CN105629923B - Controller and its control method - Google Patents
Controller and its control method Download PDFInfo
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- CN105629923B CN105629923B CN201510784708.5A CN201510784708A CN105629923B CN 105629923 B CN105629923 B CN 105629923B CN 201510784708 A CN201510784708 A CN 201510784708A CN 105629923 B CN105629923 B CN 105629923B
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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
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/4184—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by fault tolerance, reliability of production system
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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
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/34—Director, elements to supervisory
- G05B2219/34475—Detect abnormality of control system without inverted model, using input command
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The present invention provides a kind of in the controller being made of CPU module and remote I/O module, control action reliable according to abnormal element and when selectively performing abnormal, so as to fulfill the controller of high reliability.The controller of the present invention has：CPU module, the abnormal state detection portion of the abnormal operation with detection module, and the multiple equipment machine of above-mentioned factory is controlled into line program；And multiple remote I/O modules, they are connected to above-mentioned CPU module by serial transmission paths daisy chain type, and it converts from the numerical data that above-mentioned CPU module is transmitted and is exported to above-mentioned equipment machine, above-mentioned abnormal state detection portion is when detecting abnormal operation, it is abnormal to above-mentioned remote I/O module notice CPU, all above equipment apparatus controls are differently halted state with the control based on above-mentioned numerical data when being notified above-mentioned CPU exceptions by above-mentioned remote I/O module.
Description
Technical field
The present invention relates to the controllers carried out automatically controlling to factory (plant) equipment etc..
Background technology
As the controller carried out automatically controlling, exist CPU (Central Processing through transmission cable
Unit：Central processing unit) module and multiple remote I/Os (Remote Input/Output：Remote input/output) connect between module
The system connect.For the structure, control program and output digital data DO that CPU module execution automatically controls
(Digital Output data：Digital output data), remote I/O module converts the numerical data DO received from CPU module
It is exported into factory's output signal and by its operation terminal to shop equipment.
The controller of the remote I/O mode exist can with save space, be realized with a low cost multiple shop equipments being distributed
Control the advantages of.
For example, the upper and lower water course factory being made of multiple equipment can apply above-mentioned controller, factory's control is carried out.On
Each equipment of sewer factory is made of multiple machines, moreover, having operation terminal in each machine.Externally to the operation terminal
Factory's output signal is exported, so as to operate the operation of a machine, stop.From controller or hand-operating device to operating side
Son suitably exports factory's output signal, so as to fulfill the operating of machine monomer and the operating of factory's entirety.
The malfunction of the controller of upper and lower water course factory stops in the presence of tap water cut-off, city flood etc. is caused, so as to prestige
Coerce the possibility of life, property.Therefore, the 24 hour operating continuously stablized is required controller.
As above, to the controller requirement high reliability for the sewer factory that faces upward.
In the case where controller detects exception, the malfunction of factory in order to prevent, and must implement emergent stopping or
Person operates when being maintained factory's function and detecting extremely preceding state, stops a part of machine and reduces factory functionally
It operates or switches to manual operation and operate etc..
Particularly, it in the case where detecting the abnormal highest CPU module exception of danger level of controller, needs to avoid
The risk that numerical data DO is accidentally exported caused by CPU malfunctions, and stop Plant Emergency.
In addition, upper and lower water course factory, which is provided with high voltage electric equipment, induction motor, frequency converter etc., becomes the machine of noise source
Device, therefore in application remote I/O module, there is the biography generated when noise is overlapped to CPU module is connect with remote I/O module
Transmission cable generates the possibility of momentary transmission abnormality.
In the past, in view of the above circumstances, it is proposed that in the case where detecting the exception of controller, control external loading
Supply the technology of power supply (for example, referring to patent document 1).
According to technology disclosed in patent document 1, by the pulse output exported from main program and by relay and timing
The external circuit timer detection that device is formed is abnormal, when detecting abnormal, cut-out or the power supply supply for connecting external loading,
So as to fulfill failure protection function.
In addition, following I/O cell is disclosed in patent document 2, it is different by setting the abnormal examination leading-out terminal of MPU11
The state of the output of the leading-out terminal of I/O cell when often checking becomes the state of the connected IO machines of un-activation, so as to
Detect the presence of failure exception in advance.
Existing technical literature
Patent document
Patent document 1：Japanese Unexamined Patent Publication 9-185403 bulletins
Patent document 2：Japanese Unexamined Patent Publication 2008-310389 bulletins
Invention content
Problems to be solved by the invention
According to above-mentioned technology disclosed in patent document 1, pass through switch on delay timer and off delay timer
Combination carrys out watchdog pulse output, therefore abnormal to detecting abnormal at least to need two abnormal inspections more than program loop from generating
Survey the stand-by period.Therefore, within the abnormality detection stand-by period, existing can not prevent caused by CPU is malfunctioned to factory
The problem of accidentally exporting.
In addition, according to patent document 1, even if appointing in CPU module, remote I/O module, main program, transmission, external circuit
Position of anticipating generates abnormal, is also detected as all identical exceptions, even if therefore existing and detecting that abnormal etc the danger levels of CPU are special
Not high abnormal key factor, the problem of also can not reliably disconnecting numerical data DO immediately when detecting.
Additionally, there are the controllers being made of CPU module and remote I/O module can not detect necessary transmission abnormality, that is, exist
Detect the subject that control action during exception can not be selected during transmission abnormality and is set.
According to above-mentioned technology disclosed Patent Document 2, though it can be tested with the failure of no I/O cell, different in advance
Often, but there is fault detect when not considering practice, in addition do not consider that the CPU element of PLC, the failure of formant are asked
Topic.
As above, in the technology disclosed in patent document 1,2, can not realize towards needed for the controller of upper and lower water course can
By property.
The method used for solving the problem
The present invention be in view of above-mentioned actual conditions and complete, and it is an object of the present invention to provide it is a kind of by CPU module with it is long-range
I/O module form controller in, according to the abnormal element of CPU exception, transmission abnormality etc., and reliably and selectively perform
Control action when abnormal, so as to realize the controller of high reliability.
In order to solve the above problems, the controller that the equipment machine of the invention to factory is controlled has：CPU moulds
Block, the abnormal state detection portion of the abnormal operation with detection module, and to the multiple equipment machine of above-mentioned factory into stroke
Sequence controls；And multiple remote I/O modules, they are connected to above-mentioned CPU module by serial transmission paths daisy chain type, and turn
It changes from the numerical data that above-mentioned CPU module is transmitted and is exported to above-mentioned equipment machine, above-mentioned CPU module is examined in above-mentioned abnormality
It is abnormal to above-mentioned remote I/O module notice CPU when survey portion detects abnormal operation, above-mentioned remote I/O module be notified it is above-mentioned
During CPU exceptions, all above equipment machines is differently made to be in halted state with the control based on above-mentioned numerical data.
In addition, there is CPU module and the remote I/O mould controlled the multiple equipment machine of factory for the present invention
For the controller of block, above-mentioned CPU module and above-mentioned remote I/O module by serial transmission paths and CPU state signal and by
Connection, the serial transmission paths daisy chain type connect above-mentioned CPU module and above-mentioned remote I/O module and transmit control information, should
CPU state signal daisy chain type connects above-mentioned CPU module with above-mentioned remote I/O module and from above-mentioned CPU module to above-mentioned remote I/O
Module transfer CPU is abnormal.
In addition, the present invention's has CPU module and the remote I/O mould controlled at least one equipment machine of factory
Block, and the control method of controller controlled the multiple equipment machine of factory has：Detection is to the multiple of above-mentioned factory
The abnormal operation for the CPU module that equipment machine is controlled into line program simultaneously exports the signal for representing abnormality in CPU state signal
The step of；And the numerical data DO with being notified from CPU module accordingly sets the above-mentioned respective operating side of multiple equipment machine
The above-mentioned remote I/O module of son is according to the signal of the expression abnormality of above-mentioned CPU state signal and by all aforesaid operations ends
Son is set as the step of defined state.
The effect of the present invention is as follows.
In accordance with the invention it is possible to improve the reliability of controller.
Description of the drawings
Fig. 1 is the structure chart of the controller of upper and lower water course factory.
Fig. 2 is the figure for the configuration example for representing CPU module.
Fig. 3 is the sequence diagram to the abnormality detection processing of program is controlled to illustrate.
Fig. 4 is the figure for the configuration example for representing remote I/O module and equipment machine.
Fig. 5 is the figure for the structure for representing CPU exception controls portion.
Fig. 6 is the figure of the structure for the IO output sections for representing remote I/O module.
Fig. 7 is the figure of an example of the sequence diagram for representing CPU exception controls portion.
Fig. 8 is the figure for the other structures for representing remote I/O module.
Fig. 9 is the figure of the sequence diagram of numerical data DO example for representing to be exported from remote I/O transport part.
Figure 10 is the flow chart in the case that the action to remote I/O module is handled into line program.
Figure 11 is the non-flow chart of CPU abnormality processings being synchronously carried out.
Figure 12 is the figure for an example for representing water conveying factory.
Wherein：
1-controller；2-CPU module；3rd, 3a, 3b, 3c-remote I/O module；4、4a、4b、4c、4d、4e、4f、4g、
4h, 4i-equipment machine；5-serial transmission paths；6-CPU state signal；7a, 7b, 7c, 7d, 7e, 7f, 7g, 7h, 7i-machine
Device connecting cable.
Specific embodiment
Hereinafter, with reference to attached drawing, the embodiment of the present invention will be described in detail.
Embodiment 1
Present embodiment carries out drug precipitation, sand filters, chlorine is injected and manufactured certainly to draw raw water from reservoir, rivers and creeks
It is illustrated for the upper and lower water courses factory such as water treatment plant of water.
The upper and lower water courses factory such as water treatment plant is by raw water pumping unit, high-voltage electric apparatus, the gen-set of emergency, drug
The compositions such as injection device, precipitation pool equipment, filtering pool equipment, chlorine injection device, water delivery pumping unit, drainage equipment.Moreover,
These each equipment include the control machine of pump, motor, valve, breaker, engine etc. and water-level gauge, flowmeter, water quality sensor
Deng detection machine.
In above-mentioned control machine, have for the status contacts by the action state of machine to outside output.Herein,
In the action state of machine, there are in the operation process of pump or in stopped process, the standard-sized sheet of valve is fully closed or the opening and closings such as crack
State, being switched on or switched off of breaker, the malfunction of machine.
If the electrical specification of the status contacts is for example as pumping in operation process, as electric conducting state, if stopping
During only, then as the output of the two-value of state of insulation.
The sensor of electric current, voltage, flow, water level, hydraulic pressure, aperture etc. is exported in addition, above-mentioned detection machine device has
Numerical information be converted into voltage or electric current analog signal and outward portion output simulation output terminal.
In addition, in above-mentioned control machine, have for from the operation terminal of the action of peripheral operation machine.It will operation
Terminal forms electric conducting state, state of insulation, so as to control pump, the operating stopping of motor, valve, the opening and closing of valve, breaker, electricity
Break-make of container etc..If for example, the operation terminal of pump is made to be in electric conducting state from outside, operating is pumped, if in insulation shape
State then pumps stopping.Above-mentioned operation terminal is also the simulation input terminal for inputting the analog signal from outside sometimes, this
When, aperture, rotating speed of machine etc. are controlled according to the signal operation of simulation input terminal.
Above-mentioned detection machine also has simulation input terminal sometimes.
Fig. 1 is the structure chart for having the controllers of upper and lower water courses factory such as the above-mentioned water treatment plant of control machine.
Controller 1 is by CPU (Central Processing Unit) modules 2 and multiple remote I/Os (Remote Input/
Output) module 3a, 3b, 3c (hereinafter, collectively referred to as remote I/O module 3) is formed.
CPU module 2 is with multiple remote I/O modules 3 by the serial transmission paths 5 of the multistations mode such as RS-485 and by chrysanthemum
Chain type connects.Moreover, by the sequential programme acted in CPU module 2, via serial transmission paths 5, remote I/O module 3 is accessed,
So as to control include control multiple equipment machine 4a, 4b of machine, 4c ... 4i (hereinafter, collectively referred to as equipment machine 4).
In the system construction drawing of Fig. 1, show the structure with multiple remote I/O modules 3 but it is also possible to be a CPU
The structure of module 2 and a remote I/O module 3.
In the following description, it will be transmitted between CPU module 2 and remote I/O module 3 via serial transmission paths 5
Numerical data is known as the numerical data DI (DI of the input of 1 bit architecture：Digital Input data), the digital number of output
According to DO (DO：Digital Output data), the simulation input data AI (AI of word or long-word architecture：Analog Input
Data), simulation output data AO (AO：Analog Output data), pulse input data PI (PI：Pulse Input
Data) etc..
Remote I/O module 3 respectively via machine connecting cable 7a, 7b, 7c ... 7i (hereinafter, collectively referred to as machine connect electricity
Cable 7) it is connected with status contacts, operation terminal, simulation input terminal, the simulation output terminal of multiple equipment machine 4.Machine connects
The electrical specification of cable 7 has the voltage output of AC100V, AC200V, DC24V, DC48V etc., and the shape with conducting or insulation
State.The either analog signal of 4~20mA, 1~5V etc..
Status contacts, operation terminal, simulation input terminal, the simulation output terminal of equipment machine 4 are connected via the machine
Cable 7 is accessed from remote I/O module 3, and CPU module 2 passes through 3 control device machine 4 of remote I/O module.
More specifically, there are the status contacts of equipment machine 4 via the input of machine connecting cable 7 in remote I/O module 3
State, as the signal from equipment machine.The state of the status contacts of equipment machine 4 being entered is converted into from remote I/O
The numerical data DI that module 3 is transmitted to CPU module 2.If specifically, the status contacts of equipment machine 4 become conducting state,
DI is converted into " 1 ", if as state of insulation, DI is converted into " 0 ".The number of the status contacts of equipment machine 4 converted
Digital data DI is transferred to CPU module 2 from remote I/O module 3.If in addition, the level of 4 output voltage of equipment machine or electric current,
Then the state of the simulation output terminal of equipment machine 4 is AD converted and forms simulation input data AI, and from remote I/O mould
Block 3 is transmitted to CPU module 2.
If having numerical data DO from the transmission of CPU module 2, machine connecting cable 7 is driven to conducting shape by remote I/O module 3
State or state of insulation, so as to the operation terminal of control device machine 4.Specifically, for machine connecting cable 7, if
DO is " 1 ", then is driven to conducting state, if DO is " 0 ", is driven to state of insulation.
In addition, remote I/O module 3 carries out DA conversions to simulation output data AO and forms analog signal, and to equipment machine
4 simulation input terminal output.
It is connected with three equipment machines 4 in Fig. 1, but 8~64 equipment machines can be connected in a remote I/O module 3
4.Multiple I/O modules 3 are connected in CPU module 2.In general, a controller carries out the status contacts of input and output, operating side
Son, simulation input terminal and simulation output terminal amount to tens of~thousands of points.
Machine connecting cable 7 is layed in each status contacts, operation terminal, simulation input terminal, simulation output terminal, and
As tens of~thousands of.Particularly in large-scale system, the laying of machine connecting cable 7 becomes difficult.Therefore, pass through
Using remote I/O module 3, remote I/O module 3 is set near equipment machine 4, so as to become the laying of machine connecting cable 7
Easily, but reply when needing the serial transmission paths 5 to misinformate defeated.
In addition, it is necessary to reply of the remote I/O module 3 relative to the abnormal operation of CPU module 2.
In the controller 1 of the present embodiment, in the following manner, reply error of transmission, CPU abnormal operations.
CPU module 2 is based on numerical data DI, simulation input data AI and performs control program, as implementing result, exports number
Digital data DO, simulation output data AO.At this point, the state of 2 monitoring hardware of CPU module of the present embodiment, program and detection operation
It is abnormal, it is without exception so as to have in the output of CPU state signal 6.
In addition, remote I/O module 3 has the error detection mechanism of the serial transmission paths 5 of parity error etc., detecting
During error of transmission, the DO of each equipment machine 4 is set as " 0 " (state of insulation) or keeps detecting the state before making mistake.
In addition, remote I/O module 3 CPU state signal 6 represent CPU exceptions in the case of, no matter the state of DO,
The operation terminal of whole equipment machines 4 is driven to state of insulation.
Hereinafter, the structure of the remarkable action of processing error of transmission, CPU is described in detail.
Fig. 2 is the figure for the configuration example for representing CPU module 2.CPU module 2 have CPU21, memory 22, CPU transport parts 23,
Abnormal state detection portion 25 and abnormality output section 26, and pass through cpu system bus 24 and be connected with each other.Memory 22 is
RAM(Random Access Memory：Random access memory) etc., and it is configured with control program 221, register 222.
CPU transport parts 23 as defined in corresponding with the processing for controlling program 221 in the period, via transmission cable 5 with
Serial communication is performed between remote I/O module 3, and receives and dispatches numerical data DI, numerical data DO etc..In addition, CPU transport parts 23 pass through
Numerical data DI, numerical data DO are received and dispatched between register 222 by system bus 24, so as to make remote I/O module 3 with posting
The numerical data unification (being known as refresh process) of storage 222.
Control program 221 is the program of the sequential control of equipment machine 4, loop control, and number is stored in register 222
Data DI, numerical data DO, simulation input data AI, simulation output data AO, primary data, the operational data for controlling program
Deng.
In addition, control program 221 is periodically carried out by CPU21, by remote I/O module 3 by the shape of equipment machine 4
The Content Transformation of state contact is stored in register 222 into after numerical data DI via CPU transport parts 23, becomes control program 221
Input.
Control program 221 performs logical operation, numerical operation etc. using the numerical data DI of register 222 as input
Sequential operation is exported numerical data DO as implementing result.Moreover, controlled processing procedure sequence 221 is exported to the number of register 222
Data DO is sent to remote I/O module 3 via CPU transport parts 23, so as to the behaviour of the set device machine 4 within the defined period
Make terminal.
Fig. 3 is the sequence diagram to the abnormality detection processing of program 221 is controlled to illustrate.
Control program 221 performs processing repeatedly with the controlling cycle of such as 50ms, 100ms, 200ms etc..
The processing is by making refresh process, the journey of the I/O module of the numerical data unification of remote I/O module 3 and register 222
Sequence operation is formed.The result of the sequential operation of register 222 is stored in the refresh process of the I/O module in next period
It is sent to remote I/O module 3.
Produce CPU21, memory 22 abnormal operation, control program 221 program exception in the case of, there are journeys
Sequence operation unclosed situation at the appointed time.
The process cycle of 25 supervisory control program 221 of abnormal state detection portion, if the process cycle of control program 221 is more than
The defined monitoring time is then determined as CPU exceptions.
More specifically, the supervision timer overflowed in the monitoring time as defined in being arranged in abnormal state detection portion 25,
So as to proceed by timer initialization and the starting of timer in control program 221.It is normally acted in control program 221
In the case of, the spilling of supervision timer does not occur.But supervision timer has occurred in the control processing of program 221 delay
Spilling in the case of, then be determined as the remarkable action of CPU.
In addition, the refresh process of I/O module is with controlling program to monitor the refreshing of I/O module as the composition independently performed
Processing and the process cycle of control program, if the process cycle of any one is more than the defined monitoring time, can also be determined as
The remarkable action of CPU.In addition, control program may be multiple.
In addition, the abnormal state detection portion 25 of Fig. 2 can also detect the hard of ROM sums mistake, the bit-errors of memory etc.
Part is abnormal, software anomaly by the way that the Exception handling of execution is illegally instructed to detect abnormal, the control program exceptions of OS etc..
The CPU module 2 that abnormality output section 26 will be detected by CPU state signal 6 by abnormal state detection portion 25
Abnormality notify to multiple remote I/O modules 3.Therefore, for CPU state signal 6 it is identical with serial transmission paths 5 make
With the differential serial interface of the RS-485 that can carry out multistation connection etc..
Serial transmission paths 5 carry out data transfer at a prescribed interval, but if it is detected that abnormal, CPU state signal 6 is vertical
Export the abnormality of CPU module 2.
As above, by separately setting CPU state signal 6 with serial transmission paths 5, so as to CPU module 2
The action of CPU transport parts 23 independently non-synchronously carries out the communication of the abnormality of CPU, therefore can rapidly carry out CPU
Abnormal notice.
In addition, as long as CPU state signal 6 can notify CPU exceptions, therefore message capacity can also be less, can
Make traffic rate smaller than serial transmission paths 5.Thus, it is possible to improve the data reliability of the transmission of CPU state signal 6.
In addition, abnormality output section 26 can also have CPU state contact, which will be in abnormality
The status data that test section 25 detects is converted into the signal of driving CPU state signal 6, and for being exported to outside.At this point,
CPU state contact is formed such as by semiconductor relay, electromagnetic relay.If status data is normal for CPU, can also incite somebody to action
CPU state contact forms conducting state, if status data is abnormal for CPU, CPU state contact can also be formed to insulation shape
State.
At this point, in the case where stopping supplying power supply to CPU module 2, CPU state contact is migrated to state of insulation, therefore
Power supply supply stops also being outputted as CPU exceptions.
More specifically, there is the voltage such as AC100V, AC200V, DC24V, DC48V, form conducting state or exhausted
The contact specification of edge state makes CPU state signal 6 for such as 2 core cables, so as to not incited somebody to action with being influenced by external noise
The presence or absence of abnormality of CPU is reliably exported from CPU module 2 to remote I/O module 3.
Or, it is possible to have the presence or absence of electric current state is formed contact specification by the current source of 4~20mA, normal in CPU
In the case of in there is the state of electric current.
Fig. 4 is the figure for the configuration example for representing remote I/O module 3 and equipment machine 4.
Remote I/O module 3 has remote I/O transport part 31, IO input units 36, IO output sections 34, CPU exception controls portion 35,
And pass through system bus 33 and be connected with each other.In addition, IO input units 36 connect input cable 7-2 and equipment machine 4 by machine
The status contacts 41 of control machine 42 connect, and IO output mechanisms 34 connect output cable 7-1 and equipment machine 4 by machine
The operation terminal 40 of control machine 42 connects.
Herein, digital number is represented by the IO input units 36 of the dotted line of Fig. 4 encirclement, IO output sections 34, CPU exception controls portion 35
According to 1 size structure, if the remote I/O module 3 is corresponding with numerical data DI, DO of 16 sizes, become include 16
IO input units 36, IO output sections 34, CPU exception controls portion 35 structure.
Remote I/O transport part 31 performs serial transmission via CPU module 2 and serial transmission paths 5, and receives and dispatches numerical data
DI、DO.Herein, by the numerical data of serial transmission by 16 DI for example are set as 1 word or 16 DO are set as 1 word
Multiple words form.
Remote I/O transport part 31 receives corresponding with the state of status contacts 41 via system bus 33 from IO input units 36
Numerical data DI, and the numerical data for being converted into word is transmitted to CPU module 2.
In addition, the numerical data DO transmitted from CPU module 2 is extracted in remote I/O transport part 31, and total via system is connected to
The CPU exception controls portion 35 of line 33 exports numerical data DO to IO output sections 34.
CPU state signal 6 is connected in CPU exception controls portion 35, notifies the normal or abnormal state of CPU module 2.
The IO outputs that CPU exception controls portion 35 has for remote I/O module 3, CPU module 2 normal or abnormal state with from
Operation is carried out, and operation result is exported to IO output sections 34 between the numerical data DO that remote I/O transport part 31 inputs.
Specifically it is controlled as follows, in the case where notice CPU module 2 is normal state, IO output sections 34 are defeated
Go out state corresponding with numerical data DO, in the case where notice CPU module 2 is abnormal state, IO output sections 34 export absolutely
Edge state.
IO output sections 34 are connect via machine connection output cable 7-1 with the operation terminal 40 of equipment machine 4, and according to
The setting in CPU exception controls portion 35 notifies conducting state or state of insulation to the operation terminal 40 of equipment machine 4.It controls as a result,
Control equipment machine 4.
IO input units 36 are connect via machine connection input cable 7-2 with the status contacts 41 of equipment machine 4, so as to take
Obtain the conducting state or state of insulation of status contacts 41.Moreover, in the case where status contacts 41 is conducting states, it will be digital
Data DI is set as " 1 ", and in the case where status contacts 41 is state of insulations, numerical data DI is set as " 0 ".Set
Numerical data DI is notified to CPU module 2 via remote I/O transport part 31.
Fig. 5 is the figure for the structure for representing CPU exception controls portion 35.
CPU exception controls portion 35 has the first input circuit 351, the second input circuit 352 and logical operation circuit
353。
First input circuit 351 is connected to the abnormality output section 26 of CPU module 2 via CPU state signal 6, so as to
The signal level of CPU state signal 6 is converted into TTL (Transistor TransistorLogic：Transistor-transistor is patrolled
Volume) level.For example, being converted into low level in the case where CPU state signal 6 represents the abnormality of CPU module 2, representing
High level is converted into the case of the normal condition of CPU module 2.
Second input circuit 352 is connected to system bus 33, the numerical data so as to be received by remote I/O transport part 31
DO is converted into Transistor-Transistor Logic level.It is " 1 " in numerical data DO for example, being converted into low level in the case where numerical data DO is " 0 "
In the case of be converted into high level.
Logical operation circuit 353 is the logic circuit being for example made of TTL, and is performed from 351 He of the first input circuit
The logical operation of the signal of second input circuit 352, so as to export control output signal.Output signal is controlled when logic is set up
It is low level when logic is invalid for high level.
The logical operation circuit 353 of embodiment has AND gate circuit, as next, output control output signal.
In the case where CPU state signal 6 represents the normal condition of CPU module 2 and numerical data DO is " 1 ", first
Input circuit 351 is output into high level, and the output of the second input circuit 352 also becomes high level, logical operation circuit 353
It is logic product as a result, the high level output output signal in order to control that logic is set up.
In the case where CPU state signal 6 represents the normal condition of CPU module 2 and numerical data DO is " 0 ", first
Input circuit 351 is output into high level, and the second input circuit 352 is output into low level, logical operation circuit 353
Logic product as a result, by the invalid low level output of logic output signal in order to control.
In the case where CPU state signal 6 represents the abnormality of CPU module 2, though numerical data DO for " 1 " or
Any one of " 0 ", logical operation circuit 353 it is logic product as a result, also that the invalid low level output of logic is defeated in order to control
Go out signal.
Fig. 6 is the figure of the structure for the IO output sections 34 for representing remote I/O module 3.
IO output sections 34 are made of relay circuit 341 and leading-out terminal 342.
Relay circuit 341 is formed such as by semiconductor relay, electromagnetic relay, according to CPU exception controls portion 35
Control output signal, carry out the break-make of the circuit of outlet side.If for example, control output signal become high level, connect after
Electric appliance if in addition control output signal becomes low level, disconnects relay.
Leading-out terminal 342 by machine connect output cable 7-1 connect with the operation terminal 40 of equipment machine 4, by after
Appliance circuit 341 makes operation terminal 40 in the conduction state or state of insulation.
Fig. 7 is the figure of an example of the sequence diagram for representing CPU exception controls portion 35, and shows CPU state signal, number
Digital data DO and the relationship for controlling output signal.
In the case where CPU state signal 6 represents normal condition, if numerical data DO is " 1 ", control output signal defeated
Go out high level, if numerical data DO is " 0 ", output signal is controlled to export low level.Output and the value of numerical data DO as a result,
Corresponding control output signal controls the operation terminal 40 of equipment machine 4 for conducting state or state of insulation.
On the other hand, in the case where CPU state signal represents abnormality, no matter numerical data DO is " 1 " or " 0 ",
Control output signal exports low level.Therefore, in the case where CPU state signal represents abnormality, by equipment machine 4
The control of operation terminal 40 is state of insulation.
As described above, be illustrated with the structure corresponding with 1 point of numerical data DO of CPU exception controls portion 35, but
In the case of the structure corresponding with 16 points of numerical data DO of remote I/O module 3, then become the second input electricity for having 16 Fig. 5
Road 352 has the AND gate circuit of 16 AND gate circuits 353, so as to export the knot of 16 control output signals from AND gate circuit 353
Structure.If moreover, notifying the abnormality of CPU module 2 by CPU state signal 6, all 16 IO output sections 34 are by connection
The control of operation terminal 40 for controlling machine 4 is state of insulation.
As shown in Figure 1, in the case where controller 1 has multiple remote I/O modules 3, CPU state signal 6 is by daisy chain type
Multiple remote I/O modules 3 are connected to, therefore the abnormality of CPU module 2 is notified to all remote I/O modules 3.Each
In remote I/O module 3, above-mentioned processing is carried out, the operation terminal 40 of the control machine 4 of connection is controlled as state of insulation.By
This, is capable of all equipment machines of the control object of stop control 1.
Embodiment 2
Fig. 8 is the figure for the other structures for representing remote I/O module 3.
Remote I/O module 3 has remote I/O transport part 31, transmission abnormality control unit 32, for each equipment machine connected
Multiple IO input units 36 of the setting of device 4, IO output sections 34, CPU exception controls portion 35, and pass through system bus 33 and be connected with each other.
It is connect in addition, IO input units 36 connect input cable 7-2 by machine with the status contacts 41 of equipment machine 4, IO output sections 34
Output cable 7-1 is connected by machine to connect with the operation terminal 40 of equipment machine 4.
The remote I/O module 3 of remote I/O module 3 shown in Fig. 4 and the present embodiment has a case that transmission abnormality control unit 32
Difference, hereinafter, illustrating centered on difference.
Transmission abnormality control unit 32 monitors connection remote I/O module 3 via remote I/O transport part 31 in each control cycle
With the transmission state of the serial transmission paths 5 of CPU module 2, when detecting transmission abnormality, remote I/O transport part 31 is controlled, and
Become more regular changed number data DO according to preset.
Herein, by the transmission abnormality that transmission abnormality control unit 32 detects by the broken string of cable break etc., be used as and advising
Do not terminate the error detections such as crc error, the parity error of numerical data of time-out detection, transmission of the state of transmitting-receiving in fixing time
To be judged.
When transmission abnormality control unit 32 detects transmission abnormality in each control cycle, the change of changed number data DO
More regular is, for example, to be rewritten into DO " 0 " (zero), and (holding) is maintained to detect abnormal preceding numerical data DO etc..
The more regular position that can be directed to each numerical data DO of the change, in other words, for the equipment of each control object
Machine 4 and set.Therefore, in the remote I/O module connected in the equipment machine 4 with multiple operation terminals, for every number
Digital data DO carries out instruction setting by CPU module 2 to becoming more regular.
The numerical data DO changed by remote I/O transport part 31 in transmission abnormality is sent to CPU exception controls
Portion 35.
In CPU exception controls portion 35, as described above, according to the Status Change numerical data DO of CPU state signal 6, to
The output of IO output sections 34 control output signal.The control output signal is converted into conducting state or insulation shape in IO output sections 34
State, and notify to the operation terminal 40 of equipment machine 4.
Fig. 9 is the figure of an example of the sequence diagram for the numerical data DO for representing to export from remote I/O transport part 31.According to
The change of numerical data when the presence or absence of numerical data DO, transmission abnormality from the input of CPU module 2, transmission abnormality is more regular, shows
The relationship of the output in CPU exception controls portion 35.
In the case where not detecting the transmission abnormality of transmission cable 5 by transmission abnormality control unit 32, no matter numerical data
The more regular setting of change of DO is how, do not change numerical data DO from remote I/O transport part 31 to CPU exception controls portion 35 and
It outputs it, if abnormal there is no CPU, exports with keeping intact.
On the other hand, in the case where detecting transmission abnormality, to CPU exception controls portion 35 export numerical data DO because
The more regular setting of change of numerical data DO and it is different.If rule is keeps setting, numerical data DO is altered to detect to pass
The preceding value of defeated exception (being in fig.9 " 1 ") simultaneously exports.If rule is zero, numerical data DO is altered to " 0 " and exports.And
And if abnormal there is no CPU, export the numerical data DO being changed.
As above, for each equipment machine 4, the change of setting numerical data DO is more regular, so as to according to equipment machine 4
Significance level change corresponding method when mistake occurs, therefore can realize the raising of the reliability of system.
Figure 10 is the flow chart in the case that the action to remote I/O module 3 is handled into line program.The flow of Figure 10 is more
It is acted respectively in a remote I/O module 3.
First, it is determined that whether have received the numerical data DO (S901) of this remote I/O module 3.If it is not sent from CPU module 2
The numerical data DO of this remote I/O module 3, then etc. (S901's is no) to be received.
In the case where having received above-mentioned numerical data DO (S901's be), the presence or absence of transmission abnormality when judgement receives
(S902).Specifically, the judgement of transmission abnormality is carried out by odd-even check, CRC code, sum inspection etc..
In the case of there is no exception (S902's is no), the transmission of numerical data DO is normally carried out, after carrying out
The transmission abnormality stated handles and temporarily preserves received DO (S909), into S906.
In the case of there are transmission abnormality (S902's be), the change of numerical data DO is carried out as next.
First, it is determined that the type (S903) of set modification rule, if " zero " (" zero " of S903), then by number
Digital data DO is rewritten into zero (S904), into S906.
If being " holding " (" holding " of S903) in S903, numerical data DO is rewritten into S909 and is temporarily preserved
The value (S905) of the DO of preceding normal transmission.In other words, after being rewritten into and detecting abnormal preceding value, into S906.
In S906, determine whether to detect the notice of CPU exceptions from CPU module 2.In the situation for detecting CPU exceptions
Under (S906's be), numerical data DO is unconditionally rewritten into zero (S907), into S908.
In the case of the notice of CPU exceptions is not detected in S906 (S906's is no), into S908.
In S908, IO output sections 34 set numerical data D0, according to the value of numerical data DO export conducting state or
Person's state of insulation.
By above-mentioned flow, detect that transmission abnormality and the abnormal operation of CPU module 2 occur in serial transmission paths 5,
Changed number data DO, therefore the exception control of controller 1 can be prevented.
In addition, in order to promptly carry out the abnormal countermeasure of CPU module 2, and non-synchronously carried out with the process flow of Figure 10
Processing when being abnormal of CPU module.
Figure 11 is the non-flow chart of CPU abnormality processings being synchronously carried out.
The processing of Figure 11 is started by the reception data outage of CPU state signal 6, and it is excellent preferably to improve interruption as much as possible
First grade.
In addition, the process content of S906, S907, S908 of Figure 11 is identical with Figure 10, therefore omit the description herein.
Embodiment 3
Next, utilize specific more regular to the change of the numerical data DO that is handled by transmission abnormality control unit 32 of Figure 12
Example illustrates.
Figure 12 is to represent to smoke the water that stockpiles of pump sump 8, and controls as target flow and flowed out from piping 9 as outflow water
The figure of one example of water conveying factory.
Water conveys factory and is made of motor-driven valve 42b, the flowmeter 42c of pump sump 8, piping 9, constant speed pump 42a, adjusting flow.
Moreover, flow measurement, the quilt in a manner of becoming constant flow rate are carried out by flowmeter 42c by the outflow water that constant speed pump 42a is discharged
Motor-driven valve 42b is controlled.
The water convey factory by machine connecting cable 7a, 7d, 7e, 7g by the equipment machine 4a comprising constant speed pump 42a, packet
Equipment machine 4d, the equipment machine 4g comprising flowmeter 42c of the 42b containing motor-driven valve be connected to remote I/O module 3a, 3b,
3c, and pass through CPU module 2 and carry out flow control.Remote I/O module 3a, 3b, 3c are believed by serial transmission paths 5 and CPU state
Number 6 daisy chain types are connected to CPU module 2.
Next the function of equipment machine 4a, 4d, 4g are illustrated.
The constant speed pump 42a of equipment machine 4a is the specification of invariablenes turning speed, discharges constant flow rate in the running, row during stopping
Outflow is zero.Equipment machine 4a has operation terminal 40a, by the way that operation terminal 40a is made to be in electric conducting state, so as to continue
If pump operating in state of insulation, stops pump operating.
The motor-driven valve 42b of equipment machine 4d by the forward and reverse of motor come regulating valve start work with close action, from
And control the delivery flow from constant speed pump 42a.Valve opening is for example in the range of the 0~100% of fully closed 0%, standard-sized sheet 100%
It is acted.The work that starts for being set by control valve of the valve opening is carried out with closing the actuation time of action.
If it specifically, starts work, close the speed that action forms valve opening 5% for example in 1 second, under full-shut position
If holding starts work 20 seconds, reach standard-sized sheet and stop starting work.On the contrary, under full-gear, if keeping closing action in 20 seconds,
As full-shut position, so as to stop closing action.
Equipment machine 4d has operation terminal 40b (starting work) and operation terminal 40c (closing action), by making operation terminal
40b, 40c are in electric conducting state, so as to persistently start work or close action, if in state of insulation, make to start make or
Action is closed to stop.
The valve opening of the motor-driven valve 42b of equipment machine 4d is in by adjusting making operation terminal 40b or operation terminal 40c
The time of conducting state, and can control as the aperture as target.
The outflow flow of the flowmeter 42c measurement outflow waters of equipment machine 4g.
The flow value measured is converted into the current signal of 4~20mA by the simulation output terminal 43 of equipment machine 4g, and
Output.
In CPU module 2, the outflow flow of simulation output terminal 43 is obtained as simulation input via remote I/O module 3c
Data AI performs the operating of control constant speed pump 42a and stopping, control in a manner that simulation input data AI becomes target flow
Motor-driven valve 42b's starts the control program made with closing action.
Constant speed pump 42a is by controlling program that the action instruction for operating or stopping is recorded in numerical data DO, via remote
Journey I/O module 3a is set in the operation terminal 40a of equipment machine 4a, so as to indicate to operate or stop.
Motor-driven valve 42b makees to be recorded in numerical data DO with the action instruction for closing action by controlling program that will start, via
Remote I/O module 3b is set in operation terminal 40b, 40c of equipment machine 4d, so as to set valve opening.
As described above, remote I/O module 3a, 3b detection transfer the transmission abnormality of the serial transmission paths 5 of numerical data DO,
And become more regular changed number data DO based on defined.
In the present embodiment, when detecting transmission abnormality, for constant speed pump 42a and motor-driven valve 42b, in next change
More regular middle changed number data DO.
In remote I/O module 3a, the control before the numerical data DO for indicating the action of constant speed pump 42a is remained is formed
The change of the setting state in period processed is more regular.In other words, operating or the halted state of current constant speed pump 42a is maintained.
In remote I/O module 3b, formed and starting for instruction motor-driven valve 42b is made to carry out with the numerical data DO for closing action
The change of zero setting (without starting work or closing action) is more regular.In other words, make the valve of motor-driven valve 42b start work,
It closes action to stop and fix valve opening, so as to maintain current flow.
As described above when the transmission abnormality of the constant speed pump 42a and motor-driven valve 42b of the water conveying factory of setting the present embodiment
Numerical data DO change it is more regular, so as to not make to detect that the conveying of the water of the controlling cycle of transmission abnormality stops, in addition extensive
Again into the case of transmitting normally, it can easily restart to control.
Above-mentioned change is more regular to be not limited to this, is suitably determined with specification when can be according to transmission abnormality.
However, in the controller 1 of the water conveying factory of the present embodiment shown in Figure 12, by CPU state signal 6, from
CPU module 2 is abnormal to remote I/O module 3a, 3b, 3c notice CPU.
Numerical data DO is set as " 0 " by remote I/O module 3a, 3b, 3c that CPU exceptions are notified of by CPU state signal 6, will
Operation terminal 40a, 40b, 40c are set as state of insulation.In other words, constant speed pump 42a stops pump operating, and motor-driven valve 42b makes
It starts work or closes action and stop, therefore the outflow of outflow water stops.
In the case where detecting CPU exceptions, exist until time taking situation is spent in the recovery of controller.Therefore, in order to
The outflow of outflow water is carried out, acts can preferably manually in advance constant speed pump 42a and motor-driven valve 42b.
Thus, for example switching device is set in the machine connecting cable 7a of the operation terminal 4a of constant speed pump 42a, so as to
Select the signal from remote I/O module 3a and the signal from hand-operating device.
When constant speed pump 42a stops due to CPU is abnormal, by switching device, it is switched to the operating side of connection constant speed pump 42a
Sub- 4a and hand-operating device.Moreover, by hand-operating device, the operation terminal 4a for making constant speed pump 42a is in the conduction state,
So as to carry out pump operating.
As described above, according to the present embodiment, controller 1 is if it is detected that the cause of exception of CPU module 2 etc
The state of life then makes machine connection output cable 7-1 be reliably fitted in state of insulation, so as to make all equipment machines
Action stop, therefore the malfunction of factory can be prevented.
In addition, according to the present embodiment, by not using the mechanism of high-performance CPU etc. in remote I/O module and simple to install
Logic circuit and only be laid with notice CPU module state signal cable, can make the operating of factory can in CPU exceptions
Stop by ground, therefore there is the effect that safety can be improved with low cost.
In addition, if CPU module 2 is normal, in the transmission abnormality for detecting serial transmission paths 5, can select to set
The continuation or stopping of the fixed output for control machine, even if therefore with also can neatly coping with control when being abnormal
The significance level of subject machine processed and the effect with policy.
In addition, only make all of connection in the case where detecting the specific great abnormal key factor such as CPU exceptions
Control the operation of a machine stop, therefore the operating utilization rate that automatically controls improves, so as to expect that operator's is manual
The reduction of the burden of operating.
Controller according to the present invention is not limited to above-mentioned embodiment, can not depart from the purport of the present invention
In the range of be suitably deformed.Hereinafter, enumerate other embodiments of controller according to the present invention.
It in the above-described embodiment, can also although forming the structure that remote I/O module 3 has 1 point DI, 1 point DO
The structure for having multiple DI, multiple DO is formed, alternatively, it is also possible to form the structure for having multiple AI, AO, PI.
In addition, in the above-described embodiment, although status contacts, operation terminal, CPU state contact is made to be a contacts,
Can also be b contacts, c contacts.
In addition, the controller 1 involved by above-mentioned embodiment can also apply to electric power, gas, traffic, reservoir etc.
The controller of the industrial systems such as controller, iron steel, chemistry, food, the logistics of social base construction system.
Moreover, it is achieved that the information such as the program of each function, data are in addition to being stored in RAM (Random Access Memory：With
Machine accesses memory) other than, additionally it is possible to it is stored in SSD (Solid State Drive：Solid state disk) etc. recording devices, IC
(Integrated Circuit：Integrated circuit) block, SD (Secure Digital：Secure digital) block, DVD (Digital
Versatile Disc：Digital versatile disc) etc. recording mediums.
In addition, the structure in each portion involved by above-mentioned embodiment, function, CPU, memory, system bus also can
All or part in them is realized by the hardware with IC design.
In addition, in the attached drawing illustrated to embodiment, it is necessary control to illustrate only from the aspect of explanation
Line, information wire need not necessarily be limited to show all control lines, information wire in terms of product.In fact, it is also contemplated that it is big
All structures is caused to be connected to each other.
Claims (10)
1. a kind of controller controls the equipment machine of factory, above controller is characterized in that, is had：
CPU module, the abnormal state detection portion of the abnormal operation with detection module, and to the multiple equipment machine of above-mentioned factory
Device is controlled into line program；And
Multiple remote I/O modules, they are connected to above-mentioned CPU module by serial transmission paths daisy chain type, and convert from above-mentioned
CPU module transmission numerical data and to above-mentioned equipment machine export,
It is different to above-mentioned remote I/O module notice CPU when above-mentioned CPU module detects abnormal operation in above-mentioned abnormal state detection portion
Often,
Above-mentioned remote I/O module differently makes to own when being notified above-mentioned CPU exceptions, with the control based on above-mentioned numerical data
Above equipment machine is in halted state,
Above-mentioned remote I/O module has transmission abnormality control unit, which detects the biography of above-mentioned serial transmission paths
Defeated exception and changed number data,
Above-mentioned transmission abnormality control unit is when detecting transmission abnormality, for each of the multiple equipment machine connected, base
Become more regular changed number data in defined.
2. controller according to claim 1, which is characterized in that
Above-mentioned CPU is abnormal by the daisy chain type connection above-mentioned CPU module different from above-mentioned serial transmission paths and above-mentioned long-range
The signal cable of I/O module and notified from above-mentioned CPU module to above-mentioned remote I/O module.
3. controller according to claim 1, which is characterized in that
The abnormal logic products with above-mentioned numerical data of above-mentioned CPU are obtained in above-mentioned remote I/O module, and are exported to above-mentioned equipment machine
The operation result of logic product.
4. controller according to claim 1, which is characterized in that
It is that numerical data is rewritten into the digital number before " 0 " is zeroed or maintains to detect transmission abnormality that above-mentioned change is more regular
According to i.e. holding.
5. a kind of controller, multiple remote I/O modules of the multiple equipment machine with CPU module and control factory, above-mentioned control
Device processed is characterized in that,
Above-mentioned CPU module is connected with above-mentioned remote I/O module by serial transmission paths and CPU state signal,
The serial transmission paths daisy chain type connects above-mentioned CPU module and above-mentioned remote I/O module and transmits control information,
The CPU state signal daisy chain type connects above-mentioned CPU module with above-mentioned remote I/O module and from above-mentioned CPU module to above-mentioned
Remote I/O module transmission CPU is abnormal,
Above-mentioned remote I/O module has transmission abnormality control unit, which detects the biography of above-mentioned serial transmission paths
Defeated exception and changed number data,
Above-mentioned transmission abnormality control unit is when detecting transmission abnormality, for each of the multiple equipment machine connected, base
Become more regular changed number data in defined.
6. controller according to claim 5, which is characterized in that
Above-mentioned serial transmission paths periodically transmit control information,
Above-mentioned CPU state signal non-synchronously transmits CPU state information with above-mentioned serial transmission paths.
7. controller according to claim 6, which is characterized in that
The data volume of above-mentioned CPU state information is fewer than the control information that above-mentioned serial transmission paths are transmitted.
8. a kind of control method, is the control method of controller, which has at least the one of CPU module and control factory
Multiple remote I/O modules of a equipment machine simultaneously control the multiple equipment machine of factory, and the feature of above-mentioned control method exists
In having：
Detect the abnormal operation of CPU module that control into line program the multiple equipment machine of above-mentioned factory and in CPU state letter
Number output represent abnormality signal the step of；
Numerical data DO with being notified from CPU module accordingly sets the above-mentioned of the above-mentioned respective operation terminal of multiple equipment machine
According to the signal of the expression abnormality of above-mentioned CPU state signal, all aforesaid operations terminals are set as remote I/O module
The step of defined state；And
Above-mentioned remote I/O module monitors the serial of the above-mentioned CPU module of connection and above-mentioned remote I/O module in defined controlling cycle
Transmission path when detecting transmission abnormality, becomes the more regular numerical data for changing and being notified from above-mentioned CPU module according to regulation
DO and the step of be set in aforesaid operations terminal.
9. control method according to claim 8, which is characterized in that
Above-mentioned remote I/O module and the numerical data DO from above-mentioned CPU module accordingly set aforesaid operations terminal opportunity and
The opportunity of aforesaid operations terminal difference is set according to the signal of the expression abnormality of above-mentioned CPU state signal.
10. control method according to claim 8, which is characterized in that
With the change according to regulation is more regular changes the numerical data DO notified from above-mentioned CPU module and be set in aforesaid operations end
Son step compare, above-mentioned remote I/O module priority processing according to the signal of the expression abnormality of above-mentioned CPU state signal come
The step of setting aforesaid operations terminal.
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| JP6812737B2 (en) * | 2016-10-07 | 2021-01-13 | オムロン株式会社 | Arithmetic logic unit and control unit |
| JP6812736B2 (en) * | 2016-10-07 | 2021-01-13 | オムロン株式会社 | Arithmetic logic unit and control unit |
| DE102017103418B4 (en) * | 2017-02-20 | 2019-01-24 | Infineon Technologies Ag | A method of determining information about integrity of signal processing components within a signal path, signal processing circuit and electronic control unit |
| JP6816554B2 (en) * | 2017-02-22 | 2021-01-20 | オムロン株式会社 | Control systems, controllers and control programs |
| WO2018211882A1 (en) * | 2017-05-16 | 2018-11-22 | パナソニックＩｐマネジメント株式会社 | Power storage system, and stop control system |
| US11531315B2 (en) * | 2017-10-12 | 2022-12-20 | Mitsubishi Electric Corporation | Distributed control system |
| JP2019207475A (en) * | 2018-05-28 | 2019-12-05 | オムロン株式会社 | Controller and control method thereof |
| CN109029543A (en) * | 2018-06-26 | 2018-12-18 | 深圳市威富智能设备有限公司 | A kind of abnormality detection system and method |
| CN110647127B (en) * | 2019-10-17 | 2021-05-11 | 厦门高瑞特电气自动化有限公司 | Module combined power process control device and initialization configuration method thereof |
| CN110987977B (en) * | 2019-12-31 | 2021-08-06 | 中国热带农业科学院农业机械研究所 | Intelligent servo cylinder type purification and separation control system and method |
| CN113467281A (en) * | 2021-07-05 | 2021-10-01 | 上海航天计算机技术研究所 | Sequence control device compatible with multiple types of controlled objects |
| CN113759803A (en) * | 2021-09-23 | 2021-12-07 | 西安铭创源机电科技有限公司 | Intelligent monitoring protection control electrical apparatus |
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