i←l'H,;+l';

Let 1゛i←i' j-1 river.

Na f3, at initial time, the front parameter 1'R8, I'R1i,] selftc, l'1ll=4ノ! J, cycle number parameter i'Al i'1i+ Tc+ T
I) = fl is initialized.

4-, one cycle tl (+
), then monoyl XA or fruit (1%, monoyl XΔ
(treatment) ° L after -l Noicle (2) monoyl ×
11 was lifted, 11. Each monoyl Xi is executed in the order in which 0 is marked (-1) for l<l.

From this table 1, you can see J, sea urchin, and t? The larger the JAl゛i of the monoyl Xi, the higher the degree of heavenly cheekiness. That is, monoyl XΔ1 soil, 1 monoyl XA, xl + X
C.

Xg's heaven ti'li, il because:) times, that is;
(→) Once every cycle passes, there is a heavenly movement, mo), -
Le X1lb command module size? '1llil number:) times, one time, that is: (cycle elapsed, - times, once top 1j, module XC.

×1] is 1.・For every 6 module executions, = J
Mari 1] ° Recycle A' - No. B, hit once.

Next, this h method will be explained in terms of (62 to 1; INt70-chart) and (toward 5b tree).

As shown in Figure 2, in step 1, the initial settings are
Next, No.: (Go to 4-Safroutine■ in the figure.

Then, perform the initial settings for the peripheral device, the stack, and the random access memory (hereinafter referred to as l<AM). After becoming 1, -1<ノ\1t=1
−． The stage leading parameter 111ti Li stored in
= 1-n)←Member DII progress 11. Expansion + + 1 bread, non ゛ 1 ゛ 1 (l - 1 - 1) ← member Nll; most fire, a certain 1 scallion parameter "Rifi: memory to store l \
l+, 4-19. \1 Kuichi←N; i=u+, i-
Instead, return to the main routine. .

Next, Step 3 [, shown in Figure 1 1-Zahruchi/■ (2 1j <. and ζ, 1 summer ahead of each Mon' Neil x 1] (Harano evening 1'lH; (i= I・11) to 1
- Bete fly in f1? (M, for example '2] In the Pinto microcomputer, it is set to 25C1 (for example '1' in Table 1 described in TIII)!3.) and returns to the main routine.

Next, in step I: 3), write 11 in the 4th grade routine in Figure 52 and set the cycle number as
), that is, all the columns I and which skip the cycle after execution are set to N, and the main routine is entered.

Next, step ``S'', go to the small j-41 flute routine ○ in Figure 6, and change the module to x,, x,, x,...
.

After completing 11 initial fruits 1J in the order of XII, and completing all initial fruits 1J, return to the main character. Here, module X1. X, I X:l+...,×11 is
This is a process that also includes human output.

Next, step 1, after a thousand completions, step again (
S... or 1- indicates that it is processed as an interrupt. Then, the →knob routine 0 to 11 shown in Figure 7 is entered, key input, data input - γ interrupt, white! 1 (size 1 5, frac 1 sen ′ζ, which monoyl ×
Complete the 1 interrupt processing so that 1 can be set in line 9, and return to the main routine. 9. Suffroutine ■: At which stage within the dotted line of the main routine are 1. This is a 11-j embedded routine.

Next, use III i'li Stenbu (-3) to determine the presence or absence of the flag. Naraha Sten 7
'・7・l2 forward.

Step I7, as shown in the 81st message 4-→no'' blue number ■, jI!, add the module x c where the flag with the processing request exists, t>, b!!, i.e. Priority 1-
Set or change the value of 10 yen and return to the main routine.

-1, addition t7, so IIi can be easily changed with RAM data, and changes can be made within the module depending on the state. 1゛Record Addition 3'1゜Therefore, the maximum value of l'i is 1/2 or more of 1 (:: 2 if l = "7t," r li ) to the parameter jump f + i't. And [ru.

At the next (second, step ＼; t), the third (show the second step)
Refresh, proceed to 0, and proceed to the next parameter.”
l(i or the most k l+l'l)
2 modules (I or old 1°1j1111
In the case of i L, 1 layer N()), set the maximum value of the input parameter level Hi in the memory t\1' as (1-
Store the address of the module Xk
・.

In the case S), in the case ζk, put the 7 dresses of ×(1 into the memory node ＼l shadow Al′) in both monoyls χ with the aperture value indicated by ``−, respectively, and return to the main routine 4+[). .

Next [this, '+'++ cutting stage step, the 19th child's prior parameter 1 (1 is the maximum value, Monnier Xi
1'IJ determines whether 2i remains or fi, if N (-), proceed to step @, if YI'', S,
Proceed to step @.

In step @, proceed to the BoC subroutine ■ in Figure 1 (), and set the priority parameter "l" to "I Q or the monoyl Xk having the maximum value, the M cycle number parameter '1 corresponding to the monoyl Xk, (from ↓, “” k＞
'l'
)′l・:JjlJζF of 8 has 1 earth, and the monoyl that should be 11 is ×1. It was decided that ya)j, N.

In the case of [This, it is determined that the module to be executed is Ij: 1. (or X(・)
, and then the husband 1's module Xk or
,/7 in January m7/1, and the cycle number parameter '1
1- or 1゛(.) is added to H-11i, and the process returns to the main routine.

Next, the 1-saf routine ■ shown in Fig. 12 was turned to 11 with the balance @, and the monoyl X1. (or X
Modules other than (・) X,,X,,~' ×II-1
Parameter P I! + 'Set the elapsed time parameter ``1'' to 1 (1 person) and return to the main routine (;it L to return to step 1.

1; In the record example, addition t7. Since a prime number is used as the number, the value of the first order parameter is 11, which is the maximum at t, is less than or equal to 1, and the logical processing can be simplified to 11t.

1. The control method described above is based on the control of individual Rohon 1 (11L,
1l (not limited to the control of lllll equipment, including robots)
It can be applied to the 1]jYT'j' of each device. This method also applies to the 3-approximate device 1. of locus 1, ν.
9. It is particularly suitable for use with time-sharing systems in 1.1.

(Effect of the invention) Below 1. As is clear from the explanation, the second invention was
Using the parameters, the number of cycles, non, and the addition number that can be added to i
J: Since it is possible to easily change the monolayer f9J and change the monoyl 1a priority, it is also possible to change the priority of the module even while the program is running. This is a module that can be easily executed, and no matter how many monoyls that are requesting processing are queued, the monoyls can always be executed within a certain period, and the module will be in a waiting state for a certain amount of time. If you want to do so, you can also remove the black lock status of all one system.

This invention has advantages as described above, and is particularly effective for the system 11 that performs multitasking. .

Further, since the present invention is configured as described in 1iif, even when processing a large number of monoyls, memory space can be saved, CI' 11 can be utilized to the maximum, and the location where veg occurs can be easily found. 2) It is inexpensive, 5) (software can be created in 1 hour).

[Brief explanation of drawings]

FIG. 1 is a 70/70 diagram of an embodiment of the present invention, and FIG. 2 shows a main routine of the above embodiment in a small off-flow
No.: (, + + 5 + (I 1 ”71 nj,
! Figure 1 is a 70-degree chart showing the subroutine of the embodiment described in 1-1. 1... to I'11. l\+ 13+ (-, l+・
Terminal. '4. i l;'l il+1sli /x Mr. Daikin Royal Co., Ltd. 1 Buried I (Patent Attorney I: 11., 11-1
葆 and 2 others Figure 1 Figure 4 Figure 5 Figure 6

Claims (1)

[Claims] (1) Each module (to X + X1B + XCI XI
)) is processed for 1 second + iJ change "f i
: Lohonto's control J method as B, 1-11 monoyl (XA, X1B, XC, XI
J) and its monoyl <X/1. xli,X
CI
l' song) and its module (X/l, XI.
”(:+ ”+1), and then add 1, 1 to each module (X, Xl, XC.
11 XCI×11) increases depending on the frequency to be processed; L(1'8, PlB,
l'c, L'll) if changed to Noh husband/J set:,
'i L, '-4j iI module 1',
The outer 6 monoules (X/1+ Xli, XO+ XI
)) to λ・J, Moe's cycle I, i'i monoyl (to X+X1il XCI
l'H+)lko1. Number of registered additions (1”/p I”li+
Pct ll1l) are added to -1 of the cycle of the current tI, 1 variable intensity parameter (""l+A,"Rli
"°1 (c. "R1]) to t? Then, the priority melon parameter (1"1 French・'R1i・l'RCTSI'111
) or the module with the maximum value (X/1+Xli,X
CI X1l) All selected and selected monoyl is 1
41 times 1, process the 7th vinyl, select the selected module or 2 configurations 1-JjJ, then select the number of cycles of those monoyls Select the input force module and process it, then ゛,
Robono LA, characterized in that the minimum numerical value is set for the degree parameter of the treated monoyl;
, %'s celestial time processing system all no. L (2>, l:, addition p, the number is prime and 1,
? 9. Time processing control force method.