CN103370663B - Method and device for configuring a working machine in a virtual environment - Google Patents
Method and device for configuring a working machine in a virtual environment Download PDFInfo
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- CN103370663B CN103370663B CN201180058389.XA CN201180058389A CN103370663B CN 103370663 B CN103370663 B CN 103370663B CN 201180058389 A CN201180058389 A CN 201180058389A CN 103370663 B CN103370663 B CN 103370663B
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- 230000008859 change Effects 0.000 claims abstract description 26
- 238000012546 transfer Methods 0.000 claims description 11
- 238000003860 storage Methods 0.000 claims description 10
- 238000004519 manufacturing process Methods 0.000 claims description 3
- 239000011800 void material Substances 0.000 claims description 3
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- 230000006870 function Effects 0.000 description 4
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- 230000002349 favourable effect Effects 0.000 description 3
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- 238000007493 shaping process Methods 0.000 description 3
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/44—Arrangements for executing specific programs
- G06F9/455—Emulation; Interpretation; Software simulation, e.g. virtualisation or emulation of application or operating system execution engines
- G06F9/45533—Hypervisors; Virtual machine monitors
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- Engineering & Computer Science (AREA)
- Software Systems (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Automation & Control Theory (AREA)
- General Engineering & Computer Science (AREA)
- Programmable Controllers (AREA)
Abstract
The invention relates to a method for operating a working machine, wherein the working machine has at least one machine unit (2) having driving apparatuses (22) and each machine unit (2) has at least one control apparatus (4) for controlling the machine unit (2) and said control apparatus (4) has a memory apparatus, in which programs required for the operation of the respective machine unit (2) are stored, and wherein interfaces (8) for exchanging data are associated with each of the machine units (2). According to the invention, in order to create or change a machine configuration of the working machine (1), a virtual environment (30) independent of the working machine (1) is provided and a configuration is created in said virtual environment (30) and then said configuration created in the virtual environment (30) is transferred to the working machine (1).
Description
Technical field
The present invention relates to a kind of method for running work machine and a kind of work machine.The present invention enables in particular to should
In packer, printer, textiles processing machine, weaving manufacturing machine and automation equipment.Additionally it can be considered that applying in tool
Have in the equipment of electric, hydraulic pressure or pneumatic driver.
Background technology
Generally this machine has specific configuration, for example has different machine units in delivery.But often need
To change described machine configuration, for example to add other units or the renewal of execution data processor in a little moment in evening.But this
Plant extension or configuration change relative difficulty in the prior art.Generally have to separately execute more on single unit
Change.To this, generally single work machine has, in delivery, the program specially customizing for this purpose.It means that for example with other
Limited by the compatibility of machine and because different program makes the change relative difficulty of configuration.
Content of the invention
The task of the therefore present invention is, is that work machine sets up blanket project or program, wherein said journey
Sequence also can be run on machine that is multiple different configuration of or equipping.
In the prior art, there is the coupling of fixed program between single application program and the hardware under it.Machine is joined
Put or the change of machine hardware assembly typically requires rewriting application program completely.Thus produce the alteration cost of great number and micro-
Little reusability and maintainability.
Therefore it is desirable that, there is between the hardware under application program and its flexible coupling.In addition favourable
It is that application program will not be affected due to the change of machine configuration or machine hardware assembly.
According to the present invention for run work machine method in, described work machine have at least one carry drive
The machine unit of dynamic device, and described machine unit has at least one for the control device controlling described machine unit.
In addition described control device has storage device, is correspondingly stored with to run corresponding machine list in described storage device
Program required for unit.Here correspondingly distributes the interface for data exchange to one or more of machine units.
According to the present invention, in order to set up or changing the machine configuration of described work machine, there is provided independent of described work
The virtual environment of industry machine, and produce configuration in described virtual environment, and subsequently by described in virtual environment
The configuration of middle generation is transferred on described work machine.
By according to embodiment proposed by the present invention, the flexible construction of machine passes through the profit again of virtual machine subsection
It is used for realizing.Here, particularly by the level of abstraction of definition, real machine hardware is associated with the especially single void of application program
Equipment that is intending or generally defining.Here, this itself advantageously, pellucidly realizes to virtual machine.
Pass through proposed embodiment and can set up blanket project, wherein for this especially with virtual equipment
And machine-independent final configuration is programmed.
In a preferred method, the above-mentioned of configuration is displaced through so-called hardware Mapping implementation.Here can only downloaded
Or realize the mapping of described equipment or the mapping on physical equipment when finally project-based.
Multiple virtual machines additionally can be made to run on a hardware independently of each other.
In a kind of advantageous approach, above-mentioned virtual environment is divided into environment branch, wherein said environment branch table
Levy the machine subsection of work machine.If such as work machine has multiple machine subsection, the plurality of machine subsection in order to
Specific process collective effect in the way of prespecified, then advantageously, divide to each machine in these machine subsection
Portion is equipped with environment branch such that it is able to representing in described virtual plane or emulating complete machine all in virtual environment
Device.Therefore, described virtual environment branch is equivalent to virtual machine.
Preferably, foundation at least one environment branch for the configuration independent of configuration at least another environment branch
Interior foundation is carried out.It is capable of the separate through engineering approaches of individual machine branch by this way, and especially by this way
Can there are more degree of freedom when setting up whole project.It is preferred here that, each machine subsection or each environment branch
It is considered as preferable and abstract machine configuration itself.Described machine configuration is only included as solving the related portion of its task
Point.Realize strong cohesion by this way.
The configuration of described " local " machine was displaced in esse machine configuration later.Described dislocation is for corresponding
Can pellucidly carry out for machine subsection.Then for example in a virtual machine subsection, operation address can be 1,2 and
3, and operation address is located at 5,12 and 18 described in actual machine configuration.Additionally can there is other buses participant,
But described other buses participant hides preferably before described machine subsection.This is for job memory in the corresponding way
Speech is also capable of or also for other ancillary equipment, communication interface, the input of SPS and output projection instrument, read-only storage
And the like be also capable of.It means that the machine subsection of correlation advantageously has noted only the environment of its adaptation.
In another kind of advantageous approach, the configuration for specific environment branch is limited at for described environment branch
Specific aspect for the machine subsection being characterized.By this way corresponding environment branch individually mate right accordingly
The machine subsection answered or corresponding environment branch are individually programmed according to its task or aspect.
In another kind of advantageous approach, at least two environment branches mutually communicate.So virtual machine also can lead to
Cross this loosely-coupled " channel " mutually to communicate.When specific machine subsection（Abstract）The machine configuration energy having virtualized
Enough images to specific machine configure when, described specific machine subsection being capable of automatic running.
Machine subsection need not be changed and just can transfer in esse machine configuration by this way.This only needs to meet
Minimum precondition.Even if but it is also contemplated that being put down by controlling in the case of being unsatisfactory for described minimum precondition
The assembly of platform simulation error.Can be used as platform in this controller or control device for multiple independent machines and machine
Branch.
The framing program that can run is set up in another kind of advantageous approach on different machine configurations.In another kind
Virtual machine handing portion for managing described environment branch is provided in advantageous approach.The preferably described virtual project of here
Directly do not control hardware, and control the interface of the machine handing portion management virtual by this.This phantom item of here advantageously by
Application program（Such as SPS code）, data, e.g. form, formula（Rezept）Or data base, HMI（Defeated for control
Enter/output screen）, there is the bus configuration of the ancillary equipment of executor and sensor（Address, structure, function）And the like
Composition.
Here, described virtual machine handing portion can provide one or more virtual machine environment.
Preferably, the described virtual resource of machine handing portion management operation machine device, such as its calculating time, its storage
Device, its input/output（E/A）, connect equipment, bus and interface.
Another kind of advantageous approach transfers to actual machine in virtual environment.So for example can be described
Correspondingly actual described in image machine in virtual environment.
Advantageously, described virtual machine handing portion is itself transparent as much as possible for virtual project.As above
Described, mapped advantageously in phantom item in esse hardware and the periphery being connected to configured hardware by hardware
Equipment is allocated.
In another kind of advantageous approach, execute can virtual machine handing portion deterministically and/or in real time.This
Outward, the hardware running virtual machine handing portion thereon corresponds advantageously to automated system or work machine in structure.
Virtual project is equally advantageous equivalent to automated system in structure.
In addition favourable can also be to start independently of each other and stop virtual project.Above-mentioned hardware maps advantageously
As existing with respect to virtual project, separate artifact and particularly preferably can be in the feelings not changing phantom item
Redistribute under condition.
It is furthermore possible to accomplish that virtual machine itself is mutually invisible.Being furthermore possible to will be with peace by virtual machine handing portion
Relevant phantom item is completely isolated with other phantom items entirely.The process that can be isolated by this way.It is also possible to
, can protect, the project of such as encrypted virtual and only by virtual machine handing portion be suitable for secret key decryption and hold
OK.
In another kind of advantageous approach, to the change of the real resource of machine configuration, for example, add and/or remove other
Assembly or machine subsection do not need virtual machine subsection is modified, but are preferably existed by virtual machine handing portion
Hide before virtual machine subsection.
Said hide or also described change automatically can be carried out by virtual machine handing portion or
Can be realized by the configuration change in virtual machine handing portion itself.The mode of change mapping table for example can be taken.
In addition the present invention relates to having the work machine of at least one machine unit, wherein said machine unit has at least
One driving means, and correspondingly distribute use to described machine unit or to each machine unit in described machine unit
In the control device controlling described machine unit.In addition described control device correspondingly has storage device, in described storage dress
Put and be correspondingly stored with to run the program required for correspondingly machine unit, and correspondingly divide to described machine unit
It is used in the interface of data exchange.
Advantageously, described work machine has at least two machine units and particularly preferably has multiple machine lists
Unit.Here can be respectively allocated different tasks, such as in the range of printer to the plurality of machine unit.Favourable
It is that at least one machine unit has or preferably multiple machine unit is respectively provided with multiple driving means.
According to the present invention, in order to set up or change the machine configuration provides of work machine independent of described work machine
Virtual environment, can produce configuration in described virtual environment.In addition provide transfer device, described transfer device will be described
Configuration is transferred on work machine.
Advantageously, described virtual environment is divided into multiple environment branches to here.These environment branch heres can
It is separate or be separated from each other and be independently programmed or process.Advantageously described work machine is made from one group
Select in industry machine, it includes packer, printer, weaving manufacturing machine, automation equipment, a combination thereof etc..
Brief description
Other advantages and embodiment are given by accompanying drawing.Wherein：
Fig. 1 illustrates the schematic diagram for illustrating work machine；
Fig. 2 illustrates the schematic diagram for illustrating prior art；
Fig. 3 illustrates for illustrating virtualized schematic diagram；
Fig. 4 illustrates for virtualized schematic flow sheet；And
Fig. 5 illustrates for illustrating virtualized another diagram.
Specific embodiment
Fig. 1 illustrates the schematic diagram for illustrating the present invention.Here totally has two machines with the work machine here that 1 represents
Device unit 2.Described machine unit 2 here is respectively provided with multiple driving means 22, and wherein said driving means here for example can
It is servo drive, hydraulic pressure or pneumatic driving means.Reference 26 accordingly refers to driving amplifier, described drive
Dynamic amplifier is connected on corresponding control device 4 by real-time bus 24.Reference 16 represent visualization, described can
Allow user or make user's more easily operating system depending on changing unit.For example can be for joining accordingly by visualization 16
Put and provide characteristic.
User side can send instruction by input/output device 18.Said input/output device 18 can pass through
Fieldbus 28 is connected with control device 4.In this control device 4, correspondingly there is unified interface 8, can by described interface
Carry out configuration change.For this purpose it is proposed, here provides guide face 20, single program module for example can be deposited on described guide face.
Described program module can be supplied individual interface 8 thus being also supplied with single control device 4 in change configuration.Phase
Should can also there is corresponding intelligent object and program module is correspondingly loaded in corresponding driving amplifier 26 in ground
In described driving amplifier 26.Here, these program modules can be provided by Ethernet 27 or the Internet 25.Reference
14 represent the through engineering approaches module allowing to process single software module.
Fig. 2 illustrates the rough schematic diagram for illustrating prior art.In the prior art generally in control device 8 and corresponding
Machine unit or driving means 22 between arrange fixation coupling.Here, described control device generally includes application program
Or application data and manipulate described machine unit.Driver and I/O（Input/output）Sought in the way of fixing known to it
Location.
Therefore described application program only just works when physically just there is desired that machine configuration.Bus is joined
Can not insert with person, because address is moved.Control hardware nor changed by the consistent variant of function.
It means that the extension of machine configuration or change need to change application program or application data.To this for example
New translation, the extension of the coupling of bus configuration, the gathering of data and operating unit of SPS project can be listed.Even if when described
Extension fundamentally functionally to basic function when uncorrelated or can by definition or open-and-shut interface and its
It is also desirable to carry out above-mentioned modification when working together.
The machine here knowing from prior art can split into single phase mostly step by step according to the principle of Function Decomposition
The mutually machine subsection of decoupling, the machine for example for shaping, printing and packing.Can again be created by described individual machine branch
Different machine type, for example it is used for shaping and printing is without the machine of packaging or for shaping and packaging is without printing
Machine.The described variant of machine currently can not use engineering chemical industry to have image effectively.Described through engineering approaches instrument is always to whole
Machine project ultimately constructed enter row image.
Therefore, if the ultimately constructed change of the physics of machine, also must correspondingly amended subject.In addition depend on
Construct eventually, ancillary equipment and bus participant have other address.The variant multiformity of machine also results in unnecessary answering
Polygamy.However means that, maintainability in different projects for the individual machine branch and reusability only can be led to
Excessive cost is realized.Error correction（Defect correction）Also must manual maintenance.It means that change in machine subsection due to
Closely coupling can cause unpredictalbe seondary effect in ultimately constructed.
Fig. 3 illustrates the thought according to the present invention.Here illustrates the work machine 2 with operating system 42 again.Accompanying drawing
Labelling 30 is indicated generally at virtual environment, here three virtual environment branches 32,34 and shown in described virtual environment
36.These virtual environment branches 32,34 and 36 can be programmed respectively and as have hardware, operating system and
The virtual project of application is for using.Therefore, described virtual environment is a kind of machine environment having virtualized, described machine ring
Border is used for the through engineering approaches of corresponding machine subsection.Therefore, here can be in the environment correspondingly having virtualized or environment branch
32nd, the separate through engineering approaches of individual machine branch are realized in 34 and 36.
So-called virtualization is generally understood as operating system and the decoupling of the hardware under it.Main purpose is, is that user carries
For a kind of level of abstraction, described level of abstraction is by user and real hardware-calculating power and memory space-isolation.In user and
Logical layer is inserted, to hide the physical conditions of hardware between resource.
Here informs each user, and he is the unique subscriber of resource, or multiple（Not of the same race）Hardware resource combines
Become environment of the same race.
Fig. 4 illustrates the flow chart for showing through engineering approaches.Reference 32 and 34 represents virtual environment branch, institute again
State environment branch to be programmed out first.These virtual projects 32 and 34 subsequent are transferred to virtual by abstract interface 44
In machine handing portion 40.Described virtual machine handing portion 40, such as above-mentioned, also manage reality the single resource of machine 2 and
Its ancillary equipment 46 if necessary.Therefore, it is possible to assembling described machine in described virtual machine handing portion and subsequently passing through
Hardware mapping 48 is transferred in esse hardware.Also can together manage by this way and also together control corresponding
Ancillary equipment 46.
Here can also snugly carry out above-mentioned conversion, is changed in virtual project in esse hard by described
Part and the ancillary equipment being connected on configured hardware are allocated.Here can also distinguish it at the aspect of scope and form
The virtual ancillary equipment 46 in machine handing portion 40 of upper operation and in esse hardware 2 are pre- with virtual project 32 and 34
The ancillary equipment of phase and hardware.The change of real hardware 2 and/or ancillary equipment 46 does not need the change of virtual project, leads to
Crossing the new attachment relationship of hardware mapping 48 execution just can be enough.
It is capable of extensibility upwards in the way of being shown in which（Skalierbarkeit）, i.e. be used for n logic
, to the transfer of multiple controllers, the plurality of controller is for institute for one control device of project or the project that associates in logic
It is shown as single controller for stating virtual machine.
In addition also it is capable of downward extensibility, i.e. a project and multiple logic controller.Here can also " be frozen
Knot " described virtual machine, transfer on another hardware and there from described " freezing " state start continue operation（Firmly
Part exchanges）.Individual machine branch illustrates as unit in through engineering approaches project 32,34.Here is close to problem domain thus more preferably
Understand ground and have logically formation structure and solution.
Fig. 5 summarizes again and illustrates according to the embodiment of the present invention.The application program hardware lower with it decouple and by
Virtual equipment realizes programming.Subsequently realize the physical equipment being mapped in actual machine.Here illustrates to control dress in hardware side
Put 62 and driving means 22.
By according to embodiment proposed by the present invention, machine project being made in the Series machine of many variants to subtract in itself
Burden that light change spends and being capable of centralized positioning.An important role is played the part of in said virtual machine handing portion,
Its task is, for described " virtual " machine project, despite externalities and change, remains as described virtual
Machine project create identical environment all the time.By this way it can be avoided that safeguard, coupling and maintenance expense.
Can also be simulated by virtual machine environment by this way or copy non-existent real resource.
Within a context, with reference to submit to present patent application simultaneously, entitled " for run work machine method and
Work machine（Verfahren zum Betreiben einer Arbeitsmaschine und Arbeitsmaschine）”
Patent application.The disclosure of which is by referring to also entirely as present disclosure.
Reference numerals list
1 work machine
2 machine units
4 control devices
8 interfaces
14 through engineering approaches modules
16 visualization
18 input/output devices
20 guide faces
22 driving means
24 real-time bus
25 the Internets
26 driving amplifiers
27 Ethernets
28 fieldbus
30 virtual environment
32nd, 34,36 environment branches, virtual project
40 virtual machine handing portions
42 operating systems
44 abstract interfaces
46 ancillary equipment
62 control devices.
Claims (13)
1. it is used for running work machine（1）Method, wherein said work machine have at least one carry driving means（22）
Machine unit（2）, and described machine unit（2）Correspondingly there is at least one be used for controlling described machine unit（2）'s
Control device（4）, and described control device（4）There is storage device, be correspondingly stored with described storage device in order to
Run corresponding machine unit（2）Required program, and wherein give at least one machine unit described（2）Correspondingly distribute
One interface being used for data exchange（8）,
It is characterized in that,
In order to set up or change described work machine（1）Machine configuration, there is provided independent of described work machine（1）Void
The environment intended（30）, wherein each machine unit（2）It is equipped with described virtual environment（30）, described virtual environment drawn
It is divided into multiple environment branches（32、34、36）, and in described virtual environment（30）In produce as follows for described work
The configuration of industry machine, i.e. at least one environment branch（32、34、36）In the foundation of configuration divide independent of at least another environment
Portion（32、34、36）In the foundation of configuration carry out, and subsequently by described in virtual environment（30）The configuration transfer of middle generation
To described work machine（1）On, so that described machine unit（2）Need not change and just can transfer in esse machine
Run can in configuration and on multiple different configuration of machines.
2. method according to claim 1 it is characterised in that
In the plurality of environment branch（32、34、36）In be programmed and the plurality of environment branch（32、34、36）As
The virtual project with hardware, operating system and application is for using.
3. method according to claim 1 it is characterised in that
Realize at least one environment branch as follows（32、34、36）In configuration foundation independent of at least another ring
The foundation of the configuration in the branch of border, i.e. each environment branch（32、34、36）It is considered as preferable and abstract machine itself
Configuration（44）.
4. method according to claim 1 it is characterised in that
Each environment branch（32、34、36）Corresponding to a machine subsection and specific environment branch will be used for（32、34、
36）Configuration be limited to for described environment branch（32、34、36）Specific aspect for the machine subsection being characterized.
5. method according to claim 1 it is characterised in that
At least two environment branches（32、34、36）Mutually communicate.
6. the method according to any one of the claims 1-5 it is characterised in that
The framing program that foundation can run in different machine configurations.
7. the method according to any one of the claims 1-5 it is characterised in that
There is provided for managing described environment branch, virtual machine handing portion（40）.
8. method according to claim 7 it is characterised in that
Described virtual machine handing portion（40）Manage described work machine（1）Resource（4、16、18、22、24、26、62）.
9. method according to claim 7 it is characterised in that
Described virtual machine handing portion（40）Can execute in real time.
10. there is at least one machine unit（2）Work machine（1）, wherein said machine unit（2）There is at least one drive
Dynamic device（22）, and described machine unit or described machine unit（2）In each machine unit be correspondingly equipped with
For controlling described machine unit（2）Control device（4）, and described control device（4）Correspondingly there is storage device,
Correspondingly be stored with to run the program required for corresponding machine unit in described storage device, and wherein give described extremely
A few machine unit（2）Correspondingly one interface being used for data exchange of distribution,
It is characterized in that,
In order to set up or change described work machine（1）Machine configuration, there is provided independent of described work machine（1）Void
The environment intended（30）, described virtual environment is divided into multiple environment branches（32、34、36）And in described virtual environment
（30）In can produce configuration for described work machine, i.e. at least one environment branch as follows（32、34、36）In
Configuration foundation independent of at least another environment branch（32、34、36）In the foundation of configuration carry out, and additionally set
Put transfer device, described configuration is transferred to described work machine by described transfer device（1）On, so that described machine list
Unit（2）Need not change and just can transfer in esse machine configuration and can transport on multiple different configuration of machines
OK.
11. work machines according to claim 10 it is characterised in that
Actual machine is transferred to virtual environment to set up configuration（30）In.
12. work machines according to claim 10 it is characterised in that
In the plurality of environment branch（32、34、36）Middle it is programmed respectively and the plurality of environment branch（32、34、36）
As there is the virtual project of hardware, operating system and application for using.
13. work machines according to claim 10（1）It is characterised in that
Described work machine selects from a group job machine, and it includes packer, printer, weaving manufacturing machine, automatization set
Standby and combinations thereof.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102010053485.4 | 2010-12-04 | ||
| DE201010053485 DE102010053485A1 (en) | 2010-12-04 | 2010-12-04 | Method for operating a work machine and work machine with virtual automation |
| PCT/EP2011/005613 WO2012072179A1 (en) | 2010-12-04 | 2011-11-09 | Method and device for configuring a working machine in a virtual environment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103370663A CN103370663A (en) | 2013-10-23 |
| CN103370663B true CN103370663B (en) | 2017-02-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201180058389.XA Active CN103370663B (en) | 2010-12-04 | 2011-11-09 | Method and device for configuring a working machine in a virtual environment |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN103370663B (en) |
| DE (1) | DE102010053485A1 (en) |
| WO (1) | WO2012072179A1 (en) |
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|---|---|---|---|---|
| DE102014002593A1 (en) * | 2014-02-24 | 2015-08-27 | Abb Technology Ag | Dynamic programmable logic controller |
| EP3082001B1 (en) | 2015-04-13 | 2020-09-09 | Siemens Aktiengesellschaft | Method for expanding an automation device using a virtual field device and automation device |
| DE102015106116A1 (en) | 2015-04-21 | 2016-10-27 | Phoenix Contact Gmbh & Co. Kg | Method and control device for flexible process control |
| EP3575898B1 (en) * | 2018-06-01 | 2021-08-04 | Selectron Systems AG | Programmable logic controller and operating system for virtual programmable logic controller and computer program product |
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| CN101866462A (en) * | 2010-07-08 | 2010-10-20 | 武汉理工大学 | Supporting platform for product collaborative maintenance and maintenance method |
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| US7580826B2 (en) * | 2004-06-30 | 2009-08-25 | Microsoft Corporation | Systems and methods for development of emulated devices in a virtual machine environment |
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| CN103370663A (en) | 2013-10-23 |
| DE102010053485A1 (en) | 2012-06-06 |
| WO2012072179A1 (en) | 2012-06-07 |
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