WO2010137139A1 - シーケンスプログラムのデバッグ装置、デバッグ方法、及び、プログラム - Google Patents
シーケンスプログラムのデバッグ装置、デバッグ方法、及び、プログラム Download PDFInfo
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- WO2010137139A1 WO2010137139A1 PCT/JP2009/059709 JP2009059709W WO2010137139A1 WO 2010137139 A1 WO2010137139 A1 WO 2010137139A1 JP 2009059709 W JP2009059709 W JP 2009059709W WO 2010137139 A1 WO2010137139 A1 WO 2010137139A1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/056—Programming the PLC
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/048—Monitoring; Safety
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/36—Preventing errors by testing or debugging software
- G06F11/3664—Environments for testing or debugging software
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/13—Plc programming
- G05B2219/13142—Debugging, tracing
Definitions
- the present invention relates to a debugging device, a debugging method, and a program for improving the debugging efficiency of a sequence program.
- Patent Document 1 Japanese Patent Application Laid-Open No. 08-328614 (Patent Document 1) describes a step No. An invention of a programmable controller device that skips a part of a program by designating a program is disclosed.
- the present invention has been invented in order to solve these problems in view of the above points, and has an object to provide a debugging environment in which a sequence program can be debugged easily and efficiently.
- sequence program debugging apparatus of the present invention employs the following configuration.
- the sequence program debugging device of the present invention includes a range setting unit that sets a skip range to be skipped when executing a sequence program, and an extraction unit that extracts an output contact that is included in the skip range and outputs a value to another range And a value setting unit for setting a value to the extracted output contact.
- sequence program debugging apparatus debugging method, and program of the present invention. According to the sequence program debugging apparatus, debugging method, and program of the present invention, there are provided a sequence program debugging apparatus, debugging method, and program that provide a debugging environment that can easily and efficiently execute the debugging of the sequence program. It becomes possible to do.
- FIG. 1 is a diagram illustrating an example of a functional configuration of a debugging device according to the present embodiment.
- FIG. 2A is an example of a screen on which a part of the ladder program is displayed.
- FIG. 2-2 is a diagram illustrating an example of a screen for setting a skip range.
- FIG. 3A is a diagram for explaining a bit device and a word device that output values for a range outside the skip range.
- FIG. 3B is a diagram illustrating an example of a screen for setting the value of the bit device and the word device by the device test function.
- FIG. 4 is a diagram for explaining what is calculated outside the skip range and the value is referred to in the skip range.
- FIG. 5 is a diagram for explaining processing for setting values in bit devices and word devices included in the skipping range.
- FIG. 6A is a diagram illustrating an example of a screen in which a skip range is designated for the ladder program.
- FIG. 6B is a diagram of an example of a screen that displays skip range information.
- FIG. 6C is a diagram illustrating a screen for setting values for bit devices and word devices referenced in other ranges.
- FIG. 7A is a diagram for explaining a screen from which bit devices calculated in the skipping range are extracted.
- FIG. 7B is a diagram illustrating a screen for setting a value for the extracted bit device.
- FIG. 8A is a diagram for explaining a screen from which word devices calculated in the skipping range are extracted.
- FIG. 8A is a diagram for explaining a screen from which word devices calculated in the skipping range are extracted.
- FIG. 8-2 is a diagram showing a screen for setting a value for the extracted word device.
- FIG. 9 is a diagram for explaining processing for setting values in bit devices and word devices that are included in the skipping range and whose values vary depending on the values of bit devices or word devices in other ranges.
- FIG. 10A is a diagram illustrating an example (part 1) in which a bit device that is operated in another range and is referenced in the skip range is extracted.
- FIG. 10B is a diagram illustrating an example (part 1) in which a bit device that is operated in the skipping range and is referenced in another range is extracted.
- FIG. 10C is a diagram illustrating an example (part 1) of setting the value of the bit device that is calculated in the skipping range and referred to in another range.
- FIG. 10A is a diagram illustrating an example (part 1) in which a bit device that is operated in another range and is referenced in the skip range is extracted.
- FIG. 10B is a diagram illustrating an example (part 1) in which
- FIG. 11A is a diagram illustrating an example (part 1) in which a word device that is operated in another range and is referenced in the skip range is extracted.
- FIG. 11B is a diagram illustrating an example (part 1) in which word devices that are operated in the skipping range and are referenced in another range are extracted.
- FIG. 11C is a diagram illustrating an example (part 1) in which the value of the word device that is calculated in the skipping range and referred to in another range is set.
- FIG. 12A is a diagram illustrating an example (part 2) in which a bit device that is operated in another range and is referenced in the skip range is extracted.
- FIG. 12B is a diagram illustrating an example (part 2) in which word devices that are operated in the skipping range and are referenced in other ranges are extracted.
- FIG. 12A is a diagram illustrating an example (part 1) in which a word device that is operated in another range and is referenced in the skip range is extracted.
- FIG. 12B is a diagram illustrating an example
- FIG. 12-3 is a diagram illustrating an example (part 2) in which the value of the word device that is calculated in the skipping range and referred to in another range is set.
- FIG. 13A is a diagram illustrating an example (part 2) in which a word device that is operated in another range and is referenced in the skip range is extracted.
- FIG. 13-2 is a diagram illustrating an example (part 2) in which a bit device that is operated in the skipping range and is referenced in another range is extracted.
- FIG. 13C is a diagram illustrating an example (part 2) in which the value of the bit device that is calculated in the skipping range and referred to in another range is set.
- FIG. 14 is a diagram of a hardware configuration of the debugging device 10 according to the present embodiment.
- a ladder program is mainly described.
- the embodiment is not limited to a ladder program, and is used for debugging a sequence program such as a structured text, a function block diagram, or a sequential function chart. Can be applied.
- input contact corresponds to, for example, “contact” of the ladder program
- output contact corresponds to, for example, “coil” of the ladder program.
- FIG. 1 is a diagram illustrating an example of a functional configuration of a debugging device according to the present embodiment.
- the debug device 10 in FIG. 1 includes an input device 11, a control unit 12, and a display device 13.
- the input device 11 is an input device such as a keyboard, for example, and an instruction for debugging processing is input to the control unit 12 by the operator.
- a range to be skipped in the sequence program is also input from the input device 11.
- the display device 13 is, for example, a display, and displays a sequence program executed at the time of debugging, a result of debugging, and the like.
- the control unit 12 performs a sequence program debugging process.
- the control unit 12 includes a setting unit 21, a data holding unit 28, and an execution unit 29.
- the setting unit 21 sets a range to be skipped when debugging a sequence program, and sets a contact value related to the range.
- the setting unit 21 includes a range setting unit 22, an extraction unit 23, a screen generation unit 24, and a value setting unit 25.
- the range setting unit 22 sets a skip range to be skipped when executing the sequence program. Note that “skip” refers to proceeding to the next line or the like without executing a specified range or the like.
- the extraction unit 23 extracts an output contact that outputs a value to the other range of the sequence program among the contacts included in the set skip range.
- the extraction unit 23 also extracts an input contact for inputting a value to the skip range from contacts included in a range different from the set skip range.
- the screen generation unit 24 generates a screen that displays a screen that prompts the user to set a skip range, skip range information, contact information, and value information set for the contact.
- the value setting unit 25 sets a value for the output contact extracted by the extraction unit 23.
- the value setting unit 25 also sets the value of the output contact for each value of the input contact when the value of the output contact differs for each value of the input contact.
- the data holding unit 28 holds the value of the output contact set by the value setting unit 25.
- the data holding unit 28 may hold information on the skip range set by the range setting unit 22.
- the execution unit 29 performs a sequence program debugging process.
- the execution unit 29 acquires information on the skip range to be skipped during debugging from the data holding unit 28.
- the execution unit 29 also acquires the value of the output contact that outputs a value from the skip range from the data holding unit 28. Thereby, it is possible to skip a part of the sequence program and debug without using a device test function or the like during the debugging process.
- FIGS. 2 to 4 are diagrams for explaining examples of screens displayed when the sequence program is debugged.
- FIG. 2A is an example of a screen on which a part of the ladder program is displayed.
- a hatched range a1 is a skip range.
- the skip range may be designated by designating a step in the screen of FIG. 2A with an input device such as a mouse.
- FIG. 2-2 is a diagram showing an example of a screen for setting the range a1 shown in FIG. 2-1 as a skipping range.
- the hatched row a2 is set as the skip range.
- FIG. 3A is a diagram for explaining a bit device and a word device that output a value to a range outside the skip range among the bit devices and word devices included in the skip range.
- the bit device M10 and the word device D10 are referenced outside the skip range. Therefore, a value obtained by calculating in the skip range is set in a pseudo manner using the device test function.
- FIG. 3B is a diagram illustrating an example of a screen for setting bit device and word device values by the device test function during debugging processing.
- FIG. 4 is a diagram illustrating a bit device and a word device included in the skip range that are calculated outside the skip range and whose values are referred to in the skip range.
- the bit device M10 and the word device D10 calculate values on the lines b1 and b2 outside the skip range, respectively. These bit devices and word devices also set values in a pseudo manner by the device test function.
- FIG. 5 is a diagram for explaining processing for setting values to bit devices and word devices included in the skipping range, which is executed by the debugging apparatus 10.
- the skip range is set by the range setting unit 22.
- the extraction unit 23 extracts a bit device and a word device that are calculated in the skip range and referenced in another range.
- step S13 the value setting unit 25 sets values in the bit device and the word device extracted in step S12.
- FIG. 6 is a diagram showing an example of a screen displayed in the process of FIG. The screen of FIG. 6 is displayed on the display device 13.
- FIG. 6A is a diagram illustrating an example of a screen in which a skip range is designated for the ladder program. In FIG. 6A, the hatched range c1 is designated as the skip range.
- FIG. 6B is a diagram illustrating an example of a screen that displays information on the designated skip range c1. In FIG. 6B, the line c2 indicating the start position and the end position of the skip range c1 is highlighted.
- FIG. 6-3 is a diagram showing a screen for setting values for bit devices and word devices that are referred to in other ranges among the bit devices and word devices that are calculated in the skip range c1.
- the value “ON” is set for the word device M10
- the value “100” is set for the bit device D10.
- the operator inputs a value from the input device 11 based on the screen of FIG. 6C, the value is set in the corresponding bit device or word device.
- FIG. 7 is a diagram illustrating a screen when a bit device calculated in the skipping range is extracted and a value is set.
- the screens of FIGS. 7A and 7B are generated by the screen generation unit 24 and displayed on the display device 13.
- the bit device M10 is included in the skip range d1
- the bit device M10 is referred to outside the skip range d1. Therefore, the extraction unit 23 extracts the bit device M10.
- FIG. 7-2 is a diagram showing a screen for setting a value for the extracted bit device M10.
- the value “ON” is associated with the bit device M10.
- “M10” included in the device item is a bit device extracted by the extraction unit 23, and a value input from the input device 11 is displayed in the corresponding value column.
- the value setting unit 25 sets the value “ON” for the bit device M10.
- FIG. 8 is a diagram for explaining a screen when a word device calculated in the skipping range is extracted and a value is set.
- the screens of FIGS. 8A and 8B are generated by the screen generation unit 24 and displayed on the display device 13.
- the word device D10 is included in the skip range e1, and the word device D10 is referenced outside the skip range e1. Therefore, the extraction unit 23 extracts the word device D10.
- FIG. 8-2 is a diagram showing a screen for setting a value for the extracted word device D10.
- the value “100” is associated with the word device D10.
- “D10” included in the device item is a word device extracted by the extraction unit 23, and a value input from the input device 11 is displayed in the corresponding value column.
- the value setting unit 25 sets the value “100” for the word device D10.
- FIG. 9 is a flowchart for explaining processing for setting a value in a bit device and a word device that are included in the skipping range and whose value changes depending on the value of the bit device or the word device in another range. The process of FIG. 9 is executed by the debug device 10.
- step S21 of FIG. 9 the range setting unit 22 sets a skip range.
- step S22 the extraction unit 23 extracts bit devices and word devices that are calculated in other ranges and referenced from the skip range.
- step S23 the extraction unit 23 extracts bit devices and word devices that are calculated in the skipping range and referenced in other ranges.
- step S24 the value setting unit 25 determines whether the device value extracted in step S23 depends on the device value extracted in step S22. When it depends, it progresses to step S25, and when it does not depend, it progresses to step S26.
- step S25 a value corresponding to each value referenced in the skip range is set for the bit device and word device referenced in other ranges.
- step S26 values are set for bit devices and word devices referenced in other ranges.
- FIGS. 10 to 13 are diagrams showing examples of screens displayed when the values of the bit device and the word device are set by the processing of FIG.
- the screens shown in FIGS. 10 to 13 are generated by the screen generation unit 24.
- FIG. 10 is a diagram illustrating an example of setting a bit device value.
- FIG. 10A is a diagram illustrating an example in which bit devices that are operated in other ranges and referenced in the skip range are extracted.
- the bit device M0 output at f1 is input to f2 included in the skip range.
- FIG. 10-2 is a diagram illustrating an example in which bit devices that are operated in the skipping range and referenced in other ranges are extracted.
- the bit device M0 output at f3 included in the skipping range is input to f4.
- 10-1 and 10-2 the value of the bit device M0 input to f4 varies depending on the value input to f2.
- FIG. 10-3 is a diagram showing a screen for setting the value of M0 input to f4.
- “Condition” indicates a value when being input to f2
- “Device” indicates a device name
- “Value” indicates a value to be set.
- FIG. 10-3 shows an example in which the value input to f4 is input from the input device 11 for each case where the value input to f2 is “ON” and “OFF”.
- the input value is associated with each condition by the value setting unit 25 and held in the data holding unit 28.
- FIG. 11 is a diagram showing an example of setting a word device value.
- FIG. 11A is a diagram illustrating an example in which word devices that are calculated in other ranges and referenced in the skip range are extracted.
- the word device D0 output by g1 is referred to by g2 included in the skip range, and is assigned to the word device D10.
- FIG. 11-2 is a diagram illustrating an example in which word devices that are calculated in the skipping range and referenced in other ranges are extracted.
- the word device D10 output at g3 is referred to at g4.
- FIG. 11C is a diagram illustrating an example of a screen for setting the value of the word device D10 for each value of the word device D0 referred to by g2.
- “Condition” indicates a value when referred to by g2
- “Device” indicates the name of a device for which a value is set
- “Value” indicates a value to be set.
- FIG. 11C illustrates an example in which the value input to g4 is input from the input device 11 for each case where the value of the word device D0 input to g2 is “0” and “10”.
- the input value is associated with each condition by the value setting unit 25 and held in the data holding unit 28.
- FIG. 12 is a diagram showing an example in which a word device value is set for each bit device value.
- FIG. 12A is a diagram illustrating an example in which a bit device that is calculated in another range and referenced in the skip range is extracted.
- the bit device M0 output at h1 is referred to by h2 included in the skip range, and the values of M10 and D10 are calculated based on the value.
- FIG. 12-2 is a diagram showing an example in which word devices that are operated in the skipping range and referenced in other ranges are extracted.
- the word device D10 output at h3 included in the skip range is referred to at h4.
- FIG. 12-3 is a diagram showing an example of a screen for setting the value of the word device D10 for each value of the bit device M0 referred to by h2.
- “condition” indicates the value of M0 referred to by h2
- “device” indicates the name of the device for setting the value
- “value” indicates the value to be set.
- FIG. 12C an example in which the value of D10 input to h4 is input from the input device 11 for each case where the value of the bit device M0 input to h2 is “ON” and “OFF”. Show.
- the input value is associated with each condition by the value setting unit 25 and held in the data holding unit 28.
- FIG. 13 is a diagram showing an example in which a bit device value is set for each word device value.
- FIG. 13A is a diagram illustrating an example in which word devices that are calculated in other ranges and referenced in the skip range are extracted.
- the word device D0 output by j1 is referred to by j2 included in the skip range, and the value of the bit device M10 is determined according to the value.
- FIG. 13-2 is a diagram illustrating an example in which bit devices that are operated in the skipping range and referenced in other ranges are extracted.
- the value of the bit device M10 output at j3 included in the skipping range is referred to at j4.
- FIG. 13C is a diagram illustrating an example of a screen for setting the value of the bit device M10 for each value of the word device D0 referred to by j2.
- “condition” indicates the value of D0 referred to by j2
- “device” indicates the name of the device for setting the value
- “value” indicates the value to be set.
- FIG. 13C an example in which the value of M10 input to j4 is input from the input device 11 for each case where the value of the word device D0 input to j2 is “ON” and “OFF”. Show.
- the input value is associated with each condition by the value setting unit 25 and held in the data holding unit 28.
- FIG. 14 is a diagram of a hardware configuration of the debug device 10 according to the present embodiment.
- a debugging device 10 according to the present embodiment includes a CPU (Central Processing Unit) 1, a ROM (Read Only Memory) 2, a RAM (Random Access Memory) 3, a keyboard 4, a display 5, a hard disk drive (hereinafter referred to as “HDD”). 8) and a network interface card (hereinafter referred to as “NIC”) 9.
- CPU Central Processing Unit
- ROM Read Only Memory
- RAM Random Access Memory
- HDD hard disk drive
- NIC network interface card
- the CPU 1 is a control device and controls each part of the debug device 10.
- the ROM 2 and RAM 3 are storage devices that store programs executed by the CPU 1 and function as work memories when the CPU 1 executes the programs.
- the program according to the present embodiment may be stored in a computer-readable storage medium in addition to being stored in the ROM 2, and may be read and executed by the CPU 1 by being inserted into a drive device (not shown).
- the keyboard 4 is an input device and inputs instructions to the debug device 10.
- the display 5 is a display device, and displays a screen to be presented to the operator during debugging.
- the HDD 8 is a storage device and stores data such as a sequence program to be debugged and a program executed by the CPU 1.
- the NIC 9 communicates with other devices (not shown) connected via a network.
- sequence program debugging apparatus is suitable for debugging a sequence program used in manufacturing a controlled machine.
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Abstract
Description
〔本実施の形態〕
2 ROM
3 RAM
4 キーボード
5 ディスプレイ
8 HDD
9 NIC
10 デバッグ装置
11 入力装置
12 制御部
13 表示装置
21 設定部
22 範囲設定部
23 抽出部
24 画面生成部
25 値設定部
28 データ保持部
29 実行部
Claims (7)
- シーケンスプログラムを実行する際にスキップするスキップ範囲を設定する範囲設定部と、
前記スキップ範囲に含まれ他の範囲に値を出力する出力接点を抽出する抽出部と、
抽出された前記出力接点に値を設定する値設定部と、
を有することを特徴とするシーケンスプログラムのデバッグ装置。 - 設定された前記値を保持する値保持部を有することを特徴とする請求項1記載のシーケンスプログラムのデバッグ装置。
- 前記抽出部は、さらに、前記スキップ範囲と異なる範囲に含まれ前記スキップ範囲に値を入力する入力接点を抽出し、
前記出力接点の値が前記入力接点の値に対応して変化する場合に、前記値設定部は、前記入力接点が取り得る値毎に、前記出力接点の値を設定することを特徴とする請求項1又は2記載のシーケンスプログラムのデバッグ装置。 - 設定された前記出力接点の値を用いて、前記シーケンスプログラムのデバッグ処理を実行する実行部を有することを特徴とする請求項1ないし3何れか一項に記載のシーケンスプログラムのデバッグ装置。
- 前記入力接点及び前記出力接点は、ビットデバイス又はワードデバイスであることを特徴とする請求項1ないし4何れか一項に記載のシーケンスプログラムのデバッグ装置。
- シーケンスプログラムを実行する際にスキップするスキップ範囲を設定する範囲設定ステップと、
前記スキップ範囲に含まれ他の範囲に値を出力する出力接点を抽出する抽出ステップと、
抽出された前記出力接点に値を設定する値設定ステップと、
を有することを特徴とするシーケンスプログラムのデバッグ方法。 - シーケンスプログラムを実行する際にスキップするスキップ範囲を設定する範囲設定ステップと、
前記スキップ範囲に含まれ他の範囲に値を出力する出力接点を抽出する抽出ステップと、
抽出された前記出力接点に値を設定する値設定ステップと、
を有するシーケンスプログラムのデバッグ方法をコンピュータに実行させるためのプログラム。
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PCT/JP2009/059709 WO2010137139A1 (ja) | 2009-05-27 | 2009-05-27 | シーケンスプログラムのデバッグ装置、デバッグ方法、及び、プログラム |
KR1020117023314A KR101324370B1 (ko) | 2009-05-27 | 2009-05-27 | 시퀀스 프로그램의 디버그 장치, 디버그 방법, 및 프로그램 |
DE112009004802T DE112009004802T5 (de) | 2009-05-27 | 2009-05-27 | Debugging-Vorrichtung, Debugging-Verfahren und Computerprogramm für ein Ablaufprogramm |
CN200980159559.6A CN102449563B (zh) | 2009-05-27 | 2009-05-27 | 定序程序的调试装置、调试方法 |
JP2011515795A JP5279901B2 (ja) | 2009-05-27 | 2009-05-27 | シーケンスプログラムのデバッグ装置、デバッグ方法、及び、プログラム |
US13/322,501 US20120072777A1 (en) | 2009-05-27 | 2009-05-27 | Debugging device, debugging method, and computer program for sequence program |
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KR20150127161A (ko) * | 2013-03-07 | 2015-11-16 | 미쓰비시덴키 가부시키가이샤 | 래더 프로그램 표시 프로그램 및 래더 프로그램 표시 장치 |
JP5762601B1 (ja) * | 2014-06-17 | 2015-08-12 | 三菱電機株式会社 | プログラム編集装置、方法、およびプログラム |
JP6150953B2 (ja) * | 2015-06-01 | 2017-06-21 | 三菱電機株式会社 | デバッグ装置、デバッグ方法及びデバッグプログラム |
JP6356726B2 (ja) | 2016-05-19 | 2018-07-11 | ファナック株式会社 | ラダープログラム解析装置 |
CN109002388B (zh) * | 2018-07-17 | 2021-11-23 | 京信网络系统股份有限公司 | 一种调试方法及装置 |
CN110543429B (zh) * | 2019-09-10 | 2023-05-16 | 深圳前海微众银行股份有限公司 | 测试用例调试方法、装置及存储介质 |
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Also Published As
Publication number | Publication date |
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KR101324370B1 (ko) | 2013-11-01 |
JP5279901B2 (ja) | 2013-09-04 |
JPWO2010137139A1 (ja) | 2012-11-12 |
CN102449563B (zh) | 2014-06-18 |
DE112009004802T5 (de) | 2012-06-28 |
KR20120041153A (ko) | 2012-04-30 |
US20120072777A1 (en) | 2012-03-22 |
CN102449563A (zh) | 2012-05-09 |
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