JP2020025155A - Communication system, communication device, and communication method - Google Patents

Abstract

To transmit pieces of data different in the type of request level on the same network while satisfying respective requests.SOLUTION: Communication devices (200A to 200H, 100, 400) are each time synchronized with another communication device, and transmits first data used for control of a manufacturing apparatus and periodically transmitted, second data required to be reached to a destination within a designated time, and third data different from the first and second data, according to a communication schedule. When any one of a plurality of conditions is satisfied on the basis of the state of the communication device or the details of communication with the another communication device, the communication device switches the communication schedule to another communication schedule to which the condition is applied, and transfers pieces of data received from the another communication device to a different another device according to the communication schedule.SELECTED DRAWING: Figure 1

Description

  The present disclosure relates to a communication system in which a plurality of communication devices that are time-synchronized with each other are connected to a network, a communication device directed to the communication system, and a communication method in the communication system.

  2. Description of the Related Art Along with recent advances in information and communication technology (ICT), a system for realizing an integrated network of production equipment from a PLC (programmable controller) to a production line is being realized.

  Data transmitted in such a networked system is subject to requirements according to its use, purpose, and the like. For example, data (control system data) used for controlling a manufacturing apparatus or a production facility is not so large, but requires real-time properties. On the other hand, data for management (information-related data) does not need to be real-time or the like, but must transmit data of a relatively large size.

  As prior art related to data transmission, US Patent Application Publication No. 2016/0112772 discloses that when a switch routes a packet between a Time Sensitive (TS) network and a non-TS network, the switch uses Disclosed is a method of communication scheduling and transmitting a packet at a communication scheduled time.

US Patent Application Publication No. 2016/0191272

  In a production line, in addition to the control system data and the information system data as described above, although high-speed real-time properties such as control system data are not required, data requiring a certain guarantee of arrival time (for example, equipment Configuration and management data). Hereinafter, such data is also referred to as “control information data” for convenience of description.

  In addition to the control system data and the information system data, there is a need to handle a total of three types of control information system data having intermediate characteristics between them, and a communication schedule for transmitting these different types of data has arisen. Has been requested to be changed as appropriate.

  The above-mentioned Patent Document 1 only discloses scheduling for packet transmission between different networks, and does not disclose any solution for handling three types of data in transmission scheduling.

  There is a demand for a new technology for transmitting data of different types, such as control information data and control information data, having different request levels on the same network while satisfying the respective requirements, in addition to the control system data and the information system data.

  A communication system according to an example of the present disclosure is a communication system in which a plurality of time-synchronized communication devices are connected to a network, and each of the plurality of communication devices is a periodic communication device used for controlling a manufacturing device or a production facility. The first data transmitted to the destination, the second data that needs to arrive at the destination within a specified time, and the third data different from the first data and the second data. A memory for storing a plurality of sets of a communication schedule and a condition to which the communication schedule is applied, and a plurality of conditions based on a state of the communication device or a communication content with another communication device. When either of the conditions is satisfied, the switching means for switching the communication schedule to another communication schedule applied to the condition, and each of the switching means received from another communication device According to the communications schedule over data, and a reception circuit for transferring to another other devices.

  According to the above disclosure, by appropriately switching the communication schedule to a communication schedule applied to a condition based on the state of the communication device or the content of communication with another communication device, each data of the first to third data is For each condition, the data can be transmitted on the same network while securing the required bandwidth.

  In addition, each communication device can autonomously switch the communication schedule based on the status of the communication device or the content of communication with another communication device.

  In the above disclosure, the communication schedule is different for each of the first data, the second data, and the third data received from another communication device in priority in the cycle over the other data. Priority that is a degree of transfer to another device is specified.

  According to the above disclosure, by transmitting in accordance with the communication schedule, each of the first to third data is separated from other data in the cycle in a priority order according to the priority defined by the communication schedule. Can be transferred to another device.

  In the above disclosure, the communication schedule further includes, for each of the first data, the second data, and the third data received from another communication device, a rate at which the data is transferred to another communication device. including.

  According to the above disclosure, by performing transmission according to the communication schedule, each of the first to third data can be transferred to another device according to the transfer rate defined by the communication schedule.

  In the above disclosure, the communication device has at least one input port and a plurality of output ports, and converts the first data, the second data, and the third data received at the input port into a plurality of data, respectively. Out of the output ports, the first output port, the second port, and the third port send out, and the priority indicated by the communication schedule is such that each output port in the cycle is opened with priority over other output ports. Specify the time during which

  According to the above disclosure, the opening time of each output port corresponding to each of the first to third data is defined in accordance with the priority defined by the communication schedule, so that the opening time of each output port is determined for each of the first to third data. In the period, the data can be transferred to another device with priority over other data.

  In the above disclosure, the content of communication with another device includes a notification received from the other communication device.

  According to the above disclosure, each communication device can switch a communication schedule to be applied based on a notification received from another communication device.

  In the above disclosure, the content of communication with another device includes a time at which one of the first data, the second data, and the third data is received within a cycle.

  According to the above disclosure, each communication device can switch the communication schedule to be applied based on the timing of receiving one of the first to third data in the cycle.

  In the above disclosure, the content of communication with another device includes a timing of receiving one of the first to third data in a cycle, and a timing of receiving the one data in a cycle specified by a communication schedule. Includes the combination with the transfer time.

  According to the above disclosure, each communication device sets the communication schedule to be applied to the timing at which one of the first to third data is received in the cycle, and the communication schedule in the cycle specified by the communication schedule. Switching can be performed based on a combination with the timing of transferring one data.

  A communication device according to an example of the present disclosure is a communication device that is network-connected to a communication system, and is used for controlling a manufacturing device or a production facility, with a synchronization unit for synchronizing time with another communication device. The first data that is transmitted periodically, the second data that needs to arrive at the destination within a designated time, and the third data that is different from the first data and the second data. A management means for transmitting according to the communication schedule, a communication schedule, a memory storing a plurality of sets of conditions for applying the communication schedule, and a state of the communication device or a communication content with another communication device, A switching unit that switches a communication schedule to another communication schedule applied to the condition when any one of the plurality of conditions is satisfied; and a switching unit that receives the communication schedule from another communication device. According to the communications schedule each data, and a reception circuit for transferring to another other devices.

  A communication device according to an example of the present disclosure is a communication method in a communication system in which a plurality of communication devices that are time-synchronized with each other are connected to a network, and the communication system applies the communication schedule and the communication schedule. And a memory for storing a plurality of sets of conditions to be transmitted, wherein the communication method needs to arrive at a destination within a designated time period with first data transmitted periodically used for controlling a manufacturing apparatus or a production facility. For transmitting the second data having no data and the third data different from the first data and the second data according to the communication schedule, and the state of the communication device or the communication with another communication device. When any one of a plurality of conditions is satisfied based on the content, a step of switching the communication schedule to another communication schedule applicable to the condition. Comprising the, according to the communications schedule each data received from another communication device, and transferring to another other device.

  According to the present disclosure, by appropriately switching the communication schedule to a communication schedule that is applied to a condition based on the state of the communication device or the content of communication with another communication device, each data of the first to third data is set to the condition Each time, it is possible to transmit data on the same network while securing a band required for the data.

FIG. 1 is a schematic diagram illustrating a network configuration example of a communication system 1 according to the present embodiment. FIG. 2 is a diagram schematically illustrating data types transmitted in the communication system 1 of FIG. 1. It is a figure which shows typically an example of the communication content according to the state of the communication system concerning embodiment of this invention. It is a schematic diagram showing an example of a hardware configuration of control device 100 which is a typical example of a communication device according to the present embodiment. It is a figure showing typically an example of frame 20 concerning an embodiment of the invention. FIG. 5 is a diagram illustrating an example of a specific configuration of a transmission / reception controller 213 in FIG. 4. FIG. 3 is a diagram illustrating an example of a configuration of a switching unit according to the embodiment of the present invention. FIG. 4 is a diagram showing an example of a set of a communication schedule and a condition stored in a memory 104 according to the embodiment of the present invention. FIG. 6 is a diagram illustrating a communication schedule switching method (1) according to the embodiment of the present invention. FIG. 6 is a diagram showing a communication schedule switching method (2) according to the embodiment of the present invention. It is a figure showing the example of contents of frame 20 for the communication schedule switching method (2) concerning an embodiment of the invention. It is a schematic diagram explaining the switching method (3) of the communication schedule concerning embodiment of this invention. It is a figure showing an example of a schematic flowchart of switching processing of a communication schedule concerning an embodiment of the invention. 6 is a flowchart illustrating an example of a communication schedule switching process when an abnormality occurs according to the embodiment of the present invention. 11 is a flowchart illustrating another example of a communication schedule switching process during maintenance according to the embodiment of the present invention. 9 is a flowchart illustrating an example of a configuration setting process according to the embodiment of the present invention. It is a figure showing an example of composition of support device 300 concerning an embodiment of the invention.

  Embodiments of the present invention will be described in detail with reference to the drawings. The same or corresponding parts in the drawings have the same reference characters allotted, and description thereof will not be repeated.

<A. Application example>
First, an example of a scene to which the present invention is applied will be described with reference to FIG. FIG. 6 schematically shows an example of a situation where the communication device is applied to the communication system according to the present embodiment. The communication device according to the present embodiment communicates with another communication device via the same network (transmission paths 111, 112, and 113) while synchronizing time within a control cycle. The communication device includes a first periodically transmitted data used for controlling the manufacturing apparatus or the production equipment, a second data that needs to arrive at the destination within a designated time, and a second data that is different from the first data. Data with different transmission request levels, such as data No. 3, is transmitted via the network.

  In the communication device, data from another communication device or its own communication device via the reception circuit 211 and data to be transmitted to the other communication device is temporarily stored in each of the queues 31, 32, and 33, At the time when the corresponding gates 51, 52 and 53 are opened, the data is transferred via the transmission circuit 115. In the present embodiment, the selector 40 allocates the first data to the queue 31, the second data to the queue 32, and the third data to the queue 33 among the data from the receiving circuit 211. Therefore, data of the same request level is stored in each queue.

  The transfer of the data stored in each queue to another communication device is performed according to the communication schedule 42. The communication schedule 42 includes a control command 43 that specifies which gate is to be opened at each time Ti (i = 0, 1, 2,...) In the control cycle. The gate driver 41 selects a gate to be opened among the gates 51, 52 and 53 according to the control command 43 at each time Ti of the communication schedule 42, and controls the opening time of the selected gate. Therefore, using the communication schedule 42, it is possible to define the transmission band of each data having different request levels on the network.

  The switching unit 60 switches the communication schedule 42 based on the operation status of the own communication device or the communication system collected by the communication schedule management unit 202 (the state of the own communication device or the content of communication with another communication device). That is, the switching of the communication schedule 42 of each communication device is performed in synchronization with each other.

  In the present embodiment, the communication schedule applied to the operation status is switched in response to each of the operation statuses of the communication system, so that the band for transmitting the first to third data is changed. The required bandwidth can be switched according to the operating status of the system.

  In such band switching, the rate adjustment unit 34 can be used together. The communication schedule management unit 202 determines and outputs the transmission rate 341 according to the operation status, for example. The rate adjusting unit 34 changes the rate of data transmitted from the queue 32 to the gate 52 (the amount of data output to the gate 52 per unit time) based on the transmission rate 341.

  The state of its own communication device in the above-mentioned operation state includes a state in which an event such as power activation, occurrence of an abnormality, and start of maintenance has occurred. Further, the content of communication with another communication device includes a notification received from another communication device, or a timing of receiving data from another communication device. The data reception timing is defined as a timing at which one of the first to third data is received in the control cycle, and a timing at which the one data is determined within the control cycle specified by the communication schedule 42 currently applied. Includes the combination with the transfer time.

  Further, the above-described first to third data are types of data that can be transmitted in FA (factory automation). The first data corresponds to control system data. The control system data corresponds to data used for controlling a manufacturing apparatus or a production facility. Examples of the control system data include a servo command value, an encoder value, an ON / OFF value of a sensor, and the like. The second data corresponds to control information data. The control information system data is different from the control system data but is classified into information necessary for control, and includes, for example, data relating to the setting and management of devices. The third data is data relating to setting and management of the device. As an example, there are statistical data such as information collected by a sensor over a certain period, and a monitoring image (still image / moving image) captured under some conditions.

Hereinafter, more specific application examples of the present embodiment will be described.
<B. Overall configuration of communication system>
Next, a network configuration example of communication system 1 according to the present embodiment will be described. FIG. 1 is a schematic diagram illustrating a network configuration example of a communication system 1 according to the present embodiment.

  The communication system 1 illustrated in FIG. 1 employs, as an example, a network in which at least some of the communication devices are daisy-chain connected. Specifically, the communication system 1 includes a control device 100 such as a PLC, a plurality of devices 200A to 200H, and a relay device 400 functioning as a concentrator. The control device 100 functions as a master that manages data transmission in the network, and the devices 200A to 200H and the relay device 400 function as slaves that perform data transmission according to instructions from the master.

  The control device 100 and the relay device 400 are connected by an upper transmission line 111, and are branched by the relay device 400 into two lower transmission lines 112 and 113. Devices 200A to 200D are sequentially connected to the lower transmission line 112 connected to the relay device 400 in a daisy chain, and devices 200E to 200H are connected to the lower transmission line 113 connected to the relay device 400 in a daisy chain. They are connected sequentially.

  For the transmission paths 111, 112, and 113, it is preferable to employ a bus or a network that performs fixed-period communication that guarantees the data arrival time according to, for example, the TSN (Time-sensitive networking) standard. For example, known protocols such as EtherCAT (registered trademark), which is an example of a machine control network, and EtherNet / IP (registered trademark), which is an industrial open network in which a control protocol is implemented on general-purpose Ethernet (registered trademark) May be adopted.

  In the network of the communication system 1, the control device 100, the devices 200A to 200H, and the relay device 400 can all be regarded as “communication devices having a data transfer function”. Each communication device has a network switching function.

  In the example illustrated in FIG. 1, each of the control device 100, the devices 200A to 200H, and the relay device 400 transmits data (hereinafter, one data item) transferred on a network from a communication device connected adjacently. When the data of the transfer unit is also referred to as a "frame"), it has a function of transferring the incoming frame to another adjacently connected communication device as necessary. If the received frame is addressed to the own device, the received frame is processed by the device that has received the frame itself without being transferred to another communication device. A frame indicating the result of the processing is transmitted to another communication device.

  The network of the communication system 1 according to the present embodiment includes a control device 100 that controls a manufacturing device, a production facility, and the like, and is configured to satisfy a requirement conforming to a so-called industrial network or an industrial network. . One such requirement is to guarantee the time at which the data sent from the source arrives at the destination. For this reason, the communication system 1 maintains a predetermined system cycle (a control cycle T to be described later) while maintaining a predetermined bandwidth for transmitting data of a type according to the state of the communication system 1 in a bandwidth of the network. Scheduling for data transmission is performed so that More specifically, according to the state of the communication system 1, the control system data, the control information system data, and the data system such that one of the information system data is transmitted with priority over the other data. Scheduling for transmission is performed.

  The concept of “priority” may include a case where only the one data is transmitted and transmission of other data is prohibited. For example, the communication system 1 may include a concept that transmission of other data is prohibited even if there is no control data to be transmitted in a time zone for transmitting control data according to scheduling.

  In order to guarantee the arrival time at such a destination, in the communication system 1, as shown in FIG. 1, a plurality of communication devices synchronized in time with each other are network-connected. That is, the transmission / reception timing is synchronized between the communication devices configuring the network of the communication system 1 by the time synchronization unit. More specifically, each of the communication devices constituting the network has a timer (or a counter that is synchronously incremented or decremented) as a part of the time synchronizing means. Each communication device determines data transmission or reception timing according to the time-synchronized timer or counter.

  In the example shown in FIG. 1, the control device 100 has a timer 101, the relay device 400 has a timer 401, and the devices 200A to 200H have timers 201A to 201H, respectively. For example, the timer 101 of the control device 100 functions as a grand master, and the timers of the relay device 400 and the devices 200A to 200H synchronize timing with reference to the grand master. The synchronization between the timers allows the communication system 1 to match the frame transmission timing and the like.

  Field devices to be controlled, such as sensors and actuators, can be directly connected to the control device 100 or can be connected to the control device 100 via the network 2. In the present embodiment, as shown in FIG. It can be connected to the control device 100 via the device 200 and the network 2.

  The control calculation executed by the control device 100 is processing of data collected or generated by the device 200 from the field device via the network 2, processing of generating data such as an instruction to the device 200 (calculation processing), and generation of data. A process (output process) for transmitting output data to the target device 200 is included.

  Further, the support device 300 can be connected to the control device 100. The support device 300 is a device that supports the preparation necessary for the control device 100 to manage the network 2 and the preparation necessary for controlling the control target. The support apparatus 300 provides, for example, a setting environment for setting parameters (configuration) of the device 200 connected to the control apparatus 100 in connection with network management. The support device 300 may include a PC (personal computer) on which a setting tool for providing a setting environment and the like is installed.

  In the communication system 1 shown in FIG. 1, the support device 300 is provided separately from the control device 100, but the support device 300 may be provided integrally with the control device 100. That is, the functions of the support device 300 can be built in the control device 100.

<C. Required Communication Performance>
In the communication system 1 shown in FIG. 1, although high-speed real-time property such as control system data is not required, there is also data (for example, data related to device setting and management) that needs to guarantee a certain arrival time. Hereinafter, such data is also referred to as “control information data” for convenience of description.

  FIG. 2 is a diagram schematically showing the types of data transmitted in the communication system 1 of FIG. Referring to FIG. 2, in communication system 1, (1) control system data, (2) control information system data, and (3) information system data are mainly transmitted. Note that transmission of data that is not classified into any of these types is not excluded, and data of another type may be transmitted.

  (1) The control system data includes, as its gist, data for actually controlling the device. That is, the control system data corresponds to data used for controlling a manufacturing apparatus or a production facility. Examples of the control system data include a servo command value, an encoder value, an ON / OFF value of a sensor, and the like. The control system data is basically transmitted periodically. The communication cycle of such control system data is preferably set to, for example, 10 msec or less.

  (2) Control information data is classified into information necessary for control among data used in information communication, and includes data relating to device setting and management as its gist. That is, the control information data corresponds to data that needs to arrive at the destination within the designated time. Examples of the control information data include setting of various parameters such as a threshold value for the sensor device, collection of abnormality information (log) stored in each device, and firmware for updating each device. Although the contents of the control information data transmitted on such a network are various, basically, the data is related to the setting and management of the device. Therefore, the data size is assumed to be about several kbytes. . Therefore, the communication cycle of the control information data is preferably set to, for example, less than 100 msec.

  (3) Information-based data is classified into information necessary for management among data used in information-based communication. Examples of the information system data include statistical data such as information collected by a sensor over a certain period, a monitoring image (still image / moving image) captured under some conditions, and the like. The contents of control system data transmitted on such a network are various, and the data size is also various. Typically, it is assumed that the data size of the information system data is larger than the data size of the control information system data. Further, since it is not directly related to the control of the device, it is assumed that the information system data is transmitted by the best effort method. In this case, high throughput is emphasized rather than real-time property (that is, data arrival at a designated time).

  It should be noted that, for each data, a control system, a control information system, or an information system may be uniquely determined, and even if the same data is used, a control system, Which of the control information system and the information system is classified may be changed.

  As described above, high-speed and high-precision communication is required for control data, and large-capacity communication is required for information data. The control information data requires an intermediate characteristic between the control data and the information data.

<D. Example of communication content according to state of communication system>
FIG. 3 is a diagram schematically illustrating an example of communication contents according to a state of the communication system according to the embodiment of the present invention. FIG. 3 schematically shows a communication schedule taken by each communication device corresponding to a situation that the communication system 1 can take, that is, a situation that each communication device can take.

  In the present embodiment, the situation of the communication system 1 includes, for example, a case (A) during normal operation in which each unit of the communication system 1 has no abnormality and controls a field device, and a case where each unit of the communication system 1 is activated or initialized. A case (B), a case (C) in which some abnormality has occurred in the communication system 1, and a case (D) at the time of maintenance for maintaining the communication system 1 are included. The situations that the communication system 1 can take are not limited to the four cases (A) to (D).

  In each situation, the type of data to be communicated and the communication schedule are different. Specifically, in case (A) during normal operation, the control system data includes, for example, a control command value or a current value, and the control information system data includes time synchronization information or a set value for control (threshold). Value or mode setting value), and the information system data includes data related to monitoring and monitoring. In the communication schedule of the case (A) during normal operation, each communication device transmits control system data from the start of the control cycle within the control cycle T, and controls the control information within the remaining time after the transmission of the control system data is completed. The system data is transmitted, and then the information system data is transmitted. Thereby, in the control cycle T, a band for transmitting control system data can be reliably secured.

  In the case (B) at the time of activation or initialization, only control information data (for example, time synchronization information, information for acquiring an NW (network) configuration, control setting values, and the like) are transmitted. Therefore, in the communication schedule of the case (B) at the time of activation or initialization, each communication device transmits only control information data within the control cycle T. Thereby, in the control cycle T, a band for transmitting control information data can be secured.

  In case (C) when an abnormality occurs, control system data including the current value of the field device and the like, control information system data (for example, information of time synchronization, information for acquiring an NW (network) configuration, acquisition of abnormality information, etc. ) And information data for acquiring logging data for abnormality analysis are transmitted. Further, in the communication schedule of the case (C) at the time of occurrence of an abnormality, the communication schedule from the master to the slave in the control cycle T is such that the information data is transmitted after transmitting the control information data, and the communication from the slave to the master is performed. In the schedule, after transmitting the control information data, the control information data and the information data are transmitted. Thereby, for example, in the control cycle T, it is possible to secure a band for the master to collect abnormal data from the slave.

  In the case (D) at the time of maintenance, control information data including data for performing backup / restoration and information data including data for acquiring logging data from the communication device are transmitted to the communication device. In the communication schedule of the case (B) at the time of activation or initialization, each communication device transmits control information data within the control cycle T, and thereafter transmits information data. Thereby, in the control period T, it is possible to secure control information data necessary for maintenance and a band for transmitting the information data.

<E. Device Configuration of Communication Device>
FIG. 4 is a schematic diagram showing an example of a hardware configuration of control device 100 which is a typical example of a communication device according to the present embodiment. Communication devices that constitute communication system 1 according to the present embodiment may include control device 100, devices 200A to 200H, and relay device 400. In the following, the device configuration of control device 100 shown in FIG. 4 will be exemplified as a typical example, but devices 200A to 200H and relay device 400 have the same device configuration, and therefore, description thereof will not be repeated.

  Referring to FIG. 4, control device 100 can be configured based on a PLC. Referring to FIG. 4, control device 100 includes a processor 102, a memory 104, a storage 106, and a communication control circuit 110 as main components. These components are connected via a bus 109.

  The processor 102 implements various processes by reading the system program 107 and the user application program 108 stored in the storage 106 into the memory 104 and executing them. The memory 104 includes a volatile storage device such as a DRAM (Dynamic Random Access Memory) or an SRAM (Static Random Access Memory). The storage 106 includes a nonvolatile storage device such as a hard disk or a flash memory. The storage 106 stores a user application program 108 designed in accordance with a control target or the like, in addition to a system program 107 for controlling each unit of the control device 100.

  The communication control circuit 110 provides an interface for the control device 100 to exchange data with the relay device 400 or each device 200 via the network. The communication control circuit 110 processes an incoming frame and sends out the processed frame. Specifically, the communication control circuit 110 includes, as main components, a reception circuit (Rx) 211 corresponding to at least one input port, a reception buffer 212, a transmission / reception controller 213, a transmission buffer 114, and a transmission circuit (Tx ) 115 and a timer 101.

  The receiving circuit 211 receives a frame transmitted on the communication control circuit 110 at a fixed period, and writes data stored in the received frame into the receiving buffer 212. The transmission / reception controller 213 sequentially reads out the reception frames written in the reception buffer 212. The transmission / reception controller 213 extracts only data necessary for processing in the control device 100 from the read frame and outputs the data to the processor 102. The transmission / reception controller 213 sequentially writes data or frames to be transmitted to the device 200 to the transmission buffer 114 in accordance with a command from the processor 102. The transmission circuit 115 sequentially sends out the data stored in the transmission buffer 114 to the network 2 in synchronization with the cycle in which the frame is transmitted on the communication control circuit 110. The timer 101 may be a grand master that generates a pulse that is used as a reference of timing for instructing transmission and the like of a communication frame from the transmission / reception controller 213.

  When the configuration in FIG. 4 is applied to relay device 400, transmission lines 111, 112, and 113 may be connected to communication control circuit 110. When the configuration in FIG. 4 is applied to the device 200, the communication control circuit 110 is connected to the transmission lines 112 and 113.

<F. Frame Configuration>
FIG. 5 is a diagram schematically illustrating an example of the frame 20 according to the embodiment of the present invention. The frame 20 has, for example, a format corresponding to the protocol of IEEE 802.1Qbv, but the format of the frame 20 is not limited to the format shown in FIG.

  Referring to FIG. 5, a frame 20 exchanged between communication devices includes a field 21 for storing a preamble, a field 22 for storing a destination of the frame, and a source of the frame as fields referred to for managing data transmission. 23, a field 24 for storing a network type, a field 27 for error correction, and a field 28 for storing an inter-frame gap, and further stores a payload which is a data body to be transmitted. Field 26. The payload of the field 26 includes the above-described control data, control information data, or information data.

  In the present embodiment, the field 24 of the frame 20 stores allocation data 241 that indicates to which of a plurality of queues the data of the frame 20 will be assigned, which will be described later. The field in which the allocation data 241 is stored is not limited to the field 24.

<G. Configuration of Communication Control Circuit 110>
FIG. 6 is a diagram showing an example of a specific configuration of the transmission / reception controller 213 in FIG. Referring to FIG. 6, a transmission / reception controller 213 includes a selector 40, a plurality of queues, a rate adjusting unit 34, a plurality of gates corresponding to a plurality of output ports, and a gate driver for controlling opening and closing of a plurality of gates 51, 52, 53. 41, a communication schedule 42 indicating a communication schedule for transmitting the frame 20, a communication schedule management unit 202, and a switching unit 60 for switching the communication schedule 42. The communication schedule management unit 202 and the switching unit 60 may have a hard-wired configuration (hardware implementation) such as an application specific integrated circuit (ASIC) or a field-programmable gate array (FPGA), or the processor may execute a program. May be configured (software implementation) to provide the necessary functions. Further, an implementation mode in which hardware implementation and software implementation are combined may be adopted. An optimal mounting form is appropriately adopted according to the use of the communication device and the required specifications.

  The communication schedule management unit 202 manages a communication schedule of communication (transmission) of the frame 20 by the transmission / reception controller 213. The communication schedule management unit 202 controls the switching unit 60 such that the switching of the communication schedule 42 by the switching unit 60 is performed in synchronization with the control cycle T.

  The selector 40 selects one of a plurality of queues according to the allocation data 241 of the frame 20 coming from the receiving circuit 211, and stores the frame 20 in the selected queue. The plurality of queues include, for example, a queue 31 for storing the control data frame 20, a queue 32 for storing the control information data frame 20, and a plurality of queues for storing the information data frame 20. 33. The selector 40 stores the incoming frame 20 in the queue allocated according to the allocation data 241 of the incoming frame 20. In the present embodiment, the allocation data 241 of the control system data frame 20 indicates the allocation to the queue 31, and the allocation data 241 of the control information system frame 20 indicates the allocation to the queue 32. The allocation data 241 of the frame 20 of the system data instructs the allocation to the queue 33. As a result, only the control data frame 20 is stored in the queue 31, only the control information data frame 20 is stored in the queue 32, and only the information frame 20 is stored in the queue 33. You.

  In the queues 31, 32, and 33, the frame 20 is written and read according to, for example, a FIFO (First In First Out). Gates 51, 52 and 53 are connected to the output sides of the queues 31, 32 and 33, respectively. In FIG. 6, the queue 32 is connected to a rate adjusting unit 34 that adjusts the rate at which frames 20 are transmitted from the queue 32 to the gate 52. The rate adjusting unit 34 adjusts the rate of the frame 20 transmitted from the queue 32 to the gate 52 based on the transmission rate 341 output from the communication schedule management unit 202.

  Note that the queue to which the rate adjusting unit 34 is connected is not limited to the queue 32, and may be connected to, for example, the queue 33 or the queue 31.

  Gates 51, 52 and 53 are each connected to transmission / reception controller 213. Each gate changes the open time (or the closed time) within the control cycle T according to the control command 43 from the gate driver 41. The gates 51, 52 and 53 send the frames 20 read from the corresponding queues to the transmission lines 111, 112 and 113 via the transmission / reception controller 213 while the gates are open. Does not send the frame 20 from the corresponding queue to the transmission / reception controller 213.

  The gate driver 41 outputs a control command 43 to each of the gates 51, 52 and 53 at intervals synchronized with the control cycle T within the control cycle T according to the communication schedule.

(G1. Communication schedule)
An example of the communication schedule 42 will be described with reference to FIG. The communication schedule 42 includes a control command 43 in association with, for example, each of the times Ti (for example, i = 1, 2, 3,... 126) obtained by dividing the control cycle T into a plurality. The control command 43 is shown as a bit string composed of bit values of a number corresponding to the number of queues. When each bit value is “0”, it indicates “open” of the gate, and when “1”, it indicates “close” of the gate.

  For example, when the total number of the queues 31, 32, and 33 is 8, according to the communication schedule 42 of FIG. 6, the control command 43 at the time T1 is indicated by “01111111”. Therefore, at time T1 from the start of the control cycle T, the gate 51 of the queue 31 is controlled to open, and the gates 52 and 53 of the other queues 32 and 33 are controlled to close. You.

  As described above, the selection of the output port to be opened among the plurality of output ports (gates 51, 52, 53) and the time (timing, length) to be opened are determined by the communication schedule 42. In the communication schedule 42, more specifically, the opening / closing time is set according to the size (data size) of the frame 20 specified in the communication protocol applied to the transmission paths 111, 112, and 113. Therefore, the transmission schedule of the control system data, the control information system data, and the transmission band of the information system data transmitted from each communication device and transmitted on the transmission paths 111, 112, and 113 can be set by the communication schedule. As a result, it is possible to define the respective bands for transmitting the control system data, the control information system data, and the information system data in the transmission paths 111, 112, and 113 by the communication schedule 42.

  In this manner, the communication schedule 42 changes the value (the value of each bit) indicated by the control command 43 corresponding to the time Ti for each time Ti, so that each of the gates 51, 52, and 53 is opened. Time can be changed. Therefore, the communication schedule 42 (more specifically, the control command 43 for the time Ti) gives priority to any of the control system data, the control information system data, and the information system data over the other data within the control cycle T. A priority is defined which indicates the degree to which data is to be transferred, that is, whether a higher bandwidth is allocated to other data than other data. That is, the priority indicated by the communication schedule 42 defines the time during which each output port (each of the gates 51, 52, and 53) is open in preference to the other output ports in the control cycle T.

  In the present embodiment, the rate of the frame 20 transmitted from each queue to the transmission paths 112, 113, 111, that is, the rate at which control-system data, control-information-system data, and information-system data are transferred is determined by the rate adjustment unit. 34 can be adjusted. Therefore, the respective bandwidths for transmitting the control system data, the control information system data, and the information system data in the transmission paths 111, 112, and 113, and the transfer rate of the data in the corresponding band are determined by the communication schedule 42 and the rate adjustment unit 34. Adjustment can be performed using both.

<H. Configuration of Switching Unit>
FIG. 7 is a diagram illustrating an example of a configuration of the switching unit according to the embodiment of the present invention. Referring to FIG. 7, in the embodiment of the present invention, a plurality of sets each including a communication schedule 65 and a condition 64 to which the communication schedule 65 is applied are stored in the memory 104. The switching unit 60 includes a selector 61 and a condition determination unit 62. The condition determining unit 62 determines which of the plurality of conditions 64 is satisfied based on the status information 63 indicating the operating status of the communication device. The status information 63 includes, for example, the status 631 of the communication device and the content of communication with another communication device (notification 632 by the received frame 20 and timing 633 of receiving the frame 20).

  The selector 61 selects a communication schedule 65 applied to the condition 64 determined to be satisfied. The selector 61 reads the selected communication schedule 65 from the memory 104, and switches the communication schedule 42 referred to by the gate driver 41 to the read communication schedule 65. Note that the communication schedule management unit 202 controls the switching unit 60 such that the switching of the communication schedule 42 referred to by the gate driver 41 is performed in synchronization with the control cycle T.

<I. Conditions and communication schedule>
FIG. 8 is a diagram illustrating an example of a set of a communication schedule and a condition stored in the memory 104 according to the embodiment of the present invention. Referring to FIG. 8, condition 64 includes, for example, a case (A) at the time of normal operation, a case (B) at the time of starting or initializing each unit, a case (C) at the time of occurrence of some abnormality, and a time of maintenance. Case (D). The condition 64 indicates a condition to be satisfied by the state 631, the notification 632, or the timing 633 of the status information 63. In the present embodiment, the state 631 indicates a state of the own apparatus which autonomously determines when an event occurs in the communication apparatus. The notification 632 indicates a notification that the communication device receives from outside such as another communication device. The timing 633 indicates a time when the control system data, the control information system data, or one of the information system data is received in the control cycle T. More specifically, the timing 633 determines the timing of receiving the one data in the control cycle T and the timing of transferring the one data in the control cycle T specified by the currently applied communication schedule 42. Including combinations with

  In the present embodiment, the memory 104 stores data for identifying the type of the communication schedule 42 currently applied to the communication device (normal operation, startup initialization, abnormality occurrence, maintenance, etc.). You.

  The condition 64 of each case will be described with reference to FIG. First, the condition 64 of the case (A) at the time of normal operation indicates that the state 631 indicates, for example, after the completion of the initial processing, after the completion of the maintenance processing, or after the completion of the abnormal processing, and when the notification 632 receives the normal operation start instruction. The timing 633 indicates a combination of the timing at which the control system data is received and the timing at which the control system data is received at the timing (band) at which the “control system data” specified by the communication schedule 42 during normal operation is transferred.

  The condition 64 of the activation or initialization case (B) is that the state 631 indicates after power activation, the notification 632 indicates when a reset instruction is received, and the timing 633 indicates when the initialization data is received indicates that the normal operation is performed. And "Received at the time (band) to transfer" control system data "specified by the communication schedule 42".

  The condition 64 of the case (C) of the occurrence of the abnormality indicates that the state 631 indicates the occurrence of the abnormality, the notification 632 indicates the reception of the notification of the occurrence of the abnormality, and the timing 633 indicates that the data of the collection of the abnormality information is received. The combination with the time when the “control system data” specified by the communication schedule 42 is transferred (band) is shown.

  The condition 64 of the maintenance case (D) indicates that the notification 632 has received the maintenance start notification, and the timing 633 indicates that the backup / restore data has been received is defined by the communication schedule 42 during normal operation. This indicates a combination with "control system data" or "control information system data" received at the time of transfer (band).

  Referring to FIG. 8, communication applied to each condition 64 of case (A) at the time of normal operation, case (B) at the time of startup initialization, case (C) at the time of abnormality occurrence, and case (D) at the time of maintenance. Schedule 65 is the same as that described with reference to FIG. 3, and thus description thereof will not be repeated. Each of the communication schedules 65 in FIG. 8 includes the data in the control cycle T such that the control system data, the control information system data, and the information system data are transmitted in accordance with the priority indicated by the band as shown in FIG. The bit value of the control command 43 is set in association with the time Ti.

(I1. Communication schedule switching method (1))
FIG. 9 is a diagram illustrating a communication schedule switching method (1) according to the embodiment of the present invention. An example of a communication schedule switching method using the notification 632 will be described with reference to FIG. Specifically, the communication schedule is switched using the notification 632 indicating that the frame 20A is stored in the specific queue 33A.

  FIG. 9 schematically shows a part of the transmission / reception controller 213A for realizing the communication schedule switching method (1). Referring to FIG. 9, transmission / reception controller 213A includes a specific queue 33A for storing specific frame 20A and a specific frame distribution unit 44 for selecting specific frame 20A from received frames 20 and storing the selected frame in specific queue 33A. Is provided. The specific frame distribution unit 44 stores only the frame 20 (specific frame 20A) in which the allocation data 241 instructs the allocation to the specific queue 33A among the received frames 20 in the specific queue 33A. The specific queue 33A is, for example, a queue that is not used during normal operation. The specific frame 20A is transmitted when an event occurs, such as at the time of initial startup, at the time of abnormality processing, or at the time of maintenance.

  When detecting that the frame 20A has been stored in the specific queue 33A, the communication schedule management unit 202 outputs a notification 632 to the switching unit 60. When receiving a notification 632 from the communication schedule management unit 202 indicating that the specific frame 20A is stored in the specific queue 33A, the condition determination unit 62 in FIG. 7 switches the communication schedule. Specifically, the condition determination unit 62 determines whether to perform the initial startup, the abnormal processing, or the maintenance based on the communication content with another communication device (that is, the notification 632 that the specific frame 20 has been received). It is determined that the condition 64 is satisfied. The selector 61 selects another communication schedule 65 applied to the condition 64 determined to be satisfied. The switching unit 60 switches the communication schedule 42 to another selected communication schedule 65.

(I2. Communication schedule switching method (2))
FIG. 10 is a diagram illustrating a communication schedule switching method (2) according to the embodiment of the present invention. FIG. 11 is a diagram showing an example of the content of the frame 20 for the communication schedule switching method (2) according to the embodiment of the present invention. Another example of the communication schedule switching method using the notification 632 will be described with reference to FIG. Specifically, the communication schedule is switched using the notification 632 indicating that the reception of the frame 20 including the label urging the communication schedule change is detected. As shown in FIG. 11, this label is stored in a predetermined field of the frame 20 (for example, the destination field 22 or the header field 24) as a label 29 indicating at the time of initial startup / at the time of occurrence of abnormality / at the time of maintenance.

  FIG. 10 schematically shows a part of the transmission / reception controller 213B for realizing the communication schedule switching method (2). Referring to FIG. 10, transmission / reception controller 213B detects that label 29 is stored in a predetermined field of received frame 20, and switches selector 40B having label detection unit 45 that outputs notification 632 to that effect. Have. The frame 20 in FIG. 11 in which the label is stored is transmitted at the time of initial startup, at the time of abnormality processing, at the time of maintenance, and the like.

  Upon receiving the notification 632 from the label detection unit 45, the switching unit 60 performs communication schedule switching. Specifically, the condition determination unit 62 in FIG. 7 performs the initial startup or the abnormal processing based on the communication content with another communication device (that is, the notification 632 that the frame 20 storing the label 29 has been received). It is determined that one of the conditions 64 at the time of maintenance or at the time of maintenance is satisfied. The selector 61 selects another communication schedule 65 applied to the condition 64 determined to be satisfied. The switching unit 60 switches the communication schedule 42 to another selected communication schedule 65.

(I3. Communication schedule switching method (3))
FIG. 12 is a schematic diagram illustrating a communication schedule switching method (3) according to the embodiment of the present invention. In the switching method (3), when one of the plurality of conditions 64 is satisfied based on the state 631 of the communication device or the content of communication with another communication device (that is, timing 633), the switching unit 60 sets the communication schedule. 42 is switched to another communication schedule 65 applied to the condition 64.

  More specifically, the communication schedule switching method (3) can be applied, for example, in the following case. In other words, according to the embodiment of the present invention, by following the priority indicated by the communication schedule 42, for example, in the time zone in which the control system data is transmitted, even if there is no control system data to be transmitted, the information system data is transmitted. No (transmission of information-related data is prohibited). Therefore, in this time zone, a certain communication device starts transmission of information-related data, thereby prompting each communication device to switch the communication schedule, that is, the communication device can execute the communication schedule switching method (3).

  In the embodiment of the present invention, the communication devices determine the timing of data transmission or reception in accordance with the timers synchronized with each other, so that the communication device on the receiving side receives the time T1 from the communication device on the transmitting side. Can calculate (estimate) the time T2 for receiving the frame 20 transmitted in (1) (see FIG. 12). The communication schedule management unit 202 receives the control data or the control information data within the control cycle T based on the communication schedule 42, the elapsed time from the start of the control cycle T, and the estimated time. It is possible to calculate (estimate) the time to perform or the time to receive the information data.

  When the communication device receives the frame 20, the communication schedule management unit 202 changes the data type (control system data, control information system data, or information system data) indicated by the header of the field 24 of the frame 20 to the frame 20. It is determined whether or not the reception time matches the type of data whose reception is estimated. If they do not match, the communication schedule management unit 202 outputs the timing 633 including the received data type to the switching unit 60, and does not output the timing 633 if they match.

  When any one of the plurality of conditions 64 is satisfied based on the operation state and the timing 633 of the communication device, the condition determination unit 62 of the switching unit 60 converts the communication schedule 42 into another communication schedule that applies the communication schedule 42 to the condition 64. Switch to 65.

  For example, referring to FIG. 12, when the transmission-side communication device in the normal operation state detects the occurrence of an abnormality (R9), the communication schedule 42 is switched to the communication schedule 65 of the case (C) when the abnormality occurs. As a result, the transmission-side communication device transmits the control information data at the time of occurrence of the abnormality.

  Since the communication device on the receiving side is communicating according to the communication schedule 42 in the normal operation state, the communication schedule management unit 202 sets the control information from the communication device on the transmitting side to the band (time) in which the control system data is received. It detects that the system has been received and outputs the timing 633. Based on the fact that the timing 633 indicates that the control information system data of the occurrence of the abnormality has been received in the band of the “control system data”, the condition determining unit 62 of the communication device on the receiving side determines the case (C ) Is determined to be satisfied. The selector 61 selects a communication schedule 65 that meets the condition 64 of the case (C) when an abnormality occurs based on the determination. The switching unit 60 switches the communication schedule 42 to another selected communication schedule 65 (R11).

<J. Processing flowchart>
FIG. 13 is a diagram illustrating an example of a schematic flowchart of a communication schedule switching process according to the embodiment of the present invention. Referring to FIG. 13, communication schedule management section 202 collects information (state 631, notification 632, timing 633) for determining condition 64 (step S1). Any one of the conditions 64 of the normal operation case (A), the startup initialization case (B), the abnormality occurrence case (C), and the maintenance case (D) is satisfied. Is determined (steps S3, S4). If the condition determination unit 62 determines that none of the conditions 64 is satisfied (NO in step S5), the process returns to step S1, but if it determines that any of the conditions 64 is satisfied (YES in step S5), the switching is performed. The unit 60 switches the communication schedule 42 (Step S7). Specifically, the selector 61 selects a communication schedule 65 to be applied to the satisfied condition 64, and the switching unit 60 switches the communication schedule 42 to another selected communication schedule 65.

  Thereafter, the transmission / reception controller 213 transfers each frame 20 received from another communication device to another communication device according to the communication schedule 42 (step S9). The processor 102 determines whether or not to end the processing (step S11), and when determining to end the processing (YES in step S11), ends the communication schedule switching processing (YES in step S11), but determines not to end. Then (NO in step S11), the process returns to step S1.

(J1. An example of communication schedule switching processing when an abnormality occurs)
FIG. 14 is a flowchart illustrating an example of a communication schedule switching process when an abnormality occurs according to the embodiment of the present invention. FIG. 14 shows processing performed by the communication device on the transmission side and processing performed by the communication device on the reception side in association with each other. The processing flowchart of each of the communication device on the transmitting side and the communication device on the receiving side in FIG. 14 is based on the processing shown in FIG.

  An example of a specific process for realizing the communication schedule switching method (3) shown in FIG. 12 will be described with reference to FIG. In the processing of FIG. 14, the communication schedule (A) at the time of normal operation is applied to all the communication devices in advance. In describing the processing of FIG. 14, a communication schedule switching processing in the control device 100 will be described.

  Upon receiving a diagnostic frame 20 described later, the communication schedule management unit 202 of the control device 100 detects that an abnormality occurrence notification 632 has been received from the content of the received diagnostic frame 20. The condition determining unit 62 determines that the condition 64 of the case (C) at the time of occurrence of the abnormality is satisfied based on the notification 632. Based on the determination, the switching unit 60 switches the communication schedule 42 to the communication schedule 65 applied to the condition 64 of the case (C) when an abnormality occurs. Further, when receiving the notification of the occurrence of the abnormality, the processor 102 of the control device 100 activates a monitoring tool included in the user application program 108. The monitoring tool performs an abnormality diagnosis process based on the contents of the diagnostic frame 20 received. When the monitoring tool specifies the location where the abnormality has occurred (for example, a field device) by the abnormality diagnosis processing, the monitoring tool transmits a specific notification indicating that the location where the abnormality has occurred is specified.

  Next, with reference to FIG. 14, a description will be given of a process of switching the communication schedule of the communication devices on the transmission side and the reception side. When the communication device on the transmission side detects, for example, the occurrence of an abnormality in the field device, the communication schedule management unit 202 outputs a state 631 indicating the occurrence of the abnormality (step S1a). The condition determination unit 62 determines which of the plurality of conditions 64 is satisfied based on the state 631 from the communication schedule management unit 202 (steps S3a and S5a). If it is determined that none of the conditions 64 is satisfied (NO in step S5a), the process returns to step S1a. Here, it is determined that the condition 64 of case (C) at the time of occurrence of an abnormality is satisfied (YES in step S5a), and based on the determination, the switching unit 60 uses the selector 61 to change the communication schedule 42 at the time of occurrence of the abnormality. It switches to the communication schedule 65 applied to the condition 64 of the case (C) (step S7a).

  The transmission / reception controller 213 transmits the control information data frame 20 (also referred to as the diagnostic frame 20) in accordance with the switched communication schedule 42 in order to acquire abnormality information (step S9a).

  The communication schedule management unit 202 determines whether or not to end the transmission of the diagnostic frame 20 based on whether or not to receive a specific notification indicating that the location of the abnormality has been specified (step S11a). When determining that the transmission is to be ended (YES in step S11a), the communication schedule management unit 202 ends the transmission of the diagnostic frame 20. On the other hand, while determining that the transmission is not to be ended (NO in step S11a), the communication schedule management unit 202 continues transmitting the diagnostic frame 20.

  Next, in the communication device on the receiving side, the communication schedule management unit 202 performs control information data (diagnosis frame 20) in a band (time) in which control data is received during communication according to the communication schedule 42 during normal operation. ) Is detected, and a timing 633 is output (step S1b).

  The condition determination unit 62 of the communication device on the receiving side determines that the communication schedule 42 of the case (A) in normal operation is currently applied, and that the timing 633 indicates that the control information indicating that an abnormality has occurred in the band of “control system data”. Based on the reception of the system data (diagnosis system frame 20), it is determined which of the conditions 64 is satisfied (steps S3b and S5b). When it is determined that none of the conditions 64 is satisfied (NO in step S5b), the process returns to step S1b.

  Here, it is determined that condition 64 of case (C) at the time of occurrence of abnormality in FIG. 8 is satisfied (YES in step S5b). Based on the determination, the switching unit 60 switches the communication schedule 42 to the communication schedule 65 that meets the condition 64 of the case (C) at the time of occurrence of the abnormality via the selector 61 (step S7b).

  The transmission / reception controller 213 transmits the diagnostic frame 20 received from the transmission-side communication device to another communication device according to the switched communication schedule 42 (Step S9b).

  The communication schedule management unit 202 determines whether to end the transmission of the diagnostic frame 20 based on whether or not to receive the specific notification (step S11b). When determining that the transmission is to be ended (YES in step S11b), the communication schedule management unit 202 ends the transmission of the diagnostic frame 20. On the other hand, while determining that the transmission is not to be ended (NO in step S11b), the communication schedule management unit 202 continues transmitting the diagnostic frame 20.

  In the present embodiment, communication of control information data transmitted through the diagnostic frame 20 is performed using a predetermined protocol (such as LLDP (Link Layer Discovery Protocol) or SNMP (Simple Network Management Protocol)). Is also good.

  As described above, when an abnormality occurs, the original communication schedule 42 in each communication device is switched to the communication schedule 65 corresponding to the case (C) at the time of occurrence of the abnormality, whereby control by the original communication schedule 42 is performed. The band of the system data is deleted, and the band of the control information system data for transmitting the diagnostic frame 20 can be secured.

(J2. Example of communication schedule switching processing at the time of maintenance)
When the monitoring tool described above specifies the device at the location where the abnormality has occurred, the communication system 1 starts logging data of the device specified by the user, the device and its peripheral devices in order to start maintenance of the specified device. Is performed in a band for transmitting information data.

  FIG. 15 is a flowchart illustrating another example of the communication schedule switching process during maintenance according to the embodiment of the present invention. In FIG. 15, the processing of the monitoring tool included in the user application program 108 of the control device 100, the processing performed by the target communication device from which the logging data is collected, and the processing performed by another communication device are shown in association with each other. . The processing flowchart of each of the target communication device and the other communication devices in FIG. 15 is based on the process shown in FIG. In the process of FIG. 15, the communication schedule (A) at the time of normal operation is applied to each communication device in advance.

  First, the communication schedule management unit 202 of the control device 100 receives a maintenance start notification 632 from the user (step T1). The condition determination unit 62 determines that the condition 64 of the case (D) at the time of maintenance is satisfied based on the notification. Based on the determination, the switching unit 60 switches the original communication schedule 42 to the communication schedule 65 applied to the condition 64 of the maintenance case (D) (step T2).

  The processor 102 of the control device 100 transmits a maintenance start notification requesting the control device 100 to transmit predetermined data (for example, logging data or backup data) to the target communication device in accordance with the maintenance start notification 632 from the user. (Step T3).

  In the target communication device, the communication schedule management unit 202 receives the maintenance start notification 632 from the control device 100 and outputs it to the switching unit 60 (Step S1c). The condition determination unit 62 determines which of the plurality of conditions 64 is satisfied based on the notification 632 from the communication schedule management unit 202 (Steps S3c and S5c). If it is determined that none of the conditions 64 is satisfied (NO in step S5c), the process returns to step S1c. Here, it is determined that the condition 64 of case (C) at the time of maintenance is satisfied (YES in step S5c), and based on the determination, the switching unit 60 uses the selector 61 to change the original communication schedule 42 at the time of maintenance. It switches to the communication schedule 65 applied to the condition 64 of the case (C) (step S7c).

  The transmission / reception controller 213 transmits a frame 20 of information-related data (hereinafter, also referred to as a maintenance-related frame 20) for transmitting, for example, the requested logging data according to the communication schedule 42 after the switching (step S9c).

  The communication schedule management unit 202 determines whether to end the transmission of the maintenance frame 20 based on whether or not to receive a predetermined notification (step S11c). The predetermined notification includes, for example, a notification of a normal operation start instruction indicating that data collection by the monitoring tool has been completed.

  When determining that the transmission is to be ended (YES in step S11c), the communication schedule management unit 202 ends the transmission of the maintenance frame 20. On the other hand, while determining that the transmission is not to be ended (NO in step S11c), the communication schedule management unit 202 continues transmission of the maintenance frame 20 (step S9c).

  Next, processing of another communication device will be described. The other communication device is a communication device through which the maintenance system frame 20 from the target communication device reaches the monitoring tool (control device 100). In another communication device, the communication schedule management unit 202 receives information data (maintenance frame 20) in a band (time) in which control data is received during communication according to the communication schedule 42 in the normal operation state. Is detected, and the timing 633 is output (step S1d).

  The condition determination unit 62 of the other communication device determines that the communication schedule 42 of the normal operation case (A) is currently applied, and that the timing 633 indicates that the maintenance system frame 20 is received in the band of “control system data”. Is determined, which of the conditions 64 is satisfied (steps S3d, S5d). When it is determined that none of the conditions 64 is satisfied (NO in step S5d), the process returns to step S1d.

  Here, it is determined that condition 64 of case (D) at the time of maintenance in FIG. 8 is satisfied (YES in step S5d). Based on the determination, the switching unit 60 switches the communication schedule 42 to the communication schedule 65 that meets the condition 64 of case (D) during maintenance via the selector 61 (step S7d).

  The transmission / reception controller 213 transmits the maintenance frame 20 to be received to another communication device according to the switched communication schedule 42 (step S9d).

  The communication schedule management unit 202 determines whether or not to end the transmission of the maintenance system frame 20 based on whether or not to receive a predetermined notification (for example, a notification of a normal operation start instruction) (step S11d). When determining that the transmission is to be ended (YES in step S11d), the communication schedule management unit 202 ends the transmission of the maintenance frame 20. On the other hand, while determining that the transmission is not to be ended (NO in step S11d), the communication schedule management unit 202 continues transmission of the maintenance frame 20 (step S9d).

  As described above, at the time of maintenance, the original communication schedule 42 in each communication device is switched to the communication schedule 65 corresponding to the maintenance case (D), so that the control system data based on the original communication schedule 42 is changed. Is deleted, and the band of the information system data for transmitting the maintenance system frame 20 can be secured.

<K. Configuration settings using supported devices>
In the present embodiment, an environment that supports a user operation for setting a configuration can be provided by the support device 300 to each communication device. Through the configuration setting process, the user can operate the support device 300 to set a set of the communication schedule 65 and the condition 64 to which the communication schedule is applied to each communication device. FIG. 16 is a flowchart illustrating an example of a configuration setting process according to the embodiment of the present invention. FIG. 17 is a diagram illustrating an example of a configuration of the support device 300 according to the embodiment of the present invention.

  Referring to FIG. 17, support device 300 is implemented, for example, by executing a program using hardware (for example, a general-purpose personal computer) according to a general-purpose architecture.

  Referring to FIG. 17, the support device 300 includes a processor 302 such as a CPU or an MPU, a drive 304, a main storage device 306, a secondary storage device 308, a USB controller 312, a local network controller 314, A unit 316 and a display unit 318 are included. These components are connected via a bus 320.

  The processor 302 reads out various programs stored in the secondary storage device 308, develops them in the main storage device 306, and executes the programs, thereby implementing various processes described below.

  The secondary storage device 308 is configured by, for example, a hard disk drive (HDD) or a flash solid state drive (SSD). The secondary storage device 308 typically stores various programs including a configuration tool 226 executed in the support device 300. The drive 304 is configured so that the memory card 116 or the storage medium 305 can be attached and detached.

  The USB controller 312 controls data exchange with the control device 100 via the USB connection. The local network controller 314 controls exchange of data with another device via an arbitrary network.

  The input unit 316 includes a keyboard, a mouse, and the like, and receives a user operation. The display unit 318 includes a display, various indicators, and the like, and outputs processing results from the processor 302 and the like.

  FIG. 17 illustrates a configuration example in which the processor 302 provides necessary functions by executing a program. However, some or all of the provided functions may be replaced by a dedicated hardware circuit (for example, an ASIC). Or an FPGA or the like).

  When the program of the configuration tool 226 is executed in the support device 300, an environment for generating a set of the communication schedule 65 and the condition 64 to which the communication schedule 65 is applied and setting the set for each communication device is provided. .

  Referring to FIG. 16, processor 302 accepts an operation of designating condition 64 from the user via input unit 316 (step T11), and accepts an operation of designating communication schedule 65 applied to condition 64 (step T11). Step T13) Also, an operation of linking both is received (step T15). The processor 302 determines whether or not the operation of designating the condition 64 and the communication schedule 65 has been completed (step T17). Steps T11 to T15 are repeated while it is not determined that the processing has been completed (NO in step T17).

  When determining that the operation of designating the condition 64 and the communication schedule 65 has been completed (YES in step T17), the processor 302 generates a set of the condition 64 and the communication schedule 65 linked in step T15 (step T19). Are stored in the memory 104 of the control device 100 (step T21), and are stored in the memory 104 of another device 200 (step T23).

  This completes the configuration setting processing for setting a set of the condition 64 and the communication schedule 65 in each communication device.

<L. Program>
The processor 102 of each communication device (control device 100, device 200) controls each component in the device according to the above-described communication schedule switching process. The storage 106 is, for example, an auxiliary storage device such as a hard disk drive or a solid state drive, and may store a program, data, and the like, which are executed as part of the user application program 108 to execute a process of switching communication schedules. . The communication schedule switching process includes a process according to each of the flowcharts described above.

  When the support device 300 loads a communication schedule switching processing program into the storage 106 of each communication device, the program is loaded via the memory card 116 or the storage medium 205. In addition, the storage medium 305 stores information such as a program stored therein in an electrical, magnetic, optical, or mechanical manner so that information such as a program recorded on the storage medium 305 can be read by another device or machine including a computer. It is a medium that accumulates by chemical or chemical action. Each communication device reads a communication schedule switching processing program from the storage medium 305 and stores it in the storage 106. Note that the communication schedule switching processing program may be downloaded to each communication device via various communication lines including a network.

<M. Modification>
As described above, the bandwidth for transmission on the transmission lines 111, 112, and 113 is switched for each queue (that is, control data, control information data, and information data) by the communication schedule 42. The switching of the bandwidth may be combined with the switching of the rate for transferring the data of the queue. Specifically, in the modified example, the communication schedule 42 includes a control command 43 and a transmission rate 341 corresponding to each time Ti. According to such a communication schedule 42, the opening time of each gate, that is, the bandwidth can be adjusted by the control command 43 at each time Ti of the control cycle T, and the data rate is adjusted by the transmission rate 341 in the adjusted bandwidth. The transfer rate can be adjusted. This makes it possible to adjust the rate at which the control data, the control information data, and the information data are transferred in a band for transmitting the data.

<N. Advantages>
In the present embodiment, each communication device of the communication system 1 makes a determination based on the status information 63 and switches the communication schedule 42 based on the determination result, thereby autonomously realizing the switching of the communication schedule 42. As a result, the communication schedule can be automatically switched without requiring transmission of a special frame for instructing communication schedule switching, that is, without affecting traffic on the transmission path. In each communication device, the communication schedule 42 is switched to the communication schedule 65 to be applied to the condition 64 corresponding to each case according to the determination based on the status information 63. Thus, in each case, the control system data, the information system data, and the control information system data can be transmitted on the same network while securing the bandwidth required in the case.

<O. Appendix>
The present embodiment as described above includes the following technical ideas.
[Configuration 1]
A communication system (1) in which a plurality of communication devices (100, 200, 400) synchronized in time with each other are connected to a network,
Each of the plurality of communication devices,
First data (control system data) that is periodically transmitted and used for controlling a manufacturing apparatus or a production facility, and second data (control information system data) that needs to arrive at a destination within a designated time. And management means (202) for transmitting third data (information-related data) different from the first data and the second data according to a communication schedule (42);
A memory (104) for storing a plurality of pairs of a communication schedule (65) and a condition (64) for applying the communication schedule;
Based on the state of the communication device (631) or the content of communication with another communication device (632, 633), when any one of the plurality of conditions is satisfied, the communication schedule is applied to the other condition. Switching means (60) for switching to a communication schedule;
A transmission / reception circuit (213) for transferring each data received from another communication device to another device according to the communication schedule.

[Configuration 2]
The communication schedule is
For each of the first data, the second data, and the third data received from the other communication device, the other data is given priority over other data within the cycle. The communication system according to configuration 1, wherein the priority (43) that is a degree of transfer to the device is defined.

[Configuration 3]
The communication schedule further includes:
A configuration including, for each of the first data, the second data, and the third data received from the other communication device, a rate (341) at which the data is transferred to another communication device. 3. The communication system according to 2.

[Configuration 4]
The communication device has at least one input port (211) and a plurality of output ports (51, 52, 53),
The first data, the second data, and the third data received at the input port are respectively transmitted to a first output port (51) and a second port (52) of the plurality of output ports. ) And a third port (53),
The communication system according to configuration 2 or 3, wherein the priority indicated by the communication schedule defines a time during which each output port is open in preference to other output ports in the cycle.

[Configuration 5]
The communication system according to any one of Configurations 1 to 4, wherein the content of communication with the other device includes a notification (632) received from the other communication device.

[Configuration 6]
The content of communication with the other device includes a timing (633) of receiving one of the first data, the second data, and the third data within the cycle, from the configuration 1, 6. The communication system according to any one of 5.

[Configuration 7]
The content of communication with the other device includes a timing at which one of the first to third data is received in the cycle, and a timing of receiving the one data in the cycle specified by the communication schedule. The communication system according to any one of Configurations 1 to 6, including a combination (633) with a timing of transferring the data.

[Configuration 8]
A communication device network-connected to a communication system,
Synchronization means for time synchronization with other communication devices,
First data transmitted periodically used for controlling a manufacturing apparatus or a production facility, second data that needs to arrive at a destination within a designated time, the first data and the second data, Management means for transmitting third data different from the data according to the communication schedule,
A memory for storing a plurality of sets of a communication schedule and a condition to which the communication schedule is applied;
A switching unit that switches the communication schedule to another communication schedule applied to the condition, when any one of the plurality of conditions is satisfied, based on a state of the communication device or communication content with another communication device.
A transmission / reception circuit for transferring each data received from another communication device to another device according to the communication schedule.

[Configuration 9]
A communication method in a communication system in which a plurality of communication devices that are time-synchronized with each other are connected to a network,
The communication system includes a communication schedule and a memory that stores a plurality of sets of conditions for applying the communication schedule,
The communication method includes:
First data transmitted periodically used for controlling a manufacturing apparatus or a production facility, second data that needs to arrive at a destination within a designated time, the first data and the second data, Transmitting third data different from the data according to the communication schedule;
Based on the state of the communication device or communication content with another communication device, when any one of the plurality of conditions is satisfied, switching the communication schedule to another communication schedule applied to the condition,
Transferring each data received from another communication device to another device according to the communication schedule.

  The embodiments disclosed this time are to be considered in all respects as illustrative and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

1 communication system, 20 frames, 29 labels, 31, 32, 33, 33A queue, 34 rate adjuster, 40, 40A, 40B, 61 selector, 41 gate driver, 42, 65 communication schedule, 43 control command, 44 specific frame Distribution unit, 45 label detection unit, 51, 52, 53 gate, 60 switching unit, 62 condition judgment unit, 63 status information, 64 conditions, 100 control devices, 111, 112, 113 transmission path, 200, 200A, 200D, 200E, 200H device, 202 communication schedule management unit, 213, 213A, 213B transmission / reception controller, 226 configuration tool, 241 allocation data, 300 support device, 341 transmission rate, 400 relay device, 631 status, 632 notification, 633 time , T control cycle.

Claims (9)

A communication system in which a plurality of communication devices that are time-synchronized with each other are connected to a network,
Each of the plurality of communication devices,
First data transmitted periodically used for controlling a manufacturing apparatus or a production facility, second data that needs to arrive at a destination within a designated time, the first data and the second data, Management means for transmitting third data different from the data according to the communication schedule,
A memory for storing a plurality of sets of a communication schedule and a condition to which the communication schedule is applied;
A switching unit that switches the communication schedule to another communication schedule applied to the condition, when any one of the plurality of conditions is satisfied, based on a state of the communication device or communication content with another communication device.
A transmission / reception circuit for transferring each data received from another communication device to another device according to the communication schedule. The communication schedule is
For each of the first data, the second data, and the third data received from the other communication device, the other device is given priority over other data within a cycle. The communication system according to claim 1, wherein the priority is defined as a degree of transfer to the communication system. The communication schedule further includes:
3. The method according to claim 2, further comprising, for each of the first data, the second data, and the third data received from the another communication device, a rate at which the data is transferred to another communication device. A communication system as described. The communication device has at least one input port and a plurality of output ports,
The first data, the second data, and the third data received at the input port are respectively output to a first output port, a second port, and a third port of the plurality of output ports. Sent from
4. The communication system according to claim 2, wherein the priority indicated by the communication schedule defines a time during which each output port is opened prior to other output ports in the cycle. 5.   The communication system according to claim 1, wherein the content of communication with the another device includes a notification received from the other communication device.   The content of communication with the other device includes a timing of receiving one of the first data, the second data, and the third data within the period, wherein The communication system according to claim 1.   The content of communication with the other device includes a timing at which one of the first to third data is received in the cycle, and a timing of receiving the one data in the cycle specified by the communication schedule. The communication system according to any one of claims 1 to 6, wherein the communication system includes a combination with a time at which the data is transmitted. A communication device network-connected to a communication system,
Synchronization means for time synchronization with other communication devices,
First data transmitted periodically used for controlling a manufacturing apparatus or a production facility, second data that needs to arrive at a destination within a designated time, the first data and the second data, Management means for transmitting third data different from the data according to the communication schedule,
A memory for storing a plurality of sets of a communication schedule and a condition to which the communication schedule is applied;
A switching unit that switches the communication schedule to another communication schedule applied to the condition, when any one of the plurality of conditions is satisfied, based on a state of the communication device or communication content with another communication device.
A transmission / reception circuit for transferring each data received from another communication device to another device according to the communication schedule. A communication method in a communication system in which a plurality of communication devices that are time-synchronized with each other are network-connected,
The communication system includes a communication schedule and a memory that stores a plurality of sets of conditions for applying the communication schedule,
The communication method includes:
First data transmitted periodically used for controlling a manufacturing apparatus or a production facility, second data that needs to arrive at a destination within a designated time, the first data and the second data, Transmitting third data different from the data according to the communication schedule;
Based on the state of the communication device or communication content with another communication device, when any one of the plurality of conditions is satisfied, switching the communication schedule to another communication schedule applied to the condition,
Transferring each data received from another communication device to another device according to the communication schedule.

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