JP2012128695A - Input/output duplexing apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an inexpensive and highly reliable input/output duplexing apparatus by reducing a load of a CPU module without using any dedicated device for duplexing control.SOLUTION: For an input/output module connected with a CPU module via a bus, there are provided communication means which is connected with an opposite-side system and transmits/receives an operation mode, operation mode adjusting means which determines an operation mode of a present system on the basis of an operation mode of the opposite-side system received by the communication means and a self-diagnosis result of the present system, and notifies the determined operation mode to the CPU module, and command transmitting/receiving means in which, on the basis of the determined operation mode, in the case where the present system is an active side, a setting parameter is inputted from the CPU module and the setting parameter is transmitted to the opposite-side system while the setting parameter is used to execute input/output processing, but in the case where the present system is a reserve side, a setting parameter transmitted form the opposite-side system is received and the received setting parameter is used to execute input processing or output processing.

Description

  The present invention relates to an I / O module duplication technology mainly used for a programmable controller, a network terminal, etc., and more particularly to an I / O duplication device in a system configuration in which I / O modules sharing a bus with a CPU module in the same unit are duplicated.

  As shown in FIG. 19, the conventional I / O duplex device performs data exchange with the CPU module that executes the arithmetic processing of the entire device including the application and the base module bus in the same device, An input / output module that performs input processing and output processing is implemented. In order to increase the reliability and operating rate of the apparatus, a configuration in which this input / output module is duplicated is adopted. In addition, as an input / output module, only an input function such as an analog input module or a digital input module, or only an output function such as an analog output module or a digital output module, or both functions are mounted. There is a case.

  FIG. 20 is a block diagram of an input / output duplex device having a conventional duplex configuration. In this figure, the conventional input / output duplex device 100 is composed of a CPU module 2 and two or more input / output modules 99. FIG. 20 shows an example in which an analog input module is used, but the connection method with an external I / F circuit or an external device differs depending on the function of the input / output module.

  The CPU module 2 and the input / output module 99 are connected by a bus 3 composed of a plurality of signal lines. Although not shown, the I / O duplex device 100 also has a power supply module, and supplies power to each module through a power supply line or a power supply pattern on the base board. In some cases, the bus 3 connects the modules directly with a connector without using a base board.

  Each input / output module 99 has a shared memory and a bus interface (hereinafter referred to as BUSI / F) circuit 15 for transferring data to and from the CPU module 2 via the bus 3, various processes such as input processing and output processing. A CPU circuit 11 that performs arithmetic processing and an external I / F unit 97 that performs conversion processing of input signals and output signals are provided.

  The CPU module 2 exchanges data via the bus 3 and the BUSI / F circuit 15 provided in each input / output module 10. As shown in FIG. 21, the BUSI / F circuit 15 is mainly composed of a decode circuit 81 and a shared memory 82. The decode circuit 81 decodes the upper address of the address bus output from the CPU module 2, and the shared memory 82 selection signals are generated. A predetermined number of address signals, read signals, and write signals on the lower side of the address bus are connected to the shared memory 82. Although omitted in FIG. 21, the same signal is also connected to the shared memory 82 on the CPU circuit 11 side of the input / output module.

  The input / output duplex device 100 has a plurality of input / output modules 99 having the above-described configuration, and each input / output module 99 is set with various parameters according to commands from the CPU module 2. The operation side input / output module (hereinafter referred to as “operation side module” or simply “operation side”) and the standby side input / output module (hereinafter referred to as “standby side module” or simply “standby side”) are external. Duplex wiring is provided between the device 9 and the operation / standby operation mode is set by a command from the CPU module 2 during operation. Note that the wiring method for duplexing differs depending on the input function and output function. FIG. 20 shows an example in the case of the input function. In the case of the output function, a relay contact is provided at the output end, and when the operation mode is active, it is “closed”, and when the operation mode is standby, it is “open”. It is common to do. Even in the case of an input function, if necessary, a changeover switch may be provided at the input end so that a signal from the external device 9 is input only to the operating side module.

  In contrast to the input / output module 99 having the above configuration, when the CPU module 2 detects an abnormality based on a self-diagnosis result of each input / output module 99 or a diagnosis with the input / output module 99, the CPU module 2 An operation / standby switching command is output to the input / output module 99 to switch the operation side module.

  As described above, conventionally, since the CPU module 2 performs the duplex control of the input / output module 99, there is a problem that the processing load becomes high. For this reason, for example, in Patent Document 1, in order to reduce the load on the CPU module, a monitoring module (data duplication device) is provided between the CPU module and the input / output module. Systems and methods for performing control have been proposed.

JP 2005-196490 A

  However, according to the technique of Patent Document 1, although the load on the CPU module is reduced, a monitoring module is required, which increases the cost.

  The present invention has been made in view of the above-mentioned circumstances, and provides a low-cost and highly reliable input / output duplexing device by reducing the load on the CPU module without using a dedicated device for duplexing control. The purpose is to do.

  In order to achieve the above object, the redundant input / output apparatus according to the present invention is mounted in the same unit, and exchanges data via a CPU module and a shared memory that execute arithmetic processing, and operates as an operation mode respectively. Or an input / output duplexing device comprising at least a pair of input / output modules functioning as a standby side, each of the input / output modules being connected to a counterpart input / output module (hereinafter referred to as a "partner system"), Based on the communication means for transmitting / receiving the operation mode, the operation mode of the partner system received by the communication means, and the self-diagnosis result of the input / output module (hereinafter referred to as “own system”) on the self side. An operation mode adjustment unit that determines a mode and notifies the CPU module of the determined operation mode, and the operation mode adjustment unit If the own system is the active side based on the operation mode, the setting parameter is input from the CPU module, and the input parameter or the output process is executed using the setting parameter. A command transmission / reception means for receiving the setting parameter transmitted from the partner system and executing the input process or the output process using the received setting parameter when the own system is the standby side, The CPU module outputs the setting parameter only to the input / output module on the operating side.

  Here, the “setting parameter” is a parameter for operating the input / output module with a predetermined specification. For example, there are a scale conversion value for analog input / output, a pulse width for digital output, and a filter time for digital input.

  In the present invention, the operation mode adjustment means provided in each input / output module determines the operation side and the standby side, and notifies the CPU module of the operation mode information on the operation side / standby side. The CPU module transmits the setting parameter only to the input / output module on the operating side. Thereby, the load of the CPU module can be reduced.

  Further, the operation mode adjusting means of the redundant input / output device according to the present invention is configured to determine the operation mode of the own system when the self-diagnosis result of the own system is normal. In this case, the operation mode of the own system is provisionally set to the active side, and the other system is notified that the own system is the active side, and a response from the other system is received for this notification. When the operation mode is also on the standby side, the temporary setting is set as the main setting to determine the operation mode of the own system as the operation side, and when the operation mode of the partner system included in the response is the operation side, the temporary setting is canceled. The operation mode of the own system is determined on the standby side.

  In the present invention, when the operation mode is determined, if the operation mode of the partner system is the standby side, the local system is not immediately determined to be the active side, but is temporarily set as the active side. In this temporary setting state, the partner system is notified that the own system is the operating side, but the CPU module is not notified that the own system is the operating side. If the host system is temporarily set as the active side and the operation mode of the partner type received as a response to the notification to the other side that it is in the temporary setting state is still the standby side, the temporary setting Is set to this setting, and at this time, the CPU module is notified that it is determined that the own system is the operating side.

  As a result, especially in the process of determining the operation mode of each input / output module at the time of system startup, even if the operation mode of the partner system and the own system competes, the operation mode notified to the CPU module does not become unstable. Stable system operation can be realized.

  In particular, the operation mode adjustment means adjusts the operation mode by moving the own system to the standby side and shifting the operation mode transmission timing when the operation mode competes between the own system and the partner system as the active side. It can be executed quickly and reliably.

  Further, in the input / output duplex device according to the present invention, the same address space is allocated on the CPU module side of the shared memory provided in the input / output modules on the operating side and the standby side, and each of the input / output modules is operated. The access to the shared memory of the CPU module is permitted only on the side.

  As a result, the memory space of the CPU module can be saved, the number of input / output modules that can be mounted on the unit is increased, and an inexpensive CPU can be used, thereby realizing a highly cost-effective input / output duplexing device. be able to.

  The CPU module transmits an operation / standby switching signal for switching the operation side to the standby side to the input / output module on the operation side, and the input / output module on the operation side receives the operation / standby switching signal, By switching the own system to the standby side, the operation mode is switched by shifting the partner system to the active side. Thereby, the CPU module can reduce the burden of duplex processing.

  Furthermore, the input / output duplexing device according to the present invention is an input / output duplexing device using an analog input module as an input / output module, and the operation side analog input module corresponds to the input analog value range and the digital value range. Operation side basic information registration means for registering the theoretical adjustment scale value indicating the relationship, operation side calibration value for correcting the A / D conversion error of the operation side analog input module, and analog signal A output from the external device Operating-side measured value input means for inputting each / D conversion value, operating-side storage means for holding equipment adjustment values for matching the characteristics of the external equipment, the equipment adjustment values, the theoretical adjustment scale values, and the operation The correction value used to correct the A / D conversion value of the standby side analog input module is calculated using the calibration value on the standby side, and this correction value is periodically calculated. The correction value transmitting means for transmitting to the standby side analog input module and the A / D conversion value of the analog signal input by the operating side measured value input means are corrected by the device adjustment value held in the operating side storage means. Output value calculating means for outputting the converted A / D conversion value, and the standby side analog input module registers a theoretical adjustment scale value indicating a correspondence relationship between the range of the input analog value and the range of the digital value Standby side basic information registration means, standby side calibration value for correcting an A / D conversion error of the standby side analog input module, and standby state for inputting an A / D conversion value of an analog signal output from the external device, respectively Side correction value input means and the correction value transmitted by the correction value transmission means, the correction value, the theoretical adjustment scale value, and the standby side calibration value And a calculation storage unit that calculates a device adjustment value on the standby side using the and stores it in the storage unit on the standby side, and the standby side analog input module receives the correction value from the correction value transmission unit for a predetermined period of time. By not doing so, it operates as an operating side analog input module.

  Here, the “predetermined period” is a value set in advance based on the transmission period of the correction value, and refers to a period that does not affect the control period (data refresh period) of the programmable controller. For example, when applied to a programmable controller system with a control period of 10 mS, it is preferable that the predetermined period is set to a value of 10 mS or less and the transmission period is set to about a fraction of the set value.

  In the present invention, the operating-side analog input module inputs the device adjustment value on the site and stores it in the storage unit of the module, while calculating the correction value using the device adjustment value, and sets the correction value to the standby side. Send to analog input module. The standby-side analog input module calculates the device adjustment value as the analog input module using the received correction value and stores it in the storage unit of the own module. Then, when the correction value for the predetermined period is not received, an abnormality of the operating side input module is detected, and the own module operates as the operating side analog input module. At this time, since the input A / D conversion value is corrected using the device adjustment value stored in the storage unit of the own module, the standby-side analog input module adjusts the device to match the characteristics of the external device. It is not necessary to enter a value. In addition, when replacing a faulty analog input module, the analog input module that was replaced and started up as a standby side will automatically receive correction values from the analog input module that is newly on the active side. Module adjustment is not required to match the characteristics of external devices. For this reason, an operation rate improves.

  Also, the input / output duplex method according to the present invention is a method of duplexing and using an analog input module for converting and inputting an analog value into a digital value consisting of an active side and a standby side, and a range of analog values to be input Calibration value (64) for setting the correspondence relationship (63) of the digital value range as a set value common to both the active side and the standby side and correcting the A / D conversion error on each of the active side and the standby side And the scale conversion data for adjustment is calculated from the calibration value and the correspondence (63), and on the operating side, the device adjustment value (65) for matching the characteristics of the external device (9) is input and input. The difference between the adjusted device adjustment value (65) and the calibration value (64) is converted by the scale conversion data for adjustment on the operating side to calculate the correction value (68) based on the lower limit value and the upper limit value, and the correction value is waited. The standby side device adjustment value (65) is calculated using the received correction value and standby side adjustment scale conversion data, and at least one of the active side and the standby side, The input measurement value is corrected using the device adjustment value (65) held by each.

  According to the present invention, on the operation side, the device adjustment value is obtained by on-site adjustment, the correction value is calculated using this, and the correction value is transmitted to the standby side. Since the device adjustment value for the module is calculated, when the system is started up, it is only necessary to perform on-site adjustment only for the operating side module. If one analog input module fails, the other analog input module Since the correction value is transferred to the replacement product mounted as the standby side on the operating side, no on-site adjustment at the time of replacement work is required.

  The analog input module (10) according to the present invention is an analog input module in which the operation mode of the operation side or the standby side can be set. The operation mode initial value (61), the range of analog values to be input Basic information registration means (42) for registering the theoretical adjustment scale value (63) indicating the correspondence between the range of the digital value and the calibration value (64) for correcting the A / D conversion error and the external device (9) Measurement value input means (43) for inputting an A / D conversion value (66) of an analog signal output from the device, and a device adjustment value for adjusting to the characteristics of the external device (9) when the operation mode is the operation side (65) is input, the correction value (68) is calculated using the input device adjustment value (65), theoretical adjustment scale value (63), and calibration value (64), and the calculated correction value is transmitted. Means (adjustment When the operation mode is the standby side, the conversion unit 44, the correction value calculation unit 45, the correction value transmission unit 47) receives the correction value (68) sent from the operation side, and receives the received correction value (68 ), The theoretical adjustment scale value (63) and the calibration value (64) to calculate the device adjustment value (correction value receiving means 48, device correction value conversion means 50, device adjustment value calculation means 51), measurement Output value calculation means (46) for correcting the A / D conversion value (66) input by the value input means (43) with the device adjustment value (65).

  In the present invention, when the operation mode is the operation side, a correction value is calculated and transmitted using the input device adjustment value, theoretical adjustment scale value, and calibration value. When the operation mode is the standby side, the operation side The correction value sent from is received, and the device adjustment value is calculated using the received correction value. Then, the A / D conversion value input by the measurement value input means is corrected with the device adjustment value.

  Preferably, the output value calculation means (46) uses the corrected A / D conversion according to a user requested scale value indicating a correspondence relationship between an input analog value range and a digital value range to be passed to an application program. It is better to further scale the value.

  The analog input module (10) according to the present invention further transmits the correction value (68) to the standby side periodically when the operation mode is the operation side, while responding to the transmission of the correction value from the standby side. Whether or not there is an abnormality on the standby side is determined based on whether or not there is an abnormality, and when the operation mode is the standby side, it responds to the reception of the correction value, while the operation side determines whether or not the correction value is sent periodically. An operation / standby determination means (52) for determining whether there is an abnormality is provided.

  In the present invention, by periodically transmitting the correction value, the correction value is automatically transferred to the standby side even if the analog input module is replaced in the hot line state, so there is no need to stop or reset the system. Will improve.

  According to the present invention, the CPU module is duplicated because adjustment of the operation mode of operation / standby is performed between the input / output modules constituting the duplication, and the transfer of the setting parameters such as the correction value is performed without going through the application layer. It is not necessary to perform control or processing for the standby side, and the CPU load can be reduced.

  Furthermore, the memory space of the CPU module can be saved by allowing only the input / output module on the operating side to access from the CPU module based on the determination result of the operation mode of the input / output module.

1 is a functional block diagram of a duplex input / output device 1 according to a first embodiment of the present invention. It is a module mounting diagram of the input / output duplex device 1 according to the embodiment of the present invention. FIG. 2 is a functional block diagram of a CPU circuit 11 in FIG. 1. It is explanatory drawing of the memory map of CPU module 2 by the 1st Embodiment of this invention. It is a flowchart which shows the process sequence of the operation mode adjustment means 72 of FIG. It is a data structural example of the operation mode management table 73 of FIG. It is a flowchart which shows the input / output processing procedure of the CPU module 2 of FIG. It is explanatory drawing of the memory map of CPU module 2 by the 2nd Embodiment of this invention. It is a functional block diagram of the input / output module 10 by the 2nd Embodiment of this invention. FIG. 10 is a configuration diagram of an operation mode determination unit 30 and a BUSI / F circuit 15 in FIG. 9. It is a flowchart which shows the process sequence of the operation mode adjustment means 72 by the 2nd Embodiment of this invention. It is a flowchart which shows the process sequence of CPU module 2 by the 2nd Embodiment of this invention. 1 is a block diagram of a duplex input / output device 1 according to an embodiment of the present invention. It is a functional block diagram of the analog input module 10 of FIG. It is a block diagram for demonstrating the process outline | summary at the time of using the analog input module 10 shown in FIG. 14 by the redundant structure of an operation side and a standby side. It is a flowchart which shows the process sequence of the operation | movement outline | summary in the field of the input / output duplication apparatus 1 of FIG. It is explanatory drawing which shows the relationship between an external A / D conversion value (theoretical adjustment value scale) and an internal A / D conversion value (calibration value and apparatus adjustment value), FIG.17 (a) is explanatory drawing of an operation side module. FIG. 17B is an explanatory diagram of the standby module. It is explanatory drawing of adjustment to the characteristic of the external apparatus at the time of field adjustment. It is a unit mounting diagram of a redundant input / output device according to the prior art. It is a block diagram of an input / output duplex device with a duplex configuration according to the prior art. It is a block diagram of the conventional BUSI / F circuit 15 of FIG.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In addition, the same code | symbol is attached | subjected to the same structure.

  FIG. 1 is a functional block diagram of an input / output duplexing apparatus 1 according to the first embodiment of the present invention. The main difference from the conventional hardware configuration shown in FIG. 20 is that a communication unit 96 is provided for serial communication between the input and output modules on the operation side and the standby side in a duplex configuration, and the operation side and the standby side are connected by the communication cable 5 Is connected. The communication unit 96 includes a data transmission circuit 21, a data reception circuit 22 that receives data, and an insulation circuit 23 that insulates signals.

  In this input / output duplex device 1, each input / output module 10 determines whether the own system should be the active side or the standby side by passing certain data between the duplexed modules. Is.

FIG. 2 is a module mounting diagram of the redundant input / output apparatus 1 according to the present embodiment.
In this figure, the input / output duplexing device 1 is mounted with a plurality of pairs of a CPU module 2 and a pair of input / output modules 10 operating as an active system or a standby system.

  The CPU module 2 and each input / output module 10 are mounted on the unit and connected to the bus 3 of the base board via the connectors of each module. The bus 3 includes an address bus, a data bus, and a control bus for reading signals, writing signals, and the like.

  FIG. 3 is a functional block diagram of the CPU circuit 11 of the input / output module 10 according to the present embodiment. In this figure, a CPU circuit 11 operates between a self-diagnosis unit 71 that performs program stall monitoring, memory check, etc., a CPU I / F unit 41 that performs data transfer processing with the CPU module 2, and a counterpart system. Operation mode adjustment means 72 for adjusting the standby operation mode, and command transmission / reception means 49 for transmitting the other party's soundness confirmation and other setting parameters in the duplex configuration and outputting the determination result of whether the other system is normal or abnormal. is doing.

  The self-diagnosis unit 71 periodically executes a diagnosis process after power-on or system reset, and passes the diagnosis result to the operation mode adjustment unit 72.

  The so-called partner system diagnosis process of the command transmission / reception means 49 determines whether or not diagnostic check data is periodically transmitted via the communication unit 96. If no data is transmitted for a certain period of time, the partner system abnormality is detected. And the determination result is passed to the operation mode adjustment means 72. Note that the setting parameter may also be used as diagnostic check data.

<CPU module memory map>
A memory map of the CPU module 2 is shown in FIG.
The memory space of the CPU module 2 is allocated to the shared memory 82 of each input / output module 10, and a different address range is allocated to each slot in which the input / output module is mounted. Note that a switch for setting an address range may be provided in the input / output module so that the memory space is allocated for each input / output module. However, in this embodiment, a different address range is allocated for each slot. explain.

  As an overview of the operation of the CPU module 2, the normal / abnormal status information input from the input / output module 10 and the operation mode information of operation / standby are taken in, and the setting parameter and the operation / standby switching command are output to the input / output module. To do. The content of input / output data varies depending on the type of input / output module. For example, in the case of an analog input module, an A / D conversion value passed from the module is input, and in the case of an analog output module, an output command value passed to the module is output.

  The status information and operation mode of the input / output module 10 are written into the shared memory 82 by the CPU circuit 11 of the input / output module 10. Then, the CPU module reads the data from the shared memory 82. The setting parameter and the operation / standby switching command are written from the CPU module 2 to the shared memory 82, and the CPU circuit 11 of the input / output module 10 reads the data and executes a predetermined operation.

  In addition, input / output data is exchanged between the CPU module 2 and the CPU circuit 11 of the input / output module 10 via the shared memory 82.

FIG. 4 shows a memory space for one pair of input / output modules, but when a plurality of pairs of input / output modules are mounted, different memory spaces are allocated to the respective input / output modules 10.
Next, the operation of the duplex input / output device 1 according to this embodiment will be described.

<Device initialization processing>
When the power is turned on, the CPU module 2 initializes the entire area of the shared memory 82 for each input / output module 10. For example, for the operation mode (operation / standby information) in the area, data that is neither active nor standby is set as an initial value. Also for the status area, initial values different from the normal and abnormal codes are set. Thereby, the CPU module 2 can detect that the input / output module 10 is not operating normally when the initial value does not change for a certain period of time after activation.

  After this initialization process, the CPU module 2 notifies the CPU circuit 11 of each input / output module 10 of permission to write to the shared memory 82 by an interrupt signal or the like.

<Operation mode adjustment processing>
Next, the processing procedure of the operation mode adjusting means 72 of the input / output module 10 will be described with reference to FIG. When the operation mode adjustment unit 72 is activated by turning on the power or resetting the system, the operation mode adjustment unit 72 determines whether or not there is an abnormality from the diagnosis result of the self-diagnosis unit 71 (S201, S202). Then, an error code corresponding to the abnormal content is written in the status information storage area on the shared memory (S203). Thereafter, the operation mode adjustment means 72 sets its own operation mode to the standby mode (S204). Specifically, “standby” is written in the operation mode storage area on the shared memory. Then, the partner system is notified via the communication unit 96 that the own system is in the standby mode (S205). Thereafter, the temporary setting flag in the operation mode management table 73 is reset, the process returns to step S201, and the subsequent processing is repeated (S206).

  Here, FIG. 6 shows an example of the operation mode management table 73. Flags can be set for each item of operation mode main setting (hereinafter simply referred to as “main setting”), operation mode temporary setting (hereinafter simply referred to as “temporary setting”), and standby mode. . A flag corresponding to each operation mode is set by processing to be described later.

  Returning to FIG. 5, the operation mode adjustment means 72 writes “normal” in the status information storage area of the shared memory 82 if NO in step S202 (S207). Next, from the operation mode of the counterpart system received via the command transmission / reception means 49, if the counterpart system is in the operation mode (“YES” in S208), whether the counterpart system is normal from the output result of the command transmission / reception means 49 If it is normal, the operation mode of the own system is set to the standby mode (S210). Note that the operation mode of the counterpart system used in the determination process in step S208 is the latest operation mode among the operation modes periodically sent from the counterpart system.

  After step S210, the partner system is notified via the command transmission / reception means 49 that the own system is in the standby mode (S211), and the temporary setting flag in the operation mode management table 73 is reset (S212). Thereafter, a random number is generated, and after sleeping for a fixed time determined by the random number (S213), the process returns to step S201 and the subsequent processing is repeated. As an example of random numbers, numbers from 0 to 9 are selected at random, and the number of times is multiplied by a predetermined time (for example, 1 mS) to sleep. This predetermined time is preferably about the same as a single processing time of the operation mode adjusting means 72.

  If “NO” in step S208, that is, if the partner system is in the standby mode or there is no notification of the operation mode, and if the partner system is not normal in step S209, it is next determined whether or not the host system is in the operating mode ( S214). Note that when the setting flag of the operation mode management table 73 is set, the operation mode is determined. If the result of this determination is that the own system is in the operation mode (“YES” in S214), data in the operation / standby switching command storage area of the shared memory 82 is read (S215), and the switching command is set by the CPU module 2. If so ("YES" in S216), the own operation mode is set to the standby side (S217). Specifically, the standby flag of the operation mode management table 73 is set and “standby” is written in the operation mode storage area of the shared memory 82. Then, the partner system is notified via the command transmission / reception means 49 that the own system is in the standby mode (S218). Thereafter, the operation / standby switching command of the shared memory 82 and the temporary setting flag of the operation mode management table 73 are reset (S219, S220).

  On the other hand, if the actual setting of the operation mode is not performed in step S214, it is next determined whether or not the temporary setting flag of the operation mode management table 73 is set (S221), and the temporary setting flag is set. If so, the main setting flag of the operation mode management table 73 is set to set the operation mode of the own system to the operation side, and “operation” is written as the operation mode of the shared memory 82 (S222). Thereafter, the temporary setting flag is reset (S223), the partner system is notified via the command transmission / reception means 49 to the partner system (S225), the process returns to step S201 and the subsequent processing is repeated.

On the other hand, if the temporary setting flag is not set in step S221, the temporary setting flag is set (S224), and the process proceeds to step S225.
The operation mode adjustment means 72 performs operation / standby arbitration with the counterpart system according to the above procedure.

  In the above description, the operation mode of the own system is periodically transmitted to the partner system via the command transmission / reception unit 49. However, when the command transmission / reception unit 49 receives the operation mode of the partner system, If the temporary setting flag is set as a result of the determination in step S221 in the above process, the partner for the transmission process in step S225 at the previous activation is returned. When the operation mode included in the system response is the standby side, this setting process in step S222 may be performed. This makes it possible to determine the own system operating side based on the operation mode of the other system after reliably informing the other system that the own system is the operating system.

<Operation on CPU module side after adjustment of operation mode>
Next, an input / output processing procedure on the CPU module 2 side will be described with reference to FIG.
When the power is turned on, the CPU module 2 determines whether or not there is an operation mode switching request from the outside such as a maintenance tool (not shown) connected to the CPU module 2 (S301). If there is, the operation / standby switching command is written in the output area of the target operation side input / output module (S302). Thus, the operation side is switched to the standby side by the processing of steps S216 to S220 in FIG. 5 of the input / output module 10, and as a result, the standby side is switched to the operation side.

  After step S302, it is determined whether or not a predetermined activation delay setting time has elapsed. If not, the process returns to step S301. If it has elapsed, the input / output module 1 ( The input area 1 which is the input area corresponding to 10) is accessed, and the operation / standby information set in the shared memory 82 is acquired (S304). The start delay setting time in step S303 is a time sufficient for inputting a switching command from the outside and for the input / output module 10 to determine the operation mode.

  When the acquired operation / standby information is “operation”, the setting parameter is transferred to the CPU circuit 11 of the input / output module 1 (10) by writing the setting parameter in the output area 1 of the shared memory 82 (S306). This setting parameter is sent to the partner system by the command transmission / reception means 49 of the input / output module 1 (10).

  Next, the CPU module 2 acquires operation / standby information from the input area 1 (S307), and determines whether or not the input / output module 1 (10) is in the operation mode (S308). As a result of the determination, in the operation mode, the input / output area 1 is accessed to read data from the input / output module 1 (10) or write data to the input / output module 1 (10) (S309). Returning to step S307, the subsequent processing is repeated. If the result of determination in step S308 is that it is not in the operation mode, a replacement instruction for the input / output module 1 (10) is output to the outside (S310), and processing proceeds to step S315 described later.

  On the other hand, if the input / output module 1 (10) is not in the operation mode in step S305, the CPU module 2 next reads the operation / standby information in the input area 2 (S311), and the operation of the input / output module 2 (10). Determine the mode. As a result, when the input / output module 2 (10) is not in the operation mode (“NO” in S312), an error is notified to the outside and the process is terminated (S313). When the input / output module 2 (10) is in the operation mode (“YES” in S312), the setting parameter is transferred to the input / output module 2 (10) (S314). This setting parameter is sent to the partner system by the command transmission / reception means 49 of the input / output module 2 (10).

Next, the CPU module 2 acquires operation / standby information from the input area 2 (S315), and determines whether or not the input / output module 2 (10) is in the operation mode (S316). As a result of the determination, in the operation mode, the input / output area 2 is accessed to read data from the input / output module 2 (10) or write data to the input / output module 2 (10) (S317). Returning to step S315, the subsequent processing is repeated. If the result of determination in step S316 is that it is not in operation mode, an instruction to replace the input / output module 2 (10) is output to the outside (S318), and processing proceeds to step S307.
The input / output processing of the CPU module 2 is performed according to the above procedure.

  The above is the processing procedure for one set of input / output modules, but when there are a plurality of pairs, the above processing is executed for each pair.

(Other Example 1)
In step S213 of the operation mode adjusting means 72 in FIG. 5, a random number is generated and a delay time corresponding to the random number is generated, thereby shifting the processing timing between the input / output modules constituting the duplex and determining whether to operate or wait. Although the result is prevented from being inverted every time processing is performed, the identification information (slot ID) of the slot in which the input / output module 10 is mounted is read and delayed by the time corresponding to the read slot ID. good. As a result, even if the timing once overlaps and a competition state occurs (both systems are recognized by the partner system as operating mode), both systems once enter standby mode, and in the next cycle, the sleep time determined by the slot ID Only the short input / output module 10 can surely enter the operation mode.

  Further, in the processing of the operation mode adjustment means 72 according to the present embodiment, when the operation mode is determined, the “operation” setting is not performed immediately, but a temporary setting flag is set first, whereby the counterpart system is set. In this case, while it is notified that it is the operating side, the information passed to the CPU module 2 via the shared memory is not set to “operating” at this time. That is, at this time, the CPU module 2 acquires the operation mode as a standby mode or an unset state.

  Then, when the operation mode adjustment means 72 is again determined to operate in the next cycle, the operation mode of the own system is set as “operation” and the information passed to the CPU module 2 is also set to “operation”. Thereby, when the timing of the operation mode adjustment process overlaps between the input / output modules constituting the duplex, it is possible to prevent both from entering the operation mode.

(Other Example 2)
In the above, the operation / standby mode is determined by the processing of the operation mode adjusting means 72 of the input / output module 10, but as a simple method, an operation mode setting switch or an operation mode is previously set in each input / output module 10. May be provided so that operation and standby are set at the time of factory shipment.

Next, a second embodiment of the present invention will be described.
In the present embodiment, the memory space of the CPU module 2 is further reduced with respect to the redundant input / output device 1 of the first embodiment.

<CPU module memory space>
A memory space according to this embodiment is shown in FIG.
The memory space reads input / output module status information and outputs control signals, that is, a memory space for managing modules (called an I / O management space) and an input / output module. It is divided into a space for transferring data (referred to as I / O data space).

  The I / O management space is allocated for each input / output module, and the I / O data space is allocated for each pair of input / output modules.

  For the I / O data space, as will be described below, the CPU module 2 exchanges data with only the operating side module.

  FIG. 9 is a functional block diagram of the input / output module 10 according to the second embodiment. An operation mode determination unit 30 is further added to FIG. FIG. 10 shows the configuration of the operation mode determination unit 30 and the BUSI / F circuit 15 of the input / output module 10 according to this embodiment.

  The BUSI / F circuit 15 shown in FIG. 10 shows an example of a circuit configuration for allocating the same I / O data space between the memory spaces of FIG.

  The BUSI / F circuit 15 includes a shared memory 82 and a gate circuit 83 that outputs status information and the like to the bus 3. In addition, the BUSI / F circuit 15 includes a decoding circuit 81 of an upper address for selecting an I / O data space, and a shared memory 82 of an input / output module mounted in a paired slot in the I / O data space. A matching circuit 84 for selecting, a decoding circuit 81, a matching circuit 84, an AND circuit 85 for generating a selection signal of the shared memory 82 by inputting a local operation mode signal to be described later, and further selecting an I / O management space A decoding circuit 86 for generating a selection signal for each slot, and an AND circuit 88 for generating a selection signal for the gate circuit 83 from the outputs of the circuits 86 and 87.

  The gate circuit 83 is supplied with status information output from the CPU circuit 11 and a signal for the own system operation mode.

  In this embodiment, the slot ID is identified by 4 bits from S3 (MSB) to S0 (LSB), and is a serial number for each slot. In the example of FIG. 10, S2 and S0 are pulled up through the resistor R69, and S3 and S1 are connected to 0V, so that the slot ID “5” is represented.

  The match circuit 84 receives S3 to S1 excluding the LSB of the slot ID, and is compared with a middle address for selecting a shared memory space for each pair in the address bus. "Is output.

  On the other hand, all signals S3 to S0 of the slot ID are input to the coincidence circuit 87, and an address (for example, lower 4) for selecting an I / O management space for each slot (that is, for each input / output module) in the address bus. Bit) and "1" is output when they completely match.

The operation mode determination unit 30 is connected to the holding circuit 31 that holds the mode setting signal of the CPU circuit 11, the NAND circuit 32a that inputs the output of the holding circuit 31, and the output of the NAND circuit 32a, and amplifies or signals the output. A transmission circuit 34 that converts and transmits it to the counterpart system as a local system operation signal, a NAND circuit 32b that forms an RS flip-flop together with the NAND circuit 32a, a reception circuit 35 that receives an operation signal transmitted from the counterpart system, and a reception circuit 35 Is input to the NAND circuit 32b. The output of the NAND circuit 32a is input to the CPU circuit 11 via the NOT circuit 33b and can be read as a self-system operation mode signal. The write signal of the bus 3 and the decode signal of the I / O management space are connected to the clock input of a D-type flip-flop (hereinafter referred to as “DF / F”) 37 via the AND circuit 36, and the data of the bus 3 The signal is connected to the D input terminal of the DF / F 37. The inverting terminal of the output Q of the DF / F 37 is connected to the input of the NAND circuit 32a. Further, the output of the transmission circuit 34 is connected to a counterpart receiving circuit 35, and the counterpart transmission circuit 34 is connected to the own receiving circuit 35.
The operation mode determination unit 30 is provided separately from the communication unit 96.

Next, the operation of the dual input / output apparatus 1 having the above configuration will be described.
<Input / output module operation mode adjustment processing>
FIG. 11 shows a processing procedure of the operation mode adjustment means 72 of the input / output module according to this embodiment. As a difference from the procedure of the first embodiment shown in FIG. 5, the process of setting the own operation mode to the operation mode in step S222 is changed to the process of outputting “1” to the holding circuit 31 (S222a). Instead, the process of setting the own operation mode to “standby” in steps S204, S210, and S217 is replaced with the process of outputting “0” to the holding circuit 31 (S204a, S210a, and S217a). Furthermore, after “normal” is set as the status information in step S207, the value of the own system operation mode (that is, the output value of the NOT circuit 33b) is read. If the value is “0”, the process proceeds to step S208, and the input When the value is “1”, a process of returning to step S201 (S207a) is added.

  In the present embodiment, the operation mode is not notified to the CPU module 2 via the shared memory 82, but the CPU module accesses the I / O management space and operates via the gate circuit 83. The operation / standby information is acquired by reading the mode value.

<Operation of Operation Mode Determination Unit 30>
The operation of the operation mode determination unit 30 will be briefly described. The input / output module 10 outputs a reset signal from the CPU circuit 11 when the power is turned on or the system is reset, and the reset signal is input to the holding circuit 31. The holding circuit 31 outputs “0” by inputting the reset signal. As a result, the output of the NAND circuit 32a and the output of the transmission circuit 34 become "1". The own system operation signal output from the transmission circuit 34 is a signal for notifying the other system that the own system is in the operation mode. If it is “0”, it indicates the operation mode, and if it is “1”, it indicates that it is the standby mode. means. In the initial state immediately after the power is turned on or the system is reset, it is “1”, that is, the standby mode. However, at the timing when “1” is output to the holding circuit 31 in step S222a in FIG. Therefore, since the output of the NAND circuit 32b is “1” and the inverted output of the DF / F 37 is also “1”, the output of the NAND circuit 32a is “0”. This signal is received by the receiving circuit 35 as a partner system operation signal for the partner system input / output module. Since the counterpart system is in the standby mode at this point, all inputs of the counterpart NAND circuit 32b are "1", and the output of the NAND circuit 32b is "0". Therefore, in the counterpart system, the output of the NAND circuit 32a is always “1” regardless of the output value of the holding circuit 31, that is, the standby mode is maintained.

  That is, the own system operation signal output from the operation mode determination unit 30 has a function of locking the change in the operation mode of the counterpart system.

  On the other hand, in the own system that is in the operation mode, when the CPU circuit 11 detects an abnormality and shifts to the standby mode, generates a reset signal, or an operation / standby switching command is output from the CPU module 2 Since the input of the NAND circuit 32a becomes “0”, the own system operation signal becomes “1”. As a result, the lock on the partner system is released, and the partner system can shift to the operation mode.

  As described above, in this embodiment, the operation mode is managed by combining software and hardware, so that frequent mode changes are prevented and both input / output modules are simultaneously set to the operation mode. The possibility of doing so can be reduced.

<Operation of BUSI / F Circuit 15>
In the matching circuit 84 of the present embodiment, the least significant bit (LSB) of the serial number slot ID is masked and compared with the address, and therefore the same address range is allocated to slots that differ only in the least significant bit. Become. Therefore, if I / O modules that are paired next to each other such as slot IDs 0, 1, 2, 3, 4, 5,. Only active I / O modules are accessible. That is, since the own system operation mode signal is input to the AND circuit 85, the access from the CPU module 2 enables the shared memory selection signal on the operating side (the output of the AND circuit 85), and the signal from the shared memory is enabled. Data is read / written to the shared memory. On the other hand, since the own-side operation mode signal on the standby side is “0”, the shared memory selection signal is not enabled regardless of whether there is an access from the CPU module 2. Thereby, the I / O data space of the CPU module 2 can be saved.

<Data read / write processing from CPU module>
FIG. 12 shows the procedure of input / output processing of the CPU module 2 according to this embodiment.
When the CPU module 2 is activated, the CPU module 2 first accesses the I / O management space and acquires the status information of the input area 1 and the input area 2 (S401). At this time, if there is an abnormality in either one (“NO” in S402), an error notification is sent to the outside (S403).

  Next, the presence / absence of a switching request from the outside is determined. If there is a switching request, an operation / standby switching command is output (S405). Thereafter, it is determined whether or not a set time for activation delay has elapsed (S406). If not, the process returns to step S404. If it has elapsed, then the I / O data space is accessed and the setting parameter is written to the shared memory (S407).

  Subsequently, the status information of the input area 1 and the input area 2 is acquired (S408), and if the standby side is abnormal ("NO" in S409), an instruction to replace the standby side module is output to the outside (S410). If the operation side is abnormal (“NO” in S411), an operation / standby command is output (S413), after a fixed time delay (S414), the process returns to step S408 and the subsequent processing is repeated. The reason for delaying for a certain time is to wait for the completion of the operation mode switching process between the input and output modules.

  If the operating side is normal in step S411, data reading or data writing processing is performed on the input / output area (S412), and then the flow returns to step S408 to repeat the subsequent processing.

<Switching command from CPU module>
The CPU module 2 accesses the I / O management space and acquires status information such as the presence / absence of an abnormality and data such as an operation mode for each input / output module. When the CPU module 2 detects an abnormality on the operation side based on the acquired data, the CPU module 2 outputs an operation / standby switching command to the I / O management space. This switching command is forcibly switching the operation side module from the operation mode to the standby mode, whereby the standby side module is shifted to the operation side by the operation mode adjusting means 72.

  As a result, the CPU module 2 can exchange data with the input / output module that is newly on the operating side. Further, since the shared memory selection signal of the input / output module that has been forcibly switched to the standby mode is locked by hardware, it is not enabled by software runaway or the like.

  According to the present embodiment, operation / standby operation mode adjustment processing (redundant control) is performed between input / output modules, and the CPU module does not need to perform redundant control, thus reducing the processing load on the CPU module. be able to. Further, since the address space on the CPU module side can be saved, an inexpensive input / output duplex device can be realized.

Next, a third embodiment will be described.
Generally, an analog input module needs to be adjusted in accordance with the characteristics of local external devices (sensors, actuators, etc.) when the system is started up locally.

  As shown in FIG. 18, the user can change the correspondence between the analog input value (horizontal axis) and the A / D conversion value (vertical axis), or the installation environment of the dual input / output device, for example, the external device 9 Depending on the characteristics of the analog output circuit, the impedance of the connection cable 92, the grounding state of each device, etc., the A / D conversion value of the analog output value may deviate from a desired value, and this deviation needs to be corrected. is there.

  For this reason, conventionally, at the time of starting the system, both the operation side module and the standby side module have corrected the A / D conversion value by the device adjustment value obtained by performing the local adjustment. Also, if one of them fails and is replaced with another analog input module, it is necessary to make on-site adjustments for that replacement, and the system is often forced to stop.

  In this embodiment, the analog input module corrects the A / D conversion value by on-site adjustment, but this correction processing is performed only on the operating side, and the correction value is transmitted to the standby side. .

  Note that the operation mode adjustment process and the transfer with the CPU module described above are the same as those in the first embodiment, and thus description thereof is omitted. In the following explanation, the initial value of the operation / standby operation mode is stored in advance in the nonvolatile memory of the analog input module or the setting of the switch mounted on the module is read. As described in the first or second embodiment, operation and standby may be determined by the operation mode adjusting means 72.

  Hereinafter, as an input / output module, an analog input module will be described as an example, and the input / output duplexing apparatus according to this embodiment will be described.

  FIG. 13 is a block diagram of a dual input / output device when an analog input module is used as the input / output module. The external I / F unit 97 of the analog input module 10 inputs an analog signal output from the external device 9 and outputs a plurality of input circuits that output an electric signal having a predetermined magnitude based on the magnitude of the input analog signal. 98, a multiplexer circuit (hereinafter referred to as MPX) 14 for selecting one of the electric signals output from each input circuit 98, a sample hold circuit (SH) 19 for holding the output signal of MPX 14 for a predetermined time, and an analog signal as a digital signal An A / D converter (hereinafter referred to as ADC) 12 that converts the data into the CPU circuit 11 and transfers it to the CPU circuit 11.

  Note that the external I / F unit 97 side and the CPU circuit 11 side are insulated as necessary, for example, by making the ADC 12 insulative.

  FIG. 14 is a functional block diagram of the analog input module 10 of FIG. In FIG. 14, the analog input module 10 includes CPU I / F means 41 that performs data transfer processing with the CPU module 2 via the BUSI / F circuit 15, and basic information (operations) sent from the CPU module 2. / Standby initial value 61, user request value scale 62, theoretical adjustment value scale 63) in the storage unit 40 (not shown) inside the CPU circuit 11, analog information output from the external device 9, etc. A measurement value input means 43 that is input via the I / F unit 97 and stores the input measurement value in the respective storage areas of the calibration value 64, the device adjustment value 65, and the measurement value 66 according to a command from the CPU module 2. Adjustment value conversion means 44 for calculating the theoretical adjustment value 67 using the theoretical adjustment value scale 63, the calibration value 64, and the device adjustment value 65 in the operation mode. Using this theoretical adjustment value 67 and the theoretical adjustment value scale 63, the CPU uses the correction value calculation means 45 for calculating the correction value for sending from the operating side to the standby side, the device adjustment value 65, the measurement value 66, and the user request value scale 62. Correction for transmitting the correction value calculated by the output value calculation means 46 and the correction value calculation means 45 for calculating a corrected measurement value (hereinafter referred to as an output value) to be passed to the application program of the module 2 to the standby side. Value transmission means 47, correction value reception means 48 for receiving correction values sent from the operation side in the standby mode, whether the other party is normal or abnormal by passing the other party's soundness check and other parameters in the duplex configuration When the correction value is received by the command transmission / reception means 49 and the correction value reception means 48 for outputting the determination result, the correction value and the theoretical adjustment value scale6 , Device correction value conversion means 50 for calculating the device correction value 69 using the calibration value 64, device adjustment value calculation means 51 for calculating the device adjustment value 65 using the device correction value 69 and the calibration value 64, operation / standby And an operation / standby determination means 52 for determining whether the own system should operate in the operation mode or the standby mode from the initial value 61 and the determination result output from the command transmission / reception means 49. Here, each means 41 to 52 is a function that can be realized by a program that is operated by the arithmetic unit of the CPU circuit 11, and each data 61 to 70 is data that is stored in the storage unit of the CPU circuit 11. Note that a nonvolatile memory that can hold data even when the power is turned off is preferably used as the storage unit.

  Next, the operation of the duplex input / output device 1 having the above-described configuration will be described with reference to FIGS. Here, FIG. 15 is an explanatory diagram of an outline of processing when the analog input module 10 shown in FIG. 14 is used in a duplex configuration of the active side and the standby side.

[Operation on the operating side]
<Basic information registration process>
The basic information registration unit 42 stores the basic information passed from the CPU module 2 via the CPU I / F unit 41 in the basic information storage area of the storage unit 40.

  In the above, the basic information passed from the CPU module 2 includes the user request scale value (user request value scale) 62 indicating the data range of the analog input value passed to the application program, the input analog value range and the digital value range. There is a scale value (theoretical adjustment value scale) 63 common to the operating side and the standby side for designating the corresponding relationship. Note that the user request value scale 62 and the theoretical value scale 63 can be shared, but the user request value scale 62 is closely related to the application program, and is preferably managed by a so-called basic program in the OS or lower layers. It is preferable that the adjustment value scale 63 can be set separately.

  Of the basic information, the operation / standby initial value 61 is provided with input means such as a non-volatile memory or a switch in the analog input module 10 and the set state is read as an initial value. In addition, a new analog input module that has been replaced due to a failure of the analog input module in the operating state is set to standby as an initial value.

  Since the data that specifies the range such as the scale value is specified by the lower limit (Low side) and the upper limit (High side), the Low side data is represented by [Lo] and the High side data is represented by [Hi] in the following description. .

<Measured value input process>
The measured value input unit 43 inputs an analog signal output from the external device 9 via the external I / F unit 97.
The input signal is input as digital data by the A / D converter 12 of the external I / F unit 97, and stored in the storage unit of the CPU circuit 11 in association with the ID of the external device.

<Calibration value registration process>
The analog input module 10 needs to be calibrated at the time of shipment, but an analog signal serving as a calibration reference is input as an input signal. This signal is input by the measured value input means 43. At this time, the input signal from the user interface (touch panel or maintenance tool) connected to the module via the CPU module 2 is a calibration value. A command is transmitted, and from this command, the measured value input means 43 of the analog input module 10 recognizes that the input signal is a calibration value and stores it in the corresponding calibration value storage area of the storage unit 40. This calibration process is carried out for all analog input modules regardless of the operation side or standby side.

<Device adjustment value registration process>
At the site, adjustment processing is performed to match the characteristics of the external device 9 before operation. As the adjustment processing, a command indicating that the input signal is a device adjustment value is sent from the CPU module 2 to the analog input module 10 as in the calibration value registration processing, and an adjustment signal is input from the external device 9. The measured value input means 43 of the analog input module 10 recognizes that the input signal is a device adjustment value from this command, and stores it in the corresponding device adjustment value storage area of the storage unit 40. This adjustment process is performed only for the active module among the duplicated analog input modules 10. Note that the process of writing the read calibration value and device adjustment value into the storage unit 40 is also performed by a command from the CPU module 2.

<Adjustment value conversion process>
Next, the adjustment value conversion means 44 extracts the theoretical adjustment value scale, the calibration value, and the device adjustment value stored in the storage unit, and calculates the theoretical adjustment value by the following equations (1L) and (1H). . The calculation result is stored in the theoretical adjustment value storage area of the storage unit.

Theoretical adjustment value [Lo] = Theoretical adjustment value Scale [Lo] + (Device adjustment value [Lo]-Calibration value [Lo]) x (Theoretical adjustment value Scale [Hi]-Theoretical adjustment value Scale [Lo]) / (Calibration Value [Hi]-calibration value [Lo])
... (1L)
Theoretical adjustment value [Hi] = Theoretical adjustment value Scale [Lo] + (Device adjustment value [Hi]-Calibration value [Lo]) x (Theoretical adjustment value Scale [Hi]-Theoretical adjustment value Scale [Lo]) / (Calibration Value [Hi]-calibration value [Lo])
... (1H)

  Of the above formulas (1L) and (1H), (theoretical adjustment value Scale [Hi]-theoretical adjustment value Scale [Lo]) / (calibration value [Hi]-calibration value [Lo]) is used for adjustment. This is called scale conversion data.

  As a specific example, the set theoretical adjustment value Scale [Lo] = 0, theoretical adjustment value Scale [Hi] = 30000, user request value Scale [Lo] = 0, user request value Scale [Hi] = 16000, collected Calculation results of each means below for calibration value [Lo] = 0, calibration value [Hi] = 32000, device adjustment value [Lo] = 3200, device adjustment value [Hi] = 32000, working side measurement value = 32000 Indicates.

  In the case of this specific example, the output of the adjustment value conversion means 44 is the theoretical adjustment value [Lo] = 3000 and the theoretical adjustment value [Hi] = 30000 from the equations (1L) and (1H).

  The reason for obtaining the theoretical adjustment value is that it is necessary to match the voltage and the scale, such as 0-10V / 0-30000, in order to tell the standby module how many volts the active module has adjusted. .

<Correction value calculation process>
Next, the correction value calculating unit 45 extracts the theoretical adjustment value 67 and the theoretical adjustment value scale 63 stored in the storage unit, and calculates the correction value by using the equations (2L) and (2H). The calculation result is stored in the correction value storage area of the storage unit.

Correction value [Lo] = theoretical adjustment value [Lo]-theoretical adjustment value Scale [Lo] (2L)
Correction value [Hi] = Theoretical adjustment value [Hi] −Theoretical adjustment value Scale [Hi] (2H)

  In the above specific example, theoretical adjustment value Scale [Lo] = 0, theoretical adjustment value Scale [Hi] = 30000, theoretical adjustment value [Lo] = 3000 calculated by adjustment value conversion means 44, theoretical adjustment value [Hi] = 30000 Therefore, from the equations (2L) and (1H), the correction value [Lo] = 3000 and the correction value [Hi] = 0.

<Correction value transmission process>
Next, the correction value transmitting unit 47 transmits the calculated correction value to the standby module.

<Output value calculation processing>
Thereafter, input processing is executed in the operating state. The measurement value input means 43 stores the input signal from the external device 9 in the measurement value storage area of the storage unit 40.

  The output value calculation means 46 uses the measurement value 66 stored in the measurement value storage area, the device adjustment value 65 and the user request value scale 62, which are also stored in the storage unit 40, to calculate the CPU according to equation (5). Data to be output to the module 2 (operation side output value) is calculated.

Operation side output value = User request value Scale [Lo] + (Operation side measurement value-Device adjustment value [Lo]) x (User request value Scale [Hi]-User request value Scale [Lo]) / (Device adjustment value [ Hi]-Device adjustment value [Lo])
(5)

  In the above specific example, user request value Scale [Lo] = 0, user request value Scale [Hi] = 16000, device adjustment value [Lo] = 3200, device adjustment value [Hi] = 32000, operation side measurement value = 32000 Therefore, from the equation (5), the operation side output value = 16000 is obtained as measurement data to be transferred to the CPU module 2.

[Standby operation]
As basic module registration processing, measurement value input processing, calibration value registration processing, and output value calculation processing described above, the same processing contents as the operation side module are executed as the standby module processing. Instead of being input by the measured value input means 43, the calculation is performed from the correction value received by the following processing.

<Correction value reception processing>
When the correction value receiving means 48 of the standby module receives the correction value 68 sent from the operating side, it stores it in the correction value storage area of the storage unit 40.

<Device correction value conversion processing>
Next, the device correction value conversion means 50 uses the correction value 68, the theoretical adjustment value scale 63, and the calibration value 64 stored in the storage unit 40 to calculate the device according to the following equations (3L) and (3H). A correction value 69 is calculated. The calculation result is stored in the device correction value storage area of the storage unit 40.

Device correction value [Lo] = (Correction value [Lo]-Theoretical adjustment value Scale [Lo]) x (Calibration value [Hi]-Calibration value [Lo]) / (Theoretical adjustment value Scale [Hi]-Theoretical adjustment value Scale [Lo]) ... (3L)
Device correction value [Hi] = (Correction value [Hi]-Theoretical adjustment value Scale [Lo]) x (Calibration value [Hi]-Calibration value [Lo]) / (Theoretical adjustment value Scale [Hi]-Theoretical adjustment value Scale [Lo]) (3H)

  Of the above equations (3L) and (3H), the term (calibration value [Hi] −calibration value [Lo]) / (theoretical adjustment value Scale [Hi] −theoretical adjustment value Scale [Lo]) is This corresponds to the scale conversion data for adjustment.

  As a specific example, the theoretical adjustment value set from the CPU module 2 is the same value as that on the operating side, and the theoretical adjustment value Scale [Lo] = 0 and the theoretical adjustment value Scale [Hi] = 30000. As calibration values, calibration value [Hi] = 28000 and calibration value [Lo] = 0. At this time, since the correction value sent from the operating side is correction value [Lo] = 3000 and correction value [Hi] = 0, the device correction value [Lo] = 0 from the above equations (3L) and (3H). 2800, device correction value [Hi] = 0.

<Device adjustment value calculation processing>
Next, the device adjustment value calculation means 51 extracts the device correction value 69 and the calibration value 64 stored in the storage unit 40, and calculates the device adjustment value 65 by the following equations (4L) and (4H). To do. The calculation result is stored in the device adjustment value storage area of the storage unit 40.

Device adjustment value [Lo] = Calibration value [Lo] + Device correction value [Lo] (4L)
Device adjustment value [Hi] = Calibration value [Hi] + Device correction value [Hi] (4H)

  In the above specific example, since the calibration value [Lo] = 0, the calibration value [Hi] = 28000, the device correction value [Lo] = 2800, and the device correction value [Hi] = 0, from the equations (4L) and (4H) The device adjustment value [Lo] = 2800 and the device adjustment value [Hi] = 28000. By correcting the measurement value with the device adjustment value calculated by the device adjustment value calculation means 51, individual differences of the analog input modules are absorbed.

<Output value calculation processing>
When analog input processing is performed by the standby side module, the measurement value 66, the user request value scale 62, and the device adjustment value 65 stored in the storage unit 40 are extracted, and the standby side input value is calculated by the above equation (5). Calculate When the operation / standby determination unit 52 determines that the operation side module has failed, the standby side becomes a new operation side, and the measured value scaled by the user request value scale 62 is sent to the CPU module 2. As a specific example, when the standby side measurement value = 28000, the standby side output value = 16000 is obtained from Equation (5). That is, according to the arithmetic processing of the present embodiment, the data value output to the CPU module 2 is the same on the operating side and the standby side.

  The failed module is replaced with a new analog input module. At this time, the new analog input module is set to the standby side, calibration processing is performed at the time of shipment, and the calibration value 64 is stored in the storage unit 40. Suppose that it is preserved. When this module is mounted on the local input / output duplexing device 1, the operation side module sends the stored correction value to the replaced standby side module by the correction value transmission means 47, and the standby side module The processing of the standby module described above is executed.

  The processing contents of each unit of the input / output duplex device 1 have been described above. Next, the operation of the duplex input / output apparatus 1 in the field, particularly the correction value transmission process, the other system abnormality detection process, and the operation / standby switching process will be described with reference to the flowchart of FIG.

  First, when the power is turned on, the analog input module 10 reads “adjustment value”, “duplex setting” flag, “operation / standby”, and “correction value” from the storage area of each data from the storage unit 40 of the CPU circuit 11. Reading (S101), if it is not duplex setting, an independent operation process is executed (S102). In this case, the correction value transmission unit 47, the correction value reception unit 48, and the command transmission / reception unit 49 are not functioned.

  When the own module is set to operate from the initial operation / standby state 61 (“YES” in S104), the operation / standby determination unit 52 determines that the measured value input unit 43 is in accordance with a command from the CPU module 2. It is determined whether or not adjustment is in progress (S105).

  When the own module is being adjusted (“YES” in S105), an input value for adjustment (device adjustment value) is acquired, and a theoretical adjustment value is calculated by the adjustment value conversion means 44 (106).

  Next, the correction value calculation means 45 is activated to calculate a correction value based on the theoretical adjustment value (S107). If there is a write request to the storage unit 40, the device adjustment value and the correction value are written to the storage unit 40 (S109).

  Subsequently, the calculated correction value is transferred to the standby module via the communication cable 5 by the correction value transmitting means 47 (S110). By this transfer, the standby module detects the soundness of the operating module.

  Thereafter, the command transmission / reception means 49 determines whether or not there is a response for completion of reception of the correction value from the standby side module (S111). If there is a response, the command transmission / reception means 49 then periodically sends a predetermined confirmation such as survival confirmation to the standby side module. A command is transmitted (S113). Note that a method for mutually confirming the normality of the other party can be realized by transferring predetermined data (or a correction value) by a predetermined procedure such as a so-called hello call.

  On the other hand, if there is no response, the correction value is transferred again to the standby module (S112), the input process is executed (S114), and the output value calculation means 46 inputs the input value based on the device adjustment value. Correction is performed (S115).

  Then, whether or not the standby module is normal is confirmed by a command transmission response in step S113 (S116), and if there is no response for a predetermined time or a predetermined number of times, the CPU module 2 is notified that the standby module is abnormal. (S117), the process returns to step S105 and the subsequent processing is repeated.

  On the other hand, if the own module is set to the standby side in step S104, it is determined whether or not the correction value is received by the correction value receiving means 48 (S118). If the correction value is received, the received correction is received. The value is written in the storage unit 40 (S119).

  Then, the device correction value conversion means 50 and the device adjustment value calculation means 51 convert the correction value into the device adjustment value (S120). Also, a correction value reception completion response is transmitted to the operating module (S121).

  After that, command transmission / reception processing such as existence confirmation is performed on the operating module (S122), and it is confirmed whether the operating module is normal (S123).

  If the operating module is normal, the input process is executed, the process returns to step S118, and the subsequent processes are repeated. On the other hand, if it is determined in step S123 that the operation side module is not normal, the operation / standby determination means 52 notifies the CPU module 2 that the operation side is abnormal, and sets the operation / standby of the storage unit 40. Rewriting to operation, the own module is switched to the operation side (S126), the process proceeds to step S105, and the subsequent processing is executed.

  At this time, the analog input module newly switched to the active side in the online state jumps to step S111 because the own module is not being adjusted in step S105. At this time, the counterpart module determined to be abnormal is treated as a standby side, but since there is no correction value reception completion response from this standby side module, the process proceeds to S112 and is stored in the storage unit 40 of the own module. The input value is corrected using the device adjustment value, and is passed to the CPU module 2.

  Thereafter, when the standby module is replaced, the correction value stored in the storage unit 40 of the module that has newly become the operating side is transferred to the standby module by the process of step S112. On the other hand, the replaced standby module becomes “NO” in step S104, proceeds to step S118, receives the correction value, stores it in the storage unit 40 of the own module, and thereafter uses this correction value to adjust the device adjustment value. Thus, the input value is corrected.

[Relationship between theoretical adjustment value scale and calibration / equipment adjustment value]
FIG. 17 is an explanatory diagram showing the relationship between the theoretical adjustment value scale (external A / D conversion value), the calibration value, and the device adjustment value. Here, since the theoretical adjustment value scale is a value (scale value) indicating the range of A / D conversion designated by the CPU module 2, it is called an external A / D conversion value, and the calibration value and the adjustment value are input. Since this is an A / D conversion value of the ADC 12 in the analog input module corresponding to the analog value (voltage value in this example), it is referred to as an internal A / D conversion value.

In this table, the unit of voltage is [v] and the unit of digital value is [d].
First, from the CPU module 2, an input range of 0 [v] −10 [v] as a reference scale value is 0 [d] (theoretical adjustment value scale [ Lo]) and a voltage of 10 [v], a correspondence relationship of 30000 [d] (theoretical adjustment value scale [Hi]) is set.

  Next, in the calibration stage, the internal A / D conversion value (calibration value [Lo]) with respect to the application of voltage 0 [v] is 0 [d], and the internal A / D conversion value with respect to the application of voltage 10 [v] (calibration) If the value [Hi]) is 32000 [d], the straight line A in FIG. In this example, for convenience of explanation, it is assumed that the input value is shifted so that the origin (0 [d]) is matched, that is, correction is performed so that the difference on the [Lo] side is also subtracted from the [Hi] side. However, the measured value may be used as it is.

  Next, in the on-site adjustment stage, the internal A / D conversion value (apparatus adjustment value [Lo]) for application of voltage 0 [v] is 3200 [d], and the internal A / D for application of voltage 10 [v] If the converted value (device adjustment value [Hi]) is 32000 [d], the straight line B in FIG. In this example, the device adjustment value [Hi] is shifted to match the calibration value [Hi], but the measurement value may be used as it is.

  At this time, the theoretical adjustment value [Lo] = 3000 and the theoretical adjustment value [Hi] = 30000 from the equations (1L) and (1H), which are the device adjustment value [Lo] and the device adjustment value [Hi]. Is converted from a calibration value scale (ie, internal A / D conversion value scale) to a theoretical adjustment value scale (external A / D conversion value scale). That is, this correction value means a correction value on the scale of the external A / D conversion value.

  As described above, on the operating side, the scale conversion data for adjustment (straight line A) is obtained from the digital value (theoretical adjustment value scale) and the calibration value in the input range designated by the CPU module 2, and the input device adjustment value is adjusted to this The scale is converted by the scale conversion data for use, the correction value is obtained, and the correction value is transmitted to the standby side.

  On the standby side, the device correction value [Lo] and the device correction value [Hi] are calculated from the correction values according to the equations (3L) and (3H). Expressions (3L) and (3H) are processes for converting the correction value from the scale of the external A / D conversion value to the scale of the internal conversion A / D conversion value, and the device correction value is the internal conversion A / D. It means the value on the scale of the converted value.

  Then, by adding this device correction value to the calibration value at the time of shipment on the standby side, device adjustment values are obtained for the [Lo] side and [Hi] side, respectively (formula (4L), formula (4H)) . The calibration value and device adjustment value at this time are as shown by straight line C and straight line D, respectively.

  Using the device adjustment value, the measurement value is corrected by the equation (5) and output to the CPU module 2.

  In other words, on the standby side, a device correction value that is a standby correction value is calculated from the adjustment scale conversion data (straight line C) based on the received correction value, and the standby side device is calculated using the device correction value. The adjustment value is obtained, the measurement value is corrected, and the output value is calculated.

  As described above, according to the present embodiment, the adjustment scale conversion data is obtained from the digital value (theoretical adjustment value scale) and the calibration value of the input range, and the input device adjustment value is scale-converted by the adjustment scale conversion data. A correction value is obtained, the correction value is transmitted to the standby side, and the standby side calculates the device correction value, which is the correction value on the standby side, based on the adjustment value conversion data on the standby side based on the received correction value. A device adjustment value on the standby side is obtained using the device correction value, the measured value is corrected, and an output value to the CPU module is calculated.

  As a result, adjustments related to the connection with local external equipment need only be made for the active module first, and for the standby module and the replaced analog input module after that, calculation is performed with the first active module. By using the corrected value, adjustment according to the characteristics of the external device can be automatically performed, so that the labor for on-site adjustment can be saved and work efficiency can be improved.

The present invention is not limited to the above-described embodiments, and can be implemented with various modifications without departing from the scope of the invention.
For example, the correction value may be sent periodically from the active side to the standby side with a serial number incremented every time it is transmitted, and the standby side may return a response upon receipt of this correction value. As a result, even when the standby side fails during operation, the correction value is sent from the operating side to the standby side even when the standby side is replaced, and the operating side can check the soundness of the standby side by the response. .

  Further, as described above, the correction value transmitting unit 47 may transmit the difference between the theoretical adjustment value and the theoretical adjustment scale value (theoretical adjustment value scale) as a correction value. Data that can be converted into this data using the adjustment value or basic information may be transmitted as a correction value.

1 I / O duplex device 2 CPU module 3 Bus 5 Communication cable 9 External device 10 I / O module (including analog input module)
11 CPU circuit 12 ADC (A / D converter)
14 MPX (Multiplexer)
15 BUSI / F circuit 19 Sample hold circuit (SH)
DESCRIPTION OF SYMBOLS 21 Transmission circuit 22 Reception circuit 23 Insulation circuit 30 Operation mode determination part 31 Holding circuit 32a, 32b NAND circuit 33a, 33b NOT circuit 34 Transmission circuit 35 Reception circuit 36, 85, 88 AND circuit 37 DF / F
DESCRIPTION OF SYMBOLS 40 Memory | storage part 41 CPUI / F means 42 Basic information registration means 43 Measurement value input means 44 Adjustment value conversion means 45 Correction value calculation means 46 Output value calculation means 47 Correction value transmission means 48 Correction value reception means 49 Command transmission / reception means 50 Instrument correction Value conversion means 51 Equipment adjustment value calculation means 52 Operation / standby determination means
71 Self-diagnosis means 72 Operation mode adjustment means 73 Operation mode management table 81, 86 Decode circuit 82 Shared memory 83 Gate circuit 84, 87 Matching circuit 92 Connection cable 96 Communication section 97 External I / F section 98 Input circuit 99 Conventional analog input Module 100 Conventional I / O duplex device

Claims (7)

Redundant input / output equipped with at least a pair of input / output modules that function as the active side or standby side as the operation mode, which is mounted in the same unit and exchanges data via the shared memory with the CPU module that executes arithmetic processing A device,
Each of the input / output modules is
A communication means connected to the partner system and transmitting / receiving the operation mode;
An operation mode adjusting unit for determining an operation mode of the own system based on an operation mode of the counterpart system received by the communication unit and a self-diagnosis result of the own system, and notifying the CPU module of the determined operation mode; ,
Based on the operation mode determined by the operation mode adjusting means, when the own system is the operating side, the setting parameter is input from the CPU module, and the input process or the output process is executed using the setting parameter, Command transmission / reception that transmits the setting parameter to the partner system and receives the setting parameter transmitted from the partner system when the host system is on the standby side, and executes input processing or output processing using the received setting parameter Means, and
The CPU module outputs the setting parameter only to the input / output module on the operating side, wherein the input / output duplex device is provided. In the determination of the operation mode of the own system when the self-diagnosis result of the own system is normal,
When the received operation mode of the partner system is the standby side, the operation mode of the own system is temporarily set to the operating side and the partner system is notified that the own system is the operating side. When a response is received and the operation mode of the partner system included in this response is also the standby side, the temporary setting is set to the actual setting to determine the operation mode of the host system as the active side, and the operation of the partner system included in the response 2. The dual input / output apparatus according to claim 1, wherein when the mode is the operation side, the temporary setting is canceled and the operation mode of the own system is determined as the standby side.   3. The operation mode adjustment unit according to claim 1, wherein when the operation mode competes between the own system and the partner system as the active side, the operation mode adjustment unit shifts to the standby system and shifts the transmission timing of the operation mode. I / O duplex device. The same address space is allocated as the address space accessed from the CPU module side of the shared memory provided in the input and output modules on the operating side and the standby side, respectively.
4. The input / output duplexing apparatus according to claim 1, wherein each of the input / output modules permits the CPU module to access the shared memory only when the input / output module is on the operating side. 5. The CPU module transmits an operation / standby switching signal for switching the operation side to the standby side to the input / output module on the operation side,
The input / output module on the operating side receives the operating / standby switching signal and switches the own system to the standby side to shift the counterpart system to the operating side. The dual input / output device according to claim 1. The input / output module is an analog input module,
The operating side analog input module
An operation side basic information registration means for registering a theoretical adjustment scale value indicating a correspondence relationship between an input analog value range and a digital value range;
An operating side measured value input means for inputting an operating side calibration value for correcting an A / D conversion error of the operating side analog input module and an A / D conversion value of an analog signal output from an external device;
Operation-side storage means for holding a device adjustment value for adjusting to the characteristics of the external device;
A correction value used to correct the A / D conversion value of the standby side analog input module is calculated using the device adjustment value, the theoretical adjustment scale value, and the operation side calibration value, and the correction value is periodically calculated as the correction value. Correction value transmitting means for transmitting to the standby side analog input module;
Output value calculation means for outputting an A / D conversion value obtained by correcting the A / D conversion value of the analog signal input by the operation side measurement value input means by the device adjustment value held in the operation side storage means; With
The standby side analog input module is:
Standby side basic information registration means for registering a theoretical adjustment scale value indicating a correspondence relationship between an input analog value range and a digital value range;
Standby side measurement value input means for inputting a standby side calibration value for correcting an A / D conversion error of the standby side analog input module and an A / D conversion value of an analog signal output from the external device;
The correction value transmitted by the correction value transmitting means is received, the device adjustment value on the standby side is calculated using the correction value, the theoretical adjustment scale value, and the standby side calibration value, and stored in the standby side storage means. An arithmetic storage means for performing,
6. The standby analog input module operates as an active analog input module by not receiving a correction value from the correction value transmitting means for a predetermined period. The I / O duplex device described.   The input / output duplexing apparatus according to claim 6, wherein the output value calculation means further performs scale conversion of the corrected A / D conversion value into a scale range requested by a user.