JPH0944209A - Programmable controller - Google Patents

Abstract

(57) Abstract: A specific process requested by a peripheral device is executed without reducing the efficiency of use of memory resources and the like and without lengthening the program execution cycle. SOLUTION: A specific processing command transmission unit 21 of the tool 2 includes a command (IORD) for reading data of the I / O unit 4 and a unit number of the I / O unit 4 which is a read source. The processing command C2 is transmitted to the controller body 1. In the controller body 1, MP
When the U16 receives the specific processing command C2 during the peripheral service processing cycle, stores it in the specific processing command area of the work RAM 15 and decodes it, and if it can be decoded as a read / write command of input / output data, executes the command. Thus, when the input / output data is read and read from the I / O unit 4 during the peripheral service processing, the execution result of read completion and the read data are returned to the tool 2 as a response R2.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a controller body for cyclically executing a program execution process or the like to control the operation of a controlled device, and a specific process for the controller body (hereinafter referred to as "specific process"). And a peripheral device that requires the.

[0002]

2. Description of the Related Art Conventionally, a controller body for cyclically executing a program execution process, an input / output process and a peripheral service process to control the operation of a controlled device, and a peripheral device for requesting a specific process from the controller body. In the programmable controller including the above, in order to make the controller main body execute the specific processing, the specific processing is incorporated as a command in advance in the user program executed by the controller main body.

While the execution condition of the specific processing instruction is normally set to OFF, when the peripheral device requests the specific processing from the controller body, the peripheral service processing of the controller body is performed. The peripheral device sets the execution condition of the specific processing instruction from off to on, and the controller main body executes the specific processing instruction during the program execution cycle to execute the specific processing.

[0004]

However, in such a conventional programmable controller, the specific processing requested by the peripheral device to the controller main body transmits data from the peripheral device to another peripheral device via the controller main body. Even in the case of such a simple process, it was necessary to include an instruction for executing the specific process in the user program executed by the controller body,
There is also a problem that the use efficiency of memory resources such as the user program memory and I / O memory of the controller body is not good.

Further, when the peripheral device requests the specific processing to the controller main body, the peripheral device sets the execution condition of the specific processing instruction from OFF to ON during the peripheral service processing cycle of the controller main body. Since the specific processing instruction is executed during the program execution cycle of the controller main body to execute the specific processing, the procedure for executing the specific processing is complicated and the specific processing is executed in the user program. Since the instructions are incorporated, the program execution cycle becomes long.

Therefore, the present invention has been made in view of such a problem, and the peripheral device can be used without reducing the efficiency of use of memory resources and the like, the procedure is simple, and the program execution cycle is not lengthened. An object of the present invention is to provide a programmable controller capable of executing the specific processing requested by the.

[0007]

In order to achieve the above object, in the invention described in claim 1, the program execution process, the input / output process and the peripheral service process are cyclically executed to control the operation of the controlled device. Controller body,
A programmable controller comprising: a peripheral device requesting a specific process to the controller body, wherein the peripheral device includes a specific process command transmitting means for creating and transmitting a specific process command in which a command for the specific process is described. On the other hand, the controller main body receives the specific processing command from the specific processing command transmitting means during the peripheral service processing, and executes the specific processing instruction of the specific processing command during the peripheral service processing to perform the specific processing. It is characterized by comprising specific processing execution means for transmitting the processing result as a response to the peripheral device.

According to a second aspect of the present invention, in the programmable controller according to the first aspect, the specific processing command transmitting means creates and transmits a specific processing command describing a specific processing instruction to be processed only in the controller body. It is characterized by

According to a third aspect of the invention, in the programmable controller according to the first aspect, the specific processing command transmitting means creates a specific processing command in which the controller main body describes a specific processing instruction for processing to another peripheral device. And then send.

According to a fourth aspect of the present invention, in the programmable controller according to the first aspect, the second aspect or the third aspect, the specific processing executing means receives the specific processing command from the specific processing command transmitting means during peripheral service processing. Then, during the peripheral service processing that receives the specific processing command, the specific processing command of the specific processing command is executed to perform the specific processing, and the processing result is transmitted to the peripheral device as a response. To do.

According to a fifth aspect of the present invention, in the programmable controller according to the first aspect, the second aspect or the third aspect, the specific processing execution means receives the specific processing command from the specific processing command transmitting means during the peripheral service processing. Then, it is determined whether the execution of the specific processing command can be completed during the peripheral service processing in which the specific processing command is received, and it is determined that the execution of the specific processing command cannot be completed during the peripheral service processing. In this case, during the peripheral service processing of the next cycle and thereafter, the specific instruction of the specific processing command is executed to perform the specific processing, and the processing result is transmitted to the peripheral device as a response.

According to a sixth aspect of the present invention, in the programmable controller according to the fifth aspect, the specific processing execution means determines that the execution of the specific processing command cannot be completed during the peripheral service processing in which the specific processing command is received. In this case, during the peripheral service processing having a free time after the next cycle, the specific instruction of the specific processing command is executed to perform the specific processing, and the processing result is transmitted to the peripheral device as a response. .

According to a seventh aspect of the invention, in the programmable controller according to the fifth aspect, the specific processing execution means determines that the execution of the specific processing command cannot be completed during the peripheral service processing in which the specific processing command is received. In this case, the specific command of the specific processing command is executed over a plurality of cycles of the peripheral service processing after the next cycle to perform the specific processing, and the processing result is transmitted to the peripheral device as a response.

Therefore, in the present invention, the peripheral device creates and transmits a specific processing command in which a specific processing command is described, and the controller main body receives the specific processing command from the peripheral device during the peripheral service processing. When receiving and processing cannot be completed during the peripheral service processing or during the peripheral service processing, specific processing based on the specific processing command is performed during the peripheral service processing in the next cycle and thereafter, and the processing result is used as a response for the peripheral processing. Send it to the device.

The specific processing command may be a specific processing command which is processed only in the controller main body or a specific processing command which the controller main body processes to other peripheral equipment. Is
For example, there are commands including a data addition command, a setting command, and a read command.

[0016]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of a programmable controller according to the present invention will be described below with reference to the drawings.

FIG. 1 shows the configuration of an embodiment of a programmable controller according to the present invention. This programmable controller includes a controller body 1, a programming tool 2 as a peripheral device, a high-speed counter unit 3
And an I / O unit 4.

The controller body 1 has a user program memory (UM) 11 storing a user program consisting of an application operation instruction and a bit operation instruction, and an input / output (I / I).
O) I / O memory 12 for storing data, system memory 13 for storing system programs, work R
BP that reads the AM 14 and the user program, executes only the bit operation instruction, and passes the applied operation instruction to the MPU 11.
A U15, an MPU 16 that executes an application operation instruction, and an internal bus 17 are connected to each other.

The programming tool 2 is a serial I /
The high-speed counter unit 3 is connected to the MPU 16 via the F18, is directly connected to the internal bus 17,
The I / O unit 4 is connected to the BPU 15 via the I / O bus 19.
Is connected to

In this embodiment, the programming tool 2 and the I / O unit 4 respectively create and send a specific processing command describing specific processing contents to the controller body 1 and other peripheral devices. It has processing command transmission units 21 and 41.

The MPU 16 cyclically executes a user program execution process, an input / output process, and a peripheral service process by executing application instructions to control the operation of the controlled device via the I / O unit 4. During the service processing, the specific processing command is received from the programming tool 2 and the specific processing command transmitting units 21 and 41 of the I / O unit 4, and the specific processing based on the specific processing command is performed during the peripheral service processing. It has a specific processing execution unit 16a that sends the processing result as a response to the programming tool 2 and the I / O unit 4.

Next, the operation of the programmable controller according to this embodiment having the above structure will be described.

FIG. 2 shows the overall processing of the programmable controller according to this embodiment. First, in this programmable controller, after the switch is turned on, the initial processing is first performed, and then the following processing is cyclically executed to control the drive of a controlled device (not shown).

Specifically, as shown in FIG. 2, first, a self-diagnosis process for checking the abnormality of the user program memory 11, the I / O bus, etc. is performed (step 100), and then stored in the user program memory 11. A program execution process for executing one scan from the first instruction to the end instruction of the generated user program is performed (step 200), and then the input / output data refresh process is performed between the I / O memory 12 and the I / O unit 4. Perform (step 300) and finally execute peripheral service processing based on a command from the programming tool 2 or the like (step 400) in a cyclic manner at high speed to control the operation of the controlled device. To do.

In the program controller according to the present embodiment, during the peripheral service processing in step 400, a specific processing command described later from the I / O unit 4 or the programming tool 2 connected to the controller 1 is received. Then, specific processing is performed based on the content of the specific command, and a response is returned.

FIG. 3 shows the I / O unit 4 according to the specific processing command created by the specific processing command transmitting section 41 of the I / O unit 4.
The command / response processing between the / O unit 4 and the controller body 1 will be described.

In this case, the specific processing command transmitting unit 41 of the I / O unit 4 transmits to the controller main body 1 a specific processing command C1 including an addition instruction (ADD) and source data to be added.

In the controller main body 1, the specific processing execution unit 16a of the MPU 16 receives the specific processing command C1 during the peripheral service processing cycle of step 400 shown in FIG.
Is stored in the specific processing command area of the work RAM 14 for decoding, and the specific processing command C in which the addition instruction (ADD) from the I / O unit 4 is stored.
If it can be decoded as 1, the normal addition operation can be completed during the peripheral service processing. Therefore, during the peripheral service processing cycle, the source data in the specific processing command C1 is executed by the addition instruction (ADD). , The calculation result is returned to the I / O unit 4 as a response R1.

Therefore, according to this embodiment, it is not necessary to previously prepare an instruction for executing the specific processing in the user program of the controller body 1, and the controller body can be provided only by the command from the programming tool 2 or the like. Since the command can be executed, various specific processes can be handled without changing the user program even after the operation of the user program is started.

Therefore, the procedure for executing the specific process is simplified, the degree of freedom of the specific process is improved, and the user program memory 11 and the I / O memory 12 are not additionally consumed. Efficiency is improved.

Further, in the case of a specific processing command such as the above addition instruction, since the specific processing is completed during one peripheral service processing, there is no effect on the program execution cycle and the scan time. Is not given,
Specific processing is possible without degrading the response performance.

Next, other specific processing commands will be described.

FIG. 4 illustrates command / response processing between the programming tool 2 and the controller body 1 by the specific processing command of the data read command created by the specific processing command transmitting section 21 of the programming tool 2.

In this case, the specific processing command transmitting unit 21 of the programming tool 2 has a specific processing including an instruction (IORD) for reading the data of the I / O unit 4 and a unit number of the I / O unit 4 which is the reading source. Command C2
To the controller body 1.

In the controller main body 1, as in the case of the specific processing command C1, the MPU 16 receives the specific processing command C2 during the peripheral service processing cycle, stores it in the specific processing command area of the work RAM 15, and decodes it. However, if the read / write command (IORD) for reading / outputting data from the programming tool 2 can be decoded with the specific processing command C2 stored therein, the command is executed during the peripheral service processing to execute from the I / O unit 4. When the input / output data can be read and read, the execution result of reading completion and the read data are returned to the programming tool 2 as a response R2.

Therefore, even with this specific processing command C2, as in the case of the specific processing commands C1 and C2, it is not necessary to prepare an instruction for executing the specific processing in the user program. The procedure for processing execution is simplified, the degree of freedom in specific processing is improved, resource utilization efficiency is improved without consuming additional user program memory 11 and I / O memory 12, and the program execution cycle The specific processing can be performed without any influence, that is, without lowering the response performance.

FIG. 5 illustrates command / response processing between the programming tool 2 and the controller body 1 by the specific processing command of the data write command created by the specific processing command transmitting section 21 of the programming tool 2.

In this case, the specific processing command transmission unit 21 of the programming tool 2 writes the data write command (IOWR) of the I / O unit 4, the unit number of the high-speed counter unit 3 as the write destination, and the setting to be written. A specific processing command C3 consisting of a value and is transmitted to the controller body 1.

In the controller body 1, as in the case of the specific processing commands C1 and C2, the MPU 16 receives the specific processing command C3 during the peripheral service processing cycle and stores it in the specific processing command area such as the work RAM 15. If it can be decoded that the write command (IOWR) of the set value from the programming tool 2 is included, the set value is written to the high-speed counter unit 3 during the peripheral service processing by executing the command. When the writing is completed, the execution result indicating that the writing is completed and the read input / output data are returned to the programming tool 2 as a response R2.

Therefore, even with this specific processing command C3, as in the case of the specific processing commands C1 and C2, there is no need to prepare an instruction for executing the specific processing in the user program. The procedure for processing execution is simplified, the degree of freedom in specific processing is improved, resource utilization efficiency is improved without consuming additional user program memory 11 and I / O memory 12, and the program execution cycle The specific processing can be performed without any influence.

In the above embodiment, when the specific processing execution unit 16a of the MPU 16 receives a specific processing command from a peripheral device such as the programmable tool 2 during the peripheral service processing, the specific processing execution unit 16a performs the specific processing during the peripheral processing service. Although it has been described that the specific command included in the process is completed and the response is sent back to the peripheral device, in the present invention, when the specific process command is received, the peripheral that receives the specific process command is received. Judge whether the execution of the specific processing command can be completed during service processing,
When it is determined that the execution of the specific processing command cannot be completed during the peripheral service processing, the specific processing command may be executed during the peripheral service processing of the next cycle and thereafter.

In other words, according to the judgment here, for example, the specific processing command is complicated, it takes more time than the peripheral service processing cycle to execute it, and there is no particular need to synchronize the data, so that it may take a plurality of cycles. If it is determined that the specific processing command is executed over a plurality of cycles of peripheral service processing, the peripheral service processing cycle is not lengthened. At this time, the data during the execution of the specific processing command is
It may be stored in any area such as the work RAM 14.

The specific processing command received is simple and can be completed during the peripheral service processing cycle.
During the peripheral service processing when the specific processing command is received, there is no remaining time in the peripheral service processing cycle due to this command receiving processing or other peripheral service processing, and the specific processing command is executed during the peripheral service processing. If it is determined that it is not possible, the specific processing command is stored in the work RAM 14 or the like, and the specific processing command is executed during the idle time of the peripheral service processing after the next cycle. By doing so, the peripheral service processing does not temporarily become long, so that the scan time can be made constant and fast as a whole, and the response speed becomes fast.

[0044]

As described above, according to the present invention, while the peripheral device creates and transmits the specific processing command in which the specific processing command is described, the controller body receives the specific processing command during the peripheral service processing. Then, during the peripheral service processing or during the peripheral service processing of the next cycle or later, the specific processing command of the specific processing command is executed to perform the specific processing, and the processing result is transmitted to the peripheral device as a response. Therefore, it is not necessary to prepare a command for executing the specific process in the user program of the controller body 1 in advance, and the controller body can execute the command only by the command from the peripheral device.

Therefore, even after the operation of the user program is started, it is possible to deal with various kinds of specific processing without changing the user program, the procedure for executing the specific processing is simplified, and the degree of freedom of the specific processing is improved. Use efficiency of memory resources and the like is improved without consuming extra memory and the like.

Further, since the specific processing is executed during the peripheral service processing, the program execution cycle is not affected at all and the scan time is not affected, so that the specific processing can be performed without lowering the response performance. .

[Brief description of drawings]

FIG. 1 is a configuration diagram showing a configuration of an embodiment of a programmable controller according to the present invention.

FIG. 2 is a flowchart showing the overall processing of the programmable controller according to the present embodiment.

FIG. 3 is an explanatory diagram illustrating command / response processing according to an example of a specific processing command.

FIG. 4 is an explanatory diagram illustrating command / response processing by another specific processing command.

FIG. 5 is an explanatory diagram illustrating command response processing by another specific processing command.

[Explanation of symbols]

1 Controller Main Body 2 Programming Tool (Peripheral Device) 3 High Speed Counter Unit (Peripheral Device) 4 I / O Unit 11 User Program Memory 12 I / O Memory 13 System ROM 14 Work RAM 15 BPU 16 MPU 16a Specific Process Execution Unit (Specific Process) Execution unit) 17 Internal bus 18 Serial I / F 19 I / O bus 21 Specific processing command transmission unit (specific processing command transmission unit) 41 Specific processing command transmission unit (specific processing command transmission unit)

Claims (7)

[Claims] 1. A controller main body for cyclically executing a program execution process, an input / output process, and a peripheral service process to control the operation of a controlled device, and a peripheral device requesting a specific process to the controller main body. In the programmable controller, the peripheral device includes a specific processing command transmitting unit that creates and transmits a specific processing command in which a specific processing command is described. Specific processing for receiving a specific processing command from the specific processing command transmitting means, executing a specific processing instruction of the specific processing command during peripheral service processing to perform specific processing, and transmitting the processing result as a response to the peripheral device A programmable controller comprising: an execution unit. 2. The programmable controller according to claim 1, wherein the specific processing command transmitting means creates and transmits a specific processing command in which a specific processing command to be processed only within the controller body is described. 3. The specific processing command transmitting means creates and transmits a specific processing command in which the controller main body describes a specific processing command for performing processing to another peripheral device. Programmable controller. 4. The specific processing execution means receives the specific processing command from the specific processing command transmission means during peripheral service processing, and receives the specific processing command during the peripheral service processing and performs specific processing of the specific processing command. The programmable controller according to claim 1, 2 or 3, wherein an instruction is executed to perform a specific process, and a result of the process is transmitted to the peripheral device as a response. 5. The specific processing execution means receives the specific processing command from the specific processing command transmission means during the peripheral service processing, and executes the specific processing command during the peripheral service processing receiving the specific processing command. If it is determined that the specific processing command cannot be completed during the peripheral service processing, the specific instruction of the specific processing command is executed during the peripheral service processing of the next cycle and thereafter. The programmable controller according to claim 1, 2 or 3, wherein a specific process is performed as a response, and a result of the process is transmitted to a peripheral device as a response. 6. The specific processing execution means, when it determines that the execution of the specific processing command cannot be completed during the peripheral service processing that received the specific processing command, the peripheral service processing having a free time after the next cycle. The programmable controller according to claim 5, wherein a specific instruction of the specific processing command is executed to perform a specific processing, and the processing result is transmitted to a peripheral device as a response. 7. The specific processing execution means, when it determines that the execution of the specific processing command cannot be completed during the peripheral service processing that received the specific processing command, continues over the peripheral service processing of a plurality of cycles after the next cycle. The programmable controller according to claim 5, wherein a specific instruction of the specific processing command is executed to perform a specific processing, and the processing result is transmitted to the peripheral device as a response.