WO2021161518A1

WO2021161518A1 - Control system, program creation assistance device, program creation assistance method, and program creation assistance program

Info

Publication number: WO2021161518A1
Application number: PCT/JP2020/005829
Authority: WO
Inventors: 和久鈴来
Original assignee: 三菱電機株式会社
Priority date: 2020-02-14
Filing date: 2020-02-14
Publication date: 2021-08-19
Also published as: JP6808102B1; DE112020005770T5; CN115066676A; JPWO2021161518A1; CN115066676B

Abstract

A control system (1A) comprises a controller (30) and a program creation assistance device (10) that assists in creating a program used by the controller (30) to control a device, wherein the program includes a control program for formally controlling the device, and a test program for controlling a test process performed on the device, and wherein the program creation assistance device (10) is provided with: a main body execution code creation unit (13) that creates main body execution code, which is the executable code of the control program; a test execution code creation unit (23) that creates test execution code, which is the executable code of a test program for controlling a test adjustment process performed on the device; and a test execution condition specification unit (22) that creates test execution conditions, which are conditions for executing the test execution code. The main body execution code and the test execution code are created separately from each other, and the controller (30) controls the device using the main body execution code, the test execution code, and the test execution conditions.

Description

Control system, program creation support device, program creation support method, and program creation support program

This disclosure relates to a control system that supports the creation of a control program, a program creation support device, a program creation support method, and a program creation support program.

Conventionally, when it is confirmed whether or not a controller that controls a drive device such as a servomotor can perform a desired control operation, a test of a control program that controls the operation of the drive device is performed. When a test is performed, the source code of the main body that controls the drive equipment and the source code of the auxiliary part that performs auxiliary processing such as testing are integrated, and the execution code is output from the integrated source code. Created. Then, the created execution code is written to the controller, and the controller executes the execution code to perform a test or the like.

The controller support device described in Patent Document 1 executes a simulation of the control program using a debugging program included in the control program. That is, when the controller support device described in Patent Document 1 performs auxiliary processing, the auxiliary processing of the control program is executed by using the program of the auxiliary unit included in the control program. In the case of this controller support device, for example, when it is necessary to change the test conditions, the source code of the auxiliary part is edited according to the changed test conditions, and the source code of the main body and the edited source code of the auxiliary part are edited. Recreate the execution code from the source code that integrates with. Then, the controller executes the recreated execution code to perform retesting and the like.

Japanese Patent No. 5246186

However, in the controller support device of Patent Document 1, the execution code of the main body of the control program must be removed from the control program after the test of the control program is completed. If you want to execute only, the execution code of the auxiliary part may be executed by mistake. In addition, it takes a lot of time and effort to accurately remove the execution code of the auxiliary part from the control program.

The present disclosure has been made in view of the above, and an object of the present invention is to obtain a control system that can easily prevent the execution code of the auxiliary part from being erroneously executed when the execution code of the main body part is executed. And.

In order to solve the above-mentioned problems and achieve the object, the control system of the present disclosure includes a controller that controls the device and a program creation support device that supports the creation of a program that the controller uses to control the device. The program includes a control program for formal control of the device and an auxiliary program for controlling auxiliary processing for the device. The program creation support device has a main body execution code creation unit that creates the main body execution code that is the execution code of the control program, an auxiliary execution code creation unit that creates the auxiliary execution code that is the execution code of the auxiliary program, and an auxiliary execution code. It is provided with an auxiliary execution condition creation unit that creates an auxiliary execution condition that is a condition to be executed. In addition, the program creation support device separately creates the main body execution code and the auxiliary execution code. The controller controls the device using the main body execution code, the auxiliary execution code, and the auxiliary execution conditions.

The control system according to the present disclosure has an effect that it is possible to easily prevent the execution code of the auxiliary part from being erroneously executed when the execution code of the main body part is executed.

The figure which shows the structure of the control system which concerns on Embodiment 1. A flowchart showing a procedure of control processing by the control system according to the first embodiment. A sequence diagram showing a procedure of data creation processing by the program creation support device according to the first embodiment. A sequence diagram showing a procedure of data transmission processing and data storage processing by the control system according to the first embodiment. A sequence diagram showing a procedure of execution processing of a control program by the control system according to the first embodiment. The figure which shows the structure of the control system which concerns on Embodiment 2. The figure for demonstrating the mechanical part connected to the motor controlled by the control system which concerns on Embodiment 2. FIG. The figure which shows the 1st example of the control parameter set for the control system which concerns on Embodiment 2. The figure which shows the 1st example of the operation pattern used by the control system which concerns on Embodiment 2. The figure which shows the 2nd example of the control parameter set for the control system which concerns on Embodiment 2. The figure which shows the 2nd example of the operation pattern used by the control system which concerns on Embodiment 2. The figure which shows the hardware configuration example which realizes the program creation support apparatus which concerns on

Embodiments

1 and 2.

Hereinafter, the control system, the program creation support device, the program creation support method, and the program creation support program according to the embodiment of the present disclosure will be described in detail based on the drawings. It should be noted that the disclosure is not limited by these embodiments.

Embodiment 1.
FIG. 1 is a diagram showing a configuration of a control system according to the first embodiment. The control system 1A includes a program creation support device 10 and a controller 30. The program creation support device 10 is connected to the display device 3, and the controller 30 is connected to the motor 2 via the amplifier 4.

The controller 30 is a computer that controls the motor 2 which is a drive device. The program creation support device 10 is a computer that creates a control program used by the controller 30 to control the motor 2.

The program creation support device 10 creates a control program according to an instruction from the user. Further, the program creation support device 10 creates an execution condition which is a condition for executing the control program according to an instruction from the user. For example, the control program may include control programs PA, PB, and PC. In this case, there are cases where it is desired to execute only the control program PA, when it is desired to skip the control program PB, or when it is desired to repeat the execution of the control program PC a specific number of times (for example, 10 times). The conditions for executing these processes are the execution conditions. For example, if the execution condition stipulates that "when the control program PA exists, the control program PA is skipped", the controller 30 sets the control program PA when the control program PA exists. Let me skip it.

The program creation support device 10 of the present embodiment is separated by separately creating the source code of the main body used when controlling the motor 2 and the source code other than the main body and compiling them separately. Create the executable code for. The source code other than the main body is the source code for controlling the auxiliary processing. An example of the source code for controlling the auxiliary processing is the source code for testing and adjusting the main body (hereinafter referred to as test adjustment). Depending on the test result of the main body, the adjustment of the main body may be omitted.

The program creation support device 10 creates the execution code of the main body from the source code of the main body, and creates the execution code for test adjustment from the source code for test adjustment. In the following explanation, the source code of the main body is called the main body source code, and the source code for test adjustment is called the test source code. The execution code of the main body is called the main body execution code, and the execution code for test adjustment is called the test execution code.

The program creation support device 10 creates the main body execution code of the control program by compiling the main body source code of the control program. The program creation support device 10 creates a test execution code of the control program by compiling the test source code of the control program.

As described above, there are two control programs created by the program creation support device 10: a control program (main body execution code) as the main body and a control program (test execution code) for test adjustment. The control program that is the main body is a control program that operates as an actual product.

The control program that is the main body performs processing that is directly related to the control of the device including the motor 2. In other words, the control program that serves as the main body is a program that formalizes control of the device including the motor 2.

The control program for test adjustment is an auxiliary program that controls auxiliary processing. The control program for test adjustment is required for test adjustment, but is not required after the test adjustment is completed.

In the following explanation, the control program that is the main body is simply called the main body program, and the control program for test adjustment is called the test program. When referring to both the main program and the test program, it is called a control program. The main body program may include a motion control program, and in this case, the test program performs test adjustment of the motion control program and the like.

Further, the program creation support device 10 separately creates an execution condition used when the main body execution code is executed and an execution condition used when the test execution code which is the auxiliary execution code is executed. In the following description, the execution condition of the main body, that is, the condition for executing the main body program is referred to as the main body execution condition, and the execution condition for test adjustment, that is, the condition for executing the test program is referred to as the test execution condition.

The main body execution condition stipulates that if a specific main body program exists, this specific main body program should be skipped. The test execution condition, which is an auxiliary execution condition, stipulates that if there is a test program to be executed before the main program, this test program should be executed. Further, the main body execution condition and the test execution condition may specify that a specific process is executed when a specific variable has a specific value.

The program creation support device 10 transmits the main body execution code, the test execution code, the main body execution condition, and the test execution condition to the controller 30.

At the time of test adjustment, the controller 30 controls the operation of the motor 2 by using the main body execution code, the main body execution condition, the test execution code, and the test execution condition. Further, after the test adjustment is completed, the controller 30 controls the operation of the motor 2 by using the main body execution code and the main body execution conditions. The controller 30 manages the main body execution code and the test execution code separately. Further, the controller 30 manages the main body execution condition and the test execution condition separately.

The program creation support device 10 includes a main body source code editing unit 11, a main body execution condition designation unit 12, and a main body execution code creation unit 13. Further, the program creation support device 10 includes a test source code editing unit 21 which is an auxiliary source code editing unit, a test execution condition specification unit 22 which is an auxiliary execution condition creation unit, and a test execution code creation unit which is an auxiliary execution code creation unit. A unit 23, a communication unit 71, and an input unit 72 are provided.

The communication unit 71 has a main body transmitting unit 14, a main body receiving unit 15, a test transmitting unit 24, and a test receiving unit 25.

The controller 30 includes a communication unit 81, a main body execution code storage unit 33, a test execution code storage unit 43, a control unit 82, and an output unit 83. The communication unit 81 can communicate with the communication unit 71. The communication unit 81 and the communication unit 71 may be connected by wireless communication or by wired communication.

The communication unit 81 has a main body receiving unit 31, a main body transmitting unit 32, a test receiving unit 41, and a test transmitting unit 42. The control unit 82 includes a main body execution control unit 34, a main body execution condition determination unit 35, a test execution control unit 44, and a test execution condition determination unit 45.

Hereinafter, each component of the program creation support device 10 and the controller 30 will be described. The input unit 72 of the program creation support device 10 receives an instruction from the user. The instructions received from the user by the input unit 72 include an instruction to edit the main body source code, an instruction to create the main body execution code, an instruction to specify the main body execution condition, an instruction to edit the test source code which is an auxiliary source code, and a test execution. There are instructions to write code, instructions to specify test execution conditions, and so on.

Further, the instructions received by the input unit 72 from the user include an instruction to transmit the control program to the controller 30, an instruction to transmit the execution condition to the controller 30, and an instruction to cause the controller 30 to execute the control program (hereinafter, referred to as a program execution instruction). There is) and so on. The instructions for transmitting the control program to the controller 30 include an instruction for transmitting the main body program (hereinafter, may be referred to as a main body program transmission instruction) and an instruction for transmitting the test program (hereinafter, may be referred to as a test program transmission instruction). There is.

When the input unit 72 receives an instruction to edit the main body source code, the input unit 72 transmits this instruction to the main body source code editing unit 11. When the input unit 72 receives the instruction to edit the test source code, the input unit 72 transmits this instruction to the test source code editing unit 21.

When the input unit 72 receives the instruction to create the main body execution code, the input unit 72 transmits this instruction to the main body execution code creation unit 13 via the main body source code editing unit 11. When the input unit 72 receives the instruction to create the test execution code, the input unit 72 transmits this instruction to the test execution code creation unit 23 via the test source code editing unit 21.

When the input unit 72 receives an instruction to specify the main body execution condition, the input unit 72 transmits this instruction to the main body execution condition specification unit 12 via the main body source code editing unit 11. When the input unit 72 receives an instruction to specify the test execution condition, the input unit 72 transmits this instruction to the test execution condition specification unit 22 via the test source code editing unit 21.

Note that the input unit 72 may directly send an instruction for designating the main body execution condition to the main body execution condition designating unit 12. Further, the input unit 72 may directly send an instruction for designating the test execution condition to the test execution condition designating unit 22.

When the input unit 72 receives the main body program transmission instruction, the input unit 72 transmits this instruction to the communication unit 71. When the input unit 72 receives the test program transmission instruction, the input unit 72 transmits this instruction to the communication unit 71. When the input unit 72 receives the program execution instruction, the input unit 72 transmits this instruction to the communication unit 81 of the controller 30 via the communication unit 71.

The main body source code editing unit 11 displays the source code to be edited on a display device 3 such as a liquid crystal monitor. The main body source code editing unit 11 receives an instruction to edit the main body source code for the information displayed on the display device 3. The main body source code editing unit 11 edits the main body source code according to the instruction for editing the main body source code. When the main body source code editing unit 11 receives the instruction to create the main body execution code, the main body source code is transmitted to the main body execution code creation unit 13.

When the main body execution code creation unit 13 receives the instruction to create the main body execution code, the main body execution code is created by compiling the main body source code. The main body execution code creation unit 13 transmits the created main body execution code to the communication unit 71.

The main body execution condition specification unit 12 creates the main body execution condition according to the instruction for designating the main body execution condition. The main body execution condition designation unit 12 transmits the created main body execution condition to the communication unit 71.

When the main body transmission unit 14 of the communication unit 71 receives the main body program transmission instruction, it transmits the main body execution code and the main body execution condition to the communication unit 81 of the controller 30. Further, when the main body transmission unit 14 receives the program execution instruction, the main body transmission unit 14 transmits the program execution instruction to the communication unit 81 of the controller 30.

The main body receiving unit 15 of the communication unit 71 receives data indicating the result of test adjustment, the main body execution code, and the like from the controller 30 and transmits the data to the main body source code editing unit 11.

The test source code editing unit 21 displays the source code to be edited on the display device 3. The test source code editing unit 21 receives an instruction to edit the test source code for the information displayed on the display device 3. The test source code editing unit 21 edits the test source code according to the instruction for editing the test source code. When the test source code editing unit 21 receives the instruction to create the test execution code, the test source code editing unit 21 transmits the test source code to the test execution code creation unit 23.

When the test execution code creation unit 23 receives the instruction to create the test execution code, the test execution code is created by compiling the test source code. The test execution code creation unit 23 transmits the created test execution code to the communication unit 71.

The test execution condition specification unit 22 creates a test execution condition according to an instruction for designating the test execution condition. The test execution condition specification unit 22 transmits the created test execution condition to the communication unit 71.

When the test transmission unit 24 of the communication unit 71 receives the test program transmission instruction, it transmits the test execution code and the test execution condition to the communication unit 81 of the controller 30.

The test receiving unit 25 of the communication unit 71 receives data indicating the result of the test adjustment, the test execution code, and the like from the controller 30 and transmits the data to the test source code editing unit 21.

In the communication unit 81 of the controller 30, when the main body receiving unit 31 receives information from the main body transmitting unit 14, the received information is stored in the main body execution code storage unit 33. The information received by the main body receiving unit 31 from the main body transmitting unit 14 is a main body execution code, a main body execution condition, a program execution instruction, and the like.

The main body transmission unit 32 reads the information requested from the program creation support device 10 from the main body execution code storage unit 33 and transmits it to the communication unit 71 of the program creation support device 10.

The main body execution code storage unit 33 is a memory or the like that stores information sent from the communication unit 81 and information sent from the control unit 82. The information sent from the communication unit 81 to the main body execution code storage unit 33 is the main body execution code, the main body execution condition, the program execution instruction, etc., and the information sent from the control unit 82 indicates the result of the test adjustment. Data etc.

In the communication unit 81 of the controller 30, when the test receiving unit 41 receives information from the test transmitting unit 24, the received information is stored in the test execution code storage unit 43. The information received by the test receiving unit 41 from the test transmitting unit 24 is a test execution code, a test execution condition, and the like.

The test transmission unit 42 reads the information requested from the program creation support device 10 from the test execution code storage unit 43 and transmits it to the communication unit 71 of the program creation support device 10.

The test execution code storage unit 43 is a memory or the like that stores information sent from the communication unit 81. The information sent from the communication unit 81 to the test execution code storage unit 43 is a test execution code, a test execution condition, and the like.

In the control unit 82, the main body execution condition determination unit 35, the main body execution control unit 34, the test execution control unit 44, and the test execution condition determination unit 45 are connected. In the control unit 82, the main body execution control unit 34, the main body execution condition determination unit 35, the test execution control unit 44, and the test execution condition determination unit 45 operate while sharing information with each other. The communication in the control unit 82 may be performed directly between the components, or may be performed via other components.

The main body execution control unit 34 reads the program execution instruction when the main body execution code storage unit 33 stores the program execution instruction. The program execution instruction may be sent directly from the main body receiving unit 31 to the main body execution control unit 34.

When the main body execution control unit 34 reads the program execution instruction, the main body execution code is read out from the main body execution code storage unit 33, and the test execution code reading instruction is transmitted to the test execution control unit 44.

The main body execution control unit 34 transmits a judgment instruction as to whether or not the main body execution condition is satisfied to the main body execution condition judgment unit 35. The main body execution control unit 34 executes the main body execution code when the main body execution condition is satisfied, and does not execute (skip) the main body execution code when the main body execution condition is not satisfied.

The main body execution condition determination unit 35 determines whether or not the main body execution condition is satisfied, and transmits the determination result to the main body execution control unit 34. When the main body execution condition is satisfied, the main body execution condition determination unit 35 transmits a determination instruction as to whether or not the test execution condition is satisfied to the test execution condition determination unit 45.

The test execution control unit 44 transmits a determination instruction as to whether or not the test execution condition is satisfied to the test execution condition determination unit 45. The test execution control unit 44 executes the test execution code when the test execution condition is satisfied, and does not execute the test execution code when the test execution condition is not satisfied.

The test execution condition determination unit 45 determines whether or not the test execution condition is satisfied, and transmits the determination result to the test execution control unit 44.

When the number of main programs is N (N is a natural number), the control unit 82 executes loop processing for N main programs.

The output unit 83 outputs an operation command sent from the main body execution control unit 34 to the motor 2 via an amplifier 4 that amplifies the signal, and outputs an operation command sent from the test execution control unit 44 to the amplifier 4. Is output to the motor 2 via. The motor 2 operates according to an operation command sent via the amplifier 4.

In this way, the program creation support device 10 can individually create the main body source code and the test source code of the control program without mixing the test source code in the main body source code.

Further, the program creation support device 10 can change the test content or the adjustment content by changing the test source code of the test program without changing the main body source code of the main body program.

Further, since the controller 30 stores the main body execution code of the main body program and the test execution code of the test program in individual storage areas, the program creation support device 10 does not change the main body execution code. You can easily make changes such as adding or deleting test execution code.

Further, the program creation support device 10 can easily remove the test execution code of the test program without changing the main body execution code of the main body program after the test adjustment of the motor 2 is completed.

FIG. 2 is a flowchart showing a procedure of control processing by the control system according to the first embodiment. In the controller 30 of the control system 1A, when the main body execution control unit 34 reads the program execution instruction, the control unit 82 executes the initialization process (step S110). After the initialization process is completed, the control unit 82 reads the main body program stored in the main body execution code storage unit 33, and starts the iterative process for the read main body program. Here, a case where the processing procedure of the main body program is specified in the order of the main body program P1 and the main body program P2 will be described.

The main body execution condition determination unit 35 determines whether or not the main body execution condition is satisfied for the main body program P1. Here, a case will be described in which "when the main body execution condition is satisfied, the execution of the main body program P1 is skipped" is specified as the main body execution condition. In this case, the main body execution condition determination unit 35 determines whether or not to skip the execution of the main body program P1 by determining whether or not the main body execution condition is satisfied (step S120).

When the condition for skipping the execution of the main program P1 is not satisfied (step S120, No), the test execution condition determination unit 45 determines whether or not the test execution condition is satisfied. Here, a case will be described in which it is stipulated that "when the test program Q1 to be executed before the execution of the main program P1 exists, the test program Q1 is executed before the execution of the main program P1" as the test execution condition. .. In this case, the test execution condition determination unit 45 determines whether or not there is a test program Q1 to be executed before the execution of the main program P1 (step S130).

If there is a test program Q1 to be executed before the execution of the main program P1 (step S130, Yes), the test execution condition determination unit 45 determines that the test execution condition is satisfied before the execution of the main program P1. In this case, the test execution control unit 44 executes the test program Q1 of the main program P1 (step S140). After that, the main body execution control unit 34 executes the main body program P1 (step S150).

On the other hand, when there is no test program Q1 to be executed before the execution of the main program P1 (step S130, No), the test execution condition determination unit 45 determines that the test execution condition is not satisfied before the execution of the main program P1. .. In this case, the test execution control unit 44 does not execute the test program Q1, and the main body execution control unit 34 executes the main body program P1 (step S150).

When the execution of the main program P1 is completed, the test execution condition determination unit 45 determines whether or not the test execution condition is satisfied after the execution of the main program P1. Here, a case will be described in which it is stipulated that "when the test program Q2 to be executed after the execution of the main program P1 exists, the test program Q2 is executed after the execution of the main program P1" as the test execution condition. In this case, the test execution condition determination unit 45 determines whether or not there is a test program Q2 to be executed after the execution of the main program P1 (step S160).

When there is a test program Q2 to be executed after the execution of the main program P1 (step S160, Yes), the test execution condition determination unit 45 determines that the test execution condition is satisfied after the execution of the main program P1. In this case, the test execution control unit 44 executes the test program Q2 of the main program P1 (step S170).

After that, the main body execution condition determination unit 35 determines whether or not the main body execution condition is satisfied for the main body program P2. Here, a case will be described in which "when the main body execution condition is satisfied, the execution of the main body program P2 is skipped" is specified as the main body execution condition. In this case, the main body execution condition determination unit 35 determines whether or not to skip the execution of the main body program P2 by determining whether or not the main body execution condition is satisfied (step S180).

On the other hand, when there is no test program Q2 to be executed after the execution of the main program P1 (step S160, No), the test execution condition determination unit 45 determines that the test execution condition is not satisfied. In this case, the test execution control unit 44 does not execute the test program Q2, and the main body execution condition determination unit 35 determines whether or not to skip the execution of the main body program P2 (step S180).

In step S120, when the condition for skipping the execution of the main body program P1 is satisfied (step S120, Yes), the main body execution control unit 34 skips the execution of the main body program P1. In this case, the main body execution condition determination unit 35 determines whether or not to skip the execution of the main body program P2 (step S180).

When the condition for skipping the execution of the main program P2 is not satisfied (step S180, No), the test execution condition determination unit 45 determines whether or not the test execution condition is satisfied. Here, a case will be described in which it is stipulated that "when the test program Q3 to be executed before the execution of the main program P2 exists, the test program Q3 is executed before the execution of the main program P2" as the test execution condition. .. In this case, the test execution condition determination unit 45 determines whether or not there is a test program Q3 to be executed before the execution of the main program P2 (step S190).

If there is a test program Q3 to be executed before the execution of the main program P2 (step S190, Yes), the test execution condition determination unit 45 determines that the test execution condition is satisfied before the execution of the main program P2. In this case, the test execution control unit 44 executes the test program Q3 of the main program P2 (step S200). After that, the main body execution control unit 34 executes the main body program P2 (step S210).

On the other hand, when there is no test program Q3 to be executed before the execution of the main program P2 (step S190, No), the test execution condition determination unit 45 determines that the test execution condition is not satisfied before the execution of the main program P2. .. In this case, the test execution control unit 44 does not execute the test program Q3, and the main body execution control unit 34 executes the main body program P2 (step S210).

When the execution of the main program P2 is completed, the test execution condition determination unit 45 determines whether or not the test execution condition is satisfied after the execution of the main program P2. Here, a case will be described in which it is stipulated that "when the test program Q4 to be executed after the execution of the main program P2 exists, the test program Q4 is executed after the execution of the main program P2" as the test execution condition. In this case, the test execution condition determination unit 45 determines whether or not there is a test program Q4 to be executed after the execution of the main program P2 (step S220).

When there is a test program Q4 to be executed after the execution of the main program P2 (step S220, Yes), the test execution condition determination unit 45 determines that the test execution condition is satisfied after the execution of the main program P2. In this case, the test execution control unit 44 executes the test program Q4 of the main program P2 (step S230).

On the other hand, when there is no test program Q4 to be executed after the execution of the main program P2 (step S220, No), the test execution condition determination unit 45 determines that the test execution condition is not satisfied. In this case, the test execution control unit 44 does not execute the test program Q4.

In step S180, when the condition for skipping the execution of the main body program P2 is satisfied (step S180, Yes), the main body execution control unit 34 skips the execution of the main body program P2. As a result, the control unit 82 ends the iterative processing for the main body program read from the main body execution code storage unit 33.

Note that the iterative processing by the controller 30 is not limited to the method described in FIG. For example, the controller 30 may periodically execute the iterative process from step S120 to step S230 at a time interval preset by the user. Further, the controller 30 may execute the iterative process triggered by the input of a specific external signal (for example, the signal input to the controller 30 when the pressing of the emergency stop button is detected).

In the control system 1A, since the test programs Q1 to Q4 exist at the time of test adjustment, the processes of steps S140, S170, S200, and S230 are executed. On the other hand, in the control system 1A, since the test programs Q1 to Q4 are invalidated or deleted in the controller 30 during actual operation, the processes of steps S140, S170, S200, and S230 are not executed.

Note that the control system 1A does not have to use the main body execution condition. In this case, the program creation support device 10 does not have to include the main body execution condition designation unit 12. Further, the controller 30 does not have to include the main body execution condition determination unit 35. Then, the processing of steps S120 and S180 in FIG. 2 is omitted.

In the control system 1A, the test execution condition specification unit 22 can specify a precondition, which is a condition for executing the test execution code before executing the main program, according to an instruction from the user. Further, in the control system 1A, the test execution condition specifying unit 22 can specify a post-condition, which is a condition for executing the test execution code after executing the main program, according to an instruction from the user.

Since the test execution condition determination unit 45 can execute the test execution code of the test program according to the set pre-condition and post-condition, the test program can be executed without changing the main body program. An example of the test execution code executed when the precondition is satisfied is the initialization of the main program. An example of the test execution code executed when the ex post facto condition is satisfied is the arithmetic processing using the execution result of the main program.

Further, in the control system 1A, since the test execution code can be easily invalidated or deleted after the test adjustment is completed, it is possible to easily prevent the test execution code from being executed by mistake when the main body execution code is executed. ..

FIG. 3 is a sequence diagram showing a procedure of data creation processing by the program creation support device according to the first embodiment. Here, the processing from editing the source code to specifying the execution conditions will be described. The data created by the program creation support device 10 includes a main body source code, a main body execution code, a main body execution condition, a test source code, a test execution code, a test execution condition, and the like. A configuration consisting of a main body source code editing unit 11, a test source code editing unit 21, a main body execution code creation unit 13, a test execution code creation unit 23, a main body execution condition specification unit 12, and a test execution condition specification unit 22 shown in FIG. The element group 51 is arranged in the program creation support device 10.

When the user inputs an editing instruction for the main body source code to the input unit 72, this editing instruction is sent to the main body source code editing unit 11 (st1), and the main body source code editing unit 11 outputs the main body source code according to the editing instruction. To edit.

Further, when the user inputs an edit instruction of the test source code to the input unit 72, the edit instruction is sent to the test source code editorial unit 21 (st2), and the test source code editorial unit 21 follows the edit instruction to test source. Edit the code. Either the st1 process or the st2 process may be executed first.

After the processing of st1, when the user inputs an instruction to create the main body execution code to the input unit 72, this creation instruction is sent to the main body source code editing unit 11 (st3). As a result, the main body source code editing unit 11 transmits a main body execution code creation instruction to the main body execution code creation unit 13 (st4), and the main body execution code creation unit 13 creates the main body execution code.

After the processing of st2, when the user inputs a test execution code creation instruction to the input unit 72, this creation instruction is sent to the test source code editing unit 21 (st5). As a result, the test source code editing unit 21 sends a test execution code creation instruction to the test execution code creation unit 23 (st6), and the test execution code creation unit 23 creates the test execution code. Either the st3 process or the st5 process may be executed first.

In the processes of st7 to st9 described below, the case where the main program is the main program P1 described with reference to FIG. 2 will be described.

When an instruction for designating the main body execution condition for the main body program P1 is input to the input unit 72 by the user, this designation instruction is sent to the main body execution condition designation unit 12 (st7). As a result, the main body execution condition designation unit 12 creates the main body execution condition for the main body program P1 according to the user instruction. The main body execution condition here is the main body execution condition used in step S120 of FIG.

Further, when an instruction for designating a precondition before executing the main program P1 is input to the input unit 72 by the user, this designation instruction is sent to the test execution condition specification unit 22 (st8). As a result, the test execution condition designation unit 22 creates a preliminary condition for the main program P1 according to the user instruction. The precondition here is the test execution condition used in step S130 of FIG.

Further, when an instruction for designating a post-condition after executing the main program P1 is input to the input unit 72 by the user, this designation instruction is sent to the test execution condition specification unit 22 (st9). As a result, the test execution condition specification unit 22 creates a post-condition for the main program P1 according to the user's instruction. The post-condition here is the test execution condition used in step S160 of FIG.

It should be noted that any of the processes of st7 to st9 may be executed first. That is, the main body execution condition, the pre-condition, and the post-condition may be created in any order. Further, the processes of st7 to st9 may be executed before any of the processes of st1 to st6. Further, the input unit 72 may send an instruction specifying the main body execution condition to the main body execution condition designating unit 12 via the main body source code editing unit 11. Further, the input unit 72 may send an instruction for which the pre-condition is specified and an instruction for which the post-condition is specified to the test execution condition specification unit 22 via the test source code editing unit 21.

In this way, the program creation support device 10 can set a test program to be executed before executing the main program as a precondition, as in the process of st8. That is, in the control system 1A, the test execution code of the test program to be executed before the start of execution of the main body execution code, such as the preparation of test data for checking the operation and adjusting the main body execution code of the main body program, is executed according to the user instruction. , Can be specified as a precondition.

Further, the program creation support device 10 can set a test program to be executed after executing the main program as a post-condition, as in the process of st9. That is, in the control system 1A, it is desired to execute the main body execution code after the execution of the main body execution code is completed, such as determining whether or not the execution result of the main body execution code of the main body program is obtained and recording the execution result. The test execution code of the test program can be specified as a post-condition according to the user instruction.

FIG. 4 is a sequence diagram showing a procedure of data transmission processing and data storage processing by the control system according to the first embodiment. Here, the process from the transmission of the execution code to the saving of the execution code will be described. The data transmitted by the program creation support device 10 to the controller 30 includes the main body execution code and the test execution code. The component group 52 including the communication unit 71, the main body transmission unit 14, and the test transmission unit 24 shown in FIG. 4 is arranged in the program creation support device 10. Further, the component group 61 including the communication unit 81, the main body receiving unit 31, the test receiving unit 41, the main body execution code storage unit 33, and the test execution code storage unit 43 shown in FIG. 4 is arranged in the controller 30. ..

When the user inputs an instruction to transmit the execution code to the controller 30 to the input unit 72 of the program creation support device 10, this transmission instruction is sent to the communication unit 71 (st11).

The communication unit 71 transmits a main body transmission instruction, which is a main body transmission instruction to the controller 30 of the main body execution code, to the main body transmission unit 14 (st12). As a result, the main body transmission unit 14 executes the main body transmission process, which is a process of transmitting the main body execution code to the communication unit 81 of the controller 30 (st13).

When the communication unit 81 receives the main body execution code, the controller 30 transmits the main body reception information indicating that the main body execution code has been received to the main body reception unit 31 (st14). When the main body receiving unit 31 receives the main body receiving information, the main body receiving unit 31 transmits a saving instruction of the main body execution code to the main body execution code storage unit 33 (st15). The main body execution code storage unit 33 stores the main body execution code.

Further, when the communication unit 71 receives the execution code transmission instruction from the user, the communication unit 71 transmits the test transmission instruction, which is the transmission instruction of the test execution code to the controller 30, to the test transmission unit 24 (st16). As a result, the test transmission unit 24 executes the test transmission process, which is the process of transmitting the test execution code to the communication unit 81 of the controller 30 (st17).

When the communication unit 81 receives the test execution code, the controller 30 transmits the test reception information indicating that the test execution code has been received to the test reception unit 41 (st18). Upon receiving the test reception information, the test receiving unit 41 transmits an instruction to save the test execution code to the test execution code storage unit 43 (st19). The test execution code storage unit 43 stores the test execution code.

The main body execution code saved in the process of st15 corresponds to the main body programs P1 and P2 used in step S150 and step S210 of FIG. The test execution code saved in the process of st19 corresponds to the test programs Q1 to Q4 used in steps S140, S170, S200, and S230 of FIG.

Although not shown in FIG. 4, the main body execution conditions are also transmitted and saved by the same processing as in st11 to st15. The main body execution conditions saved in this process are used in steps S120 and S180 of FIG.

Also, the test execution conditions are transmitted and saved by the same processing as st11, st16 to st19. The test execution conditions saved in this process are used in steps S130, S160, S190, and S220 of FIG.

In this way, the main body execution code of the main body program and the test execution code of the test program are created separately, so that the controller 30 includes the main body execution code of the main body program and the test execution code of the test program, respectively. Can be stored in separate storage units. As a result, the control system 1A can easily manage the main body execution code and the test execution code.

FIG. 5 is a sequence diagram showing a procedure of execution processing of the control program by the control system according to the first embodiment. Here, the execution process of the main program and the test program will be described. From the communication unit 81, the main unit execution control unit 34, the main unit execution condition determination unit 35, the test execution control unit 44, the test execution condition determination unit 45, the main unit execution code storage unit 33, and the test execution code storage unit 43 shown in FIG. The component group 62 is arranged in the controller 30.

When the user inputs the execution instruction of the control program to the program creation support device 10, the execution instruction is transmitted to the communication unit 81 of the controller 30 (st21). The communication unit 81 transmits an execution instruction of the control program to the main body execution control unit 34 (st22).

The main body execution control unit 34 executes the reading process of the main body program (st23). Specifically, the main body execution control unit 34 reads the main body program from the main body execution code storage unit 33.

Further, the main body execution control unit 34 transmits a test program read instruction to the test execution control unit 44 (st24). The test execution control unit 44 executes the reading process of the test program (st25). Specifically, the test execution control unit 44 reads the test program from the test execution code storage unit 43.

After that, the controller 30 executes loop processing for the number of main programs. The controller 30 executes the process 101 for the first main program. In the process 101, the main body execution control unit 34 transmits a main body execution condition determination instruction to the main body execution condition determination unit 35 (st26).

The process 201 included in the process 101 is a process when the main body execution condition is satisfied, and the process 202 included in the process 101 is a process when the main body execution condition is not satisfied.

First, the process 201 when the main body execution condition is satisfied will be described. In process 201, the main body execution condition determination unit 35 transmits a determination instruction of the prior condition to the test execution control unit 44 (st27).

The process 301 included in the process 201 is a process when the precondition is satisfied, and the process 302 included in the process 201 is a process when the precondition is not satisfied. In the process 301 when the precondition is satisfied, the test execution control unit 44 transmits a determination instruction of the precondition to the test execution condition determination unit 45 (st28). The test execution condition determination unit 45 here determines that the precondition is satisfied. Then, the test execution condition determination unit 45 transmits an instruction to execute the test program corresponding to the prior condition to the test execution control unit 44 as the determination result (st29). As a result, the test execution control unit 44 executes the test program when the precondition is satisfied (st30). The main body execution condition determination unit 35 may directly transmit the determination instruction of the prior condition to the test execution condition determination unit 45 without going through the test execution control unit 44.

The test execution control unit 44 transmits a determination result (execution) indicating that the test program has been executed to the main body execution condition determination unit 35 as the determination result of the prior condition (st31). The processing of st31 is a response to st27.

The above-mentioned st28 and st29 processes are also executed in the process 302 when the preconditions are not satisfied. In this case, the test execution condition determination unit 45 determines that the precondition is not satisfied, and as a determination result, transmits an instruction not to execute the test program corresponding to the precondition to the test execution control unit 44. The test execution control unit 44 transmits, as the determination result of the prior condition, a determination result (non-execution) indicating that the test program has not been executed to the main body execution condition determination unit 35 (st32). The processing of st32 is a response to st27.

After the process 301 or process 302 is completed, the main body execution condition determination unit 35 transmits the determination result for st27 to the main body execution control unit 34. That is, the main body execution condition determination unit 35 transmits a determination result (execution) indicating that the process 301 or the process 302 has been executed to the main body execution control unit 34 as a response to st27 (st33).

After the processing of st33, the main body execution control unit 34 executes the first main body program (st34). Then, the main body execution control unit 34 transmits a determination instruction of the post-condition to the main body execution condition determination unit 35 (st35). The main body execution condition determination unit 35 transmits a determination instruction of the ex post facto condition to the test execution control unit 44 (st36).

The process 401 included in the process 201 is a process when the post-condition is satisfied, and the process 402 included in the process 201 is a process when the post-condition is not satisfied. In the process 401 when the ex-post condition is satisfied, the test execution control unit 44 transmits the ex-post condition determination instruction to the test execution condition determination unit 45 (st37). Here, the test execution condition determination unit 45 determines that the ex post facto condition is satisfied. Then, the test execution condition determination unit 45 transmits an instruction to execute the test program corresponding to the ex post facto condition to the test execution control unit 44 as the determination result (st38). As a result, the test execution control unit 44 executes the test program when the ex post facto condition is satisfied (st39). The main body execution condition determination unit 35 may directly transmit the determination instruction of the ex post facto condition to the test execution condition determination unit 45 without going through the test execution control unit 44.

The test execution control unit 44 transmits a determination result (execution) indicating that the test program has been executed to the main body execution condition determination unit 35 as the determination result of the ex post facto condition (st40). The processing of st40 is a response to st36.

The above-mentioned st37 and st38 processes are also executed in the process 402 when the post-condition is not satisfied. In this case, the test execution condition determination unit 45 determines that the ex-post condition is not satisfied, and as a determination result, transmits an instruction not to execute the test program corresponding to the ex-post condition to the test execution control unit 44. The test execution control unit 44 transmits, as the determination result of the ex post facto condition, a determination result (non-execution) indicating that the test program has not been executed to the main body execution condition determination unit 35 (st41). The processing of st41 is a response to st36.

Next, the process 202 when the main body execution condition is not satisfied will be described. In the process 202, the main body execution condition determination unit 35 transmits a determination result (non-execution) indicating that the main body program has not been executed to the main body execution control unit 34 as the main body execution condition determination result (st42). The processing of st42 is a response to st26.

Here, the execution code of the comparative example (control program of the comparative example) will be described. The execution code of the comparative example is the execution code created from the source code in which the source code of the main body and the source code of the test adjustment part are integrated. The source code of the test adjustment unit is the source code corresponding to the execution code for the test investigation.

The procedure of the test process when the control program of the comparative example is used will be explained. In the iterative processing for the control program in this case, the control program is executed in the order of the first control program and the second control program.

When the first control program is executed, the main body part and the test investigation part included in the first control program are executed. Then, when the second control program is executed, the main body unit and the test investigation unit included in the second control program are executed. Then, after the test investigation is completed, the test investigation unit is deleted from the source code of the first control program, and the test investigation unit is deleted from the source code of the second control program. In the control program of such a comparative example, the execution code that performs the test adjustment may use various logical sums, so it is difficult to delete the execution code that performs the test adjustment after the test adjustment is completed. ..

By the way, in terms of user operation, changes may be prohibited for the execution code whose operation has been confirmed. In this case, in the control program of the comparative example, the execution code for performing the test adjustment also remains in the storage area of the controller. Therefore, it consumes wasted storage area.

In addition, even if changes are not prohibited for the execution code for which the operation check has been completed, in the case of the execution code of the comparative example, after the test adjustment of the control program is completed, the execution for test adjustment is executed from the control program. When the code is removed, the executable code changes. Therefore, in the case of the execution code of the comparative example, it is necessary to reconfirm whether or not the changed execution code performs the desired operation.

On the other hand, in the control system 1A of the present embodiment, since the test execution code and the main body execution code are separately stored separately, only the test execution code is easily invalidated without changing the main body execution code. Or it can be deleted. As a result, it is possible to prevent the test execution code for which the test adjustment has been completed from wasting the storage area of the controller 30.

Further, in the control system 1A of the present embodiment, even if the test execution code is deleted, the main body execution code is not changed. Therefore, it is necessary to reconfirm whether or not the main body execution code performs the desired operation. No.

As described above, according to the first embodiment, the main body execution code and the test execution code are created separately, so that the test execution code is erroneously executed when the main body execution code is executed. It can be easily prevented.

In addition, the control system 1A can separate the test execution code for executing the test adjustment from the main body execution code and execute editing, execution, removal, etc. in a state where each is independent. As a result, the control system 1A can easily edit, execute, and remove the test program.

Embodiment 2.
Next, the second embodiment will be described with reference to FIGS. 6 to 9. In the second embodiment, the test source code is automatically created based on the calculation data of the command value in the motion control (for example, the reference angle described later).

FIG. 6 is a diagram showing the configuration of the control system according to the second embodiment. Of the components of FIG. 6, components that achieve the same functions as the control system 1A of the first embodiment shown in FIG. 1 are designated by the same reference numerals, and redundant description will be omitted.

The control system 1B includes a test source code creation unit 20 which is an auxiliary source code creation unit in the program creation support device 10 in addition to the components of the control system 1A. The test source code creation unit 20 is connected to the test source code editing unit 21.

The test source code creation unit 20 automatically creates the test source code used for the test adjustment of the motor 2 based on the data for calculating the command value in the motion control. The command in the motion control is an output value output from the controller 30 to the amplifier 4. Examples of commands in motion control are target values such as movement amount, speed, and torque.

The test source code creation unit 20 determines whether or not the main body execution code of the main body program executed by the controller 30 executes a desired operation with respect to the command value in the motion control. To create. As a result, the program creation support device 10 can reduce the man-hours of the user required to create the test program.

Next, an example of the test source code creation process by the test source code creation unit 20 will be described. FIG. 7 is a diagram for explaining a mechanical unit connected to a motor controlled by the control system according to the second embodiment. FIG. 8 is a diagram showing a first example of control parameters set for the control system according to the second embodiment. FIG. 9 is a diagram showing a first example of an operation pattern used by the control system according to the second embodiment.

The program creation support device 10 creates the operation pattern shown in FIG. 9 based on the control parameters shown in FIG. Note that FIG. 7 omits the illustration of the program creation support device 10.

Work transfer devices used for applications such as moving a work to a predetermined position include a motor 2 having a motor shaft (hereinafter referred to as a control shaft 6) and a mechanical portion (hereinafter referred to as a mechanical portion) connected to the control shaft 6. 5) and. The controller 30 controls the position of the mechanism unit 5 by driving the control shaft 6 of the motor 2 to be controlled. The operation pattern showing the position of the mechanism unit 5 at this time is the operation pattern shown in FIG.

When performing motion control, as an example of means for giving a command from the controller 30 to the amplifier 4, the target of the mechanism unit 5 with respect to the rotation position (reference angle) of the rotation axis as the control reference, as shown in FIG. There are means of providing a position and a method of interpolating the interval between the target position and the target position. The rotation shaft used as a control reference may be another motor shaft (not shown in FIG. 7) other than the control shaft 6. Alternatively, the rotation shaft used as the control reference may be a virtual motor shaft simulated by the controller 30.

When the control parameters shown in FIG. 8 are set, the program creation support device 10 calculates the operation patterns (

waveforms

71A, 72A) shown in FIG. 9 based on the control parameters. This operation pattern (waveforms 71A, 72A) matches the command value calculated as the calculation result of the control program executed by the controller 30, and becomes the input data for the test source code creation unit 20.

The horizontal axis of the graph shown in FIG. 9 is the reference angle of the control axis 6, and the vertical axis is the target position of the mechanism unit 5 connected to the control axis 6. The waveform 71A is the waveform of the target position of the mechanism unit 5, and the waveform 72A is the target speed of the mechanism unit 5. The test source code creation unit 20 creates a test source code based on the

waveforms

71A and 72A shown in FIG. The test source code is a source code for determining whether or not the difference between the target position of the mechanism unit 5 and the actual position is within the permissible range.

In FIG. 9, for example, the target position of the mechanism unit 5 when the reference angle is 90 degrees is the center position (0 mm), and the target position of the mechanism unit 5 when the reference angle is 210 degrees is the center position. It is shown that the position is 100 mm away from the forward direction.

The controller 30 calculates the command values of the rotation direction and the rotation speed of the motor 2 so that the mechanism unit 5 can be moved to the target position based on the reference angle and the target position, and amplifies the command value as the calculation result. Output to 4.

The main body source code of the main body program created by the user using the program creation support device 10 inputs control parameters including a reference angle and a target position. This main body source code takes control parameters as inputs, and executes a process of calculating and obtaining specified values for controlling the driving of the motor 2, such as the rotation direction and the rotation speed of the motor 2.

As a control parameter, a target position of an arbitrary number of points can be specified so that the controlled object (mechanical unit 5 that linearly moves in the forward direction or the reverse direction in the example of FIG. 7) can obtain a desired operation. In the example shown in FIG. 9, the case where the target positions of the three points (A), (B), and (C) are specified by the user is shown.

In the example shown in FIG. 8, the section AB has a start point of 0 degrees and an end point of 90 degrees. The target position in the section AB is 0 mm, and the section AB is spline-interpolated. Further, the section BC has a start point of 90 degrees and an end point of 210 degrees. The target position in the section BC is 100 mm, and the section BC is spline-interpolated. Further, the start point in the section CA is 210 degrees, and the end point is 360 degrees. The target position in the section CA is 0 mm, and the section CA is spline-interpolated. The target position may be added by the user in order to adjust the acceleration / deceleration of the mechanism unit 5.

FIG. 10 is a diagram showing a second example of control parameters set for the control system according to the second embodiment. FIG. 11 is a diagram showing a second example of an operation pattern used by the control system according to the second embodiment. The control parameters shown in FIG. 10 show an example of an operation pattern when a new target position is added to the control parameters shown in FIG.

The program creation support device 10 creates the operation pattern shown in FIG. 11 based on the control parameters shown in FIG. Here, in order to adjust the acceleration / deceleration of the mechanical unit 5 between the target positions (B) and (C) shown in FIG. 9, the two targets (D) and (E) shown in FIG. 11 are used. The case where the position is added will be described. The waveform 71B is the waveform of the target position of the mechanism unit 5, and the waveform 72B is the target speed of the mechanism unit 5.

In the example shown in FIG. 10, the sections AB and CA are as described in FIG. In the example shown in FIG. 10, the section BD has a start point of 90 degrees and an end point of 120 degrees. The target position in the section BD is 10 mm, and the section BD is spline-interpolated. Further, the section DE has a start point of 120 degrees and an end point of 180 degrees. The target position in the section DE is 90 mm, and the section DE is spline-interpolated. Further, the section EC has a start point of 180 degrees and an end point of 210 degrees. The target position in the section EC is 100 mm, and the section EC is spline-interpolated.

The program creation support device 10 confirms whether or not the controlled object has obtained the desired operation by the main body program created by the user and the control parameters. In order to confirm whether or not the controlled object has obtained a desired operation, the program creation support device 10 has a target position of the mechanism unit 5 at a certain reference angle and an actual position of the mechanism unit 5 in the actual device. It suffices if it can be confirmed that the difference from the above is within the range allowed by the actual device. The actual device is a work transfer device including the mechanism unit 5 and the motor 2.

Here, a certain reference angle is a value specified by the user using the program creation support device 10 (in FIG. 11, five points (A), (B), (C), (D), and (E)). In addition to the reference angle), for example, any reference angle ω (0 degree ≦ ω ≦) included in any of the sections AB, BC, and CA shown in the graph of FIG. 9 or FIG. 360 degrees). In the example shown in FIG. 11, the case where the maximum value of the reference angle is 360 degrees is shown, but a value larger than 360 degrees may be set as the maximum value of the reference angle.

As for the target position of the mechanism unit 5 with respect to an arbitrary reference angle ω in each section, in the example of FIG. 9 or 11, the interpolation method of the target position is specified by the user as "spline interpolation", so the test source code is created. The unit 20 can calculate the target value by calculation.

The test source code creation unit 20 allows the difference between the target position of the mechanism unit 5 with respect to an arbitrary reference angle ω that can be calculated by such calculation and the actual position of the mechanism unit 5 in the actual device in the actual device. Create a process to determine whether or not it is within the specified range as the test source code of the test program. As a result, the user creates or modifies the test source code to check whether the actual device obtains the desired operation when the setting value of the control parameter is added, changed, or deleted. It is possible to save the trouble of doing this.

The main body execution code storage unit 33 and the test execution code storage unit 43 may be physically different storage devices. As a result, it is possible to execute the test adjustment of the main body program while temporarily writing the test execution code to the controller 30 without tightening the storage capacity of the storage device that stores the main body execution code. In addition, it is possible to simplify the user operation for invalidating or removing the test execution code other than the main body of the control program after the test adjustment is completed.

When the main body execution code storage unit 33 and the test execution code storage unit 43 are physically different storage devices, the main body execution code storage unit 33 becomes the main body execution code storage device, and the test execution code storage unit 43 tests. It becomes an execution code storage device, that is, an auxiliary execution code storage device.

Further, the main body execution code storage unit 33 and the test execution code storage unit 43 are physically different storage devices, and the storage device serving as the test execution code storage unit 43 is a storage device that can be attached to and detached from the controller 30 (for example, portability). (External storage device). As a result, the test execution code can be removed from the controller 30 simply by removing the storage device serving as the test execution code storage unit 43 from the controller 30.

Further, the control unit 82 may invalidate the access to the cache memory of the test execution code. As a result, the test execution code is not stored in the cache memory, but the main body execution code is stored. As a result, even if the test execution code is executed, it is possible to prevent the hit rate (cache performance) of the main body execution code from being reduced from the cache memory. That is, the probability that the main body execution code can be read from the cache memory can be made the same depending on whether the test execution code is present or not. Therefore, the control unit 82 can execute the test adjustment of the main body program while executing the main body execution code at the same cache memory hit rate as in the actual operation.

As described above, in the second embodiment, the test source code creation unit 20 automatically creates the test source code based on the data for calculating the command value in the motion control. As a result, the user creates or modifies the test source code to check whether the actual device obtains the desired operation when the setting value of the control parameter is added, changed, or deleted. It is possible to save the trouble of doing this.

Here, the hardware configuration of the program creation support device 10 described in the first and second embodiments will be described. FIG. 12 is a diagram showing an example of a hardware configuration that realizes the program creation support device according to the first and second embodiments.

The program creation support device 10 can be realized by the input device 151, the processor 152, the memory 153, the communication device 155, and the output device 154 shown in FIG. An example of the processor 152 is a CPU (Central Processing Unit, central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, processor, DSP (Digital Signal Processor)) or system LSI (Large Scale Integration). Examples of the memory 153 are RAM (Random Access Memory) and ROM (Read Only Memory).

The program creation support device 10 is realized by the processor 152 reading and executing a computer-executable program creation support program for executing the operation of the program creation support device 10 stored in the memory 153. NS. It can be said that the program creation support program, which is a program for executing the operation of the program creation support device 10, causes the computer to execute the procedure or method of the program creation support device 10.

The program creation support program executed by the program creation support device 10 includes the main body source code editing unit 11, the main body execution condition specification unit 12, the main body execution code creation unit 13, the test source code editing unit 21, and the test execution condition. It has a module configuration including a designation unit 22 and a test execution code creation unit 23, these are loaded on the main storage device, and these are generated on the main storage device.

The memory 153 is used as a temporary memory when the processor 152 executes various processes. The memory 153 stores, for example, a program creation support program, a main body execution code, a test execution code, a main body source code, a test source code, a main body execution condition, a pre-condition, a post-condition, and the like.

The input device 151 has the function of the input unit 72. The input device 151 is an interface device that receives information input by the user, and sends the received information to the processor 152. The output device 154 outputs the screen data created by the processor 152 to an external device such as the display device 3. The communication device 155 has the function of the communication unit 71. The communication device 155 executes communication with the controller 30.

The program creation support program that supports the creation of the control program is a file in an installable format or an executable format, and may be stored in a computer-readable storage medium and provided as a computer program product. Further, the program creation support program may be provided to the program creation support device 10 via a network such as the Internet.

Note that some of the functions of the program creation support device 10 may be realized by dedicated hardware such as a dedicated circuit, and some may be realized by software or firmware.

The controller 30 has the same hardware configuration as the program creation support device 10. Some of the functions of the controller 30 may be realized by dedicated hardware such as a dedicated circuit, and some may be realized by software or firmware.

The configuration shown in the above embodiments is an example, and can be combined with another known technique, can be combined with each other, and does not deviate from the gist. It is also possible to omit or change a part of the configuration.

1A, 1B control system, 2 motor, 3 display device, 4 amplifier, 5 mechanism unit, 6 control axis, 10 program creation support device, 11 main unit source code editing unit, 12 main unit execution condition specification unit, 13 main unit execution code creation unit , 14, 32 main unit transmitter, 15, 31 main unit receiver, 20 test source code creation unit, 21 test source code editing unit, 22 test execution condition specification unit, 23 test execution code creation unit, 24, 42 test transmission unit, 25, 41 test receiving unit, 30 controller, 33 main unit execution code storage unit, 34 main unit execution control unit, 35 main unit execution condition judgment unit, 43 test execution code storage unit, 44 test execution control unit, 45 test execution condition judgment unit, 71, 81 communication unit, 72 input unit, 82 control unit, 83 output unit, 151 input device, 152 processor, 153 memory, 154 output device, 155 communication device.

Claims

The controller that controls the device and
A program creation support device that supports the creation of a program used by the controller to control the device, and
Have,
The program includes a control program for formal control of the device and an auxiliary program for controlling auxiliary processing for the device.
The program creation support device is
The main body execution code creation unit that creates the main body execution code that is the execution code of the control program,
An auxiliary execution code creation unit that creates an auxiliary execution code that is an execution code of the auxiliary program,
An auxiliary execution condition creation unit that creates an auxiliary execution condition that is a condition for executing the auxiliary execution code,
With
Create the main body execution code and the auxiliary execution code separately,
The controller
The device is controlled by using the main body execution code, the auxiliary execution code, and the auxiliary execution conditions.
A control system characterized by that.
The controller
A main body execution code storage device that stores the main body execution code,
An auxiliary execution code storage device that stores the auxiliary execution code,
With
The main body execution code storage device and the auxiliary execution code storage device are storage devices having different configurations.
The control system according to claim 1.
The auxiliary execution code storage device is a storage device that can be attached to and detached from the controller.
The control system according to claim 2.
The main body execution code creation unit that creates the main body execution code, which is the execution code of the control program that performs formal control over the device,
An auxiliary execution code creation unit that creates an auxiliary execution code that is an execution code of an auxiliary program that controls auxiliary processing to the device, and an auxiliary execution code creation unit.
An auxiliary execution condition creation unit that creates an auxiliary execution condition that is a condition for executing the auxiliary execution code,
With
The main body execution code and the auxiliary execution code are created separately.
A program creation support device characterized by this.
It further includes a main body execution condition creation unit that creates a main body execution condition that is a condition for executing the main body execution code.
The program creation support device according to claim 4, wherein the program creation support device is characterized by the above.
The main body source code editorial unit that edits the main body source code that is the source code of the control program,
An auxiliary source code editorial department that edits the auxiliary source code that is the source code of the auxiliary program, and
With more
The main body execution code creation unit creates the main body execution code from the main body source code, and creates the main body execution code.
The auxiliary execution code creation unit creates the auxiliary execution code from the auxiliary source code.
The program creation support device according to claim 4 or 5.
An auxiliary source code creation unit that creates the auxiliary source code based on the calculation data of the command value in the motion control included in the control program is further provided.
The program creation support device according to claim 6, wherein the program creation support device is characterized by the above.
The main body execution code creation step that creates the main body execution code, which is the execution code of the control program that performs formal control over the device,
An auxiliary execution code creation step that creates an auxiliary execution code that is an execution code of an auxiliary program that controls auxiliary processing to the device, and
An auxiliary execution condition creation step for creating an auxiliary execution condition, which is a condition for executing the auxiliary execution code, and
Including
The main body execution code and the auxiliary execution code are created separately.
A program creation support method characterized by this.
The main body execution code creation step that creates the main body execution code, which is the execution code of the control program that performs formal control over the device,
An auxiliary execution code creation step that creates an auxiliary execution code that is an execution code of an auxiliary program that controls auxiliary processing to the device, and
An auxiliary execution condition creation step for creating an auxiliary execution condition, which is a condition for executing the auxiliary execution code, and
Let the computer run
The main body execution code and the auxiliary execution code are created separately.
A program creation support program characterized by this.