JPWO2016157362A1 - Arithmetic unit, engineering tool and engineering tool program - Google Patents

Abstract

The arithmetic unit (11) executes the control application (124) including a plurality of program instructions to generate program execution result data (121), and modularizes one or more program instructions in the control application (124). A program instruction processing unit (111) for recording whether or not each program module is executed in the program execution result table (122), and a reference in which the recording destination of the program execution result data (121) is defined for each program instruction Based on the transfer address management memory (115) for storing the address management table (123), the reference address management table (123) and the program execution result data (121), the program module executed by the program instruction processing unit (111) Program instructions included A tracking processing unit for performing program execution results tracking processing of the data and (113).

Description

  The present invention relates to an arithmetic unit, an engineering tool, and an engineering tool program that constitute a programmable logic controller of a duplex system.

  In a duplex system, a delay may occur in the program execution cycle of the control system due to a large amount of data in the tracking process from the control system to the standby system.

  Patent Document 1 discloses a technique in which a subroutine program is programmed in advance using only one continuous memory area, and one continuous memory area corresponding to the subroutine program is transferred depending on whether or not the subroutine program is executed. Yes. According to the above method, the amount of data in the tracking process from the control system to the standby system can be reduced.

JP 2008-46731 A

  However, in the above conventional technique, there is a problem in that the program execution result data stored in the device cannot be synchronized between the control system and the standby system in the subroutine program using each device distributed and allocated in the memory. .

  The present invention has been made in view of the above, and an object of the present invention is to obtain an arithmetic unit capable of synchronizing program execution result data distributed and allocated in a memory between a control system and a standby system.

  In order to solve the above-described problems and achieve the object, the present invention is an arithmetic unit constituting a programmable logic controller of a duplex system, and executes a control application including a plurality of program instructions to execute program execution result data. And a program instruction processing unit that records whether or not one or more program instructions in the control application are executed for each program module in a program execution result table. The present invention further includes a transfer address management memory for storing a reference address management table in which a program execution result data recording destination is defined for each program instruction. The present invention further includes a tracking processing unit that performs tracking processing of program execution result data of a program instruction included in a program module executed by the program instruction processing unit based on the reference address management table and the program execution result data.

  The arithmetic unit according to the present invention has an effect that the program execution result data distributed and allocated in the memory can be synchronized between the control system and the standby system.

The figure which shows the programmable logic controller and engineering tool which were made into the duplication system using the arithmetic unit concerning embodiment of this invention The figure which shows the structure of the programmable logic controller made into the duplication system using the arithmetic unit concerning embodiment The figure which shows the hardware constitutions of the arithmetic unit concerning embodiment The figure which shows the structure of the engineering tool concerning embodiment The figure which shows the hardware constitutions of the information processing apparatus which implement | achieves the engineering tool concerning embodiment The flowchart which shows the flow of operation of the engineering tool concerning an embodiment The figure which shows the example of a structure of the program produced with the program editor of the engineering tool concerning embodiment The flowchart which shows the flow of the process which the tracking range setting function part of the engineering tool concerning embodiment changes or adds a tracking range The figure which shows an example of the reference address management table of the arithmetic system concerning embodiment The flowchart which shows the flow of the data tracking process of the arithmetic unit concerning embodiment The figure which shows an example of the program execution result data of the arithmetic unit concerning embodiment The figure which shows an example of the program execution result table of the arithmetic unit concerning embodiment

  Hereinafter, an arithmetic unit, an engineering tool, and an engineering tool program according to an embodiment of the present invention will be described in detail based on the drawings. Note that the present invention is not limited to the embodiments.

Embodiment.
FIG. 1 is a diagram showing a programmable logic controller and an engineering tool that are made into a duplex system using an arithmetic unit according to an embodiment of the present invention. The programmable logic controller 10 according to the embodiment includes two arithmetic units 11 ₁ and 11 ₂ called CPU (Central Processing Unit) units to constitute a duplex system. Note that the units constituting the programmable logic controller 10 other than the arithmetic units 11 ₁ and 11 ₂ are not shown.

Arithmetic unit 11 ₁ is a control system, arithmetic unit 11 ₂ is the standby system. Engineering tool is connected to the arithmetic unit 11 _1.

The arithmetic units 11 ₁ and 11 ₂ have the same structure because they have a control system and standby system relationship. In the following description, when the matters common to the arithmetic units 11 ₁ and 11 ₂ are described, they are expressed as the arithmetic unit 11, and when it is necessary to distinguish between the two, the arithmetic unit 11 is given a subscript number. It is denoted as ₁ or arithmetic unit 11 _2. The same applies to the internal components of the arithmetic unit 11 to be described later.

FIG. 2 is a diagram illustrating a configuration of a programmable logic controller configured as a duplex system using the arithmetic unit according to the embodiment. Arithmetic unit 11 _1, the control application program, a program command processor 111 ₁ for performing each program instructions of the subroutine program and function blocks, the device memory 112 ₁ stores the program execution results data 121, the program execution result data 121 written for each program execution cycle in the tracking buffer 1131 _1, the tracking processing unit 113 ₁ to be transferred to the standby system program execution result data 121 by copying the arithmetic unit 11 ₂ of the tracking buffer 1131 ₂ from the control system, the program execution a transfer control memory 114 ₁ to result storage table 122, a forwarding address management memory 115 ₁ for storing a reference address management table 123, the program and execution timing And a control application storage unit 116 ₁ for storing a control application 124 to manage.

The arithmetic unit 11 ₂ has the same configuration as that of the arithmetic unit 11 _1, and includes a program instruction processing unit 111 ₂ , a device memory 112 ₂ , a tracking processing unit 113 ₂ , a transfer control memory 114 ₂ , a transfer address management memory 115 _2, and a control. having an application storage unit 116 _2. The arithmetic unit 11 ₂ is the standby system, the program execution results data 121, program execution result table 122, does not hold the reference address management table 123 and the control application 124.

  The program execution result table 122 is a table indicating whether or not the program instruction processing unit 111 has executed a program instruction, and is updated every program execution cycle.

Program execution result data 121 as a result of the arithmetic unit 11 ₁ executes a program for each program execution cycle, is the data generated.

  The reference address management table 123 is a table for managing the position and size of each head device in which data to be transferred is stored.

A program, a subroutine program, and a function block executed by the program instruction processing unit 111 are composed of devices that are variable names and program instructions that are commands. Each device is distributed and allocated to the device memory 112. Program execution result data 121 is a result of the program is executed by the arithmetic unit 11 ₁ as a control system, it is stored in the device memory 112 _1.

  FIG. 3 is a diagram illustrating a hardware configuration of the arithmetic unit according to the embodiment. The arithmetic unit 11 includes an arithmetic device 51 that executes a program and firmware, a memory 52 that the arithmetic device 51 uses as a work area, a non-volatile memory 53 that stores firmware, a storage device 54 that stores programs, data, and tables, and an engineering tool. Communication device 55 for communication. A CPU can be applied to the arithmetic device 51. A flash memory can be applied to the storage device 54.

  The program instruction processing unit 111 and the tracking processing unit 113 illustrated in FIG. 2 are realized by the arithmetic device 51 executing firmware using the memory 52 as a work area. The device memory 112, the transfer control memory 114, the transfer address management memory 115, and the control application storage unit 116 are realized by the storage device 54.

  FIG. 4 is a diagram illustrating a configuration of the engineering tool according to the embodiment. The engineering tool 20 includes a program editor 21 that is a user interface for a user to create a control application, a compiler 22 that converts the control application created by the program editor 21 into a format that can be executed by the program instruction processing unit 111 of the arithmetic unit 11, The transfer range management memory of the arithmetic unit 11 includes the tracking range setting function unit 23 which is a user interface for the user to browse, create and edit the reference address management table 123, the control application created by the engineering tool 20, and the reference address management table 123. 115 and a control application storage unit 116. The communication function unit 24 performs processing for writing to and reading from the control application storage unit 116.

  FIG. 5 is a diagram illustrating a hardware configuration of the information processing apparatus that implements the engineering tool according to the embodiment. The information processing device 60 includes an arithmetic device 61 that executes a program, a memory 62 that the arithmetic device 61 uses as a work area, a storage device 63 that stores an engineering tool program 631, a display device 64 that displays information, and an information input user. An input device 65 serving as an interface and a communication device 66 for communication with the arithmetic unit 11 are included. A general-purpose computer terminal can be applied to the information processing apparatus 60. A CPU can be applied to the arithmetic device 61. A flash memory can be applied to the storage device 63. A liquid crystal display device can be applied to the display device 64. A keyboard and a mouse can be applied to the input device 65.

  When the arithmetic device 61 executes the engineering tool program 631 using the memory 62 as a work area, the information processing device 60 becomes the engineering tool 20. That is, the information processing apparatus 60 that is executing the installed engineering tool program 631 constitutes the engineering tool 20.

  The program editor 21, the compiler 22, and the tracking range setting function unit 23 shown in FIG. 4 are realized when the arithmetic device 61 executes the engineering tool program 631 using the memory 62 as a work area. The communication function unit 24 is realized by the arithmetic device 61 that executes the engineering tool program 631 controlling the communication device 66.

  FIG. 6 is a flowchart illustrating a flow of operation of the engineering tool according to the embodiment. In step S <b> 101, the program editor 21 receives a program creation operation included in the control application performed by the user through the input device 65. To create a program, one or more program instructions are grouped into a function unit (Program Organization Unit, POU) program module and one or more program instructions or function blocks are grouped into a module. Subroutine programs can be used. For example, the function block is a functional unit program module such as PID (Proportional-Integral-Derivative) control. A group of a plurality of function blocks can be regarded as one function block.

  A subroutine program is a module in which one or more program instructions or function blocks are grouped together. Therefore, a subroutine program including function blocks is composed of one or more function blocks and instructions not included in the function blocks.

  FIG. 7 is a diagram illustrating a configuration example of a program created by the program editor of the engineering tool according to the embodiment. The program [0] 71 is a subroutine program [0] composed of a function block [0] 713 and a function block [1] 714 and program instructions [0] 715 and program instructions [1] 716 not included in these function blocks. 711 and a subroutine program [1] 712 composed of program instructions [2] 717. The program [1] 72 includes a function block [2] 721 and program instructions [3] 722 not included in the function block [2] 721. The program [x] 73 includes a subroutine program [y] 731 including a function block [z] 732 and program instructions [w] 733 not included in the function block [z] 732.

  As shown in FIG. 7, the program [0] 71 and the program [x] 73 are configured using function blocks and subroutine programs.

  As described above, the program editor 21 of the engineering tool 20 according to the embodiment is modularized in units of function blocks that are functional units (Program Organization Units, POUs). However, modularization is not limited to function block units.

  The program is not necessarily configured using a subroutine program or a function block. The program [1] 72 in FIG. 7 uses a function block, but is configured without using a subroutine program.

  In step S102, the compiler 22 compiles the program created using the program editor 21, converts the program into a format executable by the program instruction processing unit 111, and generates a control application.

  In step S103, the compiler 22 determines whether to change or add the tracking range. When changing or adding a tracking range, it becomes Yes at step S103, and the tracking range setting function part 23 changes or adds a tracking range at step S104.

  FIG. 8 is a flowchart illustrating a flow of processing in which the tracking range setting function unit of the engineering tool according to the embodiment changes or adds a tracking range. In step S201, the tracking range setting function unit 23 acquires a device and a size assigned to arguments of a program command included in a certain program in the control application. In step S <b> 202, the tracking range setting function unit 23 stores the acquired device and size in the reference address management table 123. In step S203, the tracking range setting function unit 23 adds the sizes of consecutive devices in the reference address management table 123. In step S204, the tracking range setting function unit 23 determines whether there is an unprocessed program in the control application. If there is an unprocessed program, “Yes” is determined in step S204, and the process proceeds to step S201. If there is no unprocessed program, the result in step S204 is No, and the process ends. The tracking range setting function unit 23 creates the reference address management table 123 by the above procedure.

In step S105, the communication function unit 24 writes the control application 124 to control the application storage unit 116 ₁ of the arithmetic unit 11 ₁ is a control system of a redundant system, writes the reference address management table 123 to the transfer address management memory 115 ₁ .

If the tracking range is not changed or added, No in step S103, and the process proceeds to step S105. In this case, only the process of writing the control application 124 to the control application storage unit 116 ₁ can be performed, and the process of writing the reference address management table 123 to the transfer address management memory 115 ₁ can be omitted.

  FIG. 9 is a diagram illustrating an example of a reference address management table of the arithmetic system according to the embodiment. In the reference address management table 123, for each device used in the program included in the control application 124, the head device to be transferred and the size from the head device are defined. For devices that are used in common by multiple programs, subroutine programs, or function blocks, the reference address management table is provided with a “common” column, and the size of the first device to be transferred and the size from the first device are defined. Yes.

Next, the operation of the arithmetic unit according to the embodiment will be described. FIG. 10 is a flowchart illustrating a flow of data tracking processing of the arithmetic unit according to the embodiment. In step S301, the program instruction processing unit 111 ₁ performs control application 124. In step S302, the program command processor 111 ₁ stores the program execution results data 121 to the device memory 112 _1. FIG. 11 is a diagram illustrating an example of program execution result data of the arithmetic unit according to the embodiment. The program execution result data 121 includes a head device 1211 and execution result data 1212 that is an execution result of the control application 124.

In step S303, the program command processor 111 ₁ may include a subroutine program in the execution program, a device used in the function block or program instructions to create the program execution result table 122 indicating a transfer target, the transfer control memory 114 Write to ₁ . Note that for the devices whose program numbers are “common”, the program execution result table 122 is created for transfer regardless of whether or not they are executed.

  FIG. 12 is a diagram illustrating an example of a program execution result table of the arithmetic device according to the embodiment. The program execution result table 122 indicates whether each program in the control application 124 has been executed. The program [0] 71 is executed, and the subroutine program [0] 711 included in the program [0] 71 is executed. The function block [0] 713 and the program instruction [0] 715 included in the subroutine program [0] 711 are executed, but the function block [1] 714 and the program instruction [1] 716 are not executed. Further, the subroutine program [1] 712 included in the program [0] 71 is not executed, and the program instruction [2] 717 is not executed. The program [1] 72 is execution, and the function block [2] 721 included in the program [1] 72 is executed. However, the program instruction [3] 722 included in the program [1] 72 is not executed. Since the program [x] 73 is not executed, the subroutine program 731 [y] included in the program [x] 73 is also not executed. Therefore, the function block [z] 732 and the program instruction [w] 733 included in the subroutine program [y] 731 are not executed.

Program command processor 111 ₁ is regarded as not performed all the program instructions contained in the function blocks in the not executed subroutine program, and records the program execution result table 122. As a result, the determination as to whether or not the program instruction included in the function block in the subroutine program has been executed can be omitted, and the load on the arithmetic unit 51 can be reduced.

  In FIG. 12, a subroutine program, function block or program whose execution is executed indicates that a device to be used is a transfer target.

In step S304, the program instruction processing unit 111 ₁ determines whether there is an unexecuted program. If there is an unexecuted program, “Yes” is determined in step S304, and the process proceeds to step S301 to execute the unexecuted program.

If unexecuted program, No becomes at step S304, the tracking processing unit 113 ₁ in step S305, based on the program execution result table 122 and the reference address management table 123, subroutine program being transported, the function block In addition, data corresponding to the size specified in the reference address management table 123 is read from the device memory from the head device of the program instruction, and written in the tracking buffer 1131 ₁ .

By the above procedure, only the data of the device which is separately set Transferring regardless devices, and the execution whether used by program command processor 111 _{programs 1} executes the program instructions contained in the subroutine program and function block tracking process in is transferred to the arithmetic unit 11 ₂ of the standby system. As a result, the tracking process can be executed even if the devices are distributed and allocated to the device memory. In addition, the amount of data transferred from the control system to the standby system in the tracking process can be reduced as compared with the case where all the device data included in the executed program is transferred.

  In the above description, whether or not a device used in a program instruction in a function block is to be transferred is determined depending on whether or not the function block is executed. It may be determined only for each subroutine program without determining whether or not to do so. If the subroutine program includes function blocks having different usage frequencies, it is possible to reduce the load on the arithmetic unit 51 by determining whether or not the device is to be transferred in function block units. If there is no bias in the usage frequency of the function block, it is possible to reduce the load on the arithmetic unit 51 if it is not determined whether or not the function block is a device to be transferred. Further, it may be determined whether program instructions in the function block are individually transferred.

  As described above, in the embodiment, the execution status of a program, subroutine program, function block, and program instruction is stored in the program execution result table, and only the tracking transfer range data allocated to the executed program instruction is tracked and transferred. I do. Accordingly, tracking transfer can be executed even if the devices in the program are distributed and allocated to the memory. In addition, the amount of tracking data transferred in the duplex system is reduced, and the program execution cycle can be shortened.

  Compared with the case where it is determined whether or not the program instructions included in the function block are individually executed by determining whether or not one or more program instructions are collectively executed in the unit of the function block. Thus, the load on the computing device 51 can be reduced.

  Also, devices that are used in common by multiple programs, subroutine programs, or function blocks are transferred every time regardless of whether the programs, subroutine programs, and function blocks are executed. Can be prevented, and the amount of data to be transferred can be reduced.

  In addition, by using the engineering tool 20 according to the embodiment, the program creator creates the control application 124, compiles it, and writes it to the arithmetic unit 10 so that the program is distributed and allocated in the memory 52. A duplex system that can synchronize the execution result data 121 between the control system and the standby system can be constructed. This is particularly effective for a duplex system that requires large-capacity tracking, and increases the speed of the control scan and enables highly accurate control.

  Further, by using the engineering tool 20 according to the embodiment, the program creator does not need to be aware of the continuity of the storage location of the program execution result data 121. In addition, even if the control application 124 is created, changed, or added, the tracking transfer is not affected. Therefore, the control application 124 can be freely created, changed, and added. In particular, it is possible to easily change the control application 124 using devices or labels (variables) allocated to the memory 52 apart. In a program using labels, the compiler 22 automatically and continuously allocates to the memory 52. Therefore, if the change is made, it is necessary to reallocate all labels. However, if the engineering tool 20 according to the embodiment is used, a partial change is necessary. Since it is only necessary to compile only the changed part, it does not take much time to compile. As a result, the program creator can reduce programming man-hours.

  The configuration described in the above embodiment shows an example of the contents of the present invention, and can be combined with another known technique, and can be combined with other configurations without departing from the gist of the present invention. It is also possible to omit or change the part.

10 programmable logic controller, 11, 11 _1, 11 ₂ arithmetic units, 20 engineering tool, 21 the program editor, 22 compiler, 23 tracking range setting function unit, 24 communication function unit, 51 and 61 arithmetic unit, 52, 62 memory, 53 Nonvolatile memory, 54, 63 storage device, 55 communication device, 64 display device, 65 input device, 66 communication device, 71 program [0], 72 program [1], 73 program [x], 111, 111 ₁ , 111 ₂ program instruction processing unit, 112, 112 ₁ , 112 ₂ device memory, 113, 113 ₁ , 113 ₂ tracking processing unit, 113, 113 ₁ , 113 ₂ tracking processing unit, 114, 114 ₁ , 114 ₂ transfer control memory, 115 , ₁₁₅ 1, 115 ₂ Feed address management memory, 116, 116 _1, 116 ₂ control application storage section, 121 a program execution result data, 122 program execution result table, 123 reference address management table, 124 control application 711 subroutine program [0], 712 subroutine program [ 1], 713 Function block [0], 714 Function block [1], 715 Program instruction [0], 716 Program instruction [1], 717 Program instruction [2], 721 Function block [2], 722 Program instruction [3 ], 731 subroutine program [y], 732 function block [z], 733 program instruction [w], 1131, 1131 ₁ , 1131 ₂ tracking buffer.

Claims (6)

An arithmetic unit constituting a programmable logic controller of a duplex system,
A control application including a plurality of program instructions is executed to generate program execution result data, and whether or not one or more program instructions in the control application are modularized is executed for each program module. A program instruction processing unit for recording in a table;
A transfer address management memory for storing a reference address management table in which the recording destination of the program execution result data is defined for each program instruction;
A tracking processing unit that performs tracking processing of program execution result data of a program instruction included in a program module executed by the program instruction processing unit based on the reference address management table and the program execution result data; An arithmetic unit to perform.   The arithmetic unit according to claim 1, wherein the reference address management table defines a recording destination of the program execution result table by a device used by the program instruction and a data size.   The arithmetic unit according to claim 1, wherein the program module is a function block in which one or more program instructions are grouped. The control application includes at least one subroutine program including one or more function blocks,
4. The program instruction processing unit according to claim 3, wherein the program instruction processing unit considers that all the program instructions included in the function blocks in the subroutine program that has not been executed are not executed, and records the program instructions in the program execution result table. Arithmetic unit. An engineering tool for creating a control application to be executed by an arithmetic unit constituting a programmable logic controller of a duplex system,
A program editor which is a user interface for creating the control application including a plurality of program instructions;
A tracking range setting function unit that creates a reference address management table that defines, for each program instruction, a recording destination of program execution result data generated when the control application is executed in the arithmetic unit in the arithmetic unit; ,
An engineering tool, comprising: a control application and a communication function unit that transmits the reference address management table to the arithmetic unit. An engineering tool program for causing an information processing device to execute a process for creating a control application executed by an arithmetic unit constituting a programmable logic controller of a duplex system,
In the information processing apparatus,
Generating the control application including a plurality of program instructions;
Processing for creating a reference address management table that defines, for each program instruction, a recording destination in the arithmetic unit of program execution result data generated when the control application is executed in the arithmetic unit;
An engineering tool program for executing a process for transmitting a control application and the reference address management table to the arithmetic unit.

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