CN105934720B - Programmable controller and programable controller system - Google Patents
Programmable controller and programable controller system Download PDFInfo
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- CN105934720B CN105934720B CN201480073827.3A CN201480073827A CN105934720B CN 105934720 B CN105934720 B CN 105934720B CN 201480073827 A CN201480073827 A CN 201480073827A CN 105934720 B CN105934720 B CN 105934720B
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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
- G05B9/00—Safety arrangements
- G05B9/02—Safety arrangements electric
- G05B9/03—Safety arrangements electric with multiple-channel loop, i.e. redundant control systems
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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
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/052—Linking several PLC's
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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
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24187—Redundant processors run identical programs
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Abstract
PLC (10) has：Communication unit (101), it is connected via universal network with other PLC；Whether setting content determination unit (106), the 2nd network setup information that it judges this PLC (10) the 1st network setup information and sent from other described PLC is identical；System architecture determination unit (107), it is in the case of the 1st network setup information and the 2nd network setup information identical, 2nd system architecture information of the 1st system architecture information and other PLC to described PLC (10) is compared, and judges whether consistent with structure required for other described PLC structure doubleization systems；And control system-standby system configuration part (108), it is in the case where the structure is consistent, determine that described PLC (10) is control system or standby system, in the case where being determined as being the control system, 1st network setup information is kept intact, in the case where being determined as being the standby system, the content to the 1st network setup information is changed.
Description
Technical field
The present invention relates to a kind of programmable controller and programable controller system.
Background technology
In the case where building doubleization system by the control system with programmable controller, special number is prepared
According to value unit and client cables are waited, the client cables will be connected between the value unit such as data of 2 systems, with for pair
The signal wire that the living or death state of each system is monitored (for example, referring to patent document 1).
Patent document 1：No. 5000620 publications of Japanese Patent No.
The content of the invention
In the method described in patent document 1, prepare to build doubleization system with being used to communicate what is laid
The mutually independent client cables of network, the problem of there is the species increase to ensure as apparatus of repair parts.
In addition, build doubleization system when, it is necessary to make for run as control system side system setting,
Setting with the system for running side as standby system is identical, to carry out standby system and control system
Between switching system switching when proceed so far untill processing.But, on network settings, be set to it is identical
Setting in the case of, the setting such as address needed for communication can conflict, and become unable to be communicated.Therefore, doubleization is being built
During system, to being acted with control system in the case of address and address in the case of being acted with standby system this
Both are set, after decision is to be acted or acted with standby system with control system, it is necessary to carried out such as
Lower processing, i.e. the setting of the determined system of application.Moreover, do not propose to carry out the setting of this doubleization system in the past
CPU (Central Processing Unit) unit.
Also, in order to which universal network is applied into doubleization system, it is necessary to mutual to the system for constituting doubleization system
The mechanism that living or death state is monitored.But, do not proposed in the past to building the feelings of doubleization system by universal network
The mechanism that the mutual living or death state of system under condition is monitored.
The present invention in view of the above and propose, its object is to obtain following programmable controllers and can compile
Range controller system, i.e. can by between 2 programmable controllers by network connection in the case of, judgement is as logical
Normal system is used using or as doubleization system, and the setting of system is carried out based on result of determination.
To achieve these goals, programmable controller involved in the present invention is characterised by having：Communication unit, its
It is connected via universal network with other programmable controllers；Setting content determination unit, its judgement is set in this programmable controller
Whether the 1st fixed network setup information and the 2nd network setup information sent from other described programmable controllers are identical；System
System structure judgement part, it is in the case of the 1st network setup information and the 2nd network setup information identical, to representing
1st system architecture information of the system architecture of described programmable controller and sent from other described programmable controllers
Represent that the 2nd system architecture information of the system architecture of other programmable controllers is compared, judge with it is described other can
Whether the structure required for programmable controller builds doubleization system is consistent；And control system-standby system configuration part, its
In the case where the structure is consistent, determines that described programmable controller is control system or standby system, be determined as
In the case of being the control system, the 1st network setup information is kept intact, is being determined as being the standby system
In the case of, the content to the 1st network setup information is changed.
The effect of invention
According to the present invention, the network setup information sent each other using 2 programmable controllers, according to 2 network settings
Whether whether information conflict and set and worked as doubleization system.In addition, in the case where network setup information conflicts, making
Judge whether system architecture is identical when building doubleization system with the system architecture information of 2 programmable controllers, and
In the case of identical, decision is to work or worked as standby system as control system, based on this to network settings
Information is changed.Thus, with following effects, i.e. in the structure of doubleization system, it can automatically be controlled and be
The setting of system/standby system carries out network settings without progress manually based on its result.
Brief description of the drawings
Fig. 1 is the figure of an example of the structure for schematically showing the doubleization system that embodiment 1 is related to.
Fig. 2 is the block diagram of an example of the functional structure for schematically showing the PLC that embodiment 1 is related to.
Fig. 3 is the figure for an example for representing network setup information.
Fig. 4 is the figure for an example for representing system architecture information.
Fig. 5 is the figure for an example for representing product intrinsic information.
Fig. 6 is the figure for the other examples for representing system architecture information.
The flow chart of one example of the step of Fig. 7 is the structure processing for representing the doubleization system that embodiment 1 is related to.
Fig. 8 is the figure of the other examples for the structure for schematically showing the doubleization system that embodiment 1 is related to.
Fig. 9 is the figure for the other examples for representing network setup information.
Figure 10 is the block diagram of an example of the functional structure for schematically showing the PLC that embodiment 2 is related to.
Figure 11 is the more detailed knot for schematically showing the Stateful Inspection portion in the doubleization system that embodiment 2 is related to
The block diagram of structure.
Figure 12 is the flow chart of the outline situation for the action for representing PLC.
Figure 13 is the figure of the action as doubleization system when representing abnormal generation.
Embodiment
Below, programmable controller and programmable control that embodiments of the present invention are related to is described in detail with reference to accompanying drawings
Device system processed.In addition, the present invention is not limited to these embodiments.
Embodiment 1.
Fig. 1 is the figure of an example of the structure for schematically showing the doubleization system that embodiment 1 is related to.Doubleization
System has following structures, i.e. with identical network set and system architecture 2 programmable controllers (hereinafter, referred to
PLC) 10A, 10B are connected via network (communication line) 21.Here, suppose that PLC 10A as control system PLC (hereinafter, referred to
Control system) work, PLC 10B work as standby system PLC (hereinafter, referred to standby system).In addition, being used as network
21, universal network can be used.
In PLC 10A, with lower unit via the elementary cell 11A connections for being for example built-in with bus, i.e. power supply is supplied
To the power subsystem 12A of each unit, input and output control in PLC 10A, the CPU element 13A of calculation process are carried out, with other
The NE 14A that PLC 10B etc. are communicated via network 21, is received to the control result from control object
Other units such as input block and the output unit that is exported by the instruction from CPU element 13A to control object
15A、16A。
PLC 10B similarly have power subsystem 12B, CPU element 13B, NE 14B, other units 15B, 16B
It is installed in elementary cell 11B structure.In addition, in doubleization system, the system architecture of control system and standby system
System architecture is identical.That is, the unit for being installed in elementary cell 11B of the PLC 10B as standby system with being as control
The PLC 10A of the system unit for being installed in elementary cell 11A is identical.Moreover, NE 14A and the standby system of control system
The NE 14B of system is connected via network (doubleization system network) 21.
In addition, although not shown, but the input block of hypothesis control system and the input block of standby system are via cable
It is connected with same instruments, the output unit of control system and the output unit of standby system connect via cable with same instruments
Connect.
In doubleization system, in constructing system, the network settings of 2 systems (PLC 10A, PLC 10B) is identical,
The network settings that standby system is changed to during the network settings of doubleization system is different from the network settings of control system.In this reality
Apply in mode and following PLC 10A, 10B are illustrated, i.e. if 2 systems are connected with network 21, in respective system knot
PLC 10A, 10B build the setting of doubleization system in the case of structure and network settings identical.
Fig. 2 is the block diagram of an example of the functional structure for schematically showing the PLC that embodiment 1 is related to.In addition,
In this Fig. 2, the related processing unit when structure for carrying out doubleization system judges is shown.PLC 10 has communication unit 101, network
Set information storage part 102, system architecture information storage part 103, product intrinsic information storage part 104, initial setting processing portion
105th, setting content determination unit 106, system architecture determination unit 107, control system-standby system configuration part 108, etc. at value
Reason portion 109.
Communicated between communication unit 101 and other PLC 10 according to the agreement of regulation.As described in explanation in Fig. 1, at this
In embodiment, connected between NE 14A, 14B by universal network.Therefore, between NE 14A, 14B, press
Communicated according to the agreement corresponding with used universal network.Communication unit 101 turns into Fig. 1 NE 14A, 14B institute
The function having.
The storage of network setup information storage part 102 is directed to PLC 10 to be communicated with other grades of PLC 10
Set network setup information.Network setup information be in consolidated network if script be not set to different values if not
Can the value that be communicated, can for example be illustrated in IP (Internet Protocol) address that NE 14A, 14B set,
Or the website number set in the NE with control network connection (not shown) etc..Network setup information storage part 102 into
The function having for such as Fig. 1 NE 14A, 14B.
Fig. 3 is the figure for an example for representing network setup information.Here, each PLC in Fig. 1 doubleization system is shown
One example of 10A, 10B network setup information.For example, Fig. 3 (a) shows PLC 10A network setup information, Fig. 3 (b) shows
Go out PLC 10B network setup information.Here, as network setup information, it is assumed that store in NE 14A, 14B setting
IP address.In addition, between 2 PLC 10A, 10B of doubleization system are constituted, network setup information is by building doubleization
The user of system is set as mutually the same.
What system architecture information storage part 103 stored the system architecture such as the connection status of each unit that represents in PLC 10 is
System structural information.System architecture information be information that species, the model name of the unit to being installed are identified with it is basic
The information that the position (slot numbering) of unit 11A, 11B each slot is associated.System architecture information storage part 103 is for example
The function that can be had by Fig. 1 CPU element 13A, 13B, or the function that NE 14A, 14B have, also
The function that can have for other units.
Fig. 4 is the figure for an example for representing system architecture information.Here, also show that each in Fig. 1 doubleization system
One example of PLC 10A, 10B system architecture information.For example, Fig. 4 (a) shows PLC 10A system architecture information, Fig. 4
(b) PLC 10B system architecture information is shown.As shown in figure 4, as system architecture information, be registered with elementary cell 11A,
The product type title for the unit that 11B each slot is installed.In addition, it is assumed here that 2 PLC 10A, 10B system architecture information
It is identical.
Product the intrinsic information intrinsic storage of product intrinsic information storage part 104 PLC 10.As product intrinsic information,
The numbering added for each product to each unit can for example be exemplified and manufacture information, or in NE 14A, 14B
In the case of be that the networks such as MAC (Media Access Control) address are inherently numbered.In addition, as product intrinsic information,
Assuming that the information of size can be determined by being that such as integer (including 16 systems) is such.
Fig. 5 is the figure for an example for representing product intrinsic information.Here, each PLC of Fig. 1 doubleization system is also showed that
One example of 10A, 10B product intrinsic information.For example, Fig. 5 (a) shows PLC 10A product intrinsic information, Fig. 5 (b) shows
Go out PLC 10B product intrinsic information.As shown in figure 5, as product intrinsic information, including unique identification CPU element 13A, 13B
Or NE 14A, 14B manufacture information, the network inherent address that is assigned for NE 14A, 14B.
Initial setting processing portion 105 is in the case of PLC 10 power on, by network setup information storage part 102
Network setup information, the system architecture information in system architecture information storage part 103, in product intrinsic information storage part 104
Product intrinsic information sent via communication unit 101 to other PLC 10.For example, being carried out by broadcasting to network setup information
Send.By being so transmitted using broadcast, even if so that other PLC 10 network settings address and this PLC 10 net
Network setting address is identical, can also send network setup information to other side side.Initial setting processing portion 105 can be arranged at figure
1 CPU element 13A, 13B, can also be arranged at NE 14A, 14B.
The network setup information and this PLC for other PLC 10 that 106 pairs of setting content determination unit is received by communication unit 101
10 network setup information is compared, and judges whether network setup information conflicts (whether identical).In network setup information not
In the case of identical, 2 PLC 10 connected by network 21 are not the PLC for constituting doubleization system, but are used as usual
PLC 10 acted.In addition, in the case of network setup information identical, be determined as be built with other PLC 10 it is double
The PLC of change system.Setting content determination unit 106 can be arranged at Fig. 1 CPU element 13A, 13B, can also be arranged at network list
First 14A, 14B.
System architecture determination unit 107 is being determined as that this PLC 10 is to build doubleization system by setting content determination unit 106
PLC in the case of, to other PLC 10 system architecture information and this PLC 10 system knot received by communication unit 101
Structure information is compared, and whether the system architecture for other PLC 10 that judgement conflicts with this PLC 10 is identical.Moreover, in system knot
In the case of structure identical, it is determined as it being the PLC acted as doubleization system, the instruction for building doubleization system is assigned and controlled
System processed-standby system configuration part 108.In addition, in the case where system architecture is differed, notification error.It is used as error notification
Content, can for example illustrate the message for this PLC 10 and other PLC 10 system architecture reaffirm this purport
Deng.System architecture determination unit 107 is arranged at Fig. 1 CPU element 13A, 13B.
Build doubleization system in the case of, 2 PLC 10A, 10B of such as pie graph 1 comprising CPU element 13A,
Unit including 13B and NE 14A, 14A is generally built by identical product, in addition, on elementary cell 11A, 11B
The above-mentioned each unit of configuration position (slot position) it is also identical.Therefore, believed by the system architecture to 2 PLC 10A, 10B
Breath is compared, so as to determine whether the PLC acted as doubleization system.
But, also there is control institute in the unit (input block or output unit etc.) for being installed on elementary cell 11A, 11B
Without using unit.It is thus possible to it is enough judge 2 PLC10A, 10B structure whether be structure doubleization system structure
When, CPU element 13A, 13B and NE 14A, 14B required for structure doubleization system are compared, in their phases
With in the case of, judge whether to act as doubleization system.In addition, elementary cell 11A, 11B can also add work to build two
Unit required for change system again.
Furthermore it is also possible to indicate whether this implication for needed for the structure of doubleization system to system architecture information is additional
Information.Fig. 6 is the figure for the other examples for representing system architecture information.Here, each PLC of Fig. 1 doubleization system is also showed that
One example of 10A, 10B system architecture information.For example, Fig. 6 (a) shows PLC 10A system architecture information, Fig. 6 (b) shows
Go out PLC 10B system architecture information.The species of elementary cell 11A, 11B is carried out as shown in fig. 6, system architecture packet contains
The product that the product type title of identification, the species to the unit of each slot installation in elementary cell 11A, 11B are identified
Model name, indicate whether whether doubleization of this implication for needed for doubleization needs information.In figure, whether doubleization needs
Information is wanted as the unit required for the 〇 units represented are doubleization, × represent the unwanted unit of doubleization institute.Passing through this
Kind of system structural information judges whether to make in the case that 2 PLC 10A, 10B act as doubleization system, as long as two
It is that the unit of " needs " is compared to change whether need information to represent again.
Control system-standby system configuration part 108 is being determined as it being to be as doubleization by system architecture determination unit 107
In the case of the PLC for uniting and acting, using this PLC 10 product intrinsic information and other PLC 10 product intrinsic information, determine
Fixed this PLC 10 is as control system or as standby system.Moreover, in the case where this PLC 10 turns into control system,
Network setup information directly is used, in the case of as standby system, network setup information is changed.
Control system-use of standby system configuration part 108 can carry out 2 product intrinsic informations of size comparison, for example
In the case where this PLC 10 product intrinsic information is big, control system is determined as, it is small in this PLC 10 product intrinsic information
In the case of, it is determined as standby system.In addition it is also possible to which the random number generated by randomizer is intrinsic as product
Information and mutually notify, control system/standby system is determined by the size of the random number.In addition, above-mentioned is an example,
When determining control system/standby system, it can also consolidate in this PLC 10 product of the product intrinsic information than other PLC 10
Control system is determined as in the case of having information small, it is more intrinsic than other PLC 10 product in this PLC 10 product intrinsic information
Standby system is determined as in the case that information is big.
In addition, be determined as in the case that this PLC 10 is standby system, to the network settings in network setup information
Location sets new network settings address plus defined number.Control system-standby system configuration part 108 is arranged at Fig. 1 CPU
Unit 13A, 13B.
Deng value processing unit 109 in the case where this PLC is control system, the value processing such as following are carried out, i.e. will control
Data used in system are also sent to standby system in substantially real-time.Network 21 Deng value processing unit 109 and Fig. 1 is (general
Network) communication timing (timing) matchingly carry out data synchronization.Fig. 1 network is arranged at Deng value processing unit 109
Unit 14A, 14B.
Below, the doubleization system constructing processing in the PLC 10 of this structure is illustrated.Fig. 7 is to represent embodiment party
The flow chart of the example of the step of structure processing for the doubleization system that formula 1 is related to.In addition, in the following description, with
Illustrated exemplified by processing in Fig. 1 PLC 10A.Substantially, in PLC 10B processing also with the processing phase in PLC 10A
Together.
First, if by 2 PLC 10A, 10B being connected by network 21 power on, the initial of PLC 10A sets
Determine processing unit 105 for example inherently to believe network setup information, system architecture information and product by broadcasting via communication unit 101
Breath is transmitted.Then, via communication unit 101 from other PLC 10B to network setup information, system architecture information and product
Intrinsic information is received (step S11).
Then, in 106 pairs of setting content determination unit is received network setup information and network setup information storage part 102
Network setup information be compared, judge whether both content conflicts (whether identical) (step S12).Set in 2 networks
Determine in the situation (No situation in step S12) that information does not conflict, setting content determination unit 106 is determined as 2 PLC10A, 10B
The PLC constituted not as doubleization system, making them as common PLC system is acted (step S13), processing knot
Beam.
On the other hand, in (Yes situation in step S12) in the case of 2 network setup information conflicts, system architecture
Determination unit 107 judges whether 2 PLC 10A, 10B of conflict system architecture are identical (step S14).Here, system architecture is sentenced
Determine the system architecture information for this PLC 10A that 107 pairs of portion is stored in system architecture information storage part 103 and connect in step s 11
Other PLC 10B received system architecture information is compared.In addition, when carrying out the comparison, as set forth above, it is possible to pass through
The species of elementary cell 11A, 11B, CPU element 13A, 13B and NE 14A, 14B in system architecture information are compared
Compared with, can also be compared by whole contents of system architecture information, can also as shown in Figure 6 only by doubleization whether
Need that information represents is that the unit of " needs " is compared.
In the situation (No situation in step S14) that 2 PLC 10A, 10B system architecture are differed, system architecture
Determination unit 107 carries out error notification (step S15), end processing.In the error notification, for example, carry out the logical of following purports
Know, i.e. although doubleization system should be built, 2 PLC 10A, 10B system architecture are differed.
On the other hand, in 2 PLC 10A, 10B system architecture identical situation (Yes situation in step S14),
Control system-standby system configuration part 108 carries out following processing using product intrinsic information, i.e. determine that this PLC 10A are
Control system or standby system (step S16).
As the processing of control system/standby system decision, such as product information to this PLC 10A CPU element 13A and
Other PLC 10B CPU element 13B product information is compared, big in this PLC 10A CPU element 13A product information
In the case of, this PLC 10A are determined as control system, in the small situation of this PLC 10A CPU element 13A product information
Under, this PLC 10A are determined as standby system.Can also be by the size of product information during decision control system/standby system
Relation is in turn.Alternatively, it is also possible to without using CPU element 13A, 13B product information but use NE 14A, 14B's
Product information, can also use the network inherent address such as MAC Address.
Alternatively, it is also possible to make to be set as this PLC 10A into that priority during control system is contained in product intrinsic information, lead to
Cross and the priority is compared and control system/standby system is determined.For example, as preferential when being set as control system
Level, can use CPU element 13A, 13B or NE 14A, 14B etc. version information.Even the production of identical type
Product, most cases are that function is improved if version is new, and problem is improved compared with legacy version.Therefore, by version
This new PLC setting high priority, so as to be improved and the less PLC 10 of problem using function in the controls.It is this
Priority can arbitrarily be set by system designer.Moreover, can by making this priority be contained in product intrinsic information, from
And use the favorite PLC 10 of system designer as control system.
Then, control system-standby system configuration part 108 is based on the result determined by step S16, for CPU element
13A is set as control system or standby system (step S17).In addition, control system-standby system configuration part 108 is in this PLC
Under 10A is the situation (Yes situation in step S18) of control system, directly using set network settings address (step
S19).In addition, control system-standby system configuration part 108 is in situation that this PLC 10A are standby systems (No in step S18
Situation) under, set network settings address is changed (step S20).For example, by set network settings
The address that location adds after " 1 " is used as network settings address.Thereby, it is possible to be kept away between this PLC 10A and other PLC 10B
Exempt from the conflict of network settings address, communicated between 2 PLC 10A, 10B.
After step S19 or S20, PLC 10A proceed by communication with other PLC 10B being connected via network 21
(step S21).If start communication, such as by ing value processing unit 109 using communicate after network 21 and progress two
The values such as the data required for changing again processing.More than, the doubleization system constructing processing in PLC 10 terminates.
In addition, be connected in the input block of control system and the input block of standby system via cable with same instruments
In the case of, the information from instrument is sent to the input block of control system and standby system.In addition, in the defeated of control system
Go out unit and standby system output unit be connected via cable with same instruments in the case of, the only output unit of control system
Instrument is will output information to, the output unit of standby system is not to instrument output information.In the above described manner, control system and treating
Ensure the phase same sex of data between machine system.
In the above description, in case of the doubleization system for having enumerated form shown in Fig. 1.But, also have in each PLC
Further connection controls the situation of the doubleization system of the structure of network.Fig. 8 is to schematically show embodiment 1 is related to two
Change the figure of the other examples of the structure of system again.In fig. 8, it is mono- by being provided with power subsystem 12A, CPU in elementary cell 11A
First 13A, NE 14A, NE 17A and other units 16A PLC 10A and with the PLC 10A identicals
The PLC 10B of structure and build doubleization system.It is by doubleization between 2 PLC 10A, 10B NE 14A, 14B
The system connection of network (communication line) 21.In addition, being connected with control network in 2 PLC 10A, 10B NE 17A, 17B
22.Multiple network remote website 31A~31C are connected with control network 22.
Network setup information in this doubleization system includes the network list connected by doubleization system with network 21
First 14A, 14B the 1st network settings address and pass through control network 22 connect NE 17A, 17B the 2nd network settings
Address.Fig. 9 is the figure for the other examples for representing network setup information.The network setup information shows Fig. 8 doubleization system
One example of the situation of structure.In addition, Fig. 9 (a) is PLC 10A network setup information, Fig. 9 (b) is PLC 10B network
Set information.
As shown in figure 9, NE 14A, 14B for being connected by doubleization system with network 21 network settings address with
Fig. 3 is identical, and such as setting is IP address.In addition, NE 17A, 17B for being connected with control network 22 network settings
Location is website number.In this example embodiment, 2 websites number 1, website number 2 are set with.For example, website number 1 is in this PLC 10A, 10B
The website number used in the case of for control system, website number 2 is used in the case where this PLC 10A, 10B are standby system
Website number.
In the case of that construction, in the case that this PLC 10A are control system in Fig. 7 step S19, control system
System-standby system configuration part 108 is by the NE 14A connected by doubleization system network 21 network settings address
The setting kept intact, for the network settings address (website number) for the NE 17A being connected with control network 22, is set as
The website number of control system.On the other hand, in the case that this PLC 10A are not control system in Fig. 7 step S20, control
The network settings for the NE 14A that system -108 pairs of standby system configuration part is connected by doubleization system with network 21
Location is changed, and for the network settings address (website number) for the NE 17A being connected with control network 22, is set as standby
The website number of system.
In addition, in the case where that can be communicated without changing network settings, can not also be right in step S19, S20
Network setup information is modified, omits the processing of step S19, S20 and starts communication.Above-mentioned situation refers to, such as with 1
In the network structure connected to 1 mode, so that without using set address, both sides other side can be sent data to by broadcast
The network connection of side.
In embodiment 1, when 2 PLC 10A, 10B are connected by network 21 and power supply is turned on, root
Whether conflict according to this PLC 10A He other PLC 10B network setup information and set and whether worked as doubleization system.
In addition, in the case where network setup information conflicts, using this PLC 10A He other PLC 10B system architecture information, judging
When building doubleization system, whether system architecture is identical, and it is to make this PLC 10A as control to determine under identical circumstances
System processed is worked or worked as standby system, and network setup information is changed based on this.Thus, under having
State effect, i.e. can automatically determine the setting of control system/standby system without manual in the structure of doubleization system
Carry out, network settings is carried out based on its result.
Embodiment 2.
In embodiment 1, enter for automatically carrying out the structure of network settings of doubleization system during constructing system
Explanation is gone.In embodiment 2, in the monitoring based on the network state between control system-standby system and PLC
CPU element-NE between monitoring implement illustrated from control system to the switching of standby system.
Figure 10 is the block diagram of an example of the functional structure for schematically showing the PLC that embodiment 2 is related to.The PLC
10 on the basis of the structure of embodiment 1, also have：Stateful Inspection portion 110, it is to this PLC 10 and to method, system PLC 10
State monitored；And processing unit 111 during abnormal generation, it is monitored in this PLC 10 by Stateful Inspection portion 110
Or to there occurs exception in method, system PLC 10 in the case of, judge and determine how to handle the state of doubleization system.This
Outside, pair identical label is marked with the identical structural element of embodiment 1, the description thereof will be omitted.
Figure 11 is the more detailed knot for schematically showing the Stateful Inspection portion in the doubleization system that embodiment 2 is related to
The block diagram of structure.Here, PLC 10A are set to control system, PLC 10B is set to standby system.As shown in this figure, in control system
In system and standby system, CPU element 13A, 13B are respectively provided with the living or death state to this PLC 10A, 10B NE 14A, 14B
NE Stateful Inspection portion 121A, the 121B monitored, NE 14A, 14B are respectively provided with：CPU element Stateful Inspection portion
122A, 122B, their CPU element 13A, 13B to this PLC 10A, 10B living or death state are monitored；And to method, system
Network state monitoring unit 123A, 123B, their NE 14B, 14A to PLC 10B, 10A to method, system living or death shape
State is monitored.Other side's grid Stateful Inspection portion 123A, 123B is via the network that will be connected between NE 14A, 14B
21 (universal networks) and for being monitored to NE 14A, 14B of method, system.Now, other side's grid Stateful Inspection
The communication timing of portion 123A, 123B and network 21 (universal network) matchingly carries out Stateful Inspection.
NE Stateful Inspection portion 121A, 121B, CPU element Stateful Inspection portion 122A, 122B and other side's system network
Network Stateful Inspection portion 123A, 123B regularly carry out the write-in of different value in the defined storage region of supervision object, are carrying out
The value that the storage region will be stored in during write-in is read, and is carrying out the write-in of stipulated number but value read-out every time is identical
In the case of value, it is judged as that the unit of other side side is in not operating state (abnormality).In addition, being write when institute every time
In the case that the value of reading is different, it is judged as that the unit of other side side is in the state of regular event.
Figure 12 is the flow chart of the outline situation for the action for representing PLC.As shown in this figure, in PLC 10A, 10B, first
Initialization process (step S31) is performed, the sequencer (step S32) for describing and there are a series of rate-determining steps is then performed, with
Afterwards, at carrying out the output processing of the computing implementing result of sequencer, performing the system such as the input processing of data used in computing
Manage (step S33).Then, the sequencer that step S32 is performed repeatedly performs processing and step S33 system processing.
Pass through CPU element 13A, 13B NE Stateful Inspection portion 121A, 121B and NE 14A, 14B CPU
Location mode monitoring unit 122A, 122B and realize Stateful Inspection processing for example step S33 system processing when carry out.
In addition, in fig. 12, the processing with step S31~S33 concurrently carries out the other side by NE 14A, 14B
The Stateful Inspection processing (step S34) that grid Stateful Inspection portion 123A, 123B are realized.Therefore, to method, system PLC 10B,
10A Stateful Inspection is performed with the cycle independent with the processing carried out by CPU element 13A, 13B.That is, can with by CPU
The circular treatment that unit 13A, 13B are carried out independently is performed.In addition, circular treatment refers to that CPU element is anti-with specified period here
The processing of following actions is carried out again, i.e. the execution of user program, the output of implementing result, the used value of user program etc. are defeated
Enter the acquisition of value, wherein, the user program is that the various units having for making PLC act and industrial device is controlled
The program of system.
In addition, in step S34, carry out other side's system network element 14A, 14B Stateful Inspection processing, it is also possible to
The value such as progress processing on the basis of this.Thus, value processing is waited also with independent with the processing carried out by CPU element 13A, 13B
Cycle is performed.
Here, to by NE Stateful Inspection portion 121A, 121B, CPU element Stateful Inspection portion 122A, 122B and
Other side's grid Stateful Inspection portion 123A, 123B detect the exception of supervision object in the case of doubleization system action
The control of state is illustrated.
Figure 13 is the figure of the action as doubleization system when representing abnormal generation.In addition, PLC 10A, which are assumed below, is
Control system, it is assumed that PLC 10B are standby systems.In the NE Stateful Inspection portion of the CPU element 13A by control system
In the case that 121A detects the NE 14A exceptions of abnormal situation, i.e. control system, processing unit 111 during abnormal generation
Processing state in the current control system-standby system of maintenance.
Abnormal situation, i.e. is detected in the CPU element Stateful Inspection portion 122A of the NE 14A by control system
In the case of the CPU element 13A exceptions of control system, abnormal processing unit 111 when occurring is by PLC 10A from current control system
Switch to standby system.In addition now, in PLC 10B switch to the processing of control system from current standby system.
In the case of this doubleization systems of Fig. 1, only to NE 14A, 14B control system/standby system be set for cut
Change, but in the case of this doubleization systems of Fig. 8, in addition to above-mentioned processing, also carry out to constituting control network 22
NE 17A, 17B the processing that switches over of website number.That is, the switching of website number is carried out, to cause network remote station
Point 31A~31C can be with control system plc communication.For example, in control network 22, it is prespecified to PLC 10A, 10B
Control system NE 17A, 17B setting website number (for example, Fig. 9 website number 1) and to the network list of standby system
The website number (for example, Fig. 9 website number 2) of first 17A, 17B setting, in the switching of control system-standby system, carries out this
The switching of a little websites number.
Abnormal feelings are detected in other side's grid Stateful Inspection portion 123A of the NE 14A by control system
In the case of the NE 14B exceptions of condition, i.e. standby system, processing unit 111 maintains current control system during abnormal generation
Processing state in system-standby system.
Abnormal feelings are detected in other side's grid Stateful Inspection portion 123B of the NE 14B by standby system
In the case of the NE 14A exceptions of condition, i.e. control system, processing unit 111 maintains current control system during abnormal generation
Processing state in system-standby system.
Abnormal situation, i.e. is detected in the CPU element Stateful Inspection portion 122B of the NE 14B by standby system
In the case of the CPU element 13B exceptions of standby system, processing unit 111 forbids PLC 10B from current standby system during abnormal generation
The switching united to control system.Because in the state of there occurs exception in the CPU element 13B of standby system, it is impossible to enter
Switching of the row from control system to standby system.Even as a result, for example being sent out afterwards in the CPU element 13A of control system
The situation of exception is given birth to, processing unit 111 is also without the switching to standby system during abnormal generation.
Abnormal situation, i.e. is detected in the NE Stateful Inspection portion 121B of the CPU element 13B by standby system
In the case of the NE 14B exceptions of standby system, abnormal processing unit 111 when occurring maintains current control system-standby
Processing state in system.
In addition, above-mentioned illustrated Stateful Inspection portion 110 is the example of the situation of Fig. 1 doubleization system, state is supervised
The NE communicated by doubleization system with network (network 21) with CPU element 13A, 13B is arranged at depending on portion 110
14A, 14B situation are illustrated, but are not limited to this.For example, in the case of Fig. 8 doubleization system, can also
Be, except communicated by doubleization system with network (network 21) with CPU element 13A, 13B NE 14A,
Outside 14B, Stateful Inspection portion 110 is also provided at NE 17A, 17B by controlling network 22 and being communicated.By this
Kind of structure, by increasing capacitance it is possible to increase carry out the NE of NE 17A, 17B Stateful Inspection, it is possible to increase abnormality detection it is reliable
Property.
In present embodiment 2, the CPU element 13A in this PLC 10A and the network to method, system PLC 10B will be carried out
The Stateful Inspection portion 110 of unit 14B living or death monitoring is arranged at NE 14A, will carry out the NE in this PLC 10A
The Stateful Inspection portion 110 of 14A living or death monitoring is arranged at CPU element 13A.Thus, with following effects, i.e. CPU can be passed through
Unit 13A and NE 14A realize anomaly monitoring, and this PLC 10A are carried out or to method, system PLC without being set in PLC 10A
The special cell of 10B Stateful Inspection.
In addition, the Stateful Inspection portion 110 for being arranged at NE 14A can be with the cyclical process in CPU element 13A simultaneously
Carry out Stateful Inspection processing capablely, therefore with following effects, i.e. can to this PLC 10A CPU element 13A state and
State to method, system PLC 10B NE 14B is monitored, without influenceing the processing time in CPU element 13A.
Industrial applicibility
As described above, programmable controller involved in the present invention is building doubleization system using 2 programmable controllers
It is useful in the case of system.
The explanation of label
10th, 10A, 10B PLC (programmable controller), 11A, 11B elementary cell, 12A, 12B power subsystem, 13A, 13B
CPU element, 14A, 14B, 17A, 17B NE, 15A, 16A, 15B, 16B unit, 21 networks (doubleization system network),
22 control networks, 31A~31C network remote websites, 101 communication units, 102 network setup information storage parts, 103 system architectures letter
Cease storage part, 104 product intrinsic information storage parts, 105 initial setting processing portions, 106 setting content determination units, 107 system knots
Structure determination unit, 108 control systems-standby system configuration part, 109 grade value processing units, 110 Stateful Inspection portions, 111 abnormal hairs
Processing unit, 121A, 121B NE Stateful Inspection portion, 122A, 122B CPU element Stateful Inspection portion, 123A, 123B when raw
Other side's grid Stateful Inspection portion.
Claims (13)
1. a kind of programmable controller, its programmable controller system connected in 2 programmable controllers via universal network
Used in system,
The programmable controller is characterised by,
Have：
Communication unit, it is connected via the universal network with other programmable controllers；
Initial setting processing portion, it believes the 1st network settings set in this programmable controller in the case of power on
Breath and represent described programmable controller system architecture the 1st system architecture information sent via the communication unit to
Other described programmable controllers；
Setting content determination unit, it judges described 1st network setup information and sent from other described programmable controllers
Whether the 2nd network setup information is identical；
System architecture determination unit, its in the case of the 1st network setup information and the 2nd network setup information identical,
Other programmable controllers described in the expression sent to the 1st system architecture information and from other described programmable controllers
The 2nd system architecture information of system architecture be compared, judge to build doubleization system with other described programmable controllers
Whether required structure is consistent；And
Control system-standby system configuration part, it determines described programmable controller in the case where the structure is consistent
It is control system or standby system, in the case where being determined as being the control system, the 1st network setup information is protected
Hold as former state, in the case where being determined as being the standby system, the content to the 1st network setup information is changed.
2. programmable controller according to claim 1, it is characterised in that
The 1st product intrinsic information that the initial setting processing portion will be preserved by described programmable controller and be represented with numerical value
Sent together with the 1st network setup information, the 1st system architecture information,
The control system-standby system configuration part is to the 1st product intrinsic information and by other described programmable controllers
Preserve and the 2nd product intrinsic information that is represented with numerical value is compared, according to the 1st product intrinsic information relative to described the
The size of 2 product intrinsic informations and the decision for carrying out the control system or the standby system.
3. programmable controller according to claim 2, it is characterised in that
The 1st product intrinsic information and the 2nd product intrinsic information are consolidate additional for the programmable controller
Some integers.
4. programmable controller according to claim 2, it is characterised in that
The 1st product intrinsic information and the 2nd product intrinsic information are uniquely set for the programmable controller
Network fixing address.
5. programmable controller according to claim 1, it is characterised in that
Described programmable controller has on elementary cell installation kit containing the unit including CPU element and NE
Structure,
The 1st system architecture information and the 2nd system architecture information have unit information, and the unit information is for each described
Each unit in programmable controller and the species comprising the allocation position on the elementary cell, the unit.
6. programmable controller according to claim 5, it is characterised in that
The system architecture determination unit is neutralized described in the 2nd system architecture information using the 1st system architecture information
CPU element, the unit information of the NE and judged.
7. programmable controller according to claim 5, it is characterised in that
The 1st system architecture information and the 2nd system architecture information also have whether doubleization needs information, doubleization
Whether need information indicates whether it is the structure required for the doubleization system for each unit,
Whether the system architecture determination unit is needed required for information represents and be the doubleization system using doubleization
The unit information of structure judged.
8. programmable controller according to claim 1, it is characterised in that
Also have：
The action shape of Stateful Inspection portion, its operating state to described programmable controller and other programmable controllers
State is monitored；And
Processing unit during abnormal generation, its monitoring result based on the Stateful Inspection portion carries out the institute in the doubleization system
State the control of the operating state of control system and the standby system.
9. programmable controller according to claim 8, it is characterised in that
Each programmable controller have on elementary cell installation kit containing the unit including CPU element and NE
Structure,
The Stateful Inspection portion has：
NE Stateful Inspection portion, it is arranged at the CPU element, and the operating state of the NE is monitored；
CPU element Stateful Inspection portion, it is arranged at the NE, and the operating state of the CPU element is monitored；With
And
Other side's grid Stateful Inspection portion, it is arranged at the NE, to described in other described programmable controllers
The operating state of NE monitored,
The NE Stateful Inspection portion and the CPU element Stateful Inspection portion are in the circulation performed by the CPU element
Stateful Inspection is carried out during reason,
Other side's grid Stateful Inspection portion independently carries out state prison with the circular treatment via the universal network
Depending on.
10. programmable controller according to claim 8, it is characterised in that
Also have and waited between other described programmable controllers via the synchronous of universal network progress data at value
Reason portion.
11. programmable controller according to claim 1, it is characterised in that
The situation that the setting content determination unit is differed in the 1st network setup information and the 2nd network setup information
Under, it is judged to not building the doubleization system with other described programmable controllers.
12. programmable controller according to claim 1, it is characterised in that
Structure described two of the system architecture determination unit in the 1st system architecture information and the 2nd system architecture information
In the case that structure again required for change system is inconsistent, mistake is notified.
13. a kind of programable controller system, the programable controller system is configured to, 2 programmable controllers are via general
Network and connect,
The programable controller system is characterised by,
Each described programmable controller has：
Communication unit, it is connected via the universal network with other programmable controllers；
Initial setting processing portion, it believes the 1st network settings set in this programmable controller in the case of power on
Breath and represent described programmable controller system architecture the 1st system architecture information sent via the communication unit to
Other described programmable controllers；
Setting content determination unit, it judges described 1st network setup information and sent from other described programmable controllers
Whether the 2nd network setup information is identical；
System architecture determination unit, its in the case of the 1st network setup information and the 2nd network setup information identical,
Other programmable controllers described in the expression sent to the 1st system architecture information and from other described programmable controllers
The 2nd system architecture information of system architecture be compared, judge to build doubleization system with other described programmable controllers
Whether required structure is consistent；And
Control system-standby system configuration part, it determines described programmable controller in the case where the structure is consistent
It is control system or standby system, in the case where being determined as being the control system, the 1st network setup information is protected
Hold as former state, in the case where being determined as being the standby system, the content to the 1st network setup information is changed.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2014/051428 WO2015111174A1 (en) | 2014-01-23 | 2014-01-23 | Programmable controller and programmable controller system |
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| CN105934720B true CN105934720B (en) | 2017-10-31 |
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| JP (1) | JP5701459B1 (en) |
| KR (1) | KR101705504B1 (en) |
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| JP6381501B2 (en) * | 2015-09-10 | 2018-08-29 | 三菱電機株式会社 | Redundant system |
| JP2019057267A (en) * | 2017-09-19 | 2019-04-11 | 株式会社明電舎 | Information processing device |
| JP7035511B2 (en) * | 2017-12-25 | 2022-03-15 | 株式会社明電舎 | Programmable controller and duplex system |
| KR20190080626A (en) * | 2017-12-28 | 2019-07-08 | 효성중공업 주식회사 | Duplicated board setting method and the board thereof |
| JP7375360B2 (en) * | 2019-08-02 | 2023-11-08 | オムロン株式会社 | Network system, information processing device, and information processing method |
| CN113759859B (en) * | 2021-11-09 | 2022-02-11 | 西安热工研究院有限公司 | Online configuration comparison method and system for distributed control system |
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|---|---|---|---|---|
| CN1619445A (en) * | 2003-09-26 | 2005-05-25 | 欧姆龙株式会社 | Programmable controller, programmable controller system, CPU unit and method of starting duplexed operation |
| CN103425530A (en) * | 2012-05-25 | 2013-12-04 | 西门子公司 | Method for operating a redundant automation system |
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| JPH05620A (en) | 1991-06-25 | 1993-01-08 | Toyota Motor Corp | Turbo heater system |
| US7519737B2 (en) * | 2000-07-07 | 2009-04-14 | Schneider Automation Inc. | Input/output (I/O) scanner for a control system with peer determination |
| US8364291B2 (en) * | 2007-11-13 | 2013-01-29 | Rockwell Automation Technologies, Inc. | Method and apparatus for providing redundancy in an industrial control system |
| JP5000620B2 (en) * | 2008-10-17 | 2012-08-15 | 新日本製鐵株式会社 | Process control system |
| JP5756412B2 (en) * | 2012-01-12 | 2015-07-29 | 株式会社日立製作所 | Monitoring method and monitoring system |
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2014
- 2014-01-23 CN CN201480073827.3A patent/CN105934720B/en active Active
- 2014-01-23 KR KR1020167018681A patent/KR101705504B1/en active IP Right Grant
- 2014-01-23 WO PCT/JP2014/051428 patent/WO2015111174A1/en active Application Filing
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1619445A (en) * | 2003-09-26 | 2005-05-25 | 欧姆龙株式会社 | Programmable controller, programmable controller system, CPU unit and method of starting duplexed operation |
| CN103425530A (en) * | 2012-05-25 | 2013-12-04 | 西门子公司 | Method for operating a redundant automation system |
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| Publication number | Publication date |
|---|---|
| JP5701459B1 (en) | 2015-04-15 |
| KR101705504B1 (en) | 2017-02-09 |
| TW201530274A (en) | 2015-08-01 |
| TWI530764B (en) | 2016-04-21 |
| CN105934720A (en) | 2016-09-07 |
| JPWO2015111174A1 (en) | 2017-03-23 |
| WO2015111174A1 (en) | 2015-07-30 |
| KR20160088941A (en) | 2016-07-26 |
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