JP3389592B2 - Programmable controller - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a programmable controller, and more particularly to a programmable controller that additionally modifies a user program or the like without stopping an external device.

[0002]

2. Description of the Related Art Conventional programmable controllers are
Hard check processing for operating external equipment such as FA (Factory Automation), instruction execution processing of user programs consisting of ladder programs, peripheral processing such as management processing other than control processing for external equipment in one cycle Is running.

Therefore, in the conventional programmable controller, when the user program or the like is additionally changed without stopping the external device, as shown in FIG. 8, only one instruction is additionally changed in a short time of peripheral processing. It is supposed to do.

Incidentally, since the ladder program for operating the programmable controller does not have the concept of modularization for each predetermined function, there is no concept of variables such as C ++ language.

For this reason, the conventional programmable controller has a structure in which the corresponding address of the memory must be directly specified in order to access the instruction.

[0006]

In the conventional programmable controller, as described above, when the user program or the like is additionally changed without stopping the external device, the peripheral processing can be performed only in a short time. Even if it is possible to add and change only one instruction,
There is a problem that modularization cannot be added or changed for each predetermined function.

Therefore, in order to add and change a new function for each module, the programmable controller has to be temporarily stopped, which causes a problem that the operability of the system is deteriorated.

In view of the above problems, the present invention uses a modular programming language, and
It is an object of the present invention to provide a programmable controller that is modularized to additionally change a program when the user program or the like is additionally changed.

[0009]

In order to achieve the above-mentioned object, the invention according to claim 1 is a programmable controller for controlling an external device or the like by object code of a plurality of module programs, which is edited. An object code forming means for compiling the module program to form an object code, and a runtime control means for controlling scan of the external device etc. by the object code formed by the object code forming means , The runtime control means
Is formed by the above object code forming means
Edited module program object
First storage means for storing a code and second storage means
And the first object code storage means and the second object code storage means.
Which is stored in the object code storage means?
Usage information indicating whether to use the object code
Storage means selection table for storing
Stores the first object code based on the table
Object code stored in the means, or
2 stored in the object code storage means
The command to select and execute any one of the
And the object code forming means.
If the object is changed, the above storage means
Based on the selection table, the first object code above
The object code stored in the storage, or
Is stored in the second object code storage means
Any one of the object code is modified above
Change to a different object and select the above storage means
Contains the modified object code in the table
Usage information that changes usage information to use
And a means for changing information .

[0010] According to a second aspect of the invention, a programmable controller for controlling the external equipment such as an object code of a plurality of module program, edit
Object code forming means for forming an object code by compiling the module programs, comprising a run-time control means for scanning controlling the external device or the like by the object code that is formed in the object code forming unit, the run-time control
The means is formed by the above object code forming means.
Object of the edited module program
First storing means for storing a code and a second storing means
A row, the first object code storage means, and the second
Which is stored in the object code storage means?
Usage information indicating whether to use the stored object code
Storage means selection table for storing information and this storage means selection table
The first object code case based on the selection table
The object code stored in the payment method, or
The object stored in the second object code storage means
Select and execute any one of the object codes
Code execution means and the above object code forming means
If the object is changed, the above storage
Based on the row selection table, the first object code
Object code stored in the storage means
Or stored in the second object code storage means
Change any one of the object code
Stored object and select the above storage method.
The changed object code in the selection table is stored.
Use to change usage information to use
And an information changing means, and further, the above object code
Object code formed by the forming means
Code file that is stored as a code file
Before the memory and power supply are turned off,
And evacuation storage means for storing the stored contents
The above-mentioned code file storage means and save storage
A first object based on the information stored in the means
Code storage means, second object code storage means
And the storage means selection table to the state before the power was turned off.
Allow me to go home.

[0011]

[0012] According to a third aspect, the invention of claim 2, wherein the object code forming means, when modifying the object code by online Ede I Tsu DOO is stored in the code file storage means Change the object code file name before modification to another file name and make the modified object code file name before modification.

According to a fourth aspect of the invention, in the invention according to any one of the first to third aspects, the first retractable hand is provided.
The stage and the second storage means store the above object code.
The area for storing is defined by the object code forming means.
To be decided .

The invention according to claim 5 is the invention according to claim 2 or 3.
In the described invention, the state before execution of online editing
When executing Undo processing to return to the state,
The code code forming means is the code file storing means.
Undo object selected by the user stored in
The object code file of
Object code file that the real-time control means does not process
To the object before online editing.
Process code file is processed by the above-mentioned runtime control means.
Change to the object code file
The system control means uses the storage information in the storage means selection table.
Object code before executing online edit
Is stored in the storage means.

According to a sixth aspect of the present invention, each control function is modeled.
Objects that are modularized modules
Repeat the process including the instruction execution process executed by the code
The control method of the programmable controller
And store the object code to execute the process
First and second object code storage means for
Edit the object code by editing online.
If correct, the first object code storage means or
Or the current one of the second object code storage means.
After correcting the object code of the storage means that has not been executed
And rewrite it to the object code of
The first object code storage means, the first object code storage means,
The object code storage means of 2 was rewritten
Used to execute the object code stored on the side
Change the information, and use the above usage information from the next instruction execution process.
It specializes in executing object code based on changes.
To collect. The invention according to claim 7 is a module for each control function.
Object modules
Repeat processing including instruction execution processing executed by
The control method of the programmable controller to be executed
The running object code and the unmodified object.
And a second object that stores the
The eject code storing means is provided, and the first and second
Which of the object code storage means is currently being executed
It has the usage information indicating whether it is being executed, and executes Undo
In some cases, the usage information is given in the two object codes above.
Execution from the currently executing storage means
By changing to a storage means that is not
Executes the Undo object code from line processing
It is characterized by doing so.

According to the present invention, a module program is edited, the edited module program is compiled to form an object code, and the object code is executed. Therefore, a user program or the like can be executed without stopping an external device. Can be added and changed.

In particular, in the storage means selection table, either the object stored in the first storage means or the second storage means
Since it has information indicating which one of the object codes stored in the storage means is used, the method of executing the object code is indirectly designated.

Further, since the object code formed in the storage means is stored as an object code file and the contents stored in the storage means selection table before the power is turned off are stored in the save storage means, when the power is turned on. In addition, the system can be restarted again based on the contents stored in the save storage means.

Furthermore, the object code file of the object code edited online is changed to an object code file which is not processed, the object code file of the object code before execution of online editing is changed to a processed object code file, and a storage means is selected. Undo processing can be performed by changing the usage information of the table.

[0020]

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

1 and 2 are explanatory diagrams of a programming language conforming to the 1131-3 standard, and FIG. 4 is a block diagram showing a configuration of an embodiment of a programmable controller according to the present invention.

(1) The programmable controller (hereinafter, referred to as PLC) of this embodiment has an IEC (Internat)
Since a programming language compliant with the Iona Electrotechnical Commisson) 1131-3 standard (hereinafter referred to as IEC compliant programming language) is used, the IEC compliant programming language will be described before describing the configuration of the PLC of this embodiment.

The IEC compliant programming language is POU (Pr
Program called ogram Organization Unit), Fu
It is described by the action and Function Block.

POU and are Function Blo
As shown in FIG. 1, ck is a definer consisting of an input variable, an output variable, an internal variable and a code, and is a module having an internal state (it can take different outputs when given the same input). On the other hand, Function is a module that has no internal state.

Here, POU and are Function
A portion in the data memory (DM) (described later) in which the variable specified in the Block declaration section is stored is called a data instance, and each object code for executing POU, Function, and Function Block is stored. Code memory (CM)
The part inside (described later) is called a code instance.

It is assumed that the Function does not have a data instance.

For example, as shown in FIG. 2, in a source program having three subroutines consisting of IEC-compliant programs, the code instance of the source program is POU1 and its data instance is Pou1_.
Inst1, the code instance of the subroutine read by the first CALL instruction is POU2 and its data instance is Pou2_Inst1, the code instance of the subroutine read by the next CALL instruction is POU3 and its data instance are Pou3_Inst1 and Pou3_Inst2, and , POU4, which is the code instance POU4 of the subroutine read by the last CALL instruction,
1 is a program called POU (Program Organization Unit) described above, and POU2 and POU3 are
Function Block and POU4 is Fu
ntion.

As described above, the IEC-compliant program is a modularized programming language in which the source program and the subroutine each have a data instance and a code instance.

Incidentally, FIG. 3 shows an example of a program written in such an IEC-compliant programming language.

In this example, FIG. 3A shows the definition part of the source program, FIG. 3B shows the contents of the object code of the source program displayed in mnemonic, and FIG. Shows an outline of the state of accessing the data instance and the code instance when the source program is executed.

Since the detailed contents of this figure are not directly related to the present invention, the detailed description thereof will be omitted.

(2) As shown in FIG. 4, the PLC using such an IEC compliant programming language has an IEC11
31-3 programming tool (hereinafter, simply referred to as tool) 1, communicator 2, controller runtime (hereinafter, referred to as runtime) 3, magnetic desk 4 in which an object code file described later is stored,
And a magnetic desk 5 in which a save code file to be described later is stored.

The tool 1 includes an IEC1131-3 editor, a compiler, a degabber, etc.
The 1131-3 compiler is configured to form an object code file, which is an object code interpreted and executed by the runtime 3 from a source program, on a magnetic disk.

Here, in the object code file in which the tool 1 is formed of a magnetic disk, *. The name obj is given, and * is the object code name. For example, POU2. The object code file "obj" indicates the object code POU2.

When the object code is corrected by performing online editing, the tool 1 stores the object code file *. * Before the modification stored in the magnetic disk 4. obj is *. org and formed on the magnetic disk 4, and the modified one is rewritten *. The obj is formed on the magnetic disk 4.

For example, when the object code POU2 is modified by online editing, the object code file POU2. obj to POU. org, the magnetic disk 4 is formed, and the corrected disk is again used as POU2.org. o
It is formed on the magnetic disk 4 as bj.

The communicator 2 is middleware that acts as an intermediary for online communication between the tool 1 and the runtime 3.

The runtime 3 includes a runtime core 31, a communication interface (I / F) 32, a shared memory 33, an online edit execution section 34, a code memory (hereinafter referred to as a first CM) 35, a code memory (hereinafter referred to as a second memory). CM, data memory (hereinafter, DM) 37, and POU address conversion table (hereinafter, PAT) 38.

Here, the runtime core 31 is shown in FIG.
As shown in (a), in the case of a dedicated PLC, the run-time core 31 performs a scan process at a predetermined cycle time, that is, an out-refresh process for outputting data to the external I / O, a data transfer from the external I / O. The execution timings of the in-refresh processing, the instruction execution processing, and the peripheral processing are controlled.

On the other hand, a PLC that allows the PLC function and other application functions to operate in parallel, such as (software PL
In the case of (C + PC), as shown in FIG.
As in the case where the runtime core 31 is the dedicated PLC described above, the scan process, that is, the out refresh process,
The execution timing of in-refresh processing, instruction execution processing, and peripheral processing is controlled.

However, in such a PLC, after the run-time core 21 executes (manages) the above-described scan processing, the time until the cycle time expires, OS (Operating).
System) executes another application, and when the allowable cycle time is reached, the run-time core 21 performs the scan process again.

Communication interface (I /
F) 32 constitutes a communication interface between the communicators 2.

The shared memory 33 stores, via the communication interface (I / F) 32, information indicating that online editing has been executed (hereinafter referred to as edit execution information) received from the communicator 2 and an object code name for online editing. It is something to store.

The shared memory 33 is also stored in the tool 1 via the communication interface (I / F) 32.
Information indicating that the Undo process output by
ndo execution information).

Here, executing Undo processing means returning to a state before execution of online editing.

Upon detecting that the edit execution information has been written in the shared memory 33, the online edit execution section 34 reads the object code name for online editing from the shared memory 33.

Further, the online edit execution unit 34
When the object code name to be online-edited is read from the shared memory 33, the object code read by referring to the PAT 38 determines which one of the first CM 35 and the second CM 36 is being used. It is designed to detect.

Further, the online edit execution unit 34
Detects the used one of the first CM 35 and the second CM 36 by referring to the PAT 38, the object file *. obj is read from the magnetic disk 4 and is not used at present, for example, if the currently used code memory is the first CM 35, the second
The object code of CM 36 is rewritten.

Furthermore, when the online edit execution section 34 rewrites the object code instructed in the shared memory 33 to the code memory which is not currently used as described above, the used code memory area (to be described later) in the PAT 38 ( The contents of (described later) are rewritten to the code memory that was rewritten previously.

For example, when the object code for online editing is POU2 and this code POU2 is rewritten to the second CM 36, use corresponding to "POU2" in the code name area 381 of the PAT 38 (see FIG. 7). The content of the code memory area is changed from the first CM 35 to the second CM 36 (C in FIG. 7).
M2).

The first CM 35 stores the object code necessary for the execution processing of the source program and the subroutine, and when the power of the PLC is turned off, all the stored contents are erased. .

Here, the object code is the runtime core 31 or the online edit execution unit 34.
Is an object code file read from the magnetic disk 4.

For example, in the example shown in FIG. 6A, the first CM 35 is the source program and the subroutine program POU1, POU2, POU3, PO of the above-mentioned source program.
It stores an object code such as U4.

The second CM 36 is similar to the first CM 135 in that the source programs and the subroutine programs POU1, POU2, POU3 and POU4 of the above-mentioned source programs and subroutine programs are described.
It stores object codes such as
When the power is turned off, everything that was stored in it will be erased.

The first CM 35 and the second CM 3
The area indicated by "*" in 6 is a spare area for online editing and is reserved by the compiler. When the corrected object code exceeds "*" by the online edit, the compiler checks and gives an error.

In the DM 37, when the tool 1 compiles the source program, the data instance portion is formed via the runtime core 31.

For example, when the above-mentioned source program in FIG. 2 is compiled, as shown in FIG. 6C, a data instance storing global variables, the above-mentioned Pou1_Inst1, Pou2_Inst1, Pou.
Data instance locations such as 3_Inst1 and Pou3_Inst2 are formed.

The area indicated by "*" in each data instance is a margin area, and if it exceeds this area, the compiler checks it and gives an error.

Further, the DM 37 is designed to erase unimportant items stored in the work storage area when the power of the PLC is turned off, but it is an important item consisting of input / output information from an external device. Is designed not to be erased.

As shown in FIG. 7, the PAT 38 stores the code instance name area 381 having the information of the code instance name in which the object code is stored and the above-mentioned code instance when the runtime core 31 executes the scanning process. A used code memory area 382 having a code memory to be used,
When the power of LC is turned off, all the stored contents are erased.

When the code instance executed by the runtime core 31 is POU2, the code memory used is that of POU2 stored in the second CM 36 (CM2 in the figure).

The save code file 5 formed on the magnetic disk 5 uses the above-mentioned code instance name in the code instance name area 381 read by the runtime core 31 from the PAT 38 and the corresponding usage before the PLC turns off the power. It is a file having information including the used code memory of the code memory area 382.

(3) Next, the operation of the online editing process of the programmable controller of this embodiment will be described.
Subroutine program object code file POU2. An example of online editing of obj will be described.

The user edits and compiles the corresponding subroutine program using the tool 1.

Next, the tool 1 has already used the magnetic disk 4
The object code file 4 formed in the object code file POU already stored
2. obj to POU2. org and the magnetic disk 4 is formed, and the object code file of the object code formed this time is newly added to POU2. It is formed on the magnetic disk 4 as obj.

After that, the tool 1 stores the edit execution information indicating that the online edit is performed in the shared memory 33 and the object code name POU2 edited online through the communicator I / F 32 of the communicator 2 and the runtime 3. To do.

When the online edit execution part 34 detects that the edit execution information is stored in the shared memory 33, the object code name P from the shared memory 33 is detected.
Read OU2.

Next, the online edit execution unit 34
Detects that the object code name POU2 read by referring to the PAT 38 is the second CM 36 as the currently used code memory (FIG. 7).
reference).

Subsequently, the online edit execution unit 34
Is an object file POU2. obj is read, and the object code POU2 in the first code memory CM35 which is not currently used is read, and the read object file POU
2. Rewrite to the object code of obj.

Next, the online edit execution unit 34
Is the P in the used code memory area 382 in the PAT 38.
CM2 corresponding to OU2 is rewritten to CM1.

As described above, the object code files POU2. The online edit process of obj is completed.

If such a process is performed during the peripheral process, the runtime 3 causes the PAT 38 to operate in the next scan process.
The content of the new code modified with reference to will be executed thereafter.

(4) Next, the PLC of this embodiment executes an online edit, and after the start of the programmable controller is completed and then restarted, an operation for the runtime to restart in the state after the online edit will be described. To do.

The reason why such a processing operation is necessary is that when the power of the programmable controller is turned off, the memory code (CM1) 25 and the memory code (CM2) 2
6. This is because the contents of PAT are all erased and it is not possible to restart.

First, when the power of the PLC is turned on, the runtime core 31 reads the contents of the PAT 38 stored before the power is turned off from the save code file formed on the magnetic disk 5.

Next, the runtime core 31 uses the object instance name read from the save code file 5 as the basis for the object code file *. obj is read from the magnetic disk 4, and the read object code file *. After the object code of obj is stored in the code memory that has been read out previously, the object code file *. The org is read from the magnetic disk 4 and stored.

After that, the runtime core 31 executes the PAT3
The code instance name and the used code memory included in the saved code file 5 are registered in the code instance name area 381 and the used code memory area 382 of FIG.

In this way, the runtime core 31
When all the items stored in the save code file 5 are processed as described above, the state before the power of the PLC is turned off is restored, and thereafter, the run-time core 3
The first CM 35, the second CM 36, and the P that have returned 1
It can be rebooted using the AT38.

(5) Next, U of online editing
The operation of the ndo process will be described.

On the editor of the tool 1, the user selects the object code to be Undo based on the menu displayed on the CRT among the object codes subjected to the online editing, and the tool 1 is stored in the magnetic disk 4. Of the existing object files, *. obj is *. After changing to obk,
*. Org *. Change to obj.

Then, the tool 1 uses *. The file which became obk is *. Change to org, *. Delete the obk file.

Therefore, the magnetic disk 4 is marked with *. What was obj is *. org, *. or
What was g was *. It is obj.

When the file name of the object code file stored in the magnetic disk 4 is changed, the tool 1 changes the name of the communicator 2 and the communication I / O.
The Undo execution information is stored in the shared memory 33 via F32.

When the runtime core 31 detects the Undo execution information stored in the shared memory 33, the PAT
The code memory stored in the used code memory area 382 of 38, for example CM1 (first CM35)
C2 (second CM36) to (second CM36)
Change to M1 (first CM 35).

By doing so, the PL of this embodiment is
In C, the object code of the Undo from the next scan is executed.

In the PLC of this embodiment, the object code preliminarily formed by the online edit execution unit 34 during the peripheral processing is modified based on the PAT 38 and the corresponding object code in the first CM 35 or the second CM 36. Since it is changed, it is possible to eliminate the influence on the runtime processing executed by the runtime core 31.

In the PLC of this embodiment, a programming language conforming to the 1131-3 standard is used as the programming language to be used, and each source program and subroutine has a data instance and a code instance, so that the subroutine is modular. The system can be configured.

In the PLC of this embodiment, the object code of the source program or the subroutine program is separately stored as the code instance in the first CM 35 and the second CM 36, and the runtime core 31 is stored in the PAT 38. On the basis of this, since the indirect designation method of executing the code memory is adopted, it is possible to avoid the maintenance of the object code on the reading side by using the CALL instruction.

For example, as shown in FIG. 2, since the object code POU2 executed by the CALL instruction is read by the indirect designation method as described above, even if this object code POU2 is edited online and modified, the source code There is no need to change the code POU1 of the program.

However, in the PLC of this embodiment, on-line edit editing of input / output variables is prohibited by the specification in order to reduce the change of the code on the reading side.

In the PLC of this embodiment, since the magnetic disk 5 has the PAT save file, the code instance name written in the PAT save file and the code memory used when restarting after the power is turned off. Based on (CM1 or CM2), the first CM 35, the second CM 36, and the PAT 38 can be restored to the state before the power was turned off.

Therefore, the PLC of this embodiment can be easily restarted even when the power is turned on after the power is turned off.

The PLC of this embodiment has the object code file *. obj is *. org, and the modified one again *. obj and the runtime core 31 uses the code memory area 382 of the PAT 38.
Since the CM1 and CM2 stored in the above are rewritten to be opposite to each other, the Undo process can be performed in the online edit.

[0094]

According to the present invention as described above, the module program is edited, this InkEdit are compiled in object preparative encoding module program is formed, since the object bets code is executed, to stop the external device The user program and the like can be added and changed without the need.

According to the present invention, either the object stored in the first storage means or the object code stored in the second storage means is used in the storage means selection table. Since it has information indicating that, the execution method of the object code is indirectly designated.

According to the third and fourth aspects of the present invention, the object code formed in the storage means is stored as an object code file, and the contents stored in the storage means selection table before the power is turned off are saved in the storage means. Therefore, when the power is turned on, it can be restarted again based on the contents stored in the save storage means.

According to the fifth and seventh aspects of the invention, the object code file of the object code edited online is changed to the object code file which is not processed, and the object code file of the object code before the online edit is processed. By changing the object code file to be used and changing the usage information in the storage means selection table.
Do processing can be performed.

[Brief description of drawings]

FIG. 1 is an explanatory diagram of a programming language conforming to the IEC1131-3 standard.

FIG. 2 is an explanatory diagram of a programming language conforming to the IEC1131-3 standard.

FIG. 3 is an example diagram of a program written in a programming language conforming to the IEC1131-3 standard.

FIG. 4 is a block diagram showing the configuration of an embodiment of a programmable controller according to the present invention.

5 is an explanatory diagram of functions of a runtime core in FIG.

FIG. 6 is a block diagram showing the configurations of a first code memory, a second code memory and a data memory in FIG.

7 is a block diagram showing the structure of a POU address table in FIG.

FIG. 8 is an explanatory diagram of program correction of a conventional program controller.

[Explanation of symbols]

1 IEC1131-1 programming tool 2 Communicator 3 Controller runtime 31 Runtime Core 32 Communicator 33 shared memory 34 Online Edit Execution Department 35 First Code Memory (CM) 36 Second Code Memory (CM) 37 Data memory (DM) 38 POU Address Table (PAT) 4 magnetic disk 5 magnetic disk

Continuation of front page (56) Reference JP-A-3-74703 (JP, A) JP-A-4-118705 (JP, A) JP-A-8-6616 (JP, A) JP-A-60-229106 (JP , A) JP-A-2-5103 (JP, A) JP-A-7-64614 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) G05B 19/05

Claims (7)

(57) [Claims] 1. A plurality of module controls for controlling external equipment and the like.
Programmable co
A controller,Edited Compile the above module program
Object code to create an object code
Forming means, The object formed by this object code forming means
Code that controls the scan of the above-mentioned external devices, etc.
With on-time control meansThen The runtime control means is The editor formed by the object code forming means
Object code of the installed module program
A first storage means for storing the code, a second storage means, The first object code storage means and the second object
Which is stored in the
The usage information indicating whether to use the object code
A storage means selection table to be stored, Based on this storage means selection table, the first object
Object code stored in the project code storage means
Or a second object code storage means
Select one of the stored object codes
Code execution means to select and execute, By the object code forming means, the object
If is changed, it is based on the above storage means selection table.
First, it is stored in the first object code storage means.
The object code that is stored, or the second object
Object code stored in the code storage means
Any one of these to the modified object above
Change and change in the above storage means selection table
The storage means that stores the stored object code
Usage information changing means for changing the usage information so that Have Programmable controller characterized by
La. 2. The control of external equipment is controlled by a plurality of module programs.
Programmable co
A controller,Edited Compile the above module program
Object code to create an object code
Forming means, The object formed by this object code forming means
Code that controls the scan of the above-mentioned external devices, etc.
On-time control meansEquipped with,The runtime control means is The editor formed by the object code forming means
Object code of the installed module program
A first storage means for storing the code, a second storage means, The first object code storage means and the second object
Which is stored in the
The usage information indicating whether to use the object code
A storage means selection table to be stored, Based on this storage means selection table, the first object
Object code stored in the project code storage means
Or a second object code storage means
Select one of the stored object codes
Code execution means to select and execute, By the object code forming means, the object
If is changed, it is based on the above storage means selection table.
First, it is stored in the first object code storage means.
The object code that is stored, or the second object
Object code stored in the code storage means
Any one of these to the modified object above
Change and change in the above storage means selection table
The storage means that stores the stored object code
Usage information changing means for changing the usage information so that Have Further, it is formed by the above object code forming means.
The object code as an object code file
Code file storage means to store and before power down
Describes the contents stored in the storage means selection table above.
By providing a saving storage means to remember, Stored in the code file storage means and save storage means
First object code storage based on the obtained information
Means, second object code storage means and storage means
The stage selection table can be restored to the state before the power was turned off.
Sick Programmable controller characterized by
La. Wherein said object code forming means, online edetate I Tsu when modifying the object code was collected, the object code file name of another file name before correction stored in the code file storage means The programmable controller according to claim 2 , wherein the object code file name before modification is changed to the object code file name after modification. 4. The first storing means and the second storing means
The column has an area for storing the above object code.
4. The programmable controller according to claim 1, wherein the programmable controller is determined by an object code forming means . 5. The state before the online edit is executed is restored.
When performing Undo processing, the above object
The code forming means stores in the code file storage means.
Undo object selected by the user
Change the object code file of the code
The object code file that the
Change the object code before executing online edit.
Object file that the runtime control means processes.
Change to the project code file and run time control above
Means stores the usage information in the storage means selection table.
Stores object code before online editing
3. The storage means according to claim 2, characterized in that
Or the programmable controller described in 3 . 6.Multiple control modules for each control function
Execute module program with object code
A programmer who repeatedly executes processing including instruction execution processing
In the control method of the bull controller, The first which stores the object code for executing the process
First and second object code storage means are provided, Edit online and modify the object code
The first object code storage means or
Currently executed of the second object code storage means
After modifying the object code of the storage means
Rewrite this with the object code
According to the first object code storage means, the second object code storage means
On the side that has rewritten the object code storage means
Stored Use information to run object code
Change Based on the change in the above usage information from the next instruction execution process
A program characterized by executing object code
Control method of ramable controller. 7.Multiple control modules for each control function
Execute module program with object code
A programmer who repeatedly executes processing including instruction execution processing
In the control method of the bull controller, Object code being executed and object before modification
A first and a second object which respectively store a code and
A code storage means, the aboveThe first and second object code storage means
With usage information that indicates which is currently running
When using Undo, enter the usage information in two
Of the above object code storage means of
It is possible to change from the storage means to the storage means not currently being executed
Causes the object that was undone from the next instruction execution process to be
Characterized by executing the eject code
Programmable controller control method.