JP2005044039A - Real-time serial communication device, real-time serial communication method and mechatronics equipment - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a serial communication device, a serial communication method and mechatronics equipment, realizing a hard real-time property while using a general-purpose serial communication cable and communication protocol. <P>SOLUTION: This real-time serial communication device 100 is a real-time serial communication device receiving power supply from a power line PL and transmitting/receiving a signal via a signal line SL. The real-time serial communication device 100 has: a serial I/F circuit 120 communicating with an attached device 200 connected to the signal line and the power line via the signal line by a serial communication method; a signal processing circuit 110 connected to the serial I/F circuit, processing the signal transmitted/received by the serial I/F circuit; and a power line communication circuit 130 connected between the power line and the signal processing circuit, receiving an interrupt requirement signal requiring an interrupt for signal processing to the signal processing circuit from the attached device via the power line. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a real-time serial communication device, a real-time serial communication method, and a mechatronic device.
[0002]
[Prior art]
In order to give additional functions to mechatronic devices such as industrial machines and robots and improve their performance, it is necessary to add various additional devices to mechatronic devices. Communication between the internal device of the mechatronics device and the additional device requires a dedicated communication line and a dedicated communication protocol.
[0003]
On the other hand, in recent years, serial communication standards such as USB (Universal Serial Bass) and IEEE 1394 are widely used in the personal computer and IT technology fields. These serial communication standards have a plug-and-play function that automatically recognizes connection of devices and a hot-plug function that allows connectors to be inserted and removed while the device is turned on.
[0004]
When a serial communication standard such as USB or IEEE 1394 is adopted for a mechatronic device, a dedicated communication line and a communication protocol used for communication between the internal device of the mechatronic device and a specific additional device are not necessarily required.
[0005]
[Patent Document 1]
Japanese Patent Laid-Open No. 7-14060
[0006]
[Problems to be solved by the invention]
By the way, in operation control of mechatronic devices such as industrial machines and robots, there are mechanisms that operate mechanically or physically such as rotation and movement. In order to maintain the safety and performance of mechatronics equipment, a function that immediately corrects or changes its operation according to the occurrence of an event in the surrounding environment, that is, real-time capability is required. The real-time property refers to a characteristic that can adjust its own operation in real time according to the surrounding environment. In particular, a device with a very short response time from the occurrence of an event to the response to the event is called a “hard real-time” device. In recent years, this hard real-time property has been strongly demanded for mechatronic devices.
[0007]
USB communication and IEEE1394 communication include isochronous transfer. However, isochronous transfer has real-time characteristics, but has a relatively long response time, and is used for continuous and periodic communication such as streaming data. Therefore, isochronous transfer cannot respond to sudden events such as when the robot collides with a wall or when it needs to stop urgently, and is inferior in hard real-time performance.
[0008]
Therefore, an object of the present invention is to provide a real-time serial communication device and a real-time serial communication method that can realize hard real-time performance while using a general-purpose serial communication cable and a general-purpose communication protocol as they are.
[0009]
Another object of the present invention is to provide a mechatronic device provided with the real-time serial communication device described in the above object.
[0010]
[Means for Solving the Problems]
A real-time serial communication device according to an embodiment of the present invention is a real-time serial communication device that receives power supply from a power supply line and transmits / receives a signal via a signal line,
A serial interface circuit that communicates with the additional device connected to the signal line and the power line by a serial communication system via the signal line, and a signal that is connected to the serial interface circuit and transmitted / received by the serial interface circuit And an interrupt request signal that is connected between the power supply line and the signal processing circuit, and requests the signal processing circuit to interrupt the signal processing from the additional device via the power supply line. And a power line communication circuit for receiving.
[0011]
A real-time serial communication method according to an embodiment according to the present invention is a real-time serial communication using a real-time serial communication device that receives power supply from a power line and transmits and receives signals via the signal line,
A power line communication step for communicating with the additional device connected to the signal line and the power line via the communication line by a serial communication method; and a signal processing interrupt to the signal processing circuit via the power line A power line communication step of receiving an interrupt request signal for requesting from the additional device, and a step of processing a signal communicated by the signal line communication step and the power line communication step.
[0012]
A mechatronic device according to an embodiment of the present invention includes a real-time serial communication apparatus that receives power from a power line and transmits and receives signals via the signal line, and an additional device connected to the signal line and the power line. Mechatronics equipment,
The real-time serial communication device includes a serial interface circuit that communicates with the additional device through the signal line by a serial communication method, and a signal processing that is connected to the serial interface circuit and processes signals transmitted and received by the serial interface circuit And a power supply connected between the power supply line and the signal processing circuit and receiving an interrupt request signal for requesting a signal processing interrupt from the signal processing circuit to the signal processing circuit via the power supply line. Line communication circuit.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below with reference to the drawings. These embodiments do not limit the present invention.
[0014]
The real-time serial communication apparatus according to the embodiment of the present invention communicates with other additional devices using not only the communication line but also the power line. When a mechatronic device such as a robot encounters a sudden event, it communicates with the additional device via this power line. Thereby, the hard real-time property of a mechatronic device can be realized.
[0015]
FIG. 1 is a block diagram showing a real-time serial communication device 100 (hereinafter simply referred to as a serial communication device 100) and an additional device 200 according to an embodiment of the present invention. The serial communication device 100 and the additional device 200 are both provided in the mechatronic device 10 such as a robot. Although only one additional device is shown in FIG. 1, a plurality of additional devices may be provided in the mechatronic device 10. In this case, the plurality of additional devices are connected to the power supply line PL and the signal line SL in parallel with each other or in a daisy chain.
[0016]
The serial communication device 100 includes a host system 110, a serial interface circuit 120 (hereinafter simply referred to as an I / F circuit 120), a power line communication circuit 130, a transmission circuit 140, a reception circuit 150, and a storage unit 160. The additional device 200 includes a device system 210, a serial interface circuit 220 (hereinafter simply referred to as an I / F circuit 220), a power line communication circuit 230, a transmission circuit 240, a reception circuit 250, and a storage unit 260.
[0017]
I / F circuit 120 and I / F circuit 220 are connected to power supply line PL and signal line SL. The power supply line PL and the signal line SL constitute the serial communication cable 1. Thereby, the I / F circuit 120 and the I / F circuit 220 are configured to be able to perform serial communication with each other.
[0018]
The host system 110 is connected to the I / F circuit 120, and is configured to process a signal transmitted from the I / F circuit 120 to the additional device 200 and a signal received from the additional device 200 by the I / F circuit 120. ing.
[0019]
The power line communication circuit 130 is connected to the power line PL, and transmits an event signal indicating that a sudden event has occurred to the additional device 200 via the power line PL. Alternatively, the power line communication circuit 130 receives an event signal from the additional device 200 via the power line PL. That is, the power line communication circuit 130 superimposes an event signal necessary for hard real-time control on the power line PL.
[0020]
The transmission circuit 140 modulates a signal from the host system 110 and sends this signal to the power line communication circuit 130. The power line communication circuit 130 transmits the signal modulated by the transmission circuit 140 to the additional device 200. The receiving circuit 150 demodulates the signal from the additional device 200 received by the power line communication circuit 130 and sends this signal to the host system 110. The host system 110 processes the signal demodulated in the receiving circuit 150.
[0021]
The transmission signal transmitted from the power line communication circuit 130 to the additional device 200 is a control signal for the host system 110 to control the additional device 200, a timing signal for synchronizing the additional device 200 with the serial communication apparatus 100, or the like. . The received signal received from the additional device 200 by the power line communication circuit 130 is a status signal indicating the state of the additional device 200 or a request signal indicating a request from the additional device 200.
[0022]
The storage unit 160 stores an identification number for identifying the serial communication device 100, an internal timer, status information indicating the state of the serial communication device 100, information indicating the priority of the serial communication device 100, and the like. The information indicating the priority may be indicated by, for example, a signal amplitude or a signal wavelength. For example, the higher the amplitude of the signal, the higher the priority of the additional device that has transmitted the signal.
[0023]
The device system 210, the I / F circuit 220, the power line communication circuit 230, the transmission circuit 240, the reception circuit 50, and the storage unit 260 are the host system 110, the I / F circuit 120, the power line communication circuit 130, the transmission circuit 140, respectively. A configuration similar to that of the reception circuit 150 and the storage unit 160 may be used.
[0024]
However, the additional communication device 200 may have a function different from the function of the serial communication device 100. For example, the storage unit 260 has data different from the data included in the storage unit 160, and the storage unit 260 stores an identification number different from the identification number of the serial communication device 100. The device system 210 performs processing different from that of the host system 110. Further, the additional communication device 200 is synchronized with the timing of the serial communication device 100. Therefore, the additional communication device 200 is subordinate to the serial communication device 100.
[0025]
In the above description, the case where the communication circuit 130 is the master and the communication circuit 230 is the slave has been described as an example regarding the master-slave relationship of the signals to be superimposed on the power supply line. However, this embodiment does not fix the master-slave relationship, and the master-slave relationship can be reversed by negotiation of the device 100 and the device 200.
[0026]
FIG. 2 is a circuit diagram showing the serial cable 1 and the power line communication circuit 130 in detail. The serial communication cable 1 includes, for example, a signal line + Data and a signal line −Data that are generally used for serial communication, and further includes a power supply line Vp and a power supply line GND used for power supply. The power line communication circuits 130 and 230 are electrically connected to the power lines Vp and GND by transformer coupling, respectively. The power line communication circuits 130 and 230 may be electrically connected to the power lines Vp and GND by means such as electrostatic coupling and filter demultiplexing in addition to transformer coupling.
[0027]
FIG. 3 is a block diagram of the mechatronic device 10 in which a plurality of additional devices 200 and 300 are connected to the serial communication device 100. The configuration of the additional device 300 is the same as the configuration of the additional device 200.
[0028]
The additional device 300 may be a device that provides the same function as the function that the additional device 200 has, or may be a device that adds a different function to the mechatronic device 10. The additional device 300 may have data different from that of the additional device 200, or may execute processing different from that of the additional communication device 200.
[0029]
FIG. 4 is a conceptual diagram showing operations of serial communication apparatus 100 and additional devices 200 and 300 shown in FIG. Signals transmitted and received through the signal line SL and the power supply line PL are indicated by arrows. The vertical direction of the signal line SL and the power supply line PL represents a time axis. Therefore, FIG. 4 shows how signals are transmitted and received between the serial communication apparatus 100 and the additional devices 200 and 300 over time.
[0030]
FIG. 5 is a flowchart showing operations of serial communication apparatus 100 and additional devices 200 and 300 shown in FIG. With reference to FIG. 4 and FIG. 5, an operation when the additional devices 200 and 300 are synchronized with the serial communication apparatus 100 will be described.
[0031]
First, the serial communication device 100 transmits the synchronization notice signals SG10 and SG20 to the additional devices 200 and 300 by the serial communication method via the signal line SL, respectively (S10). The serial communication device 100 may simultaneously transmit the synchronization notice signals SG10 and SG20 to the additional devices 200 and 300. Further, the serial communication device 100 may transmit the synchronization notice signals SG10 and SG20 to the additional devices 200 and 300 at different timings. In FIG. 4, the serial communication device 100 generates a synchronization notice signal SG10 at time t. ₁ To the additional device 200 at time t ₂ To the additional device 300.
[0032]
When the additional devices 200 and 300 receive the synchronization notice signals SG10 and SG20, the additional devices 200 and 300 transition to a state of waiting for the synchronization instruction signal SG30 transmitted through the power line PL (S20). In FIG. 4, the additional device 200 is time t. ₁ To t ₃ Until the additional device 300 becomes the time t. ₂ To t ₃ It will be in a standby state.
[0033]
Next, the serial communication device 100 superimposes the synchronization instruction signal SG30 on the power line PL and transmits it to the additional devices 200 and 300 (S30). The serial communication device 100 sends the synchronization instruction signal SG30 to the time t ₃ Are transmitted to the additional devices 200 and 300 simultaneously. The additional devices 200 and 300 receive the synchronization instruction signal SG30 and execute the synchronization process (S40). The synchronization process is a process for adapting the time of the internal timer of the additional devices 200 and 300 to the time of the internal timer of the serial communication apparatus 100, for example. Thereby, the mechatronic device 10 can execute an operation necessary for the hard real-time property. The operation necessary for the hard real-time property is, for example, an operation of simultaneously outputting data to the outside of the additional devices 200 and 300, or an operation of inputting data from the outside of the additional devices 200 and 300 at the same time.
[0034]
The operation of the mechatronic device 10 can be defined by a combination of such communication using the signal line SL and communication using the power supply line PL. For example, the serial communication apparatus 100 can selectively synchronize only a specific additional device by transmitting a synchronization notice signal only to the specific additional device. In addition, the serial communication device 100 can exclusively allocate the use of the communication line SL to an additional device having a relatively large communication amount.
[0035]
In step S10, the serial communication device 100 transmits the synchronization notice signals SG10 and SG20 via the signal line SL. However, the serial communication device 100 may transmit the synchronization notice signals SG10 and SG20 via the power line PL. Accordingly, the additional devices 200 and 300 can be synchronized with the serial communication apparatus 100 without using the signal line SL.
[0036]
FIG. 6 is a conceptual diagram showing an operation when a sudden event occurs in the serial communication apparatus 100 and the additional devices 200 and 300 shown in FIG. FIG. 6 shows a state in which signals are transmitted and received between the serial communication device 100 and the additional devices 200 and 300 as time passes, as in FIG.
[0037]
FIG. 7 is a flowchart showing an operation when a sudden event occurs in the serial communication apparatus 100 and the additional devices 200 and 300 shown in FIG. With reference to FIG. 6 and FIG. 7, operations of the serial communication device 100 and the additional devices 200 and 300 when the mechatronic device 10 executes hard real-time control will be described.
[0038]
First, a sudden event occurs in the mechatronic device 10 (S50). The sudden event is, for example, when the robot as the mechatronic device 10 is likely to collide with a wall or a person, or when an emergency stop is necessary for safety.
[0039]
In response to such a sudden event, the additional device 200 transmits an interrupt request signal IS10 to the power line PL to the serial communication device 100 (S60). For example, when the robot is likely to collide with a wall, the additional device 200 transmits a signal for stopping the robot to the serial communication device 100. At this time, the additional device 200 may transmit the identification signal stored in the storage unit 260 together with the interrupt request signal IS10 to the serial communication device 100. Thereby, the serial communication device 100 can easily identify the additional device 200 that has transmitted the interrupt request signal IS10. Further, at this time, the additional device 200 may transmit a communication control signal for stopping communication via the signal line SL to the serial communication device 100. Thereby, since the serial communication apparatus 100 processes only the signal transmitted via the power line PL, the interrupt request signal IS10 from the additional device 200 can be processed at high speed.
[0040]
When receiving the interrupt signal IS10 via the power line PL, the serial communication device 100 immediately executes the process requested by the additional device 200 (S70). For example, when the robot is likely to collide with a wall, the serial communication device 100 processes a signal for stopping the robot, thereby stopping the robot.
[0041]
When the processing due to the interrupt ends, the serial communication device 100 transmits a service signal RS10 indicating the end of processing to the additional device 200 via the signal line SL (S80). At this time, the additional device 200 may transmit a communication control signal for starting communication via the signal line SL to the serial communication device 100. As a result, the serial communication device 100 can resume communication using the signal line SL.
[0042]
Thus, according to the present embodiment, interrupt signal IS10 is transmitted / received via power supply line PL, not via signal line SL used for signal transmission / reception. Therefore, the serial communication device 100 can receive this immediately after the additional device 200 transmits the interrupt signal IS10. Further, the serial communication device 100 can immediately respond to the interrupt signal IS10.
[0043]
In steps S70 and S80, after receiving the interrupt signal IS10, the serial communication device 100 immediately transmits information necessary for dealing with an unexpected event to the additional device 200 via the signal line SL as the service signal RS10. May be.
[0044]
When the additional devices 200 and 300 simultaneously transmit the interrupt request signals IS20 and IS30 to the serial communication device 100, the service is preferentially provided to a device having a high priority.
[0045]
The difference in priority between the additional devices 200 and 300 may be indicated by the difference in the waveform of each interrupt signal transmitted by the additional devices 200 and 300. For example, the amplitude or wavelength of the additional device interrupt signal with a higher priority is increased.
[0046]
FIGS. 8A and 8B are graphs showing an example in which the amplitude value of the interrupt signal is increased in descending order of priority of the additional device. For example, the amplitude value of the interrupt signal IS20 transmitted by the additional device 200 is V _L The amplitude value of the interrupt signal IS30 transmitted by the additional device 300 is V _L Higher V _H Suppose that It can be understood from the graph shown in FIG. 8A that the priority of the additional device 300 is lower than that of the additional device 200.
[0047]
Referring to FIG. 8 (B), the priority determination time is determined by the rise time t of interrupt signals IS20 and IS30. ₁₀ And t ₁₃ Judge with. In the present embodiment, the additional devices 200 and 300 transmit the interrupt signals IS20 and IS30 almost simultaneously, so that these interrupt signals are at least partially duplicated. In this case, the rising point t of the interrupt signal ₁₀ Or fall time t ₁₃ The amplitude of the interrupt signal is V _H On the other hand, the amplitude of the interrupt signal is V _L It becomes. In this case, the serial communication device 100 processes the interrupt signal IS30 with priority, and then processes the interrupt signal IS20. In order to prevent these interrupt signals from overlapping completely, the wavelength of the interrupt signal IS30 may be somewhat smaller than that of the interrupt signal IS20.
[0048]
When only the additional device 200 is transmitting the interrupt signal IS20, the rising timing t ₁₀ And fall time t ₁₂ In both periods, the amplitude of the interrupt signal IS20 is V _L It becomes. When only the additional device 300 is transmitting the interrupt signal IS30, the rising timing t ₁₁ And fall time t ₁₂ In both periods, the amplitude of the interrupt signal IS30 is V _H It becomes.
[0049]
Further, when the additional devices 200 and 300 transmit the interrupt signals IS20 and IS30 at different timings and these interrupt signals do not overlap, the serial communication device 100 performs the reception in the order received regardless of the priority. Handle interrupt signals.
[0050]
As described above, the present embodiment can process signals from a plurality of additional devices in the order based on the amplitude value of the interrupt signal.
[0051]
FIG. 9A and FIG. 9B are graphs showing an example in which the wavelengths of the interrupt signals are increased in descending order of priority of the additional devices. The wavelength of the interrupt signal may be translated into the duration or pulse width of the interrupt signal waveform. For example, the wavelength of the interrupt signal IS20 transmitted by the additional device 200 is T _L The amplitude value of the interrupt signal IS30 transmitted by the additional device 300 is T _L Longer than T _H Suppose that It can be understood from the graph shown in FIG. 9A that the priority of the additional device 300 is lower than that of the additional device 200.
[0052]
Referring to FIG. 9B, the priority determination time is determined by the rising time t of interrupt signals IS20 and IS30. ₂₀ Falling time t from ₂₃ Judge by the time until. When the additional devices 200 and 300 transmit the interrupt signals IS20 and IS30 almost simultaneously, so that these interrupt signals are at least partially duplicated, the rising point t of the interrupt signal ₂₀ To t ₂₃ Time to T _H That's it. In this case, the serial communication device 100 processes the interrupt signal IS30 with priority, and then processes the interrupt signal IS20. In order to identify the interrupt signals IS20 and IS30 when the interrupt signals IS20 and IS30 are completely overlapped, the amplitude of the interrupt signal IS20 may be somewhat larger than that of the interrupt signal IS30.
[0053]
When only the additional device 200 is transmitting the interrupt signal IS20, the rising timing t ₂₀ Fall time t from ₂₁ Time to T _L Is equal to When only the additional device 300 is transmitting the interrupt signal IS30, the rising timing t ₂₀ Fall time t from ₂₃ Time to T _H Is equal to
[0054]
Further, when the additional devices 200 and 300 transmit the interrupt signals IS20 and IS30 at different timings and these interrupt signals do not overlap, the serial communication device 100 performs the reception in the order received regardless of the priority. Handle interrupt signals.
[0055]
Thus, the present embodiment can process signals from a plurality of additional devices in the order based on the wavelength of the interrupt signal.
[0056]
As described above, the serial communication device 100 can appropriately process the interrupt signals for the simultaneously occurring events according to the priority. As a result, the present embodiment can realize hard real-time performance even though serial communication is used.
[0057]
The power line communication circuits 130 and 230 shown in FIG. 1 and FIG. 2 may superimpose other communication data such as a status signal on the power line PL in addition to the identification number of the serial communication apparatus 100 or the additional device 200. In information communication using a power line, TDM (Time Division Multiplexing) or FDM (Frequency Division Multiplexing) may be employed.
[0058]
【The invention's effect】
The serial communication device, serial communication method, and mechatronic device according to the present invention can achieve hard real-time performance while using a general-purpose serial communication cable and a general-purpose communication protocol as they are.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a serial communication apparatus 100 and an additional device 200 according to an embodiment of the present invention.
2 is a circuit diagram showing a serial cable 1 and a power line communication circuit 130. FIG.
3 is a block diagram of a mechatronic device 10 in which a plurality of additional devices 200 and 300 are connected to the serial communication device 100. FIG.
4 is a conceptual diagram showing operations of the serial communication apparatus 100 and the additional devices 200 and 300. FIG.
FIG. 5 is a flowchart showing operations of the serial communication apparatus 100 and the additional devices 200 and 300.
6 is a conceptual diagram showing an operation when a sudden event occurs in the serial communication device 100 and the additional devices 200 and 300. FIG.
FIG. 7 is a flowchart showing an operation when a sudden event occurs in the serial communication apparatus 100 and the additional devices 200 and 300;
FIG. 8 is a graph showing an example in which the amplitude value of an interrupt signal is increased in descending order of priority of an additional device.
FIG. 9 is a graph showing an example in which the wavelengths of interrupt signals are increased in descending order of priority of additional devices.
[Explanation of symbols]
1 Serial communication cable
10 Mechatronics equipment
100 Real-time serial communication device
200 Additional devices
110 Host system
120, 220 I / F circuit
130, 230 Power line communication circuit
140, 240 Transmitter circuit
150, 250 receiving circuit
160, 260 storage unit
210 Device system
PL power line
SL signal line

Claims (10)

A real-time serial communication device that receives power supply from a power line and transmits / receives a signal via a signal line,
A serial interface circuit that communicates with the additional device connected to the signal line and the power line by a serial communication method via the signal line;
A signal processing circuit connected to the serial interface circuit for processing signals transmitted and received by the serial interface circuit;
A power line communication circuit that is connected between the power line and the signal processing circuit and receives an interrupt request signal for requesting a signal processing interrupt from the signal processing circuit from the additional device via the power line. Real-time serial communication device with The real-time serial communication apparatus according to claim 1, wherein the power line communication circuit transmits a synchronization instruction signal for synchronizing the additional device to the serial communication apparatus to the additional device via the power line. . 3. The power line communication circuit transmits a synchronization notice signal for waiting for the additional device until the additional device receives the synchronization instruction signal to the additional device via the power line. The real-time serial communication device described in 1. A plurality of the additional devices are connected in parallel to the power line;
The power line communication circuit receives the interrupt request signal from each of the plurality of additional devices via the power line.
The real-time serial communication device according to claim 1, wherein the signal processing circuit processes the interrupt request signal in an order based on a difference in waveform of the interrupt request signal. 5. The real-time serial communication apparatus according to claim 4, wherein the signal processing circuit processes signals from the plurality of additional devices in descending order of amplitude of the interrupt request signal or in ascending order of wavelength. The real-time serial communication apparatus according to claim 1, wherein the power line communication circuit receives an identification signal for identifying the additional device via the power line. The power line communication circuit receives a communication control signal for stopping or starting communication from the additional device via the power line,
The real-time serial communication apparatus according to claim 1, wherein the signal processing circuit stops or starts communication via the signal line according to the communication control signal. The real-time serial communication apparatus according to claim 1, wherein the power line communication circuit communicates with the additional device through the power line by a time division method or a frequency division method. A real-time serial communication method using a real-time serial communication device that receives power supply from a power line and transmits / receives a signal via a signal line,
A power line communication step for communicating with an additional device connected to the signal line and the power line via the communication line by a serial communication method;
A power line communication step of receiving from the additional device an interrupt request signal for requesting a signal processing interrupt to the signal processing circuit via the power line;
A real-time serial communication method comprising: processing signals transmitted in the signal line communication step and the power line communication step. A real-time serial communication device that receives power supply from a power line and transmits / receives a signal via a signal line, and a mechatronics device including the signal line and an additional device connected to the power line,
The real-time serial communication device is:
A serial interface circuit that communicates with the additional device through the signal line by a serial communication method;
A signal processing circuit connected to the serial interface circuit for processing signals transmitted and received by the serial interface circuit;
A power line communication circuit that is connected between the power line and the signal processing circuit and receives an interrupt request signal for requesting a signal processing interrupt from the signal processing circuit from the additional device via the power line. Mechatronics equipment characterized by comprising

Images