KR101074966B1 - Framework system for developing control program based on iec 61131-3 and method using the same - Google Patents

Abstract

The present invention is a method for providing a framework for developing a control program based on IEC 61131-3, and implementing a function block specified in IEC 61131-3 as a visual block diagram, and graphicly encoding the block diagram. Verifying that the graphic code operates correctly according to the constraints of IEC 61131-3, storing the verified graphic code in an object store, and converting the stored graphic code into C language control code using the C language code template. Generating a C language control code and converting the C language based control code to the target PC, applying the transmitted code to the C language based framework, and applying And processing the control code according to the control framework.
The present invention provides a method and system for providing a framework for developing a control program that can be easily understood by engineers in different fields by visualizing a function block based on IEC 61131-3 in a block diagram.

Description

Framework system and development method for developing control program based on IC １１１１１－３ {FRAMEWORK SYSTEM FOR DEVELOPING CONTROL PROGRAM BASED ON IEC 61131-3 AND METHOD USING THE SAME}

The present invention relates to a framework and a framework providing method for developing a control program based on IEC 61131-3. The present invention relates in particular to a framework system and method for providing a functional block based on IEC 61131-3 as a visual block diagram and converting a graphic code into a C language based text code.

In the software according to the conventional PLC (Programmable Logic Controller) programming environment, the relay logic based ladder programming method is difficult for general system programmers, and the text based control programming method is difficult for traditional control engineers to access. There was this.

On the other hand, the international standard IEC 61131-3 is widely used throughout the industrial site, but has a problem that the error analysis and analysis processing functions are inferior, and the more complicated the task, the less reliable the data.

Framework system and method for providing a control program based on IEC 61131-3 according to the present invention aims to solve the following problems.

First, the IEC 61131-3 based function block is visualized in the framework for control program development, making it easy for engineers from different disciplines to access.

Second, the problem that cannot be handled by IEC 61131-3 is to provide C language-based text codes to improve error analysis and data reliability.

Third, we will effectively solve the problem of synchronization between components and priority of tasks that are difficult to deal with with IEC 61131-3.

Fourthly, in order to develop an industrial robot control program based on IEC 61131-3, the above problems are presented.

The solution to the problem of the present invention is not limited to those mentioned above, and other solutions not mentioned can be clearly understood by those skilled in the art from the following description.

The present invention relates to a method for providing a framework for developing a control program based on IEC 61131-3.

The method for providing a framework according to the present invention includes a step S1 in which a plurality of function blocks defined in IEC 61131-3 are visualized in a block diagram, respectively.

The method for providing a framework according to the present invention includes the step S2 of converting each visualized block diagram and task into graphic code.

The method for providing a framework according to the present invention includes a step S3 of converting a graphic code into a C language control code.

The method for providing a framework according to the present invention includes a step S4 in which the C language control code is transmitted to the target PC and a step S5 in which the transmitted C language control code is processed in the control framework.

The method for providing a framework according to the present invention further includes verifying whether the graphic code converted in step S2 between steps S2 and S3 satisfies the constraint of IEC 61131-3.

The method for providing a framework according to the present invention includes performing the step S2 again if the verification result does not satisfy the constraint of IEC 61131-3, and performing the step S3 if the verification result constraint is satisfied.

Step S3 according to the present invention includes step S3-1 in which the graphic code is stored in the object store 130.

Step S3 according to the present invention includes step S3-2 in which the stored graphic code information is converted into a C language control code through a reference C language code template.

The object store 140 of step S3-1 according to the present invention includes a task table 141 in which a task is stored, an object table 142 in which a function is stored, a draw table 143 in which graphic information of a block diagram is stored, and a variable. A variable table 144 in which information is stored and a connection table 145 in which connection relationships between variables are stored.

The reference C language code template of step S3-2 according to the present invention is preferably made of C language based code according to the function of the function block.

The step S5 according to the present invention includes a step of compiling the C language-based control code and converting it into a C object.

Step S5 according to the present invention includes registering a function address and a variable address of the compiled C object in the object table 311 of the control thread 310.

Step S5 according to the present invention includes a step in which the control thread 310 registers the function address and the variable address in the function table 330 and the variable table 340 of the control framework, respectively.

Step S5 according to the present invention includes the step of processing the C object into the control framework.

Step S5 according to the present invention includes that the function blocks represented by the C objects are processed in order according to the priority stored in the priority table of the control framework.

Another embodiment of the present invention relates to a framework system for developing a control program based on IEC 61131-3.

The framework system according to the present invention includes a block diagram generator 110 in which a function block defined in IEC 61131-3 is visualized as a block diagram.

The framework system according to the present invention includes a visual interface 120 in which block diagrams and tasks are converted into graphic code.

The framework system according to the present invention includes a conversion unit 150 for converting a graphic code into a C language control code.

The framework system according to the present invention includes a transmission unit 160 for transmitting the C language control code from the host PC 100 to the target PC 200.

The framework system according to the present invention includes a control framework 300 in which the transmitted C language control codes are processed.

The visual interface 120 according to the present invention includes a verification unit 130 that verifies whether the converted graphic code satisfies the constraint of IEC 61131-3.

The visual interface 120 according to the present invention includes reconverting the visualized block diagram into graphic code when the converted graphic code does not satisfy the constraint of IEC 61131-3 as a result of the verification of the verification unit 130. .

The conversion unit 150 according to the present invention further includes an object store 140 in which graphic codes are stored according to respective data attributes.

The framework system according to the present invention further includes a compiling unit 210 in which the C language control code transmitted to the target PC is compiled and converted into a C object.

The control framework 300 according to the present invention includes a priority table 320 in which priorities are stored according to function blocks represented by compiled C objects.

 The control framework 300 according to the present invention includes a function table 330 in which function addresses of compiled C objects are stored.

The control framework 300 according to the present invention includes a variable table 340 in which variable addresses of compiled C objects are stored.

The control framework 300 according to the present invention includes an access table 350 for storing access information on the variable table of the function block represented by the compiled C object.

The control framework 300 according to the present invention includes a control thread 310 for registering the function address and the variable address of the compiled C object in the function table 330 and the variable table 340, respectively.

The present invention provides a method and system for providing a framework for developing a control program that can be easily understood by engineers in different fields by visualizing a function block based on IEC 61131-3 in a block diagram.

The present invention provides a method and system for providing a framework for developing a control program with high error analysis and data reliability by converting a function block of IEC 61131-3 into C language-based text code conversion and processing in a control framework.

The present invention provides a method and system for providing a framework for developing a control program for converting a function block of IEC 61131-3 into C language based text code, synchronizing function block elements in a control framework, and assigning priorities to tasks. To provide.

The present invention is specifically for the development of industrial robot control program based on IEC 61131-3

Provide framework and method for system development for control program.

The effects of the present invention are not limited to those mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the following description.

1 is a block diagram illustrating a method for providing a framework of the present invention.
2 is a block diagram illustrating the overall framework structure of the present invention.
3 is a block diagram illustrating a process of registering a function block diagram in an object store.
4 is a block diagram illustrating a process of converting data stored in an object store into a C language-based control code.
FIG. 5 is a block diagram illustrating a process of registering a compiled C language-based control code with a control framework.
6 is a diagram illustrating a process in which control threads in different areas refer to variable information.

Hereinafter, a framework providing method and framework system for developing a control program based on IEC 61131-3 according to the present invention will be described in detail with reference to the accompanying drawings.

1 illustrates a method for providing a framework for developing a control program based on IEC 61131-3 proposed by the present invention.

The step S1, in which each of the plurality of function blocks defined in IEC 61131-3 is visualized in a block diagram, is implemented using the functions of IEC 61131-3. In another embodiment, it may be visualized through a separate program or device that visualizes a function such as a function block.

Each visualized block diagram and task are converted into graphic codes through the visual interface 120 of the host PC 100 (step S2). In this step S2, the block diagram is transformed into visual data that can be processed by a computer. This graphic code is converted into a C language control code in the host PC 100 (step S3).

As described above, the graphic code can be directly converted into a C language control code, but it is desirable to verify that the converted graphic code satisfies the constraints of IEC 61131-3. The constraint of IEC 61131-3 is to verify that the graphic code conforms to the FBD language grammar of IEC 61131-3.

On the other hand, if the verification result does not satisfy the condition, the step S2 of converting the block diagram or task converted into the inappropriate graphic code into the graphic code is performed again. If the condition is satisfied, the next step S3 is performed.

Now, the graphic code is converted into the C language control code in the conversion unit 150 of the host PC 100 (step S3). In step S3, the graphic code is stored in the object repository 140 according to each data property (step S3-1) and the stored graphic code is transferred to the C language control code through the reference C language code template. A step of converting (step S3-2) is included.

In the step S3-1 is stored in the tables of the control framework 300 according to the data attribute of the graphic code. That is, a task is a task table (141), a function is an object table (142), a graphic of a block diagram is a draw table (143), and all of the variable information used is a variable table. (Variable Table, 144) and the connection relationship between the variables are stored in the Connection Table (145), respectively.

Variables are linked through at least one of an external variable and an internal variable. One embodiment is to declare an external variable that represents a separate connection. Since the connection relationship configured in this way has an overall connection relationship between the connected components, a plurality of internal variable information can be referred to according to the definition of the function block or task.

Another embodiment is to form a connection by directly referring to internal variables of a component, and this method is limited to variables to which the scope of the reference is linked.

The graphic code stored in the step S3-2 is converted into the C language control code through the reference C language code template. The reference C language code template is pre-written in C language based code according to the function block function and the association between the blocks.

This reference C language code template serves as a code template generally provided in other programming languages. When a graphic code of a specific function block is input, it is automatically converted into a C language control code (function) having the same function. .

Looking at the specific operation, a variable set according to the variable type of graphic code information is declared, a required memory area is allocated, and the graphic code is converted into a C language control code. Variable set declarations are created dynamically through variable declaration code, and the part of the function that executes them is pre-defined and prepared as a code template.

Through this, even if the function block contents are modified or a new function block is added, the code defined by the template is modified to relieve the burden of recompiling the program. Through the steps S1 to S3, the function blocks defined in IEC 61131-3 are converted into C language control codes.

The converted C language control code must be processed on the control framework of the target PC 200 to provide a foundation for solving problems such as error analysis and synchronization between components. To this end, the C language control code is first transmitted from the transmitting unit 161 of the host PC 100 to the receiving unit 162 of the target PC (step S4) and processed in the control framework of the target PC (step S5).

In step S5, the transmitted C language control code is first compiled into a C object through a compiler, and a function address and a variable address of the compiled C object are registered in the object table 311 of the control thread 310. The control thread 310 registers the function address and the variable address in the function table 330 and the variable table 340 of the control framework, respectively, and the C object is processed in the control framework.

The step of compiling the C language control code according to the present invention may not necessarily be included in the step S5. For example, even if the C language control code is generated and compiled on the host PC, the object of the present invention may be achieved. That is, it may be another embodiment of the present invention to have the C language control code generated in the host PC and then compiled.

Specifically, the compiled C object registers its function address and variable address in the object table of the control thread, and the control thread registers in the function table and variable table of the control framework based on the registered function address and variable address data, respectively. do. The control framework 300 puts the C object into a running, waiting or suspended state through the object controller 312 of the control thread 310. That is, the control framework 300 controls the processing process by setting the current state of the C object.

In addition, the control framework 300 controls the C object processing order according to the type of function blocks using the priority table 320. The priority table is used to process C objects by setting priorities for function blocks before or during processing of the framework.

Hereinafter, a framework system for developing a control program based on IEC 61131-3 will be described in detail. However, descriptions common to the above-described framework providing method will be omitted and will be described based on the core configuration of the system.

2 illustrates the overall framework structure of the present invention. The framework structure of the present invention is largely composed of two parts. The configuration of the host PC 100 generates control codes based on IEC 61131-3 based Visual Programming and C language, and the configuration of the target PC 200 imports the generated control codes into the control framework environment and performs tasks. Process them.

The host PC includes a block diagram generator 110 in which function blocks defined in IEC 61131-3 are visualized as block diagrams, a visual interface 120 in which block diagrams and tasks are converted into graphic codes, and graphic codes as C language control codes. The conversion unit 150 and the transmission unit 161 for transmitting the converted C language control code to the target PC (200).

In the framework system for developing the control program, the visual interface 120 may generate the graphic code and then immediately transfer the C language control code to the conversion unit 150. However, it is preferable to verify through the verification unit 130 whether the converted graphic code conforms to the IEC61131-3 conditions.

If the verification result condition of the verification unit 130 is not satisfied, an invalid block diagram or task performs reconversion in the visual interface 130.

The conversion unit 150 generates the control language based on the C language using a predefined reference C language code template based on the stored information. It may be possible to convert directly using a reference C language code template, but it is preferable to include the object store 140 in the conversion unit for fast and effective conversion.

3 shows the overall procedure of a method for storing the task and function block graphic code created in the visual interface 110 in the object storage 130.

According to the type of graphic code, each task is stored in the task table 131 of the object store 130, and functions having specialized functions such as function blocks are stored in the object table 132, and the graphic information of the block diagram is Stored in the draw table 133, all the variable information they have is stored in the variable table 134, the connection relationship of the variables are stored in the connection table (135).

Connection tables allow tasks, function blocks, and programs to form connections.

The function block has several data input variables and one task input variable. One task is connected to a function block and the connection relationship is represented through task input variables. The data input variable may have a fixed value or may refer to a variable value of another function block.

The result of the function block is stored in a Data Output variable, which is read and the task determines the next task. The success or failure of the process between the task and the function block is stored in a task output variable.

FIG. 4 illustrates a process of classifying graphic code information stored in the object store 140 according to a reference C language code template, and illustrates a process of converting a function block among IEC61131-3 components.

A variable set is declared according to the types of variables of the function block. The function block of FIG. 4 has two data inputs and one data output, and data types are data_input_variable_set and data_output_variable_set, respectively. The structure is declared, and data_i_set and data_o_set declared in this form have their own memory area.

The actual function block operation is executed by the doExec function. Since variables in the function block can be referred to by other components, they are structures that update the variables after copying and processing data in a separate memory space. The Access_val_set and Upd_val_set functions that access the reference variable are responsible for the synchronization process.

The variable declaration code of FIG. 4 is dynamically generated, and a function part for executing the same is highly extensible by defining a template in advance and formatting the code. Even if the content of the function block is modified or a new function block is added, modifying the code defined by the template will relieve the burden of recompiling the program.

The generated C language-based control code is transmitted to the target PC through the transmitter 160. The transmitter 160 includes a transmitter 161 of the host PC and a receiver 162 of the target PC. In more detail, it is transmitted to the receiving unit 162 of the target PC through the transmitting unit 161 of the host PC.

Compiler 210 of the target PC compiles the transmitted C language control code to generate a C object. Since the C language control code is sufficient to be compiled after being generated, the compilation unit 2310 is not limited to being included in the target PC. In FIG. 2, the compiling unit is illustrated by a dotted line, which shows an embodiment of compiling in a host PC. However, it is desirable to exist in the target PC for efficient processing.

Then, the procedure in which the compiled C object is registered in the control framework is shown in FIG. 5. The detailed procedure is omitted because it is the same as the framework providing method for the control program development described above.

The control framework 300 in which the converted C control code is processed includes a priority table 320 storing a priority according to a function block, a function table 330 storing a function address of a compiled C object, and a compiled C object. The variable table 340 in which the variable address of the variable is stored, the access table 350 storing the access information for the variable table of the function block represented by the compiled C object, and the function address and variable address of the compiled C object are respectively functions. And a control thread 310 that registers with the table 330 and the variable table 340.

You can also reference variables in C objects to each other to handle related processes between control threads. 6 illustrates a variable reference process of C objects executed in different control threads. In detail, it consists of four processes as follows. (1) Control thread A looks up the variable table of the control framework for reference. ② If you select a variable to refer to, the variable table sends an access request to the control thread B that has the variable. ③ The control thread B sends a response to the variable table, and the variable table modifies the access state of the variable. (4) Control thread B provides variable information to control thread A.

Information about the access state is stored in the access table 350 to store information about which function block can access the variable table.

As a result, the target PC can process C-language control codes to effectively handle problems such as error analysis, synchronization between components, and task priorities that are difficult to handle with IEC61131-3.

The embodiments and drawings attached to this specification are merely to clearly show some of the technical ideas included in the present invention, and those skilled in the art can easily infer within the scope of the technical ideas included in the specification and drawings of the present invention. Modifications that can be made and specific embodiments will be apparent that both are included in the scope of the invention.

100: host PC 110: block diagram generation unit
120: visual interface 130: verification unit
140: Object Store 141: Task Table
142: object table 143: draw table
144: variable table 145: connection table
150: converter 160: transmitter
161: transmitting unit of the host PC 162: receiving unit of the target PC
200: target PC 210: compilation unit
300: control framework 310: control thread
311: Object Table of the Control Thread 312: Object Controller of the Control Thread
320: priority table 330: function table
340: variable table 350: access table

Claims (22)

A step S1 in which a plurality of function blocks defined in IEC 61131-3 are visualized as a block diagram through a block diagram generator;
Step S2, wherein the visualized block diagrams and tasks are converted into graphic codes through a visual interface unit;
Step S3 of converting the graphic code into a C language control code through a conversion unit;
S4 step of transmitting the C language control code to the target PC through the transmission unit; And
And S5 of processing the transmitted C language control code to a control framework through a control framework. The method of claim 1,
Developing a control program based on IEC 61131-3 further comprising verifying that the graphic code converted in step S2 between step S2 and step S3 satisfies the constraints of IEC 61131-3 through a verification unit. How to provide a framework for your project. The method of claim 2,
If the verification results do not satisfy the constraints of IEC 61131-3, the method for providing a framework for developing a control program based on IEC 61131-3, characterized in that the step S2 is re-executed. The method of claim 2,
If the verification result satisfies the constraint of IEC 61131-3, the method for providing a framework for developing a control program based on IEC 61131-3, characterized in that performing the step S3. The method of claim 1,
S3 phase
Step S3-1 in which the graphic code is stored in an object store 130; And
Step S3-2 in which the stored graphic code information is converted into a C language control code through a reference C language code template;
Framework providing method for developing a control program based on IEC 61131-3, comprising a. The method of claim 5,
The object store of step S3-1 includes a task table storing a task, an object table storing a function, a draw table storing graphic information of a block diagram, a variable table storing variable information, and a connection storing variables Framework providing method for developing a control program based on IEC 61131-3 characterized in that it comprises a table. The method of claim 6,
The connection relationship between the variables is provided with a framework for developing a control program based on IEC 61131-3, characterized in that connected via any one or more of external or internal variables. The method of claim 5,
The reference C language code template of the step S3-2 is a framework for developing a control program based on IEC 61131-3, characterized in that the C language based code is made according to the function of the function block. The method of claim 1,
The step S5
Converting the C language-based control code into a C object;
Registering a function address and a variable address of the compiled C object in an object table of a control thread;
Registering, by the control thread, the function address and the variable address in a function table and a variable table of a control framework, respectively; And
Processing the C object into a control framework;
Framework providing method for developing a control program based on IEC 61131-3, comprising a. 10. The method of claim 9,
The frame for developing a control program based on IEC 61131-3, characterized in that the step of compiling the C language-based control code and converting it into a C object is executed after step S3 in the host PC, instead of being performed in step S5. How to deliver the work. 10. The method of claim 9,
The processing of the C object to the control framework
A method for providing a framework for developing a control program based on IEC 61131-3, wherein a function block represented by a C object is processed in order according to a priority stored in a priority table of a control framework. A block diagram generator for visualizing a function block defined in IEC 61131-3 as a block diagram;
A visual interface for converting the block diagrams and tasks into graphic codes;
A conversion unit for converting the graphic code into a C language control code;
A transmission unit for transmitting the converted C language control code from a host PC to a target PC; And
A control framework in which the transmitted C language control codes are processed;
Framework system for the development of IEC 61131-3 based control program comprising a. The method of claim 12,
The visual interface includes a verification unit for verifying whether the converted graphic code satisfies the constraints of IEC 61131-3. The framework system for developing a control program based on IEC 61131-3. The method of claim 13,
The visual interface converts the visualized block diagram into a graphic code if the converted graphic code does not satisfy the constraints of IEC 61131-3 as a result of the verification unit. Framework system for development. The method of claim 12,
The conversion unit is a framework system for developing a control program based on IEC 61131-3, characterized in that the graphic code further comprises an object store is stored according to each data property. 16. The method of claim 15,
The object store includes a task table storing a task, an object table storing a function, a draw table storing graphic information of a block diagram, a variable table storing variable information, and a connection table storing a connection relationship between variables. Framework system for the development of control programs based on IEC 61131-3. The method of claim 16,
The connection relationship between the variables is a framework system for developing a control program based on IEC 61131-3, characterized in that connected via any one or more of external or internal variables. The method of claim 12,
The conversion unit is a framework system for developing a control program based on IEC 61131-3, characterized in that the stored graphic code information is converted into a C language control code through a reference C language code template. The method of claim 18,
The reference C language code template is a framework system for developing a control program based on IEC 61131-3, characterized in that the C language based code according to the function of the function block. The method of claim 12,
The framework system for developing a control program based on IEC 61131-3, further comprising a compilation unit for compiling the C language control code transmitted to the target PC and converting the C language control code into a C object. The method of claim 12,
The framework system for developing a control program based on IEC 61131-3, further comprising a compilation unit for compiling the C language control code converted by the host PC into a C object. The method of claim 20 or 21,
The control framework
A priority table storing priorities according to function blocks represented by the compiled C objects;
A function table that stores a function address of the compiled C object;
A variable table in which a variable address of the compiled C object is stored;
An access table for storing access information of the variable table of the function block represented by the compiled C object; And
A control thread for registering a function address and a variable address of the compiled C object in a function table and a variable table, respectively;
Framework system for development of a control program comprising a.

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