JP3328714B2 - Programmable controller - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a process step type language (S
The present invention relates to a programmable controller that sequentially executes processes corresponding to each process based on a user program described in the FC language, and particularly to an active / inactive state of each process and a condition of execution / non-execution of each process (hereinafter referred to as action qualification) A condition (referred to as an AQ condition).

[0002]

2. Description of the Related Art In recent years, programmable controllers have become widespread, and these programmable controllers are now being used in complicated and sophisticated control fields.
Accordingly, the programmable controller itself has become multifunctional and large-sized, and various types of programming languages have been used as programming languages for user programs.

[0003] However, in the conventional programmable controller, although various types of languages mainly for logic control are used as programming languages, recent programming of the system has become larger and more complex. However, there is a problem that it cannot be said that it can sufficiently cope with it, and that it cannot follow the concept of general software engineering from the viewpoint of quality control and reuse of a programming language.

Therefore, IEC (International Electrot
echnical Commissin reviews the programming language of the programmable controller, and can express the process stepping operation in the description format of the conventional ladder language, and is a process stepping language (Sequential Funct) that can be structured and programmed.
ion Chart) (hereinafter referred to as the SFC language)
The draft standard was summarized.

[0005] The SFC language is a kind of graphic language that divides a program of a programmable controller into a number of "processes" and further associates each "process" with one or more "processes" for programming. , Which is based on process step-type control. The SFC language program describes a program by combining "transition conditions" inserted between "steps" and "processing" associated with each "step".

In the SFC language, several types of AQs (Action Qualifiers) have been proposed as means for defining the relationship between the active / inactive state of each “step” and the execution / non-execution of “processing”. This AQ is a condition symbol set corresponding to each "process", and defines the execution / non-execution timing of "process (action)" corresponding to the active / inactive state of each "process". Is done.

[0007]

However, each of the various AQs proposed in the prior art can only set simple conditions, and thus can control input / output (I / O control) of a programmable controller and data processing. However, there is a problem that it is not enough to define the execution condition of the program for the purpose. That is, in programming in the SFC language, a program for I / O control and data processing of a programmable controller (hereinafter referred to as a “processing program”) is replaced by a “processing program”.
Extracting the logic that represents the start condition that depends on the application, and defining this logic outside of the “processing program” can improve the reusability of that “processing program”. Although there is an advantage, in the various types of AQs conventionally proposed, since only fixed simple conditions can be set, there is an advantage that the reusability of the above-mentioned "processing program" specific to the SFC language is improved. There was a problem that it could not be used.

Accordingly, the present invention provides a programmable controller which allows a user to programmatically define an action qualifier condition and generalizes execution conditions of a program for I / O control and data processing. The purpose is to:

[0009]

In order to achieve the above object, according to the first aspect of the present invention, an entire program is divided into a plurality of steps.
Divide and assign one or more processes to each of the divided steps.
A programmable controller that sequentially executes the above processes corresponding to each process based on a user program described in an SFC language to be associated and programmed , wherein the user program is in an active state or an inactive state of each process. The relationship between the execution and non-execution of the above processing
It includes a description of a condition symbol set corresponding to each processing, and the condition symbol is described as additional information of the processing symbol.
A logical condition program, and whether or not to execute the processing according to the logical condition program as additional information is determined by evaluating the conditional symbol . According to a second aspect of the present invention, a program is described by a user in SFC language, and a plurality
One or more associated with each step of the split
In a step-increment type programmable controller that sequentially executes a number of processes, the user can programmatically set the conditions of each process by using a condition symbol and a condition program that are set corresponding to each of the above processes. When the transition condition is satisfied and the process is activated, if the description of the condition symbol corresponding to the process process indicates that the process process is executed in accordance with the execution result of the condition program, the condition program Is executed and the process is executed based on the execution result. If the description of the condition symbol indicates that the condition program is not executed, the process is executed under the condition specified by the condition symbol. And According to a third aspect of the present invention, there is provided a process wherein a user writes a program in SFC language and divides the program into a plurality of sections in accordance with transition conditions.
In a step-increment type programmable controller that sequentially executes one or more processes related to each process , a condition symbol corresponding to each process can be set by a user, and a transition condition is satisfied. When the process is activated, if the description of the condition symbol corresponding to the process process indicates that the process process is to be executed in accordance with the execution result of the condition program, the condition program is executed and the execution result is displayed. The process is executed based on the condition specified by the condition symbol, otherwise the process is executed. According to a fourth aspect of the present invention, there is provided a method wherein a user writes a program in the SFC language and divides the program into a plurality of sections according to transition conditions.
In a step-increment type programmable controller that sequentially executes one or more processes related to each process , a condition symbol corresponding to each process can be set by a user, and a transition condition is satisfied. When the process is activated, the execution of the process is determined according to the description of the condition symbol, and further, depending on the description of the condition symbol, a condition program corresponding to the condition symbol is executed and the execution result is obtained. Thus, the execution contents of the process can be determined.

[0010]

The active / inactive state of each process and the execution / non-execution condition of each process are determined by executing a logic condition program described corresponding to each process. This logic condition program can be set by the user in a programmable manner, thereby making it possible to generalize the execution conditions of the program for I / O control and data processing.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a programmable controller according to the present invention will be described below in detail with reference to the drawings.

FIG. 1 shows an embodiment of a programmable controller according to the present invention. The programmable controller 100 shown in FIG.
PU (Central Processing Unit) 11, four user program memories 1 to 4, I / O memory (input / output memory) 12,
The bus 10 is connected to an I / O (input / output circuit) 17 via an i / f (interface) 16.

The user program memories 1 to 4 store user program information (1) to (4). The user program information (1) stored in the user program memory 1 corresponds to each process. The user program information (2) stored in the user program memory 2 including a plurality of process information tables and a start address (process information table vector) of each process information table includes a plurality of transition condition tables corresponding to each transition condition. The user program information (3) including the start address of each transition condition table (transition condition table vector) and stored in the user program memory 3 includes a plurality of processing programs corresponding to the processing of each process and the start address of each processing program. (Processing program vector) and stored in the user program memory 4. That the user program information (4)
Includes a plurality of transition condition programs corresponding to each transition condition and a start address (transition condition program vector) of each transition condition program.

The I / O memory 12 stores the state of the I / O 17 input or output via the i / f 16, and the system program memory 13 stores
Contains a system program for controlling
The work memory 14 is used as a work area for controlling the entire programmable controller 100.

The CPU 11 comprises a microprocessor and refers to the user program information (1) to (4) stored in the user program memories 1 to 4 and the state of the I / O 17 stored in the I / O memory 12. Then, a desired programmable control is executed using the work area of the work memory 14 based on the system program stored in the system program memory 13.

In the configuration shown in FIG. 1, four memories 1 to 4 are provided as user program memories, but these may be combined into one.

Next, the detailed configuration of the embodiment shown in FIG. 1 will be described. Before describing the detailed configuration of the embodiment shown in FIG. 1, the process steps used in the programmable controller 100 of this embodiment will be described. An outline of a process step type program in a binary language (SFC) will be briefly described.

FIG. 2 to FIG. 7 show the process stepping language (SFC).
1 shows an example of a process step-type program.
FIG. 2 shows an overall chart of the process incremental program, and FIGS. 3 to 7 show partial detailed charts of the overall chart of the process incremental program.

The process step-type language (SFC) is a program that stores a whole program in a number of "processes" (this is indicated by A in FIG. 2).
And a program language in which one "process" is divided into one or a plurality of "processes", and is based on process step-type control. That is, as shown in FIG. 2, a "transition condition" (shown by C in FIG. 2) inserted between each "step" and each "step"
A program is described by combining "processing" with "." In FIG. 2, “step” and “process” are each graphically displayed in a box shape,
"Transition conditions" are graphically displayed by horizontal lines.

"Process" for graphic display in a box shape
Has an active (active) or inactive (inactive) logic state. When the “process” is in the active state, “processes” related to the “process” are sequentially executed. On the other hand, when the “process” is in the inactive state, the “process” related to the “process” is not executed. If there is no “process” related to the “step”, the state is “wait” until the “transition condition” related to the “step” is satisfied. Here, each “step” has a unique “step number”, and a plurality of “steps” having the same “step number” cannot be provided. Also,
There is no “step” without “step number”.

A "process" is related to a "process", and a "process" to which no "process" is related can be used as a "dummy process" which does not operate even when it is activated. The “processing” is turned on / off according to the active state or the inactive state of the “step” to which the “processing” relates. This “process” also has a unique “process number”,
A plurality of “processes” having the same “process number” cannot be provided. Also, there is no “process” without the “process number”.

There is only one "transition condition" between "step" and "step", and represents a "connection condition" between "step" and "step". When the “transition condition” under the “process” in the active state is satisfied, the “process” in the active state becomes the inactive state,
The next “step” is activated. As described above, the “transition condition” plays a role of controlling the flow of control from “process” to “process”. This “transition condition” also has a unique “transition condition number”, and a plurality of “transition conditions” having the same “transition condition number” cannot be provided. Also,
There is no “transition condition” without “transition condition number”.

Incidentally, the overall chart shown in FIG. 2 includes steps 1 to 10 as "steps" and includes steps 1 to 11 as "processing". In FIG. 2, (a) to (e) As shown in the above, "step step operation", "selection branch operation", "parallel branch operation", "parallel junction operation",
"Merging operation from the selective branch" is included.

Next, the above operations will be described with reference to partial charts shown in FIGS.

FIG. 3 shows details of the "step step operation" shown in FIG. In FIG.
When “Process 1” is in the active state and “Process 1” and “Process 2” are executed, if “Transition condition 1” which is a transition condition from “Process 1” to “Process 2” is satisfied, The process proceeds from “step 1” to “step 2”. That is, "step 1" is inactive, and "step 2" is active instead. Accordingly, the execution of “Process 1” and “Process 2” related to “Step 1” is interrupted, and the execution of “Process 3” related to “Step 2” is started instead. Then, this “processing 3” is repeated until “step 2” becomes inactive.

FIG. 4 shows details of the "selection branch operation" shown in FIG. 2 (b). In FIG.
When “process 2” is in the active state and “process 3” is being executed, “transition condition 2”, which is a transition condition from “process 2” to “process 3”, or “process 2” to “process 4” When the "transition condition 3" that is the transition condition to "
Selectively branch from “Step 2” to “Step 3” or “Step 4”. That is, when the “transition condition 2” is satisfied, the “step 2” becomes inactive, and instead, the “step 3”
Becomes active, execution of “process 3” related to “step 2” is suspended, and execution of “process 4” related to “process 3” is started. This “Process 4” is repeated until “Transition condition 4” is satisfied and “Step 3” becomes inactive. When the “transition condition 3” is satisfied, the “step 2” becomes inactive, the “step 4” becomes active instead, and the execution of “process 3” related to “step 2” is interrupted. , The execution of “process 5” related to “process 4” is started. This "Process 5"
This is repeated until “transition condition 5” is satisfied and “step 4” becomes inactive.

FIG. 5 shows the details of the "parallel branch operation" shown in FIG. 2 (c). In FIG.
When “Process 4” is in the active state and “Process 5” is executed, if “Transition condition 5” which is a transition condition from “Process 4” to “Process 5” and “Process 6” is satisfied, A parallel branch is performed from “Step 4” to “Step 5” and “Step 6”. That is, when “transition condition 5” is satisfied,
“Step 4” becomes inactive, and instead “Step 5” and “Step 6” become active at the same time, whereby execution of “Process 5” related to “Step 4” is interrupted, Execution of “Process 6” related to “Step 5” and “Process 7” related to “Step 6” is started.
Then, “Process 6” is repeated until “Transition Condition 6” is satisfied and “Step 5” becomes inactive.
“Process 7” is repeated until “transition condition 7” is satisfied and “process 6” is in an inactive state.

FIG. 6 shows details of the "parallel merging operation" shown in FIG. 2 (d). In FIG.
The transition from “Step 5” to “Step 7” and the transition from “Step 6” to “Step 8” are the same as the transition from “Step 1” to “Step 2” shown in FIG. That is, when “step 5” is in the active state and “process 6” is being executed, if “transition condition 6” which is a transition condition from “step 5” to “step 7” is satisfied, Becomes inactive, and instead, “step 7” becomes active, execution of “step 6” related to “step 5” is interrupted, and execution of “step 8” related to “step 7” Is started. “Step 6” is in an active state,
If “Transition condition 7”, which is a transition condition from “Process 6” to “Process 8”, is satisfied while “Process 7” is being executed, “Process 6” is in an inactive state. "8" becomes active, execution of "process 7" related to "step 6" is interrupted, and execution of "process 9" related to "step 8" is started.

When “Step 7” and “Step 8” are in the active state and “Process 8” and “Process 9” are being executed, “Step 7” and “Step 8” to “Step 9”
When the “transition condition 8”, which is the transition condition to “”, is satisfied, the “step 7” and the “step 8” join in parallel to the “step 9”. That is, when the “transition condition 8” is satisfied, the “step 7” and the “step 8” become inactive, the “step 9” becomes active instead, and the “step 7”
The execution of “Process 8” related to “Step 9” and the “Process 9” related to “Step 8” are interrupted, and the execution of “Process 10” related to “Step 9” is started instead. This “Process 10”
Is repeated until “transition condition 9” is satisfied and “step 9” is in an inactive state.

FIG. 7 shows the details of the "merging operation from the selective branch" shown in FIG. 2 (e). In FIG. 7, when “step 3” is in an active state and “process 4” is executed, and when “step 9” is in an active state and “process 10” is executed, “step 3” is executed.
When “transition condition 4”, which is a transition condition from “step 10” to “step 10”, or “transition condition 9”, which is a transition condition from “step 9” to “step 10,” is satisfied, “step 10”
To join. That is, when “transition condition 4” is satisfied,
“Step 3” becomes inactive, and instead “Step 10” becomes active, execution of “Process 4” related to “Step 3” is suspended, and “Process 11” related to “Step 10”. Is started. Also, when the “transition condition 9” is satisfied, “step 9” becomes an inactive state, and instead “step 10” becomes an active state,
Execution of “Process 10” related to “Step 9” is interrupted,
Execution of “Process 11” related to “Step 10” is started. The execution of the “process 11” is repeated until the “transition condition 10” is satisfied and the “process 10” becomes inactive.

The above is the outline of the process step type program using the process step type language (SFC) adopted in this embodiment. Next, the process step type program using the process step type language (SFC) will be described. A detailed configuration of the programmable controller 100 shown in FIG. 1 to be executed will be described.

FIG. 8 shows the contents of the user program information (1) stored in the user program memory 1 shown in FIG. As shown in FIG. 8, the user program information (1) includes a process information table vector 2
Process information table vector storage area 200 for storing 0
And a process information table storage area 230 for storing (n + 1) process information tables 23 corresponding to the respective processes.

FIG. 9 shows the process information table 2 shown in FIG.
3 shows the details of FIG. In FIG. 9, the process information table 23 includes a process number 24 of the “process”, the number of processes 25 in the process associated with the “process”, and each “ A plurality of pieces of processing information 26 corresponding to the "process", the number of transition conditions 27 associated with the "step", and a plurality of transition condition numbers 28 corresponding to each "transition condition" are written. In FIG. 9, reference numeral 29 denotes a binary display column. In the case of a step which becomes active at the start of the program operation, "1" is previously written in the binary display column 29. In FIG. 9, a binary display column 29 is provided corresponding to each process information table 23. However, a separate table is provided in which only the processes that become active at the start of the program operation are provided. You may. This process information table 23 is used when the program is executed.
The information is read and processed in units of one process information table as needed.

In this embodiment, the AQ code is
The active / inactive state of each process and the execution / non-execution condition (AQ condition) of each process are set programmable using the AQ additional information. The programmable setting of the AQ condition will be described later in detail.

FIG. 10 shows details of the process information table vector 20 shown in FIG. In FIG. 10, (n + 1)
Start address 2 of each process information table 23
When the program is executed, the corresponding process information table 23 is read with reference to the start address 21 of each process information table written in the process information table vector 20.

FIG. 11 shows the contents of the user program information (2) stored in the user program memory 2 shown in FIG. As shown in FIG. 11, the user program information (2) includes a transition condition information table vector storage area 300 for storing the transition condition information table vector 30, and (m + 1) pieces of transition condition information corresponding to each transition condition. A transition condition information table storage area 330 for storing the table 33 is configured.

FIG. 12 shows details of the transition condition information table 33 shown in FIG. In FIG. 12, the "transition condition" is stored in the transition condition information table 33.
, The number of preceding steps 35 connected before this “transition condition”, and the preceding step number 3 corresponding to each preceding step
6, the number 37 of succeeding steps connected after the "transition condition" and the number 38 of succeeding steps corresponding to each succeeding step are written. The transition condition information table 33 is read out and processed in units of one transition condition information table as needed when the program is executed.

FIG. 13 shows details of the transition condition information table vector 30 shown in FIG. In FIG. 13, the transition condition information table vector 30 includes
The start address 31 of each of the (m + 1) transition condition information tables 33 is written. When the program is executed, the start address 31 of each transition condition information table written in the transition condition information table vector 30 is referred to. , The corresponding transition condition information table 33 is read.

FIG. 14 shows the contents of the user program information (3) stored in the user program memory 3 shown in FIG. As shown in FIG. 14, the user program information (3) includes a processing program vector storage area 400 for storing the processing program vector 40.
And (p + 1) processing programs 4 corresponding to each processing
3 is formed from a processing program storage area 430 for storing the processing program 3.

FIG. 15 shows an example of the processing program 43 shown in FIG. In FIG. 15, a processing program 43 corresponding to each processing is described in a ladder chart or the like.

In this embodiment, the AQ condition is configured to be programmable. A logic condition program for setting the AQ condition programmable is described as one of the processing programs. ing. FIG. 16 shows an example of a logical condition program described as one of the processing programs. The logic condition program shown in FIG.
A logical condition for executing a desired processing program when both 010 and the contact 10015 are on is shown.

FIG. 17 shows details of the processing program vector 40 shown in FIG. In FIG. 17, the start address 41 of each of the (p + 1) processing programs 43 is written in the processing program vector 40. When the program is executed, the start address of each processing program written in the processing program vector 40 is read. The corresponding processing program is read while referring to the address 41.

FIG. 18 shows the contents of the user program information (4) stored in the user program memory 4 shown in FIG. As shown in FIG. 18, the user program information (4) includes a transition condition program vector storage area 500 for storing the transition condition program vector 50 and (m + 1) transition condition programs 53 corresponding to each transition condition. It comprises a transition condition program storage area 530 to be stored.

FIG. 19 shows details of the transition condition program 53 shown in FIG. In FIG.
The transition condition program 53 corresponding to each transition condition is described in a ladder chart or the like.

FIG. 20 shows details of the transition condition program vector 50 shown in FIG. In FIG. 20, the transition condition program vector 50 includes (m +
1) The start address 51 of each of the transition condition programs 53 is written, and at the time of program execution,
While referring to the start address 51 of each transition condition program written in the transition condition program vector 50,
Read the corresponding transition condition program.

FIGS. 21 to 24 correspond to FIGS.
21 shows specific examples of the user program information (1) to (4) described in FIG. 21. The user program information (1) to (4) shown in FIG. 21 to FIG. It corresponds to a specific program in the step-by-step language (SFC). Here, FIG. 21 shows the contents of the user program information (1), FIG. 22 shows the contents of the user program information (2), FIG. 23 shows the contents of the user program information (3), and FIG. The content of information (4) is shown. These contents are the same as the user program information (1) to FIG.
This is the same as the content of (4).

That is, the user program information (1) shown in FIG. 21 is composed of ten process information tables corresponding to processes 1 to 10 and a process information table vector 20 for storing the head address of each process information table. Have been.

The user program information (2) shown in FIG.
The transition condition information table includes a plurality of transition condition information tables and a transition condition information table vector 30 for storing a start address of each transition condition information table.

The user program information (3) shown in FIG. 23 includes eleven processing programs 1 to 11 corresponding to the processing 1 to the processing 11 and eleven processing programs corresponding to the processing 1 to the processing 11. 21 to a processing program 31 and a processing program vector 40 for storing the start address of each processing program. Here, in this embodiment, since the AQ condition is configured to be programmable, the processing program 21 to the processing program 31 of the user program information (3) execute the logic for setting the AQ condition programmably. A conditional program is described. In addition,
In FIG. 23, a logic condition program for programmably setting AQ conditions corresponding to all processes 1 to 11 is described. When the condition is set to be programmable, the AQ
What is necessary is just to write a logic condition program for setting conditions conditionally.

The user program information (4) shown in FIG. 24 is composed of ten transition condition programs corresponding to each "transition condition" and a transition condition program vector 50 for storing the start address of each transition condition program. Have been.

Next, the programmable setting of the AQ condition employed in this embodiment will be described with a specific example. In this embodiment, a new AQ code “X” is described as an AQ code described in the process information table 23 of the user program information (1) stored in the user program memory 1 in order to set the AQ condition in a programmable manner. Is introduced. The AQ is used as the additional information.
A logical condition program can be described. For example, when "X" is described as an AQ code in the process information table 23 of the user program information (1) stored in the user program memory 1, it is specified by the AQ additional information of the process information table 23. The logic condition program is executed, and the execution of “processing” in which “X” is described as the AQ code is controlled in accordance with the execution result of the logic condition program. As AQ additional information,
Write only the program name of the
The contents of the ram may be described separately. Here, in this embodiment, the logical condition program is the user program information (3) stored in the user program memory 3.
In the case where “X” is described as an AQ code in the process information table 23, the process program is stored in the user program memory 3 based on the AQ additional information in the process information table 23. A corresponding processing program (logical condition program) stored in the user program information (3) is called and executed based on the processing program vector 40, and whether or not to execute a corresponding "process" from the execution result of the logical condition program To decide.

FIG. 25 shows a specific example of use of the AQ code and the AQ additional information. FIG. 25 shows processing 1 and processing 2 described in relation to step 1. As shown in FIG. 25, “X” is described as the AQ code in the process 1 described in connection with the process 1, and the process 21 is described as the AQ additional information, and the process 21 is described in the process 1. In process 2, "X" is described as an AQ code, and process 22 is described as the AQ additional information. In this case, when the process 1 is in the active state and the process 1 is executed, since the AQ code “X” is described corresponding to the process 1, the process 21 described as the AQ additional information is performed by the user. The processing program 21 (logical condition program) of the user program information (3) stored in the program memory 3 is called and executed based on the processing program vector 40, and the corresponding processing 1 is executed based on the execution result of the processing program 21. Is determined. When the process 2 is performed, since the AQ code “X” is described corresponding to the process 2, the process 22 described as the AQ additional information is stored in the user program memory 3 by the user. The processing program 22 (logical condition program) of the program information (3) is called and executed based on the processing program vector 40, and it is determined from the execution result of the processing program 22 whether or not to execute the corresponding processing 2.

For example, if the processing program 21 of the user program information (3) stored in the user program memory 3 is as shown in FIG. 16, in this case,
Since the logical condition for executing the process 1 when both the contact 10010 and the contact 10015 are on is shown, the logical condition is stored in the user program memory 3 under the condition that both the contact 10010 and the contact 10015 are on. The processing program 1 of the user program information (3) is called, and the processing program 1 is executed.

With this configuration, the AQ condition can be set by the user in a programmable manner.
A programmable controller with generalized conditions can be realized.

The AQ code described in the process information table 23 of the user program information (1) stored in the user program memory 1 is a predetermined A code other than "X".
When the Q code is described, the AQ specified by the AQ code is executed without executing the logical condition program.
The corresponding processing program is executed based on the condition.

FIG. 26 is a flowchart showing the overall processing procedure of the programmable controller 100 of this embodiment. When the program starts,
First, power-on initial processing is executed (step 80),
Subsequently, a predetermined common process is executed (step 82). Then, the operation of the user program is possible (step 84), and if it is the first operation (step 86), a user program operation initial process is executed (step 88).
Subsequently, a user program operation process is executed (step 90). Then, the input / output circuit 17 is refreshed (step 92), and the process returns to the common processing (step 82).

In the above embodiment, each "process"
A logical condition program for programmably setting the AQ condition is positioned as one of the processing programs of the user program information (3) stored in the user program memory 3, and the user program stored in the user program memory 3 1 of the processing program for information (3)
Although it was configured to be described as one, it may be configured to be described in other user program information,
Another user program information for describing the logical condition program may be set, and the logical condition program may be described in the user program information.

[0058]

As described above, according to the present invention,
Since the active / inactive state of each step and the execution / non-execution condition of each process can be set by the user in a programmable manner, various effects as described below can be obtained.

1) The relationship between the active / inactive state of each process and the execution / non-execution of a program for I / O control and data processing can be universally set as desired by the user.

2) The start condition is physically extracted from a program for I / O control and data processing, and
By being able to be defined outside the program for control and data processing, the program for I / O control and data processing can be expressed only by pure control logic, so that the reusability of the program logic is improved, Program design efficiency can be improved.

3) By programming delicate and complicated control conditions as AQ, redundancy of the SFC chart is prevented,
The visibility can be improved, and the working time at the time of program design and debugging can be improved.

4) By preventing the redundancy of the SFC chart, the execution processing time can be improved.

[Brief description of the drawings]

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

FIG. 2 is a diagram showing an example of an overall chart of a process step type program in a process step type language (SFC) employed in the embodiment shown in FIG. 1;

FIG. 3 is a partial detailed chart of the overall chart of the process step-type program shown in FIG. 2 and is a diagram for explaining a “step step operation”.

FIG. 4 is a diagram illustrating a partial detailed chart of an entire chart of the process step-type program shown in FIG. 2 and illustrating a “selection branch operation”;

FIG. 5 is a partial detailed chart of the overall chart of the step-step program shown in FIG. 2 and is a diagram for explaining a “parallel branch operation”.

FIG. 6 is a partial detailed chart of the overall chart of the process step-type program shown in FIG. 2, and is a diagram for explaining “parallel merging operation”.

7 is a diagram showing a partial detailed chart of the entire chart of the process step-type program shown in FIG. 2 and illustrating a "merging operation from a selective branch";

FIG. 8 is a view showing the contents of user program information (1) stored in the user program memory shown in FIG. 1;

FIG. 9 is a diagram showing details of a process information table shown in FIG. 8;

FIG. 10 is a diagram showing details of a process information table vector shown in FIG. 8;

FIG. 11 is a view showing the contents of user program information (2) stored in the user program memory shown in FIG. 1;

FIG. 12 is a diagram showing details of a transition condition information table shown in FIG. 11;

FIG. 13 is a diagram showing details of a transition condition information table vector shown in FIG. 11;

FIG. 14 is a view showing the contents of user program information (3) stored in the user program memory shown in FIG. 1;

FIG. 15 is a diagram showing details of a processing program shown in FIG. 14;

FIG. 16 is a diagram illustrating an example of a logical condition program described as one of the processing programs illustrated in FIG. 14;

FIG. 17 is a diagram showing details of a processing program vector shown in FIG. 14;

FIG. 18 is a diagram showing the contents of user program information (4) stored in the user program memory shown in FIG.

FIG. 19 is a diagram showing details of a transition condition program shown in FIG. 18;

FIG. 20 is a diagram showing details of a transition condition program vector shown in FIG. 18;

FIG. 21 is a view showing a specific example of the user program information (1) shown in FIGS. 8 to 10;

FIG. 22 is a view showing a specific example of the user program information (2) shown in FIGS. 11 to 13;

FIG. 23 is a view showing a specific example of the user program information (3) shown in FIGS. 14 to 17;

FIG. 24 is a view showing a specific example of the user program information (4) shown in FIGS. 18 to 20;

FIG. 25 is a diagram showing a specific use example of an AQ code and AQ additional information in the embodiment shown in FIG. 1;

FIG. 26 is a flowchart showing an overall processing procedure in the embodiment shown in FIG. 1;

[Explanation of symbols]

 1, 2, 3, 4 user program memory 10 bus 11 CPU (central processing unit) 12 I / O memory 13 system program memory 14 work memory 16 interface (i / f) 17 input / output circuit (I / O circuit)

Claims (4)

(57) [Claims] 1. The whole program is divided into a plurality of steps,
Associating one or more processes with each of the divided steps
Based on the user program written by SFC language programming, the programmable controller for sequentially executing the processing corresponding to each step, the user program execution or non execution of an active state or inactive state and the process of each step Table eagle the relationship between the
The conditional symbol includes a description of a conditional symbol set corresponding to each process . The conditional symbol can describe a logical condition program as the additional information in the process, and the conditional symbol is evaluated according to the logical condition program as the additional information by evaluating the conditional symbol. A programmable controller, which determines whether or not to execute processing. 2. A process in which a user writes a program in the SFC language and sequentially executes one or a plurality of processes associated with each process of a plurality of processes divided according to transition conditions. In the step-type programmable controller, the condition of each process is set by the user programmatically by using the condition symbol and the condition program set corresponding to each of the above processes, and the transition condition is satisfied and the process is activated. If the description of the condition symbol corresponding to the process process indicates that the process process is to be executed in accordance with the execution result of the condition program, the condition program is executed and the process process is executed based on the execution result. And if the description of the conditional symbol indicates that the conditional program is not to be executed, it is necessary to execute the process under the condition specified by the conditional symbol. Features a programmable controller. 3. A process in which a user writes a program in the SFC language and sequentially executes one or a plurality of processes associated with each of a plurality of processes according to transition conditions. In the step-type programmable controller, the user can set condition symbols corresponding to the above processes, and when the transition condition is satisfied and the process is activated, the description of the condition symbol corresponding to the process process However, if the process is to be executed in response to the execution result of the condition program, the condition program is executed and the process is executed based on the execution result. Otherwise, the process is specified by the condition symbol. A programmable controller for executing a process based on a condition to be performed. 4. A process in which a user writes a program in the SFC language and sequentially executes one or a plurality of processes related to each process of a plurality of processes divided according to a transition condition. In the step-type programmable controller, the user can set condition symbols corresponding to the above processes, and when the transition condition is satisfied and the process is activated, the execution of the process is described in the condition symbol. In addition, depending on the description of the condition symbol, a condition program corresponding to the condition symbol is executed, and the execution result of the process can be determined based on the execution result. And a programmable controller.