WO2011125178A1

WO2011125178A1 - Control system, control device and control method

Info

Publication number: WO2011125178A1
Application number: PCT/JP2010/056249
Authority: WO
Inventors: 寛芦谷; 卓也宮丸
Original assignee: 三菱電機株式会社
Priority date: 2010-04-06
Filing date: 2010-04-06
Publication date: 2011-10-13
Also published as: JPWO2011125178A1

Abstract

An FA controller (100) is provided with a shared memory (103), a first MCU (101) for performing refresh processing between data stored in a memory area (131) reserved in a shared memory (103) and input/output data (201) stored in an input/output data storage unit, and a second MCU (102) operating on the basis of a user program (124) for manipulating data stored in the memory area (131) of the shared memory (103); wherein the second MCU (102) writes refresh information (130) describing the settings for the refresh processing into the memory area (131) of the shared memory (103), and the first MCU (101) performs the refresh processing according to the refresh information (130) that has been written into the memory area (131).

Description

Control system, control device, and control method

The present invention relates to a control system, a control device, and a control method for controlling a controlled device with a user program written in a general-purpose programming language such as C language.

In the field of general factory automation (FA), a controlled device is often controlled by a programmable logic controller (PLC) using a ladder language specialized in machine control. On the other hand, in recent years, an FA controller that has compatibility with a PLC and can be used without porting a user program that executes advanced processing described in a general-purpose programming language to a ladder language for PLC. (Control device) has been developed. For example, according to the FA controller using the C language, past C language program assets can be diverted, and functions that the ladder language is not good at, such as trigonometric functions, can be easily handled. Since the FA controller has compatibility with the PLC, it is possible to construct a system (control system) in which various expansion modules prepared for PLC are connected via an expansion bus for PLC. It has become.

・ To access the input / output module, which is one of the expansion modules, the user program requires many procedures and operations in order to ensure the same reliability, expandability, and versatility as the PLC. Therefore, the FA controller conceals the above complicated procedures and operations and provides an automated dedicated access processing function to improve user programming convenience.

JP 2004-94473 A

By the way, in the FA controller, a user program written in a general-purpose programming language is executed under the control of a real-time OS (Real Time Operating System: RTOS). There are various types of RTOS, and usage environments such as provided libraries, graphical user interfaces, and development environments differ for each type of RTOS. Since the types of RTOS selected by the user are diverse, it is desired that the FA controller can also be equipped with various RTOSs.

The above-mentioned dedicated access processing function depends on the RTOS, and when the RTOS type is changed, it is necessary to re-implement the dedicated access processing function. However, preparing a dedicated access processing function for each RTOS in order to meet the above-described demand has a problem that it imposes a heavy burden on the manufacturer. As one solution to this problem, a configuration in which a plurality of CPUs each capable of executing different RTOSs is provided, and the dedicated access processing function and the user program are operated on different CPUs can be considered.

In Patent Document 1, a control process for a controlled apparatus and a communication control process for transmitting and receiving various operations for executing the control process are operated by CPUs that are operated by independent OSs, and the CPUs are shared storage units. A technique for executing data storage / reading via the Internet is disclosed. However, according to the technique of Patent Document 1, since the communication procedure between two CPUs is complicated, if this technique is adopted in the above configuration, the convenience of programming on the user side is reduced.

The present invention has been made in view of the above, and an object thereof is to obtain a control system, a control device, and a control method that allow a user to easily execute a dedicated access process that does not depend on an OS used by the user. To do.

In order to solve the above-described problems and achieve the object, the present invention provides an input / output data storage unit that is connected to a controlled device and stores first input / output data with the controlled device. An output module; a shared storage unit storing second input / output data; second input / output data stored in the shared storage unit; and first input / output data stored in the input / output data storage unit A control device comprising: a first control unit that executes a refresh process between the first control unit, and a second control unit that operates based on a user program and operates second input / output data stored in the shared storage unit; The second control unit writes the refresh information describing the settings for the refresh process to the shared storage unit, and the first control unit follows the refresh information written to the shared storage unit. Executing the refresh process Te, characterized in that.

The control system according to the present invention allows the user to easily execute a dedicated access process that does not depend on the OS used by the user.

FIG. 1 is a diagram illustrating a hardware configuration of the FA controller system according to the first embodiment. FIG. 2 is a diagram schematically illustrating communication between the components. FIG. 3 is a diagram illustrating an example of a data structure of the refresh information. FIG. 4 is a flowchart for explaining the operation for setting the refresh information. FIG. 5 is a flowchart for explaining the operation of the automatic refresh process. FIG. 6 is a flowchart for explaining the operation of the manual refresh process. FIG. 7 is a flowchart for explaining the operation when the manual refresh process is executed. FIG. 8 is a flowchart for explaining the operation of the refresh process end process. FIG. 9 is a diagram schematically illustrating communication between each component according to the second embodiment. FIG. 10 is a diagram illustrating an example of a data structure of command information. FIG. 11 is a flowchart for explaining the operation of setting command information. FIG. 12 is a flowchart illustrating an operation in which a dedicated access processing function executes a command. FIG. 13 is a diagram illustrating a hardware configuration of the FA controller system according to the third embodiment. FIG. 14 is a diagram schematically illustrating communication between the components. FIG. 15 is a diagram illustrating an example of command information.

Hereinafter, embodiments of a control system, a control device, and a control method according to the present invention will be described in detail with reference to the drawings. Note that the present invention is not limited to the embodiments.

Embodiment 1 FIG.
FIG. 1 is a diagram illustrating a hardware configuration of an FA controller system as a control system according to the first embodiment of the present invention. The FA controller system 1 is configured by connecting an FA controller 100 as a control device of the first embodiment and an input / output module 200 to an expansion bus 300 for PLC.

The input / output module 200 is connected to a controlled device (not shown) such as an industrial device, and stores output data of the controlled device and input data (input / output data 201) to the controlled device. Input / output data storage unit 202 and a communication controller 203 that is a communication interface for communication with the FA controller 100 via the expansion bus 300. The communication controller 203 converts the input / output data 201 into an electrical signal that flows on the expansion bus 300.

The FA controller 100 includes a first MCU 101 that includes a CPU 110 that executes a dedicated access processing function 115 that is a program for realizing dedicated access processing in accordance with a dedicated access procedure for the input / output module 200 expanded by the expansion bus 300. The second MCU 102 on which the CPU 120 that executes the user program 124 is mounted, and the shared memory 103 that is used for communication between the first MCU 101 and the second MCU 102. The shared memory 103 is a two-port memory, and

MCUs

101 and 102 are connected to respective ports of the shared memory 103 by signal lines 104 and 105, respectively. Further, the first MCU 101 and the second MCU 102 are directly connected by a signal line 106.

More specifically, the first MCU 101 includes an EEPROM 111, a RAM 112, an external interface 113, and a communication controller 114 in addition to the CPU 110 described above, and these components are connected to the internal bus of the first MCU 101, respectively. The EEPROM 111 stores a dedicated access processing function 115 and a first RTOS 116 that is a real-time OS that executes basic control of the first MCU 101.

The RAM 112 is used as a program development area. When the FA controller 100 is activated, the dedicated access processing function 115 and the first RTOS 116 are sent to the RAM 112 via the internal bus and are expanded in the program expansion area of the RAM 112, respectively. The CPU 110 executes the first RTOS 116 expanded on the RAM 112. The CPU 110 implements the dedicated access processing by executing the dedicated access processing function 115 under basic control by the first RTOS 116.

The external interface 113 is an interface for communication with the second MCU 102, and is connected to a signal line 104 for accessing the shared memory 103 and a signal line 106 for transmitting and receiving interrupt signals between the second MCU 102. Has been. The communication controller 114 is a communication interface for accessing the input / output data 201 via the expansion bus 300.

The second MCU 102 includes an EEPROM 121, a RAM 122, and an external interface 123 in addition to the CPU 120, and these components are connected to the internal bus of the second MCU 102, respectively. The EEPROM 121 stores a user program 124 created by a user for reading input / output data of the input / output data 201 and writing output data, and a second RTOS 125 for operating the user program 124. . Note that the user can select a desired type of second RTOS 125 as long as the user program 124 can be operated.

The RAM 122 is used as a program development area, like the RAM 112. When the FA controller 100 is activated, the user program 124 and the second RTOS 125 are sent to the RAM 122 via the internal bus of the second MCU 102 and are expanded in the program expansion area of the RAM 122, respectively. The CPU 120 executes the second RTOS 125 expanded on the RAM 122. The CPU 120 executes the user program 124 under the control of the second RTOS 125.

The external interface 123 is an interface for communication with the first MCU 101, and includes a signal line 105 for accessing the shared memory 103 and a signal line 106 for transmitting and receiving various interrupt signals to and from the second MCU 101. It is connected.

FIG. 2 schematically illustrates communication between components related to dedicated access processing between the dedicated access processing function 115 and the user program 124 in the FA controller system 1 of the first embodiment configured as described above. It is a figure to do.

In FIG. 2, the input / output data storage unit 202 stores M input / output data. The shared memory 103 has a memory area 131 for storing data to be processed (refresh processing) synchronized with the input / output data 201 at a predetermined timing by the dedicated access processing function 115. . Here, N memory areas are secured in the shared memory 103. More specifically, the refresh process overwrites the input data in the input / output data 201 with the corresponding input data prepared in the memory area 131 and replaces the output data stored in the memory area 131 with the input / output data 201. This is an operation of making the input / output data 201 stored in the input / output data storage unit 202 and the data stored in the memory area 131 in the same state by overwriting with corresponding output data. The user program 124 can indirectly access the input / output data 201 by reading / writing data stored in the memory area 131 via the signal line 105. The dedicated access processing function 115 executes data refresh processing at a predetermined time interval or at a timing when an instruction (refresh execution instruction) is received from the user program 124 via the signal line 106. The refresh process executed at a predetermined time interval is referred to as an automatic refresh process, and the refresh process executed at a timing when a refresh execution instruction is received is referred to as a manual refresh process.

Detailed operation setting to the dedicated access processing function 115 including start / stop of the refresh process is executed using the refresh information 130 stored in the shared memory 103. FIG. 3 is a diagram illustrating an example of the data structure of the refresh information 130.

As shown in FIG. 3, in this example, the refresh information 130 is a refresh operation setting field that indicates whether to execute the automatic refresh process, the manual refresh process, or invalidate the refresh information 130 in order from the top. , A field for setting a time interval (cycle) for executing automatic refresh processing, an automatic refresh execution instruction field for instructing start / stop of automatic refresh processing, and manual refresh execution for instructing start / stop of manual refresh processing Dedicated access indicating the instruction field, the field indicating the data name of the refresh processing target in the input / output data 201, the field indicating the storage destination memory area of the data to be synchronized, and indicating whether the refresh processing is stopped or operating By processing function 115 Status information updated managed (refresh state) contains a field to be filled. Here, the data name of the input / output data is associated with the storage address in the input / output data storage unit 202, and the dedicated access processing function 115 is based on the data name of the input / output data. The corresponding position can be accessed.

When the user program 124 completes writing (setting) of the refresh information 130 to the shared memory, the user program 124 sends a refresh information setting completion notification, which is a notification that the setting of the refresh information 130 is completed, via the signal line 106 to the dedicated access processing function. Issue to 115. When the dedicated access processing function 115 receives the notification, the dedicated access processing function 115 reads the refresh information 130 written in the shared memory 103 and executes the refresh processing according to the read refresh information 130.

Here, the user program 124 notifies the completion of writing of the refresh information 130 by issuing a refresh information setting completion notification via the signal line 106, but the refresh information 130 is sent to the dedicated access processing function 115. The procedure for notification via the signal line 106 may be omitted by constantly monitoring the set position. In addition, a refresh execution instruction in the manual refresh process is notified via the signal line 106, but the user program 124 writes the instruction content for executing the refresh to a predetermined location of the shared memory 103, and the dedicated access processing function 115. May be configured to always monitor the portion where the content is written, so that the execution instruction is transmitted from the user program 124 to the dedicated access processing function 115.

Thus, in the first embodiment, the dedicated access processing function 115 synchronizes the data stored in the memory area 131 with the input / output data 201 based on the refresh information 130 set in the shared memory 103. Therefore, the user program 124 can operate the input / output data 201 only by implementing simple memory access to the shared memory 103. In addition, since communication can be performed between the dedicated access processing function 115 and the user program 124, even if the type of the second RTOS 125 selected by the user or the type of the CPU 120 is changed, the dedicated access processing function 115 and the user program 124 can be used. Communication between the CPUs 110 and 120 can be executed without re-implementing the access processing function 115. Further, since the communication between the CPUs 110 and 120 is realized only by mounting the user program 124 for memory access to the shared memory 103, the convenience of programming for the user is high.

Next, the detailed operation of the first embodiment of the present invention will be described with reference to FIGS. FIG. 4 is a flowchart for explaining the operation in which the user program 124 sets the refresh information 130.

As shown in FIG. 4, the user program 124 first creates the refresh information 130 and writes it in the shared memory 103 (step S1). The user program 124 can instruct start / stop of the automatic refresh process, change of the execution cycle of the automatic refresh process, and start / stop of the manual refresh process according to the description content of the refresh information 130. For example, when starting the automatic refresh process, the user program 124 describes “auto refresh process” in the refresh operation setting field, and sets a desired time interval (for example, 1000 msec) in the field for setting the cycle of the automatic refresh process. Describe it and describe "Start" in the automatic refresh execution instruction field. Further, when changing the execution cycle of the automatic refresh process, the changed time interval may be described in the field for setting the cycle of the automatic refresh process in the refresh information 130 described as described above. When starting the manual refresh process, the user program 124 may describe “manual refresh process” in the refresh operation setting field and “start” in the manual refresh execution instruction field. When stopping the refresh process, “stop” may be described in the refresh execution instruction field corresponding to the refresh process being executed. Note that the user program 124 may describe “automatic refresh processing and manual refresh processing” in the refresh operation setting field so that the automatic refresh processing and manual refresh processing are executed simultaneously. After completing the writing of the refresh information 130, a refresh information setting completion notification is issued (step S2), and the operation at the time of setting the refresh information 130 by the user program 124 is returned.

The dedicated access processing function 115 reads the refresh information 130 when the refresh information setting completion notification is received. The dedicated access processing function 115 starts the automatic refresh process when the read refresh information 130 describes an instruction to start the automatic refresh process. FIG. 5 is a flowchart for explaining the operation of automatic refresh processing by the dedicated access processing function 115.

As shown in FIG. 5, when the automatic refresh process is started, the dedicated access processing function 115 writes “in operation” in the field indicating the refresh state of the refresh information 130 (step S11), and starts counting time (step S11). S12). Then, the dedicated access processing function 115 determines whether or not the count value has reached the period of time set by the refresh information 130 (step S13). When the count value has not reached the set cycle time (No in step S13), the dedicated access processing function 115 repeatedly executes the determination in step S13 until the time is reached. When the count value reaches the time (step S13, Yes), the dedicated access processing function 115 exits the repetition processing of step S13, and the input / output data and memory area specified by the data name described in the refresh information 130 The data of the designated area in 131 is synchronized (step S14). Then, the dedicated access processing function 115 proceeds to step S12, resets the count value, and starts counting time again.

As described above, in the automatic refresh process, the data stored in the memory area 131 is periodically synchronized with the input / output data 201. Therefore, the user program 124 once sets the refresh information 130 and starts the automatic refresh process. Then, by accessing the memory area 131, the contents of the input / output data 201 can be manipulated in substantially real time.

The dedicated access processing function 115 starts the manual refresh processing when the read refresh information 130 describes an instruction to start the manual refresh processing. FIG. 6 is a flowchart for explaining the operation of manual refresh processing by the dedicated access processing function 115.

As shown in FIG. 6, when the dedicated access processing function 115 starts the manual refresh process, “dedicated” is written in the field indicating the refresh state of the refresh information 130 (step S21), and whether or not a refresh execution instruction has been received. Is determined (step S22). When it is determined that the refresh execution instruction has not been received (No at Step S22), the dedicated access processing function 115 repeatedly executes the determination process at Step S22. When the dedicated access processing function 115 receives the refresh execution instruction (step S22, Yes), the dedicated access processing function 115 exits the repetition processing of step S22, and the input / output data specified by the refresh information 130 and the data of the specified area in the memory area 131 are stored. Are synchronized with each other (step S23). Then, the dedicated access processing function 115 proceeds to step S22 again and waits for reception of a refresh execution instruction.

FIG. 7 is a flowchart for explaining the operation when the manual refresh process by the user program 124 is executed. As shown in FIG. 7, after setting the refresh information 130 for starting the manual refresh process, the user program 124 issues a refresh execution instruction at a desired timing (step S31). When the refresh execution instruction is issued, the data in the memory area 131 is synchronized with the input / output data 201 by the operation in step S23, so that the user program 124 reads / writes the synchronized data (step S32). The process proceeds to step S31.

Thus, according to the manual refresh process, the refresh process is executed at the timing when the refresh execution instruction is issued, so that the user program 124 can access the latest input / output data 201 at a desired timing. Become.

The dedicated access processing function 115 starts the processing for stopping the corresponding refresh processing (refresh processing end processing) when the read refresh information 130 describes an instruction to stop the automatic refresh processing or manual refresh processing. . FIG. 8 is a flowchart for explaining the operation of the refresh process end process by the dedicated access process function 115.

As shown in FIG. 8, the dedicated access processing function 115 stops the corresponding refresh operation (step S41). For example, when stopping the automatic refresh process, the dedicated access processing function 115 stops the repeated process of steps S12 to S14. When the manual refresh process is stopped, the dedicated access processing function 115 stops the repeated process of steps S22 to S23. After step S41, the dedicated access processing function 115 writes “stopped” in the field indicating the refresh state of the refresh information 130 (step S42), and the refresh process end process is returned.

As described above, according to the first embodiment of the present invention, the FA controller 100 stores the shared memory 103, the data stored in the memory area 131 secured in the shared memory 103, and the input / output data storage. Operates based on the first MCU 101 that executes the refresh process with the input / output data 201 stored in the unit 202 and the user program 124, and operates the data stored in the memory area 131 of the shared memory 103 A second MCU 102, the second MCU 102 writes the refresh information 130 describing the settings for the refresh process to the memory area 131 of the shared memory 103, and the first MCU 101 writes the refresh information written to the memory area 131. Refresh according to 130 Since it is configured such that the process, it is possible to only access process that is independent of the OS used by the user the user to easily perform.

Embodiment 2. FIG.
In the second embodiment of the present invention, a user program can issue a command for a dedicated access processing function to execute a desired operation on input / output data. Since the hardware configuration of the FA controller system of the second embodiment is the same as that of the first embodiment except for the dedicated access processing function and the user program, the description of the hardware configuration of the FA controller system of the second embodiment is omitted. To do.

FIG. 9 is a diagram schematically illustrating communication between each component related to dedicated access processing between a dedicated access processing function and a user program in the FA controller system of the second embodiment. In order to distinguish from the components of the first embodiment, the FA controller system, FA controller, dedicated access processing function, and user program of the second embodiment are denoted by

reference numerals

2, 400, 401, and 402, respectively. It is attached. As shown in the figure, the shared memory 103 stores command information 403 describing a command for the dedicated access processing function 401 by the user program 402. The dedicated access processing function 401 reads the command information 403 and operates the input / output data 201 based on the command described in the read command information 403.

Here, the command may be any command as long as it is defined as usable in the dedicated access processing function 401. For example, a command to write input data to the input / output data storage unit 202 and a command to read output data can be defined as commands. In addition to these, various commands may be defined. For example, a controlled device that issues an interrupt signal may be used. Even if the input / output data as an interrupt signal from this type of controlled device is monitored and the interrupt signal is turned on, a command for notifying the user program 402 as an execution result is specified. Good.

In the shared memory 103, a memory area 404 is reserved for the dedicated access processing function 401 to write a command execution result. Completion of writing (setting) of the command information 403 and completion of writing of the command execution result are notified to each other between the CPUs 110 and 120 by a command information setting completion notification and a command execution completion notification, respectively. The command information setting completion notification and the command execution completion notification are transmitted via the signal line 106, respectively. The dedicated access processing function 401 is configured to monitor the position where the command information 403 is written, and the user program 402 is configured to monitor the position where the execution result is written, so that a command information setting completion notification and a command execution completion notification are notified. Can be omitted.

FIG. 10 is a diagram illustrating an example of the data structure of the command information 403. As shown in the figure, the command information 403 includes a message header and command data. The message header describes the message type indicating the command information 403, the size of the command information 403, the identification number for each command information 403, the size of the command data, and the like. In the command data, an identification code for identifying the type of command and the size and content of each argument data of the command are described. For example, if the command is a write command (WRITE function) for writing input data to the input / output data storage unit 202, and the WRITE function includes the data name of the input data and the content to be written as argument data, an identification code is described. The WRITE function identification code is described in the field, the data name size and data name of the input data are described in the argument data 1 field, and the input data size and the input data itself are described in the argument data 2 field. Is described.

FIG. 11 is a flowchart illustrating an operation in which the user program 402 sets the command information 403. First, the user program 402 creates command information 403 and writes it to the shared memory 103 (step S51). After the writing of the command information 403 is completed, a command information setting completion notification is issued (step S52), and the operation at the time of setting the command information 403 by the user program 402 is returned.

The dedicated access processing function 401 reads the command information 403 from the shared memory 103 when receiving the command information setting completion notification. The dedicated access processing function 401 executes the read command information 403. FIG. 12 is a flowchart illustrating an operation in which the dedicated access processing function 401 executes a command.

As shown in FIG. 12, the dedicated access processing function 401 performs an operation corresponding to the read command information 403 on the input / output data 201 (step S61). After executing the command, the dedicated access processing function 401 writes the execution result in the memory area 404 (step S62). When writing of the execution result is completed, the dedicated access processing function 401 issues a command execution completion notification (step S63), and the operation of executing the command returns.

As described above, the FA controller 400 is based on the shared memory 103, the first MCU 101 that operates the input / output data 201 stored in the input / output data storage unit 202 included in the input / output module 200, and the user program 402. A second MCU 102 that operates and calculates a command for operating the input / output data 201 stored in the input / output data storage unit 202, and the second MCU 102 stores command information 403 describing the command Since the first MCU 101 is configured to execute the operation of the input / output data 201 based on the command information 403 written to the shared memory 103, the first MCU 101 is dedicated not depending on the OS used by the user. Easy access processing by the user It can be. Further, by defining various commands in the dedicated access processing function 401, it is possible to execute a complicated operation on the input / output data 201 as compared with the first embodiment.

Embodiment 3 FIG.
In the third embodiment, the MCU that executes the dedicated access processing function is configured to be able to directly write to the RAM provided in the MCU that executes the user program, and the dedicated access processing function directly outputs the execution result of the command to the RAM. I tried to write.

FIG. 13 is a diagram illustrating the hardware configuration of the FA controller system according to the third embodiment. In addition, the same code | symbol as Embodiment 1 is attached | subjected to the component equivalent to Embodiment 1, and detailed description is abbreviate | omitted. As shown in the figure, the FA controller system 3 is configured by connecting an FA controller 500 and an input / output module 200 to an expansion bus 300. The input / output module 200 includes an input / output data storage unit 202 in which input / output data 201 is stored, and a communication controller 203.

The FA controller 500 includes a first MCU 501 for executing the dedicated access processing function 511, a second MCU 502 for executing the user program 521, and the shared memory 103. The

MCUs

501 and 502 are connected to the shared memory 103 by signal lines 104 and 105, respectively. Further, the first MCU 501 and the second MCU 502 are directly connected by a signal line 503 capable of transmitting and receiving data, an address, and an interrupt signal.

The first MCU 501 includes a CPU 110, an EEPROM 111, a RAM 112, an external interface 510, and a communication controller 114. The EEPROM 111 stores the dedicated access processing function 511 and the first RTOS 116 described above. The dedicated access processing function 511 is read from the EEPROM 111 and expanded in the program expansion area of the RAM 112. The CPU 110 executes a dedicated access processing function 511 developed in the RAM 112. The signal line 104 and the signal line 503 are connected to the external interface 510.

The second MCU 502 includes a CPU 120, an EEPROM 121, a RAM 122, and an external interface 520. The EEPROM 121 stores a user program 521 and a second RTOS 125. The user program 521 is read from the EEPROM 121 and expanded in the program expansion area of the RAM 122. The CPU 120 executes the user program 521 expanded in the RAM 122. A signal line 105 and a signal line 503 are connected to the external interface 520.

FIG. 14 is a diagram schematically illustrating communication between components related to dedicated access processing between the dedicated access processing function 511 and the user program 521 in the FA controller system 3 of the third embodiment. As shown in the figure, in the shared memory 103, command information 530 describing a command for the dedicated access processing function 511 and a storage destination address in the RAM 122 of the execution result of the command is stored by the user program 521. FIG. 15 is a diagram illustrating an example of the data structure of the command information 530. As shown in the figure, the command information 530 has a data structure in which a storage destination address is added to the command information 403 of the second embodiment.

The dedicated access processing function 511 reads the command information 530 and operates the input / output data 201 based on the command described in the read command information 530. After the execution of the command is completed, the dedicated access processing function 511 writes the execution result of the command to the storage destination address of the RAM 122 described in the command information 530. The execution result is written via the signal line 503. The user program 521 reads the execution result written in the RAM 122. Completion of writing (setting) of the command information 530 and completion of writing of the command execution result are notified to each other by a command execution completion notification and a command information setting completion notification, respectively. The notification is transmitted as an interrupt signal via the signal line 503 by the command execution completion notification and the command information setting completion notification. As in the second embodiment, it is possible to adopt a configuration in which the procedures for command execution completion notification and command information setting completion notification are omitted.

The operation of the FA controller system 3 according to the third embodiment is the same as that of the second embodiment except that the dedicated access processing function 511 is written to the RAM 122 instead of the shared memory 103, and thus the description thereof is omitted.

As described above, in the third embodiment, the first MCU 501 is configured to be able to directly write the execution result to the RAM 122 included in the second MCU 502, so the user obtains the execution result without accessing the shared memory 103. can do.

As described above, the control system, the control device, and the control method according to the present invention are applied to the control system, the control device, and the control method for controlling the controlled device by the user program described in a general-purpose programming language such as C language. It is preferable.

1, 2, 3

FA controller system

100, 400, 500

FA controller

101, 501 First MCU
102, 502 Second MCU
103

Shared memory

104, 105, 106, 503 Signal line 110, 120 CPU
111, 121 EEPROM
112, 122 RAM
113, 123, 510, 520

External interface

114, 203

Communication controller

115, 401, 511 Dedicated

access processing function

124, 402, 521 User program 130 Refresh information 131, 404 Memory area 200 Input / output module 201 Input / output data 202 Input / output data Storage unit 300

Expansion bus

403, 530 Command information

Claims

An input / output module including an input / output data storage unit connected to the controlled device and storing first input / output data with the controlled device;
A shared storage unit storing second input / output data, and a refresh between the second input / output data stored in the shared storage unit and the first input / output data stored in the input / output data storage unit A control device comprising: a first control unit that executes processing; and a second control unit that operates based on a user program and operates second input / output data stored in the shared storage unit;
With
The second control unit writes refresh information describing settings for the refresh process to the shared storage unit, and the first control unit executes the refresh process according to the refresh information written to the shared storage unit ,
A control system characterized by that.
The refresh information includes a description designating the first input / output data and a description of a storage address of the second input / output data corresponding to the designated first input / output data in the shared storage unit. The control system according to claim 1, wherein
The control system according to claim 1, wherein the refresh information includes a description instructing start / stop of execution of the refresh process.
The refresh information includes a description of an execution cycle, and the first control unit executes the refresh process at an execution cycle described in the refresh information.
The control system according to any one of claims 1 to 3, characterized in that:
The second control unit issues a refresh execution instruction for executing the refresh process to the first control unit, and the first control unit executes the refresh process at a timing when the refresh execution instruction is issued.
The control system according to any one of claims 1 to 3, characterized in that:
The first control unit and the second control unit are connected by an interrupt signal line, and the refresh execution instruction is issued through the interrupt signal line.
The control system according to any one of claims 1 to 3, characterized in that:
The first control unit and the second control unit are connected by an interrupt signal line. When the second control unit completes writing the refresh information to the shared storage unit, the first control unit Issuing a refresh information setting completion notification for notifying that the refresh information has been written via the interrupt signal line,
The control system according to any one of claims 1 to 3, characterized in that:
An input / output module including an input / output data storage unit connected to the controlled device and storing input / output data between the controlled device;
A shared storage unit, a first control unit that operates input / output data stored in the input / output data storage unit, and an input / output data that operates based on a user program and is stored in the input / output data storage unit A second control unit for calculating a command for operating
With
The second control unit writes command information describing the command to the shared storage unit, and the first control unit performs an operation on the input / output data based on the command information written to the shared storage unit To
A control system characterized by that.
The control system according to claim 8, wherein the command information includes an argument accompanying the command.
The second control unit issues a command information setting completion notification for notifying that the command information has been written to the first control unit when the command information has been written to the shared storage unit.
The control system according to claim 8 or 9, characterized by the above.
The first control unit and the second control unit are connected by an interrupt signal line, and the command information setting completion notification is issued through the interrupt signal line.
The control system according to claim 10.
The first control unit writes an execution result of the operation of the input / output data based on the command information in the shared storage unit.
The control system according to claim 8 or 9, characterized by the above.
The second control unit includes a memory writable from the first control unit,
The command information includes a description of the memory address;
The first control unit writes an execution result of the operation of the input / output data at a position indicated by an address described in the command information in the main memory;
The control system according to claim 8 or 9, characterized by the above.
A control device connected to a controlled device and connected to an input / output module including an input / output data storage unit for storing first input / output data with the controlled device via a bus,
A shared storage unit for storing second input / output data;
A first control unit that executes a refresh process between the second input / output data stored in the shared storage unit and the first input / output data stored in the input / output data storage unit;
A second control unit that operates based on a user program and operates second input / output data stored in the shared storage unit;
With
The second control unit writes refresh information describing settings for the refresh process to the shared storage unit, and the first control unit executes the refresh process according to the refresh information written to the shared storage unit ,
A control device characterized by that.
A control device connected to a controlled device and connected to an input / output module including an input / output data storage unit for storing input / output data with the controlled device via a bus,
A shared storage unit;
A first control unit for operating input / output data stored in the input / output data storage unit;
A second control unit that operates based on a user program and calculates a command for operating the input / output data stored in the input / output data storage unit;
With
The second control unit writes command information describing the command to the shared storage unit, and the first control unit performs an operation on the input / output data based on the command information written to the shared storage unit To
A control device characterized by that.
An input / output module that is connected to the controlled device and includes an input / output data storage unit that stores the first input / output data between the controlled device, a shared storage unit that stores the second input / output data, A first control unit for executing a refresh process between the second input / output data stored in the shared storage unit and the first input / output data stored in the input / output data storage unit; and a user program. A control device comprising: a second control unit that operates and operates second input / output data stored in the shared storage unit;
A first step in which the second control unit writes in the shared storage unit refresh information describing settings for the refresh process;
A second step in which the first control unit executes the refresh process according to the refresh information written in the shared storage unit;
A control method comprising:
The refresh information includes a description of an execution cycle,
In the second step, the first control unit executes the refresh process at an execution cycle described in the refresh information.
The control system according to claim 16.
The second step includes
A third step in which the second control unit issues a refresh execution instruction for causing the first control unit to execute the refresh process;
A fourth step in which the first control unit executes the refresh process when the refresh execution instruction is issued;
The control system according to claim 16, comprising:
The first control unit and the second control unit are connected by an interrupt signal line,
In the third step, the second control unit issues the refresh execution instruction via the interrupt signal line.
The control method according to claim 18.
An input / output module including an input / output data storage unit connected to the controlled device and storing input / output data between the controlled devices, a shared storage unit, and the input / output data storage unit. A first control unit that operates input / output data; and a second control unit that operates based on a user program and calculates a command for operating the input / output data stored in the input / output data storage unit; A control method for a control system comprising:
A first step in which the second control unit writes command information describing the command to the shared storage unit;
A second step in which the first control unit performs an operation on the input / output data based on command information written in the shared storage unit;
A control method comprising:
The control method according to claim 20, wherein the command information includes an argument accompanying the command.
The first control unit further includes a third step of writing an execution result of the input / output data operation based on the command information in the shared storage unit.
The control method according to claim 20 or 21, characterized in that:
The second control unit includes a memory writable from the first control unit,
The command information includes a description of the memory address;
The first control unit further includes a third step of writing an execution result of the operation of the input / output data at a position indicated by an address described in the command information in the main memory.
The control method according to claim 20 or 21, characterized in that: