WO2018216083A1

WO2018216083A1 - Control device and editing device

Info

Publication number: WO2018216083A1
Application number: PCT/JP2017/019075
Authority: WO
Inventors: 美泰長友; 健大中村
Original assignee: 三菱電機株式会社
Priority date: 2017-05-22
Filing date: 2017-05-22
Publication date: 2018-11-29
Also published as: CN109287123B; JP6305667B1; CN109287123A; JPWO2018216083A1

Abstract

A control device (1) is characterized by being provided with: a first storage unit (11) which stores a control program including information about steps and transitions; a second storage unit (15); an execution unit (12) which executes the control program stored in the first storage unit (11) and thereby controls a controlled device (2); a communication unit (13) which, during the execution of the control program stored in the first storage unit (11), receives both a run-time rewrite instruction, which is an instruction to rewrite the control program, and difference information indicating a portion of the control program that is to be changed; and a rewrite control unit (14) which, whenever a run-time rewrite instruction and difference information are received, causes the second storage unit (15) to store backup information that includes the control program currently stored in the first storage unit (11), the difference information, and activity information indicating an ongoing step in the control program, and rewrites the control program on the basis of the difference information, wherein the rewrite control unit (14) causes the second storage unit (15) to store a plurality of sets of such backup information, as well as order information indicating the order of these sets of backup information.

Description

Control device and editing device

The present invention relates to a control device that executes a control program to control a controlled device, and an editing device that can edit the control program.

Control devices such as a programmable logic controller (hereinafter referred to as PLC (Programmable Logic Controller)) that controls a controlled device by executing a control program are used in the field of industrial machinery. When changing the operation of the control device, it is necessary to edit the control program and rewrite the control program executed by the control device.

Patent Document 1 discloses a control device that can rewrite a control program being executed without stopping the control program. With this configuration, the operating efficiency of the control device and the controlled device can be improved. This control device temporarily stores the control program before and after rewriting and the part of the control program being executed when the control program is rewritten, and deletes the temporarily stored information after rewriting the control program. Yes.

JP 2005-309916 A

The above Patent Document 1 does not describe a rollback function that rewrites the control program and then returns to the original control program. When it is necessary to change the contents of the control program after rewriting the control program, the control program may be returned to the control program before rewriting. In the control device described in Patent Literature 1, in order to roll back the control program, it is necessary to rewrite the control program being executed after manually rewriting it to the original state, which is troublesome. .

The present invention has been made in view of the above, and an object of the present invention is to obtain a control device that can easily return the control program to the state before the rewriting after rewriting the control program.

In order to solve the above-described problems and achieve the object, a control device according to the present invention includes a first storage unit that stores a control program including step and transition information, a second storage unit, and a first storage unit. An execution unit for controlling the controlled device by executing the control program stored in the memory, an in-execution rewriting instruction for rewriting the control program stored in the first storage unit during execution of the control program, and a change in the control program A communication unit that receives difference information indicating a portion, and a rewrite control unit that rewrites a control program. Each time the rewrite control unit receives an in-execution rewrite instruction, the rewrite control unit obtains backup information including the control program before rewriting, difference information, and active information indicating the step being executed in the control program, from a plurality of backup information. The control program is stored in the second storage unit together with order information indicating each order, and the control program is rewritten based on the difference information.

The control device according to the present invention has an effect that it is possible to easily return the control program to the state before rewriting after rewriting the control program.

The figure which shows the structure of the control apparatus and editing apparatus concerning Embodiment 1 of this invention. Explanatory drawing of the control program which the control apparatus shown in FIG. The figure which shows an example of the processing circuit which implement | achieves the function of the control apparatus and editing apparatus which are shown in FIG. The figure which shows an example of the edit of the control program which the editing apparatus shown in FIG. 1 performs FIG. 1 is a sequence diagram showing an operation of rewriting a control program executed by the control device shown in FIG. The figure which shows the rewriting instruction screen in execution which the editing apparatus shown in FIG. 1 displays The figure which shows the confirmation screen which the editing apparatus shown in FIG. 1 displays The figure which shows the information memorize | stored in a 2nd memory | storage part in the backup process which the rewriting control part shown in FIG. 1 performs The figure which shows the specific example of the information memorize | stored in a 1st memory | storage part and a 2nd memory | storage part during the rewriting operation | movement shown in FIG. FIG. 9 is a sequence diagram showing an operation of rolling back a control program executed by the control device according to the second embodiment of the present invention. The figure which shows the screen which selects the rollback function which the editing apparatus concerning Embodiment 2 of this invention displays. The figure which shows the rollback execution screen linked from the screen which selects the rollback function shown in FIG. The figure which shows the rollback program display screen linked from the program display button shown in FIG. FIG. 12 is a diagram showing a rollback execution screen that is updated and displayed after the rollback execution screen shown in FIG. The figure which shows the specific example of the information memorize | stored in the 1st memory | storage part and the 2nd memory | storage part during the rollback operation | movement shown in FIG. The figure which shows the conditions which the execution error of a rollback process generate | occur | produces in the operation | movement shown in FIG. The flowchart which shows the operation | movement which a control apparatus performs when performing the rollback process of FIG. The figure which shows an example of the effect of

Embodiment

1 and 2 of this invention

Hereinafter, a control device and an editing device according to an embodiment of 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 the configuration of the control device 1 and the editing device 3 according to the first embodiment of the present invention. The control device 1 controls the controlled device 2 by executing a control program. The control device 1 is, for example, a PLC or the like, and controls a controlled device 2 used at a production site such as a processing device or an inspection device. The editing device 3 is a device that edits a control program executed by the control device 1. The editing device 3 is an information processing device such as a PC (Personal Computer), and executes an editing application for editing the control program.

The control device 1 includes a first storage unit 11, an execution unit 12, a communication unit 13, a rewrite control unit 14, a second storage unit 15, and a rollback control unit 16. The first storage unit 11 stores a control program. The execution unit 12 controls the controlled device 2 by reading and executing the control program stored in the first storage unit 11. The communication unit 13 is a communication interface with an external device such as the editing device 3. The rewrite control unit 14 controls rewriting of the control program stored in the first storage unit 11. The rewrite control unit 14 rewrites the control program stored in the first storage unit 11 according to the difference information received together with the in-execution rewrite instruction every time an in-execution rewrite instruction is received from the editing device 3 via the communication unit 13. The

The difference information indicates the changed part of the control program. The rewrite control unit 14 backs up the control program being executed to the second storage unit 15 before rewriting the control program, and stores information necessary for rolling back the backed up control program as backup information in the second storage. Store in unit 15. The backup information includes, for example, a control program before the change, activation information indicating a portion being executed in the control program, and difference information. The rewrite control unit 14 may store the difference information received from the editing device 3 as backup information as it is, or store information generated based on the difference information, such as converting the data format of the difference information, as backup information. Also good. The rollback control unit 16 rolls back the control program using the backup information stored in the second storage unit 15. The rewrite control unit 14 generates backup information every time the control program is rewritten, and stores the backup information in the second storage unit 15 together with order information indicating the order in which the backup information is generated. For this reason, the rollback control unit 16 can perform a plurality of rollbacks, and each time the rollback is performed, the control program can be returned to the past state one by one.

The editing device 3 includes a communication unit 31, an editing unit 32, an input / output unit 33, and a storage unit 34. The communication unit 31 is a communication interface with an external device such as the control device 1. The editing unit 32 edits a control program executed by the control device 1. The input / output unit 33 has a function of an input unit that generates an input signal according to a user's input operation and a function of an output unit that outputs a display screen and the like. The input / output unit 33 includes, for example, a touch panel that combines the functions of the input unit and the output unit, a pointing device such as a mouse, an input device such as a keyboard, and a display device. The storage unit 34 stores an editing program executed by the editing device 3, data generated during the execution of the editing program, and the like. The editing unit 32 can edit the control program executed by the control device 1 based on the input signal generated by the input / output unit 33.

FIG. 2 is an explanatory diagram of a control program executed by the control device 1 shown in FIG. The control program Prog1 is composed of a block BL0. In the example of FIG. 2, one control program is composed of one block, but one control program may be composed of a plurality of blocks. The control program Prog1 is an SFC (Sequential Function Chart) program in which the block BL0 is composed of a plurality of steps and a plurality of transitions that are transition conditions. The step indicates each operation unit in a series of operations performed by the control device 1, and each step is connected by a transition. When the control device 1 executes the SFC program, it executes in order from the youngest block, repeats execution of the step and determination of whether or not the transition is established, and if the transition is established, the next step is executed. Run in order. In the case of the control program Prog1 shown in FIG. 2, after executing step S0 of the block BL0, the control device 1 determines the transition TR0, and if the transition TR0 is established, executes the step S1 next. Similarly, the control device 1 performs the determination of the transition TR1, the execution of step S2, the determination of the transition TR2, the execution of step S3, and the determination of the transition TR3, and executes until the last step S4. When the transition is not established, the control device 1 ends the processing of the block being executed.

FIG. 3 is a diagram illustrating an example of the processing circuit 92 that implements the functions of the control device 1 and the editing device 3 illustrated in FIG. The processing circuit 92 illustrated in FIG. 3 includes a memory 93 and a processor 94. The first storage unit 11, the execution unit 12, the rewrite control unit 14, the second storage unit 15 and the rollback control unit 16 of the control device 1, and the editing unit 32 and the storage unit 34 of the editing device 3 are stored in the memory 93. This is realized by the processor 94 reading and executing the computer program. The memory 93 is a storage device such as a RAM (Random Access Memory), a ROM (Read Only Memory), a nonvolatile or volatile semiconductor memory such as a flash memory, a magnetic disk, a flexible disk, and an optical disk. The processor 94 is a CPU (Central Processing Unit) and is also called a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, a DSP (Digital Signal Processor), or the like. The first storage unit 11 that is an area for storing a control program executed by the execution unit 12 and the second storage unit 15 that is an area for storing backup information may be realized by a single storage device. It may be realized by a plurality of storage devices.

Further, a part of each function of the control device 1 may be realized by dedicated hardware, and a part may be realized by software or firmware. As described above, each function described above can be realized by hardware, software, firmware, or a combination thereof.

Subsequently, rewriting during execution performed by the control device 1 and the editing device 3 shown in FIG. 1 will be described using a specific example. FIG. 4 is a diagram showing an example of editing of the control program Prog1 performed by the editing device 3 shown in FIG.

The editing device 3 edits the first version of the control program Prog1, generates a second version, instructs the control device 1 to rewrite during execution, then edits the second version to generate a third version, The controller 1 is instructed to rewrite during execution. Thereafter, the editing apparatus 3 instructs rollback to rewrite the third version of the control program Prog1 to the second version, and further instructs rollback to rewrite the second version of the control program Prog1 to the first version.

The second version of the control program Prog1 is obtained by adding steps S5 and S6 to the first version, and the third version is obtained by adding steps S7 and S8 to the second version. It is. When the control device 1 receives an in-execution rewrite instruction to rewrite the first version of the control program Prog1 to the second version, the execution unit 12 of the control device 1 is executing step S0 of the block BL0 of the control program Prog1 . When the control device 1 receives an in-execution rewrite instruction to rewrite the second version of the control program Prog1 to the third version, the execution unit 12 of the control device 1 is executing step S1. In addition, the changed part when the control program Prog1 is edited from the first version to the second version is from addresses “20” to “31”, and the changed part when the control program is edited from the second version to the third version is The addresses are “32” to “41”.

The user can edit the control program Prog1 by using the editing device 3 to edit the operation contents of the existing steps, the transitions connecting the steps, or adding new steps and transitions. is there. New steps and transitions are added by arranging objects such as square blocks that are objects indicating steps and horizontal lines that are objects indicating transitions by dragging and dropping them on the screen.

FIG. 5 is a sequence diagram showing an operation of rewriting the control program executed by the control device 1 shown in FIG. The editing unit 32 of the editing device 3 edits the first version of the control program Prog1 according to the user's operation to generate the second version (step S101). When the editing of the control program Prog1 is finished, the editing unit 32 of the editing device 3 transmits an in-execution rewrite instruction and difference information indicating the difference between the first version and the second version of the control program Prog1 to the control device 1. (Step S102).

FIG. 6 is a diagram showing an ongoing rewriting instruction screen 40 displayed by the editing device 3 shown in FIG. This in-execution rewrite instruction screen 40 is a screen that can be displayed on the display unit of the input / output unit 33 after the editing unit 32 finishes editing the control program Prog1. When “program conversion + rewriting during execution” is selected from the menu displayed on the in-execution rewriting instruction screen 40, the editing unit 32 converts the operation indicated by the object edited on the screen into a program and performs control. Difference information indicating a program difference between the first version and the second version of the program Prog1 is generated.

When the rollback function is disabled after “program conversion + rewriting during execution” is selected, the editing unit 32 may cause the input / output unit 33 to display the rollback function selection screen 42. The rollback function selection screen 42 is a screen for accepting an operation for enabling the rollback function.

FIG. 7 is a diagram showing a confirmation screen 43 displayed by the editing device 3 shown in FIG. When “Yes” is selected on the rollback function selection screen 42 shown in FIG. 6 or when the rollback function is enabled in advance, “program conversion + rewriting during execution” is performed on the rewriting instruction screen 40 during execution. Immediately after the selection, a confirmation screen 43 shown in FIG. 7 is displayed. The confirmation screen 43 shows an overview of the current settings related to rewriting during execution. When the option setting button is operated, the settings regarding rewriting during execution can be changed. When the “Yes” button 44 is operated on the confirmation screen 43, execution of rewriting during execution is confirmed, and the editing unit 32 transmits a rewriting instruction during execution and difference information to the control device 1.

Returning to the explanation of FIG. When the communication unit 13 receives the in-execution rewrite instruction and the difference information transmitted by the editing device 3, the rewrite control unit 14 of the control device 1 executes the backup process # 1 before rewriting the control program Prog1 (step S103). ). Specifically, each time the rewrite control unit 14 receives an in-execution rewrite instruction, the rewrite control unit 14 stores the backup information in the second storage unit 15 together with order information indicating the order of each of the plurality of backup information.

FIG. 8 is a diagram showing information stored in the second storage unit 15 in the backup process performed by the rewrite control unit 14 shown in FIG. The rewrite control unit 14 stores backup information in the second storage unit 15 together with order information indicating the order of each of the plurality of backup information. The backup information includes the control program Prog1 before the change, the activation information indicating the step being executed in the control program Prog1, and the difference information for specifying the changed part of the control program Prog1.

Returning to the explanation of FIG. When the backup process # 1 is completed, the rewrite control unit 14 executes rewriting # 1 during execution of the control program Prog1 based on the difference information received in step S102 (step S104). The control program Prog1 executed by the execution unit 12 is rewritten from the first version to the second version by rewriting # 1 during execution in step S104. When the ongoing rewriting # 1 ends, the rewriting control unit 14 transmits a completion notification for notifying that the ongoing rewriting # 1 is completed to the editing apparatus 3 (step S105).

Upon receiving the completion notification, the editing unit 32 of the editing device 3 reads and displays the control program, and accepts a user operation on the displayed control program. The editing unit 32 edits the second version of the control program Prog1 according to the user's operation to generate a third version (step S106). When the editing of the control program Prog1 is finished, the editing unit 32 transmits an in-execution rewrite instruction and difference information indicating the difference between the second version and the third version of the control program Prog1 to the control device 1 (step S107). .

When the communication unit 13 receives the in-execution rewrite instruction and the difference information transmitted by the editing device 3, the rewrite control unit 14 of the control device 1 executes the backup process # 2 before rewriting the control program Prog1 (step S108). ). Specifically, each time the rewrite control unit 14 receives an in-execution rewrite instruction, the rewrite control unit 14 stores the backup information in the second storage unit 15 together with order information indicating the order of each of the plurality of backup information. At this time, the rewrite control unit 14 does not overwrite the backup information stored in the second storage unit 15 in the backup process # 1, and retains the backup information of the backup process # 2 while leaving the backup information of the backup process # 1. Memorize additionally.

After the backup process # 2 is completed, the rewrite control unit 14 performs rewrite # 2 during execution of the control program Prog1 based on the difference information received in step S107 (step S109). The control program Prog1 executed by the execution unit 12 is rewritten from the second version to the third version by rewriting # 2 during execution in step S109. When the ongoing rewriting # 2 ends, the rewriting control unit 14 transmits a completion notification for notifying that the ongoing rewriting # 2 is completed to the editing apparatus 3 (step S110).

FIG. 9 is a diagram illustrating a specific example of information stored in the first storage unit 11 and the second storage unit 15 during the rewrite operation illustrated in FIG.

Before changing the control program Prog1, the first storage unit 11 of the control device 1 stores the control program Prog1 being executed for each block. The control program Prog1 is not yet stored in the area in which the control program before change prepared in the second storage unit 15 is saved. At this time, since there is no backup information yet, the value “0” is stored in the area for storing the backup information.

In the backup process # 1 performed before the in-execution rewriting # 1, the rewrite control unit 14 includes the changed part of the backup control program Prog1 stored in the first storage unit 11 and includes the changed program. The information is stored in the second storage unit 15 together with the order information indicating the order of each of the plurality of backup information. The backup information includes the control program Prog1 before the change, difference information that is information for specifying a changed part of the control program Prog1, and activation information indicating a part being executed in the control program Prog1. Specifically, in the control program Prog1 before the change, the block BL0 program, which is a part of the program that is rewritten by the ongoing rewrite # 1, is stored in the second storage unit 15 as backup information. In the example shown in FIG. 9, the difference information is a program name, a block name, a step name, a start address and an end address of the changed part. The activation information has a value “1” for a step being executed, and a value “0” when the step is not being executed. In addition to the control program Prog1, the difference information, and the activation information, the backup information includes the start address and the end address of the save area that stores the block BL0 program that is the rewrite target portion of the control program Prog1 before the change. The order information may be any content as long as it is information indicating the order of each backup information. The order information includes date information and management number of each backup information. An area for storing backup information may be determined in advance in the order in which the backup information is generated. In this case, the area itself in which the respective backup information is stored becomes the order information.

Specifically, in the example shown in FIG. 9, in the backup process # 1 executed before the ongoing rewrite # 1, the rewrite control unit 14 stores the block BL0 program of the control program Prog1 before the change in the second storage unit. It is stored in 15 evacuation areas. The rewrite control unit 14 stores the first address “10000” and the last address “10050” in the second storage unit 15 as the addresses of the storage area that stores the block BL0 program of the control program Prog1 before the change, and indicates the changed part. As the difference information, the program name Prog1, block name BL0, and step names S5 and S6 are stored in the second storage unit 15. Here, the control program Prog1 stored in the save area of the second storage unit 15 is the first version shown in FIG. 4, does not include the changed part, and the start address and end address of the changed part are both 0. Remains. Further, the rewrite control unit 14 stores “20161115” that is the date when the backup information is generated as the date information when the backup information is generated. Although the date information is used here, the date information may be used to specify the point in time when the backup information is generated more finely. Further, the rewrite control unit 14 writes “1” as the maximum value of the management number in the second storage unit 15. Then, since the control program Prog1 being executed is executing Step 0 of the block BL0, the rewrite control unit 14 stores the activation information whose value of Step 0 is “1”. After storing the above backup information, the rewrite control unit 14 executes in-execution rewrite # 1 and changes to the first storage unit 11 which is an area for storing the control program Prog1 being executed in the first storage unit 11 Write later BL0 program.

Subsequently, in the backup process # 2 executed before the ongoing rewrite # 2, the rewrite control unit 14 stores the block BL0 program of the control program Prog1 before the change in the save area of the second storage unit 15. At this time, the rewrite control unit 14 stores the block BL0 program before the change in a storage area different from the block BL0 program stored by the backup process # 1. The rewrite control unit 14 stores the first address “10050” and the last address “10100” as addresses of the storage area storing the block BL0 program of the control program Prog1 before the change, and the program name as the difference information indicating the changed part Prog1, block name BL0, step names S7 and S8, the number of changed parts “1”, a start address “20”, and an end address “31” are stored. Further, the rewrite control unit 14 stores “201611616” that is the date when the backup information is generated as the date information when the backup information is generated. Further, the rewrite control unit 14 updates the maximum value of the management number to “2”. Then, since the control program Prog1 being executed is executing Step 1 of the block BL0, the rewrite control unit 14 generates and stores the activity information whose value of Step 1 is “1”. After storing the above backup information, the rewrite control unit 14 executes in-execution rewrite # 2 and changes to the first storage unit 11 which is an area for storing the control program Prog1 being executed in the first storage unit 11 Write later BL0 program.

As described above, according to the first embodiment of the present invention, the backup information is stored every time the control device 1 receives the execution rewrite instruction while executing the control program Prog1. The backup information includes a control program before the change, difference information for specifying a changed part of the control program, and activation information indicating a step being executed in the control program. The backup information is stored together with order information indicating the order of each of the plurality of backup information. For this reason, after rewriting the control program Prog1, it is possible to perform a rollback process for returning to the original state using the backup information a plurality of times. At this time, since the backup information includes the activation information, the execution state of the control program Prog1 can be returned to the original state after the rollback.

Embodiment 2. FIG.
FIG. 10 is a sequence diagram illustrating an operation of rolling back the control program executed by the control device 1 according to the second embodiment of the present invention. Since the configurations of the control device 1 and the editing device 3 according to the second embodiment are the same as those of the first embodiment, description thereof is omitted here. It is assumed that the rollback process described below is performed after execution of rewriting # 1 and in-execution rewriting # 2 in the first embodiment. For this reason, it is assumed that the two backup information generated by the backup process # 1 and the backup process # 2 are stored in the second storage unit 15 of the control device 1 at the start of the rollback process.

When the user selects the rollback function using the input / output unit 33 of the editing device 3 (step S201), the editing unit 32 transmits a data request which is a message requesting backup information to the control device 1 (step S202). ).

When the control device 1 receives the data request, it is input to the rollback control unit 16 via the communication unit 13. The rollback control unit 16 acquires the backup information stored in the second storage unit 15 (step S203). When a plurality of backup information is stored in the second storage unit 15, the rollback control unit 16 acquires a plurality of backup information. The rollback control unit 16 transmits the acquired backup information to the editing device 3 (step S204).

The editing unit 32 of the editing device 3 displays a rollback execution screen using the backup information acquired from the control device 1 (step S205).

FIG. 11 is a diagram showing a function selection screen 45 for selecting a rollback function displayed by the editing apparatus 3 according to the second embodiment of the present invention. This function selection screen 45 includes a rollback execution menu 46. In step S201 in FIG. 10, the user operates the rollback execution menu 46 to select the rollback function, and the data request in step S202 is transmitted. Is done.

After operating the rollback execution menu 46, when backup information is not stored in the control device 1, the editing unit 32 displays a rollback error screen 47 using the display device of the input / output unit 33. The rollback error screen 47 includes a message notifying that the backup information does not exist in the control device 1.

FIG. 12 is a diagram showing a rollback execution screen 48-1 linked from the screen for selecting the rollback function shown in FIG. When the backup information is acquired from the control device 1 after operating the rollback execution menu 46 shown in FIG. 11, the editing unit 32 displays a rollback execution screen 48-1. The rollback execution screen 48-1 includes a plurality of backup information acquired from the control device 1, a program display button 49 for displaying a control program included in each backup information, and an instruction for executing rollback. And a rollback execution button 50.

The rollback execution screen 48-1 shown in FIG. 12 includes two pieces of backup information. Each backup information includes “No.” indicating the order of the respective backup information, “program name” indicating the target control program, “date” when the backup information is generated, and “changed portion changed by rewriting” ”And a“ program display ”button for displaying the contents of the control program to be rewritten when rolled back. The backup information is newer as the order number is larger, and the latest backup information becomes the rollback target. In the example of FIG. 12, the second backup information is a rollback target.

FIG. 13 is a diagram showing a rollback program display screen 51 linked from the program display button 49 shown in FIG. When the program display button 49 shown in FIG. 12 is pressed, the editing unit 32 displays a rollback program display screen 51 that displays the control program Prog1 corresponding to the pressed program display button 49. The rollback program display screen 51 shows a corresponding control program, and the user of the editing apparatus 3 refers to the rollback program display screen 51 to determine in which state the control program Prog1 is in a rollback state. You can check if you are going back.

Returning to the explanation of FIG. When the input / output unit 33 detects that the rollback execution button 50 on the rollback execution screen 48-1 shown in FIG. 12 is pressed (step S206), the input / output unit 33 edits operation information indicating the detected operation content. 32. The editing unit 32 transmits a rollback instruction to the control device 1 based on the input operation information (step S207).

When receiving the rollback instruction, the rollback control unit 16 of the control device 1 selects the latest backup information based on the order information (step S208). The rollback control unit 16 rewrites the control program using the selected backup information (step S209). The rollback control unit 16 executes the control program Prog1 from the step indicated by the activation information included in the selected backup information (step S210). In this example, the control program Prog1 is executed from step 1 of the block BL0 of the control program Prog1. The rollback control unit 16 deletes one piece of backup information used for the rollback process (step S211). Thereafter, the rollback control unit 16 transmits a rollback completion notification to the editing device 3 (step S212).

Upon receiving the rollback completion notification, the editing unit 32 of the editing device 3 updates and displays the rollback execution screen (step S213). FIG. 14 is a diagram showing a rollback execution screen 48-2 displayed after the rollback execution screen 38-1 shown in FIG. 12 is updated after the rollback is executed. Since the rollback processing is executed once and one piece of backup information is deleted, a rollback execution screen 48-2 including the remaining one backup information is displayed.

When the input / output unit 33 detects that the rollback execution button 50 on the rollback execution screen 48-2 shown in FIG. 14 is pressed (step S214), the input / output unit 33 edits operation information indicating the detected operation content. 32. The editing unit 32 transmits a rollback instruction to the control device 1 based on the input operation information (step S215).

When receiving the rollback instruction, the rollback control unit 16 of the control device 1 selects the latest backup information based on the order information (step S216). The rollback control unit 16 rewrites the control program using the selected backup information (step S217). The rollback control unit 16 executes the control program Prog1 from the step indicated by the activation information included in the selected backup information (step S218). In this example, the control program Prog1 is executed from step 0 of the block BL0 of the control program Prog1. The rollback control unit 16 deletes one piece of backup information used for the rollback process (step S219). Thereafter, the rollback control unit 16 transmits a rollback completion notification to the editing device 3 (step S220).

FIG. 15 is a diagram illustrating a specific example of information stored in the first storage unit 11 and the second storage unit 15 during the rollback operation illustrated in FIG.

At the time of starting the operation shown in FIG. 10, the information stored in the first storage unit 11 and the second storage unit 15 is in the state of “Rewriting during execution # 2” in FIG. In step S211 of FIG. 10, when the rollback control unit 16 deletes one backup information, the backup information of management number 2 is deleted as shown in rollback # 2 of FIG. It is updated to “1”. Thereafter, when the rollback control unit 16 deletes one more backup information in step S219, the backup information with the management number 1 is deleted as shown in rollback # 1 in FIG. Deleted.

FIG. 16 is a diagram showing conditions under which an execution error of the rollback process occurs in the operation shown in FIG. The control program executed by the control device 1 may be switched. In the second embodiment, when the control program being executed is switched, when rollback to a different control program is instructed, rollback is not performed as error processing. Specifically, as shown in FIG. 16, it is assumed that the block BL0 of the first version of the control program Prog1 is being executed, and then rewritten during execution to rewrite the block BL0 of the second version of the control program Prog1. . In this case, the running control program Prog1 can be rolled back from the second version to the first version.

When the currently executed control program is switched from the second version of Prog1 to the first version of the control program Prog2, even if the rollback execution button of the control program Prog1 is pressed in this state, the control program to be rolled back is executed. If the control program is different, error processing is performed and rollback processing is not executed. When rewriting is performed during execution of the block BL0 of the first version of the control program Prog2 and rewritten to the second version of the control program Prog2, the rollback process rolls back to the first version of the control program Prog2. It is possible. However, even if the rollback execution button of the control program Prog1 is pressed while the second version of the control program Prog2 is being executed, the rollback process is not executed.

FIG. 17 is a flowchart showing an operation performed by the control device 1 when performing the rollback process of FIG. The rollback control unit 16 of the control device 1 receives a rollback instruction from the editing device 3 (step S301). The rollback control unit 16 compares the control program to be rolled back with the control program being executed by the execution unit 12 and determines whether or not the control program to be rolled back is a control program being executed ( Step S302). When the control program to be rolled back is a control program being executed (step S302: Yes), the rollback control unit 16 performs rollback (step S303). If the control program to be rolled back is not a control program being executed (step S302: No), the rollback control unit 16 performs error processing (step S304). The content of the error process is, for example, displaying an error message, and the rollback process is not executed.

FIG. 18 is a diagram showing an example of the effects of the first and second embodiments of the present invention. In the first embodiment of the present invention, the backup information is stored in the second storage unit 15 built in the control device 1. In the second embodiment, when the rollback is performed, the editing device 3 acquires and displays the backup information from the control device 1, and when the rollback instruction button is pressed, the rollback instruction is transmitted to the control device 1. Sent to. For this reason, the editing device 3 that has edited the control program and the editing device 3 that outputs the rollback instruction do not have to be the same device. For example, as shown in FIG. 18, the editing apparatus # 1 that has edited the control program of the control apparatus # 1 is being used for other purposes and cannot output a rollback instruction to the control apparatus # 1. When the control program of the control device # 1 needs to be rolled back, the editing device # 3 can transmit a rollback instruction to the control device # 1.

As described above, according to the second embodiment of the present invention, each time the rollback control unit 16 receives a rollback instruction, the rollback control unit 16 uses the backup information selected from a plurality of backup information based on the order information. In addition, the control program stored in the first storage unit 11 is rewritten, and the execution unit 12 is instructed to start execution of the control program from the step indicated by the activation information included in the selected backup information. With this configuration, each time a rollback instruction is received, the control program is returned to the original state one by one, and a plurality of rollbacks can be realized. At this time, since the control program is executed from the portion indicated by the activation information, it is possible to return to the state before rewriting until the execution state.

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.

1 control device, 2 controlled device, 3 editing device, 11 first storage unit, 12 execution unit, 13 communication unit, 14 rewrite control unit, 15 second storage unit, 16 rollback control unit, 31 communication unit, 32 editing Part, 33 input / output part, 34 storage part, 40 rewriting instruction screen during execution, 42 rollback function selection screen, 43 confirmation screen, 45 function selection screen, 46 rollback execution menu, 47 rollback error screen, 48-1, 48-2 Rollback execution screen, 49 program display button, 50 rollback execution button, 92 processing circuit, 93 memory, 94 processor.

Claims

A first storage unit for storing a control program including information on steps and transitions;
A second storage unit;
An execution unit for controlling the controlled device by executing the control program stored in the first storage unit;
During execution of the control program, a communication unit that receives an in-execution rewrite instruction for rewriting the control program stored in the first storage unit, and difference information indicating a changed part of the control program;
Each time the in-execution rewrite instruction is received, backup information including the control program before rewriting, the difference information, and active information indicating the step being executed in the control program is updated to a plurality of backup information. A rewrite control unit that stores the order information indicating each order in the second storage unit, and rewrites the control program based on the difference information;
A control device comprising:
The communication unit receives a rollback instruction to return the control program to a state before rewriting,
Each time the rollback instruction is received, the control information stored in the first storage unit is rewritten using the backup information selected based on the order information, and is included in the selected backup information. A rollback control unit that instructs the execution unit to start execution of the control program from the step indicated by the activity information;
The control device according to claim 1, further comprising:
The communication unit receives a data request for requesting the backup information;
The control device according to claim 2, wherein the rollback control unit returns the backup information stored in the second storage unit to the requesting device in response to the data request.
An editing device for editing the control program of the control device according to claim 3,
After the rewriting instruction during execution and the difference information are transmitted to the control device, the data request is transmitted to the control device to acquire the backup information, and the control before the change included in the acquired backup information An editing unit for displaying the program on the display unit according to the order information;
An editing apparatus comprising:
After receiving an instruction to rewrite during execution of a plurality of rewrites during execution of a control program including step and transition information, the control program is returned to a state before the rewrite during execution is performed. When the instruction is received, the control apparatus starts execution of the control program from the step that was being executed when the in-execution rewriting instruction was received before the number of times the rollback instruction was received.