JPH03201009A - Development system for mechanism control program - Google Patents

Abstract

PURPOSE:To facilitate the development of a mechanical control program by residing an interpreter which decodes a basic instruction group for control of the operation of a mechanism part in a mechanism control microprocessor. CONSTITUTION:An interpreter 7 contained in a mechanical control microprocessor 3 of a device 1 to be developed has a basic function in the form of an instruction set in order to actuate each device of a mechanism part 4. A mechanical control program developing device 15 generates an instruction code string that can be decoded by the interpreter 7 and transfers it to the microprocessor 3. Thus the interpreter 7 decodes the received code string and executes it. Thus it is required to generate only a program that is proper to the mechanism of the device 1. As a result, the generation of a mechanical control program is facilitated.

Description

[Detailed Description of the Invention] (Industrial Application Field) The present invention relates to a program development system that generates a program, and in particular, a so-called mechanism for controlling a mechanical part (hereinafter referred to as a mechanism) driven by a motor, magnet, etc. This invention relates to a program development system that generates control programs.

(Prior Art) In recent years, a system consisting of mechanisms driven by motors, magnets, etc. and electronics for controlling them has come to be called mechatronics. Recently, microcomputers have been incorporated into these devices, and it has become common for mechanisms to be controlled by programs executed on the microcomputers.

Conventionally, a device called an in-circuit emulator, for example, has been used to develop programs for controlling such mechanisms.

The in-circuit emulator is connected to the mechanical control microcomputer in place of the host microcomputer of the device to be developed, and the program existing in the in-circuit emulator is executed on the mechanical control microcomputer of the device to be developed. By executing the following, the microcomputer for mechanical control of the device under development is emulated in real time. In addition, an in-circuit emulator is usually connected to a keyboard and display, and is also equipped with an external storage device, an editor for writing programs, and a compiler and assembler for generating object programs from source programs. It enables the development of targeted programs.

(Problems to be Solved by the Invention) However, the in-circuit emulator described above has the following problems.

(1) Source programs are written in programming languages, which are general-purpose languages (P
L/I, C language, etc.) or assembler language,
Since it is not specifically designed for mechanical control, it is difficult to interpret its meaning as a mechanical control program. Also, since it is difficult to interpret the meaning of the programming language itself,
Even when looking at the source program, it is difficult to intuitively understand the program flow and execution conditions.

(2) The basic commands for mechanical control such as motor drive, magnet drive, and position recognition using sensors and the commands that depend on the unique characteristics of the mechanism to be controlled are the same program and are in the same level language. Therefore, when reusing a program for a different mechanism, it is difficult to identify instructions that depend on the unique characteristics of the mechanism, making it difficult to identify changes.

The present invention has been made in view of the above problems.

The purpose is to solve the above problems by dividing the commands for controlling the mechanism to be developed into basic ones and those specific to that mechanism, and by creating a flowchart of instructions specific to the mechanism and generating them as a program. It is an object of the present invention to provide a program development system that solves the problems and makes it possible to easily develop mechanical control programs.

(Means for Solving the Problems) In order to solve the above problems, the present invention provides a mechanism control program development system that generates a program to be executed by a mechanism control microprocessor that controls the operation of a mechanism section. 1 mechanism control, wherein an interpreter for decoding a group of basic instructions for controlling the operation of the mechanism is resident in the mechanism control microprocessor, and a mechanism control program development device that can be connected to and disconnected from the mechanism control microprocessor is provided. The program development apparatus includes: an operation section, a description means for describing in a flowchart a unique command group for controlling the operation of a mechanism section by operation of the operation section and outputting information regarding the flowchart, and a memory for storing the flowchart. generating means for generating an instruction code string that can be decoded by the interpreter based on information regarding the flowchart; transfer means for transferring the instruction code string generated by the generating means to a mechanism control microprocessor; The interpreter is provided with instruction means for instructing the interpreter to decode and execute the instruction code string.

(effect) Next, the operation will be explained based on the above configuration.

The interpreter has the basic commands that move the drive unit,
Since the interpreter is made to reside in the mechanism control microprocessor, it is only necessary to generate a program specific to the mechanism section when generating a mechanism control program.

This unique program is generated by pressing a button on the mechanism control program development device. The program is expressed as a flowchart using a flowchart description means. The description means simultaneously outputs information regarding the flowchart, and the generation means generates an instruction code string based on this information. This instruction code string is transferred by the transfer means to the microprocessor for controlling the mechanism. The transferred instruction code string is decoded and executed by the interpreter in the one mechanism control microprocessor according to instructions from the instruction means.

(Example) Embodiments of the present invention will be described below with reference to the drawings.

Note that elements common to each drawing are given the same reference numerals.

FIG. 1 is a block diagram showing an embodiment of the present invention. In the figure, a development target device 1 includes a host microprocessor 2. It has a mechanical control microprocessor 3 buttons and a mechanism section 4. The mechanical control microprocessor 3 includes a central processing unit (CPU) 5 that performs arithmetic processing, a memory 6, a mechanical control interpreter 7, and an I10 port 8.
9 are internally connected to each other by a bus 10. The I10 port 9 is connected to the motor 11, magnet 12 button, and sensor 13 of the mechanism section 4, so that the mechanical control microprocessor 3 can control the mechanism section 4. The interpreter 7 has basic functions for operating each device of the mechanism section 4 in the form of an instruction set.

The instruction set is, for example, as shown in Table 1 below.

The upper processor 2 in the table has the role of executing application programs related to the entire development target device 1,
The mechanical control microprocessor 3 executes mechanical control according to instructions from the host processor 2.

The mechanical control program development device 15 has a chart editor 18, which is connected to a keyboard 16 having keyboards 16-J, .

The chart editor 18 describes a flowchart expressing unique commands for controlling the mechanism section 4 of the device 1 to be developed.

The mechanical control program development device 15 also includes an external storage device 19 and a chart controller J? 20 and a depatch 21 are provided. The external storage device 19 is, for example, a magnetic disk device, and stores therein chart compilation rules, which will be described later. The chart controller 20 is connected to the chart editor 18 and generates an instruction code string based on information from the chart editor 18. The debugger 21 debugs the instruction code string generated by the chart controller soiler 20, and includes transfer means 22 for transferring the debugged instruction code string to the mechanical control microprocessor 3 of the development target device 1, and It has instruction means 23 for instructing the interpreter 7 in the control microprocessor 3 to decode and execute the instruction code string. Note that each device in the mechanical control program development device 15 is controlled by a central processing unit (not shown).

The program development device 15 can be connected to and disconnected from the linker control microprocessor 3 by a changeover switch 14, and the changeover switch 14 can also be connected to and disconnected from the host processor 2 and the mechanical control microprocessor 3.

Here, the "mechanism" in this embodiment includes a motor (stepping motor, IDc servo motor) and magnet as a power source, a sensor as a position detection device, and a drive target as a print head, a print medium, and a magnetic head reader. The sensor reading medium includes various cards, banknotes, etc. 1 It is installed in an input/output device or a terminal device of an information processing device.

Figure 2 shows an example of the mechanism of the device to be developed. FIG. 2 is a mechanical diagram showing a printing medium transport mechanism as an example of the mechanism of the device to be developed.

There is an inserter 25 in the left front, and a print head 26 in the center. The conveyance path 27 connecting the inserter 25 and the print head 26 includes a set of rollers 28. Roller 29. Each of the rollers 3o has a plurality of legs, and the printing medium 31 is clamped between the rollers), and the printing medium is conveyed by the rotation of each roller. At the position of the roller 29,
The sensor 32 for detecting skew (track B) is turned on and off while the print medium is being conveyed, and the print medium 31 is turned on and off.
skew can be checked. All rollers 28, 29
．． 30 is connected to one stepping motor 33 by a shaft and a belt,
Power is received from 6, and the printing medium clamp can be turned on and off by this on/off.

In the mechanical control program development device 15 according to the present embodiment, in order to uniformly describe the operations of the various mechanisms as described above, the mechanical drive system is modeled as a train that moves on rails. One one-dimensional coordinate is associated with a rule, and the reference position, direction, and unit on the rail are arbitrarily defined. The train is the object to be driven as described above. For example, in the print medium conveyance mechanism shown in FIG. 2, the print medium conveyance path 27 corresponds to a rule, and the print medium 31 corresponds to one train. FIG. 3 shows an example in which the printing medium transport mechanism shown in FIG. 2 is modeled according to this embodiment.

In FIG. 3, a rail (1) is assigned to the print medium transport path, and a train (1) is assigned to the print medium. Sotare #
(1) Define the upper position as follows. That is, left inserter position 20 print head 26 line position = 1000 The unit is the amount of movement of the print medium in one step of the stepping motor, and the direction from the inserter to the print head 26, and the direction of arrow A is the positive direction. do.

These definitions are executed by the '5CALE' command (see Table 1) of the mechanical control interpreter 7 mentioned above when the apparatus is started up.

In addition, in FIG. 3, PM, MGI, MGI, and MOS each represent the stepping motor 3 in FIG.
3. Magnet 34. Magnet 35 and magnet 36 are shown.

Next, the operation of the embodiment according to the present invention will be explained, particularly focusing on the operation of the mechanical control program development device 15. FIG. 4 is an explanatory diagram showing the development process of a mechanical control program.

In FIG. 4, the operator operates the keyboard 16 while looking at the display 17 to start up the chart editor 18. When the chart editor 18 is activated, drawing elements for describing a chart (flow diagram) are displayed on the display 17. Drawing elements are, for example, ○2ro, →
, ◎, 1, etc., and the definitions of these drawing element buttons and combinations of drawing elements are shown in FIG.

In this embodiment, one drawing element is called "one frame".The chart editor 18 determines the drawing element according to the operator's instructions and draws a chart for generating a mechanical control program.Example of the drawn chart Figure 5 (
a) to 7) (shown in dl).

Figure 5 (al is "SAMPLE" as a microchart showing the mechanical control program for transporting the print medium from the inserter position to the print line position housing, Figure 5 (b)
to (d) are 'STARTMO' as child charts.
Charts for "T" (motor start), "ROLLER" (mouth control), and "CHECK" (abnormality detection) are shown below.

Now, SAMPLE is used as an input parameter.

PARAI = Move target position PARA2 = Roller 2 position PARA3 = Receive the roller 3 position, and by rotation of each roller, print medium leading edge position P
Convey the print medium at F = PARAI t.

The flow of processing will be explained below along with the chart.

(1) SAMPLE is the motor start processing ST
Call ARTMOT.

(2) STARTMOT sets the rail to be driven as RAIL 1 using the %RAIL ON command, and assigns the motor RMI.

Define the transport speed, etc., and use the 5TART command.

The motor is started with the tip target position P F =PARAI.

(3) SAMPLE then performs roller control processing.
ROLLER”.

(4) ROLLER is when the train (print medium in this case) leading edge position PF reaches the roller 2 position PARA 2.

Turn on MG2 and clamp roller 2. The roller 3 is also controlled in the same way.

(5) SAMPLE then performs abnormality detection processing CHE
Call CK.

(6) CHECK indicates that the train tip position PF is PA
If it is between RA2 and PARA3, check the sensor PDI, and if it is “1” (medium recess), it is normal;
If there is no medium), the error will occur.

(7) If the check result is normal, SAMPLE repeats from roller control in the case where the motor stops (MOTOR=0) (RMC automatically stops the motor when the train position reaches the target position). When the motor stops, the process returns a normal completion code and ends the process.

If the check result is abnormal, the motor will be forcibly stopped.
Termination code: Returns an error and terminates.

At the same time as drawing the chart, the chart editor 18 outputs information for drawing and chart information indicating the state of connection b between frames to the external storage device 19 shown in FIG.

The chart information has the following list structure.

The external storage device 19 shown in FIG. 1 stores chart compilation rules in advance as described above, and these chart compilation rules have the following list structure.

The chart compiler 20 reads out the chart information from the external storage device 19 and the chart compiler 1j, matches them, and generates an instruction code string that can be decoded by the interpreter 7 shown in FIG.

The chart compiler 20 searches for a rule matching the condition of the IF part of the chart compilation rule for the first frame of the previous frame. Matching rule: When found, the frame information is converted into a program instruction code according to the instructions from the BODY section of the THEN section. Next, the next frame to be processed is selected according to the instruction from the NEXT section of the same < THEN section.

This is repeated recursively with the NEXT section set to 1, which matches the empty charm connoisseur standard side, to generate a mechanical control program command code.

The operations of the chart editor 18 button and the chart compiler 20 described above are repeated to generate a series of instruction code strings for a mechanical control program. FIG. 6 shows an example of the generated instruction code string. The instruction code string is sent to the debugger 21.

Next, the operator starts the debugger 21. Debugger 2
1 is activated, it enters a mode for decoding and executing a BASIC-like dedicated conversational language. The debugger 21 decodes and executes the instruction code string sent from the chart compiler 20, and checks whether there are any errors. If an error is detected, the operator starts up the chart editor 18 again and restarts from chart creation. When there is no error, the instruction code string is transferred to the memory 6 of the mechanical control microprocessor 3 by the transfer means 22 shown in FIG.
Store in memory 6.

Next, the instructing means 23 in the debugger 21 shown in FIG. 1 activates the intersiliency of the mechanical control microprocessor 3, and causes the interpreter 7 to decode and execute the transferred instruction code string. As a result, the mechanism section 4 is actually operated and the instruction code string is checked for errors. If there is no error as a result of this, move the changeover switch 14 to the host processor 2.
The microprocessor 3 for mechanical control and the program development device 15 are separated from each other. With the above steps, the mechanical control program development process is completed.

(Effects of the Invention) As described above in detail, according to the present invention, a mechanical control interpreter is provided with basic commands for operating a mechanism such as driving a motor and a magnet, and the interpreter is used for mechanical control. Since it is made to reside on the microprocessor, when generating a mechanical control program, it is only necessary to generate a program specific to the mechanism of the device to be developed. Therefore, it is possible to easily generate a mechanical control program.

Furthermore, when generating a program unique to the mechanism of the device to be developed, the flowchart description means allows the program to be expressed in a flowchart, making it possible to intuitively understand the meaning of the program such as execution conditions. .

Furthermore, since it is easy to understand the meaning of a program, it is easy to identify changes when you want to use it for developing programs for other machines.

[Brief explanation of drawings]

Fig. 1 is a block diagram showing an embodiment of the present invention, Fig. 2 is a mechanical diagram showing an example of a mechanism, Fig. 3 is an explanatory diagram showing a mechanical model of the print medium transport mechanism, and Fig. 4 is a mechanical control program. An explanatory diagram showing the development process, FIG. 5(a) is a microchart showing a mechanical control program, FIGS. 5(b) to (d) are child charts showing a mechanical control program, and FIG. 6 is an instruction code string. FIG. 7 is an explanatory diagram showing the definition of drawing elements. 3... Microprocessor for mechanical control, 4... Mechanical unit, 7... Interpreter, 15... Program development device for mechanical control, 16... Keyboard, 17... Ice play, 18...・Chart editor, 19...
External storage device, 20...Chart Conno'l? Ira,
21...Debugger, 22...Transfer means, 23...
means of instruction.

Claims (1)

[Scope of Claim] In a mechanism control program development system that generates a program to be executed by a mechanism control microprocessor that controls the operation of a mechanism section, an interpreter that decodes a basic instruction group that controls the operation of the mechanism section is provided. a description means resident in a mechanism control microprocessor, an operation section, and a description means for describing in a flowchart a unique command group for controlling the operation of the mechanism section by operating the operation section, and outputting information regarding the flowchart; storage means for storing; generation means for generating an instruction code string that can be decoded by the interpreter based on information regarding the flowchart; and transfer means for transferring the instruction code string generated by the generation means to a mechanism control microprocessor. and instruction means for instructing the interpreter to decode and execute the transferred instruction code string, and a program development device that can be connected to and disconnected from the mechanism control microprocessor. Program development system.