JPH01100604A - Programmable controller and its performing system - Google Patents

Abstract

PURPOSE:To make program performance faster by performing, in parallel, the program processing of a main processor and the processing of a bit operation controller to perform a ladder program. CONSTITUTION:When a power source is applied, a program generated by a high level language stored in a ROM 3 is once transferred to a DRAM 4 with a higher reading speed, and a main processor 1 performs the program by a managing software stored in a ROM 2. After the application of the power source, the ladder program stored in the ROM 3 is once transferred to a DRAM 5, and a bit operation controller 6 performs a basic instruction. In such a constitution, the program processing generated by the high level language and the processing of the ladder program are performed in parallel, and the two types of the programs are processed at high speed.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a programmable controller that executes a ladder program and a program created in a high-level language, etc., and an execution method thereof, and particularly to a programmable controller that executes two types of programs at high speed. The present invention relates to a programmable controller configured as described above and its execution method.

[Conventional technology]

Programmable controllers are widely used in machine tools and production machinery. For programmable controllers, a logic representation called a ladder diagram or a ladder program is widely used because of the historical reason that logic has conventionally been constructed using hardware relays. This ladder program is widely used in programmable controllers using microprocessors because the design and expression are familiar to engineers who have used traditional hardware relays, and the logic is easy to see. .

The applicant of this application has proposed a programmable controller equipped with a bit operation processor that executes simple logic at high speed using relay logic.
The application is filed as No. 0.

This bit operation processor processes the ladder program bit by bit and passes unnecessary instructions to process the ladder program at high speed.

Here, we describe such a bitwise processor as a bitwise processor.
It is called an operation controller, or BOC for short.

However, since this ladder program uses relays as logical elements, only simple logical operations can be performed.

Therefore, in the ladder program, a set of calculation functions,
It includes instructions for executing calculations, functions for controlling special machines, etc. as functional instructions or macro instructions. Here, such an instruction is referred to as a macro instruction.

Furthermore, as the functionality of microprocessors has improved and programming languages have become more popular, programmable controllers that can create and execute programs using both ladder programs and programs written in other high-level languages have become popular. It's becoming common.

FIG. 4 shows an example of executing a program created in a high-level language and a ladder program. In the figure, the high-level language is created using the PASCAL language. As shown in the figure, run the PASCAL program for a certain period of time,
Next, run the ladder program and repeat this process. Therefore, when the - program is being executed, the processing of the other program is not executed.

[Problem that the invention seeks to solve]

However, as the capabilities of microprocessors and the like have improved, and as objects to be controlled have become more complex, programmable controllers using microprocessors have come to process a larger number of instruction steps. moreover,
This processing must be performed in real time within the time required by the controlled object. Therefore, high-speed processing in programmable controllers is even more desired. Therefore,
In the conventional processing method, the processing of the program is executed alternately, so there is a problem that the execution time is delayed accordingly.

The present invention has been made in view of the above points, and has two
An object of the present invention is to provide a programmable controller configured to execute more than one type of program at high speed, and an execution method thereof.

[Means for solving problems]

In order to solve the above-mentioned problems, the present invention provides a programmable controller that executes a ladder program and a program created in a high-level language such as PASCAL or C language. A main processor that manages and executes the created program, a memory that stores the program created in the high-level language, a bit operation controller that executes the ladder program, and a memory that stores the ladder program. Provided is a programmable controller having:

Further, in a second invention, in a programmable controller that executes a ladder program and a program created in a high-level language such as PASCAL or C language, the main processor manages and executes the program created in the high-level language. A programmable controller execution method is provided, characterized in that: the ladder program is executed by a bit operation controller, and the macro instructions in the ladder program are executed by a main processor.

[Effect]

Programs written in high-level languages are processed by the main processor, ladder programs are processed at high speed by a dedicated bit operation controller, and by executing these processes in parallel, two types of programs can be executed at high speed. can do.

Furthermore, by executing the macro instructions in the ladder program on the main processor and executing only the simple logical operations of the ladder program on the bit operation controller, the program can be processed at higher speed.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

FIG. 1 is a block diagram of a programmable controller according to an embodiment of the present invention. In the figure, 1 is a main processor, which controls the entire programmable controller and mainly executes programs written in a high-level language. The details of the processing will be described later. 2 is a ROM that stores management software for a programmable controller (PC), and the main processor 1 executes programs using this management software.

A ROM 3 stores a PASCAL program and a ladder program created in a high-level language, here the PASCAL language. 4 is DRAM and PASCAL
The program is stored.

This is because DRAM has a faster read speed than ROM3, so the P'ASCAL program stored in ROM3 is once transferred to DRAM after power is turned on, and the actual execution is read out from DRAM4 and executed.

5 is DRAM, and like DRAM4, ROM
The ladder program stored in the DRAM 3 is transferred after the power is turned on, and the actual execution is performed by reading it from the DRAM 5. 6 is a bit operation controller (hereinafter referred to as BOC), which is a simple logic written in the relay format of a ladder program, such as 'READJ, 'N0TJ,
Only instructions such as 'ANDJ and 'ORJ are executed bit by bit at high speed. Here, these instructions are referred to as basic instructions of the ladder program. However, if there is a macro instruction in the ladder program, it interrupts the main processor 1, waits for the main processor 1 to finish processing the macro instruction, and then starts the program from the main processor 1.
Execute the following ladder program.

Next, details of the division between the main processor 1 and the BOC 6 will be described. FIG. 2 shows the division of processing between the main processor 1 and the BOC 6. Reference numeral 10 indicates processing contents to be processed by the main processor 1, including the following processing.

(1) Management and execution of the PASCAL program (2) Starting of the ladder program (3) Execution of macro instructions in the ladder program (4) Execution of the diagnostic function inside the programmable controller Also, 11 is the processing content of BOC6, Execute the basic instructions of the ladder program. Note that when there is a macro instruction in the ladder program, an interrupt is applied to the main processor 1, and the macro instruction is executed on the main processor 1 side.

Next, the processing contents of the main processor 1 and the processing flow of the BOC 6 will be described. Figure 3 shows main processors 1 and B.
The flow of processing of OC6 is shown. Main processor 1 is the second
Processes such as execution of the PASCAL program shown in the figure are performed. BOC6 executes basic instructions of the ladder program. This processing is executed independently and in parallel. When a macro instruction appears in the ladder program, the BOC 6 interrupts the main processor 1. Main processor 1
temporarily stops the processing of the PASCAL program, etc., reads the macro instruction ID from the DRAM 5 in FIG. 1, searches for the corresponding macro instruction from the ROM 2, and executes it.

When the execution of the macro instruction is completed, the BOC 6 is activated, and the main processor 1 executes the PASCAL program etc. again. The BOC 6 is activated by the main processor I and resumes execution of the basic instructions of the ladder program.

Of course, some macro instructions may allow the next basic instruction to be executed without waiting for the result. At this time, BOC
6 can also continue executing basic instructions without stopping processing.

In the above explanation, the high-level language is created using the PASCAL language, but the high-level language is not limited to the PASCAL language, and other C languages, Tessembler languages, etc. can be used in the same way. Furthermore, programs created in these multiple languages can be integrated into one and processed in parallel with the ladder program.

Furthermore, the hardware configuration is merely an example, and various modifications can be made depending on the purpose.

For example, an SRAM can be used instead of a DRAM, and a ladder program or the like can be stored in a ROM and read out and executed without being transferred to a DRAM.

[Effects of the Invention] As explained above, in the present invention, programs created in a high-level language are processed by the main processor, ladder programs are processed at high speed by a dedicated bit operation controller, and this processing is performed in parallel. Since the two types of programs can be executed at high speed.

In addition, the macro instructions in the ladder program are executed by the main processor, and only the simple logical operations in the ladder program are executed by the bit operation controller, so the program can be processed faster. .

[Brief explanation of the drawing]

FIG. 1 is a block diagram of a programmable controller according to an embodiment of the present invention; FIG. 2 is a diagram showing the division of processing between the main processor and BOC; FIG. 3 is a diagram showing the flow of processing between the main processor and BOC; FIG. 4 is a diagram showing an example of executing a program created in a high-level language and a ladder program. 1-・-・・-- Main processor 2--1--
−・−・−・−ROM (PC management software) lessons------
−−−−−−−−−−ROM4−・−・−−−−−−
--DRAM (PASCAL program) 5----
--------------DRAM (Ladder Program) 6・----1----- Bit Operation Controller (BOC) 10-- −−−−−−−−・・−Main processor processing details 11−−−−−−−−−・−−−−−B OC
Processing details Patent applicant Fanuc Co., Ltd. agent Patent attorney Takeshi Hattori Figure 4

Claims (3)

[Claims] (1) In a programmable controller that executes a ladder program and a program created in a high-level language such as PASCAL or C language, a main processor that manages and executes the program created in the high-level language; A programmable controller comprising: a memory that stores a program written in a language; a bit operation controller that executes the ladder program; and a memory that stores the ladder program. (2) In a programmable controller that executes a ladder program and a program created in a high-level language such as PASCAL or C language, the main processor processes the management and execution of the program created in a high-level language, and An execution method for a programmable controller, characterized in that a program is executed by a bit operation controller, and macro instructions in the ladder program are executed by a main processor. (3) The programmable controller execution method according to claim 2, wherein the macro instruction is executed by an interrupt from the bit operation controller to the main processor.