JP7273935B2 - External setting device, logging setting method and program - Google Patents

Description

The present invention relates to programmable logic controllers and main units.

A programmable logic controller (PLC) is a controller that controls manufacturing equipment, transport equipment, and inspection equipment in factory automation. The PLC controls various expansion units and controlled devices by executing user programs such as ladder programs created by users. When the user program is actually executed on the PLC, an event that was not assumed when the user program was created may be found, and the user program may need to be modified. The user not only reviews the user program in order to identify the corrected portion, but also refers to the log data generated by the PLC. The log data stores device values (device values) collected during execution of the user program. In the field of PLC, a device means a storage area that stores information. Devices include a relay device that holds 1-bit information and a word device that holds 1-word information. According to Patent Literature 1, it is proposed to log device values.

JP-A-10-011118

By the way, there is a need to photograph the state of field devices and inspection objects (workpieces) controlled by a user program with a camera and to refer to them together with logging data. If the status of field devices and workpieces can be confirmed with images, the user can easily determine whether there is a bug in the user program, whether there is a problem with the installation of the field device, or whether there is a problem with the transportation of the workpiece. Become. When the user program needs to be modified, the user will be able to easily determine which part of the program should be modified. If there are device values in addition to image data (two-dimensional data) when a problem occurs, it will be easier for the user to solve the problem. However, the device value update cycle (scan cycle) generally differs from the two-dimensional data generation cycle (save cycle). Therefore, it is difficult for the user to identify which device value is associated with which two-dimensional data. It should be noted that such a problem can occur not only in two-dimensional data such as image data, but also in other data as well. For example, in motion control, the update cycle (so-called control cycle) of motion data such as the current value and current speed is different from the scan cycle. It was difficult for the user to identify whether the In addition, for example, when explaining communication control, since the update cycle of communication data (for example, one or more sensor values) acquired by cyclic communication is different from the scan cycle, which device value and which communication parameter It was difficult for the user to identify whether and are temporally related. As described above, it is difficult for the user to specify which device value temporally relates data input from monitoring equipment such as a camera, a motor amplifier for driving a motor, a sensor, and a communication controller. rice field.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to make it easier to identify the temporal relationship between data input from various monitoring devices such as cameras, motor amplifiers, sensors, and communication controllers and device values.

The present invention, for example,
An external setting device connected to a programmable logic controller,
a storage unit for storing a ladder program including an instruction received from a user and having as arguments a head device and the number of devices based on the head device;
a device extraction unit that extracts a plurality of different devices corresponding to the device range specified from the argument of the instruction word by analyzing the ladder program stored in the storage unit;
a log setting unit that uses a plurality of different devices extracted by the device extraction unit to create log setting data for setting devices to be logged by the programmable logic controller;
To provide an external setting device comprising :

According to the present invention, it becomes easier to identify the temporal relationship between data input from various monitoring devices such as cameras, motor amplifiers, sensors, and communication controllers and device values.

Diagram showing a programmable logic controller system Diagram explaining the ladder program Diagram for explaining the program creation support device Diagram explaining PLC Diagram explaining ladder program scanning Diagram for explaining the functions of the program creation support device Flowchart explaining how to configure logging Diagram explaining how to select a program part Diagram explaining how to select functions Diagram explaining the unit monitor Diagram explaining unit monitor settings Diagram explaining the extraction list Diagram explaining the extraction list Diagram explaining the merging of extract lists Diagram explaining the estimation results of the impact on the scan time Diagram explaining the device type selection UI Flowchart showing how to extract a device Diagram showing an example of a user program Diagram explaining the functions of the basic unit Diagram explaining the process of creating configuration information Diagram explaining the functions of the CPU of the basic unit Diagram explaining the functions of the CPU of the expansion unit Diagram showing an example of log data Flowchart showing logging processing in the basic unit Flowchart showing logging processing in expansion unit Diagram showing PLC connection configuration Diagram showing PLC connection configuration Diagram explaining timing of logging Diagram explaining log data display Diagram for explaining the log data display UI Diagram explaining how to set collection time Diagram explaining how to set collection time Flowchart outlining the debugging process Diagram explaining the output section Diagram explaining the project creation part Diagram explaining the log display part Diagram explaining the program display module Diagram explaining the user interface Diagram explaining the display module for project data and log data Diagram explaining the warning screen Diagram explaining the waveform display module Diagram explaining the user interface Diagram explaining the real-time chart monitor Diagram explaining the playback control module A diagram for explaining a UI that displays user programs and device values. Diagram explaining HMI emulator Flowchart showing processing for displaying user programs and device values Flowchart showing processing for displaying waveforms of device values Flowchart showing playback control Diagram explaining multiple interrelated program parts Diagram explaining the UI that displays the results of extracting program parts and devices Flowchart showing program part and device extraction processing Flowchart explaining the flow of debugging Diagram explaining modified program part

An embodiment of the present invention is shown below. The specific embodiments described below may be helpful in understanding various concepts such as the broader, middle and narrower concepts of the present invention. Moreover, the technical scope of the present invention is determined by the claims and is not limited by the following individual embodiments.

<System configuration>
First, the configuration and operation of a typical PLC will be described so that those skilled in the art can better understand programmable logic controllers (PLCs, which may be simply called programmable controllers).

FIG. 1 is a conceptual diagram showing one configuration example of a programmable logic controller system according to an embodiment of the present invention. As shown in FIG. 1, this system includes a PC 2 for editing user programs such as ladder programs, and a PLC (Programmable Logic Controller) 1 for comprehensively controlling various control devices installed in a factory or the like. and PC is an abbreviation for personal computer. The user program may be created using a graphical programming language such as a ladder language or a flowchart-type motion program such as SFC (Sequential Function Chart), or may be created using a high-level programming language such as C language. . In the following description, the user program is assumed to be a ladder program for convenience of explanation. The PLC 1 has a basic unit 3 with a built-in CPU and one or more expansion units 4 . One or a plurality of extension units 4 are detachable from the basic unit 3 . For example, the expansion unit 4a may be a positioning unit that drives a motor (field device 10a) to position a workpiece, and the expansion unit 4b may be a counter unit. The counter unit counts signals from an encoder (field device 10b) such as a manual pulser. Note that the letters a, b, c, etc. attached to the end of the reference numerals may be omitted. The basic unit 3 is sometimes called a CPU unit. A system including PLC1 and PC2 may be called a programmable logic controller system.

The basic unit 3 is provided with a display section 5 and an operation section 6 . The display unit 5 can display the operation status of each expansion unit 4 attached to the basic unit 3 . The display section 5 switches the display content according to the operation content of the operation section 6 . The display unit 5 normally displays current values (device values) of devices in the PLC 1, error information occurring in the PLC 1, and the like. A device is a name indicating an area on a memory provided for storing device values (device data), and may be called a device memory. A device value is information that indicates the state of an input from an input device, the state of an output to an output device, and the state of internal relays (auxiliary relays), timers, counters, data memories, etc. that are set on a user program. Device value types include bit type and word type. A bit device stores a 1-bit device value. A word device stores a device value of one word.

An extension unit 4 is provided to extend the functions of the PLC1. A field device (controlled device) 10 corresponding to the function of the expansion unit 4 is connected to each expansion unit 4 , whereby each field device 10 is connected to the base unit 3 via the expansion unit 4 . The field device 10 may be an input device such as a sensor or camera, or an output device such as an actuator. Also, a plurality of field devices may be connected to one expansion unit 4 .

PC2 may be called a programming support device. The PC 2 is, for example, a portable notebook-type or tablet-type personal computer, and includes a display unit 7 and an operation unit 8 . A ladder program, which is an example of a user program for controlling the PLC1, is created using the PC2. The created ladder program is converted into a mnemonic code within the PC2. The PC 2 is connected to the basic unit 3 of the PLC 1 via a communication cable 9 such as USB (Universal Serial Bus), and sends the ladder program converted into mnemonic codes to the basic unit 3 . The basic unit 3 converts the ladder program into machine code and stores it in memory provided in the basic unit 3 . Although the mnemonic code is transmitted to the basic unit 3 here, the present invention is not limited to this. For example, PC 2 may convert the mnemonic code into intermediate code and send the intermediate code to basic unit 3 .

Although not shown in FIG. 1, the operation unit 8 of the PC 2 may include a pointing device such as a mouse connected to the PC 2. FIG. Also, the PC 2 may be detachably connected to the basic unit 3 of the PLC 1 via a communication cable 9 other than USB. Alternatively, it may be configured to be wirelessly connected to the basic unit 3 of the PLC 1 without using the communication cable 9 .

<Ladder program>
FIG. 2 is a diagram showing an example of the ladder diagram Ld displayed on the display unit 7 of the PC 2 when creating the ladder program. The PC 2 displays a plurality of cells arranged in a matrix on the display section 7 . A virtual device symbol is placed in each cell. Symbols indicate input relays, output relays, and the like. A plurality of symbols form a relay circuit. In the ladder diagram Ld, for example, 10 columns×N rows (N is any natural number) of cells are arranged. Symbols of virtual devices are appropriately arranged in the cells of each row.

The relay circuit shown in FIG. 2 has symbols of three virtual devices (hereafter referred to as "input devices") that are turned on/off based on input signals from the input device, and a symbol for controlling the operation of the output device. Symbols of virtual devices to be turned on/off (hereinafter referred to as "output devices") are combined as appropriate.

The characters ("R0001", "R0002" and "R0003") displayed above the symbol of each input device represent the device name (address name) of the input device. Characters (“Flag 1”, “Flag 2” and “Flag 3”) displayed below the symbol of each input device represent device comments associated with the input device. The characters (“return to origin”) displayed above the symbol of the output device is a label consisting of a character string representing the function of that output device.

In the example shown in FIG. 2, an AND circuit is configured by serially connecting symbols of two input devices respectively corresponding to the device names "R0001" and "R0002". An OR circuit is configured by connecting in parallel the symbol of the input device corresponding to the device name "R0003" to the AND circuit consisting of the symbols of these two input devices. That is, in this relay circuit, only when both the input devices corresponding to the two symbols in the first row are turned on, or when the input devices corresponding to the symbols in the second row are turned on, the symbols in the first row are The output device to be used is turned on.

<Program creation support device>
FIG. 3 is a block diagram for explaining the electrical configuration of the PC2. As shown in FIG. 3, the PC 2 includes a CPU 21, a display section 7, an operation section 8, a storage device 22 and a communication section . The display unit 7, the operation unit 8, the storage device 22, and the communication unit 23 are electrically connected to the CPU 21, respectively. The storage device 22 includes RAM and ROM, and may also include a removable memory card. CPU is an abbreviation for central processing unit. ROM is an abbreviation for read-only memory. RAM is an abbreviation for random access memory.

The user causes the CPU 21 to execute a computer program (editing software) stored in the storage device 22 and edits the project data through the operation section 8 . The project data includes one or more user programs (eg ladder program), configuration information of the basic unit 3 and expansion unit 4, and the like. The configuration information includes information indicating connection positions of a plurality of extension units 4 to the base unit 3, functions provided in the base unit 3 (eg, communication function and positioning function), and functions of the extension unit 4 (eg, imaging function). and so on. Here, editing project data includes creating and changing project data. Project data created using editing software is stored in the storage device 22 . In addition, the user can read the project data stored in the storage device 22 and change the project data using editing software as necessary. The communication section 23 is for communicably connecting the PC 2 to the basic unit 3 via the communication cable 9 . The CPU 21 transfers the project data to the basic unit 3 via the communication section 23 .

<PLC>
FIG. 4 is a block diagram for explaining the electrical configuration of the PLC1. As shown in FIG. 4 , the basic unit 3 includes a CPU 31 , display section 5 , operation section 6 , storage device 32 and communication section 33 . The display unit 5, the operation unit 6, the storage device 32, and the communication unit 33 are electrically connected to the CPU 31, respectively. The storage device 32 may include RAM, ROM, memory cards, and the like. The storage device 32 has a plurality of storage areas such as a device section 34, a project storage section 35, a removable memory card 36, and the like. The device unit 34 has bit devices, word devices, etc., and each device stores a device value. The project storage unit 35 stores project data input from the PC2. Storage device 32 also stores the control program for basic unit 3 . As shown in FIG. 4, the basic unit 3 and the expansion unit 4 are connected via a unit internal bus 90 which is a kind of expansion bus. Note that the communication function related to the unit internal bus 90 may be implemented as part of the communication section 33 . The communication unit 33 may have a network communication circuit. The CPU 31 may transmit log data or the like to the PC 2 or the cloud via the communication section 33 .

Here, the unit internal bus 90 will be additionally explained. This unit internal bus 90 is a bus for performing input/output refresh, etc., which will be described below, and communication control on the unit internal bus 90 is realized by a so-called bus master 38 (a bus master may be provided, or a bus master 38 may be provided as part of the CPU 31). The bus master 38 is a control circuit for controlling communication on the unit internal bus 90, receives a communication request from the CPU 31, and performs communication such as input/output refresh, which will be described later, with the expansion unit 4. FIG.

The expansion unit 4 has a CPU 41 and a memory 42 . The CPU 41 controls the field device 10 according to instructions (device values) from the basic unit 3 stored in the device. The CPU 41 also stores the control result of the field device 10 in a device called buffer memory. The control result stored in the device is transferred to the basic unit 3 by input/output refresh. Further, the control result stored in the device is transferred to the basic unit 3 according to the read command from the basic unit 3 even at a timing different from the input/output refresh. The memory 42 includes RAM, ROM, and the like. Among other things, the RAM has a storage area reserved for use as a buffer memory. The memory 42 may have a buffer that temporarily holds data (eg, still image data or moving image data) acquired by the field device 10 .

FIG. 5 is a schematic diagram showing the scan time of the basic unit 3. As shown in FIG. As shown in FIG. 5, one scan time T is composed of inter-unit communication 201 for refreshing input/output, program execution 202, and END processing 204. FIG. In inter-unit communication 201 , the basic unit 3 transmits output data obtained by executing the ladder program from the storage device 32 in the basic unit 3 to an external device such as the expansion unit 4 . Furthermore, the basic unit 3 takes in input data received from an external device such as the expansion unit 4 into the storage device 32 within the basic unit 3 . That is, the device value stored in the device of the basic unit 3 is reflected in the device of the expansion unit 4 by the output refresh. Similarly, the device values stored in the expansion unit 4 devices are reflected in the basic unit 3 devices by input refresh. Thus, the devices of the basic unit 3 and the devices of the expansion unit 4 are synchronized by input/output refresh. Note that a mechanism (inter-unit synchronization) of updating device values between units at a timing other than refresh may be employed. However, the devices of the basic unit 3 are rewritten by the basic unit 3 as needed, and similarly, the devices of the expansion unit 4 are rewritten by the expansion unit 4 as needed. In other words, the devices in the base unit 3 can be accessed by devices inside the base unit 3 at any time. Similarly, the devices in expansion unit 4 are accessible by devices internal to expansion unit 4 at any time. Basically, the basic unit 3 and the expansion unit 4 mutually update and synchronize the device values at the refresh timing. At program execution 202, the basic unit 3 executes (computes) the program using the updated input data. As shown in FIG. 5, in program execution 202, multiple program modules or ladder programs may be executed in sequence according to project data. The basic unit 3 performs arithmetic processing on data by executing programs. The END process means all processes related to peripheral services such as data communication with an external device such as a display (not shown) connected to the PC 2 or the basic unit 3, and system error check.

Thus, the PC2 creates a ladder program according to the user's operation, and transfers the created ladder program to the PLC1. The PLC 1 performs input/output refresh, ladder program execution and END processing as one cycle (one scan), and periodically, that is, cyclically repeats this cycle. As a result, various output devices (motors, etc.) are controlled based on timing signals from various input devices (sensors, etc.). In addition to the scan cycle, the basic unit 3 and the expansion unit 4 each have an internal control cycle. The basic unit 3 and the expansion unit 4 control the functions of the field device 10 and the like based on the internal control cycle.

<Logging>
Device values obtained while the PLC 1 is executing the user program may be useful when the user improves or modifies the user program. Therefore, the PLC 1 acquires a device value specified in advance and creates log data. Here, the devices managed by the PLC 1 include not only devices that are used by the user program, but also devices that are not used by the user program. Also, some devices are useful in improving or modifying user programs, while others are not. Since the number of devices is generally several thousand, it has been a heavy burden for the user to specify the required device. Therefore, the PC 2 analyzes the user program and extracts devices used or described in the user program as logging targets. This reduces the burden on the user.

If all the devices managed by the PLC 1 are targeted for logging, the scan time will become long. This is because logging may be performed as part of the user program or during I/O refresh. Occasionally, the delays introduced by logging can cause a user program not to behave as desired by the user. Therefore, the number of logged devices should be maintained appropriately.

A user program may consist of a plurality of program parts (eg, program modules (main ladder program and sub ladder program), function blocks). Of these, it may be sufficient for the user if the device associated with the program part that the user wishes to modify is logged. Moreover, the user may wish to exclude a specific program part from the extraction target or add a specific program part to the extraction target among the plurality of program parts. Therefore, it would be convenient for the user if devices could be added or deleted from the logging targets in units of program parts.

As described above, the base unit 3 and expansion unit 4 have one or more functions. Various devices are assigned to each function. Therefore, it would be convenient for the user to be able to add or remove devices from logging targets based on these functions. For example, if an undesirable event related to the communication function of the base unit 3 occurs, the user will be able to easily resolve this event by referring to the device value of the device related to the communication function of the base unit 3.

●Logging settings (automatic extraction and addition/removal)
FIG. 6 shows functions realized by executing editing software stored in the storage device 22 by the CPU 21 of the PC 2 . Some or all of these functions may be realized by hardware circuits such as ASIC and FPGA. ASIC is an abbreviation for Application Specific Integrated Circuit. FPGA is an abbreviation for Field Programmable Gate Array.

In this embodiment, the functions shown in FIG. 6 are implemented on the PC2, but the present invention is not limited to this, and may be implemented on the PLC1.

The project creation unit 50 displays a UI for creating project data 71 on the display unit 7 , creates project data 71 according to user instructions input from the operation unit 8 , and stores the project data 71 in the storage device 22 . UI is an abbreviation for user interface. The project data 71 includes user programs, configuration information of the PLC 1, and the like. The program creating unit 63 creates a plurality of program parts (each module) that constitute a user program based on user operations via the UI. The function setting section 62 executes settings related to the functions of the basic unit 3 and the functions of the expansion unit 4 . For example, the function setting unit 62 allocates any device to the function provided in the basic unit 3, or allocates any device to the function provided in the expansion unit 4. , and writes the allocation information indicating the relationship with the configuration information. The project creating unit 50 also stores program configuration information indicating what kind of program parts the user program is configured from as the project data 71 . Unit configuration information indicating what kind of units the entire PLC 1 is configured from is also stored as project data 71 .

The log setting unit 51 analyzes the project data 71 to extract devices described in the project data 71, and creates log setting data 72 for setting the extracted devices as logging targets. The log setting unit 51 has various functions. The part designation unit 52 designates a program part to be extracted from a device according to a user instruction input from the operation unit 8 . In addition, the component designation unit 52 designates program components to be excluded from devices to be extracted according to user instructions input from the operation unit 8 .

The device extraction unit 53 analyzes the project data 71 to extract devices described in the project data 71 and creates log setting data 72 . The adding unit 54 analyzes the program parts specified as extraction targets by the parts specifying unit 52, extracts the devices described in the program parts, and adds them to the extraction list. The deletion unit 55 analyzes the program parts designated as exclusion targets by the parts designation unit 52, extracts the devices described in the program parts, and deletes the extracted devices from the extraction list. Alternatively, deletion unit 55 adds the extracted device to the exclusion list. The merging unit 56 deletes duplicate extracted devices from the extraction list among the devices extracted from the plurality of program parts. The identifying unit 57 detects an instruction word for the memory card in the project data 71, identifies the device that is the target of the instruction word, and adds the identified device to the extraction list.

In this embodiment, after the component designating unit 52 designates a program component, the adding unit 54 analyzes the designated program component to extract and add a device to be logged. The invention is not limited to this. For example, the adding unit 54 first analyzes one or more program parts included in the project data 71 to extract devices, adds the extracted devices to the extraction list, and then specifies them by the parts specifying unit 52. It is also possible to extract the device described in the specified program part and add it to the extraction list.

Similarly, the deletion unit 55 first analyzes one or a plurality of program parts included in the project data 71 to create an extraction list, and then deletes the parts described in the program parts specified by the parts specification unit 52 . A device may be extracted and removed from the extraction list.

In this embodiment, for convenience of explanation, the addition unit 54 and the deletion unit 55 are separated, but needless to say, they may be one functional block.

The manual setting unit 58 adds one device or a series of related devices to the extraction list according to user instructions input through the operation unit 8 . The estimation unit 59 estimates the effect of the recording of device values by the PLC 1 on execution of the user program based on the number of devices extracted as recording targets by the device extraction unit 53 . Logging adds a delay to the scan time that correlates to the number of device values. Therefore, the estimation unit 59 may obtain the delay time by multiplying the number of device values by a predetermined coefficient, and display the delay time as the estimation result on the display unit 7 . This delay time may be referred to as scan time extension.

The function designating section 60 designates the function of the basic unit 3 and the function of the expansion unit 4, which are the target of device extraction, in accordance with user instructions input from the operating section 8. FIG. Further, the function designating section 60 designates the functions of the basic unit 3 and the functions of the expansion unit 4 to be excluded from the devices to be extracted, according to user instructions input from the operation section 8 . The adding unit 54 analyzes the configuration information of the function specified as the extraction target by the function specifying unit 60, extracts the device allocated to the function according to the configuration information, and adds it to the extraction list. The deletion unit 55 analyzes the configuration information of the function specified as an exclusion target by the function specifying unit 60, extracts the device assigned to the function according to the configuration information, and deletes the extracted device from the extraction list. The merging unit 56 deletes redundantly extracted devices from the extraction list among the devices extracted for each of the plurality of functions. The identifying unit 57 detects an instruction word for the memory card in the project data 71, identifies the device that is the target of the instruction word, and adds the identified device to the extraction list.

The log display unit 61 reads log data 73 generated in the PLC 1 via the memory card 36 and displays the log data 73 on the display unit 7 . For example, the log display unit 61 may associate the device values recorded in the log data 73 with the program parts of the project data 71 and display them on the display unit 7 . The log display unit 61 forms the core of an engineering tool for programmable logic controllers.

FIG. 7 is a flow chart showing a logging setting method. Here, it is assumed that the project data 71 including the user program has already been completed.

In S1, the CPU 21 (component specifying unit 52) accepts specification of a program component to be extracted from a device.

FIG. 8 shows a UI 100 for accepting selection of program parts from which devices are extracted. The log setting unit 51 displays the UI 100 on the display unit 7 when the logging setting program is started. In the UI 100, a plurality of program parts are shown in tree form based on their classification (module/function block/macro). A check box 102 is displayed in association with each program part. When the pointer 101 checks the checkbox 102 according to the operation of the operation unit 8, the adding unit 54 adds the program part corresponding to the checked checkbox 102 to the extraction list. On the other hand, when the pointer 101 unchecks the check box 102 according to the operation of the operation unit 8, the deletion unit 55 deletes (excludes) the program part corresponding to the unchecked check box 102 from the extraction list.

Note that each scan module in FIG. 8 is a program part that is executed once each time the user program is scanned. In this example, each scan module has a main program and submodules. A periodic module is a program part that is executed at regular intervals. The inter-unit synchronization module is a program part that is executed each time inter-unit synchronization is performed. Although the initialization module is not shown, the initialization module is the first module executed when the user program is started. Therefore, initialization modules are less likely to cause trouble, and thus may be excluded from devices to be extracted.

A function block (FB) is called and used by a user program. Since the function block is called from multiple modules, it creates separate instances for each. In this case, multiple instances may be selected for device extraction, or by selecting the original function block, all instances generated in relation to that function block are selected for device extraction. good too.

Macros are a type of program, and include macros for data shaping.

In S2, the CPU 21 (function specifying unit 60) accepts the specification of the function to be extracted from the device.

FIG. 9 shows the UI 110 for accepting selection of a function for extracting devices. The log setting unit 51 displays the UI 110 on the display unit 7 when the logging setting program is started. Note that the UI 100 and the UI 110 may be displayed at the same time, or may be selectively displayed according to a user's operation. In the UI 110, a plurality of functions are shown in tree form based on the units to which they belong. A check box 102 is displayed in association with each function. When the pointer 101 checks the check box 102 according to the operation of the operation unit 8, the adding unit 54 adds the function corresponding to the checked check box 102 to the extraction list. On the other hand, when the pointer 101 unchecks the check box 102 according to the operation of the operation unit 8, the deletion unit 55 deletes (excludes) the function corresponding to the unchecked check box 102 from the extraction list.

In FIG. 9, the communication error monitor, which is a function of the basic unit 3, is a function of monitoring communication errors in the communication section 33. FIG. The sensor I/O monitor is a function that monitors sensor input/output. A motion unit, also called a positioning unit, controls the position of a controlled object called an axis. Generally, there is a drive source such as a motor for each axis. The analog input unit is a unit that samples an input analog signal and converts it into a digital signal. A unit monitor is a function for monitoring the operation of the extension units 4 such as motion units and analog input units.

Here, as an example of the unit monitor, the unit monitor of the motion unit will be described in further detail. FIG. 10A is a schematic diagram of the screen of the unit monitor 440 for axis 1 of the motion unit. FIG. 10B is a schematic diagram of a setting screen 441 for changing the target of monitoring by the unit monitor 440. As shown in FIG.

As shown in FIG. 10A, items such as current coordinates, command coordinates, current speed, command speed, feedback torque, load factor, and peak current are set as objects to be monitored by the unit monitor 440 . Each item is assigned a buffer memory (UG). For example, the current coordinates are assigned UG4 and UG5. In this embodiment, 16 bits are reserved for one UG, and two UGs are reserved to represent the current coordinates in 32 bits. The UG device value is, for example, a numerical value such as 0PLS (pulse). UG8 and UG9 are assigned to command coordinates. Two UGs are reserved for the same reason as described above (to ensure 32-bit representation). Since UG allocation can be freely performed by the unit designer, there are some unused UGs (UG6 and UG7). Similarly, UG10 and UG11 are assigned to the current speed, and UG12 and UG13 are assigned to the command speed. In addition, in FIG. 10A, UG is assigned to each item such as feedback torque, load factor, and peak current.

As shown in FIG. 10B, the user can freely select (set) which items are to be monitored by the unit monitor 440 . For example, by selecting one item from the "hidden" column 442 shown in FIG. becomes. By clicking the OK button 445, the items listed in the "display" column 444 are determined as the monitoring targets. 10A and 10B, only axis 1 of the motion unit has been described, but the same is true when there are a plurality of axes 2 and 3. FIG. For each axis, items selected by the user are monitored.

In general, when a motion unit (extension unit 4a) is used to drive a motor (field device 10a) to position a workpiece, the basic unit 3 turns on a relay device that indicates a positioning start trigger for the motor. An operation start command is sent to the expansion unit 4a. After sending the operation start command, it is not involved in the specific processing operation (positioning of the workpiece) in the expansion unit 4a. In other words, the basic unit 3 does not recognize the current position and current speed of the motor in real time, nor does it need to recognize them. After that, when the processing operation in the expansion unit 4a is completed, the basic unit 3 recognizes the completion of motor positioning through the turning on of the relay device indicating the motor positioning completion trigger. For this reason, the device (UG) corresponding to the current coordinates and current speed of the motor is basically not described in the ladder program (however, the user can use a special command to read out a small part of the UG). It is possible to describe words in a ladder program).

However, when trouble occurs during operation of the PLC, it is sometimes desired to grasp the current coordinates and current speed of the motor at the time when the trouble occurs in order to investigate the cause. In such a case, as mentioned above, the current coordinates and current speed of the motor are basically not described in the ladder program, so they are often not included in the extraction list for logging. It was not easy to find out.

Therefore, in this embodiment, the user can select the unit monitor of the motion unit through the UI 110 shown in FIG. As a result, the adding unit 54 can automatically add the UG being monitored by the unit monitor 440 of the motion unit to the extraction list, as described with reference to FIG. 10B. The same applies to the communication error monitor/sensor I/O monitor of the basic unit 3 and the unit monitor of the analog input unit. Devices or parameters monitored by each monitor can be automatically added to the extraction list.

Although illustration of other monitors is omitted, they will be briefly described. A communication error monitor, which is a function of the basic unit 3, monitors, for example, a device assigned to a cyclic communication opening timeout error. A sensor I/O monitor that monitors the input/output of a sensor monitors, for example, the output of one or a plurality of sensors and the device assigned to the presence or absence of an error. The unit monitor of the analog input unit monitors devices (DM or R) assigned to various parameters such as AD conversion data, special data, offset value, zero shift, peak value and bottom value. These devices are assigned in advance by the unit designer as defaults (initial settings), but the user may change the monitoring target like the unit monitor of the motion unit described above. In short, the UI 110 shown in FIG. 9 is a setting screen capable of accepting a function selection input from the user. A template (setting information) defining monitoring items to be displayed on the display unit (monitor) is associated with each function to be selectively input (the template is stored in the memory). The device specified by the template may be assigned in advance by default as described above, or may be added or removed (edited) by the user via the setting screen. When one or a plurality of functions are selected based on a user operation, the function designation unit 60 adds devices to be monitored to the extraction list according to templates associated with the functions.

In S3, the device extraction unit 53 analyzes the program parts specified by the parts specification unit 52 and extracts the devices described in the specified program parts.

FIG. 10C shows an example of a device extracted from a designated program part among the plurality of program parts included in the project data 71. FIG. According to FIG. 10C, the name of the program part from which the device was extracted, the name (device number) of the leading device, the number of devices extracted based on the leading device, and the device name actually extracted as the logging target is shown. In general, a number of devices corresponding to a specified number are extracted with the leading device as a reference. However, the number of devices extracted may exceed the specified number. R34000 is a relay device that holds 1-bit information, and a series of 16 devices from R34000 to R34015 are extracted. This is because logging 16-bit devices collectively is advantageous in terms of data processing speed. Note that in FIG. 10C, the number of R34000 is "1", which indicates one word (16 bits). The number of CR4001 is also "1", which also indicates one word (16 bits of CR4001, CR4002, . . . , CR4015, CR4100). A global is a device commonly used by multiple program parts. Main indicates the main program. first_operation is the name of the function block. Sub indicates a subprogram (submodule).

In S4, the device extraction unit 53 analyzes the configuration information of the function specified by the function specification unit 60, and extracts the device associated with the function in the configuration information.

FIG. 11 shows an example of a device extracted from a specified function (unit) among a plurality of functions (basic unit 3 and expansion unit 4) provided in PLC1. In this example, several buffer memories (UG) are extracted from the motion unit specified by the function specifying section 60. FIG. According to FIG. 11, the name of the function from which the device was extracted, the name (device number) of the leading device, the number of devices extracted based on the leading device, and the name of the device actually extracted as the logging target. It is shown. Here, devices that can be monitored by the unit monitor of the motion unit are extracted. That is, as described above with reference to FIG. 10A, UG4-UG5 indicate the current coordinates of the motor, UG8-UG9 indicate the commanded coordinates of the motor, and UG10-UG11 indicate the current speed of the motor. , UG12-UG13 indicate the commanded speed of the motor. Description of other UGs will be omitted.

In S5, the manual setting unit 58 adds the device manually specified by the user through the operation unit 8 to the extraction list. For example, the manual setting unit 58 may display on the display unit 7 a UI that allows direct input of the device number, etc., to assist the user in specifying the device.

In S6, the merging unit 56 creates a logging target list by merging devices extracted from program parts, devices extracted from functions, and devices added manually. A logging target list may be referred to as a device list.

FIG. 12 is a diagram for explaining the concept of merge processing. The device extraction unit 53 creates an extraction list L1 describing the devices extracted from the program parts. The device extraction unit 53 creates an extraction list L2 describing the devices extracted from the functions. The device extraction unit 53 creates an extraction list L3 describing the devices added manually by the user. The merging unit 56 merges the extraction lists L1 to L3 to create a logging target list L0. The extracted lists L1 to L3 may have duplicate extracted devices. When the same device is logged multiple times, the log data becomes bloated. Therefore, a merge process is performed to avoid duplicate logging of the same device. For example, data memories DM0 to DM100, which are one type of device, are registered in the extraction list L1. Data memories DM50 to DM200 are registered in the extraction list L3. That is, DM50-DM100 overlap. The merging unit 56 merges DM0-DM100 and DM50-DM200 and describes DM0-DM200 in the logging target list L0.

In S<b>7 , the estimation unit 59 analyzes the logging target list L<b>0 , estimates the influence on the scan time, and displays the estimation result on the display unit 7 .

FIG. 13 shows UI 140 for displaying estimation results. The UI 140 displays the device size and scan time extension. The device size indicates the total size of the devices described in the logging target list L0. Extension of scan time is delay time caused by logging. The estimation unit 59 analyzes the logging target list L0 and calculates the device size and scan time extension. When the list button 141 is operated through the operation unit 8, the estimation unit 59 may display the logging target list L0 on the display unit 7. FIG. The user considers the estimation result and determines whether to fix or adjust the logging target list L0. When confirming the logging target list L0, the user may use the pointer 101 to operate a button indicating the intention of confirmation.

In S8, the log setting unit 51 determines whether or not to confirm the logging target. For example, when a button for finalizing the logging target list L0 is operated, the log setting unit 51 determines to finalize the logging target. On the other hand, when the button for modifying the logging target list L0 is operated, the log setting unit 51 determines to modify the logging target. When modifying the logging target, the log setting unit 51 repeats S3 to S8 to accept additions and deletions of program parts and functions to be extracted from the device, and modify the logging target list L0. For example, some devices are removed if the scan time increase exceeds an acceptable threshold. Some devices may be added if the increase in scan time is below the acceptable threshold. When the logging target is determined, the CPU 21 proceeds to S9.

In S<b>9 , the log setting unit 51 creates log setting data 72 including the logging target list L<b>0 and stores it in the storage device 22 . Note that the CPU 21 controls the communication section 23 to transmit the log setting data 72 together with the project data 71 to the basic unit 3 .

Here, devices such as data memory and buffer memory are mainly targeted for logging, but operating states and function setting states (eg, IP addresses, etc.) of each function may also be added as logging targets.

FIG. 14 shows a filter setting UI 120 used in device extraction processing. A plurality of types of devices exist as devices related to the PLC 1 . A user may want to focus on a particular type of device and ignore other types of devices. Therefore, the log setting unit 51 may display the filter setting UI 120 on the display unit 7 and receive the device type to be extracted and the device type to be excluded through the check boxes 102 . For example, the device extraction unit 53 extracts the device type with a check in the check box 102 from the program part or function. The device extraction unit 53 does not extract the device type for which the check is removed from the check box 102 from the program part or function. This makes it possible to easily select devices to be logged according to the user's intention.

By the way, when the project data 71 is changed by the project creating unit 50, the CPU 21 may execute the device extraction process again. This is because the description of the device in the user program may have changed. The CPU 21 may execute device extraction processing when the project creation unit 50 transfers the project data 71 . Since the project data 71 is finally written to the PLC 1, the number of times the device extraction process is executed may be reduced by executing the device extraction process with this writing as a trigger.

Although the device extractor 53 is mounted on the PC 2 , it may be mounted on the basic unit 3 . The CPU 31 extracts devices from the program parts and functions specified by the PC 2 from the project data 71 and creates log setting data 72 . In this case, the estimating section 59 will also be mounted in the basic unit 3. Device Extraction Processing FIG. FIG. 16 shows an example of a ladder program. This ladder program is for controlling the motion unit that drives the four axes as the extension unit 4 .

In S11, the device extraction unit 53 acquires the device number from the description of the i-th step of the program part designated as the extraction target. The initial value of i is 001. As shown in FIG. 16, step numbers are given to the left end of the ladder program. In step No. 001, when the relay device MR000 is turned on, the relay device R34000 that gives motion unit operation permission is turned on, and the relay R34305 for operating the servo of the first axis of the motion unit It describes turning on the device. Therefore, the device extractor 53 extracts MR000, R34000 and R34305 as device numbers. Note that the device number may be described by indirect reference or index reference. In this case, the device extraction unit 53 searches for an indirect reference destination or a program in which the index value is assigned, and identifies the actual device number. Note that the device extraction unit 53 may display a message indicating the extraction failure on the display unit 7 when the extraction of the actual device number fails. Further, the device extracting unit 53 may display a UI for allowing the user to input the actual device number on the display unit 7 and accept user input. Furthermore, considering the above-described indirect references and index references, the device extractor 53 not only extracts specific devices directly described in the program, but also extracts specific devices (indirect references and index references) used in the program. devices specified by index reference) are also extracted.

In S12, the device extraction unit 53 acquires the device range from the access range of the instruction word. Some commands take as arguments the device number of the leading device and the number of devices relative to the leading device. For example, step 003 describes that when the relay device MR000 is turned on, the command FMOV is executed. In this example, FMOV is an instruction word (to initialize related devices) for assigning a specified value (0) to a specified number (10) of devices based on the leading device (@EM0). command). That is, the access range is defined by the starting address and the specified number. The device extraction unit 53 determines the range from @EM0 to @EM9 as the device range. Note that the access range may be described by indirect reference or index reference. In this case, the device extraction unit 53 searches for an indirect reference destination or a program that substitutes an index value, and identifies the actual access range. Note that the device extraction unit 53 may display a message indicating the extraction failure on the display unit 7 when the extraction of the actual access range fails. Further, the device extraction unit 53 may display a UI for allowing the user to input the actual access range on the display unit 7 and accept user input.

In S13, the device extraction unit 53 extracts devices based on the leading device number and the device range, and adds the extracted devices to the extraction list. For example, MR000, R34000 and R34005 are extracted from step 001 and added to the extraction list. From step 003, @EM0 to @EM9 are extracted and added to the extraction list.

In S14, the device extraction unit 53 determines whether or not the device analysis for the specified program part has been completed up to the end of the program. If the device analysis is not completed until the end of the program, the device extractor 53 proceeds to S15. In S15, the device extraction unit 53 adds 1 to the variable i and returns to S11. If the device analysis is completed up to the end of the program, the device extraction unit 53 terminates the device extraction processing.

In the ladder program shown in FIG. 16, the devices extracted from step No. 004 onward will be briefly described below.

Steps 004 and 005 are requests for origin return (operation) of the motor, and R34310 is a relay device indicating a trigger for starting return to origin of the motor. From this step, the devices MR001, R34310, R40905, R40910, and R34310 are extracted.

Steps 006 to 008 are a process of reading the return-to-origin completion code from the motion unit when the return-to-origin of the motor is completed, and determining whether or not the return-to-origin has been correctly completed. More specifically, R40910 is a relay device that indicates a motor return-to-origin completion trigger. The basic unit 3 does not recognize in real time the specific processing operations for returning to origin in the motion units, and by monitoring whether this flag R40910 is turned ON, it is determined whether or not the return to origin has been completed. do. When this flag R40910 is turned ON, a UREAD instruction for directly reading the buffer memory is executed. The UREAD instruction shown in FIG. 16 is an instruction to read out the 4060th buffer memory in the unit with the unit number 1 and to substitute one word in the device @EM0. Here, the buffer memory No. 4060 stores the return-to-origin completion code, which is 0 if the return-to-origin was completed normally, and a value other than 0 (1 or 2) if the return-to-origin was terminated abnormally. etc.) are stored. Then, as shown in step No. 007, if the device value of @EM0 is other than 0, the basic unit 3 sets the device MR000 and recognizes that the return to origin has ended abnormally. On the other hand, if the device value of @EM0 is 0 as shown in step No. 008, the basic unit 3 sets the device MR001 and recognizes that return to origin has been completed normally. From this step, the devices R40910, @EM0, @MR000, and @MR001 are extracted.

Step 009 is a process of waiting for one second when return to origin has been completed normally. The device T0 has a set value of 10 (corresponding to 1 second because it is in units of 100 ms) and a current count value, and is turned ON when the count value reaches the set value. From this step, the devices MR001 and T0 are extracted.

Finally, in steps 010 to 011, when the device T0 turns ON, the function block "First_operation" is executed for the unit with the unit number 1. FIG. Then, the execution result is stored in @MR002, and the completion code is stored in @EM1. From this step, the devices @MR002 and @EM1 are extracted.

As described above in detail with reference to FIG. 16, in a general ladder program, devices corresponding to the start of operation, such as axis servo ON, origin return request, function block activation and result, etc., and Only the device is described. However, when a problem occurs, if there is information about the state during operation (current coordinates and current position of the motor, etc.), it will be useful for investigating the cause, so as described above, UGs that are monitored by the unit monitor can also be extracted. I have it automatically added to the list.

This extraction process is executed for each of the specified program parts.

●Execution of logging FIG. 17 shows the functions of the CPU 31 of the basic unit 3. Some or all of these functions may be realized by hardware circuits such as ASIC and FPGA. ASIC is an abbreviation for Application Specific Integrated Circuit. FPGA is an abbreviation for Field Programmable Gate Array.

It is assumed that the CPU 31 stores the project data 71 and the log setting data 72 received from the PC 2 in the storage device 32 . The execution unit 80 has a ladder execution engine 80a that repeatedly executes a user program, and a unit control unit 80b that controls the ladder execution engine 80a and performs input/output refresh with the expansion unit 4. there is The ladder execution engine 80a of the execution unit 80 repeatedly executes the user program included in the project data 71, and controls the expansion unit 4 according to the user program. Note that the ladder execution engine 80a of the execution unit 80 writes device values to output devices held in the basic unit device section 34a of the device section 34, or Reads device values from input devices that are connected.

On the other hand, the unit control section 80b of the execution section 80 reads and writes the device value related to the expansion unit acquired by the input/output refresh to the expansion unit device section 34b. The basic unit and the expansion unit are electrically connected by a unit internal bus, and the unit control section 80b has a function of controlling communication in this unit internal bus, that is, a function as a so-called bus master. When the unit control section 80b functions as a bus master, each extension unit and the refresh unit are controlled based on the unit configuration information described with reference to FIG. communicate.

The recording unit 81 acquires device values from the device unit 34 (the base unit device unit 34a or the expansion unit device unit 34b) according to the log setting data 72, or acquires device values from the buffer memory of the expansion unit 4. , is written to a memory (for example, a ring buffer) as log data 73 . As described above, the recording unit 81 executes the logging process during the END process or the like.

The logging process in the END process will be explained in more detail. As described with reference to FIGS. 10C and 11, the log setting data 72 includes the device described in the program part specified by the part specifying section 52 and the function specified by the function specifying section 60 (for example, the unit monitor monitored by) are included as logging targets. The former device is written to the log data 73 during the END process, while the latter device reads the device value of the target device (UG) from the expansion unit 4 during the END process, Write to log data 73 .

Here, the update cycle (so-called control cycle) of the current coordinates and command coordinates of the motor is much shorter than the scan cycle of the ladder program. Therefore, in this embodiment, the UG device values are read in synchronization with the scan cycle, so not all current coordinates and command coordinates are written in the log data 73 . However, the present invention is not limited to this. It is also possible to configure so as to read out coordinates or the like.

The recording unit 81 also adds the time information held by the time management unit 83 to each record of the log data 73 . As a result, the device values are arranged in chronological order in the log data 73 .

Devices to be logged are basically specified by the logging target list L0 of the log setting data 72, but additional devices may be specified by the detection unit . The detection unit 82 may detect rewriting of a device value from an external device to any device included in the device unit 34, for example. In general, device values may be rewritten according to a user program or rewritten by an external device. Such rewriting cannot be grasped in advance only by analyzing the user program. The recording unit 81 may add a device whose device value has been detected by the detection unit 82 to be logged. In general, rewriting of device values from an external device tends to cause unexpected events for users. Therefore, the recording unit 81 logs the device values rewritten by the external device, which will help the user improve the program.

By the way, in the END process, a UG read command may be issued independently of the user program. UG is a device type indicating a buffer memory. The detection unit 82 may detect a UG read command issued independently of the user program. The recording unit 81 may specify the buffer memory that is the target of the UG read command detected by the detection unit 82 and add the specified buffer memory as a recording target. If this expansion unit 4 is a motion unit, such a buffer memory stores torque values, current coordinate positions, and the like.

The detection unit 82 may be realized by an FPGA or the like. The execution unit 80 may be realized by ASIC. In this case, the execution unit 80 designates the address of the device to be read/written from/to the storage device 32 using the address line. Therefore, by monitoring this address line, the detection unit 82 may dynamically detect devices whose device values have been updated. This may be useful when adding devices not described in the user program to be recorded.

The detection unit 82 may be provided in the execution unit 80 . In this case, the execution unit 80 may write a device value to a specific device of the device unit 34 and write this device value and device name (device number) to the log data 73 . This method is useful when adding a dynamically allocated device, which is not described in the user program, to a recording target.

In this manner, the recording unit 81 may record devices regardless of the device list included in the log setting data 72 . In extreme cases, the user can obtain the log data 73 without creating the log setting data 72 . For example, when execution unit 80 is activated, execution unit 80 acquires device values from all devices in device unit 34 . Since the detection unit 82 monitors the device, it detects that the execution unit 80 has read the device value, and transmits information (address information) of the device from which the device value has been read to the recording unit 81 . The recording unit 81 reads device values from all the devices included in the device unit 34 based on the address information transmitted by the detection unit 82 and writes them to the log data 73 . After that, the recording unit 81 logs the device value each time the detection unit 82 detects access to the device unit 34 .

By the way, the recording unit 81 may write the device value to the log data 73 for each scan cycle or for each predetermined collection cycle. For example, even if the detection unit 82 detects multiple accesses to the device within one cycle, the recording unit 81 may write to the log data 73 only the device value when the last access is detected. This makes it possible to reduce the data size of the log data 73 .

Execution unit 80 may have a cache that holds devices. In this case, the detection unit 82 may detect device writing by monitoring the cache.

The log setting data 72 includes a device list indicating devices to be recorded, but may also include a device list indicating devices to be excluded from recording. In this case, when the detection unit 82 detects access to a device to be excluded, the recording unit 81 skips recording the device value for that device.

The detection unit 82 may detect access to the buffer memory of the expansion unit 4 by the execution unit 80 . In this case, the execution unit 80 writes the device value read from the buffer memory of the expansion unit 4 to a buffer or the like secured within the storage device 32 . The recording unit 81 reads the device value from the buffer and writes it to the log data 73 .

The execution unit 80 repeatedly executes the user program and rewrites device values according to the user program. When the detection unit 82 is implemented in the execution unit 80 , the execution unit 80 outputs the device value to the recording unit 81 together with the instruction word when detecting an instruction word for rewriting the device value. The recording unit 81 may write the instruction word, the device value, and the time stamp (the time when the device value was acquired) to the log data 73 .

By the way, the log setting data 72 may include the data format of the log data 73 (eg, binary format or text format). 16-bit decimal, 32-bit decimal, ±16-bit decimal, ±32-bit decimal, 16-bit hexadecimal, 32-bit hexadecimal, character string, Float, DoubleFloat, etc. are set for each device. may be Such a data format can be discriminated by analyzing the instruction word in the program part.

The output unit 84 stores the project data 71, the log data 73, and the image data in the memory when a predetermined output condition is satisfied, such as when the execution of the user program is completed or when the save trigger relay to the memory card is turned on. Write to card 36 . Log data 73 is recorded in a memory (for example, a ring buffer) until a predetermined output condition is satisfied, and when the capacity becomes full, the oldest log data 73 is deleted and new log data 73 is additionally recorded. (recorded in so-called FIFO format). This memory card 36 is removed from the basic unit 3 and mounted on the mounting portion of the PC 2 . As a result, the log data 73 is displayed on the display section 7 of the PC 2 . Note that the output unit 84 may transmit the log data 73 to the PC 2 , the cloud, or the like via the communication unit 33 .

In this embodiment, the log data 73 and the like are written to the memory card 36 when a predetermined output condition is satisfied, but the present invention is not limited to this. It may be saved in a non-volatile memory such as a hard disk. At least the log data 73 must be saved in the memory card 36 or the internal memory 37 when predetermined output conditions are satisfied, while the project data 71 must be saved when the predetermined output conditions are satisfied. is not limited to For example, it may be stored in the memory card 36 or the internal memory 37 in advance at the timing when the PLC 1 changes from the setting mode (PROGRAM mode) to the operation mode (RUN mode).

●Creation of configuration information FIG. 18 is a diagram for explaining the configuration information creation processing (unit setting) executed by the function setting unit 62. As shown in FIG. The function setting section 62 may be called a unit editor. The function setting unit 62 displays the unit setting UI 150 on the display unit 7 when activation of the unit editor is supported. A name column 151 is a column for displaying the name of each unit (eg, model number, etc.). A unit number is automatically assigned to each unit. In this example, the basic unit 3 is given "0" as the unit number. The input area column 152 is a column for allocating input devices. In this example, devices R000 to R015 are assigned to the basic unit 3 as input devices. The output area column 153 is a column for allocating an output system device. In this example, devices R500 to R507 are assigned to the basic unit 3 as output devices. The occupied area column 154 is a column for allocating mixed input/output type devices. End units are so-called terminal units. The user sets the type of expansion unit 4, the order of connection, and the device to be allocated through the operation unit 8. FIG. The function setting unit 62 stores information indicating the type of expansion unit 4, the order of connection (unit number), and the devices assigned to each of the base unit 3 and expansion unit 4 in the configuration information. Configuration information may be referred to as unit configuration information. Here, a device is assigned to each unit, but a device may be assigned to each function of each unit. The function setting section 62 manages the configuration information as part of the project data 71 .

In this way, the configuration information includes information indicating the device assigned to each unit and information indicating the device assigned to each function. Therefore, by referring to the configuration information, the device extraction unit 53 can extract the device assigned to each unit and the device assigned to each function.

<Logging large amounts of data>
A camera exists as the field device 10 . A user may wish to improve a user program while acquiring the state of a workpiece or control object with a camera and comparing the image with device values. Therefore, the question arises how to manage interrelated image and device values. This is because images are generally obtained by the expansion unit 4 and device values are generally obtained by the basic unit 3 . Furthermore, the image acquisition period and the device value acquisition period are generally different. Under these circumstances, the problem is how to associate and manage large-capacity data such as images and relatively small-capacity data such as device values.

FIG. 19 shows the functions of the CPU 31 of the basic unit 3. As shown in FIG. Parts already described are provided with the same reference numerals. In this example, the recording section 81 has a collection section 92a. When a predetermined collection start condition is satisfied, the collection unit 92a reads the device value specified by the log setting data 72 among the device values held in the device unit 34, and reads the device value from the time management unit 83a. Get time information. The collection unit 92a associates the device value with the time information and stores them in the ring buffer 91a. The collection unit 92a acquires device values and time information for each collection cycle (eg, scan cycle) specified by the log setting data 72, and stores them in the ring buffer 91a. The reason why the ring buffer 91a is employed is that not all the data stored in the ring buffer 91a is saved in the memory card 36 as the log data 73. FIG. For example, the storage unit 93 may read the device value and the time information from the ring buffer 91a to create the log data 73 and store it in the memory card 36 when a predetermined storage condition is satisfied. Similarly, the storage unit 93 may read the large-capacity data and the time information from the expansion unit 4 to create the log data 73 and store it in the memory card 36 when a predetermined storage condition is satisfied. The storage unit 93 associates and stores the above-described device value and time information with the above-described large-capacity data and time information. Here, "stored in correspondence" means that the files are stored in a form that can be easily reproduced on the PC 2. For example, file management may be performed in which a plurality of files are associated with each other. Specifically, in the memory card 36, a first subfolder storing device values and time information and a second subfolder storing large-capacity data and time information are placed under a specific folder. In this case, the path to a specific folder (directory path) becomes a common flag, and using this common flag, the files in the first subfolder and the files in the second subfolder can be "associated" and saved. be possible. Also, if there is another folder placed at the same level (directory) as the specific folder described above, that other folder means a data package saved at another timing. Of course, subfolders similar to those described above are also placed under this separate folder. In this way, the storage unit 93 stores the above-described device value and time information and the above-described data (large capacity data) and time information in a plurality of files identified by a common flag (predetermined directory path). , you may save those multiple files. In addition, for example, file names can be used as common flags, and files with the same or corresponding file names can be generated to "associate" and save. In addition, for example, it is also possible to "associate" and save by listing device values and data (large-capacity data) with time information as a key and putting them together in one file. . In the present embodiment, large-capacity data was considered as an example of data from monitoring equipment, but it goes without saying that continuous data such as motion data, communication data, and voice data may also be used. The transmission unit 94 may transmit the log data 73 to the PC 2, cloud, or the like. When the ring buffer 91a becomes full, the collection unit 92a overwrites the oldest information held in the ring buffer 91a with the newest information.

Although the ring buffer 91a is employed here as an example of the buffer, this is merely an example. As a buffer, it would be sufficient if a FIFO type buffer is adopted.

FIG. 20 is a diagram for explaining the functions of the CPU 41 of the expansion unit 4 having the camera input function. The clock of the time management section 83b is synchronized with the clock of the time management section 83a of the base unit 3. For example, the time management unit 83a transmits time information to the time management unit 83b during END processing. The time management unit 83b synchronizes the clock of the time management unit 83b with the clock of the time management unit 83a based on the received time information. A clock may be implemented by a counter that counts time based on time information. The collection unit 92b periodically outputs a trigger signal, for example, when a predetermined collection condition (eg, that a predetermined relay device is turned on) is satisfied. The time management unit 83 b acquires time information from the clock when the trigger signal is input, and stores it in the time information buffer 95 . The memory 42 has a time information buffer 95 and a ring buffer 91a. A connection port 97 is an interface for connecting the camera 98 to the expansion unit 4 . The connection port 97 periodically outputs the trigger signal issued by the collector 92b to the camera 98, and outputs the image data output by the camera 98 to the image receiver 96a. Image data is an example of large-capacity data. The connection port 97 is an example of a second external interface that is connected to monitoring equipment such as the camera 98 and receives data (image data) from the monitoring equipment. The image receiving unit 96 a is all or part of the function executing unit 96 that executes an image capturing function that involves inputting image data from the camera 98 via the connection port 97 . In this embodiment, the function executing section 96 (image receiving section 96a) controls the camera 98 based on imaging parameters (an example of setting information) such as exposure time, gain, white balance, and contrast. Desired parameter values are set for such imaging parameters in the PC 2 and sent to the function executing section 96 via the communication section 33 and the CPU 31 of the basic unit 3 shown in FIG. Therefore, the communication unit 33 shown in FIG. 4 is an example of a first external interface that receives setting information from an external setting device such as the PC 2 or display. Note that the communication unit 33 as a first external interface also receives a user program created by the PC 2 as described above. The camera 98 performs imaging according to the trigger signal and outputs image data. The image receiving section 96a transfers the image data to the collecting section 92b. The collecting unit 92b associates the time information held in the time information buffer 95 with the image data output from the image receiving unit 96a and stores them in the ring buffer 91a. When the ring buffer 91b becomes full, the collection unit 92b overwrites the oldest information held in the ring buffer 91b with the newest information. In this embodiment, the collecting unit 92b automatically and periodically outputs the imaging trigger signal to the camera 98, but the present invention is not limited to this. An imaging trigger signal may be output to the camera 98 based on .

By the way, the basic unit 3 communicates with the extension unit 4 using any one of refresh communication that is executed for each scan, direct communication that can be executed at any time, and message communication that is executed as an event. The storage unit 93 reads the image data and the time information from the ring buffer 91b of the expansion unit 4 using direct communication, and adds them to the log data 73, for example. As the direct communication, a plurality of direct communications with priority may be implemented. In this case, the priority of direct communication executed in relation to the user program may be set relatively high, and the priority of direct communication for logging may be set relatively low. This makes it possible to reduce the impact of logging on the execution of user programs.

<Logging using ring buffer>
21 shows device values and time information held in the ring buffer 91a of the basic unit 3. FIG. One record has an acquired device value and time information indicating the time when this device value was acquired.

21 further shows image data and time information held in the ring buffer 91b of the expansion unit 4. FIG. One record has acquired image data and time information indicating the time when this image data was acquired.

FIG. 22 shows logging using the ring buffer 91a in the base unit 3. FIG.

In S21, the CPU 31 (collection unit 92a) determines whether the device value acquisition condition is satisfied. Acquisition conditions are conditions for starting to store device values and time information in the ring buffer 91a. Acquisition conditions may be described in the user program (eg, that the start relay is turned on) or may be described in the log setting data 72 . If the acquisition condition is satisfied, the CPU 31 proceeds to S22.

In S22, the CPU 31 (collection unit 92a) turns on the acquisition relay. The acquisition relay is a 1-bit device and is a relay for instructing the expansion unit 4 to store data in the ring buffer 91b.

In S23, the CPU 31 (collection unit 92a) determines whether or not the device value acquisition timing has arrived. The acquisition timing is defined by the log setting data 72, for example, every scan cycle (for example, acquired in the END process in each scan). When the acquisition timing comes, the CPU 31 proceeds to S24.

In S24, the CPU 31 (collection unit 92a) acquires the device value specified by the log setting data 72 from the device unit 34, acquires time information from the time management unit 83a, and writes them to the ring buffer 91a.

In S25, the CPU 31 (collection unit 92a) determines whether or not the save timing has arrived. The save timing is the timing for saving the information held in the ring buffer 91 a in the log data 73 . The save timing may be, for example, the occurrence of a predetermined event (eg save trigger). The save timing is also defined by the log setting data 72 . If the save timing has not come, the CPU 31 returns to S23. If the save timing has come, the CPU 31 proceeds to S26.

In S26, the CPU 31 (collection unit 92a) stores the information held in the ring buffer 91a in the log data 73. FIG. Note that the information to be saved among the information held in the ring buffer 91 a may be defined by the log setting data 72 . For example, the information to be saved may be information acquired within a predetermined period of time from the timing when a certain event occurred. The information to be saved is the information acquired from the start time, which is the time that is a predetermined time before the timing of the occurrence of an event, to the end time, which is the time that the predetermined time has passed since the timing of the occurrence of the event. may

In S<b>27 , the collection unit 92 a saves the information held in the ring buffer 91 b of the expansion unit 4 in the log data 73 . The collection unit 92a may read the information held in the ring buffer 91b of the expansion unit 4 using direct communication. More specifically, the collection unit 92a may issue an instruction to read information from the buffer memory. Information to be saved among the information held in the ring buffer 91 b may also be defined by the log setting data 72 . For example, the information to be saved may be information acquired within a predetermined period of time from the timing when a certain event occurred. The information to be saved is the information acquired from the start time, which is the time that is a predetermined time before the timing of the occurrence of an event, to the end time, which is the time that the predetermined time has passed since the timing of the occurrence of the event. may

In S28, the (collection unit 92a) determines whether or not the termination condition is satisfied. A termination condition is a logging termination condition. A termination condition may also be defined by the log setting data 72 . If the termination condition is not satisfied, the CPU 31 returns to S23. If the termination condition is satisfied, the CPU 31 terminates the logging process.

FIG. 23 shows logging using the ring buffer 91b in the expansion unit 4. FIG.

In S31, the CPU 41 (collection unit 92b) determines whether or not the image data acquisition condition (for example, the acquisition relay is turned on) is satisfied. When the acquisition relay is turned ON, the CPU 41 proceeds to S32. In this embodiment, it is determined that the image data acquisition condition is satisfied when the acquisition relay is turned on, but this is merely an example. Alternatively, for example, it may be determined that the image data acquisition condition is satisfied when the mode of the PLC 1 is switched to the operation mode. More specifically, the PLC 1 is provided with a mode selector switch for switching between a setting mode (program mode) for performing various settings and an operation mode (RUN mode) for performing actual operation by repeatedly executing the ladder program. may be In this case, when the user switches the mode switch from the program mode to the RUN mode, it may be determined that the image data acquisition condition is satisfied.

In S32, the CPU 41 (collection unit 92b) determines whether or not it is time to acquire the image data. The acquisition timing is, for example, every internal control cycle (imaging cycle) of the expansion unit 4 or the like. When the acquisition timing comes, the CPU 41 proceeds to S33.

In S33, the CPU 41 (collecting unit 92b) acquires the large amount of data and the time information and stores them in the ring buffer 91b. For example, the collection unit 92b issues a trigger signal and outputs it to the camera 98 and the time management unit 83b. When the time management unit 83b receives the trigger signal, it reads the time information from the internal clock and writes it to the time information buffer 95. FIG. The camera 98 performs imaging according to predesignated imaging conditions and outputs image data. The image receiving section 96a outputs the image data to the collecting section 92b. The image receiving section 96a may directly write the image data to the ring buffer 91b. The collection unit 92b associates the time information read from the time information buffer 95 with the image data acquired by the camera 98 and writes them to the ring buffer 91b.

In S34, the CPU 41 (collection unit 92b) determines whether or not the basic unit 3 has issued a read request (read command) to the ring buffer 91b. If the read request has been received, the CPU 41 proceeds to S35. If no read request has been issued, the CPU 41 returns to S32.

In S<b>35 , the CPU 41 (collection unit 92 b ) acquires large-capacity image data and time information from the ring buffer 91 b and transmits them to the basic unit 3 .

In S36, the CPU 41 (collection unit 92b) determines whether or not the termination condition is satisfied. For example, the collection unit 92b determines whether the acquisition relay is turned off. If the termination condition is not satisfied, the CPU 41 returns to S32. If the termination condition is satisfied, the CPU 41 terminates the logging process.

<Connection type>
FIG. 24 shows a connection form of a building block type PLC1. On the right side of the basic unit 3, an IF 99a is provided for connecting with the expansion unit 4 for communication. IF is an abbreviation for interface. In this example, the extension unit 4a is connected to the basic unit 3, and the extension unit 4b is connected to the extension unit 4a. The expansion unit 4 has IFs 99 on both the right side and the left side. The right side surface of the basic unit 3 faces the left side surface of the expansion unit 4a. Therefore, the IF 99a of the basic unit 3 is connected to the IF 99b provided on the left side of the expansion unit 4a. The right side surface of the extension unit 4a faces the left side surface of the extension unit 4b. Therefore, the IF 99c of the extension unit 4a is connected to the IF 99d provided on the left side of the extension unit 4b. Note that 99e provided on the right side of the extension unit 4b may be connected to the end unit. Thus, the IF 99a to IF 99e form the unit internal bus 90. FIG. For example, image data acquired by camera 98a connected to expansion unit 4a may be transferred to base unit 3 via unit internal bus 90. FIG. Image data acquired by the camera 98b connected to the expansion unit 4b can be transferred to the basic unit 3 via the unit internal bus 90. FIG.

Thus, in the building block type PLC 1, the side surface of each unit serves as a connection surface (connection surface). An IF 99 for forming part of the unit internal bus 90 is also provided on the side of each unit. As described above, communication on the unit internal bus 90 is controlled by the bus master 38 shown in FIG.

FIG. 25 shows the topology of the PLC 1 with the backplane 200. As shown in FIG. The backplane 200 is connected to the bottom surface of the basic unit 3 and the bottom surface of the expansion unit 4 or connected to the rear surface of the basic unit 3 and the rear surface of the expansion unit 4 . Backplane 200 functions as a support plate (base plate) that supports basic unit 3 and expansion unit 4 . Here, as an example, the rear surface is described as the connection surface. The rear surface of the basic unit 3 faces the front surface of the backplane 200 . Therefore, the IF 99f provided on the back of the basic unit 3 is connected to the IF 99g provided on the front of the backplane 200. FIG. The rear surface of the expansion unit 4 faces the front surface of the backplane 200 . The IF 99 h provided on the back of the expansion unit 4 a is connected to the IF 99 i provided on the front of the backplane 200 . The IF 99 j provided on the back of the expansion unit 4 b is connected to the IF 99 k provided on the front of the backplane 200 . IF99f to IF99k form unit internal bus 90. FIG.

The backplane 200 may have a communication control section 213 for controlling bus communication via the unit internal bus 90 . Also, the backplane 200 may have a CPU 211 and a memory 212 . The memory 212 may have a memory card 36 in addition to RAM and ROM. In this case, the CPU 211 may function as the collection unit 92 a and the storage unit 93 . Further, the memory 212 may be provided with a ring buffer 91a. Alternatively, the CPU 211 may have the time management section 83 b and the collection section 92 . In this case, the memory 212 has a ring buffer 91b.

<Log display example>
FIG. 26 shows an example of the log data 73. As shown in FIG. In this example, acquisition timings of device values d1 to d10, workpiece images i1 to i3 acquired by the camera 98a, and other images j1 to j3 acquired by the camera 98b are shown. Device values d1 to d10 are obtained for each scan cycle. The workpiece images i1 to i3 are acquired at the timing when the trigger signal is generated. Work images j1 to j3 are acquired at the timing when the trigger signal is generated. The position of each data indicates each time information. As shown in FIG. 26, the acquisition time and acquisition cycle of each data do not match. Therefore, the log display unit 61 adjusts the display timing of each data based on the time information of each data.

FIG. 27 is a diagram for explaining the display timing and display duration of the log data 73. As shown in FIG. The log display unit 61 displays each device value on the display unit 7 according to the time information of each device value. For example, the log display unit 61 determines the difference time between the time information of the device value d1 and the time information of the device value d2 as the display duration time of the device value d1. The log display unit 61 starts displaying the device value d2 when the display continuation time elapses after starting to display the device value d1. Subsequently, the display continuation time is obtained in the same manner, and the displayed device value is switched according to the time information and the display continuation time.

As already shown in FIG. 26, the acquisition time of the device value d1 and the acquisition time of the workpiece image i1 do not match. Therefore, the log display unit 61 compares the acquisition time of the work image i1 with the acquisition times of the device values d1 to d10, and obtains the acquisition time of the device value dx closest to the acquisition time of the work image i1. In this example, the acquisition time of the device value d1 is closest to the acquisition time of the workpiece image i1. Therefore, the log display unit 61 starts displaying the device value d1 and also starts displaying the workpiece image i1. Next, the log display unit 61 obtains the acquisition time of the device value dx closest to the acquisition time of the workpiece image i2. In this example, the acquisition time of the device value d4 is closest to the acquisition time of the workpiece image i2. Therefore, when the timing for displaying the device value d4 arrives, the log display unit 61 starts displaying the device value d4 and the workpiece image i2. The log display unit 61 obtains the acquisition time of the device value dx that is closest to the acquisition time of the other image j1. In this example, the acquisition time of the device value d2 is closest to the acquisition time of the other image j1. Therefore, when the display timing of the device value d2 arrives, the log display unit 61 starts displaying the device value d2 and another image j1.

In this way, the display timing of each piece of data may be adjusted based on the data with the shortest logging cycle among the plurality of pieces of data included in the log data 73 .

FIG. 28 is a diagram for explaining how the log data 73 is displayed. In this example, relay device R000 and data memory DM100 are acquired as device value dx (x takes a value from 1 to 10). In this way, a plurality of device values are associated with one workpiece image ix according to time information. The log display unit 61 may display the device value dx, the work image ix, and the other image jx in one window, or may display them in separate windows. Further, the log display unit 61 may read out the user program from the project data 71, map the device value dx to the user program, and display it. For example, the log display unit 61 may search for a step containing an instruction related to the device value dx to be displayed, display the found step, and display the device value below the instruction in the step. . Note that the display target device may be a relay device. The log display unit 61 may change the display color of the command word or the icon image (eg, arrow) depending on whether the relay device is on or off. Icon images include those that indicate ON and those that indicate OFF. In addition, the log display unit 61 may display the device values in graph form. In this case, the log display unit 61 always displays the device values d1 to d10 in one window and displays the work image in another window. The log display unit 61 switches workpiece images as time elapses. Here, the log display unit 61 may display a bar 103 that can move in the direction of the time axis. Bar 103 may be called a timeline bar. The log display unit 61 may display the bar 103 so as to move from left to right over time. Bar 103 may be moved by the user. In this case, the log display unit 61 receives a movement operation (eg, a drag operation by the pointer 101) of the bar 103 through the operation unit 8, and updates the display time according to the movement operation. The log display unit 61 may extract from the log data 73 the device value, the work image, and other images whose acquisition times are closest to the display time specified by the bar 103 and display them on the display unit 7 .

In the present embodiment, the camera 98 is exemplified as an example of monitoring equipment, and the imaging function of the camera 98 is exemplified as the function of the function execution unit 96 . The present invention is not limited to this, and the function of the function executing section 96 may be a motion function or a communication function. First, to describe the former motion function in detail, consider a case where a motion unit is connected to the basic unit 3 as the extension unit 4 . In this case, in the PC 2, a program (motion flow program) and parameters (setting parameters for axis configuration and axis control, etc.) that define the operation of the motion unit are set, and so-called setting information is created. Then, the setting information is sent to the function executing section of the motion unit via the first external interface (communication section 33) and reflected in the motion unit. The function execution unit of the motion unit transmits operation command values such as target coordinates and target speed to the motor amplifiers connected to the outside according to the setting information. Motion data such as current coordinates and current speed are received from the motor amplifier via the encoder. The control cycle for receiving motion data such as current coordinates and current speed is shorter than the scan cycle of the ladder program and asynchronous with the scan cycle of the ladder program. Therefore, the collection unit of the motion unit collects motion data at a predetermined cycle, associates information about the reception time of the motion data with the motion data, and stores the information in the ring buffer 91b. After that, as in the process described with reference to FIG. 22, when it comes time to save (similar to step S25 in FIG. 22), motion data (current coordinates, current speed, etc.) and time information are acquired from the ring buffer 91b, Append to log data. This makes it possible to easily identify which device value is associated with which motion data. On the other hand, to describe the latter communication control in detail, consider a case where a communication unit is connected to the basic unit 3 as an expansion unit 4 . In this case, in the PC 2, a program (communication flow program) that defines the operation of the communication unit and parameters (communication cycle, transfer rate, etc.) are set, and setting information is created. Then, similarly to the motion control described above, the setting information is reflected in the communication unit via the communication section 33 . Then, the function execution section of the communication unit receives communication data such as a plurality of sensor values from an externally connected sensor group (such as a plurality of photoelectric sensors connected together) according to the setting information. The reception cycle of such communication data (cyclic communication cycle) is asynchronous with the scan cycle of the ladder program. In addition, when the number of sensors constituting the sensor group is large, the communication data itself may constitute a large amount of data. The collection unit of the communication unit collects communication data at a predetermined cycle (so-called cyclic communication cycle), associates the communication data with information about the reception time of the communication data, and stores the communication data in the ring buffer 91b. After that, as in the process described using FIG. 22, at the time of saving (similar to step S25 in FIG. 22), communication data (sensor values, etc.) and time information are acquired from the ring buffer 91b, and log data is stored. add to.

<Setting the collection period>
The log setting unit 51 may receive the setting of the collection period of the log data 73 .

FIG. 29 shows UI 160 for setting the collection period. Note that the UI 160 , the UI 110 , and the UI 100 may be switched by selecting corresponding tabs with the pointer 101 . The UI 160 has a pull-down menu 161 for specifying the collection method. A collection method is a collection method of the log data 73 . In this example, a collection method called pre- and post-retention trigger and a collection method called start-relay are described. Before and after the save trigger is a method of collecting the log data 73 at the collection time Ta before the timing when the save trigger is turned on and at the collection time Tb after the timing when the save trigger is turned on. A text box 162 accepts an input of collection time T. FIG. The collection time T is the total value of the collection time Ta and the collection time Tb. A text box 163 accepts an input of collection time Tb after triggering. The storage trigger setting unit 164 receives settings of a device name of a relay device used as a storage trigger and a condition (for example, switching from off to on). An up arrow means that a relay device designated as a save trigger has switched from off to on. The guidance section 165 is a UI for explaining the collection period. This example shows that the log data 73 is collected with the storage trigger as a boundary. The log setting unit 51 may also display on the UI 160 information regarding the device size and the extension of the scan time described above.

In a collection method called before and after a save trigger, device values and image data are always stored in the ring buffer 91 . The storage unit 93 creates the log data 73 of 20 seconds specified as the collection time when the relay device R200, which is a storage trigger, is turned on. The storage unit 93 reads from the ring buffer 91 the data recorded 18 seconds before the timing when the relay device R200 was turned on and the data recorded 2 seconds after the timing, and creates the log data 73. .

FIG. 30 shows UI 160 for setting the collection period. In this example, the start relay is selected as the collection method from the pull-down menu 161 with the pointer 101 . The log setting unit 51 changes the UI 160 according to the collection method selected by the user. Text box 166 accepts the device name of the relay device that will be used as the initiating relay. As indicated by the guidance section 165, in the collection method called start relay, the timing at which the start relay is turned on is the starting point (starting point) of the collection time. For example, it is assumed that it takes 30 seconds to press one workpiece flowing through the production line. It is also assumed that the time during which trouble can occur is the first 20 seconds of the 30-second processing time. A relay device R000 is a relay that defines the timing of starting press processing. When the relay device R000 is turned on, the collection unit 92 stores device values and image data in the ring buffer 91 for 20 seconds. When the next work arrives and the relay device R000 is turned on again, the collection unit 92 stores device values and image data in the ring buffer 91 for 20 seconds. When the storage trigger relay device R200 is turned on, the storage unit 93 acquires the device values and image data for the latest 20 seconds stored in the ring buffer 91 and creates the log data 73 . The storage trigger relay device R200 is a relay device that turns on when trouble occurs.

The log setting unit 51 stores the information set through the UI 160 in the log setting data 72 and transfers it to the basic unit 3 together with the project data 71 .

<Debug>
FIG. 31 is a flow chart showing an outline of debugging processing of a user program executed by a user.

In S41, the user operates the PC 2 to create a user program composed of a plurality of program parts, and create project data 71 including the user program. The program creation unit 63 creates a user program according to user input and stores it in the storage device 22 . The project creation unit 50 creates project data 71 according to user input and stores it in the storage device 22 . Project data 71 includes identification information for identifying project data 71 or a user program. The project creation unit 50 may perform calculations on the project data 71 or the user program to obtain hash values or error detection codes, and add these to the project data 71 as identification information. Note that the identification information may be a GUID (Globally Unique Identifier) or the like.

At S42, the user operates the PC2 and transfers the project data 71 to the PLC1. The project creation unit 50 reads out the project data 71 from the storage device 22 and transmits it to the PLC 1 via the communication unit 23 . When the basic unit 3 of the PLC 1 receives the project data 71, it writes it to the storage device 32. FIG.

In S43, the user operates the operation section 6 of the basic unit 3 (for example, by operating a mode switch for switching from PROGRAM mode to RUN mode) to instruct execution of the project. The execution unit 80 executes the user program contained in the project data 71. FIG. The recording unit 81 logs device values and the like, and stores (records) the logged device values in the ring buffer 91a. The storage unit 93 of the output unit 84 stores the device values recorded in the ring buffer 91a and the image data described above in the memory card 36 or the internal memory 37 when a predetermined output condition is satisfied. , log data 73 is created.

In addition to the log data 73, the storage unit 93 stores the project data 71 in the memory as shown in FIG. As a result, in the PC 2, using the project data 71 at the time of trouble occurrence, the operation at the time of trouble occurrence can be reproduced on the monitor. Details will be described later.

In addition to the project data 71, the storage unit 93 also stores identification information (such as a hash value) of the project data 71 in the memory. As a result, the PC 2 can use the identification information to verify whether or not the current project data (to be replayed) matches the project data 71 when the actual trouble occurred. Details will be described later.

In this embodiment, the project data 71 and its identification information are stored in the memory in addition to the log data 73 at the timing when the predetermined output condition is satisfied, but the present invention is not limited to this. . For example, the project data 71 and its identification information are stored in the memory before the operation of the PLC 1 is started, when the operation is started, or during the operation, and only the log data 73 is stored in the memory at the timing when the predetermined output condition is satisfied. You can save it. In short, when the predetermined output condition is satisfied, the log data 73, the project data 71, and their identification information should be stored in the memory in a state of being associated with each other.

Also, in this embodiment, the project data 71 are stored in the memory, but the present invention is not limited to this. may In this case, it is assumed that the current project data in the PC 2 matches the project data 71 when the actual trouble occurred. That is, it is assumed that the current project data has not been edited or modified after the project data was transferred to the PLC1. If it is determined that the two data do not match, the user should recognize that the current project data is different from the actual project data 71 when the trouble occurred before replaying. You can prevent replays (incorrect troubleshooting) from happening without knowing this.

In S44, the user operates the operation section 6 of the basic unit 3 and instructs to transfer the project data 71 and the log data 73 to the PC2. Alternatively, the operation unit 8 of the PC 2 may be operated to read the project data 71 written in the memory card 36, the identification information of the project data 71, and the log data 73. FIG. The output unit 84 transmits the project data 71 and the log data 73 to the PC2. Note that the output unit 84 may adopt a configuration in which the identification information of the project data 71 is added to the log data 73 when it is determined that the transfer of the project data 71 is prohibited. The identification information of the project data 71 and the log data 73 may be transmitted separately. The output unit 84 performs an operation (for example, using a hash function) on the project data 71 or the user program at the timing when a predetermined condition for writing to the memory card 36 is satisfied, and outputs a hash value or an error detection code or the like. may be obtained and added to the log data 73 as identification information. As long as the identification information creation rule executed by the PC 2 matches the identification information creation rule executed by the basic unit 3, any rule may be adopted.

In S45, the user operates the PC 2, reproduces (replays) the log data 73, investigates the cause of the trouble, and debugs the user program that constitutes the project data 71. FIG. Reproduction of the log data 73 includes displaying the time-series device values included in the log data 73 as waveforms on the display unit 7, displaying the device values in association with the user program, and displaying the device values included in the log data 73. It includes displaying the time-series image data stored on the display unit 7 . The log display unit 61 has an internal clock that measures virtual time, acquires device values from the log data 73 in synchronization with the internal clock, and displays them on the display unit 7 . Project data 71 may not be sent from PLC1. In this case, the log display unit 61 may use the user program of the project data 71 (master data) held in the storage device 22 to display the device value in association with the user program. The details of investigating the cause of the trouble by reproducing the log data 73 will be described later.

It should be noted here that the version of the project data 71 used to acquire the log data 73 and the version of the project data 71 held in the PC 2 may differ. In this case, it may become impossible to display the device value in association with the user program, or the association between the user program and the device value may be erroneous. In this case, the log display unit 61 uses the identification information of the project data to make the version of the project data 71 used to acquire the log data 73 different from the version of the project data 71 held in the PC 2. A warning indicating this may be displayed on the display unit 7 . Note that the log display unit 61 determines whether or not to display the log data 73 acquired using the first version of the project data 71 in association with the second version of the project data 71 held in the PC 2 . You can also ask the user. When the user desires such a display, the log display unit 61 displays the log data 73 obtained using the first version of the project data 71 as the second version of the project data held in the PC 2 . 71 and displayed on the display unit 7 . Note that versions are managed by identification information. If the user confirms that there is no problem with the log data 73, no debugging is required, and subsequent S46 and S47 are also unnecessary. The user analyzes the log data 73, finds bugs and the like in the user program, and corrects the user program. The project creating unit 50 corrects (updates) the project data 71 according to the user's input and stores it in the storage device 22 .

At S46, the user operates the PC2 to transfer the project data 71 to the PLC1. Note that the identification information is updated when the user program in the project data 71 is changed. This makes it possible to distinguish between the project data 71 before correction and the project data 71 after correction.

In S47, the user operates the basic unit 3 and instructs execution of the user program included in the project data 71, thereby verifying the project data 71. FIG. The execution unit 80 executes the user program contained in the project data 71. FIG. If the PLC 1 operates as expected by the user, the user determines that debugging of the project data 71 has succeeded. If the PLC 1 does not operate as expected by the user, the recording unit 81 logs the device values and the like again, and the storage unit 93 creates the log data 73 . Then, the user executes S44 to S47 again.

Thus, the user can debug the project data 71 while referring to the log data 73 . Therefore, it is considered that debugging efficiency is improved.

Note that the project data 71 may be transferred via the memory card 36 . That is, the PC 2 writes to the memory card 36. The user removes the memory card 36 from the PC 2 and attaches the memory card 36 to the basic unit 3 . The basic unit 3 reads the project data 71 from the memory card 36 and writes it to the storage device 32 . Similarly, transfer of log data 73 may also be performed via memory card 36 .

<Output part>
FIG. 32 shows an output section 84 mounted on the basic unit 3. As shown in FIG. The output unit 84 may transfer the project data 71 used when acquiring the log data 73 to the PC 2 in addition to the log data 73 . However, in order to prevent information leakage of the project data 71 , the project data 71 may be set with an access right (protection) that prohibits writing to the memory card 36 and transmission to the PC 2 . Therefore, the determination unit 301 refers to the access authority granted to the project data 71 and determines whether or not the output of the project data 71 is prohibited. When the output of the project data 71 is prohibited, the output unit 84 outputs the log data 73 but does not output the project data 71 . On the other hand, when the output of the project data 71 is not prohibited, the output unit 84 outputs the log data 73 and the project data 71 . When the output of the project data 71 is prohibited, the addition unit 302 may output the identification information of the project data 71 held in the storage device 32 together with the log data 73 . This identification information may be a part of the project data 71, or the identification information may be obtained by the calculation unit 303 executing a predetermined calculation on the project data 71 or the user program. The predetermined calculation may be, for example, a hash calculation or an error detection code calculation. A real-time transmission unit 304 transmits the device values held in the device unit 34 in real time. This is useful when displaying device values in real time on a display device such as a PC2 or HMI (Human Interface).

<Project creation unit 50>
FIG. 33 shows the details of the project creating unit 50. As shown in FIG. The function setting unit 62 sets the configuration information of the expansion unit 4, the functions of the basic unit 3 and the functions of the expansion unit 4 based on the information input from the operation unit 8, and creates configuration information indicating the setting contents. The settings of the functions of the basic unit 3 include IP address settings, FTP client settings, access authority settings for the project data 71, and the like. The function settings of the expansion unit 4 include input channel settings and settings related to communication between PLCs. Configuration information is part of project data 71 . The editing unit 311 (which may also serve as the program creation unit 63 shown in FIG. 6) displays an editing UI for the user program on the display unit 7 and edits the user program based on information input from the operation unit 8 . The debug unit 314 uses the project data 71 to debug the user program. The adding unit 312 adds identification information to the project data 71 . A calculation unit 313 obtains identification information (eg, a hash value or an error detection code) by calculation. Note that the function of computing (calculating) the identification information by the computation unit 313 may be performed by the output unit 84 .

<Log display unit 61>
FIG. 34 shows the details of the log display section 61. As shown in FIG. The program display module 321 is a module for displaying the device values included in the log data 73 together with the user program included in the project data 71 on the display unit 7 . The program display module 321 allows the user to view the setting contents of the project data 71, such as program configuration information, a plurality of program parts, unit configuration, and function settings for each unit, included in the project data 71 as well as the user program. It is possible to display various information for The image display module 323 displays the time-series image data included in the log data 73 on the display unit 7 . The waveform display module 322 is a module that converts time-series device values included in the log data 73 into waveforms and displays them on the display unit 7 . The playback control module 324 temporally synchronizes the information displayed by the program display module 321 and the information displayed by the waveform display module 322 . These modules may be called engineering software. The image display module 323 may be embodied as one function (image display section) of the program display module 321 or may be embodied as one function (image display section) of the waveform display module 322 .

● Program Display Module FIG. 35A shows details of the program display module 321 . The time UI 330a provides a UI (eg, slide bar, cursor, etc.) for operating the acquisition time (display time) of the device displayed together with the user program. The display time control unit 331a sends the display time specified by the time UI 330a to the reproduction control module 324, and sets the display time notified from the reproduction control module 324 in the time UI 330a. The program display section 332 displays the project data 71 on the display section 7 or reads the project data 71 corresponding to the identification information from the storage device 22 and displays it on the display section 7 . The program display unit 332 also displays the device values acquired by the device value acquisition unit 333a in association with the devices used or described in the user program. The device value acquisition unit 333a has a real-time playback mode and a log playback mode. The device value acquisition unit 333 a accesses the real time transmission unit 304 of the PLC 1 in the real time reproduction mode, acquires the device value, and passes it to the program display unit 332 . The device value acquisition unit 333 a accesses the playback control module 324 in the log playback mode, acquires the display time and the device value, and passes them to the program display unit 332 .

FIG. 35B is a schematic diagram showing an example of a GUI displayed on the display unit 7 by the program display unit 332 or the like.

In FIG. 35B, various pieces of information forming the project data 71 are displayed in the project display area 420 in the left column. Unit configuration (basic unit, motion unit, analog input unit, camera unit), program configuration (every scan module, periodic module, inter-unit synchronization module, function block, macro) are displayed in order from the top. For the motion unit, setting parameters for axis configuration and axis control are displayed as function settings. By double-clicking on the axis configuration and axis control on the GUI shown in FIG. 35B, the user can confirm what kind of settings are made for these setting parameters. In the project display area 420, Main and Sub are displayed for each scan module, and when the user clicks Main, the Main program is displayed in the program display area 410 of the ladder monitor 450 in the center. Thus, the program display module 321 shown in FIG. 34 reads out the project data 71 from the memory card 36, displays various information in the project display area 420, and displays a desired program in the program display area 410.

Here, the program display area 410 is a part of the so-called ladder monitor 450, and can be operated independently in the real-time playback mode. It is also possible to hide only the ladder monitor 450 by clicking the x mark. On the other hand, in the log playback mode, the program display unit 332 can reproduce the ladder program included in the project when the driving record was saved. Also, in the log reproduction mode, the program display unit 332 displays the device values included in the log data 73 via the device value acquisition unit 333a in association with the devices described in the Main program. The device value to be displayed is the device value corresponding to the time designated by the time designation cursor 404 (details will be described later with reference to FIG. 38).

In FIG. 35B, the device value associated with 18:52:54 on 20XX/10/01 displayed in the time display area 409 is displayed in association with the device described in the Main program. [35000/74286] displayed to the right of this date indicates the current number of scans of 35000 relative to the total number of scans of 74286. By dragging and moving the time designation cursor 404, the user updates the display time and the number of scans, and also updates the display of the device value. For example, at the display time after the update, ON display (for example, blacked out in color) is performed for relay devices that are ON, and OFF display (for example, color is not displayed) for relay devices that are OFF. is done. Details such as the function of the playback button 406 will be described later with reference to FIG.

In FIG. 35B, the image display area of the camera monitor 430 is provided in the upper right column. The image display module 323 reads image data from the log data 73 and displays it in the image display area of the camera monitor 430 in synchronization with the display time displayed on the ladder monitor 450 by the program display module 321 . In FIG. 35B , image data associated with the display time of 20XX/10/01 18:52:54 is displayed on the camera monitor 430 . Also, 282/601 is displayed to the right of this display time, which indicates the current image data order (282nd image) with respect to the total number of captured images 601 . By dragging and moving the time designation cursor 404a on the camera monitor 430, the user can update the display time and the order of the current image data.

At this time, as the time designation cursor 404a moves, the time designation cursor 404 on the ladder monitor 450 described above also moves. For example, when the time designation cursor 404a is set at 19:00:00 at the display time 20XX/10/01, the time designation cursor 404 on the ladder monitor 450 also moves at 19:00 at the display time 20XX/10/01: It moves following the position of 00. As the time designation cursor 404 moves, the device value on the ladder monitor 450 is also updated. Although the time designation cursor 404a is moved here, the reverse is also true. For example, when the time designation cursor 404 on the ladder monitor 450 is moved, the time designation cursor 404a on the camera monitor 430 is also moved accordingly. Such a processing operation becomes possible because the program display module 321 and the image display module 323 execute synchronization control regarding display time via the reproduction control module 324 .

In FIG. 35B, a unit monitor 440 is displayed in the lower right column. For example, as described using FIG. 10A, the unit monitor 440 displays the device value of the buffer memory (UG) in the motion unit. More specifically, when the unit display module 325 of the log display unit 61 receives the display time to be currently reproduced from the reproduction control module 324, it reads the device value associated with that time from the memory card 36, and displays the unit Display on monitor 440 . Therefore, for example, referring to FIG. 35B, a list of device values associated with 18:52:54 of display time 20XX/10/01 is displayed on the unit monitor 440 .

FIG. 35C is a schematic diagram of a data source for displaying a GUI in log playback mode. As shown in FIG. 35C, the project display area 420 reads the unit configuration, function settings, program configuration, and program parts included in the project data 71 from the memory and displays them in a tree format. The ladder monitor 450 reads the program configuration (what program parts consist of) and program parts from the memory, displays the program parts specified by the user, and retrieves the device value corresponding to the display time from the log data 73. Read and display. The camera monitor 430 is based on information such as unit configuration (whether or not there is a camera monitor) and function settings (functions of the camera monitor; for example, if there are multiple ports, port number, imaging cycle, gain setting, etc.). Image data corresponding to the display time is read from the data 73 and displayed. The unit monitor 440 retrieves the device value corresponding to the display time from the log data 73 based on information such as unit configuration (what kind of units are there) and function settings (axis configuration, axis control, etc. for motion units). is read and displayed.

As can be seen from FIGS. 35B and 35C, the function of the reproduction control module 324 allows the program display module 321, the image display module 323, and the unit display module 325 to be synchronously controlled and linked. The details of cooperation of the waveform display module 322 will be described later.

Here, in this embodiment, it is possible to verify whether or not the current project data matches the project data 71 when the actual trouble occurred. More specifically, the matching unit 334 of the program display module 321 shown in FIG. (user program) and the identification information, and outputs the result of the comparison to the warning unit 335 . The warning unit 335 detects that the identification information of the project data 71 (user program) output from the PLC 1 when the driving record was saved does not match the identification information of the project data (user program) stored in the storage device 22. , a warning is displayed on the display unit 7 .

For example, the warning unit 335 causes the display unit 7 to display a warning screen 470 as shown in FIG. 35D. To give a specific example, it is assumed that the identification information of the project data 71 when the driving record was saved does not match the identification information of the current project data (to be replayed). For example, after transferring the project data to the PLC 1, the user edits the project data (programs, function settings, etc.). In this case, a warning screen 470 shown in FIG. 35D is displayed when the real-time playback mode is shifted to the log playback mode based on the user's operation.

A warning screen 470 shown in FIG. 35D prompts the user to select whether to perform log playback using the current project data as is, or to perform log playback using the driving record project. In the former case, the user recognizes that the current project data is different from the actual project data 71 at the time of trouble occurrence, and then reproduces the log. On the other hand, in the latter case, for example, the user designates the path (folder or directory) in the storage device 22 in which the driving record project is stored, and performs log playback using the driving record project. be able to.

In this embodiment, the identification information of two pieces of project data are compared to verify whether they match or not. More specifically, identification information is added to the program configuration, multiple program parts, unit configuration, and function settings for each unit included in the project data, and verification is performed by checking whether all of them match. and However, the present invention is not limited to this, and at least it suffices to compare the identification information of the user program composed of a plurality of program parts to verify match/mismatch.

● Waveform Display Module FIG. 36A shows the details of the waveform display module 322 . The time UI 330b provides a UI (eg, slide bar, etc.) for operating the acquisition time (display time) of the device displayed together with the user program. As shown in FIG. 28, the time UI 330b basically moves the bar 103 from left to right according to the display time provided by the playback control module 324. FIG. However, the time UI 330b receives the operation of the bar 103 through the operation unit 8, and passes the operation amount of the bar 103 to the reproduction control module 324 through the display time control unit 331b. The display time control unit 331b sends the display time specified by the time UI 330b to the reproduction control module 324, or sets the display time notified from the reproduction control module 324 in the time UI 330b. The device value acquisition unit 333b has a real-time playback mode and a log playback mode. The device value acquisition unit 333 b accesses the real time transmission unit 304 of the PLC 1 in the real time reproduction mode, acquires the device value, and passes it to the waveform display unit 336 . The device value acquisition unit 333 b accesses the playback control module 324 in the log playback mode, acquires the display time and device value, and passes them to the waveform display unit 336 . As shown in FIG. 28, the waveform display section 336 waveforms the device values acquired by the device value acquisition section 333b and displays them on the display section 7 . It is not essential to waveform the device values, and the device values may be displayed as they are. As shown in FIG. 28, the image display module 323 displays the image data output from the reproduction control module 324 on the display section 7. FIG. As described above, the image display module 323 may be realized as one function of the waveform display module 322, but as shown in FIG. good.

FIG. 36B is a schematic diagram showing an example of a GUI displayed on the display unit 7 by the waveform display module 322 or the like. In particular, the GUI displayed by the waveform display module 322 is the so-called real-time chart monitor 460 displayed in the bottom right pop-up window.

In FIG. 36B, the project display area 420 in the left column, the program display area 410 (ladder monitor 450) in the center, and the image display area (camera monitor 430) in the upper right column are the same as those shown in FIG. 35B. That is, these displays are performed by the program display module 321 and the image display module 323 . In FIG. 36B, display of the unit monitor 440 by the unit display module 325 is omitted, but this may be displayed.

The outline of the real-time chart monitor 460 shown in FIG. 36B is as explained using FIG. In FIG. 36B, the waveform data of relay device R000 and the waveform data of data memory DM100 are read from the memory and displayed. The device to be displayed on the real-time chart monitor 460 can be freely adjusted by the user through a setting screen (not shown).

A time designation cursor 404b (corresponding to the bar 103 shown in FIG. 28, which may be called a playback position cursor) is displayed below the real-time chart monitor 460, and the user clicks the position of the time designation cursor 404b. can be moved by pressing At this time, when the position of the time designation cursor 404b is moved, the time designation cursor 404 on the ladder monitor 450 and the time designation cursor 404a on the camera monitor 430 are moved together by the function of the reproduction control module 324. . Specifically, in FIG. 36B, the horizontal axis in the waveform display area of the real-time chart monitor 460 indicates the number of scans (which may be displayed by switching to the time). , the time designation cursor 404 on the ladder monitor 450 and the time designation cursor 404a on the camera monitor 430 move to the position of the display time corresponding to the number of scans. Then, the device value and image data corresponding to the display position after movement are displayed. Of course, the reverse is also true. That is, when the time designation cursor 404 on the ladder monitor 450 or the time designation cursor 404a on the camera monitor 430 is clicked and slid to a desired position, the time designation cursor 404b also moves to the scan count position corresponding to the desired position. . At this time, if the time designation cursor 404 or the time designation cursor 404a is moved by a certain amount or more, the position indicated by the time designation cursor 404b will be outside the current display range of the real-time chart monitor 460. The display range follows so that it is always within the display range.

Here, as shown in FIG. 36B, in the real-time chart monitor 460, the time designation cursor 404b consists of a vertical line superimposed on the waveform display area, a triangular figure attached to the bottom end of the vertical line, , and a display area bar 404c is displayed below the time designation cursor 404b. A square indicator indicating the current position is displayed in the center of the display area bar 404c. The user can change the range displayed on the real-time chart monitor 460 by dragging this indicator and moving it left or right. By effectively utilizing the display area bar 404c, the user can perform troubleshooting to investigate the cause of the trouble. This point will be described in more detail with reference to FIG. 36C.

FIG. 36C is an explanatory diagram for explaining the relationship between the display range displayed on the real-time chart monitor 460 and the time designation cursor 404b.

In FIG. 36C, it is assumed that real-time chart monitor 460 displays relay devices R000 and R001 and data memories DM100 and DM101. In FIG. 36C, for convenience of explanation, it is assumed that 15 device values (black circles) are displayed on the real-time chart monitor 460 for each device. Among these device values, the device value corresponding to a specific time for each device is the device value designated by the time designation cursor 404b. In FIG. 36C , the device value corresponds to the central time of the range displayed on the real-time chart monitor 460 . When the user drags the time designation cursor 404b to move it, for example, to the right, the display range is adjusted so that the time designation cursor 404b falls within the display range in the same manner as the time designation cursor 404 and the time designation cursor 404a described above. will follow. On the other hand, when the user drags the square indicator of the display area bar 404c and moves it, for example, to the right, the display range of the real-time chart monitor moves to the right, and when it moves by a certain amount (eight device values When it moves to the right by minutes), the time designation cursor 404b disappears. However, in this embodiment, even if the time designation cursor 404b is hidden, by double-clicking a desired position in the waveform display area, the time designation cursor 404b jumps to the desired position so as to facilitate troubleshooting. It is designed to In other words, the waveform display section 336 shown in FIG. 36A has a function of receiving a desired position designation from the user in the waveform display area and moving the time designation cursor 404b to the received designated position.

A more specific description will be given of the troubleshooting procedure (one example) using the GUI shown in FIG. 36C.

(1) First, the user investigates the cause of the trouble while viewing the device waveform displayed in the waveform display area by dragging and moving the square indicator left and right on the display area bar 404c of the real-time chart monitor 460. Find a time that might be useful for At this time, the time designation cursor 404b may disappear from the display range of the real-time chart monitor 460, as described above.

(2) If a time at which an abnormal device value is found in the device waveform, double-click that time in the waveform display area. Then, the time designation cursor 404b jumps to that time, and the time designation cursor 404 on the ladder monitor 450 and the time designation cursor 404a on the camera monitor 430 both jump to that time.

(3) As a result, the reproduction control module 324 displays the device value corresponding to that time on the ladder monitor 450 and the image data corresponding to that time on the camera monitor 430 . Therefore, the user can investigate the cause of the trouble while viewing these device values and image data.

● Playback control module 324
FIG. 37 shows details of the playback control module 324 . The device value providing unit 341 provides the program display module 321 and the waveform display module 322 with device values obtained from the log data 73 by the log data obtaining unit 344 . The device value providing unit 341 also provides the device value acquired from the log data 73 to the unit display module 325 as well. Note that the device value acquired from the log data 73 may be temporarily stored in the log device 345 . The device value acquiring unit 333 of the program display module 321 and waveform display module 322 requests the device value providing unit 341 for the device value. The device value acquisition unit 333 acquires device values from the log device 345 and transmits them to the device value acquisition unit 333 . The time device 342 is a device that holds the display time set by the reproduction control section 343 . The device value (time information) held in the time device 342 may also be transmitted by the device value providing section 341 to the device value obtaining section 333 . Alternatively, the reproduction control section 343 may provide time information to the display time control sections 331a and 331b. The playback control unit 343 has a virtual internal clock for measuring display time, and updates the time information held in the time device 342 according to this internal clock. The reproduction control section 343 transmits the time information held in the time device 342 to the display time control sections 331a and 331b. Upon receiving the designation of the display time from the display time control units 331a and 331b, the reproduction control unit 343 sets the received display time to the internal clock (time adjustment). Therefore, when the display time is designated by the display time control section 331a, the display time is transmitted to the display time control section 331b via the reproduction control section 343. FIG. Similarly, when the display time is designated by the display time control section 331b, this display time is transmitted to the display time control section 331a via the reproduction control section 343. FIG. As a result, the display time of the program display module 321 and the display time of the waveform display module 322 are synchronized. In order to realize slow playback, fast-forward playback, rewind playback, etc., the playback control unit 343 changes the update speed of the internal clock according to user input from the operation unit 8. FIG. The playback control unit 343 may set the time information of the oldest record included in the log data 73 as the initial value of the internal clock. The log data acquisition unit 344 acquires the device value associated with the display time held in the time device 342 from the log data 73 and transfers it to the device value provision unit 341 .

Similarly, the reproduction control section 343 may synchronize the display time of the program display module 321 and the display time of the waveform display module 322 , as well as the time of the image display module 323 and the unit display module 325 .

In the present embodiment, the display times of the program display module 321, waveform display module 322, image display module 323, and unit display module 325 are always synchronized in the log playback mode, but the present invention is not limited to this. For example, the user may be allowed to select whether or not to synchronize. For example, a check box for synchronization may be provided on each monitor screen and checked by default. By unchecking a module that the user does not want to synchronize, it is also possible for the user not to synchronize only that module. In this way, the log display section 61 may have a selection function of selecting a module to be synchronously controlled (follow-up controlled) by the reproduction control module.

<Program display UI>
FIG. 38 shows a display UI 400 provided by the program display module 321. As shown in FIG. The display UI 400 described with reference to FIGS. 35B and 36A will be described in further detail from another viewpoint. A program display area 410 is an area for displaying the user program of the project data 71 . In this example, the program display area 410 displays a ladder program (ladder diagram). The program display unit 332 acquires the device value of the device used or described in the user program by the device value acquisition unit 333a, and displays it together with the user program. For example, if the relay device is ON, the program display unit 332 may display an icon 401a indicating ON on the user program. If the relay device is OFF, the program display unit 332 may display an icon 401b indicating OFF over the user program. The program display unit 332 may acquire the device value of the DM 100, which is an output system device, by the device value acquisition unit 333a, and display the device value superimposed on the description of the DM 100 in the user program. In this example, a device value display area 403 is provided under the description of DM100. The program display unit 332 displays device values in the display area 403 . Since the reproduction control module 324 updates the device value together with the display time, the program display unit 332 updates the device value displayed together with the user program. The time UI 330 a moves the time designation cursor 404 from right to left according to the display time acquired from the time device 342 . The time designation cursor 404 can be dragged by the pointer 101 . When the time UI 330a detects that the time designation cursor 404 has been dragged by the pointer 101, the display time control unit 331a causes the reproduction control unit 343 to stop updating the display time, and causes the reproduction control unit 343 to change the drag amount of the time designation cursor 404. to notify. The playback control unit 343 adjusts the count value (display time) of the internal clock according to the drag amount. Even if the time UI 330a displays the update speed of the display time (eg, 2.0 times, 1.0 times, 0.5 times, 0.1 times, . good. Note that the speed designation unit 405 may be implemented by a pull-down menu that displays a list of multiple update speeds and allows selection of one of the update speeds. When the time UI 330a detects a click of the pointer 101 on the speed designation portion 405, the pull-down menu may be displayed to accept the selection of the update speed. A play button 406 is a button for instructing display of device values in chronological order. When the time UI 330a detects that the playback button 406 has been clicked by the pointer 101, it instructs the playback control section 343 to start updating the display time in the display time control section 331a. This instruction corresponds to an instruction to start displaying device values or an instruction to resume displaying. A one-step reverse playback button 407 is a button for instructing display of device values in chronological order while updating (rewinding) the display time step by step. When the time UI 330a detects that the one-step reverse playback button 407 has been clicked by the pointer 101, it instructs the display time control unit 331a to return the display time by one step. A one-step playback button 408 is a button for instructing to display the device values in chronological order while updating the display time step by step. When the time UI 330a detects that the one-step playback button 408 has been clicked by the pointer 101, it instructs the display time control unit 331a to advance the display time by one step. Note that while the one-step playback is being performed, the playback control unit 343 does not update the display time unless the one-step reverse playback button 407 or the one-step playback button 408 is operated. When the playback button 406 is operated while the one-step playback is being executed, the playback control unit 343 resumes updating the display time at the update speed specified by the speed specifying unit 405 . A time display area 409 is an area for displaying the display time held in the time device 342 . The display time control unit 331 a displays the display time acquired from the time device 342 in the time display area 409 .

<HMI emulator>
PLC1 can be connected to an external display device called HMI. The HMI may have a touch panel type input device. The HMI reads the device values held in the device unit 34 of the PLC 1 and displays them on the display device. The project creation unit 50 sets the UI displayed on the HMI and the device values displayed on the UI, and saves them in the project data 71 . The debug unit 314 has an HMI emulator and operates the emulator according to the project data 71 to confirm the operation of the HMI. The log display unit 61 supplies the device value of the log data 73 to the HMI emulator. The HMI emulator displays the provided device values in chronological order on the UI.

FIG. 39 shows the UI 490 of the HMI emulator. In this example, the HMI emulator is included in program display module 321 . The program display unit 332 reflects the device value provided by the reproduction control unit 343 in the display area of the UI490. UI 490 may have time control objects associated with playback controls included in UI 400 , such as time cursor 404 and play button 406 . The operation of the time control object in the UI490 is reflected in the UI400 and the UI shown in FIG. For example, when the time designation cursor 404 on the UI 490 is operated to the left, the time designation cursor 404 on the UI 400 also moves left in conjunction with the display time provided from the reproduction control unit 343, and the bar shown in FIG. 103 also moves to the left. Further, when the bar 103 shown in FIG. 28 is operated to the left, the time designation cursor 404 of the UIs 400 and 450 also moves to the left in conjunction with the display time provided from the reproduction control unit 343. This is because they are all synchronized with the same display time held in the time device 342 .

<Flowchart for log display>
●Program Display Module FIG. 40 shows display processing executed by the program display module 321. FIG. Note that S50, S51 and S60 may be executed only when the project data 71 cannot be obtained from the PLC1. If project data 71 can be obtained from PLC1, project data 71 from PLC1 is used. If the project data 71 cannot be acquired from the PLC1, the project data 71 held in the PC2 is used.

In S50, the CPU 21 (verification unit 334) acquires the identification information of the project data 71 held in the PLC1 and the identification information of the project data 71 held in the PC2.

In S51, the CPU 21 (collation unit 334) determines whether or not the identification information of the project data 71 held in the PLC 1 and the identification information of the project data 71 held in the PC 2 match. If the two do not match, the CPU 21 proceeds to S60. In S60, the CPU 21 (warning unit 335) displays a warning on the display unit 7 indicating that the identification information of the project data 71 held in the PLC 1 does not match the identification information of the project data 71 held in the PC 2. . If both match, the CPU 21 proceeds to S52.

The CPU 21 (program display unit 332) acquires the project data 71 from the PLC 1 or the storage device 22 in S52.

At S53, the CPU 21 (program display unit 332) determines whether the log reproduction mode or the real-time reproduction mode is selected based on the information input from the operation unit 8. FIG. If the real-time reproduction mode has been selected, the CPU 21 proceeds to S58. In S<b>58 , the CPU 21 (device value acquisition section 333 a ) acquires the device value from the real-time transmission section 304 of the PLC 1 without going through the reproduction control module 324 . In S59, the CPU 21 (program display unit 332) displays the device value on the display unit 7 together with the user program included in the project data 71. FIG. If the log reproduction mode has been selected, the CPU 21 proceeds to S54.

In S<b>54 , the CPU 21 (device value acquisition unit 333 a ) activates the playback control module 324 and acquires the display time and the device value of the log data 73 from the playback control module 324 .

In S55, the CPU 21 (program display unit 332) displays the device value and the display time together with the user program included in the project data 71 on the display unit 7. FIG.

In S56, the CPU 21 (display time control unit 331a) determines whether or not the time designation is detected by the time UI 330a. As described above, time specification is executed by operating the time specification cursor 404 . If the time specification is not detected, the CPU 21 returns to S54. If the time designation has been detected, the CPU 21 proceeds to S57.

In S57, the CPU 21 (display time control section 331a) notifies the reproduction control section 343 of the reproduction control module 324 of the designated time input by the time designation cursor 404. FIG. The CPU 21 returns to S54.

●Waveform Display Module FIG. 41 shows display processing executed by the waveform display module 322 .

In S61, the CPU 21 (waveform display section 336) determines whether the log reproduction mode or the real-time reproduction mode is selected based on the information input from the operation section 8. FIG. If the real-time reproduction mode has been selected, the CPU 21 proceeds to S66. In S<b>66 , the CPU 21 (device value acquisition section 333 b ) acquires the device value from the real-time transmission section 304 of the PLC 1 without going through the reproduction control module 324 . The CPU 21 (waveform display section 336) displays the device value on the display section 7 in S67. If the log reproduction mode has been selected, the CPU 21 proceeds to S62.

In S<b>62 , the CPU 21 (device value acquisition unit 333 b ) activates the playback control module 324 and acquires the device value and display time from the playback control module 324 .

In S63, the CPU 21 (waveform display section 336) displays the device value and the display time on the display section 7. FIG.

In S64, the CPU 21 (display time control unit 331b) determines whether the time designation is detected by the time UI 330b. Time specification is performed by the bar 103 as described above. If the time specification is not detected, the CPU 21 returns to S62. If the time designation has been detected, the CPU 21 proceeds to S65.

In S65, the CPU 21 (display time control section 331b) notifies the reproduction control section 343 of the reproduction control module 324 of the specified time input via the bar 103. FIG. The CPU 21 returns to S62.

● Playback Control Module FIG. 42 shows playback control executed by the playback control module 324 .

In S<b>71 , the CPU 21 (log data acquisition unit 344 ) acquires the log data 73 from the PLC 1 and stores it in the storage device 22 .

In S72, the CPU 21 (playback control unit 343) initializes the time of the internal clock.

In S<b>73 , the CPU 21 (playback control unit 343 ) acquires the time of the internal clock and stores the time in the time device 342 .

In S<b>74 , the CPU 21 (playback control unit 343 ) acquires the device value corresponding to the display time held in the time device 342 from the log data 73 and stores it in the log device 345 . This enables the device value providing unit 341 to provide device values and display times to the program display module 321 and waveform display module 322 .

In S<b>75 , the CPU 21 (playback control unit 343 ) determines whether or not the time specification has been received from the display time control unit 331 . If the time designation has been received, the CPU 21 proceeds to S76. If the time designation has not been received, the CPU 21 proceeds to S77.

In S76, the CPU 21 (reproduction control section 343) changes the time of the internal clock according to the time designation from the display time control section 331. FIG.

In S<b>77 , the CPU 21 (playback control unit 343 ) determines whether or not an update speed change instruction has been received from the display time control unit 331 . If the change instruction has been received, the CPU 21 proceeds to S78. If no change instruction has been received, the CPU 21 proceeds to S73.

In S78, the CPU 21 (playback control unit 343) changes the update speed of the internal clock according to the update speed specified by the display time control unit 331. FIG. After that, the CPU 21 proceeds to S73.

<Narrowing down program parts>
The PC 2 extracts devices to be logged when setting logs, and extracts other devices related to a specific device when displaying logs. To explain this extraction process, the following example is taken.

FIG. 43 shows a plurality of modules that constitute a ladder program. In this example, the following PLC1 is assumed. A work is conveyed by a conveying belt. When the work detection sensor detects the work, the height sensor measures the height of the work, and the depth sensor measures the depth of the work. If the height of the work is not within the predetermined range, it is determined that the measurement is NG. Similarly, if the depth of the work is not within the predetermined range, it is determined that the measurement is NG. FIG. 43 describes program modules for realizing a series of these processes. Each module includes contact system commands (input system commands) and output system commands. A contact system command is a condition for executing an output system command.

Device MR000 in workpiece detection module B1 is a relay device that turns ON when a workpiece is detected. It is a relay device that is turned ON when the device MR0002PLC1 is in automatic operation. Device MR001 is a relay device for instructing expansion unit 4 to start measurement. The device MR000 is turned ON when a workpiece is detected during automatic operation.

In the measurement module B2, the contact system command describes that when MR001 is turned ON, the output system command is executed. In this example, it is described that the height measurement value acquired by the expansion unit 4 is stored in the device EM0 and copied to the device TM100. Similarly, it describes that the depth measurement value acquired by the expansion unit 4 is stored in the device EM2 and is copied to the device TM101. Furthermore, the device MR003 for managing the completion of measurement is set to ON.

The determination module B3 is a module that is executed when the device MR003 is turned ON, that is, when the measurement is completed. Here, the device MR010 is turned ON if the measurement result does not satisfy the acceptance condition. This means measurement NG. More specifically, if the measured height value stored in device TM100 is less than 95, MR010 is turned ON. If the height measurement stored in device TM100 exceeds 105, MR010 is turned ON. If the depth measurement value stored in the device TM101 is less than 35, MR010 is turned ON. If the depth measurement value stored in device TM100 exceeds 45, MR010 is turned ON.

The error processing module B4 is a module for stopping the conveying of the conveying belt when an error occurs. In this example, when MR010 turns ON (measurement NG), MR012 turns ON (forced stop), or MR013 turns ON (conveyance NG), MR011 turns ON (conveyance stop).

As can be seen from FIG. 43, a device described in a contact system command of a certain module is described in an output system command of another module. Conversely, a device described in an output system command of one module is described in a contact system command of another module. For example, the device MR001 described in the output system command of the workpiece detection module B1 is described in the contact system command of the measurement module B2. Therefore, the workpiece detection module B1 and the measurement module B2 are extracted as mutually related modules. Focusing on the device MR003 described in the output system command of the measurement module B2, it can be seen that MR003 is described in the contact system command of the determination module B3. Therefore, the measurement module B2 and the determination module B3 are extracted as mutually related modules. Next, focusing on the device MR010 described in the output system command of the determination module B3, it can be seen that MR010 is described in the contact system command of the error processing module B4. Therefore, the determination module B3 and the error processing module B4 are extracted as mutually related modules. In this way, a plurality of modules involved in a specific process and a plurality of devices described inside the plurality of modules are extracted. These extraction processes are executed by the device extraction unit 53 . The device extraction section 53 may be implemented in the log display section 61 . That is, the log display unit 61 extracts a plurality of mutually related modules, further extracts a plurality of devices described in the plurality of extracted modules, and displays each device value of the plurality of extracted devices. It may be acquired from the log data 73 and displayed on the display unit 7 .

FIG. 44 shows a UI 500 displaying extraction results. The log display unit 61 and the device extraction unit 53 may create a UI 500 that displays the devices and blocks (program parts) extracted from the user program, and display the UI 500 on the display unit 7 . The UI 500 can simply display the results of extracting devices and program parts. Therefore, the user can easily grasp the overall image of the extraction result. When any block included in the UI 500 is clicked by the pointer 101 , the log display unit 61 and the device extraction unit 53 may display the details of the clicked block on the UI 501 . This would allow the user to quickly access the details of the extracted block. The log display unit 61 and the device extraction unit 53 may display the extraction result using the UI illustrated in FIG.

<Block and device extraction processing>
FIG. 45 shows block and device extraction processing executed by the device extraction unit 53 . Here, the project data 71 includes multiple blocks (program parts). Therefore, the device extraction unit 53 refers to the project data 71 and extracts blocks and devices.

In S<b>81 , the CPU 21 (device extraction unit 53 ) accepts block selection through the operation unit 8 . Note that the device extraction unit 53 may accept device designation through the operation unit 8 . In this case, the device extractor 53 may extract one or more blocks describing the specified device. When multiple blocks are extracted, the device extraction unit 53 may accept user selection of one block from the multiple blocks. Such a device is, for example, a device that the user pays attention to during debugging. The user sets conditions (eg, save trigger) for outputting the log data 73 to the output unit 84 of the PLC 1 through the log setting unit 51 . More specifically, the condition is set such that a specific relay device is turned on. Therefore, the device extraction unit 53 may designate a relay device set as a save trigger.

In S82, the CPU 21 (device extraction unit 53) extracts the device described in the contact system command of the selected block.

In S83, the CPU 21 (device extraction unit 53) searches for the extracted device in another block described in the output system command.

In S84, the CPU 21 (device extraction unit 53) determines whether or not another block in which the extracted device is described in the output system command is found. If no other block is found, the CPU 21 terminates the extraction process. If another block is found, the CPU 21 proceeds to S85.

In S85, the CPU 21 (device extraction unit 53) extracts the found block as a related block. For example, the device extraction unit 53 registers identification information (eg, name, file name, etc.) of the found block in a list for managing related blocks.

In S86, the CPU 21 (device extraction unit 53) selects a related block as a block from which the device is extracted. After that, the CPU 21 returns to S82 in order to execute the extraction process for the newly selected block. In S86, the related blocks selected are blocks that have not yet been selected as devices to be extracted. If the device extraction process has been completed for all blocks registered in the list, the device extraction unit 53 ends the extraction process. The CPU 21 (device extraction unit 53) may create a list showing the relationship between the extracted devices and the blocks from which the devices are extracted. The device extraction unit 53 or the log display unit 61 may refer to these lists to create the UI shown in FIG. 43 and the UIs 500 and 501 shown in FIG.

<Specific example of debugging>
FIG. 46 shows the debugging process executed by the user.

In S<b>91 , the user sets the NG determination as a storage condition for the log data 73 through the log setting unit 51 . According to FIG. 43, it is determined as the storage condition of the log data 73 that the device MR010 that manages the NG determination is turned ON. The user transfers project data 71 and log setting data 72 to PLC1.

At S92, the user activates the PLC1. The PLC 1 executes the project data 71 and saves the log data 73 in the memory card 36 when the saving conditions in the log setting data 72 are satisfied. In the example shown in FIG. 43, when an NG judgment occurs, the conveyor belt stops, so the user knows that some kind of error has occurred.

In S93, the user checks the work and determines whether the NG determination is an erroneous detection. For example, the user actually measures the height and depth of the workpiece and determines whether or not the acceptance conditions are met. If the workpiece does not meet the pass conditions, the user judges the NG judgment as an erroneous detection.

In S94, the user removes the memory card 36 from the PLC 1, connects the memory card 36 to the PC 2, and reproduces the log data 73 stored in the memory card 36. FIG. The program display module 321 displays the device values included in the log data 73 in association with the user program. More specifically, the program display module 321 designates the device MR010 adopted as the storage condition, causes the device extraction unit 53 to execute block and device extraction processing, and displays the UI shown in FIG. 43 and the UI shown in FIG. to display the UIs 500 and 501 shown in . Further, the waveform display module 322 converts the device values displayed by the program display module 321 into waveforms and displays them. For example, the measured value of the height of the work held in EM0 and the depth of the work held in EM2 are displayed on the display unit 7 in waveform form. Also, the device value of the device MR000 that manages workpiece detection is displayed as a waveform. The user observes these waveforms and finds out that the chattering of the workpiece detection sensor is the cause of the erroneous detection. The user operates the editing unit 311 for chattering countermeasures, and corrects the workpiece detection module B1 as shown in FIG. According to this modification, the device MR001 for starting measurement is turned on when the work detection sensor continuously detects a work for one second or longer. The user transfers the updated project data 71 to the PLC 1, activates the PLC 1, and determines whether or not chattering countermeasures have succeeded.

By synchronously displaying the user program and the waveform of the device value in this way, the user can efficiently identify the cause of the false detection and debug the user program to eliminate the cause.

<Summary>
As shown in FIG. 17, the execution unit 80 is an example of a program execution unit that repeatedly executes a user program. The device section 34 is an example of a device storage section having a plurality of devices, which are storage areas referenced by the program execution section. The recording unit 81 is an example of a device recording unit that chronologically records device values stored in any one of a plurality of devices. The PC 2 is an example of a program creation support device that is connected to a programmable logic controller and supports creation of user programs.

As shown in FIG. 6, the project creating unit 50 generates a plurality of program parts constituting a user program, which include instruction words related to one of a plurality of devices, based on a user input through the display unit 7. is an example of a program creation unit that creates The component specifying unit 52 is an example of a program component specifying unit that specifies a program component from which a specific device to be recorded by the device recording unit is extracted from among a plurality of program components. The device extractor 53 is an example of a device extractor that analyzes a program part specified by the program part specification part and extracts a device described in the program part. The recording unit 81 of the basic unit 3 is configured to chronologically record the device values stored in the specific devices extracted as recording targets by the device extraction unit.

By designating a program part by the user in this way, a device is extracted from the designated program part. The user can also exclude specific program parts from devices to be extracted. Therefore, the registration burden on the user of the device to be logged in the PLC is reduced.

Note that the extraction unit 53 may analyze the program parts created by the program creation part 63 and extract the devices described in the program parts. The component designation unit 52 selects, among the plurality of program components created by the program creation unit 63, program components in which a specific device to be recorded by the recording unit 81 is used or described in units of program components (program components per) may be specified. In this case, the recording unit 81 stores the device value stored in the specific device extracted by the extracting unit 53 and used or described in the program part specified by the part specifying unit 52 at a time. Record in series.

The extraction unit 53 may analyze a plurality of program parts created by the program creation part 63 and extract devices used or described for each program part. The component specifying unit 52 may specify at least one program component among the plurality of program components created by the program creating unit 63 . The recording unit 81 chronologically records the device values stored in the devices used or described in the program parts specified by the component specifying unit 52 among the plurality of program components analyzed by the extracting unit 53 . For example, multiple program parts may be analyzed in advance to extract multiple devices. That is, a list showing the extracted devices may be created for each program part. Furthermore, when the user designates any program part, a list of the designated program parts may be read, and devices listed on the list may be selected as recording targets.

The component specifying unit 52 may be configured to specify at least one program component among the plurality of program components created by the program creating unit 63 . The extraction unit 53 may analyze the program components specified by the component specification unit 52 and extract devices used or described for each program component. The recording unit 81 chronologically records the device values stored in the specific device extracted by the extraction unit 53 . In this way, device extraction may be performed after program parts are specified. This will lighten the extraction process.

The extraction unit 53 may analyze a plurality of program components created by the program creation unit 63 and extract devices used or described for each program component. The component specifying unit 52 may specify at least one program component to be recorded or excluded among the plurality of program components created by the program creating unit 63 . The recording unit 81 selects a device stored in a specific device used or described in a program part specified as a recording target by the part specifying unit 52 from among the devices extracted from the plurality of program parts by the extracting unit 53. Values may be recorded in chronological order, and devices used in program parts other than program parts specified as exclusion targets by the part specifying unit 52 may be recorded. For example, if module A uses device memories DM0 and DM1 and module B uses device memories DM1 and DM2, then from modules A and B device memories DM0, DM1 and DM2 are extracted. Here, when module B is designated as an exclusion target, DM2 is excluded, but DM1 is also used in module A, so DM1 remains as a recording target. In this way, device addition/removal may be performed in units of program parts (that is, for each program part). Alternatively, program parts to be recorded or excluded may be specified after devices have been extracted from all program parts.

The component specifying unit 52 may be configured to specify a program component from which a specific device is not extracted among a plurality of program components as an exclusion target. The device extracting unit 53 analyzes the program parts specified as devices to be extracted by the parts specifying unit 52, extracts the devices used or described in the program parts, and extracts the devices from the program parts specified as exclusion targets. It may be configured not to extract. In other words, the deletion unit 55 and the addition unit 54 delete some specific devices among the specific devices extracted by the device extraction unit for each program part, or delete devices that were not extracted by the device extraction unit. It may function as a device addition/removal unit that is added for each program part.

A program part may be, for example, a reusable program module. A plurality of program parts may be stored in separate files. Access authority (edit authority) may be set individually for each of the plurality of program parts.

A user program may be, for example, a ladder program. In this case, the multiple program parts may be multiple function blocks used or described within the ladder program.

The detection unit 82 is an example of a detection unit that detects rewriting of a device value from an external device to any one of a plurality of devices. The recording unit 81 may add a device whose device value has been detected by the detection unit 82 to be recorded.

The PLC 1 may further include a detachable memory card 36 and an identification unit 57 that detects commands to the memory card 36 and identifies the device that is the target of the command. Although the identification unit 57 is provided in the PC 2 in FIG. 6, it may be mounted in the CPU 31 of the basic unit 3. The recording unit 81 may add the device identified by the identifying unit 57 to the recording target.

The extension unit 4 of the PLC 1 may be a motion unit (positioning unit) having a positioning function. The recording unit 81 or the device extraction unit 53 may add a device that is used for the positioning function and is not described in the user program (eg, buffer memory in the motion unit, etc.) to the recording target.

The estimating unit 59 is an example of an estimating unit that estimates the effect of the recording of device values by the recording unit 81 on the execution of the user program based on the number of devices extracted as recording targets by the device extracting unit 53 . The display 7 may be arranged to display this effect. This allows the user to add or remove devices while considering the impact on scan time.

In FIG. 7, extraction of devices from selected program parts, extraction of devices from selected functions, and manual addition of devices by the user are described. However, not all of these are required. It would be sufficient if two or more of these were employed. Alternatively, only device derivation from selected program parts may be employed, or device derivation only from selected functions may be employed.

The CPU 31 and the execution unit 80 are examples of a program execution engine that repeatedly executes the user program. The CPU 31, the execution unit 80, and the CPU 41 are examples of a plurality of function execution engines that each execute different functions (eg, function programs) related to the user program based on instructions from the user program. This suggests that the base unit 3 may contain the functionality of the expansion unit 4 . A function program is, for example, a motion control program. A program execution engine and a plurality of function execution engines may be executed by a single CPU, may be executed by a plurality of CPUs, and may be realized by ASIC or FPGA. Also, a single CPU may be equipped with multiple cores, and each core may be in charge of a different function.

The device section 34 is an example of a device storage section having a plurality of devices, which are storage areas referenced by a program execution engine and a plurality of function execution engines. The recording unit 81 is an example of a device recording unit that chronologically records device values stored in any one of a plurality of devices. The function setting section 62 may function as an allocating section that allocates a plurality of devices to be used in each of the plurality of function execution engines. The function designation unit 60 may function as a designation unit that designates one or more of a plurality of functions corresponding to a plurality of function execution engines. The device extraction unit 53 may extract devices used for one or more functions specified by the specification unit from the plurality of devices assigned by the assignment unit as recording targets of the device storage unit.

The program execution engine may be provided in the main unit. At least one of the plurality of function execution engines may be provided in a function expansion unit electrically connected to the main unit to expand the function of the main unit. All of the multiple function execution engines may be provided in the main unit.

The basic unit 3 is an example of a main unit having a program execution section, a device storage section, and a device recording section. The expansion unit 4 is an example of a function expansion unit electrically connected to the main unit to expand the function of the main unit.

The function setting unit 62 functions as an allocating unit that allocates devices used for the functions of the main unit and devices used for the functions of the function expansion unit based on user input through the display unit 7. do. The function setting unit 62 may display a UI for assigning devices to functions on the display unit 7 .

The function designation unit 60 is an example of a designation unit that designates one or more of a plurality of functions including functions provided in the main unit and functions provided in the function expansion unit. The adding unit 54 of the device extracting unit 53 extracts the device used for the function specified by the specifying unit as a recording target of the device recording unit. The deletion unit 55 of the device extraction unit 53 excludes the device used for the function designated by the designation unit from the recording target of the device recording unit. The communication unit 23 functions as a transmission unit that transmits to the PLC 1 setting data for recording device values stored in a specific device extracted as a recording target in time series in the device recording unit. The recording unit 81 is configured to chronologically record the device values stored in the devices extracted as recording targets by the device extraction unit 53 .

The project creation unit 50 functions as a program creation unit that creates a user program including command words related to any one of a plurality of devices based on user input via the display unit 7 . The device extraction unit 53 may analyze the user program, extract devices used or described in the user program, and create a device list (extraction list) including the extracted devices. Furthermore, the device extraction unit 53 may add to the device list devices used for functions specified as recording targets (extraction targets) by the function specifying unit 60 . Further, the deletion unit 55 may be configured to delete from the device list the device used for the function specified as an exclusion target by the function specifying unit 60 . A device list is included in the log setting data 72 . The recording unit 81 is configured to chronologically record the device values stored in the devices registered in the device list.

The function designating section 60 may be further configured to designate either the main unit or the function expansion unit. That is, a function may be selected, or a unit may be selected. When one unit has multiple functions, the user selects one function, and all the functions included in the unit are selected as devices to be extracted. The device extraction section 53 may extract devices used for units specified as recording targets (extraction targets) by the function specifying section 60 as recording targets of the device recording section. Further, the device extracting section 53 may be configured to exclude devices used for units specified as exclusion targets by the function specifying section 60 from recording targets of the device recording section. In this way, extraction targets and exclusion targets may be specified in units of main units and function expansion units.

As shown in FIG. 14, the function specifying unit 60 may be further configured to specify the device type of the device to be recorded or the device type of the device to be excluded. The device extraction unit 53 extracts devices of the device type specified as recording targets by the function specifying unit 60 as recording targets of the device recording unit. The device extraction unit 53 may be configured to exclude devices of device types specified as exclusion targets by the specification unit from recording targets of the device recording unit.

As described with reference to FIG. 19, the collection unit 92a collects device values stored in one of a plurality of devices, associates the device value with the information on the collection time of the device value, and performs the first It is an example of a first collecting unit that stores in a buffer. Note that the device values to be collected may be set in advance by the log setting data 72 . Ring buffer 91a is an example of a first buffer. The information about the collection time may be, for example, time information supplied from the time management section 83a. The IFs 99a and 99f are examples of first interfaces that communicate with the expansion unit 4. FIG. The communication unit 33 is an example of a first external interface that receives a user program and setting information from an external setting device.

IFs 99b, 99d, 99h, 99j, etc. are examples of second interfaces that communicate with the main unit. The image receiving section 96a and the connection port 97 are examples of a third interface (two-dimensional data receiving section) that is connected to monitoring equipment that acquires two-dimensional data and receives the two-dimensional data from the monitoring equipment. The connection port 97 may be connected to monitoring equipment and function as a second external interface through which data is input from the monitoring equipment. Camera 98 is an example of surveillance equipment. The monitoring device may be a bar code reader. In this case, the bar code reading result is an example of two-dimensional data. The monitoring device may be an image processing device that generates a height image or a distance image of the work. Height images and distance images are examples of two-dimensional data. The two-dimensional data may be video data. Also, large-capacity data that is larger in size than the device value is also an example of two-dimensional data. For example, numerical data obtained by a high-speed analog input unit is also an example of two-dimensional data. The function execution unit 96 may function as a function execution unit that executes a function involving data input from the monitoring device via the second external interface, based on received setting information.

The collecting unit 92b collects the two-dimensional data received via the third interface, associates the information about the acquisition time when the two-dimensional data was acquired with the two-dimensional data, and stores the two-dimensional data in the second buffer. is an example. The time information provided by the time management unit 83 is an example of information regarding acquisition time. Ring buffer 91b is an example of a second buffer.

When a predetermined saving condition is satisfied, the saving unit 93 saves the device value and the collection time information stored in the first buffer, and the two-dimensional data and the acquisition time information stored in the second buffer. It is an example of a storage unit.

In this way, the device value and the two-dimensional data are each associated with information about the acquisition time. Therefore, it becomes easier to specify the temporal relationship between relatively large-capacity data such as two-dimensional data and the device value.

The monitoring equipment may be a camera 98 that captures image data, either still or moving. The function execution unit 96 executes functions associated with input of image data from the camera 98 . The collection unit 92b, which is the second collection unit, associates the information about the acquisition time when the image data was acquired with the image data and stores them in the second buffer. The storage unit 93 may store the device value, the information about the collection time, the image data stored in the second buffer, and the information about the acquisition time in association with each other. The function execution unit 96 may execute a function that involves data input from the monitoring device asynchronously with the execution cycle of the user program. The storage unit 93 may also store project data including user programs and setting information. The storage unit 93 stores the device value, the information about the collection time, the data stored in the second buffer, and the information about the acquisition time in a plurality of files identified by the common flag, and saves the plurality of files. You may save.

The information about the collection time may be any information that can specify the collection time for each of the plurality of device values collected in chronological order. A collection time may be associated with each of the plurality of device values. Alternatively, for example, only the first device value may have an associated collection time. In the latter case, collection times for device values other than the first device value may be calculated based on other information (number of scans, scan time, etc.). Since the same number of device values as the number of scans is recorded, storing the processing time (scan time) in each scan makes it possible to specify the collection time of any device value. For example, when trying to identify the collection time of the device values recorded in the 100th scan, the collection time of the device values recorded in the 1st scan is 10:10:00, and the 2nd to 100th scans Assume that each scan took 100 microseconds. In this case, the time after 100 microseconds×99 have elapsed from 10:10:00 is calculated as the collection time of the device value recorded in the 100th scan. Thus, it is not essential to record all device values in association with collection times.

The information about the acquisition time may be information for specifying the acquisition time for each of the plurality of two-dimensional data acquired in chronological order. An acquisition time may be associated with each of the plurality of two-dimensional data. Alternatively, for example, only the first two-dimensional data may be associated with the acquisition time. In the latter case, it is possible to calculate the acquisition time of the two-dimensional data other than the first two-dimensional data based on other information (the number of times of imaging, the imaging cycle, etc.). Specifically, only the first two-dimensional data among the plurality of two-dimensional data can be associated with the acquisition time. The cycle (imaging cycle) for acquiring two-dimensional data is substantially constant. Therefore, the acquisition time of arbitrary two-dimensional data can be specified. For example, when trying to specify the acquisition time of the image data recorded in the 10th imaging, the acquisition time of the image data recorded in the 1st imaging is 10:10:00, and the 2nd to 10th imaging Assume that each image took all 100 milliseconds. In this case, the acquisition time of the image data recorded in the tenth imaging is the time after 100 milliseconds×9 have passed from 10:10:00. In this way, it is not essential to record all two-dimensional data in association with the acquisition time.

The storage unit 93 may include a memory card 36 removable from the main unit. The storage unit 93 may store in the memory card 36 the information about the device value and collection time stored in the first buffer and the two-dimensional data and information about the acquisition time stored in the second buffer. This makes it easier to transport the log data 73 to the PC 2 . As shown in FIG. 19, the first buffer may be provided in the main unit. As shown in FIG. 20, the second buffer may be provided in the expansion unit.

As shown in FIG. 24, the first interface may be located on the side of the main unit and on the side opposite to the side of the expansion unit. The second interface may be provided on the side of the expansion unit so as to be connected with the first interface.

As shown in FIG. 25, the backplane 200 is an example of a support plate that supports the main unit and expansion units. In this case, at least one of the first buffer, the second buffer and the storage section may be provided on the support plate.

The transmission unit 94 is an example of a transmission unit that transmits the device values stored in the storage device 32, the information on the collection time, the two-dimensional data, and the information on the acquisition time to the external device. The external device may be the cloud or may be the PC2. The PC 2 may receive the log data 73 in real time and display the log data 73 on the display section 7 .

The first buffer or the second buffer may be configured to further store information generated in a cycle shorter than the user program execution cycle (eg, scan cycle).

The storage unit 93 may be configured to read and store the two-dimensional data and the information about the acquisition time from the second buffer while the end processing (END processing) related to the user program is being executed in the main unit. .

As described with respect to the time management units 83a and 83b, the clock of the main unit that measures the collection time and the clock of the expansion unit that measures the acquisition time are synchronized. This synchronization may be achieved, for example, by inter-unit synchronization.

As shown in FIG. 29, the storage unit 93 saves the device values, the information on the collection time, the two-dimensional data, and the information on the acquisition time collected at a predetermined collection time before and after a preset save trigger to the memory card 36 . may be configured to store in

As shown in FIG. 30, the storage unit 93 stores device values collected at a predetermined collection time starting from the timing at which a preset start relay is turned on, information about the collection time, two-dimensional data, and acquired data. The memory card 36 may be configured to store information about time.

As described with reference to FIG. 32, the storage unit 93 saves the device value recorded in the device storage unit and the user program or user program stored in the program storage unit when a predetermined storage condition is satisfied. may be stored in a memory (eg, memory card 36 or internal memory 37) in association with the identification information. Further, when a predetermined output condition is satisfied, the output unit 84 outputs the device value recorded in the device recording unit, the user program stored in the program storage unit, or the identification information of the user program to an external memory (e.g. : You may output to the memory card 36). As described above, it is important which project data 71 is used to acquire the log data 73 . Therefore, the output unit 84 outputs the project data 71 itself used to acquire the log data 73 or its identification information. That is, by outputting the log data 73 and the project data 71 or their identification information, it becomes easier to identify the relationship between the log data 73 and the project data 71 . This allows the user to proceed with debugging of the project data 71 efficiently.

A user program is composed of a plurality of program parts. In addition, the project data manages multiple program parts. The storage device 32 functions as a program storage unit that stores user programs as part of the project data 71 . The output unit 84 may be configured to output the project data 71 including the user program and to output the identification information of the project data 71 as the identification information of the user program. This makes it easier to determine whether the project data 71 (master data) stored in the PC 2 and the project data 71 stored in the PLC 1 match.

The project data 71 may include setting information for the expansion unit 4 . This is because setting information of the expansion unit 4 may be required when debugging the project data 71 . For example, when a plurality of extension units 4 are connected to the basic unit 3, the connection order of the plurality of extension units 4 is included in the setting information of the extension unit 4. FIG. Information about this connection order may be required during debugging.

The determination unit 301 functions as a determination unit that determines whether or not output of the user program (project data 71) is prohibited. When the determination unit 301 determines that the output of the user program is prohibited, the output unit 84 outputs the device value recorded in the device recording unit and the identification information of the user program stored in the program storage unit. may be output to external memory. As a result, the master data of the PC 2 can be used based on the identification information while protecting the user program.

As described with respect to appending portion 312, the identification information of the user program is identification information that is updated when the user program is changed. Therefore, the project data 71 of a different version from the project data 71 held in the PLC 1 will not be mistakenly used for debugging.

As described with respect to the computing unit 313, the user program identification information may be an error detection code or hash value computed from the user program. In this way, a method of calculating identification information may be employed in which the identification information is also updated when the project data 71 is updated. The identification information may be a timestamp or the like.

The storage device 22 of the PC 2 is an example of a program memory that stores user programs and identification information of the user programs. The collation unit 334 is an example of a collation unit that collates the user program identification information output from the programmable logic controller with the user program identification information stored in the program memory and displays the collation result on the display unit. The warning unit 335 outputs a warning when the two do not match, but may display a message or an image indicating that they match on the display unit 7 when the two match.

As shown in FIG. 38, the display unit 7 may display the device value output from the programmable logic controller in association with the portion of the user program in which the instruction word related to the device value is described. This makes it easier for the user to understand the relationship between changes in device values and user programs. This will improve debugging efficiency.

The storage device 22 and the memory card 36 are examples of storage means for storing a plurality of time-series device values collected by the programmable logic controller and time data indicating the collection time of each device value. The program display module 321 is an example of a first engineering software module that displays device values on a ladder diagram. Waveform display module 322 is an example of a second engineering software module that displays device values as time series waveforms. The playback control module 324 is an example of a synchronization software module that synchronizes the display target time in the first engineering software module and the display target time in the second engineering software module. This will help the user understand the program's relationship to changes in specific device values.

The first engineering software module acquires device values from the programmable logic controller in real-time playback mode, displays the device values on the ladder diagram, and stores the device values corresponding to the display target time based on the time data in history playback mode. It may have a first display control means for acquiring from the means and displaying it on the ladder diagram. The program display unit 332, the display time control unit 331, and the device value acquisition unit 333 function as first display control means. The log replay mode is an example of a history replay mode.

The second engineering software module acquires device values from the programmable logic controller in the real-time playback mode and displays the time-series waveform, and in the history playback mode acquires the device values corresponding to the time to be displayed based on the time data from the storage means. and second display control means for displaying the time series waveform. The waveform display section 336, the display time control section 331, and the device value acquisition section 333 are examples of second display control means.

The synchronization software module may have synchronization means for synchronizing the display target time in the first engineering software module and the display target time in the second engineering software module in the history playback mode. The reproduction control section 343 is an example of synchronization means.

The first engineering software module may further have a first update means for updating the display target time in the history playback mode. The time designation cursor 404, the time UI 330 and the display time control section 331 are examples of first updating means. The reproduction control unit 343, which is a synchronizing means, reflects the display target time updated by the first update means to the display target time of the second engineering software module.

The second engineering software module may further have second updating means for updating the display target time in the history playback mode. The bar 103, the time UI 330, and the display time control section 331 are examples of second update means. The reproduction control unit 343, which is a synchronizing means, reflects the display target time updated by the second update means to the display target time of the first engineering software module.

As shown in FIG. 43, the first display control means searches the ladder diagram for instruction words related to the device to be displayed in the second engineering software module among the plurality of devices referenced in the programmable logic controller. You may For example, a device may be designated by designating a device (eg, R000, DM100, etc.) shown in FIG. As FIG. 38 shows, the first display control means may be arranged to display the device values of the device in question along with the commands found in the ladder diagram. Also, the pointer 101 is an example of specifying means for specifying an arbitrary device. The first display control means searches the ladder diagram for an instruction related to the device specified by the specifying means among the plurality of devices referenced in the programmable logic controller, and displays the instruction of the device together with the instruction found in the ladder diagram. May display device values.

As shown in FIG. 43, a ladder program may consist of a plurality of program parts in a programmable logic controller. The first display control means (eg, log display unit 61 and device extraction unit 53) searches a plurality of program parts for one or more blocks containing command words related to devices, and displays the found blocks in a ladder diagram. may be configured to be displayed as

As shown in FIG. 43, when the first display control means finds a plurality of blocks containing command words related to the device, it may display the ladder diagrams corresponding to the plurality of blocks side by side.

As shown in FIG. 43, the first display control means is such that in the ladder program, the instruction related to the first device (eg, MR001) in the first block (eg, measurement module B2) is the input system instruction. In this case, specify the second device (e.g. MR003) that is the target of the output system command written corresponding to the input system command, and input system that targets the second device A second block (eg, determination module B3) in which the instruction word of is described may be specified.

The first display control means, in the ladder program, when the command associated with the first device (eg MR010) in the first block (eg determination module B3) is the command for the output system Identify the second device (example: MR001) that is the target of the input system command that is written corresponding to the command, and describe the output system command that targets the second device A second block (eg measurement module B2) may be specified.

The synchronizing means may have setting means for setting an update speed of the display target time. The speed designation unit 405 is an example of setting means. This may realize slow playback, fast forward playback, and the like.

The first display control means and the second display control means may further display device values set based on user input from a human interface (HMI) that displays information about the programmable logic controller. good. HMI may be implemented by an emulator. UI 490 displays multiple device values as described in connection with FIG. When any device value is clicked by the pointer 101, the log display unit 61 adds the clicked device value as a display target of the program display unit 332 or adds it as a display target of the waveform display unit 336. good too. This allows the waveforms of the HMI, user program and device values to be displayed in a coordinated and synchronized manner.

The storage means may further store a plurality of time-series image data acquired from the camera unit and time data indicating acquisition time of each image data. As FIG. 28 shows, the second engineering software module may acquire device values from the programmable logic controller to display time-series waveforms and display image data acquired from the camera unit in real-time playback mode. Similarly, the second engineering software module may acquire and display the device value and the image data corresponding to the display target time from the storage means in the history reproduction mode. Image data has more information than numerical values. Therefore, by displaying the image data, the user will be able to find the problem at an early stage.

Also, the first engineering software module may acquire device values from the programmable logic controller in the real-time playback mode, display the device values on the ladder diagram, and display image data acquired from the camera unit. The first engineering software module may acquire the device value and the image data corresponding to the display target time from the storage means in the history reproduction mode and display them on the ladder diagram.

The expansion units 4 operate according to different internal control cycles. Therefore, the acquisition times of device values and the acquisition times of image data acquired from a plurality of expansion units 4 often do not match. Therefore, as described with reference to FIGS. 26 to 28, the first display control means and the second display control means control the device value associated with the time data closest to the display target time in the history reproduction mode. may be configured to read the

Claims (13)

An external setting device connected to a programmable logic controller,
a storage unit for storing a ladder program including an instruction received from a user and having as arguments a head device and the number of devices based on the head device;
a device extraction unit that extracts a plurality of different devices corresponding to the device range specified from the argument of the instruction word by analyzing the ladder program stored in the storage unit;
a log setting unit that uses a plurality of different devices extracted by the device extraction unit to create log setting data for setting devices to be logged by the programmable logic controller;
external setting device. The device extraction unit analyzes the ladder program stored in the storage unit to extract a plurality of different devices corresponding to the device range and a relay device that triggers execution of the instruction word. 2. The external setting device according to claim 1. 3. The external setting device according to claim 2, wherein the device extraction unit collectively extracts devices in units of predetermined words that include the relay device. The command is a command for substituting a specified value specified by a user into a plurality of different devices corresponding to the device range,
4. The device extraction unit extracts a plurality of different devices to which the specified value is substituted by the instruction word by analyzing the ladder program stored in the storage unit. An external setting device according to any one of the clauses. The ladder program is written over a plurality of lines on a plurality of cells arranged in a matrix,
5. The external setting device according to claim 1, wherein the device extraction unit extracts the device for each line from the top line to the end line of the ladder program. 6. The external setting according to any one of claims 1 to 5, wherein the device extraction unit includes a merge unit that performs merge processing so that the same device is not logged redundantly in the programmable logic controller. device. 7. The external setting device according to claim 1, further comprising a display section for displaying the devices extracted by the device extraction section. 8. The external setting device further comprises a deletion unit that deletes some of the devices extracted by the device extraction unit based on user input through the display unit. external setting device described in . An external setting device connected to a programmable logic controller capable of accessing external memory,
a storage unit for storing a ladder program including an instruction received from a user and having as arguments a head device and the number of devices based on the head device;
a device extraction unit that extracts a plurality of different devices corresponding to the device range specified from the argument of the instruction word by analyzing the ladder program stored in the storage unit;
Using a plurality of different devices extracted by the device extraction unit, a device to be logged by the programmable logic controller is set, and a condition for reading the device value logged from the set device to the external memory is set. a log setting unit that creates log setting data;
a communication unit that transmits log setting data created by the log setting unit to the programmable logic controller;
external setting device. The external memory is a memory card removable from the programmable logic controller,
The log setting unit sets a device to be logged by the programmable logic controller, and creates log setting data for setting conditions for saving device values logged from the set device in the memory card. 10. An external setting device according to claim 9. The condition for reading to the external memory includes timing for reading the device value logged by the programmable logic controller to the external memory, and a target period specified based on time information of the logged device value. 11. The external setting device according to claim 9 or 10. A logging setting method using an external setting device connected to a programmable logic controller,
a step of storing, in the storage unit of the external setting device, a ladder program including command words received from a user and having as arguments the head device and the number of devices based on the head device;
a step of extracting a plurality of different devices corresponding to the device range specified from the argument of the command word based on the ladder program stored in the storage unit and displaying them on the display unit of the external setting device;
receiving deletion of some of the plurality of different devices displayed on the display unit and identifying target devices to be logged by the programmable logic controller;
creating log configuration data based on the identified target device;
A logging setting method comprising: A program that causes a computer to function as an external setting device connected to a programmable logic controller,
a step of storing a ladder program containing an instruction received from a user and having as arguments a leading device and the number of devices based on the leading device;
extracting a plurality of different devices corresponding to the device range specified from the argument of the instruction word by analyzing the stored ladder program;
using the extracted plurality of different devices to create log configuration data that configures devices logged by the programmable logic controller.

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