WO2016135835A1 - Dispositif de commande et système de commande - Google Patents

Dispositif de commande et système de commande Download PDF

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Publication number
WO2016135835A1
WO2016135835A1 PCT/JP2015/055081 JP2015055081W WO2016135835A1 WO 2016135835 A1 WO2016135835 A1 WO 2016135835A1 JP 2015055081 W JP2015055081 W JP 2015055081W WO 2016135835 A1 WO2016135835 A1 WO 2016135835A1
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WIPO (PCT)
Prior art keywords
control
source
project data
binary
data
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PCT/JP2015/055081
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English (en)
Japanese (ja)
Inventor
敏之 加納
善夫 臼井
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三菱電機株式会社
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Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to JP2016558165A priority Critical patent/JP6173615B2/ja
Priority to PCT/JP2015/055081 priority patent/WO2016135835A1/fr
Priority to CN201580076754.8A priority patent/CN107407920B/zh
Priority to KR1020177023031A priority patent/KR101827238B1/ko
Priority to TW105104896A priority patent/TWI612405B/zh
Publication of WO2016135835A1 publication Critical patent/WO2016135835A1/fr

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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
    • 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
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/4155—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by programme execution, i.e. part programme or machine function execution, e.g. selection of a programme

Definitions

  • the present invention relates to a control device and a control system for controlling an industrial machine.
  • Control devices are used to control industrial machinery. Examples of the control device include a programmable controller (JIS B 3502: 2011, programmable controllers (PLC)), a C language controller, a motion controller, or an inverter.
  • JIS B 3502: 2011, programmable controllers (PLC) programmable controllers
  • C language controller a C language controller
  • motion controller a motion controller
  • inverter a programmable controller
  • the data including the control program executed by the control device and the information referred to when the control program is executed is called project data.
  • Information referred to when the control program is executed includes parameters that are numerical values used in the control calculation, device memory that defines the work area in the memory of the control device, or connection information that represents the connection state between the control device and the industrial machine. Illustrated.
  • the project data is created by executing an engineering tool program on a personal computer, compiled into binary, and transferred to the control device.
  • Patent Document 1 describes a technique for creating a connection information table by creating an application source code on a programming device, compiling it, and downloading it to an inverter (summary). ).
  • ⁇ Information referred to when executing the control program may not be determined when it is created using the engineering tool program.
  • the proportional (P) gain, integral (I) time or differential (D) time used in the proportional integral derivative (PID) control calculation is determined while operating the industrial machine.
  • provisional initial values are described when the project data source is created.
  • tuning means 205 (paragraph 0026 to paragraph 0030) for executing a tuning operation for finely adjusting the parameters of PLC 1 and backup means 206 (from paragraph 0033) for backing up the amount of control data buffered in the memory space 203 are disclosed.
  • Paragraph 0037 is described.
  • Patent Document 2 describes backing up the control data amount, but does not describe backing up the parameters. Further, in the technique described in Patent Document 2, when the parameter is tuned by operating the PLC 1 and when a device different from the PLC support device 20 tunes the parameter of the PLC 1, the parameters in the PLC 1 and the PLC support device 20 The parameter of is different. That is, the parameter rewritten in the PLC 1 is lost.
  • the present invention has been made in view of the above, and an object of the present invention is to obtain a control device capable of suppressing loss of rewritten data.
  • the present invention includes a storage unit that stores a control program and source project data including information referred to when the control program is executed, and binary project data obtained by compiling the source project data.
  • the present invention relates to a memory in which binary project data is loaded when a control program is executed, and binary rewriting that rewrites binary project data stored in a storage unit and binary project data loaded in the memory based on received data.
  • a source rewriting unit for rewriting the source project data stored in the storage unit based on the received data.
  • the control device according to the present invention has an effect that it is possible to prevent the rewritten data from being lost.
  • FIG. 1 is a diagram illustrating a hardware configuration of a control program creation device according to a first embodiment. Functional block diagram of the control program creation device according to the first embodiment The figure which shows the example of the source control program concerning Embodiment 1 The figure which shows the example of the source control parameter concerning Embodiment 1
  • FIG. 3 is a diagram illustrating an example of a source device memory according to the first embodiment. The figure which shows the example of the equivalence necessity list
  • FIG. The figure which shows the example of the parameter setting screen concerning Embodiment 1
  • 1 is a flowchart showing binary rewriting processing according to the first embodiment
  • 1 is a flowchart showing source write processing of the control apparatus according to the first embodiment
  • 6 is a flowchart showing project data editing processing of the control program creation device according to the first embodiment; Functional block diagram of a control apparatus according to the second embodiment.
  • FIG. 1 is a diagram illustrating a configuration of a control system using the control device according to the first embodiment.
  • the control system 1 includes a control program creation device 2, a programmable display (JIS B 3551: 2012, programmable display) 3, a host control device 4, a control device 5, and machines 6 and 7.
  • the control program creation device 2, the programmable display 3, the host control device 4 and the control device 5 are connected via a network N.
  • the network N is exemplified by a LAN (Local Area Network) or the Internet.
  • the control device 5 controls the machines 6 and 7.
  • the control device 5 is exemplified by a programmable controller, a C language controller, a motion controller, or an inverter.
  • the control program creation device 2 creates project data including a control program executed by the control device 5 and information referred to when the control program is executed.
  • Information referred to when the control program is executed includes parameters that are numerical values used in the control calculation, device memory that defines the work area in the memory of the control device, or connection information that represents the connection state between the control device and the industrial machine. Illustrated.
  • the programmable display 3 monitors data in the control device 5 and changes information referred to when the control program in the control device 5 is executed.
  • the host control device 4 is a computer that controls the entire production line or the entire factory, and controls the control device 5.
  • FIG. 2 is a diagram illustrating a hardware configuration of the control program creation device according to the first embodiment.
  • the control program creation device 2 according to the first exemplary embodiment is a computer.
  • the control program creation device 2 includes a CPU (Central Processing Unit) 21, a RAM (Random Access Memory) 22, a ROM (Read Only Memory) 23, a storage unit 24, an input unit 25, a display unit 26, and a communication. And an interface 27.
  • CPU Central Processing Unit
  • RAM Random Access Memory
  • ROM Read Only Memory
  • the CPU 21 executes programs stored in the ROM 23 and the storage unit 24 while using the RAM 22 as a work area.
  • Examples of the program stored in the ROM 23 include BIOS (Basic Input / Output System) or UEFI (Unified Extensible Firmware Interface).
  • Examples of the program stored in the storage unit 24 include an operating system program and an engineering tool program.
  • the storage unit 24 is exemplified by SSD (Solid State Drive) or HDD (Hard Disk Drive).
  • the input unit 25 receives an operation input from an operator.
  • the input unit 25 is exemplified by a keyboard or a mouse.
  • the display unit 26 displays characters and images.
  • the display unit 26 is exemplified by a liquid crystal display device.
  • the communication interface 27 communicates with the control device 5 via the network N.
  • FIG. 3 is a functional block diagram of the control program creation device according to the first embodiment.
  • the CPU 21 executes the engineering tool program stored in the storage unit 24. Accordingly, the source project data editing unit 21a1 that creates or edits the source project data 24a based on the user's operation input, and the compiling unit 21a2 that compiles the source project data 24a to create the binary project data 24b are included.
  • the engineering tool unit 21a is realized.
  • the source project data 24a includes a source control program 24a1, a source control parameter 24a2, a source device memory 24a3, and an equivalence necessity list 24a4.
  • the source project data 24a may include other data.
  • the other data is exemplified by connection information indicating the connection between the control device 5 and the machine 6 and the connection between the control device 5 and the machine 7.
  • FIG. 4 is a diagram illustrating an example of a source control program according to the first embodiment.
  • the source control program 24a1 is described in a function block diagram language (IEC 61131-3, JIS B 3503).
  • the language in which the source control program 24a1 is described is not limited to the function block diagram language.
  • Examples of other languages in which the source control program 24a1 is described include a ladder language, a sequential function chart language, a structured text language, and an instruction list language (IEC 61131-3, JIS B 3503).
  • the source control program 24a1 includes function blocks 24a1a and 24a1b.
  • the function block 24a1a is a proportional integral derivative (PID) control block prepared in advance in the engineering tool program, and performs proportional (P), integral (I) and derivative (D) control on the input X1, and outputs an output Y1. To do.
  • PID proportional integral derivative
  • the output Y2 is output by performing the calculation.
  • FIG. 5 is a diagram illustrating an example of source control parameters according to the first embodiment.
  • the source control parameter 24a2 includes a control parameter name item and an initial value item.
  • the plurality of rows 24a2a of the source control parameter 24a2 are parameters that are referred to during the control calculation of the function block 24a1a, and the plurality of rows 24a2b are parameters that are referred to during the control calculation of the function block 24a1b.
  • an initial value “reverse operation” is set for the parameter name “reverse operation / normal operation”
  • an initial value “1.0” is set for the parameter name “control cycle”
  • the parameter name The initial value “1.2” is set for “proportional gain”
  • the initial value “12.3” is set for parameter name “integration time”
  • the initial value “3. 2 ” is set, an initial value“ 100.0 ”is set in the parameter name“ SV upper limit value ”, and an initial value“ 0.0 ”is set in the parameter name“ SV lower limit value ”.
  • an initial value “0.9” is set for the parameter name “A”
  • an initial value “1.1” is set for the parameter name “B”
  • the parameter name “C” is set.
  • An initial value “100” is set.
  • FIG. 6 is a diagram of an example of the source device memory according to the first embodiment.
  • the source device memory 24a3 includes a device name item and an initial value item.
  • an initial value “200” is set for the device name “D000”, and an initial value “300” is set for the device name “D001”.
  • FIG. 7 is a diagram illustrating an example of the equivalence necessity list according to the first embodiment.
  • the equivalence necessity list 24a4 includes a control parameter name or device name item and an immediate flag item.
  • the equivalence necessity list 24a4 describes a control parameter or a device whose source control parameter or source device memory should be rewritten when the control device 5 rewrites the binary control parameter or binary device memory data.
  • a parameter name “proportional gain”, a parameter name “integration time”, and a parameter name “derivative time” are described. Accordingly, when the data of the parameter name “proportional gain”, the parameter name “integration time” or the parameter name “derivative time” in the binary control parameters is rewritten in the control device 5, the parameters in the source control parameters in the control device 5. The data of the name “proportional gain”, the parameter name “integration time” or the parameter name “derivative time” are made equivalent.
  • parameter name “reverse operation / normal operation”, parameter name “control cycle”, parameter name “SV upper limit value” and parameter name “SV lower limit value” are: It is not described in the equivalence necessity list 24a4.
  • the data of the parameter name “reverse operation / normal operation”, parameter name “control cycle”, parameter name “SV upper limit value” or parameter name “SV lower limit value” in the binary control parameters is rewritten in the control device 5.
  • the data of the parameter name “reverse operation / normal operation”, parameter name “control cycle”, parameter name “SV upper limit value” or parameter name “SV lower limit value” among the source control parameters is not made equivalent. .
  • control parameters such as gain
  • control parameter data is preferably equivalenced and the source control parameter data is also rewritten.
  • control parameters such as a counter, temporarily change data for operation verification of the machines 6 and 7.
  • control parameter data is preferably not equivalenced.
  • control system 1 can rewrite only the control parameters that are preferably rewritten in the source control parameters.
  • the immediate flag item in the equivalence necessity list 24a4 indicates that when the control device 5 rewrites the binary control parameter or the binary device memory data, the control device 5 immediately synchronizes the source control parameter or the source device memory data. A flag indicating whether or not to be performed is described.
  • the control device 5 When the immediate flag is “1”, when the control device 5 rewrites the binary control parameter or the binary device memory data, the control device 5 immediately synchronizes the source control parameter or the source device memory data.
  • the immediate flag is “0”
  • the binary control parameter or binary device memory data is rewritten in the control device 5
  • the rewritten data in the control device 5 is buffered and a predetermined condition is satisfied.
  • the control device 5 equalizes the source control parameters or the data of the source device memory.
  • the immediate flag “1” is set in the parameter name “proportional gain”, the parameter name “integration time”, and the parameter name “derivative time”. Accordingly, when the data of the parameter name “proportional gain”, the parameter name “integration time”, or the parameter name “derivative time” in the binary control parameter is rewritten in the control device 5, the parameter name “ The data of “proportional gain”, parameter name “integration time” or parameter name “derivative time” are immediately made equivalent.
  • control parameters such as gain
  • control parameters want to reduce the possibility of losing rewritten data as much as possible.
  • control parameters are preferably immediately equivalenced and the source control parameter data is immediately rewritten.
  • control parameters are considered to give priority to distributing the load of the control device 5 over the possibility of losing the rewritten data.
  • control parameter data is preferably equivalenced based on the conditions.
  • the control system 1 includes the equivalence necessity list 24a4 including the item of the immediate flag, thereby immediately rewriting only the control parameter in the source control parameter for which the possibility of losing the rewritten data is reduced as much as possible. Can do. As a result, the control device 5 can reduce the possibility of losing the rewritten data and can distribute the load.
  • the parameter name “A” and the parameter name “B” are described in the plurality of lines 24a4b. Therefore, when the data of the parameter name “A” or the parameter name “B” in the binary control parameter is rewritten in the control device 5, the parameter name “A” or the parameter name “B” in the source control parameter is rewritten in the control device 5. Data is equivalenced.
  • the immediate flag “0” is set for the parameter name “A” and the parameter name “B”. Therefore, when the data of the parameter name “A” or the parameter name “B” in the binary control parameter is rewritten in the control device 5, the rewritten data is buffered in the control device 5 and a predetermined condition is satisfied. At this time, the data of the parameter name “A” or the parameter name “B” in the source control parameter is made equivalent in the control device 5.
  • the parameter name “C” is not described in the equivalence necessity list 24a4 among the parameters referred to in the control calculation of the function block 24a1b. Therefore, even if the data of the parameter name “C” in the binary control parameter is rewritten in the control device 5, the data of the parameter name “C” in the source control parameter is not equalized in the control device 5.
  • the device name “D000” is described in the row 24a4c. Therefore, when the data of the device name “D000” in the binary device memory is rewritten in the control device 5, the data of the device name “D000” in the source device memory is made equivalent in the control device 5.
  • the immediate flag “0” is set to the device name “D000”. Therefore, when the data of the device name “D000” in the binary device memory is rewritten in the control device 5, the rewritten data is buffered in the control device 5, and when the predetermined condition is satisfied, the control device 5 5, the data of the device name “D000” in the source device memory is made equivalent.
  • the device name “D001” in the device memory is not described in the equivalence necessity list 24a4. Therefore, even if the data of the device name “D001” in the binary device memory is rewritten in the control device 5, the data of the device name “D001” in the source device memory is not made equivalent in the control device 5.
  • FIG. 8 is a diagram illustrating an example of a parameter setting screen according to the first embodiment.
  • the parameter setting screen 31 is displayed on the display unit 26 by the source project data editing unit 21a1.
  • the input column 31a is a column in which an initial value of the parameter name “reverse operation / normal operation” is input.
  • the input column 31b is a column in which an initial value of the parameter name “control cycle” is input.
  • the input column 31c is a column in which an initial value of the parameter name “proportional gain” is input.
  • the input column 31d is a column in which an initial value of the parameter name “integration time” is input.
  • the input column 31e is a column in which an initial value of the parameter name “derivative time” is input.
  • the input column 31f is a column in which an initial value of the parameter name “SV upper limit value” is input.
  • the input column 31g is a column in which an initial value of the parameter name “SV lower limit value” is input.
  • the input column 31h is a column in which the necessity of equivalence of the parameter name “reverse operation / normal operation” is input.
  • the input column 31i is a column in which the necessity of equivalence of the parameter name “control cycle” is input.
  • the input column 31j is a column in which the necessity of equivalence of the parameter name “proportional gain” is input.
  • the input column 31k is a column in which the necessity of equivalence of the parameter name “integration time” is input.
  • the input field 31l is a field for inputting the necessity of equivalence of the parameter name “differentiation time”.
  • the input field 31m is a field in which the necessity of equivalence of the parameter name “SV upper limit value” is input.
  • the input field 31n is a field for inputting the necessity of equivalence of the parameter name “SV lower limit value”.
  • the source project data editing unit 21a1 describes, in the equivalence necessity list 24a4, only the control parameter for which a check is input in the input field 31h to the input field 31n.
  • the function block 24a1a is a control block prepared in advance in the engineering tool program.
  • the parameter name “proportional gain”, the parameter name “integration time”, and the parameter name “derivative time” are previously known to be control parameters that are highly required to be equivalent. Therefore, the source project data editing unit 21a1 checks by default in the input fields 31j, 31k, and 31l.
  • the source project data editing unit 21a1 defaults to equivalence the parameter name “proportional gain”, the parameter name “integration time”, and the parameter name “derivative time” that are highly required to be equivalent. Can be presented.
  • the input column 31o is a column in which the necessity of immediate equivalence of the parameter name “reverse operation / normal operation” is input.
  • the input column 31p is a column in which the necessity of immediate equivalence of the parameter name “control cycle” is input.
  • the input column 31q is a column in which the necessity of immediate equivalence of the parameter name “proportional gain” is input.
  • the input column 31r is a column in which the necessity of immediate equivalence of the parameter name “integration time” is input.
  • the input field 31s is a field in which the necessity of immediate equivalence of the parameter name “derivative time” is input.
  • the input field 31t is a field for inputting the necessity of immediate equivalence of the parameter name “SV upper limit value”.
  • the input field 31u is a field for inputting the necessity of immediate equivalence of the parameter name “SV lower limit value”.
  • the source project data editing unit 21a1 describes “1” in the item of the immediate flag in the equivalence necessity list 24a4 only for the control parameter for which the check is input in the input field 31o to the input field 31u.
  • the function block 24a1a is a control block prepared in advance in the engineering tool program.
  • the parameter name “proportional gain”, the parameter name “integration time”, and the parameter name “derivative time” are previously known to be control parameters that reduce the possibility of losing the rewritten value as much as possible. Therefore, the source project data editing unit 21a1 checks by default in the input fields 31q, 31r, and 31s.
  • the source project data editing unit 21a1 immediately equivalences the parameter name “proportional gain”, the parameter name “integration time”, and the parameter name “derivative time” to reduce the possibility of losing the rewritten data as much as possible. Can be made the default and presented to the user.
  • the compiling unit 21a2 creates the binary control program 24b1 by compiling the source control program 24a1, and creates the binary control parameter 24b2 by compiling the source control parameter 24a2.
  • a binary device memory 24b3 is created by compiling the memory 24a3.
  • Binary control program 24b1, binary control parameter 24b2 and binary device memory 24b3 constitute binary project data 24b.
  • the source project data 24 a and the binary project data 24 b are transmitted to the control device 5 through the communication interface 27.
  • FIG. 9 is a diagram illustrating a hardware configuration of the control device according to the first embodiment.
  • the control device 5 includes a main board 5a and sub boards 5b and 5c.
  • the main board 5a includes a CPU 5a1, a memory 5a2 that is a RAM, a timer 5a3 that measures time, an external storage slot 5a4, a communication interface 5a5, a bus interface 5a6, and an internal storage unit 5a7.
  • the CPU 5a1, memory 5a2, timer 5a3, external storage slot 5a4, communication interface 5a5, bus interface 5a6 and internal storage unit 5a7 are connected via an internal bus B1.
  • the main board 5a operates by receiving power supply from a UPS (Uninterruptible Power Supply) 10.
  • UPS Uninterruptible Power Supply
  • the UPS 10 stores electric power supplied from the system power supply 9 and supplies the stored electric power to the main board 5a.
  • the external storage unit 8 is inserted into the external storage slot 5a4.
  • the external storage unit 8 is exemplified by an SD card (registered trademark).
  • the communication interface 5a5 communicates with the control program creation device 2, the programmable display 3, and the host control device 4 via the network N.
  • the bus interface 5a6 is a bus bridge circuit that connects the internal bus B1 and the expansion bus B2.
  • the sub boards 5b and 5c are connected to the main board 5a via the expansion bus B2.
  • the sub board 5b is connected to the machine 6.
  • the sub board 5 c is connected to the machine 7.
  • the internal storage unit 5a7 is exemplified by SSD or HDD.
  • the internal storage unit 5a7 and the external storage unit 8 constitute a storage unit.
  • FIG. 10 is a functional block diagram of the control device according to the first embodiment.
  • the internal storage unit 5a7 stores the binary project data 5a7a received from the control program creation device 2.
  • the binary project data 5a7a includes a binary control program 5a7a1, a binary control parameter 5a7a2, and a binary device memory 5a7a3.
  • the external storage unit 8 stores the source project data 8a received from the control program creation device 2.
  • the source project data 8a includes a source control program 8a1, a source control parameter 8a2, a source device memory 8a3, and an equivalence necessity list 8a4.
  • the source project data 8a may be stored in the internal storage unit 5a7. Since the read speed and write speed of the internal storage unit 5a7 are faster than the read speed and write speed of the external storage unit 8, it is preferable that the source project data 8a is stored in the internal storage unit 5a7.
  • the storage capacity of the internal storage unit 5a7 is small due to a request for cost or mounting area suppression, and the internal storage unit 5a7 does not have a free capacity for storing the source project data 8a.
  • the external storage unit 8 stores the source project data 8a.
  • the binary control program 5a7a1, the binary control parameter 5a7a2, and the binary device memory 5a7a3 are loaded into the memory 5a2, and the binary control program 5a2a, the binary control parameter 5a2b, and the binary device memory 5a2c are loaded. It becomes.
  • the CPU 5a1 executes the binary rewriting program and the source rewriting program stored in the internal storage unit 5a7. Thereby, based on the received data, the binary control parameters 5a7a2 and 5a2b, or the binary rewrite unit 5a1a for rewriting the binary device memories 5a7a3 and 5a2c, and the binary control parameters 5a7a2 and 5a2b, or the binary device memories 5a7a3 and 5a2c are rewritten. Then, based on the received data, the source rewriting unit 5a1b for rewriting the source control parameter 8a2 or the source device memory 8a3 is realized.
  • a buffer 5a2d is provided in the memory 5a2.
  • the buffer 5a2d is a control parameter in the binary control parameters 5a2b and 5a7a2, and is a control parameter in which the immediate flag is set to “0”, or a device in the binary device memories 5a2c and 5a7a3, and is immediately This is an area in which the rewritten data is buffered when the device whose flag is set to “0” is rewritten.
  • the size of the buffer 5a2d is set within a range that does not interfere with other programs and data.
  • FIG. 11 is a flowchart of the binary rewriting process according to the first embodiment.
  • the binary rewriting unit 5a1a receives the control parameter or the device rewriting instruction and the rewriting data from the programmable display device 3, the binary rewriting unit 5a1a executes the process shown in FIG.
  • control apparatus 5 receives the control parameter or the device rewrite instruction and the rewrite data from the programmable display 3
  • the control device 5 may receive a control parameter or a device rewrite instruction and rewrite data from a control program creation device different from the control program creation device 2, the host control device 4, or the control program creation device 2.
  • step S100 the binary rewriting unit 5a1a writes the control parameter or device data received from the programmable display 3 to the binary control parameters 5a2b and 5a7a2 or the binary device memories 5a2c and 5a7a3.
  • control device 5 can immediately reflect the data received from the programmable display device 3 in the control operation.
  • FIG. 12 is a flowchart of the source writing process of the control device according to the first embodiment.
  • the source rewriting unit 5a1a executes the process shown in FIG. 11, that is, when the binary control parameters 5a2b and 5a7a2 or the binary device memories 5a2c and 5a7a3 are rewritten
  • the source rewriting unit 5a1b executes the process shown in FIG.
  • the equivalence necessity determination unit 5a1b1 refers to the equivalence necessity list 8a4, and whether the control parameter or device received from the programmable display 3 is described in the equivalence necessity list 8a4, that is, programmable display. It is determined whether or not the control parameter or device received from the device 3 is a control parameter or device requiring equivalence.
  • step S110 If the control parameter or device received from the programmable display 3 is not the control parameter or device requiring equivalence in step S110 (No), the equivalence necessity determining unit 5a1b1 ends the process.
  • step S110 determines in step S110 that the control parameter or device received from the programmable display 3 is the control parameter or device requiring equivalence (Yes)
  • the process proceeds to step S112.
  • step S112 the buffer writing unit 5a1b2 refers to the equivalence necessity list 8a4, and the control parameter or device received from the programmable display 3 is set to “1” in the equivalence necessity list 8a4. That is, it is determined whether or not the control parameter or device received from the programmable display 3 is a control parameter or device requiring immediate equivalence.
  • step S112 determines in step S112 that the control parameter or device received from the programmable display device 3 is a control parameter or device requiring immediate equivalence (Yes), the process proceeds to step S114.
  • step S114 the source writing unit 5a1b3 writes the control parameter or device data received from the programmable display 3 to the source control parameter 8a2 or the source device memory 8a3, and ends the process.
  • control device 5 can immediately write the received control parameter or device data that requires immediate equivalence to the source control parameter 8a2 or the source device memory 8a3. Thereby, the control apparatus 5 can reduce possibility that the rewritten data will be lost.
  • step S112 determines in step S112 that the control parameter or device received from the programmable display device 3 is not a control parameter or device requiring immediate equivalence (No)
  • the process proceeds to step S116.
  • step S116 the buffer writing unit 5a1b2 determines whether the control parameter or device received from the programmable display 3 already exists in the buffer 5a2d.
  • step S116 When the buffer writing unit 5a1b2 determines in step S116 that the control parameter or device received from the programmable display device 3 already exists in the buffer 5a2d (Yes), the process proceeds to step S118.
  • step S118 the buffer writing unit 5a1b2 overwrites the buffer 5a2d with the control parameter or device data received from the programmable display 3 and ends the process.
  • control device 5 can reduce the number of times of data writing to the internal storage unit 5a7.
  • Writing data to the internal storage unit 5a7 takes time and becomes a load on the CPU 51. Therefore, the control device 5 can reduce the processing load of the CPU 51 by reducing the number of times of data writing to the internal storage unit 5a7.
  • the control device 5 can use the internal storage unit 5a7 for a long period of time by reducing the number of times of data writing to the internal storage unit 5a7.
  • step S116 determines in step S116 that the control parameter or device received from the programmable display 3 is not present in the buffer 5a2d (No)
  • the process proceeds to step S120.
  • step S120 the buffer writing unit 5a1b2 writes the control parameter or device data received from the programmable display 3 to the buffer 5a2d, and ends the process.
  • control device 5 can buffer the control parameter or the device data considered to give priority to the distribution of the load of the control device 5 over the possibility of losing the rewritten data.
  • Writing data to the internal storage unit 5a7 takes time and becomes a load on the CPU 5a1. Therefore, the control device 5 can achieve load distribution.
  • FIG. 13 is a flowchart of the source change process according to the first embodiment.
  • the source writing unit 5a1b3 stands by if the predetermined condition is not satisfied (No), and proceeds to step S142 if the predetermined condition is satisfied (Yes).
  • the predetermined conditions are exemplified by the following conditions.
  • the first example is a case where the usage rate of the CPU 5a1 is equal to or less than a predetermined threshold value.
  • the source writing unit 5a1b3 executes the process of step S142 because the CPU 5a1 has processing capacity.
  • the second example is a case where the free capacity of the buffer 5a2d is equal to or less than a predetermined threshold value.
  • the source writing unit 5a1b3 executes the process of step S142.
  • a third example is a case where an instruction to execute step S142 is received from the control program creation device 2, the programmable display 3, or the host control device 4.
  • the source writing unit 5a1b3 executes the process of step S142 in accordance with an instruction from the control program creation device 2, the programmable display 3, or the host control device 4.
  • the user can cause the source writing unit 5a1b3 to execute the process of step S142 at a desired timing by operating the control program creation device 2 or the programmable display 3.
  • step S142 When the host control device 4 transmits an instruction to execute step S142 to the control device 5, the time when the manufacturing line starts, every hour, or the time when the manufacturing line ends is exemplified.
  • the fourth example is a case where the timer 5a3 measures a predetermined time.
  • the source writing unit 5a1b3 executes the process of step S142 when a predetermined time has elapsed since the operation of the control device 5.
  • the timer 5a3 repeatedly measures a predetermined time
  • the source writing unit 5a1b3 executes the process of step S142 every time the predetermined time elapses.
  • the fifth example is a case where the control device 5 receives an abnormality notification of the system power supply 9 from the UPS 10.
  • Examples of the abnormality of the system power supply 9 include power failure, instantaneous power failure, or voltage fluctuation.
  • the source writing unit 5a1b3 executes the process of step S142 in order to reduce the possibility that the data in the buffer 5a2d is lost.
  • the sixth example is a case where the CPU 5a1 detects an abnormality of the control device 5 by performing a self-diagnosis process.
  • the source writing unit 5a1b3 executes the process of step S142 in order to reduce the possibility that the data in the buffer 5a2d is lost.
  • step S142 the source writing unit 5a1b3 writes the contents of the buffer 5a2d into the source control parameter 8a2 or the source device memory 8a3, and ends the process.
  • control device 5 can reflect the changed control parameter or device data in the source control parameter 8a2 or the source device memory 8a3.
  • the control apparatus 5 can suppress that the rewritten data in the binary control parameters 5a2b and 5a7a2 or the binary device memory 5a2c or 5a7a3 are lost.
  • FIG. 14 is a flowchart of the project data editing process of the control program creation device according to the first embodiment.
  • step S150 the source project data editing unit 21a1 receives the source project data 8a from the control device 5, and overwrites the source project data 24a in the storage unit 24.
  • step S152 the source project data editing unit 21a1 receives an operation input from the user and edits the source project data 24a.
  • step S154 the compiling unit 21a2 compiles the source project data 24a to create and overwrite the binary project data 24b.
  • step S156 the compiling unit 21a2 transmits the source project data 24a and the binary project data 24b to the control device 5 and ends the processing.
  • control program creation device 2 can edit the source project data 24a whose data has been rewritten in the control device 5. Thereby, the control apparatus 5 can suppress that the data rewritten in the control apparatus 5 are lost.
  • control program creation device 2 can edit the source project data 24a with the rewritten data even when the data is rewritten based on the command from the programmable display 3 in the control device 5.
  • the control device 5 loses the data rewritten in the control device 5 even when the device that sent the data rewrite command is different from the device that edits the source project data 24a. This can be suppressed.
  • control device 5 writes only the control parameter or device data described in the equivalence necessity list 24a4 into the source control parameter 8a2 or the source device memory 8a3. Thereby, the control apparatus 5 can rewrite only the control parameter or device which is preferably rewritten in the source control parameter 8a2 or the source device memory 8a3.
  • control device 5 can immediately rewrite only the control parameter or device in which “1” is set in the immediate flag item of the equivalence necessity list 24a4 in the source control parameter 8a2 or the source device memory 8a3. it can. As a result, the control device 5 can reduce the possibility of losing the rewritten data and can distribute the load.
  • control device 5 buffers the control parameter or device data in which “0” is set in the immediate flag item of the equivalence necessity list 24a4 in the source control parameter 8a2 or the source device memory 8a3. I can leave.
  • the control device 5 can write the buffered control parameter or device data into the source control parameter 8a2 or the source device memory 8a3.
  • the control apparatus 5 can reduce the frequency
  • FIG. FIG. 15 is a functional block diagram of the control device according to the second embodiment.
  • the read speed and write speed of the internal storage unit 5a7 are faster than the read speed and write speed of the external storage unit 8. Therefore, when the internal storage unit 5a7 has a free capacity for storing the source project data 8a, it is preferable that the internal storage unit 5a7 store the source project data 8a.
  • the internal storage unit 5a7 stores the source project data 8a.
  • the read speed and write speed of the internal storage unit 5a7 are faster than the read speed and write speed of the external storage unit 8.
  • the processing load of the CPU 5a1 for reading and writing to the internal storage unit 5a7 is lighter than the processing load of the CPU 5a1 for reading and writing to the external storage unit 8.
  • control parameter or device data that needs to be equivalenced is immediately written to the source control parameter 8a2 or the source device memory 8a3 without buffering.
  • control device 5A according to the second embodiment does not require the buffer writing unit 5a1b2 and the buffer 5a2d of the control device 5 according to the first embodiment.
  • the equivalence necessity list 8a4 does not need the immediate flag item.
  • FIG. 16 is a flowchart of the source writing process of the control device according to the second embodiment.
  • the source rewriting unit 5a1a executes the process shown in FIG. 10, that is, when the binary control parameters 5a2b and 5a7a2 or the binary device memories 5a2c and 5a7a3 are rewritten
  • the source rewriting unit 5a1b executes the process shown in FIG.
  • the equivalence necessity determination unit 5a1b1 refers to the equivalence necessity list 8a4, and whether the control parameter or device received from the programmable display 3 is described in the equivalence necessity list 8a4, that is, programmable display. It is determined whether or not the control parameter or device received from the device 3 is a control parameter or device requiring equivalence.
  • the equivalence necessity determination unit 5a1b1 ends the process.
  • step S160 determines in step S160 that the control parameter or device received from the programmable display 3 is the equivalence necessity control parameter or device (Yes). the process proceeds to step S162.
  • step S162 the source writing unit 5a1b3 writes the control parameter or device data received from the programmable display 3 to the source control parameter 8a2 or the source device memory 8a3, and ends the process.
  • control device 5A can immediately write the received control parameter or device data into the source control parameter 8a2 or the source device memory 8a3. As a result, the control device 5A can prevent the data rewritten in the control device 5A from being lost.
  • the configuration described in the above embodiment shows an example of the contents of the present invention, and can be combined with another known technique, and can be combined with other configurations without departing from the gist of the present invention. It is also possible to omit or change the part.
  • control system 1 control system, 2 control program creation device, 3 programmable display, 4 host control device, 5A control device, 5a1 CPU, 5a1a binary rewrite unit, 5a1b source rewrite unit, 5a1b1 equivalence necessity determination unit, 5a1b2 buffer book 5a1b3 source writing unit, 5a2 memory, 5a2a, 5a7a1, 24b1 binary control program, 5a2b, 5a7a2, 24b2 binary control parameter, 5a2c, 5a7a3, 24b3 binary device memory, 5a2d buffer, 5a7 internal storage unit, 5a7a, 24b Binary project data, 8 external storage, 8a, 24a source project data, 8a1, 24a1 source control program, 8a2, 24a2 source control parameters 8a3,24a3 source device memory, 8a4,24a4 equivalence necessity list.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Programmable Controllers (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Stored Programmes (AREA)

Abstract

La présente invention a trait à un dispositif de commande comprenant : une unité de mémorisation qui mémorise des données de projet sources incluant le programme de commande et des informations relatives au moment de l'exécution du programme de commande, ainsi que des données de projet binaires obtenues grâce à la compilation des données de projet sources ; une mémoire qui sert à charger les données de projet binaires au moment de l'exécution du programme de commande ; une unité de réécriture binaire qui, sur la base des données reçues, réécrit les données de projet binaires mémorisées dans l'unité de mémorisation et les données de projet binaires chargées dans la mémoire ; et une unité de réécriture source qui, sur la base des données reçues, réécrit les données de projet sources mémorisées dans l'unité de mémorisation.
PCT/JP2015/055081 2015-02-23 2015-02-23 Dispositif de commande et système de commande WO2016135835A1 (fr)

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JP2016558165A JP6173615B2 (ja) 2015-02-23 2015-02-23 制御装置及び制御システム
PCT/JP2015/055081 WO2016135835A1 (fr) 2015-02-23 2015-02-23 Dispositif de commande et système de commande
CN201580076754.8A CN107407920B (zh) 2015-02-23 2015-02-23 控制装置及控制系统
KR1020177023031A KR101827238B1 (ko) 2015-02-23 2015-02-23 제어 장치 및 제어 시스템
TW105104896A TWI612405B (zh) 2015-02-23 2016-02-19 控制裝置及控制系統

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JPWO2016135835A1 (ja) 2017-04-27
TWI612405B (zh) 2018-01-21
KR101827238B1 (ko) 2018-03-22
TW201640240A (zh) 2016-11-16
CN107407920A (zh) 2017-11-28
KR20170103972A (ko) 2017-09-13
CN107407920B (zh) 2019-05-17

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