JPH0476855A - Debugging system - Google Patents

Abstract

PURPOSE:To execute debugging without coupling to an actual machine to enable efficient debugging by collecting motor drive information while spriously changing the value of a sensor. CONSTITUTION:When it is recognized in an interruption processing by generating interruption that there is an instruction to drive a cam driving motor in a main program 57, a simulation program 59 turns a stage top sensor 20 to '0' and a stage bottom sensor 21 to '0'. Since the sensor 20 is turned to '0' and the sensor 21 is turned to '1' after the lapse of prescribed time in the state of setting the sensor 20 to '0' and the sensor 21 to '0' according to the program 59, a program 57 to turn the sensor 20 to '0' and the sensor to '1' stops the driving instruction of the cam driving motor. This motor drive information for motor drive and drive stop is stored in a RAM 13 for each interruption. By referring to the motor drive information, it can be recognized which order the motor is drived in. Thus, the program can be debugged apparently as coupling to the actual machine.

Description

[Detailed Description of the Invention] [Summary] The purpose of this invention is to provide a debugging method that can efficiently debug programs at the media input/output port of a library device. In a library device having a medium input/output port for inputting and discharging the medium, and a controller for controlling the medium input/outlet, the values of the sensors used for inputting and discharging the medium are changed in a pseudo manner. A change processing means, a logging processing means for logging motor drive information set by the process for changing the value of the sensor, and a storage means for storing the logged motor drive information; By doing this, it is configured to perform debugging without being connected to the actual device.

[Industrial Field of Application] The present invention relates to a debugging method for debugging a program at a medium input/output port of a library device.

The library device includes a medium transport mechanism unit that handles and transports media, a media transport mechanism controller that controls this, a medium transport mechanism control unit that controls this,
It has a data storage/reproduction device for storing and reproducing data, a media storage for storing media, and a media input/output port for loading media into the device and discharging the media from the device.

A program is stored in the medium input/output port to perform operations for inputting and discharging the medium.

There is a demand for efficient debugging of such programs.

[Prior Art] FIG. 9 shows the structure of a program stored in the medium input/output port.

In FIG. 9, 51 is an initial diagnosis section that performs initial diagnosis;
2 is a task monitor processing unit that manages tasks; 53 is an input port initial processing unit that performs input port initial processing;
54 is an input port processing unit that performs normal processing of the input port; 55 is a discharge port initial processing unit that performs initial processing of the discharge port;
Reference numeral 56 denotes a discharge port processing section that performs normal processing of the discharge port, and these components constitute a main program 57 as a whole.

Reference numeral 58 denotes an interrupt processing unit that handles interrupts from the main program 57. The interrupt processing unit 58 includes a sensor read processing unit 59 that reads sensor values from hardware and copies them to a program internal table, and a motor drive processing unit 60 that drives the motor based on instructions set in the program internal table. It is composed of

In this way, conventionally, the main program 57 has been debugged by reading sensor values and driving the motor.

[Problems to be Solved by the Invention] However, in such conventional debugging methods, debugging was performed by combining the actual device (hardware) and firmware, so the debugging of firmware depends on the degree of completeness of the hardware. There was a problem in that progress was greatly affected and debugging could not be performed efficiently.

The present invention has been made in view of such conventional problems, and an object of the present invention is to provide a debugging method that can efficiently debug programs.

[Means to solve the problem] FIG. 1 is a diagram explaining the principle of the present invention.

In FIG. 1, reference numeral 7 indicates a medium input/output port for inputting and discharging a medium, 3 a controller for controlling the medium input/output port, and 14 a value of a sensor used for inputting and discharging a medium. Change processing means for performing pseudo change processing, 15
13 is a logging processing means for logging the motor drive information set by the sensor value changing process; and 13 is a storage means for storing the logged motor drive information.

[Operation] The change processing means pseudo-changes the value of the sensor used to charge and discharge the medium, and the logging processing means logs and stores the motor drive information set in the internal table of the program. Accumulate within means.

Therefore, programs can be debugged without being connected to an actual device (hardware).

As a result, the progress of debugging is not affected by the degree of completeness of the hardware, so debugging can be performed efficiently.

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

FIGS. 2 to 8 are diagrams showing one embodiment of the present invention.

In FIG. 3, reference numeral 1 denotes a medium transport mechanism section having a hand section 2, and the medium transport mechanism section 1 handles and transports the medium.

Reference numeral 3 denotes a medium transport mechanism controller, and the medium transport mechanism controller 3 controls mechanical operations of the medium transport mechanism 1.

4 is a medium transport mechanism control section;
controls the medium transport mechanism controller 3.

Reference numeral 5 denotes a medium storage, and the medium transported by the medium transport mechanism section 1 is stored in the medium storage 5.

6 is a data storage and playback device, and the data storage and playback device 6
performs storage and reproduction of data on a medium set by the medium transport mechanism section 1.

Reference numeral 7 denotes a medium input/output port section having an input port 8 and a discharge port 9, and the medium input/output port section 7 performs input of a medium into the device and discharge of the medium from the device.

The medium transport mechanism controller 3 controls the medium transport mechanism 1 and also controls the medium input/output port 7, as shown in FIG.

The medium input and discharge port 7 is an RO in which an MPU10 and a program 11 for controlling the input and discharge of the medium are stored.
RAM as storage means for M12 and motor drive information
It has 13.

The structure of the program 11 is shown in FIG. 4, and the main program 57 is the same as that of the conventional example. Main program 5
The interrupt processing unit 59 that performs interrupt processing from 7 has a function as a simulation program, and is a sensor change processing unit (change processing means) that changes the value of a sensor used for loading and unloading a medium. 14, and a logging processing unit (logging processing means) 15 that performs logging processing of motor drive information set by changing sensor values.

Motor drive information subjected to logging processing by the logging processing section 15 is stored in the RAMIB.

Next, FIG. 5 shows the layout of the sensor at the input port.

In FIG. 5, 16 is a gate sensor that detects whether the medium is being loaded, 17 is an error sensor that detects whether the medium is reversely loaded, and 18 is an on-stage sensor that detects whether the medium is on the stage 19. , 20 is a stage top sensor that detects whether the stage 19 is at the top, 21
2 is a stage bottom sensor that detects whether the stage 19 is at the bottom, 22 is a stage rear sensor that detects whether the stage 19 is at the rear, 23 is a stage front sensor that detects whether the stage 19 is at the front, and 24 is a table. 25 is an on-table sensor that detects whether there is a medium on the table; 26 is a cleaning CTG sensor that detects whether the medium is in the normal position; 27 is a table back sensor that detects whether the table 25 is in the back; 28 is a table back sensor that detects whether the table 25 is in the back position A table forward sensor 29 detects whether the table 25 is in the forward position, a table home position sensor 29 detects whether the table 25 is in the home position;
0 is a table move combination sensor that detects whether the table 25 is at the normal operation end position, 31 is a stage microswitch that detects movement of the stage 19, and 32 is a shutter microswitch that detects opening/closing of the shutter.

Next, FIG. 6 shows the layout of the motor at the input port.

In FIG. 6, 33 is a cam drive motor that drives the cam 34, 35 is a stage slide motor that slides the stage 19, 36 is a table slide motor that slides the table 25, and 37 is a table rotation motor that rotates the table 25. .

Note that 38 is a feeder opening/closing motor, 39 is a feed motor, and 40 is a tray motor.

Next, FIG. 7 shows the appearance of the input port.

In Fig. 7, 19 is a stage, 41 is a rear hook,
42 is a main hook, 43 is a sub-hook, 44 is a slide hook, 45 is a cam for opening and closing the hook, 46 is a slide cam for a hook, 34 is a cam for raising and lowering the stage, 47 is a gear box, and 25 is a table.

Next, the operation will be explained.

Here, an example of a stage top sensor 20 and a stage bottom sensor 21 as sensors and an example of a cam drive motor 33 as a motor will be described.

The stage top sensor 20 detects that the stage 19 is at the top when the position is 1'', and the stage bottom sensor 21 detects that the stage 19 is at the top.
When is "1", it is detected that the stage 19 is at the bottom. The cam drive motor 33 drives the cam 34 to move the stage 19 up and down.

The stage top sensor 20 and the stage bottom sensor 21 are sensors that change by driving the cam drive motor 33.

At point a in FIG. 8, the stage top sensor 20 is
1", and the stage bottom sensor 21 is "0". Here, when an interrupt occurs in the main program 57 and it is recognized in the interrupt processing that there is an instruction to drive the cam drive motor 33, the simulation program 59 As a result, the stage top sensor 20 is set to "0" and the stage bottom sensor 21 is set to "0" (see point b).

Next, by the simulation program 59, the stage top sensor 20 is set to "0" and the stage bottom sensor 2 is set to "0".
After waiting for a predetermined period of time with 1 set to "0", the stage top sensor 20 is set to "0" and the stage bottom sensor 21 is set to "1" (0 point, see).

The main program 57 stops instructing the cam drive motor 33 to drive since the stage top sensor 20 has become "0" and the stage bottom sensor 21 has become "1". This motor drive information of motor drive and drive stop is sent to RA for each interrupt.
It is stored in M13.

Note that at point b, the stage top sensor 20 is 0''
1. Waiting time with the stage bottom sensor 21 in the "O" state is handled by using a timer in the interrupt processing.

That is, it counts down every time an interrupt occurs, and when the timer value reaches zero, the sensor is changed.

Motor drive information is accumulated in RAMI 3 by changing all the sensors in the same way. By referring to the motor drive information, it is possible to know in what order the motors were driven.

In this way, it is possible to debug a program as if it were connected to an actual machine.

Therefore, debugging can be performed efficiently.

In addition, although the input port was explained in this example,
It goes without saying that the outlet can also be debugged in the same way.

[Effects of the Invention] As explained above, according to the present invention, motor drive information is collected by changing sensor values in a pseudo manner, making it possible to debug without connecting to an actual machine. ,
Efficient debugging becomes possible.

[Brief explanation of drawings]

Figure 1 is a diagram explaining the principle of the present invention, Figure 2 is a diagram showing an embodiment of the present invention, Figure 3 is a perspective view of a library device, Figure 4 is a configuration diagram of a program, and Figure 5 is an input port. 6 is a diagram showing the layout of the input port motor, Figure 7 is an external view of the input port, Figure 8 is a timing chart, and Figure 9 is a configuration diagram of a conventional program. be. In the figure, 1...medium transport mechanism section, 2...hand section, 3...medium transport mechanism controller (controller)
, 4... Media transport mechanism control unit, 5... Media storage, 6... Data storage/reproduction device, 7... Medium input/output port, 8... Input port, 9... Output Exit, 10...MPU. 11...Program, 12...ROM. 13...RAM (storage means), 14...sensor change processing section (change processing means), 15.
...Logging processing unit (logging processing means), 16...
Gate sensor, 17... Error sensor, 18... On-stage sensor, 19... Stage, 20... Stage top sensor, 21... Stage bottom sensor, 22... Stage rear sensor, 23. ...Stage front sensor, 24...On table sensor, 25...Table, 26...Cleaning CTG sensor, 27...Table back sensor, 28...Table forward sensor, 29...Table home Position sensor, 30... Table move combination sensor, 31... Stage micro switch, 32... Shutter micro switch, 33... Cam drive motor, 34... Cam, 35... Stage slide motor, 36...Table slide motor, 37...Table rotation motor, 38...Feeder opening/closing motor, 39...Feed motor, 40...Tray motor, 41...Rear hook, 42...Main hook , 43...Sub hook, 44...Hook on slide, 45...Hook opening/closing cam, 46...Rear hook slide cam, 47...Gear box, 51...Initial diagnosis section, 52...・Task monitor processing section, 53... Input port initial processing section, 54... Input port processing section, 55... Discharge port initial processing section, 56... Discharge port processing section, 57... Main program , 59...Simulation program. My friend's /yiP Mari plot diagram 1st picture of Fumei-! I! Figure 2: Diagram showing the layout of the sensor at the input port Figure 5: Diagram showing the layout of the motor at the input port

Claims (1)

[Claims] a medium input/output port (7) for inputting and discharging the medium;
A controller (3) controls the medium input/output port (7).
), a change processing means (14) for performing a pseudo change process on the value of a sensor used for loading and unloading a medium, and motor drive information set by the process for changing the value of the sensor. A logging processing means (15) for logging the motor drive information, and a storage means (13) for storing the logged motor drive information, and by changing the value of the sensor, it is possible to perform debugging without connecting to the actual machine. Characteristic debugging method.